WARNING: Logging before InitGoogleLogging() is written to STDERR
I0419 20:53:49.803292 1218529 configuration_file_resolver.cc:41] Found '/etc/xloc/configuration_files/localization.lua' for 'localization.lua'.
I0419 20:53:50.453528 1219307 xloc.cc:190] Loading saved state '/home/ubuntu/.local/share/xloc/resources/maps/turning_4/turning_4.xloc'...
I0419 20:53:51.158030 1219307 map_builder.cc:422] Map origin{ t: [0, 0, 0], q: [1, 0, 0, 0] }
The map does not contain a mode tag or it is invalid... assuming Trinary
I0419 20:53:51.190291 1219307 configuration_file_resolver.cc:41] Found '/etc/xloc/configuration_files/localization.lua' for 'localization.lua'.
I0419 20:53:51.195060 1219307 xloc.cc:216] Added trajectory with ID '1'.
I0419 20:53:51.195851 1219307 reflector_map.cc:87] ReflectorMap: loaded 20 reflectors from '/etc/xloc/configuration_files/reflector_map.yaml'.
I0419 20:53:51.195883 1219307 reflector_map.cc:91] [YAML-DUMP] [0] id='ref_1' x=-0.285 y=-2.52
I0419 20:53:51.195922 1219307 reflector_map.cc:91] [YAML-DUMP] [1] id='ref_2' x=0.615 y=-1.32
I0419 20:53:51.195935 1219307 reflector_map.cc:91] [YAML-DUMP] [2] id='ref_3' x=1.745 y=-2.52
I0419 20:53:51.195943 1219307 reflector_map.cc:91] [YAML-DUMP] [3] id='ref_4' x=2.415 y=-1.32
I0419 20:53:51.195950 1219307 reflector_map.cc:91] [YAML-DUMP] [4] id='ref_5' x=3.53 y=-2.52
I0419 20:53:51.195960 1219307 reflector_map.cc:91] [YAML-DUMP] [5] id='ref_6' x=4.215 y=-1.32
I0419 20:53:51.195969 1219307 reflector_map.cc:91] [YAML-DUMP] [6] id='ref_7' x=5.115 y=-2.52
I0419 20:53:51.195976 1219307 reflector_map.cc:91] [YAML-DUMP] [7] id='ref_8' x=6.015 y=-1.32
I0419 20:53:51.195984 1219307 reflector_map.cc:91] [YAML-DUMP] [8] id='ref_9' x=6.915 y=-2.52
I0419 20:53:51.195991 1219307 reflector_map.cc:91] [YAML-DUMP] [9] id='ref_10' x=7.815 y=-1.32
I0419 20:53:51.195998 1219307 reflector_map.cc:91] [YAML-DUMP] [10] id='ref_11' x=8.715 y=-2.52
I0419 20:53:51.196012 1219307 reflector_map.cc:91] [YAML-DUMP] [11] id='ref_12' x=9.615 y=-1.32
I0419 20:53:51.196020 1219307 reflector_map.cc:91] [YAML-DUMP] [12] id='ref_13' x=10.515 y=-2.52
I0419 20:53:51.196029 1219307 reflector_map.cc:91] [YAML-DUMP] [13] id='ref_14' x=11.415 y=-1.32
I0419 20:53:51.196038 1219307 reflector_map.cc:91] [YAML-DUMP] [14] id='ref_15' x=12.315 y=-2.52
I0419 20:53:51.196046 1219307 reflector_map.cc:91] [YAML-DUMP] [15] id='ref_16' x=13.215 y=-1.32
I0419 20:53:51.196054 1219307 reflector_map.cc:91] [YAML-DUMP] [16] id='ref_17' x=14.115 y=-2.52
I0419 20:53:51.196061 1219307 reflector_map.cc:91] [YAML-DUMP] [17] id='ref_18' x=15.015 y=-1.32
I0419 20:53:51.196072 1219307 reflector_map.cc:91] [YAML-DUMP] [18] id='ref_19' x=15.915 y=-2.52
I0419 20:53:51.196080 1219307 reflector_map.cc:91] [YAML-DUMP] [19] id='ref_20' x=16.815 y=-1.32
I0419 20:53:51.196156 1219307 xloc.cc:338] [XLOC] Reflector back-end push: ON, publish_override: ON (trajectory 1)
I0419 20:53:51.196331 1219307 xloc.cc:362] ReflectorLocalizer attached to trajectory 1 with map '/etc/xloc/configuration_files/reflector_map.yaml' (frozen=1).
I0419 20:53:51.197382 1218978 trajectory_collator.cc:84] Create metrics handler for key: odom/1
I0419 20:53:51.197775 1219307 pose_graph_2d.cc:1515] <<<<<<<<<< INITIAL POSES: 1
I0419 20:53:51.201381 1218978 trajectory_collator.cc:84] Create metrics handler for key: imu/1
I0419 20:53:51.206454 1218529 sensor_bridge.cc:302] [TF-DUMP] lidar='scan_1' -> tracking='base_link' xyz=(0.2985, 0, 0) q(wxyz)=(1, 0, 0, 0)
I0419 20:53:51.206547 1218529 reflector_localizer.cc:276] [Localizer] GATE 1 — inactive (no relocalization yet).
I0419 20:53:51.206688 1218529 trajectory_collator.cc:84] Create metrics handler for key: scan_1/1
I0419 20:53:51.217808 1218967 sensor_bridge.cc:302] [TF-DUMP] lidar='scan_2' -> tracking='base_link' xyz=(-0.2985, 0, 0) q(wxyz)=(0, 0, 0, 1)
I0419 20:53:51.218254 1218967 trajectory_collator.cc:84] Create metrics handler for key: scan_2/1
I0419 20:53:51.218362 1218967 ordered_multi_queue.cc:172] All sensor data for trajectory 1 is available starting at '639122288312174057'.
I0419 20:53:51.237912 1218978 local_trajectory_builder_2d.cc:127] Range data collator filling buffer.
I0419 20:53:51.238255 1218978 local_trajectory_builder_2d.cc:151] Extrapolator is still initializing.
W0419 20:53:51.279801 1218529 pose_extrapolator.cc:229] Queue too short for velocity estimation. Queue duration: 0.034745 s
I0419 20:53:51.287492 1218529 pose_graph_2d.cc:160] Inserted submap (1, 0).
I0419 20:53:51.287653 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25446, -1.90056), yaw=2.14024 deg backend=(-1.25446, -1.90056)
I0419 20:53:51.288393 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:53:51.340550 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.341768 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.352149 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.363888 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.386868 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.390416 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.400444 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.410110 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.432334 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.450425 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.459374 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.471184 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.479311 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.479473 1219305 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.496119 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.496834 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.509673 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:53:51.530966 1219305 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.531103 1219305 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.580780 1219305 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.580945 1219305 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.641484 1219305 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.641673 1219304 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.725384 1219304 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.725900 1219304 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.775417 1219304 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.775753 1219304 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.828032 1219304 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.828169 1219305 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.884822 1219305 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.884965 1219303 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.927743 1219303 constraint_builder_2d.cc:503] Score: 0
I0419 20:53:51.927945 1219303 constraint_builder_2d.cc:487] <<<<<<<<<<<<<<<<<<<<<<< SEARCH FOR LOCALIZATION CONSTRAINT >>>>>>>>>>>>>>>>>>>>>>>>: 
I0419 20:53:51.969991 1219453 reflector_localizer.cc:276] [Localizer] GATE 1 — inactive (no relocalization yet).
I0419 20:53:51.976049 1219303 constraint_builder_2d.cc:503] Score: 0.727166
I0419 20:53:51.976171 1219303 constraint_builder_2d.cc:514] <<<<<<<<<<<<<<<<<<<<<<< RELOCALIZED >>>>>>>>>>>>>>>>>>>>>>>>: 0.727166
I0419 20:53:51.984726 1219303 xloc.cc:1303] Relocalization Done on trajectory: 1 , at position: (-1.25152, -1.89847)
I0419 20:53:51.984899 1219309 reflector_localizer.cc:247] ReflectorLocalizer: activated after relocalization.
I0419 20:53:51.984961 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:53:52.001988 1218969 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.04828s, prior_pose=(-1.25701, -1.89672), yaw=2.22122 deg
I0419 20:53:52.002112 1218969 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:53:52.002210 1218969 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:52.002228 1218969 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.778395, -0.672594)
I0419 20:53:52.002243 1218969 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:52.002254 1218969 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:52.002301 1218969 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784814, -0.674224), points=4, range=1.02875, residual=0.0145506, extent=0.0349369
I0419 20:53:52.002318 1218969 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:52.002332 1218969 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:52.002344 1218969 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784814, -0.674224), tracking=(1.08331, -0.674224), map_predicted=(-0.148382, -2.52845), range=1.02875, pts=4
I0419 20:53:52.002372 1218969 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136879m maha_sq=0.808863 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.148382, -2.52845) lm_pos=(-0.285, -2.52) delta=(0.136618, -0.00844688) -> 1 candidate(s)
I0419 20:53:52.002388 1218969 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:52.002395 1218969 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:52.012395 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:52.219084 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25751, -1.89545), yaw=2.20257 deg backend=(-1.25751, -1.89545)
I0419 20:53:52.278754 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15879, 1.54714)
I0419 20:53:52.294512 1218969 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756085s, prior_pose=(-1.25751, -1.89545), yaw=2.20472 deg
I0419 20:53:52.294713 1218969 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:53:52.294821 1218969 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:52.294862 1218969 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:52.294891 1218969 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:52.294992 1218969 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779017, -0.673194), points=6, range=1.0315, residual=0.0086433, extent=0.0249966
I0419 20:53:52.295027 1218969 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:52.295050 1218969 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:52.295073 1218969 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779017, -0.673194), tracking=(1.07752, -0.673194), map_predicted=(-0.154895, -2.52669), range=1.0315, pts=6
I0419 20:53:52.295114 1218969 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.130277m maha_sq=0.734815 (gate chi2=5.99) pose_sigma=(0.150236, 0.150236, rho=0) det_map=(-0.154895, -2.52669) lm_pos=(-0.285, -2.52) delta=(0.130105, -0.00669273) -> 1 candidate(s)
Failed to load recovery behavior plugin: ClearCostmapRecovery. Error: boost::dll::shared_library::load() failed: Bad file descriptor
Failed to load clear_costmap_recovery plugin for aggressive reset: boost::dll::shared_library::load() failed: Bad file descriptor
The map does not contain a mode tag or it is invalid... assuming Trinary
The map does not contain a mode tag or it is invalid... assuming Trinary
I0419 20:53:52.730113 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777066, -0.671458)
I0419 20:53:52.730252 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:52.730269 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:52.730646 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.107738s, prior_pose=(-1.25664, -1.897), yaw=2.21644 deg
I0419 20:53:52.730705 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=862, max_intensity=239, threshold=230, above_threshold=5, candidates=5
I0419 20:53:52.730743 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:52.730759 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:52.730772 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:52.730787 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16014, 1.54426), points=5, range=1.933, residual=0.0114408, extent=0.0300625
I0419 20:53:52.730798 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:52.730808 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:52.730818 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16014, 1.54426), tracking=(-1.45864, -1.54426), map_predicted=(-2.65446, -3.49652), range=1.933, pts=5
I0419 20:53:52.730834 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5628m maha_sq=281.754 (gate chi2=5.99) pose_sigma=(0.150538, 0.150538, rho=0) det_map=(-2.65446, -3.49652) lm_pos=(-0.285, -2.52) delta=(-2.36946, -0.976518) -> 0 candidate(s)
I0419 20:53:52.731236 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:52.860277 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:53:52.864961 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16014, 1.54426)
I0419 20:53:52.882279 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483433s, prior_pose=(-1.25892, -1.89628), yaw=2.23577 deg
I0419 20:53:52.882383 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=254, threshold=230, above_threshold=6, candidates=6
I0419 20:53:52.882465 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:52.882493 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:52.882511 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:52.882531 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.773321, -0.670597), points=6, range=1.02667, residual=0.0131198, extent=0.0366685
I0419 20:53:52.882550 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:52.882565 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:52.882579 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.773321, -0.670597), tracking=(1.07182, -0.670597), map_predicted=(-0.161758, -2.52455), range=1.02667, pts=6
I0419 20:53:52.882604 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.123326m maha_sq=0.645233 (gate chi2=5.99) pose_sigma=(0.151487, 0.151487, rho=0) det_map=(-0.161758, -2.52455) lm_pos=(-0.285, -2.52) delta=(0.123242, -0.00454918) -> 1 candidate(s)
I0419 20:53:53.105633 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25941, -1.89748), yaw=2.21543 deg backend=(-1.25941, -1.89748)
I0419 20:53:53.126032 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15613, 1.54363)
I0419 20:53:53.146063 1219453 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:53:53.174481 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760385s, prior_pose=(-1.25941, -1.89748), yaw=2.2167 deg
I0419 20:53:53.174597 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:53:53.174659 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:53.174688 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:53.268900 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:53.269012 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15633, 1.55322), points=6, range=1.934, residual=0.0118369, extent=0.0309146
I0419 20:53:53.269032 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:53.269044 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:53.269052 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15633, 1.55322), tracking=(-1.45483, -1.55322), map_predicted=(-2.65182, -3.5047), range=1.934, pts=6
I0419 20:53:53.269091 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56349m maha_sq=276.675 (gate chi2=5.99) pose_sigma=(0.151964, 0.151964, rho=0) det_map=(-2.65182, -3.5047) lm_pos=(-0.285, -2.52) delta=(-2.36682, -0.984697) -> 0 candidate(s)
I0419 20:53:53.269116 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:53.270159 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:53.270238 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:53.391145 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15771, 1.54569)
I0419 20:53:53.501899 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596233s, prior_pose=(-1.25969, -1.89871), yaw=2.2372 deg
I0419 20:53:53.502056 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:53:53.502108 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:53.502130 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:53.502938 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:53.503005 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15894, 1.55202), points=5, range=1.9336, residual=0.0119861, extent=0.0307496
I0419 20:53:53.503023 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:53.503036 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:53.503046 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15894, 1.55202), tracking=(-1.45744, -1.55202), map_predicted=(-2.65544, -3.50645), range=1.9336, pts=5
I0419 20:53:53.503062 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5675m maha_sq=276.586 (gate chi2=5.99) pose_sigma=(0.152222, 0.152222, rho=0) det_map=(-2.65544, -3.50645) lm_pos=(-0.285, -2.52) delta=(-2.37044, -0.986449) -> 0 candidate(s)
I0419 20:53:53.685813 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15902, 1.54746)
I0419 20:53:53.775596 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0444279s, prior_pose=(-1.26133, -1.89906), yaw=2.21 deg
I0419 20:53:53.775751 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:53:53.775789 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:53.775803 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:53.776573 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:53.776616 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15909, 1.54286), points=5, range=1.9306, residual=0.0108723, extent=0.0275353
I0419 20:53:53.776635 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:53.776646 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:53.776655 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15909, 1.54286), tracking=(-1.45759, -1.54286), map_predicted=(-2.65834, -3.49698), range=1.9306, pts=5
I0419 20:53:53.776705 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56656m maha_sq=275.118 (gate chi2=5.99) pose_sigma=(0.152666, 0.152666, rho=0) det_map=(-2.65834, -3.49698) lm_pos=(-0.285, -2.52) delta=(-2.37334, -0.976977) -> 0 candidate(s)
I0419 20:53:53.776723 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:53.794139 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:53.794230 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:53.925523 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2594, -1.89771), yaw=2.24706 deg backend=(-1.2594, -1.89771)
I0419 20:53:54.064514 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15753, 1.55015)
I0419 20:53:54.071436 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0764583s, prior_pose=(-1.26195, -1.90014), yaw=2.22249 deg
I0419 20:53:54.071655 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=832, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:53:54.071732 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:53:54.071774 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:53:54.098687 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:54.098804 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16014, 1.54426), points=5, range=1.9334, residual=0.0118886, extent=0.0314368
I0419 20:53:54.098835 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:54.098856 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:54.098873 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16014, 1.54426), tracking=(-1.45864, -1.54426), map_predicted=(-2.65958, -3.49982), range=1.9334, pts=5
I0419 20:53:54.098904 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56879m maha_sq=273.815 (gate chi2=5.99) pose_sigma=(0.153099, 0.153099, rho=0) det_map=(-2.65958, -3.49982) lm_pos=(-0.285, -2.52) delta=(-2.37458, -0.979822) -> 0 candidate(s)
I0419 20:53:54.246275 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15853, 1.54683)
I0419 20:53:54.333803 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 8
I0419 20:53:54.349675 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595063s, prior_pose=(-1.25977, -1.8992), yaw=2.24723 deg
I0419 20:53:54.349781 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=849, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:53:54.349825 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:54.349845 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:54.362017 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:54.390890 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:54.391116 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16041, 1.54927), points=4, range=1.93175, residual=0.010808, extent=0.0246448
I0419 20:53:54.391162 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:54.391371 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:54.391583 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16041, 1.54927), tracking=(-1.45891, -1.54927), map_predicted=(-2.65361, -3.50452), range=1.93175, pts=4
I0419 20:53:54.391680 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56507m maha_sq=271.442 (gate chi2=5.99) pose_sigma=(0.153637, 0.153637, rho=0) det_map=(-2.65361, -3.50452) lm_pos=(-0.285, -2.52) delta=(-2.36861, -0.984522) -> 0 candidate(s)
I0419 20:53:54.493180 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:54.493260 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:54.526767 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.780597, -0.671591)
I0419 20:53:54.646518 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483701s, prior_pose=(-1.25437, -1.89993), yaw=2.22797 deg
I0419 20:53:54.646761 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:53:54.646842 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:54.646879 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:54.767985 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:54.768085 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15999, 1.55343), points=5, range=1.9348, residual=0.0131043, extent=0.0343703
I0419 20:53:54.768105 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:54.768115 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:54.768123 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15999, 1.55343), tracking=(-1.45849, -1.55343), map_predicted=(-2.65465, -3.50591), range=1.9348, pts=5
I0419 20:53:54.768144 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56657m maha_sq=269.64 (gate chi2=5.99) pose_sigma=(0.154077, 0.154077, rho=0) det_map=(-2.65465, -3.50591) lm_pos=(-0.285, -2.52) delta=(-2.36965, -0.985912) -> 0 candidate(s)
I0419 20:53:54.801540 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15987, 1.54858)
I0419 20:53:54.876432 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25676, -1.89846), yaw=2.23018 deg backend=(-1.25676, -1.89846)
I0419 20:53:54.938251 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759293s, prior_pose=(-1.25676, -1.89846), yaw=2.23091 deg
I0419 20:53:54.938364 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=832, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:53:54.938418 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:54.938438 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:54.997743 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:54.999519 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:54.999624 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1558, 1.54782), points=5, range=1.9276, residual=0.0135515, extent=0.0328118
I0419 20:53:54.999644 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:54.999655 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:54.999668 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1558, 1.54782), tracking=(-1.4543, -1.54782), map_predicted=(-2.65048, -3.5022), range=1.9276, pts=5
I0419 20:53:54.999686 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56129m maha_sq=267.871 (gate chi2=5.99) pose_sigma=(0.154236, 0.154236, rho=0) det_map=(-2.65048, -3.5022) lm_pos=(-0.285, -2.52) delta=(-2.36548, -0.982197) -> 0 candidate(s)
I0419 20:53:55.026149 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:55.026252 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:55.066166 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16046, 1.54938)
I0419 20:53:55.261529 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562235s, prior_pose=(-1.25592, -1.89856), yaw=2.24441 deg
I0419 20:53:55.261636 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:53:55.261684 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:55.261703 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:55.270386 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:55.270478 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15939, 1.55263), points=5, range=1.9336, residual=0.0130569, extent=0.0328595
I0419 20:53:55.270498 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:55.270509 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:55.270519 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15939, 1.55263), tracking=(-1.45789, -1.55263), map_predicted=(-2.65188, -3.5071), range=1.9336, pts=5
I0419 20:53:55.270540 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56446m maha_sq=268.175 (gate chi2=5.99) pose_sigma=(0.154383, 0.154383, rho=0) det_map=(-2.65188, -3.5071) lm_pos=(-0.285, -2.52) delta=(-2.36688, -0.987101) -> 0 candidate(s)
I0419 20:53:55.396924 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15939, 1.54794)
I0419 20:53:55.529448 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0482634s, prior_pose=(-1.25621, -1.89918), yaw=2.22754 deg
I0419 20:53:55.529561 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:53:55.529599 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:55.529616 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:55.538829 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:55.566696 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:55.566787 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15984, 1.55323), points=5, range=1.9336, residual=0.0149419, extent=0.0374665
I0419 20:53:55.566804 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:55.566816 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:55.566826 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15984, 1.55323), tracking=(-1.45834, -1.55323), map_predicted=(-2.65307, -3.50792), range=1.9336, pts=5
I0419 20:53:55.566849 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56588m maha_sq=266.603 (gate chi2=5.99) pose_sigma=(0.154768, 0.154768, rho=0) det_map=(-2.65307, -3.50792) lm_pos=(-0.285, -2.52) delta=(-2.36807, -0.987921) -> 0 candidate(s)
I0419 20:53:55.657606 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:55.657739 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:55.658721 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.158, 1.54607)
I0419 20:53:55.683480 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25996, -1.89962), yaw=2.20395 deg backend=(-1.25996, -1.89962)
I0419 20:53:55.791734 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:53:55.822324 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080437s, prior_pose=(-1.259, -1.89865), yaw=2.23288 deg
I0419 20:53:55.822440 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=252, threshold=230, above_threshold=3, candidates=3
I0419 20:53:55.822489 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:55.822505 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:53:55.917141 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:55.917425 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779041, -0.671222), points=7, range=1.02543, residual=0.0116797, extent=0.0349101
I0419 20:53:55.917574 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:55.917706 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:55.917838 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779041, -0.671222), tracking=(1.07754, -0.671222), map_predicted=(-0.153361, -2.52608), range=1.02543, pts=7
I0419 20:53:55.917985 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.131779m maha_sq=0.702425 (gate chi2=5.99) pose_sigma=(0.155354, 0.155354, rho=0) det_map=(-0.153361, -2.52608) lm_pos=(-0.285, -2.52) delta=(0.131639, -0.00607832) -> 1 candidate(s)
I0419 20:53:55.919245 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1589, 1.5473)
I0419 20:53:56.114380 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600419s, prior_pose=(-1.25757, -1.89847), yaw=2.21337 deg
I0419 20:53:56.114476 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:53:56.114530 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:56.114549 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:56.122233 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:56.187669 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:56.187973 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782229, -0.674361), points=6, range=1.03467, residual=0.0103388, extent=0.0276826
I0419 20:53:56.188127 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:56.188257 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:56.188382 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782229, -0.674361), tracking=(1.08073, -0.674361), map_predicted=(-0.152178, -2.52924), range=1.03467, pts=6
I0419 20:53:56.188524 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.133142m maha_sq=0.716028 (gate chi2=5.99) pose_sigma=(0.155559, 0.155559, rho=0) det_map=(-0.152178, -2.52924) lm_pos=(-0.285, -2.52) delta=(0.132822, -0.00923577) -> 1 candidate(s)
I0419 20:53:56.191426 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15914, 1.54763)
I0419 20:53:56.229771 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:56.229856 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:56.448714 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478345s, prior_pose=(-1.25501, -1.89919), yaw=2.23884 deg
I0419 20:53:56.448835 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:53:56.448886 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:56.448904 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:56.466733 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:56.466852 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782788, -0.672495), points=6, range=1.03017, residual=0.00771886, extent=0.0226536
I0419 20:53:56.466877 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:56.466892 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:56.466902 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782788, -0.672495), tracking=(1.08129, -0.672495), map_predicted=(-0.148282, -2.52894), range=1.03017, pts=6
I0419 20:53:56.466924 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13701m maha_sq=0.755738 (gate chi2=5.99) pose_sigma=(0.155974, 0.155974, rho=0) det_map=(-0.148282, -2.52894) lm_pos=(-0.285, -2.52) delta=(0.136718, -0.00894286) -> 1 candidate(s)
I0419 20:53:56.477840 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15685, 1.54922)
I0419 20:53:56.614336 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25593, -1.89808), yaw=2.20448 deg backend=(-1.25593, -1.89808)
I0419 20:53:56.726727 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0812764s, prior_pose=(-1.25698, -1.89849), yaw=2.21977 deg
I0419 20:53:56.726851 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:53:56.726886 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:56.726902 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:56.728381 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:56.770072 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.1561, 1.54822)
I0419 20:53:56.770190 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:56.770519 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1561, 1.5529), points=4, range=1.93225, residual=0.0103942, extent=0.0225437
I0419 20:53:56.770556 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:56.770613 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:56.770681 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1561, 1.5529), tracking=(-1.4546, -1.5529), map_predicted=(-2.65032, -3.50658), range=1.93225, pts=4
I0419 20:53:56.770718 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56283m maha_sq=262.597 (gate chi2=5.99) pose_sigma=(0.156159, 0.156159, rho=0) det_map=(-2.65032, -3.50658) lm_pos=(-0.285, -2.52) delta=(-2.36532, -0.986577) -> 0 candidate(s)
I0419 20:53:56.854516 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:56.854671 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:57.011222 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596047s, prior_pose=(-1.2591, -1.89692), yaw=2.21935 deg
I0419 20:53:57.011546 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:53:57.011600 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:57.011620 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:57.038406 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16075, 1.54505)
I0419 20:53:57.135087 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:57.135198 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15595, 1.54802), points=5, range=1.9284, residual=0.0127398, extent=0.0328356
I0419 20:53:57.135217 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:57.135229 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:57.135239 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15595, 1.54802), tracking=(-1.45445, -1.54802), map_predicted=(-2.64761, -3.50113), range=1.9284, pts=5
I0419 20:53:57.135259 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55823m maha_sq=258.851 (gate chi2=5.99) pose_sigma=(0.156853, 0.156853, rho=0) det_map=(-2.64761, -3.50113) lm_pos=(-0.285, -2.52) delta=(-2.36261, -0.981128) -> 0 candidate(s)
I0419 20:53:57.376657 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:53:57.437116 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0054524s, prior_pose=(-1.25734, -1.897), yaw=2.19288 deg
I0419 20:53:57.437223 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=860, max_intensity=238, threshold=230, above_threshold=4, candidates=4
I0419 20:53:57.437260 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:57.437279 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:57.439579 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:57.440313 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780683, -0.672635)
I0419 20:53:57.445715 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:57.445792 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784002, -0.673537), points=6, range=1.02983, residual=0.0116604, extent=0.033226
I0419 20:53:57.445813 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:57.445825 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:57.445835 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784002, -0.673537), tracking=(1.0825, -0.673537), map_predicted=(-0.149847, -2.52861), range=1.02983, pts=6
I0419 20:53:57.445851 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135426m maha_sq=0.725646 (gate chi2=5.99) pose_sigma=(0.157121, 0.157121, rho=0) det_map=(-0.149847, -2.52861) lm_pos=(-0.285, -2.52) delta=(0.135153, -0.0086067) -> 1 candidate(s)
I0419 20:53:57.513993 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25699, -1.89717), yaw=2.20971 deg backend=(-1.25699, -1.89717)
I0419 20:53:57.514892 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:57.514940 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:57.582001 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0792353s, prior_pose=(-1.25699, -1.89717), yaw=2.20963 deg
I0419 20:53:57.582187 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=247, threshold=230, above_threshold=3, candidates=3
I0419 20:53:57.582264 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:57.582300 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:53:57.654567 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780174, -0.672204)
I0419 20:53:57.682336 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:57.682475 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1552, 1.54702), points=5, range=1.9264, residual=0.0139301, extent=0.0335386
I0419 20:53:57.682497 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:57.682511 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:57.682525 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1552, 1.54702), tracking=(-1.4537, -1.54702), map_predicted=(-2.64929, -3.50165), range=1.9264, pts=5
I0419 20:53:57.682552 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55998m maha_sq=257.301 (gate chi2=5.99) pose_sigma=(0.157348, 0.157348, rho=0) det_map=(-2.64929, -3.50165) lm_pos=(-0.285, -2.52) delta=(-2.36429, -0.98165) -> 0 candidate(s)
I0419 20:53:57.937350 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551924s, prior_pose=(-1.25662, -1.89759), yaw=2.1967 deg
I0419 20:53:57.937491 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:53:57.937541 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:57.937561 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778955, -0.673096)
I0419 20:53:57.937574 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:57.938443 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:57.974566 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:57.974668 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16089, 1.54526), points=5, range=1.9356, residual=0.0132234, extent=0.035144
I0419 20:53:57.974691 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:57.974704 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:57.974714 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16089, 1.54526), tracking=(-1.45939, -1.54526), map_predicted=(-2.65564, -3.49771), range=1.9356, pts=5
I0419 20:53:57.974736 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56434m maha_sq=257.646 (gate chi2=5.99) pose_sigma=(0.157573, 0.157573, rho=0) det_map=(-2.65564, -3.49771) lm_pos=(-0.285, -2.52) delta=(-2.37064, -0.977708) -> 0 candidate(s)
I0419 20:53:58.081794 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:58.081923 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:58.183183 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.77868, -0.671891)
I0419 20:53:58.185978 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476892s, prior_pose=(-1.25807, -1.89793), yaw=2.17551 deg
I0419 20:53:58.186101 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:53:58.186143 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:58.186159 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:58.298708 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:58.298806 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16164, 1.54626), points=5, range=1.936, residual=0.0120039, extent=0.0314617
I0419 20:53:58.298825 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:58.298835 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:58.298843 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16164, 1.54626), tracking=(-1.46014, -1.54626), map_predicted=(-2.65557, -3.49946), range=1.936, pts=5
I0419 20:53:58.298859 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56494m maha_sq=256.486 (gate chi2=5.99) pose_sigma=(0.158074, 0.158074, rho=0) det_map=(-2.65557, -3.49946) lm_pos=(-0.285, -2.52) delta=(-2.37057, -0.979459) -> 0 candidate(s)
I0419 20:53:58.328717 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25567, -1.89846), yaw=2.19215 deg backend=(-1.25567, -1.89846)
I0419 20:53:58.449496 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15902, 1.54746)
I0419 20:53:58.465883 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800763s, prior_pose=(-1.25877, -1.89795), yaw=2.19756 deg
I0419 20:53:58.466048 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:53:58.466122 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:58.466156 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:58.473976 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:58.606828 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:58.606938 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15865, 1.55162), points=5, range=1.9326, residual=0.0127429, extent=0.030724
I0419 20:53:58.606962 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:58.606974 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:58.606984 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15865, 1.55162), tracking=(-1.45715, -1.55162), map_predicted=(-2.6566, -3.50318), range=1.9326, pts=5
I0419 20:53:58.607002 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56732m maha_sq=255.937 (gate chi2=5.99) pose_sigma=(0.158342, 0.158342, rho=0) det_map=(-2.6566, -3.50318) lm_pos=(-0.285, -2.52) delta=(-2.3716, -0.98318) -> 0 candidate(s)
I0419 20:53:58.714200 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:53:58.714883 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:58.714962 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:58.718344 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15639, 1.54394)
I0419 20:53:58.724488 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:53:58.757797 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599263s, prior_pose=(-1.25863, -1.89796), yaw=2.19826 deg
I0419 20:53:58.757966 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=245, threshold=230, above_threshold=4, candidates=4
I0419 20:53:58.758051 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:58.758090 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:58.879329 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:58.879436 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15235, 1.55257), points=5, range=1.9308, residual=0.0106139, extent=0.0249587
I0419 20:53:58.879459 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:58.879472 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:58.879482 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15235, 1.55257), tracking=(-1.45085, -1.55257), map_predicted=(-2.64671, -3.50326), range=1.9308, pts=5
I0419 20:53:58.879498 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55822m maha_sq=253.626 (gate chi2=5.99) pose_sigma=(0.158659, 0.158659, rho=0) det_map=(-2.64671, -3.50326) lm_pos=(-0.285, -2.52) delta=(-2.36171, -0.983258) -> 0 candidate(s)
I0419 20:53:59.001869 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15806, 1.54618)
I0419 20:53:59.095585 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0487075s, prior_pose=(-1.25813, -1.89513), yaw=2.2052 deg
I0419 20:53:59.095714 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:53:59.095765 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:59.095785 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:59.096745 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:59.150621 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:59.150729 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15804, 1.55082), points=5, range=1.9324, residual=0.0116979, extent=0.0294112
I0419 20:53:59.150749 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:59.150761 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:59.150770 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15804, 1.55082), tracking=(-1.45654, -1.55082), map_predicted=(-2.6539, -3.50087), range=1.9324, pts=5
I0419 20:53:59.150790 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56394m maha_sq=253.306 (gate chi2=5.99) pose_sigma=(0.159049, 0.159049, rho=0) det_map=(-2.6539, -3.50087) lm_pos=(-0.285, -2.52) delta=(-2.3689, -0.980866) -> 0 candidate(s)
I0419 20:53:59.231349 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25701, -1.89671), yaw=2.20819 deg backend=(-1.25701, -1.89671)
I0419 20:53:59.258517 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:59.258661 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:59.286772 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70145, 0.498608)
I0419 20:53:59.390131 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0801164s, prior_pose=(-1.25977, -1.89622), yaw=2.18348 deg
I0419 20:53:59.390275 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=854, max_intensity=248, threshold=230, above_threshold=3, candidates=3
I0419 20:53:59.390316 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:59.390334 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:53:59.517973 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:59.518090 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783553, -0.673139), points=6, range=1.02883, residual=0.0131303, extent=0.038418
I0419 20:53:59.518110 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:59.518123 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:59.518133 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783553, -0.673139), tracking=(1.08205, -0.673139), map_predicted=(-0.151138, -2.52867), range=1.02883, pts=6
I0419 20:53:59.518152 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134143m maha_sq=0.690133 (gate chi2=5.99) pose_sigma=(0.15953, 0.15953, rho=0) det_map=(-0.151138, -2.52867) lm_pos=(-0.285, -2.52) delta=(0.133862, -0.0086657) -> 1 candidate(s)
I0419 20:53:59.562796 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15818, 1.54634)
I0419 20:53:59.648825 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594344s, prior_pose=(-1.25693, -1.89552), yaw=2.19165 deg
I0419 20:53:59.649022 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:53:59.649067 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:59.649130 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:53:59.650734 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:53:59.798641 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:53:59.798753 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783146, -0.674127), points=4, range=1.035, residual=0.00649336, extent=0.0163058
I0419 20:53:59.798774 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:53:59.798790 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:53:59.798800 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783146, -0.674127), tracking=(1.08165, -0.674127), map_predicted=(-0.149937, -2.52995), range=1.035, pts=4
I0419 20:53:59.798816 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135428m maha_sq=0.70403 (gate chi2=5.99) pose_sigma=(0.159866, 0.159866, rho=0) det_map=(-0.149937, -2.52995) lm_pos=(-0.285, -2.52) delta=(0.135063, -0.00994528) -> 1 candidate(s)
I0419 20:53:59.917598 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779925, -0.671983)
I0419 20:53:59.919325 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:53:59.919386 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:53:59.934500 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517484s, prior_pose=(-1.25947, -1.8991), yaw=2.17329 deg
I0419 20:53:59.934646 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:53:59.934728 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:53:59.934765 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:00.058355 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:00.058456 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15714, 1.54962), points=5, range=1.9302, residual=0.012924, extent=0.0335852
I0419 20:54:00.058477 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:00.058491 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:00.058501 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15714, 1.54962), tracking=(-1.45564, -1.54962), map_predicted=(-2.65443, -3.50229), range=1.9302, pts=5
I0419 20:54:00.058524 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56498m maha_sq=249.837 (gate chi2=5.99) pose_sigma=(0.160151, 0.160151, rho=0) det_map=(-2.65443, -3.50229) lm_pos=(-0.285, -2.52) delta=(-2.36943, -0.982289) -> 0 candidate(s)
I0419 20:54:00.078817 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71584, 0.502826)
I0419 20:54:00.148885 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25755, -1.89703), yaw=2.1936 deg backend=(-1.25755, -1.89703)
I0419 20:54:00.150002 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:00.226897 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0801828s, prior_pose=(-1.25772, -1.8966), yaw=2.18729 deg
I0419 20:54:00.227041 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:00.227139 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:00.227183 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:00.330624 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:00.358779 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15773, 1.55042)
I0419 20:54:00.429571 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:00.429677 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777202, -0.671624), points=7, range=1.027, residual=0.0108503, extent=0.0340867
I0419 20:54:00.429699 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:00.429711 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:00.429721 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777202, -0.671624), tracking=(1.0757, -0.671624), map_predicted=(-0.157531, -2.52637), range=1.027, pts=7
I0419 20:54:00.429782 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.127628m maha_sq=0.618266 (gate chi2=5.99) pose_sigma=(0.160552, 0.160552, rho=0) det_map=(-0.157531, -2.52637) lm_pos=(-0.285, -2.52) delta=(0.127469, -0.00637186) -> 1 candidate(s)
I0419 20:54:00.558759 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561137s, prior_pose=(-1.25962, -1.897), yaw=2.18525 deg
I0419 20:54:00.558866 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=246, threshold=230, above_threshold=5, candidates=5
I0419 20:54:00.558915 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:00.558934 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:00.558960 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:00.558974 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:00.710158 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777824, -0.672111)
I0419 20:54:00.713569 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:00.713641 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15902, 1.54746), points=6, range=1.92967, residual=0.0152671, extent=0.0403142
I0419 20:54:00.713661 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:00.713673 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:00.713682 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15902, 1.54746), tracking=(-1.45752, -1.54746), map_predicted=(-2.65451, -3.49998), range=1.92967, pts=6
I0419 20:54:00.713698 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56416m maha_sq=247.029 (gate chi2=5.99) pose_sigma=(0.160826, 0.160826, rho=0) det_map=(-2.65451, -3.49998) lm_pos=(-0.285, -2.52) delta=(-2.36951, -0.979976) -> 0 candidate(s)
I0419 20:54:00.815737 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0486836s, prior_pose=(-1.26004, -1.89845), yaw=2.16843 deg
I0419 20:54:00.815840 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:00.815873 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:00.815889 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:00.822269 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:00.976426 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784799, -0.673221)
I0419 20:54:00.982414 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25887, -1.89811), yaw=2.19375 deg backend=(-1.25887, -1.89811)
I0419 20:54:00.990933 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:00.991074 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.787022, -0.672172), points=4, range=1.03275, residual=0.00728153, extent=0.0177009
I0419 20:54:00.991117 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:00.991142 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:00.991199 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.787022, -0.672172), tracking=(1.08552, -0.672172), map_predicted=(-0.148412, -2.52823), range=1.03275, pts=4
I0419 20:54:00.991240 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136836m maha_sq=0.707672 (gate chi2=5.99) pose_sigma=(0.161103, 0.161103, rho=0) det_map=(-0.148412, -2.52823) lm_pos=(-0.285, -2.52) delta=(0.136588, -0.00823212) -> 1 candidate(s)
I0419 20:54:01.106498 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759299s, prior_pose=(-1.25927, -1.89828), yaw=2.1889 deg
I0419 20:54:01.106652 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:01.106745 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:01.106778 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:01.236053 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:01.236148 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:01.236930 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15663, 1.54425)
I0419 20:54:01.282437 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:01.282609 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.778712, -0.672935), points=6, range=1.03117, residual=0.00829872, extent=0.0226824
I0419 20:54:01.282639 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:01.282718 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:01.282750 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.778712, -0.672935), tracking=(1.07721, -0.672935), map_predicted=(-0.15457, -2.5272), range=1.03117, pts=6
I0419 20:54:01.282799 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.130629m maha_sq=0.642596 (gate chi2=5.99) pose_sigma=(0.161351, 0.161351, rho=0) det_map=(-0.15457, -2.5272) lm_pos=(-0.285, -2.52) delta=(0.13043, -0.00720066) -> 1 candidate(s)
I0419 20:54:01.402419 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597711s, prior_pose=(-1.25883, -1.89798), yaw=2.17957 deg
I0419 20:54:01.402582 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:01.402662 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:01.402689 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:01.410612 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:01.507012 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.779009, -0.673146)
I0419 20:54:01.604786 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:01.605418 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:01.605512 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781184, -0.673075), points=7, range=1.029, residual=0.0100507, extent=0.0299643
I0419 20:54:01.605535 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:01.605546 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:01.605589 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781184, -0.673075), tracking=(1.07968, -0.673075), map_predicted=(-0.153462, -2.52745), range=1.029, pts=7
I0419 20:54:01.605609 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.131749m maha_sq=0.649882 (gate chi2=5.99) pose_sigma=(0.16173, 0.16173, rho=0) det_map=(-0.153462, -2.52745) lm_pos=(-0.285, -2.52) delta=(0.131538, -0.00745463) -> 1 candidate(s)
I0419 20:54:01.731587 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480866s, prior_pose=(-1.25807, -1.89698), yaw=2.17586 deg
I0419 20:54:01.731701 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:01.731755 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:01.731776 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:01.733666 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781711, -0.673124)
I0419 20:54:01.754503 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:01.754578 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:01.874069 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25704, -1.8981), yaw=2.18814 deg backend=(-1.25704, -1.8981)
I0419 20:54:01.874650 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:01.874691 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783801, -0.673357), points=4, range=1.027, residual=0.0151299, extent=0.0357774
I0419 20:54:01.874712 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:01.874724 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:01.874735 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783801, -0.673357), tracking=(1.0823, -0.673357), map_predicted=(-0.149822, -2.52964), range=1.027, pts=4
I0419 20:54:01.874751 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135521m maha_sq=0.682645 (gate chi2=5.99) pose_sigma=(0.161938, 0.161938, rho=0) det_map=(-0.149822, -2.52964) lm_pos=(-0.285, -2.52) delta=(0.135178, -0.00964155) -> 1 candidate(s)
I0419 20:54:02.004422 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0763647s, prior_pose=(-1.25662, -1.89671), yaw=2.19605 deg
I0419 20:54:02.004534 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=253, threshold=230, above_threshold=6, candidates=6
I0419 20:54:02.004621 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:02.004642 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:02.006491 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:02.018736 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.781347, -0.67517)
I0419 20:54:02.162021 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:02.162137 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783546, -0.673147), points=6, range=1.02867, residual=0.0126554, extent=0.0349011
I0419 20:54:02.162158 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:02.162206 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:02.162221 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783546, -0.673147), tracking=(1.08205, -0.673147), map_predicted=(-0.155708, -2.5276), range=1.02867, pts=6
I0419 20:54:02.162245 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.129515m maha_sq=0.621282 (gate chi2=5.99) pose_sigma=(0.162442, 0.162442, rho=0) det_map=(-0.155708, -2.5276) lm_pos=(-0.285, -2.52) delta=(0.129292, -0.0075952) -> 1 candidate(s)
I0419 20:54:02.282779 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599175s, prior_pose=(-1.25807, -1.89649), yaw=2.16337 deg
I0419 20:54:02.282891 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:54:02.282943 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:02.282960 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:02.310158 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.784764, -0.674185)
I0419 20:54:02.402513 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:02.402617 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:02.466437 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:02.466544 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15924, 1.54306), points=5, range=1.9322, residual=0.0124422, extent=0.0328595
I0419 20:54:02.466565 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:02.466578 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:02.466588 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15924, 1.54306), tracking=(-1.45774, -1.54306), map_predicted=(-2.6555, -3.49532), range=1.9322, pts=5
I0419 20:54:02.466639 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5633m maha_sq=241.619 (gate chi2=5.99) pose_sigma=(0.162851, 0.162851, rho=0) det_map=(-2.6555, -3.49532) lm_pos=(-0.285, -2.52) delta=(-2.3705, -0.975322) -> 0 candidate(s)
I0419 20:54:02.574472 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0448037s, prior_pose=(-1.25898, -1.89785), yaw=2.18494 deg
I0419 20:54:02.574589 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:02.574687 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:02.574712 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:02.586675 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:02.607234 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778075, -0.67233)
I0419 20:54:02.807920 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2584, -1.89488), yaw=2.18508 deg backend=(-1.2584, -1.89488)
I0419 20:54:02.809922 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:02.810004 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15804, 1.55083), points=5, range=1.93, residual=0.0161421, extent=0.0398796
I0419 20:54:02.810021 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:02.810083 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:02.810094 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15804, 1.55083), tracking=(-1.45654, -1.55083), map_predicted=(-2.65475, -3.50011), range=1.93, pts=5
I0419 20:54:02.810111 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56444m maha_sq=239.739 (gate chi2=5.99) pose_sigma=(0.163256, 0.163256, rho=0) det_map=(-2.65475, -3.50011) lm_pos=(-0.285, -2.52) delta=(-2.36975, -0.980114) -> 0 candidate(s)
I0419 20:54:02.870370 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761555s, prior_pose=(-1.2584, -1.89488), yaw=2.18696 deg
I0419 20:54:02.870493 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:02.870548 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:02.870568 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:02.928783 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15878, 1.54714)
I0419 20:54:02.958797 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:02.959079 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:03.058204 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:03.061349 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:03.061463 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15796, 1.54601), points=6, range=1.93167, residual=0.0109114, extent=0.0294433
I0419 20:54:03.061483 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:03.061499 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:03.061508 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15796, 1.54601), tracking=(-1.45646, -1.54601), map_predicted=(-2.65449, -3.49731), range=1.93167, pts=6
I0419 20:54:03.061525 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56312m maha_sq=240.105 (gate chi2=5.99) pose_sigma=(0.163475, 0.163475, rho=0) det_map=(-2.65449, -3.49731) lm_pos=(-0.285, -2.52) delta=(-2.36949, -0.977308) -> 0 candidate(s)
I0419 20:54:03.191960 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15564, 1.54761)
I0419 20:54:03.193176 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055501s, prior_pose=(-1.25914, -1.89547), yaw=2.18304 deg
I0419 20:54:03.193310 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:03.193387 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:03.193435 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:03.194283 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:03.325238 1218978 pose_graph_2d.cc:160] Inserted submap (1, 1).
I0419 20:54:03.350700 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:03.350800 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1614, 1.55061), points=4, range=1.933, residual=0.0118594, extent=0.0285148
I0419 20:54:03.350824 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:03.350867 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:03.350878 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1614, 1.55061), tracking=(-1.4599, -1.55061), map_predicted=(-2.65894, -3.50312), range=1.933, pts=4
I0419 20:54:03.350898 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56945m maha_sq=240.174 (gate chi2=5.99) pose_sigma=(0.163798, 0.163798, rho=0) det_map=(-2.65894, -3.50312) lm_pos=(-0.285, -2.52) delta=(-2.37394, -0.983116) -> 0 candidate(s)
I0419 20:54:03.462405 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15999, 1.54405)
I0419 20:54:03.464497 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481908s, prior_pose=(-1.25948, -1.89629), yaw=2.19273 deg
I0419 20:54:03.464608 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=246, threshold=230, above_threshold=5, candidates=5
I0419 20:54:03.464650 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:03.464668 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:03.604182 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:03.604274 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:03.615940 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.26014, -1.89639), yaw=2.19109 deg backend=(-1.26014, -1.89639)
I0419 20:54:03.646497 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:03.646605 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15939, 1.54325), points=5, range=1.931, residual=0.01025, extent=0.0264333
I0419 20:54:03.646625 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:03.646637 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:03.646646 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15939, 1.54325), tracking=(-1.45789, -1.54325), map_predicted=(-2.65797, -3.49425), range=1.931, pts=5
I0419 20:54:03.646667 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56518m maha_sq=239.185 (gate chi2=5.99) pose_sigma=(0.163974, 0.163974, rho=0) det_map=(-2.65797, -3.49425) lm_pos=(-0.285, -2.52) delta=(-2.37297, -0.974249) -> 0 candidate(s)
I0419 20:54:03.756417 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1577, 1.5457)
I0419 20:54:03.759886 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076098s, prior_pose=(-1.26038, -1.89591), yaw=2.16569 deg
I0419 20:54:03.759967 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:03.760005 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:03.760023 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:03.761812 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:03.991353 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:03.991477 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15864, 1.55163), points=5, range=1.9318, residual=0.0146814, extent=0.0366601
I0419 20:54:03.991533 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:03.991549 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:03.991560 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15864, 1.55163), tracking=(-1.45714, -1.55163), map_predicted=(-2.65358, -3.50198), range=1.9318, pts=5
I0419 20:54:03.991582 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56407m maha_sq=237.145 (gate chi2=5.99) pose_sigma=(0.164285, 0.164285, rho=0) det_map=(-2.65358, -3.50198) lm_pos=(-0.285, -2.52) delta=(-2.36858, -0.981977) -> 0 candidate(s)
I0419 20:54:03.998539 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15202, 1.54745)
I0419 20:54:04.042497 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564469s, prior_pose=(-1.25658, -1.89598), yaw=2.1837 deg
I0419 20:54:04.042610 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:54:04.042667 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:04.042685 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:04.154177 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:04.154295 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:04.255601 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:04.255714 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15835, 1.55122), points=5, range=1.9324, residual=0.0119869, extent=0.0275353
I0419 20:54:04.255734 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:04.255748 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:04.255757 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15835, 1.55122), tracking=(-1.45685, -1.55122), map_predicted=(-2.65695, -3.50111), range=1.9324, pts=5
I0419 20:54:04.255774 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56685m maha_sq=237.531 (gate chi2=5.99) pose_sigma=(0.164549, 0.164549, rho=0) det_map=(-2.65695, -3.50111) lm_pos=(-0.285, -2.52) delta=(-2.37195, -0.981107) -> 0 candidate(s)
I0419 20:54:04.290700 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15926, 1.54778)
I0419 20:54:04.418679 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475551s, prior_pose=(-1.26015, -1.89963), yaw=2.17091 deg
I0419 20:54:04.418783 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=251, threshold=230, above_threshold=4, candidates=4
I0419 20:54:04.418834 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:04.418853 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:04.419612 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:04.519392 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:04.521667 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25982, -1.89685), yaw=2.17358 deg backend=(-1.25982, -1.89685)
I0419 20:54:04.526594 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:04.526758 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15807, 1.54618), points=6, range=1.92817, residual=0.0149701, extent=0.0395856
I0419 20:54:04.526856 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:04.526909 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:04.526958 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15807, 1.54618), tracking=(-1.45657, -1.54618), map_predicted=(-2.6567, -3.49716), range=1.92817, pts=6
I0419 20:54:04.527015 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56511m maha_sq=235.185 (gate chi2=5.99) pose_sigma=(0.16503, 0.16503, rho=0) det_map=(-2.6567, -3.49716) lm_pos=(-0.285, -2.52) delta=(-2.3717, -0.977157) -> 0 candidate(s)
I0419 20:54:04.582170 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15455, 1.54614)
I0419 20:54:04.648543 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754867s, prior_pose=(-1.25799, -1.89719), yaw=2.17164 deg
I0419 20:54:04.648682 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:04.648723 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:04.648741 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:04.718691 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:04.718784 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:04.818871 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:04.819026 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1585, 1.55142), points=5, range=1.9328, residual=0.0116541, extent=0.0287617
I0419 20:54:04.819075 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:04.819104 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:04.819128 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1585, 1.55142), tracking=(-1.457, -1.55142), map_predicted=(-2.65559, -3.50324), range=1.9328, pts=5
I0419 20:54:04.819168 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56642m maha_sq=235.675 (gate chi2=5.99) pose_sigma=(0.165206, 0.165206, rho=0) det_map=(-2.65559, -3.50324) lm_pos=(-0.285, -2.52) delta=(-2.37059, -0.983245) -> 0 candidate(s)
I0419 20:54:04.931226 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15914, 1.54762)
I0419 20:54:04.934768 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597445s, prior_pose=(-1.2573, -1.89744), yaw=2.20415 deg
I0419 20:54:04.934859 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:04.934895 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:04.934913 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:04.935647 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:05.177736 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:05.177855 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15984, 1.54386), points=5, range=1.933, residual=0.011911, extent=0.0314368
I0419 20:54:05.177914 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:05.177927 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:05.177938 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15984, 1.54386), tracking=(-1.45834, -1.54386), map_predicted=(-2.65549, -3.49522), range=1.933, pts=5
I0419 20:54:05.177956 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56326m maha_sq=234.507 (gate chi2=5.99) pose_sigma=(0.1654, 0.1654, rho=0) det_map=(-2.65549, -3.49522) lm_pos=(-0.285, -2.52) delta=(-2.37049, -0.975223) -> 0 candidate(s)
I0419 20:54:05.180454 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15914, 1.54762)
I0419 20:54:05.217875 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475671s, prior_pose=(-1.25712, -1.89685), yaw=2.18973 deg
I0419 20:54:05.217986 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:05.218042 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:05.218061 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:05.367070 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:05.367205 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:05.472761 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25739, -1.89672), yaw=2.19391 deg backend=(-1.25739, -1.89672)
I0419 20:54:05.477030 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:05.477155 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15775, 1.55042), points=5, range=1.9314, residual=0.0122676, extent=0.0314202
I0419 20:54:05.477181 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:05.477192 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:05.477203 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15775, 1.55042), tracking=(-1.45625, -1.55042), map_predicted=(-2.6532, -3.50177), range=1.9314, pts=5
I0419 20:54:05.477222 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56364m maha_sq=233.75 (gate chi2=5.99) pose_sigma=(0.165674, 0.165674, rho=0) det_map=(-2.6532, -3.50177) lm_pos=(-0.285, -2.52) delta=(-2.3682, -0.981771) -> 0 candidate(s)
I0419 20:54:05.478859 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15592, 1.54329)
I0419 20:54:05.514144 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0765337s, prior_pose=(-1.25739, -1.89672), yaw=2.19578 deg
I0419 20:54:05.514249 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 20:54:05.514303 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:05.514328 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:05.590431 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:05.730517 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15854, 1.54682)
I0419 20:54:05.730636 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:05.730721 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15835, 1.55122), points=5, range=1.9326, residual=0.0118826, extent=0.0307411
I0419 20:54:05.730756 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:05.730780 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:05.730801 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15835, 1.55122), tracking=(-1.45685, -1.55122), map_predicted=(-2.65029, -3.50269), range=1.9326, pts=5
I0419 20:54:05.730835 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5613m maha_sq=232.55 (gate chi2=5.99) pose_sigma=(0.165984, 0.165984, rho=0) det_map=(-2.65029, -3.50269) lm_pos=(-0.285, -2.52) delta=(-2.36529, -0.98269) -> 0 candidate(s)
I0419 20:54:05.853842 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600931s, prior_pose=(-1.25713, -1.89716), yaw=2.20228 deg
I0419 20:54:05.853955 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:54:05.854002 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:05.854023 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:05.997617 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:05.999259 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:05.999336 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:06.009192 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:06.013921 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784227, -0.672735)
I0419 20:54:06.025833 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:06.025935 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16081, 1.5498), points=4, range=1.93175, residual=0.0119149, extent=0.0269113
I0419 20:54:06.025971 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:06.025995 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:06.026015 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16081, 1.5498), tracking=(-1.45931, -1.5498), map_predicted=(-2.66093, -3.50153), range=1.93175, pts=4
I0419 20:54:06.026049 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.57069m maha_sq=232.939 (gate chi2=5.99) pose_sigma=(0.166462, 0.166462, rho=0) det_map=(-2.66093, -3.50153) lm_pos=(-0.285, -2.52) delta=(-2.37593, -0.981529) -> 0 candidate(s)
I0419 20:54:06.136972 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476872s, prior_pose=(-1.25779, -1.89545), yaw=2.19208 deg
I0419 20:54:06.137144 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:54:06.137213 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:06.137243 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:06.138350 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:06.265266 1218530 collated_trajectory_builder.cc:82] imu rate: 200.00 Hz 5.00e-03 s +/- 5.55e-03 s (pulsed at 100.05% real time)
I0419 20:54:06.265491 1218530 collated_trajectory_builder.cc:82] odom rate: 243.69 Hz 4.10e-03 s +/- 3.23e-03 s (pulsed at 99.45% real time)
I0419 20:54:06.265604 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 8.54e-03 s (pulsed at 100.13% real time)
I0419 20:54:06.265642 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 9.14e-03 s (pulsed at 100.02% real time)
I0419 20:54:06.271883 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25591, -1.89685), yaw=2.19676 deg backend=(-1.25591, -1.89685)
I0419 20:54:06.287518 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15698, 1.54475)
I0419 20:54:06.371227 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:06.371322 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15355, 1.54482), points=5, range=1.928, residual=0.0100515, extent=0.0245079
I0419 20:54:06.371342 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:06.371353 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:06.371362 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15355, 1.54482), tracking=(-1.45205, -1.54482), map_predicted=(-2.65194, -3.49469), range=1.928, pts=5
I0419 20:54:06.371381 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55977m maha_sq=229.402 (gate chi2=5.99) pose_sigma=(0.167165, 0.167165, rho=0) det_map=(-2.65194, -3.49469) lm_pos=(-0.285, -2.52) delta=(-2.36694, -0.974692) -> 0 candidate(s)
I0419 20:54:06.394476 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0767835s, prior_pose=(-1.25966, -1.8958), yaw=2.17939 deg
I0419 20:54:06.394631 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:06.394702 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:06.394726 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:06.542757 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:06.542939 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:06.570070 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.780185, -0.673207)
I0419 20:54:06.657886 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:06.657990 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15954, 1.55283), points=5, range=1.9346, residual=0.0119887, extent=0.0300799
I0419 20:54:06.658012 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:06.658025 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:06.658034 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15954, 1.55283), tracking=(-1.45804, -1.55283), map_predicted=(-2.65776, -3.50228), range=1.9346, pts=5
I0419 20:54:06.658051 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56805m maha_sq=229.333 (gate chi2=5.99) pose_sigma=(0.167614, 0.167614, rho=0) det_map=(-2.65776, -3.50228) lm_pos=(-0.285, -2.52) delta=(-2.37276, -0.982281) -> 0 candidate(s)
I0419 20:54:06.686192 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553617s, prior_pose=(-1.25968, -1.89526), yaw=2.17477 deg
I0419 20:54:06.686347 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:06.686475 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:06.686508 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:06.698691 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:06.927045 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15843, 1.54666)
I0419 20:54:06.934557 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:06.934679 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1582, 1.55102), points=5, range=1.932, residual=0.012334, extent=0.0287435
I0419 20:54:06.934700 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:06.934712 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:06.934722 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1582, 1.55102), tracking=(-1.4567, -1.55102), map_predicted=(-2.65407, -3.50054), range=1.932, pts=5
I0419 20:54:06.934739 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56397m maha_sq=227.069 (gate chi2=5.99) pose_sigma=(0.168169, 0.168169, rho=0) det_map=(-2.65407, -3.50054) lm_pos=(-0.285, -2.52) delta=(-2.36907, -0.980538) -> 0 candidate(s)
I0419 20:54:07.025755 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479405s, prior_pose=(-1.25578, -1.89545), yaw=2.18318 deg
I0419 20:54:07.025879 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:07.025943 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:07.025961 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:07.164160 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15794, 1.54602)
I0419 20:54:07.165519 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2579, -1.89472), yaw=2.18852 deg backend=(-1.2579, -1.89472)
I0419 20:54:07.186347 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:07.186453 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:07.226717 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:07.226852 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15535, 1.54722), points=5, range=1.9278, residual=0.011723, extent=0.0287254
I0419 20:54:07.226897 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:07.226926 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:07.226951 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15535, 1.54722), tracking=(-1.45385, -1.54722), map_predicted=(-2.6516, -3.49634), range=1.9278, pts=5
I0419 20:54:07.226994 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56008m maha_sq=225.798 (gate chi2=5.99) pose_sigma=(0.168436, 0.168436, rho=0) det_map=(-2.6516, -3.49634) lm_pos=(-0.285, -2.52) delta=(-2.3666, -0.976336) -> 0 candidate(s)
I0419 20:54:07.305511 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756294s, prior_pose=(-1.25806, -1.89579), yaw=2.17962 deg
I0419 20:54:07.305617 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:07.305691 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:07.305708 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:07.307325 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:07.430512 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:07.434131 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1595, 1.5481)
I0419 20:54:07.559444 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:07.559580 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1591, 1.55222), points=5, range=1.9344, residual=0.0108379, extent=0.0264629
I0419 20:54:07.559600 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:07.559612 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:07.559626 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1591, 1.55222), tracking=(-1.4576, -1.55222), map_predicted=(-2.65824, -3.50227), range=1.9344, pts=5
I0419 20:54:07.559644 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56849m maha_sq=226.373 (gate chi2=5.99) pose_sigma=(0.168839, 0.168839, rho=0) det_map=(-2.65824, -3.50227) lm_pos=(-0.285, -2.52) delta=(-2.37324, -0.982266) -> 0 candidate(s)
I0419 20:54:07.570811 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605505s, prior_pose=(-1.26069, -1.89577), yaw=2.17887 deg
I0419 20:54:07.570971 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=247, threshold=230, above_threshold=3, candidates=3
I0419 20:54:07.571050 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:07.571091 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:54:07.698501 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.1567, 1.54902)
I0419 20:54:07.824440 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:07.824537 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:07.834321 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:07.834389 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784914, -0.674316), points=6, range=1.0305, residual=0.0129386, extent=0.0375402
I0419 20:54:07.834407 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:07.834421 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:07.834431 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784914, -0.674316), tracking=(1.08341, -0.674316), map_predicted=(-0.145659, -2.5286), range=1.0305, pts=6
I0419 20:54:07.834448 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139607m maha_sq=0.665916 (gate chi2=5.99) pose_sigma=(0.16926, 0.16926, rho=0) det_map=(-0.145659, -2.5286) lm_pos=(-0.285, -2.52) delta=(0.139341, -0.00859966) -> 1 candidate(s)
I0419 20:54:07.862243 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436538s, prior_pose=(-1.25447, -1.89692), yaw=2.22889 deg
I0419 20:54:07.862515 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:54:07.862735 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:07.862771 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:07.874473 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:08.004142 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.781563, -0.673401)
I0419 20:54:08.110787 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25612, -1.8968), yaw=2.20375 deg backend=(-1.25612, -1.8968)
I0419 20:54:08.126004 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:08.126117 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788289, -0.673255), points=4, range=1.034, residual=0.00770851, extent=0.0184515
I0419 20:54:08.126149 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:08.126170 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:08.126185 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.788289, -0.673255), tracking=(1.08679, -0.673255), map_predicted=(-0.144249, -2.52778), range=1.034, pts=4
I0419 20:54:08.126217 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140966m maha_sq=0.679186 (gate chi2=5.99) pose_sigma=(0.169548, 0.169548, rho=0) det_map=(-0.144249, -2.52778) lm_pos=(-0.285, -2.52) delta=(0.140751, -0.00778009) -> 1 candidate(s)
I0419 20:54:08.158571 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0797683s, prior_pose=(-1.25612, -1.8968), yaw=2.20326 deg
I0419 20:54:08.158733 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=3, candidates=3
I0419 20:54:08.158808 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:08.158843 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:54:08.263100 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15531, 1.54249)
I0419 20:54:08.422434 1219493 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:08.422537 1219493 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:08.487824 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:08.487972 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16014, 1.54426), points=5, range=1.933, residual=0.0113007, extent=0.0294112
I0419 20:54:08.487993 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:08.488009 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:08.488019 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16014, 1.54426), tracking=(-1.45864, -1.54426), map_predicted=(-2.65339, -3.4956), range=1.933, pts=5
I0419 20:54:08.488040 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56145m maha_sq=222.279 (gate chi2=5.99) pose_sigma=(0.169915, 0.169915, rho=0) det_map=(-2.65339, -3.4956) lm_pos=(-0.285, -2.52) delta=(-2.36839, -0.975596) -> 0 candidate(s)
I0419 20:54:08.488932 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601711s, prior_pose=(-1.25506, -1.89652), yaw=2.19845 deg
I0419 20:54:08.489089 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:08.489141 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:08.489161 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:08.490068 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:08.518838 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15524, 1.54708)
I0419 20:54:08.777369 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:08.777478 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15657, 1.55353), points=6, range=1.934, residual=0.0124674, extent=0.0308883
I0419 20:54:08.777496 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:08.777508 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:08.777518 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15657, 1.55353), tracking=(-1.45507, -1.55353), map_predicted=(-2.65028, -3.50451), range=1.934, pts=6
I0419 20:54:08.777532 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56199m maha_sq=221.761 (gate chi2=5.99) pose_sigma=(0.170072, 0.170072, rho=0) det_map=(-2.65028, -3.50451) lm_pos=(-0.285, -2.52) delta=(-2.36528, -0.984513) -> 0 candidate(s)
I0419 20:54:08.779394 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484912s, prior_pose=(-1.25598, -1.89621), yaw=2.20287 deg
I0419 20:54:08.779474 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=853, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:08.779515 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:08.779532 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:08.813934 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15854, 1.54682)
I0419 20:54:08.914356 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:08.919821 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.255, -1.89619), yaw=2.19385 deg backend=(-1.255, -1.89619)
I0419 20:54:09.038316 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0731564s, prior_pose=(-1.25646, -1.89616), yaw=2.205 deg
I0419 20:54:09.038434 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:09.038477 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:09.038504 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:09.038517 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:09.038532 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78518, -0.673545), points=5, range=1.0296, residual=0.0139726, extent=0.0366685
I0419 20:54:09.038542 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:09.038552 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:09.038560 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78518, -0.673545), tracking=(1.08368, -0.673545), map_predicted=(-0.14767, -2.52752), range=1.0296, pts=5
I0419 20:54:09.038609 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137536m maha_sq=0.638491 (gate chi2=5.99) pose_sigma=(0.170233, 0.170233, rho=0) det_map=(-0.14767, -2.52752) lm_pos=(-0.285, -2.52) delta=(0.13733, -0.00751532) -> 1 candidate(s)
I0419 20:54:09.038626 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:09.038635 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:09.049867 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:09.145949 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.776134, -0.670623)
I0419 20:54:09.330535 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060185s, prior_pose=(-1.25565, -1.89792), yaw=2.20874 deg
I0419 20:54:09.330650 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=253, threshold=230, above_threshold=4, candidates=4
I0419 20:54:09.330703 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:09.330719 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:09.330734 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:09.330752 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.773834, -0.672655), points=4, range=1.02925, residual=0.0115494, extent=0.0284099
I0419 20:54:09.330767 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:09.330777 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:09.330786 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.773834, -0.672655), tracking=(1.07233, -0.672655), map_predicted=(-0.158188, -2.52875), range=1.02925, pts=4
I0419 20:54:09.330806 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.127114m maha_sq=0.543929 (gate chi2=5.99) pose_sigma=(0.170649, 0.170649, rho=0) det_map=(-0.158188, -2.52875) lm_pos=(-0.285, -2.52) delta=(0.126812, -0.00874701) -> 1 candidate(s)
I0419 20:54:09.417155 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.776537, -0.67233)
I0419 20:54:09.566182 1218530 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:54:09.699956 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484306s, prior_pose=(-1.25725, -1.89554), yaw=2.18325 deg
I0419 20:54:09.700074 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:54:09.700132 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:09.700152 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:09.700933 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:09.700975 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1567, 1.54902), points=5, range=1.9302, residual=0.0113796, extent=0.0293935
I0419 20:54:09.701053 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:09.701108 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:09.701126 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1567, 1.54902), tracking=(-1.4552, -1.54902), map_predicted=(-2.65238, -3.49887), range=1.9302, pts=5
I0419 20:54:09.701275 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56177m maha_sq=219.524 (gate chi2=5.99) pose_sigma=(0.171019, 0.171019, rho=0) det_map=(-2.65238, -3.49887) lm_pos=(-0.285, -2.52) delta=(-2.36738, -0.97887) -> 0 candidate(s)
I0419 20:54:09.701299 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:09.702273 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784038, -0.672573)
I0419 20:54:09.702333 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:09.702350 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:09.827471 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25612, -1.89764), yaw=2.18905 deg backend=(-1.25612, -1.89764)
I0419 20:54:09.938639 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762316s, prior_pose=(-1.25512, -1.8955), yaw=2.20216 deg
I0419 20:54:09.938793 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:54:09.938831 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:09.938848 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784421, -0.672893)
I0419 20:54:09.938863 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:09.940605 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:09.940691 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1553, 1.55183), points=4, range=1.9325, residual=0.00826326, extent=0.0186458
I0419 20:54:09.940717 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:09.940730 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:09.940744 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1553, 1.55183), tracking=(-1.4538, -1.55183), map_predicted=(-2.6482, -3.50207), range=1.9325, pts=4
I0419 20:54:09.940763 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55913m maha_sq=218.737 (gate chi2=5.99) pose_sigma=(0.171331, 0.171331, rho=0) det_map=(-2.6482, -3.50207) lm_pos=(-0.285, -2.52) delta=(-2.3632, -0.982069) -> 0 candidate(s)
I0419 20:54:10.214919 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0610883s, prior_pose=(-1.25603, -1.89662), yaw=2.18754 deg
I0419 20:54:10.215031 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:10.215083 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:10.215099 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784419, -0.672897)
I0419 20:54:10.215113 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:10.226270 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:10.243214 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:10.243348 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785178, -0.673547), points=5, range=1.0302, residual=0.0127173, extent=0.0332449
I0419 20:54:10.243388 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:10.243458 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:10.243486 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785178, -0.673547), tracking=(1.08368, -0.673547), map_predicted=(-0.147419, -2.52829), range=1.0302, pts=5
I0419 20:54:10.243521 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13783m maha_sq=0.631818 (gate chi2=5.99) pose_sigma=(0.171622, 0.171622, rho=0) det_map=(-0.147419, -2.52829) lm_pos=(-0.285, -2.52) delta=(0.137581, -0.00828861) -> 1 candidate(s)
I0419 20:54:10.271031 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:10.271365 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:10.339964 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:10.474684 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.77503, -0.671015)
I0419 20:54:10.506541 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480175s, prior_pose=(-1.25555, -1.89639), yaw=2.17946 deg
I0419 20:54:10.506661 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:10.506718 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:10.506742 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:10.534642 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:10.534754 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784457, -0.673928), points=6, range=1.03017, residual=0.0121678, extent=0.0349279
I0419 20:54:10.534780 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:10.534796 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:10.534808 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784457, -0.673928), tracking=(1.08296, -0.673928), map_predicted=(-0.147744, -2.52864), range=1.03017, pts=6
I0419 20:54:10.534830 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137528m maha_sq=0.627663 (gate chi2=5.99) pose_sigma=(0.171855, 0.171855, rho=0) det_map=(-0.147744, -2.52864) lm_pos=(-0.285, -2.52) delta=(0.137256, -0.00864172) -> 1 candidate(s)
I0419 20:54:10.729480 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25667, -1.8951), yaw=2.16327 deg backend=(-1.25667, -1.8951)
I0419 20:54:10.754413 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15849, 1.54206)
I0419 20:54:10.799788 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0770782s, prior_pose=(-1.25667, -1.8951), yaw=2.16405 deg
I0419 20:54:10.799887 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:10.799947 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:10.799964 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:10.865351 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:10.866616 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:10.866923 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784417, -0.672899), points=5, range=1.0298, residual=0.011407, extent=0.0291535
I0419 20:54:10.867156 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:10.867305 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:10.867447 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784417, -0.672899), tracking=(1.08292, -0.672899), map_predicted=(-0.147766, -2.52731), range=1.0298, pts=5
I0419 20:54:10.867609 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137429m maha_sq=0.624839 (gate chi2=5.99) pose_sigma=(0.172177, 0.172177, rho=0) det_map=(-0.147766, -2.52731) lm_pos=(-0.285, -2.52) delta=(0.137234, -0.00730857) -> 1 candidate(s)
I0419 20:54:10.870659 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:10.870733 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:11.033646 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.780124, -0.672507)
I0419 20:54:11.159343 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605324s, prior_pose=(-1.25554, -1.89712), yaw=2.1936 deg
I0419 20:54:11.159464 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=246, threshold=230, above_threshold=4, candidates=4
I0419 20:54:11.159502 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:11.159524 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:11.162042 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:11.162119 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782773, -0.674036), points=6, range=1.02983, residual=0.0120774, extent=0.0332543
I0419 20:54:11.162138 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:11.162148 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:11.162158 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782773, -0.674036), tracking=(1.08127, -0.674036), map_predicted=(-0.149259, -2.52927), range=1.02983, pts=6
I0419 20:54:11.162174 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136057m maha_sq=0.610995 (gate chi2=5.99) pose_sigma=(0.172336, 0.172336, rho=0) det_map=(-0.149259, -2.52927) lm_pos=(-0.285, -2.52) delta=(0.135741, -0.00926664) -> 1 candidate(s)
I0419 20:54:11.310496 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16058, 1.54955)
I0419 20:54:11.396315 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.04356s, prior_pose=(-1.25887, -1.89628), yaw=2.15789 deg
I0419 20:54:11.396525 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:11.396647 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:11.396699 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:11.397625 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:11.430801 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:11.430924 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15956, 1.55282), points=3, range=1.93167, residual=0.0138262, extent=0.0253814
I0419 20:54:11.431010 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:11.431039 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:11.431062 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15956, 1.55282), tracking=(-1.45806, -1.55282), map_predicted=(-2.65744, -3.5029), range=1.93167, pts=3
I0419 20:54:11.431103 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56798m maha_sq=215.69 (gate chi2=5.99) pose_sigma=(0.172814, 0.172814, rho=0) det_map=(-2.65744, -3.5029) lm_pos=(-0.285, -2.52) delta=(-2.37244, -0.982896) -> 0 candidate(s)
I0419 20:54:11.553789 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:11.553884 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:11.561156 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25372, -1.89581), yaw=2.18489 deg backend=(-1.25372, -1.89581)
I0419 20:54:11.656507 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15885, 1.5449)
I0419 20:54:11.682289 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0766582s, prior_pose=(-1.25512, -1.89738), yaw=2.17089 deg
I0419 20:54:11.682442 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:11.682507 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:11.682531 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:11.721606 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:11.721699 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15639, 1.54393), points=6, range=1.92567, residual=0.0138263, extent=0.0368318
I0419 20:54:11.721728 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:11.721741 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:11.721751 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15639, 1.54393), tracking=(-1.45489, -1.54393), map_predicted=(-2.65051, -3.4953), range=1.92567, pts=6
I0419 20:54:11.721771 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55868m maha_sq=212.991 (gate chi2=5.99) pose_sigma=(0.173288, 0.173288, rho=0) det_map=(-2.65051, -3.4953) lm_pos=(-0.285, -2.52) delta=(-2.36551, -0.975298) -> 0 candidate(s)
I0419 20:54:11.787897 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:11.922339 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15758, 1.54554)
I0419 20:54:11.974058 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591023s, prior_pose=(-1.25526, -1.89564), yaw=2.20229 deg
I0419 20:54:11.974232 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:11.974320 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:11.974351 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:11.994973 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:12.092406 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:12.092561 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15715, 1.54962), points=5, range=1.931, residual=0.0110755, extent=0.028142
I0419 20:54:12.092581 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:12.092592 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:12.092602 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15715, 1.54962), tracking=(-1.45565, -1.54962), map_predicted=(-2.64908, -3.50151), range=1.931, pts=5
I0419 20:54:12.092618 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55974m maha_sq=212.562 (gate chi2=5.99) pose_sigma=(0.173736, 0.173736, rho=0) det_map=(-2.64908, -3.50151) lm_pos=(-0.285, -2.52) delta=(-2.36408, -0.981508) -> 0 candidate(s)
I0419 20:54:12.096009 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:12.096078 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:12.211037 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15674, 1.54443)
I0419 20:54:12.331681 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0482156s, prior_pose=(-1.25485, -1.89505), yaw=2.21185 deg
I0419 20:54:12.331796 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:12.331847 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:12.331871 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:12.335300 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:12.335381 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15984, 1.54386), points=5, range=1.9332, residual=0.0124452, extent=0.0328675
I0419 20:54:12.335402 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:12.335417 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:12.335429 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15984, 1.54386), tracking=(-1.45834, -1.54386), map_predicted=(-2.65253, -3.49403), range=1.9332, pts=5
I0419 20:54:12.335448 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56006m maha_sq=211.949 (gate chi2=5.99) pose_sigma=(0.173922, 0.173922, rho=0) det_map=(-2.65253, -3.49403) lm_pos=(-0.285, -2.52) delta=(-2.36753, -0.974027) -> 0 candidate(s)
I0419 20:54:12.451439 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15541, 1.54267)
I0419 20:54:12.452760 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25337, -1.89527), yaw=2.18786 deg backend=(-1.25337, -1.89527)
I0419 20:54:12.628832 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760562s, prior_pose=(-1.25669, -1.89402), yaw=2.15929 deg
I0419 20:54:12.628957 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:12.629034 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:12.629055 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:12.630976 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:12.632754 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:12.632851 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15835, 1.55122), points=5, range=1.9322, residual=0.0123735, extent=0.0300451
I0419 20:54:12.632876 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:12.632891 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:12.632902 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15835, 1.55122), tracking=(-1.45685, -1.55122), map_predicted=(-2.65405, -3.49904), range=1.9322, pts=5
I0419 20:54:12.632920 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56338m maha_sq=211.733 (gate chi2=5.99) pose_sigma=(0.174248, 0.174248, rho=0) det_map=(-2.65405, -3.49904) lm_pos=(-0.285, -2.52) delta=(-2.36905, -0.979044) -> 0 candidate(s)
I0419 20:54:12.650967 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:12.651090 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:12.762604 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.777287, -0.671644)
I0419 20:54:12.859678 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599619s, prior_pose=(-1.25614, -1.89508), yaw=2.1977 deg
I0419 20:54:12.859786 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:12.859823 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:12.859841 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:12.898021 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:12.898104 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15861, 1.54687), points=4, range=1.92875, residual=0.0110311, extent=0.02613
I0419 20:54:12.898126 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:12.898142 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:12.898156 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15861, 1.54687), tracking=(-1.45711, -1.54687), map_predicted=(-2.65287, -3.49667), range=1.92875, pts=4
I0419 20:54:12.898180 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56139m maha_sq=211.12 (gate chi2=5.99) pose_sigma=(0.174459, 0.174459, rho=0) det_map=(-2.65287, -3.49667) lm_pos=(-0.285, -2.52) delta=(-2.36787, -0.976672) -> 0 candidate(s)
I0419 20:54:13.002027 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.785371, -0.673706)
I0419 20:54:13.150127 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480811s, prior_pose=(-1.25285, -1.89537), yaw=2.21388 deg
I0419 20:54:13.150246 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:13.150291 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:13.150314 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:13.162617 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:13.265612 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:13.265697 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15633, 1.55322), points=6, range=1.93367, residual=0.0123547, extent=0.0317946
I0419 20:54:13.265751 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:13.265766 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:13.265777 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15633, 1.55322), tracking=(-1.45483, -1.55322), map_predicted=(-2.65044, -3.5029), range=1.93367, pts=6
I0419 20:54:13.265797 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56152m maha_sq=209.704 (gate chi2=5.99) pose_sigma=(0.174979, 0.174979, rho=0) det_map=(-2.65044, -3.5029) lm_pos=(-0.285, -2.52) delta=(-2.36544, -0.982902) -> 0 candidate(s)
I0419 20:54:13.266321 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:13.268963 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:13.269021 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:13.278334 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15759, 1.54554)
I0419 20:54:13.288671 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:13.399111 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25714, -1.89589), yaw=2.17973 deg backend=(-1.25714, -1.89589)
I0419 20:54:13.442552 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758709s, prior_pose=(-1.25714, -1.89589), yaw=2.17842 deg
I0419 20:54:13.442715 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:13.442785 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:13.442811 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:13.547497 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:13.547631 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15834, 1.55122), points=5, range=1.9322, residual=0.0128199, extent=0.0321324
I0419 20:54:13.547657 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:13.547667 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:13.547677 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15834, 1.55122), tracking=(-1.45684, -1.55122), map_predicted=(-2.65244, -3.50223), range=1.9322, pts=5
I0419 20:54:13.547694 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56311m maha_sq=209.369 (gate chi2=5.99) pose_sigma=(0.1752, 0.1752, rho=0) det_map=(-2.65244, -3.50223) lm_pos=(-0.285, -2.52) delta=(-2.36744, -0.98223) -> 0 candidate(s)
I0419 20:54:13.574399 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15831, 1.54649)
I0419 20:54:13.795308 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607895s, prior_pose=(-1.25507, -1.89686), yaw=2.20925 deg
I0419 20:54:13.795431 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:54:13.795472 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:13.795491 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:13.796275 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:13.799230 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:13.799333 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1599, 1.5393), points=6, range=1.93, residual=0.0154214, extent=0.0425376
I0419 20:54:13.799361 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:13.799382 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:13.799396 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1599, 1.5393), tracking=(-1.4584, -1.5393), map_predicted=(-2.65306, -3.49122), range=1.93, pts=6
I0419 20:54:13.799422 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55949m maha_sq=207.93 (gate chi2=5.99) pose_sigma=(0.175356, 0.175356, rho=0) det_map=(-2.65306, -3.49122) lm_pos=(-0.285, -2.52) delta=(-2.36806, -0.971219) -> 0 candidate(s)
I0419 20:54:13.826278 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:13.826400 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:13.942615 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16074, 1.54506)
I0419 20:54:14.095096 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476862s, prior_pose=(-1.25464, -1.89682), yaw=2.1888 deg
I0419 20:54:14.095206 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:54:14.095243 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:14.095261 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:14.099040 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:14.099117 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1558, 1.54782), points=5, range=1.9278, residual=0.0133861, extent=0.0328199
I0419 20:54:14.099138 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:14.099177 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:14.099227 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1558, 1.54782), tracking=(-1.4543, -1.54782), map_predicted=(-2.64875, -3.49907), range=1.9278, pts=5
I0419 20:54:14.099246 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55849m maha_sq=207.527 (gate chi2=5.99) pose_sigma=(0.175628, 0.175628, rho=0) det_map=(-2.64875, -3.49907) lm_pos=(-0.285, -2.52) delta=(-2.36375, -0.979065) -> 0 candidate(s)
I0419 20:54:14.207122 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.778572, -0.672778)
I0419 20:54:14.211566 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25374, -1.89575), yaw=2.20535 deg backend=(-1.25374, -1.89575)
I0419 20:54:14.344722 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718808s, prior_pose=(-1.25649, -1.89538), yaw=2.17641 deg
I0419 20:54:14.344830 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=254, threshold=230, above_threshold=6, candidates=6
I0419 20:54:14.344866 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:14.344884 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:14.346742 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:14.366437 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:14.366571 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15535, 1.54722), points=5, range=1.9292, residual=0.0106691, extent=0.0259326
I0419 20:54:14.366616 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:14.366643 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:14.366664 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15535, 1.54722), tracking=(-1.45385, -1.54722), map_predicted=(-2.65053, -3.49669), range=1.9292, pts=5
I0419 20:54:14.366699 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55923m maha_sq=207.458 (gate chi2=5.99) pose_sigma=(0.175895, 0.175895, rho=0) det_map=(-2.65053, -3.49669) lm_pos=(-0.285, -2.52) delta=(-2.36553, -0.976692) -> 0 candidate(s)
I0419 20:54:14.466895 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15866, 1.54699)
I0419 20:54:14.467900 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:14.467984 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:14.618090 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594011s, prior_pose=(-1.25703, -1.89703), yaw=2.18712 deg
I0419 20:54:14.618247 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:54:14.618315 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:14.618346 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:14.710461 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:14.711668 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:14.711745 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782476, -0.673767), points=6, range=1.02883, residual=0.0140334, extent=0.0393255
I0419 20:54:14.711766 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:14.711777 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:14.711787 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782476, -0.673767), tracking=(1.08098, -0.673767), map_predicted=(-0.14963, -2.52699), range=1.02883, pts=6
I0419 20:54:14.711802 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135551m maha_sq=0.578415 (gate chi2=5.99) pose_sigma=(0.176402, 0.176402, rho=0) det_map=(-0.14963, -2.52699) lm_pos=(-0.285, -2.52) delta=(0.13537, -0.00698748) -> 1 candidate(s)
I0419 20:54:14.713398 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15693, 1.54935)
I0419 20:54:14.968936 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0433979s, prior_pose=(-1.25654, -1.89529), yaw=2.17947 deg
I0419 20:54:14.969046 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:14.969105 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:14.969126 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:14.970062 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:14.973224 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777969, -0.670927)
I0419 20:54:14.973280 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:14.973297 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782186, -0.671968), points=6, range=1.02733, residual=0.0123283, extent=0.0366514
I0419 20:54:14.973311 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:14.973323 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:14.973331 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782186, -0.671968), tracking=(1.08069, -0.671968), map_predicted=(-0.151087, -2.52568), range=1.02733, pts=6
I0419 20:54:14.973346 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134034m maha_sq=0.564817 (gate chi2=5.99) pose_sigma=(0.176645, 0.176645, rho=0) det_map=(-0.151087, -2.52568) lm_pos=(-0.285, -2.52) delta=(0.133913, -0.00568224) -> 1 candidate(s)
I0419 20:54:15.030597 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:15.030751 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:15.140365 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25383, -1.8962), yaw=2.20491 deg backend=(-1.25383, -1.8962)
I0419 20:54:15.196170 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:54:15.240833 1218972 pose_graph_2d.cc:160] Inserted submap (1, 2).
I0419 20:54:15.243491 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0777325s, prior_pose=(-1.25601, -1.89622), yaw=2.19151 deg
I0419 20:54:15.243652 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:15.243695 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:15.243716 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:15.246414 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70624, 0.500014)
I0419 20:54:15.266448 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:15.266559 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.77841, -0.670677), points=7, range=1.02457, residual=0.0118411, extent=0.0357687
I0419 20:54:15.266582 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:15.266597 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:15.266606 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.77841, -0.670677), tracking=(1.07691, -0.670677), map_predicted=(-0.154235, -2.52522), range=1.02457, pts=7
I0419 20:54:15.266628 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.130869m maha_sq=0.536749 (gate chi2=5.99) pose_sigma=(0.176965, 0.176965, rho=0) det_map=(-0.154235, -2.52522) lm_pos=(-0.285, -2.52) delta=(0.130765, -0.00522492) -> 1 candidate(s)
I0419 20:54:15.498021 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055964s, prior_pose=(-1.25655, -1.89611), yaw=2.199 deg
I0419 20:54:15.498157 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:15.498234 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:15.498252 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:15.510290 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:15.530408 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.782187, -0.671966)
I0419 20:54:15.558791 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:15.558900 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772681, -0.671649), points=6, range=1.027, residual=0.0115351, extent=0.034105
I0419 20:54:15.558919 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:15.558931 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:15.558940 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.772681, -0.671649), tracking=(1.07118, -0.671649), map_predicted=(-0.160389, -2.52617), range=1.027, pts=6
I0419 20:54:15.558964 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.124764m maha_sq=0.486258 (gate chi2=5.99) pose_sigma=(0.177278, 0.177278, rho=0) det_map=(-0.160389, -2.52617) lm_pos=(-0.285, -2.52) delta=(0.124611, -0.00617351) -> 1 candidate(s)
I0419 20:54:15.646107 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:15.646180 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:15.793769 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478512s, prior_pose=(-1.25814, -1.89435), yaw=2.18394 deg
I0419 20:54:15.793879 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:54:15.793931 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:15.793951 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.778681, -0.671889)
I0419 20:54:15.793965 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:15.900781 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:15.900900 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15969, 1.54366), points=5, range=1.9326, residual=0.0123074, extent=0.0321324
I0419 20:54:15.900919 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:15.900930 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:15.900939 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15969, 1.54366), tracking=(-1.45819, -1.54366), map_predicted=(-2.6568, -3.49273), range=1.9326, pts=5
I0419 20:54:15.900954 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56352m maha_sq=203.878 (gate chi2=5.99) pose_sigma=(0.177661, 0.177661, rho=0) det_map=(-2.6568, -3.49273) lm_pos=(-0.285, -2.52) delta=(-2.3718, -0.972734) -> 0 candidate(s)
I0419 20:54:16.055040 1219493 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25458, -1.89757), yaw=2.20475 deg backend=(-1.25458, -1.89757)
I0419 20:54:16.062711 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.779051, -0.672226)
I0419 20:54:16.085959 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755869s, prior_pose=(-1.25458, -1.89757), yaw=2.20511 deg
I0419 20:54:16.086114 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:54:16.086220 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:16.086251 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:16.155081 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:16.156481 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:16.174556 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:16.174675 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772005, -0.670062), points=5, range=1.0254, residual=0.0124375, extent=0.0357687
I0419 20:54:16.174706 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:16.174722 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:16.174733 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.772005, -0.670062), tracking=(1.07051, -0.670062), map_predicted=(-0.163094, -2.52359), range=1.0254, pts=5
I0419 20:54:16.174757 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.121959m maha_sq=0.459596 (gate chi2=5.99) pose_sigma=(0.178206, 0.178206, rho=0) det_map=(-0.163094, -2.52359) lm_pos=(-0.285, -2.52) delta=(0.121906, -0.00359068) -> 1 candidate(s)
I0419 20:54:16.283653 1219493 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:16.283747 1219493 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:16.334398 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15759, 1.54553)
I0419 20:54:16.427024 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607012s, prior_pose=(-1.25205, -1.89481), yaw=2.2001 deg
I0419 20:54:16.427148 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:16.427191 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:16.427210 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:16.469727 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:16.469816 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782019, -0.673379), points=6, range=1.02883, residual=0.012588, extent=0.0340959
I0419 20:54:16.469834 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:16.469846 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:16.469858 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782019, -0.673379), tracking=(1.08052, -0.673379), map_predicted=(-0.146478, -2.52622), range=1.02883, pts=6
I0419 20:54:16.469879 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138661m maha_sq=0.589485 (gate chi2=5.99) pose_sigma=(0.178904, 0.178904, rho=0) det_map=(-0.146478, -2.52622) lm_pos=(-0.285, -2.52) delta=(0.138522, -0.00621566) -> 1 candidate(s)
I0419 20:54:16.613950 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.77577, -0.670341)
I0419 20:54:16.695266 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483943s, prior_pose=(-1.2497, -1.8978), yaw=2.22012 deg
I0419 20:54:16.695405 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=246, threshold=230, above_threshold=5, candidates=5
I0419 20:54:16.695449 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:16.695469 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:16.696246 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:16.810530 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:16.810729 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781276, -0.671186), points=6, range=1.02617, residual=0.0122837, extent=0.0357687
I0419 20:54:16.810791 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:16.810843 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:16.810887 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781276, -0.671186), tracking=(1.07978, -0.671186), map_predicted=(-0.145638, -2.52644), range=1.02617, pts=6
I0419 20:54:16.810945 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139511m maha_sq=0.594857 (gate chi2=5.99) pose_sigma=(0.179212, 0.179212, rho=0) det_map=(-0.145638, -2.52644) lm_pos=(-0.285, -2.52) delta=(0.139362, -0.00644269) -> 1 candidate(s)
I0419 20:54:16.834069 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25078, -1.89789), yaw=2.23564 deg backend=(-1.25078, -1.89789)
I0419 20:54:16.850455 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:16.850544 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:16.977443 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.775172, -0.669826)
I0419 20:54:16.981577 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720355s, prior_pose=(-1.25061, -1.89644), yaw=2.21575 deg
I0419 20:54:16.981676 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=244, threshold=230, above_threshold=4, candidates=4
I0419 20:54:16.981714 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:16.981732 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:17.080654 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:17.080807 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781125, -0.671054), points=6, range=1.02617, residual=0.0120453, extent=0.0357774
I0419 20:54:17.080828 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:17.080842 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:17.080852 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781125, -0.671054), tracking=(1.07962, -0.671054), map_predicted=(-0.146899, -2.52563), range=1.02617, pts=6
I0419 20:54:17.080871 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138216m maha_sq=0.582873 (gate chi2=5.99) pose_sigma=(0.179384, 0.179384, rho=0) det_map=(-0.146899, -2.52563) lm_pos=(-0.285, -2.52) delta=(0.138101, -0.00563266) -> 1 candidate(s)
I0419 20:54:17.213531 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1531, 1.54889)
I0419 20:54:17.262104 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604791s, prior_pose=(-1.24881, -1.89617), yaw=2.23329 deg
I0419 20:54:17.262378 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:17.262456 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:17.262526 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:17.278283 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:17.371452 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:17.371563 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78412, -0.673627), points=5, range=1.0304, residual=0.0111739, extent=0.0299748
I0419 20:54:17.371583 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:17.371594 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:17.371603 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78412, -0.673627), tracking=(1.08262, -0.673627), map_predicted=(-0.147003, -2.52795), range=1.0304, pts=5
I0419 20:54:17.371618 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138225m maha_sq=0.579797 (gate chi2=5.99) pose_sigma=(0.179936, 0.179936, rho=0) det_map=(-0.147003, -2.52795) lm_pos=(-0.285, -2.52) delta=(0.137997, -0.00794551) -> 1 candidate(s)
I0419 20:54:17.498270 1219493 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:17.498364 1219493 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:17.500748 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.77872, -0.671588)
I0419 20:54:17.604475 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.04803s, prior_pose=(-1.25195, -1.89675), yaw=2.20619 deg
I0419 20:54:17.604595 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:17.604646 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:17.604665 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:17.604790 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:17.642282 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:17.642386 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779322, -0.67345), points=5, range=1.0322, residual=0.00940323, extent=0.0249966
I0419 20:54:17.642405 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:17.642417 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:17.642426 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779322, -0.67345), tracking=(1.07782, -0.67345), map_predicted=(-0.151242, -2.52812), range=1.0322, pts=5
I0419 20:54:17.642445 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134004m maha_sq=0.543234 (gate chi2=5.99) pose_sigma=(0.180321, 0.180321, rho=0) det_map=(-0.151242, -2.52812) lm_pos=(-0.285, -2.52) delta=(0.133758, -0.00812071) -> 1 candidate(s)
I0419 20:54:17.772506 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25501, -1.89419), yaw=2.19608 deg backend=(-1.25501, -1.89419)
I0419 20:54:17.774817 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.776287, -0.672109)
I0419 20:54:17.887530 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756542s, prior_pose=(-1.25514, -1.89693), yaw=2.18421 deg
I0419 20:54:17.887674 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 20:54:17.887732 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:17.887753 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:17.889590 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:17.937996 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:17.938159 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784984, -0.673389), points=5, range=1.0294, residual=0.0132473, extent=0.0332167
I0419 20:54:17.938202 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:17.938230 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:17.938249 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784984, -0.673389), tracking=(1.08348, -0.673389), map_predicted=(-0.146766, -2.52852), range=1.0294, pts=5
I0419 20:54:17.938289 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138497m maha_sq=0.576723 (gate chi2=5.99) pose_sigma=(0.180644, 0.180644, rho=0) det_map=(-0.146766, -2.52852) lm_pos=(-0.285, -2.52) delta=(0.138234, -0.00852119) -> 1 candidate(s)
I0419 20:54:18.039584 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779517, -0.671985)
I0419 20:54:18.039716 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:18.039732 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:18.179553 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597826s, prior_pose=(-1.25408, -1.89715), yaw=2.19449 deg
I0419 20:54:18.179682 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 20:54:18.179725 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:18.179744 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:18.273963 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:18.274055 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782953, -0.674596), points=7, range=1.03029, residual=0.0121541, extent=0.0349369
I0419 20:54:18.274075 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:18.274084 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:18.274092 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782953, -0.674596), tracking=(1.08145, -0.674596), map_predicted=(-0.146689, -2.52954), range=1.03029, pts=7
I0419 20:54:18.274109 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13864m maha_sq=0.575799 (gate chi2=5.99) pose_sigma=(0.181059, 0.181059, rho=0) det_map=(-0.146689, -2.52954) lm_pos=(-0.285, -2.52) delta=(0.138311, -0.00953866) -> 1 candidate(s)
I0419 20:54:18.276731 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780609, -0.673225)
I0419 20:54:18.438290 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484121s, prior_pose=(-1.25724, -1.89653), yaw=2.19065 deg
I0419 20:54:18.438395 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=254, threshold=230, above_threshold=5, candidates=5
I0419 20:54:18.438447 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:18.438472 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:18.450465 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:18.548406 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:18.548503 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16001, 1.54874), points=4, range=1.931, residual=0.0109887, extent=0.0253814
I0419 20:54:18.548523 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:18.548533 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:18.548542 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16001, 1.54874), tracking=(-1.45851, -1.54874), map_predicted=(-2.65169, -3.49801), range=1.931, pts=4
I0419 20:54:18.548557 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5608m maha_sq=195.138 (gate chi2=5.99) pose_sigma=(0.181567, 0.181567, rho=0) det_map=(-2.65169, -3.49801) lm_pos=(-0.285, -2.52) delta=(-2.36669, -0.978007) -> 0 candidate(s)
I0419 20:54:18.554600 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.778304, -0.67156)
I0419 20:54:18.703343 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2544, -1.89768), yaw=2.1886 deg backend=(-1.2544, -1.89768)
I0419 20:54:18.705825 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:18.705881 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:18.730504 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758383s, prior_pose=(-1.2544, -1.89768), yaw=2.18744 deg
I0419 20:54:18.730647 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:18.730712 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:18.730739 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:18.831056 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:18.831236 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15939, 1.54326), points=5, range=1.933, residual=0.0127854, extent=0.0343627
I0419 20:54:18.831275 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:18.831293 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:18.831308 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15939, 1.54326), tracking=(-1.45789, -1.54326), map_predicted=(-2.65085, -3.49323), range=1.933, pts=5
I0419 20:54:18.831344 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55821m maha_sq=193.719 (gate chi2=5.99) pose_sigma=(0.181937, 0.181937, rho=0) det_map=(-2.65085, -3.49323) lm_pos=(-0.285, -2.52) delta=(-2.36585, -0.97323) -> 0 candidate(s)
I0419 20:54:18.847014 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783092, -0.672755)
I0419 20:54:19.096798 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608895s, prior_pose=(-1.25256, -1.89704), yaw=2.19351 deg
I0419 20:54:19.096895 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:19.096935 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:19.096959 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:19.096925 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:19.097723 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:19.211515 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781637, -0.673815)
I0419 20:54:19.212373 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:19.212425 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15418, 1.55033), points=6, range=1.93, residual=0.0123576, extent=0.0317433
I0419 20:54:19.212445 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:19.212455 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:19.212466 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15418, 1.55033), tracking=(-1.45268, -1.55033), map_predicted=(-2.64276, -3.49991), range=1.93, pts=6
I0419 20:54:19.212481 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55328m maha_sq=191.723 (gate chi2=5.99) pose_sigma=(0.182572, 0.182572, rho=0) det_map=(-2.64276, -3.49991) lm_pos=(-0.285, -2.52) delta=(-2.35776, -0.979914) -> 0 candidate(s)
I0419 20:54:19.355191 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441278s, prior_pose=(-1.25242, -1.89492), yaw=2.21635 deg
I0419 20:54:19.355305 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:19.355340 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:19.355357 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:19.355381 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:19.355393 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:19.491211 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779669, -0.672115)
I0419 20:54:19.493983 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:19.494053 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.775733, -0.6727), points=6, range=1.02917, residual=0.0112157, extent=0.0307761
I0419 20:54:19.494072 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:19.494083 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:19.494094 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.775733, -0.6727), tracking=(1.07423, -0.6727), map_predicted=(-0.155876, -2.52486), range=1.02917, pts=6
I0419 20:54:19.494110 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.129216m maha_sq=0.49108 (gate chi2=5.99) pose_sigma=(0.182819, 0.182819, rho=0) det_map=(-0.155876, -2.52486) lm_pos=(-0.285, -2.52) delta=(0.129124, -0.00485885) -> 1 candidate(s)
I0419 20:54:19.495929 1219493 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25488, -1.89344), yaw=2.17771 deg backend=(-1.25488, -1.89344)
I0419 20:54:19.615653 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0752974s, prior_pose=(-1.2523, -1.89452), yaw=2.21049 deg
I0419 20:54:19.615744 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=245, threshold=230, above_threshold=4, candidates=4
I0419 20:54:19.615777 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:19.615793 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:19.626899 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:19.761629 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.776498, -0.670966)
I0419 20:54:19.770826 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:19.770961 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15983, 1.55323), points=5, range=1.9346, residual=0.0137201, extent=0.0367027
I0419 20:54:19.771003 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:19.771027 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:19.771166 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15983, 1.55323), tracking=(-1.45833, -1.55323), map_predicted=(-2.65101, -3.50201), range=1.9346, pts=5
I0419 20:54:19.771287 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56171m maha_sq=191.777 (gate chi2=5.99) pose_sigma=(0.183062, 0.183062, rho=0) det_map=(-2.65101, -3.50201) lm_pos=(-0.285, -2.52) delta=(-2.36601, -0.982007) -> 0 candidate(s)
I0419 20:54:19.906410 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603479s, prior_pose=(-1.25476, -1.89558), yaw=2.18368 deg
I0419 20:54:19.906553 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 20:54:19.906631 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:19.906664 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:20.019290 1219493 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:20.019379 1219493 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:20.022724 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15518, 1.54982)
I0419 20:54:20.124256 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:20.124349 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16074, 1.54506), points=5, range=1.9344, residual=0.0119589, extent=0.0314452
I0419 20:54:20.124368 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:20.124380 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:20.124388 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16074, 1.54506), tracking=(-1.45924, -1.54506), map_predicted=(-2.64999, -3.49686), range=1.9344, pts=5
I0419 20:54:20.124409 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5588m maha_sq=190.857 (gate chi2=5.99) pose_sigma=(0.183423, 0.183423, rho=0) det_map=(-2.64999, -3.49686) lm_pos=(-0.285, -2.52) delta=(-2.36499, -0.976855) -> 0 candidate(s)
I0419 20:54:20.280728 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481542s, prior_pose=(-1.25119, -1.89676), yaw=2.23568 deg
I0419 20:54:20.280834 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:20.280886 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:20.280905 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:20.281739 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:20.284966 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.782711, -0.671431)
I0419 20:54:20.425725 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2539, -1.89477), yaw=2.19701 deg backend=(-1.2539, -1.89477)
I0419 20:54:20.426450 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:20.426496 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783248, -0.67288), points=6, range=1.02817, residual=0.0134519, extent=0.0392937
I0419 20:54:20.426517 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:20.426528 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:20.426537 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783248, -0.67288), tracking=(1.08175, -0.67288), map_predicted=(-0.147151, -2.52568), range=1.02817, pts=6
I0419 20:54:20.426553 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137966m maha_sq=0.554037 (gate chi2=5.99) pose_sigma=(0.183641, 0.183641, rho=0) det_map=(-0.147151, -2.52568) lm_pos=(-0.285, -2.52) delta=(0.137849, -0.00568172) -> 1 candidate(s)
I0419 20:54:20.545769 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:20.546708 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762152s, prior_pose=(-1.24966, -1.8957), yaw=2.22226 deg
I0419 20:54:20.546799 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=852, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:20.546840 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:20.546859 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:20.551548 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783703, -0.673271)
I0419 20:54:20.551628 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:20.551644 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:20.572980 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:20.689806 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:20.689915 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777616, -0.671983), points=5, range=1.0296, residual=0.00835035, extent=0.0219081
I0419 20:54:20.689936 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:20.689949 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:20.689958 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777616, -0.671983), tracking=(1.07612, -0.671983), map_predicted=(-0.1516, -2.52516), range=1.0296, pts=5
I0419 20:54:20.690018 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.1335m maha_sq=0.517892 (gate chi2=5.99) pose_sigma=(0.184097, 0.184097, rho=0) det_map=(-0.1516, -2.52516) lm_pos=(-0.285, -2.52) delta=(0.1334, -0.00516369) -> 1 candidate(s)
I0419 20:54:20.817574 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517798s, prior_pose=(-1.25453, -1.89585), yaw=2.20224 deg
I0419 20:54:20.817687 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=252, threshold=230, above_threshold=4, candidates=4
I0419 20:54:20.817721 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:20.817739 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:20.818717 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:20.820505 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.7829, -0.671595)
I0419 20:54:20.962718 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:20.962881 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783576, -0.671197), points=5, range=1.0304, residual=0.0063465, extent=0.0169677
I0419 20:54:20.962908 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:20.962926 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:20.962940 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783576, -0.671197), tracking=(1.08208, -0.671197), map_predicted=(-0.147354, -2.52738), range=1.0304, pts=5
I0419 20:54:20.962963 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137843m maha_sq=0.551038 (gate chi2=5.99) pose_sigma=(0.184364, 0.184364, rho=0) det_map=(-0.147354, -2.52738) lm_pos=(-0.285, -2.52) delta=(0.137646, -0.00738068) -> 1 candidate(s)
I0419 20:54:21.082234 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.048391s, prior_pose=(-1.25368, -1.89516), yaw=2.18507 deg
I0419 20:54:21.082342 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:21.082399 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:21.082420 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70624, 0.500014)
I0419 20:54:21.082434 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:21.174052 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:21.174142 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:21.305605 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25261, -1.89671), yaw=2.19963 deg backend=(-1.25261, -1.89671)
I0419 20:54:21.306602 1218978 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.30e-03 s (pulsed at 100.58% real time)
I0419 20:54:21.306761 1218978 collated_trajectory_builder.cc:82] odom rate: 248.87 Hz 4.02e-03 s +/- 6.90e-04 s (pulsed at 100.03% real time)
I0419 20:54:21.306861 1218978 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.02e-03 s (pulsed at 100.43% real time)
I0419 20:54:21.306890 1218978 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.38e-03 s (pulsed at 100.53% real time)
I0419 20:54:21.307845 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:21.307893 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1549, 1.55129), points=6, range=1.9315, residual=0.0120247, extent=0.0313157
I0419 20:54:21.307915 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:21.307929 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:21.307940 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1549, 1.55129), tracking=(-1.4534, -1.55129), map_predicted=(-2.64539, -3.50264), range=1.9315, pts=6
I0419 20:54:21.307958 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55677m maha_sq=187.891 (gate chi2=5.99) pose_sigma=(0.18474, 0.18474, rho=0) det_map=(-2.64539, -3.50264) lm_pos=(-0.285, -2.52) delta=(-2.36039, -0.982644) -> 0 candidate(s)
I0419 20:54:21.358592 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15735, 1.54522)
I0419 20:54:21.374476 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758952s, prior_pose=(-1.25261, -1.89671), yaw=2.20107 deg
I0419 20:54:21.374647 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=253, threshold=230, above_threshold=6, candidates=6
I0419 20:54:21.374737 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:21.374785 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:21.461653 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:21.581665 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:21.581761 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15969, 1.54366), points=5, range=1.9332, residual=0.0126041, extent=0.0336085
I0419 20:54:21.581779 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:21.581790 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:21.581799 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15969, 1.54366), tracking=(-1.45819, -1.54366), map_predicted=(-2.65131, -3.49547), range=1.9332, pts=5
I0419 20:54:21.581815 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55949m maha_sq=187.842 (gate chi2=5.99) pose_sigma=(0.184926, 0.184926, rho=0) det_map=(-2.65131, -3.49547) lm_pos=(-0.285, -2.52) delta=(-2.36631, -0.975466) -> 0 candidate(s)
I0419 20:54:21.638506 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.78131, -0.673184)
I0419 20:54:21.743597 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609236s, prior_pose=(-1.25388, -1.8957), yaw=2.1928 deg
I0419 20:54:21.743722 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:21.743762 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:21.743778 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:21.870791 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:21.870893 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:21.877781 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:21.877907 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783045, -0.672702), points=4, range=1.0265, residual=0.0145115, extent=0.0349191
I0419 20:54:21.877928 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:21.877941 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:21.877952 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783045, -0.672702), tracking=(1.08155, -0.672702), map_predicted=(-0.14581, -2.52691), range=1.0265, pts=4
I0419 20:54:21.877969 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139361m maha_sq=0.556245 (gate chi2=5.99) pose_sigma=(0.185077, 0.185077, rho=0) det_map=(-0.14581, -2.52691) lm_pos=(-0.285, -2.52) delta=(0.13919, -0.00690874) -> 1 candidate(s)
I0419 20:54:22.000486 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:22.000496 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.783281, -0.671919)
I0419 20:54:22.003219 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0488524s, prior_pose=(-1.25349, -1.89553), yaw=2.21978 deg
I0419 20:54:22.003324 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=830, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:54:22.003366 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:22.003387 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:22.004103 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:22.125447 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2524, -1.89563), yaw=2.20761 deg backend=(-1.2524, -1.89563)
I0419 20:54:22.272868 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:22.272958 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15834, 1.55123), points=5, range=1.9324, residual=0.0125294, extent=0.0321405
I0419 20:54:22.272977 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:22.272989 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:22.272997 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15834, 1.55123), tracking=(-1.45684, -1.55123), map_predicted=(-2.64925, -3.50198), range=1.9324, pts=5
I0419 20:54:22.273016 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56008m maha_sq=187.267 (gate chi2=5.99) pose_sigma=(0.185264, 0.185264, rho=0) det_map=(-2.64925, -3.50198) lm_pos=(-0.285, -2.52) delta=(-2.36425, -0.981981) -> 0 candidate(s)
I0419 20:54:22.274696 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15902, 1.54746)
I0419 20:54:22.277957 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.08027s, prior_pose=(-1.25281, -1.89617), yaw=2.19181 deg
I0419 20:54:22.278028 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:22.278056 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:22.278074 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:22.407634 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:22.407740 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:22.535449 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:22.535563 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15789, 1.55062), points=5, range=1.9312, residual=0.0132758, extent=0.0343398
I0419 20:54:22.535583 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:22.535593 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:22.535604 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15789, 1.55062), tracking=(-1.45639, -1.55062), map_predicted=(-2.64984, -3.50292), range=1.9312, pts=5
I0419 20:54:22.535620 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56098m maha_sq=186.519 (gate chi2=5.99) pose_sigma=(0.185657, 0.185657, rho=0) det_map=(-2.64984, -3.50292) lm_pos=(-0.285, -2.52) delta=(-2.36484, -0.982924) -> 0 candidate(s)
I0419 20:54:22.538239 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15806, 1.54619)
I0419 20:54:22.550207 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0515699s, prior_pose=(-1.25406, -1.89752), yaw=2.20047 deg
I0419 20:54:22.550397 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:54:22.550494 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:22.550539 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:22.561947 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:22.785544 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:22.785655 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15625, 1.54842), points=5, range=1.929, residual=0.0125622, extent=0.0328437
I0419 20:54:22.785676 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:22.785688 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:22.785698 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15625, 1.54842), tracking=(-1.45475, -1.54842), map_predicted=(-2.64953, -3.49931), range=1.929, pts=5
I0419 20:54:22.785714 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5593m maha_sq=185.886 (gate chi2=5.99) pose_sigma=(0.185906, 0.185906, rho=0) det_map=(-2.64953, -3.49931) lm_pos=(-0.285, -2.52) delta=(-2.36453, -0.979314) -> 0 candidate(s)
I0419 20:54:22.786600 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.778962, -0.672334)
I0419 20:54:22.924645 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434259s, prior_pose=(-1.25596, -1.89696), yaw=2.2051 deg
I0419 20:54:22.924759 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=833, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:22.924810 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:22.924829 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:23.027489 1219493 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:23.027596 1219493 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:23.029614 1219493 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25428, -1.89759), yaw=2.19816 deg backend=(-1.25428, -1.89759)
I0419 20:54:23.062443 1219493 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15603, 1.54346)
I0419 20:54:23.062533 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:23.062559 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15566, 1.54761), points=5, range=1.9284, residual=0.0112827, extent=0.0275164
I0419 20:54:23.062579 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:23.062593 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:23.062604 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15566, 1.54761), tracking=(-1.45416, -1.54761), map_predicted=(-2.64797, -3.49987), range=1.9284, pts=5
I0419 20:54:23.062628 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55808m maha_sq=185.516 (gate chi2=5.99) pose_sigma=(0.186087, 0.186087, rho=0) det_map=(-2.64797, -3.49987) lm_pos=(-0.285, -2.52) delta=(-2.36297, -0.979873) -> 0 candidate(s)
I0419 20:54:23.162449 1219493 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762325s, prior_pose=(-1.25525, -1.89551), yaw=2.20386 deg
I0419 20:54:23.162591 1219493 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:23.162629 1219493 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:23.162645 1219493 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:23.164366 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:23.342618 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.785173, -0.673553)
I0419 20:54:23.418181 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:23.418290 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784766, -0.674182), points=6, range=1.03017, residual=0.013642, extent=0.0393096
I0419 20:54:23.418310 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:23.418323 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:23.418331 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784766, -0.674182), tracking=(1.08327, -0.674182), map_predicted=(-0.146924, -2.52857), range=1.03017, pts=6
I0419 20:54:23.418352 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138342m maha_sq=0.540991 (gate chi2=5.99) pose_sigma=(0.186384, 0.186384, rho=0) det_map=(-0.146924, -2.52857) lm_pos=(-0.285, -2.52) delta=(0.138076, -0.0085746) -> 1 candidate(s)
I0419 20:54:23.418510 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:23.431558 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0612582s, prior_pose=(-1.25534, -1.8966), yaw=2.2043 deg
I0419 20:54:23.431670 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=249, threshold=230, above_threshold=3, candidates=3
I0419 20:54:23.431718 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:23.431738 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:54:23.699608 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.774778, -0.671046)
I0419 20:54:23.699715 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:23.699767 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:23.702958 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:23.703032 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16074, 1.54506), points=5, range=1.9348, residual=0.0127846, extent=0.0336163
I0419 20:54:23.703051 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:23.703064 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:23.703074 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16074, 1.54506), tracking=(-1.45924, -1.54506), map_predicted=(-2.65097, -3.49653), range=1.9348, pts=5
I0419 20:54:23.703090 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55958m maha_sq=184.328 (gate chi2=5.99) pose_sigma=(0.186709, 0.186709, rho=0) det_map=(-2.65097, -3.49653) lm_pos=(-0.285, -2.52) delta=(-2.36597, -0.976526) -> 0 candidate(s)
I0419 20:54:23.722375 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436249s, prior_pose=(-1.25225, -1.89648), yaw=2.20483 deg
I0419 20:54:23.722496 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:23.722559 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:23.722589 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:23.738817 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:23.951936 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2568, -1.89571), yaw=2.19542 deg backend=(-1.2568, -1.89571)
I0419 20:54:23.952889 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779221, -0.671716)
I0419 20:54:23.970256 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:23.970350 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1513, 1.55117), points=5, range=1.929, residual=0.0106322, extent=0.0253999
I0419 20:54:23.970368 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:23.970382 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:23.970392 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1513, 1.55117), tracking=(-1.4498, -1.55117), map_predicted=(-2.64609, -3.5013), range=1.929, pts=5
I0419 20:54:23.970412 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55689m maha_sq=183.633 (gate chi2=5.99) pose_sigma=(0.187005, 0.187005, rho=0) det_map=(-2.64609, -3.5013) lm_pos=(-0.285, -2.52) delta=(-2.36109, -0.981298) -> 0 candidate(s)
I0419 20:54:24.018317 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755872s, prior_pose=(-1.2568, -1.89571), yaw=2.19722 deg
I0419 20:54:24.018414 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:24.018466 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:24.018488 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:24.215996 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70433, 0.499452)
I0419 20:54:24.221819 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:24.221964 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:24.265633 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:24.265733 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15774, 1.55042), points=5, range=1.9316, residual=0.0122449, extent=0.0314286
I0419 20:54:24.265756 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:24.265769 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:24.265779 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15774, 1.55042), tracking=(-1.45624, -1.55042), map_predicted=(-2.65159, -3.50154), range=1.9316, pts=5
I0419 20:54:24.265795 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56206m maha_sq=183.319 (gate chi2=5.99) pose_sigma=(0.187454, 0.187454, rho=0) det_map=(-2.65159, -3.50154) lm_pos=(-0.285, -2.52) delta=(-2.36659, -0.981536) -> 0 candidate(s)
I0419 20:54:24.356045 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056261s, prior_pose=(-1.25665, -1.8953), yaw=2.19054 deg
I0419 20:54:24.356173 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:24.356212 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:24.356231 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:24.357162 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:24.511965 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15687, 1.54458)
I0419 20:54:24.646057 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:24.646152 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16045, 1.54465), points=5, range=1.9322, residual=0.00987742, extent=0.024561
I0419 20:54:24.646173 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:24.646186 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:24.646196 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16045, 1.54465), tracking=(-1.45895, -1.54465), map_predicted=(-2.65431, -3.49509), range=1.9322, pts=5
I0419 20:54:24.646215 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56212m maha_sq=183.246 (gate chi2=5.99) pose_sigma=(0.187636, 0.187636, rho=0) det_map=(-2.65431, -3.49509) lm_pos=(-0.285, -2.52) delta=(-2.36931, -0.975093) -> 0 candidate(s)
I0419 20:54:24.649672 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0473231s, prior_pose=(-1.25564, -1.89566), yaw=2.19661 deg
I0419 20:54:24.649765 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:24.649798 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:24.649816 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:24.782032 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1565, 1.5441)
I0419 20:54:24.784945 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25606, -1.89389), yaw=2.19399 deg backend=(-1.25606, -1.89389)
I0419 20:54:24.810139 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:24.810230 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:24.882725 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:24.882838 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:24.882923 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15849, 1.55143), points=5, range=1.9326, residual=0.0126874, extent=0.0328675
I0419 20:54:24.882948 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:24.882961 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:24.882970 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15849, 1.55143), tracking=(-1.45699, -1.55143), map_predicted=(-2.65346, -3.50287), range=1.9326, pts=5
I0419 20:54:24.882987 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5643m maha_sq=182.695 (gate chi2=5.99) pose_sigma=(0.187918, 0.187918, rho=0) det_map=(-2.65346, -3.50287) lm_pos=(-0.285, -2.52) delta=(-2.36846, -0.982873) -> 0 candidate(s)
I0419 20:54:24.898487 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761285s, prior_pose=(-1.25725, -1.89653), yaw=2.20593 deg
I0419 20:54:24.898589 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:24.898653 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:24.898675 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:24.913601 1219493 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:25.045804 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15594, 1.54801)
I0419 20:54:25.174409 1219493 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:25.174515 1219493 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.157, 1.54942), points=5, range=1.9306, residual=0.0116373, extent=0.0300538
I0419 20:54:25.174537 1219493 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:25.174551 1219493 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:25.174569 1219493 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.157, 1.54942), tracking=(-1.4555, -1.54942), map_predicted=(-2.65237, -3.50115), range=1.9306, pts=5
I0419 20:54:25.174587 1219493 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56263m maha_sq=182.321 (gate chi2=5.99) pose_sigma=(0.188058, 0.188058, rho=0) det_map=(-2.65237, -3.50115) lm_pos=(-0.285, -2.52) delta=(-2.36737, -0.981146) -> 0 candidate(s)
I0419 20:54:25.194298 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600893s, prior_pose=(-1.25698, -1.89737), yaw=2.18439 deg
I0419 20:54:25.194442 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:25.194519 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:25.194548 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:25.298779 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.1543, 1.54582)
I0419 20:54:25.448724 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:25.448820 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:25.452059 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:25.452131 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1558, 1.54782), points=5, range=1.9288, residual=0.0113668, extent=0.0293845
I0419 20:54:25.452149 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:25.452160 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:25.452172 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1558, 1.54782), tracking=(-1.4543, -1.54782), map_predicted=(-2.65036, -3.4981), range=1.9288, pts=5
I0419 20:54:25.452189 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55961m maha_sq=181.564 (gate chi2=5.99) pose_sigma=(0.188247, 0.188247, rho=0) det_map=(-2.65036, -3.4981) lm_pos=(-0.285, -2.52) delta=(-2.36536, -0.978101) -> 0 candidate(s)
I0419 20:54:25.564517 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521498s, prior_pose=(-1.25749, -1.89564), yaw=2.20102 deg
I0419 20:54:25.564635 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:54:25.564689 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:25.564708 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:25.565495 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:25.574698 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.787456, -0.675499)
I0419 20:54:25.693429 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25459, -1.89754), yaw=2.20774 deg backend=(-1.25459, -1.89754)
I0419 20:54:25.833985 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:25.834081 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782377, -0.674127), points=5, range=1.0342, residual=0.0062793, extent=0.0169924
I0419 20:54:25.834100 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:25.834113 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:25.834122 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782377, -0.674127), tracking=(1.08088, -0.674127), map_predicted=(-0.150003, -2.52818), range=1.0342, pts=5
I0419 20:54:25.834144 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135245m maha_sq=0.50688 (gate chi2=5.99) pose_sigma=(0.188666, 0.188666, rho=0) det_map=(-0.150003, -2.52818) lm_pos=(-0.285, -2.52) delta=(0.134997, -0.00818034) -> 1 candidate(s)
I0419 20:54:25.835687 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0726009s, prior_pose=(-1.25586, -1.89586), yaw=2.19078 deg
I0419 20:54:25.835741 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:25.835774 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:25.835793 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:25.840761 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778958, -0.673093)
I0419 20:54:26.096324 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:26.096414 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:26.098120 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:26.098202 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.787074, -0.675177), points=5, range=1.0322, residual=0.0133872, extent=0.0349548
I0419 20:54:26.098222 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:26.098230 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:26.098238 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.787074, -0.675177), tracking=(1.08557, -0.675177), map_predicted=(-0.148332, -2.53097), range=1.0322, pts=5
I0419 20:54:26.098253 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137108m maha_sq=0.517755 (gate chi2=5.99) pose_sigma=(0.188884, 0.188884, rho=0) det_map=(-0.148332, -2.53097) lm_pos=(-0.285, -2.52) delta=(0.136668, -0.01097) -> 1 candidate(s)
I0419 20:54:26.100723 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597782s, prior_pose=(-1.25867, -1.89734), yaw=2.16885 deg
I0419 20:54:26.100808 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:26.100844 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:26.100862 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:26.101648 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:26.114190 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15782, 1.54586)
I0419 20:54:26.365623 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:26.369093 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:26.369177 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.789557, -0.674336), points=4, range=1.036, residual=0.00754143, extent=0.0184743
I0419 20:54:26.369195 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:26.369207 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:26.369217 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.789557, -0.674336), tracking=(1.08806, -0.674336), map_predicted=(-0.139966, -2.52919), range=1.036, pts=4
I0419 20:54:26.369232 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.145325m maha_sq=0.581513 (gate chi2=5.99) pose_sigma=(0.189233, 0.189233, rho=0) det_map=(-0.139966, -2.52919) lm_pos=(-0.285, -2.52) delta=(0.145034, -0.00918758) -> 1 candidate(s)
I0419 20:54:26.371681 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477965s, prior_pose=(-1.25328, -1.89743), yaw=2.21437 deg
I0419 20:54:26.371749 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=251, threshold=230, above_threshold=7, candidates=7
I0419 20:54:26.371785 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:26.371803 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:26.479208 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15425, 1.54573)
I0419 20:54:26.628993 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25639, -1.89645), yaw=2.20198 deg backend=(-1.25639, -1.89645)
I0419 20:54:26.633917 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:26.634001 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:26.636335 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:26.636396 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785473, -0.672826), points=5, range=1.033, residual=0.00592175, extent=0.0150108
I0419 20:54:26.636416 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:26.636428 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:26.636438 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785473, -0.672826), tracking=(1.08397, -0.672826), map_predicted=(-0.147371, -2.52714), range=1.033, pts=5
I0419 20:54:26.636456 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137814m maha_sq=0.521403 (gate chi2=5.99) pose_sigma=(0.189577, 0.189577, rho=0) det_map=(-0.147371, -2.52714) lm_pos=(-0.285, -2.52) delta=(0.137629, -0.00713969) -> 1 candidate(s)
I0419 20:54:26.662357 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760032s, prior_pose=(-1.25639, -1.89645), yaw=2.20171 deg
I0419 20:54:26.662472 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:26.662544 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:26.662570 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:26.739226 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:26.740231 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781557, -0.672996)
I0419 20:54:27.028359 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:27.028462 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16034, 1.54922), points=6, range=1.93117, residual=0.0168277, extent=0.0448333
I0419 20:54:27.028484 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:27.028496 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:27.028505 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16034, 1.54922), tracking=(-1.45884, -1.54922), map_predicted=(-2.65397, -3.50086), range=1.93117, pts=6
I0419 20:54:27.028523 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.564m maha_sq=178.304 (gate chi2=5.99) pose_sigma=(0.189918, 0.189918, rho=0) det_map=(-2.65397, -3.50086) lm_pos=(-0.285, -2.52) delta=(-2.36897, -0.980864) -> 0 candidate(s)
I0419 20:54:27.029487 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0482533s, prior_pose=(-1.25546, -1.89697), yaw=2.19225 deg
I0419 20:54:27.029562 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=252, threshold=230, above_threshold=4, candidates=4
I0419 20:54:27.029601 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:27.029619 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.786919, -0.673041)
I0419 20:54:27.029672 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:27.077334 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:54:27.140731 1218972 pose_graph_2d.cc:160] Inserted submap (1, 3).
I0419 20:54:27.260289 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:27.260382 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:27.261243 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:27.261325 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15895, 1.55202), points=5, range=1.934, residual=0.0110476, extent=0.026453
I0419 20:54:27.261344 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:27.261355 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:27.261365 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15895, 1.55202), tracking=(-1.45745, -1.55202), map_predicted=(-2.65465, -3.5017), range=1.934, pts=5
I0419 20:54:27.261384 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56495m maha_sq=178.483 (gate chi2=5.99) pose_sigma=(0.190315, 0.190315, rho=0) det_map=(-2.65465, -3.5017) lm_pos=(-0.285, -2.52) delta=(-2.36965, -0.981702) -> 0 candidate(s)
I0419 20:54:27.263314 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0463398s, prior_pose=(-1.25763, -1.89507), yaw=2.19143 deg
I0419 20:54:27.263440 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:27.263489 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:27.263556 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778599, -0.671473)
I0419 20:54:27.263573 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:27.264500 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:27.408162 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25726, -1.89534), yaw=2.18779 deg backend=(-1.25726, -1.89534)
I0419 20:54:27.550782 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16119, 1.54566)
I0419 20:54:27.550889 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:27.550908 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1614, 1.55061), points=4, range=1.93325, residual=0.0114999, extent=0.0277172
I0419 20:54:27.550925 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:27.550935 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:27.550942 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1614, 1.55061), tracking=(-1.4599, -1.55061), map_predicted=(-2.65473, -3.50084), range=1.93325, pts=4
I0419 20:54:27.550956 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5647m maha_sq=178.123 (gate chi2=5.99) pose_sigma=(0.190465, 0.190465, rho=0) det_map=(-2.65473, -3.50084) lm_pos=(-0.285, -2.52) delta=(-2.36973, -0.980838) -> 0 candidate(s)
I0419 20:54:27.551841 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754524s, prior_pose=(-1.25519, -1.89554), yaw=2.19145 deg
I0419 20:54:27.551904 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=831, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:27.551983 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:27.552006 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:27.800876 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:27.809958 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:27.810066 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:27.817713 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15926, 1.54778)
I0419 20:54:27.818028 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:27.818221 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15924, 1.55243), points=5, range=1.9338, residual=0.0125425, extent=0.0314368
I0419 20:54:27.818266 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:27.818296 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:27.818317 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15924, 1.55243), tracking=(-1.45774, -1.55243), map_predicted=(-2.65158, -3.50423), range=1.9338, pts=5
I0419 20:54:27.818348 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56309m maha_sq=177.426 (gate chi2=5.99) pose_sigma=(0.190658, 0.190658, rho=0) det_map=(-2.65158, -3.50423) lm_pos=(-0.285, -2.52) delta=(-2.36658, -0.984229) -> 0 candidate(s)
I0419 20:54:27.828187 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:27.834455 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561546s, prior_pose=(-1.25501, -1.89655), yaw=2.21798 deg
I0419 20:54:27.834590 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:27.834676 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:27.834712 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:27.850517 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:28.114696 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15829, 1.54651)
I0419 20:54:28.114816 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:28.114845 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15893, 1.55203), points=5, range=1.9322, residual=0.0151843, extent=0.0399123
I0419 20:54:28.114862 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:28.114876 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:28.114886 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15893, 1.55203), tracking=(-1.45743, -1.55203), map_predicted=(-2.64921, -3.50462), range=1.9322, pts=5
I0419 20:54:28.114905 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56104m maha_sq=176.083 (gate chi2=5.99) pose_sigma=(0.19105, 0.19105, rho=0) det_map=(-2.64921, -3.50462) lm_pos=(-0.285, -2.52) delta=(-2.36421, -0.984616) -> 0 candidate(s)
I0419 20:54:28.208166 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481242s, prior_pose=(-1.25254, -1.8959), yaw=2.19009 deg
I0419 20:54:28.208299 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:28.208351 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:28.208370 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:28.347777 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25536, -1.89515), yaw=2.17772 deg backend=(-1.25536, -1.89515)
I0419 20:54:28.478703 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.781562, -0.673402)
I0419 20:54:28.478816 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:28.478833 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:28.479700 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:28.479748 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15581, 1.54781), points=5, range=1.9292, residual=0.0103251, extent=0.0259024
I0419 20:54:28.479769 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:28.479780 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:28.479789 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15581, 1.54781), tracking=(-1.45431, -1.54781), map_predicted=(-2.6485, -3.49893), range=1.9292, pts=5
I0419 20:54:28.479810 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55821m maha_sq=175.598 (gate chi2=5.99) pose_sigma=(0.191428, 0.191428, rho=0) det_map=(-2.6485, -3.49893) lm_pos=(-0.285, -2.52) delta=(-2.3635, -0.978928) -> 0 candidate(s)
I0419 20:54:28.480554 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722845s, prior_pose=(-1.25446, -1.89662), yaw=2.19218 deg
I0419 20:54:28.480604 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=251, threshold=230, above_threshold=7, candidates=7
I0419 20:54:28.480641 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:28.480659 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:28.482326 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:28.740440 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.78442, -0.672896)
I0419 20:54:28.743911 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:28.743970 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15924, 1.55243), points=5, range=1.934, residual=0.0122531, extent=0.0307496
I0419 20:54:28.743991 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:28.744006 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:28.744017 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15924, 1.55243), tracking=(-1.45774, -1.55243), map_predicted=(-2.64803, -3.50454), range=1.934, pts=5
I0419 20:54:28.744033 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55993m maha_sq=175.038 (gate chi2=5.99) pose_sigma=(0.191756, 0.191756, rho=0) det_map=(-2.64803, -3.50454) lm_pos=(-0.285, -2.52) delta=(-2.36303, -0.984541) -> 0 candidate(s)
I0419 20:54:28.744781 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595115s, prior_pose=(-1.25156, -1.89678), yaw=2.2214 deg
I0419 20:54:28.744867 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:28.744902 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:28.744918 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:28.989225 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.778758, -0.671334)
I0419 20:54:28.991827 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:28.991915 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:28.994575 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:28.994668 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15819, 1.54633), points=6, range=1.92817, residual=0.0146809, extent=0.0381758
I0419 20:54:28.994699 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:28.994719 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:28.994736 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15819, 1.54633), tracking=(-1.45669, -1.54633), map_predicted=(-2.64979, -3.49883), range=1.92817, pts=6
I0419 20:54:28.994760 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55936m maha_sq=174.103 (gate chi2=5.99) pose_sigma=(0.192067, 0.192067, rho=0) det_map=(-2.64979, -3.49883) lm_pos=(-0.285, -2.52) delta=(-2.36479, -0.978828) -> 0 candidate(s)
I0419 20:54:29.010890 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445195s, prior_pose=(-1.25344, -1.89779), yaw=2.19629 deg
I0419 20:54:29.011023 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:29.011087 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:29.011116 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:29.025889 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:29.269590 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25262, -1.89636), yaw=2.20338 deg backend=(-1.25262, -1.89636)
I0419 20:54:29.271103 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:29.276712 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778603, -0.671468)
I0419 20:54:29.290012 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:29.290097 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15835, 1.55122), points=5, range=1.933, residual=0.0111702, extent=0.0264431
I0419 20:54:29.290120 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:29.290135 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:29.290146 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15835, 1.55122), tracking=(-1.45685, -1.55122), map_predicted=(-2.64872, -3.50247), range=1.933, pts=5
I0419 20:54:29.290166 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55977m maha_sq=174.111 (gate chi2=5.99) pose_sigma=(0.192329, 0.192329, rho=0) det_map=(-2.64872, -3.50247) lm_pos=(-0.285, -2.52) delta=(-2.36372, -0.982474) -> 0 candidate(s)
I0419 20:54:29.306790 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0766522s, prior_pose=(-1.25262, -1.89636), yaw=2.20465 deg
I0419 20:54:29.307274 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:54:29.307400 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:29.307440 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:29.526412 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15274, 1.54841)
I0419 20:54:29.570377 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:29.570477 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:29.655226 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:29.655324 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15849, 1.54206), points=5, range=1.9304, residual=0.0117904, extent=0.0307156
I0419 20:54:29.655345 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:29.655359 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:29.655369 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15849, 1.54206), tracking=(-1.45699, -1.54206), map_predicted=(-2.65074, -3.49398), range=1.9304, pts=5
I0419 20:54:29.655390 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55839m maha_sq=173.414 (gate chi2=5.99) pose_sigma=(0.19258, 0.19258, rho=0) det_map=(-2.65074, -3.49398) lm_pos=(-0.285, -2.52) delta=(-2.36574, -0.973983) -> 0 candidate(s)
I0419 20:54:29.656170 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593773s, prior_pose=(-1.25399, -1.89716), yaw=2.19879 deg
I0419 20:54:29.656229 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=831, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:29.656265 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:29.656284 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:29.657147 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:29.818305 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15986, 1.54858)
I0419 20:54:29.927264 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477411s, prior_pose=(-1.2539, -1.89773), yaw=2.19525 deg
I0419 20:54:29.927393 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=852, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:29.927436 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:29.927481 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:29.927507 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:29.927548 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779926, -0.673978), points=6, range=1.03283, residual=0.00897348, extent=0.026632
I0419 20:54:29.927573 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:29.927621 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:29.927651 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779926, -0.673978), tracking=(1.07843, -0.673978), map_predicted=(-0.150454, -2.52991), range=1.03283, pts=6
I0419 20:54:29.927681 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13491m maha_sq=0.48353 (gate chi2=5.99) pose_sigma=(0.192638, 0.192638, rho=0) det_map=(-0.150454, -2.52991) lm_pos=(-0.285, -2.52) delta=(0.134546, -0.00990818) -> 1 candidate(s)
I0419 20:54:30.055645 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25489, -1.89649), yaw=2.20387 deg backend=(-1.25489, -1.89649)
I0419 20:54:30.097819 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779597, -0.672356)
I0419 20:54:30.186084 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760108s, prior_pose=(-1.25374, -1.89558), yaw=2.20644 deg
I0419 20:54:30.186182 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=251, threshold=230, above_threshold=7, candidates=7
I0419 20:54:30.186244 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:30.186296 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:30.186333 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:30.186370 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779545, -0.671658), points=7, range=1.026, residual=0.011767, extent=0.03405
I0419 20:54:30.186403 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:30.186431 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:30.186458 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779545, -0.671658), tracking=(1.07804, -0.671658), map_predicted=(-0.150638, -2.52524), range=1.026, pts=7
I0419 20:54:30.186496 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134464m maha_sq=0.478728 (gate chi2=5.99) pose_sigma=(0.192816, 0.192816, rho=0) det_map=(-0.150638, -2.52524) lm_pos=(-0.285, -2.52) delta=(0.134362, -0.005237) -> 1 candidate(s)
I0419 20:54:30.186532 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:30.186558 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:30.198350 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:30.434782 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.778358, -0.672589)
I0419 20:54:30.478806 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563583s, prior_pose=(-1.25454, -1.89559), yaw=2.2032 deg
I0419 20:54:30.478951 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:30.479036 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:30.479074 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:30.479102 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:30.479131 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784605, -0.673063), points=5, range=1.029, residual=0.0131097, extent=0.0332167
I0419 20:54:30.479158 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:30.479228 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:30.479249 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784605, -0.673063), tracking=(1.08311, -0.673063), map_predicted=(-0.146356, -2.52652), range=1.029, pts=5
I0419 20:54:30.479287 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138797m maha_sq=0.508658 (gate chi2=5.99) pose_sigma=(0.193003, 0.193003, rho=0) det_map=(-0.146356, -2.52652) lm_pos=(-0.285, -2.52) delta=(0.138644, -0.00652021) -> 1 candidate(s)
I0419 20:54:30.599506 1218978 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:54:30.726102 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:30.727406 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15939, 1.54794)
I0419 20:54:30.823211 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439218s, prior_pose=(-1.25532, -1.89667), yaw=2.18586 deg
I0419 20:54:30.823606 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:54:30.823663 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:30.823683 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:30.824486 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:30.824530 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15384, 1.55458), points=5, range=1.9326, residual=0.0116923, extent=0.0269714
I0419 20:54:30.824551 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:30.824563 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:30.824572 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15384, 1.55458), tracking=(-1.45234, -1.55458), map_predicted=(-2.64731, -3.50551), range=1.9326, pts=5
I0419 20:54:30.824589 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55964m maha_sq=172.654 (gate chi2=5.99) pose_sigma=(0.193112, 0.193112, rho=0) det_map=(-2.64731, -3.50551) lm_pos=(-0.285, -2.52) delta=(-2.36231, -0.985509) -> 0 candidate(s)
I0419 20:54:30.824609 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:30.825613 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:30.825651 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:30.980636 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25355, -1.89561), yaw=2.19716 deg backend=(-1.25355, -1.89561)
I0419 20:54:30.982028 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15796, 1.54601)
I0419 20:54:31.087718 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0716013s, prior_pose=(-1.25539, -1.89651), yaw=2.20924 deg
I0419 20:54:31.088027 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:31.088228 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:31.088371 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:31.090518 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:31.090653 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1585, 1.55142), points=5, range=1.933, residual=0.0114701, extent=0.0287708
I0419 20:54:31.090678 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:31.090692 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:31.090704 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1585, 1.55142), tracking=(-1.457, -1.55142), map_predicted=(-2.65147, -3.50297), range=1.933, pts=5
I0419 20:54:31.090724 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5625m maha_sq=172.644 (gate chi2=5.99) pose_sigma=(0.193351, 0.193351, rho=0) det_map=(-2.65147, -3.50297) lm_pos=(-0.285, -2.52) delta=(-2.36647, -0.982969) -> 0 candidate(s)
I0419 20:54:31.246652 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.783043, -0.672705)
I0419 20:54:31.362490 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601225s, prior_pose=(-1.25379, -1.89566), yaw=2.20943 deg
I0419 20:54:31.362610 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:31.362665 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:31.362689 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:31.374269 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:31.394029 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:31.394151 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784608, -0.67306), points=5, range=1.0286, residual=0.0141002, extent=0.0366514
I0419 20:54:31.394192 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:31.394222 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:31.394301 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784608, -0.67306), tracking=(1.08311, -0.67306), map_predicted=(-0.145527, -2.52644), range=1.0286, pts=5
I0419 20:54:31.394354 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139621m maha_sq=0.511956 (gate chi2=5.99) pose_sigma=(0.193462, 0.193462, rho=0) det_map=(-0.145527, -2.52644) lm_pos=(-0.285, -2.52) delta=(0.139473, -0.00644003) -> 1 candidate(s)
I0419 20:54:31.422921 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:31.423044 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:31.531081 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15445, 1.54602)
I0419 20:54:31.654354 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434848s, prior_pose=(-1.25577, -1.89489), yaw=2.19253 deg
I0419 20:54:31.654515 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:31.654610 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:31.654650 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:31.686200 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:31.686403 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.774832, -0.671908), points=6, range=1.028, residual=0.0123016, extent=0.0340775
I0419 20:54:31.686506 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:31.686527 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:31.686542 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.774832, -0.671908), tracking=(1.07333, -0.671908), map_predicted=(-0.157519, -2.52524), range=1.028, pts=6
I0419 20:54:31.686566 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.127589m maha_sq=0.427509 (gate chi2=5.99) pose_sigma=(0.193587, 0.193587, rho=0) det_map=(-0.157519, -2.52524) lm_pos=(-0.285, -2.52) delta=(0.127481, -0.00524433) -> 1 candidate(s)
I0419 20:54:31.816828 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15554, 1.54748)
I0419 20:54:31.899816 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25543, -1.89637), yaw=2.20828 deg backend=(-1.25543, -1.89637)
I0419 20:54:31.949990 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755191s, prior_pose=(-1.25543, -1.89637), yaw=2.20934 deg
I0419 20:54:31.950171 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=252, threshold=230, above_threshold=4, candidates=4
I0419 20:54:31.950248 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:31.950280 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=0
I0419 20:54:32.033926 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:32.035627 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:32.035730 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16041, 1.54927), points=4, range=1.9315, residual=0.0111976, extent=0.0261412
I0419 20:54:32.035753 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:32.035769 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:32.035780 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16041, 1.54927), tracking=(-1.45891, -1.54927), map_predicted=(-2.65229, -3.50104), range=1.9315, pts=4
I0419 20:54:32.035799 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56251m maha_sq=171.621 (gate chi2=5.99) pose_sigma=(0.193953, 0.193953, rho=0) det_map=(-2.65229, -3.50104) lm_pos=(-0.285, -2.52) delta=(-2.36729, -0.981041) -> 0 candidate(s)
I0419 20:54:32.039222 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:32.039310 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:32.066308 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.782919, -0.674172)
I0419 20:54:32.151026 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:32.278613 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609407s, prior_pose=(-1.25576, -1.89743), yaw=2.19218 deg
I0419 20:54:32.278723 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:32.278769 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:32.278789 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:32.286574 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:32.286702 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15655, 1.54882), points=5, range=1.9298, residual=0.0117644, extent=0.0300451
I0419 20:54:32.286727 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:32.286742 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:32.286751 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15655, 1.54882), tracking=(-1.45505, -1.54882), map_predicted=(-2.65051, -3.50077), range=1.9298, pts=5
I0419 20:54:32.286772 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56076m maha_sq=171.03 (gate chi2=5.99) pose_sigma=(0.194126, 0.194126, rho=0) det_map=(-2.65051, -3.50077) lm_pos=(-0.285, -2.52) delta=(-2.36551, -0.980765) -> 0 candidate(s)
I0419 20:54:32.415994 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.778467, -0.672681)
I0419 20:54:32.589359 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475537s, prior_pose=(-1.25513, -1.89552), yaw=2.19033 deg
I0419 20:54:32.589577 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:32.589649 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:32.589672 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:32.590581 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:32.593397 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:32.593478 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15939, 1.54326), points=5, range=1.9332, residual=0.0133559, extent=0.0358997
I0419 20:54:32.593497 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:32.593508 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:32.593523 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15939, 1.54326), tracking=(-1.45789, -1.54326), map_predicted=(-2.65296, -3.49338), range=1.9332, pts=5
I0419 20:54:32.593541 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56022m maha_sq=170.574 (gate chi2=5.99) pose_sigma=(0.194243, 0.194243, rho=0) det_map=(-2.65296, -3.49338) lm_pos=(-0.285, -2.52) delta=(-2.36796, -0.973376) -> 0 candidate(s)
I0419 20:54:32.710608 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.783819, -0.674362)
I0419 20:54:32.710724 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:32.710740 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:32.716794 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25707, -1.89537), yaw=2.19172 deg backend=(-1.25707, -1.89537)
I0419 20:54:32.848039 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0714318s, prior_pose=(-1.25502, -1.89794), yaw=2.19496 deg
I0419 20:54:32.848165 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=828, max_intensity=251, threshold=230, above_threshold=4, candidates=4
I0419 20:54:32.848197 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:32.848218 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:32.874526 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:32.874682 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1594, 1.55262), points=5, range=1.9348, residual=0.0110073, extent=0.0259427
I0419 20:54:32.874715 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:32.874734 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:32.874751 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1594, 1.55262), tracking=(-1.4579, -1.55262), map_predicted=(-2.65237, -3.50527), range=1.9348, pts=5
I0419 20:54:32.874782 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56421m maha_sq=170.838 (gate chi2=5.99) pose_sigma=(0.194546, 0.194546, rho=0) det_map=(-2.65237, -3.50527) lm_pos=(-0.285, -2.52) delta=(-2.36737, -0.985267) -> 0 candidate(s)
I0419 20:54:32.959725 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15644, 1.54868)
I0419 20:54:33.125655 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597646s, prior_pose=(-1.25454, -1.89557), yaw=2.21205 deg
I0419 20:54:33.125804 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:33.125864 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:33.125885 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:33.138260 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:33.233769 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16009, 1.54891)
I0419 20:54:33.233875 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:33.233896 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16059, 1.54486), points=5, range=1.9352, residual=0.0137301, extent=0.0366957
I0419 20:54:33.233908 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:33.233922 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:33.233932 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16059, 1.54486), tracking=(-1.45909, -1.54486), map_predicted=(-2.65371, -3.49602), range=1.9352, pts=5
I0419 20:54:33.233947 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56191m maha_sq=169.859 (gate chi2=5.99) pose_sigma=(0.194764, 0.194764, rho=0) det_map=(-2.65371, -3.49602) lm_pos=(-0.285, -2.52) delta=(-2.36871, -0.976016) -> 0 candidate(s)
I0419 20:54:33.237289 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:33.237358 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:33.498044 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441112s, prior_pose=(-1.25713, -1.89557), yaw=2.19341 deg
I0419 20:54:33.498159 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=856, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:33.498208 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:33.498230 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:33.499114 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15806, 1.54618)
I0419 20:54:33.502233 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:33.502312 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15406, 1.55017), points=6, range=1.93017, residual=0.0119294, extent=0.0300607
I0419 20:54:33.502332 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:33.502344 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:33.502354 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15406, 1.55017), tracking=(-1.45256, -1.55017), map_predicted=(-2.64927, -3.50023), range=1.93017, pts=6
I0419 20:54:33.502369 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55942m maha_sq=169.278 (gate chi2=5.99) pose_sigma=(0.195031, 0.195031, rho=0) det_map=(-2.64927, -3.50023) lm_pos=(-0.285, -2.52) delta=(-2.36427, -0.980227) -> 0 candidate(s)
I0419 20:54:33.630232 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:33.632393 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25796, -1.89603), yaw=2.18723 deg backend=(-1.25796, -1.89603)
I0419 20:54:33.771023 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759473s, prior_pose=(-1.25459, -1.8954), yaw=2.17546 deg
I0419 20:54:33.771143 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:33.771178 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:33.771198 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:33.772857 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15335, 1.54454)
I0419 20:54:33.772927 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:33.774533 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:33.774601 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1563, 1.55317), points=4, range=1.9315, residual=0.0134195, extent=0.0293845
I0419 20:54:33.774621 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:33.774631 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:33.774642 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1563, 1.55317), tracking=(-1.4548, -1.55317), map_predicted=(-2.64939, -3.50267), range=1.9315, pts=4
I0419 20:54:33.774660 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56047m maha_sq=168.822 (gate chi2=5.99) pose_sigma=(0.195283, 0.195283, rho=0) det_map=(-2.64939, -3.50267) lm_pos=(-0.285, -2.52) delta=(-2.36439, -0.982674) -> 0 candidate(s)
I0419 20:54:33.798512 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:33.798674 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:34.006445 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059911s, prior_pose=(-1.25736, -1.89603), yaw=2.18014 deg
I0419 20:54:34.006554 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:34.006599 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:34.006619 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.784456, -0.673929)
I0419 20:54:34.006675 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:34.051138 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:34.051306 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15954, 1.55283), points=5, range=1.9342, residual=0.0127473, extent=0.0321486
I0419 20:54:34.051349 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:34.051379 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:34.051402 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15954, 1.55283), tracking=(-1.45804, -1.55283), map_predicted=(-2.65527, -3.5032), range=1.9342, pts=5
I0419 20:54:34.051440 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5661m maha_sq=169.27 (gate chi2=5.99) pose_sigma=(0.195501, 0.195501, rho=0) det_map=(-2.65527, -3.5032) lm_pos=(-0.285, -2.52) delta=(-2.37027, -0.983197) -> 0 candidate(s)
I0419 20:54:34.302567 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0433674s, prior_pose=(-1.25644, -1.89511), yaw=2.19907 deg
I0419 20:54:34.302671 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=833, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:34.302704 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:34.302722 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.775971, -0.672112)
I0419 20:54:34.302738 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:34.313985 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:34.433282 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:34.433382 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15879, 1.55183), points=5, range=1.9332, residual=0.0125941, extent=0.0321486
I0419 20:54:34.433401 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:34.433413 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:34.433423 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15879, 1.55183), tracking=(-1.45729, -1.55183), map_predicted=(-2.65208, -3.50506), range=1.9332, pts=5
I0419 20:54:34.433444 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56387m maha_sq=168.099 (gate chi2=5.99) pose_sigma=(0.196029, 0.196029, rho=0) det_map=(-2.65208, -3.50506) lm_pos=(-0.285, -2.52) delta=(-2.36708, -0.985058) -> 0 candidate(s)
I0419 20:54:34.436653 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:34.436712 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:34.543748 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25435, -1.89698), yaw=2.20372 deg backend=(-1.25435, -1.89698)
I0419 20:54:34.561988 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779351, -0.672132)
I0419 20:54:34.594126 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0750909s, prior_pose=(-1.25435, -1.89698), yaw=2.20308 deg
I0419 20:54:34.594319 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:54:34.594517 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:34.594623 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:34.694697 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:34.694799 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16081, 1.5498), points=4, range=1.9335, residual=0.00917392, extent=0.0206872
I0419 20:54:34.694821 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:34.694839 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:34.694849 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16081, 1.5498), tracking=(-1.45931, -1.5498), map_predicted=(-2.65658, -3.50038), range=1.9335, pts=4
I0419 20:54:34.694866 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56623m maha_sq=168.253 (gate chi2=5.99) pose_sigma=(0.196311, 0.196311, rho=0) det_map=(-2.65658, -3.50038) lm_pos=(-0.285, -2.52) delta=(-2.37158, -0.980376) -> 0 candidate(s)
I0419 20:54:34.841991 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15903, 1.54746)
I0419 20:54:34.958673 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555384s, prior_pose=(-1.25586, -1.89543), yaw=2.19568 deg
I0419 20:54:34.958775 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:34.958817 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:34.958837 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:34.959587 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:34.962177 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:34.962246 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15865, 1.55162), points=5, range=1.9332, residual=0.0114905, extent=0.0275543
I0419 20:54:34.962265 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:34.962276 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:34.962289 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15865, 1.55162), tracking=(-1.45715, -1.55162), map_predicted=(-2.65246, -3.50176), range=1.9332, pts=5
I0419 20:54:34.962306 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56295m maha_sq=167.462 (gate chi2=5.99) pose_sigma=(0.196405, 0.196405, rho=0) det_map=(-2.65246, -3.50176) lm_pos=(-0.285, -2.52) delta=(-2.36746, -0.981763) -> 0 candidate(s)
I0419 20:54:34.974227 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:34.974308 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:35.065287 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:35.084851 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:35.102185 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15782, 1.54587)
I0419 20:54:35.191012 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043326s, prior_pose=(-1.25388, -1.89573), yaw=2.20041 deg
I0419 20:54:35.191124 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:35.191206 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:35.191226 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:35.221699 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:35.221789 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15819, 1.55103), points=5, range=1.9318, residual=0.0131715, extent=0.0335929
I0419 20:54:35.221812 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:35.221832 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:35.221843 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15819, 1.55103), tracking=(-1.45669, -1.55103), map_predicted=(-2.64996, -3.50153), range=1.9318, pts=5
I0419 20:54:35.221868 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56056m maha_sq=166.721 (gate chi2=5.99) pose_sigma=(0.196556, 0.196556, rho=0) det_map=(-2.64996, -3.50153) lm_pos=(-0.285, -2.52) delta=(-2.36496, -0.981527) -> 0 candidate(s)
I0419 20:54:35.360176 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25706, -1.89613), yaw=2.18678 deg backend=(-1.25706, -1.89613)
I0419 20:54:35.474761 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15434, 1.54122)
I0419 20:54:35.479491 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0674301s, prior_pose=(-1.2544, -1.8954), yaw=2.19876 deg
I0419 20:54:35.479604 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:54:35.479640 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:35.479671 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:35.491325 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:35.518498 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:35.518651 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15471, 1.55103), points=4, range=1.9305, residual=0.00945987, extent=0.0206587
I0419 20:54:35.518689 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:35.518713 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:35.518733 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15471, 1.55103), tracking=(-1.45321, -1.55103), map_predicted=(-2.64703, -3.50105), range=1.9305, pts=4
I0419 20:54:35.518769 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55766m maha_sq=166.134 (gate chi2=5.99) pose_sigma=(0.196896, 0.196896, rho=0) det_map=(-2.64703, -3.50105) lm_pos=(-0.285, -2.52) delta=(-2.36203, -0.98105) -> 0 candidate(s)
I0419 20:54:35.630906 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:35.631017 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:35.745203 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16033, 1.54923)
I0419 20:54:35.766539 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557985s, prior_pose=(-1.25434, -1.89428), yaw=2.20312 deg
I0419 20:54:35.766657 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:35.766754 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:35.766780 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:35.853726 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:35.853821 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16041, 1.54927), points=4, range=1.9315, residual=0.0111748, extent=0.0253814
I0419 20:54:35.853842 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:35.853854 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:35.853864 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16041, 1.54927), tracking=(-1.45891, -1.54927), map_predicted=(-2.65166, -3.4993), range=1.9315, pts=4
I0419 20:54:35.853883 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56127m maha_sq=165.884 (gate chi2=5.99) pose_sigma=(0.197239, 0.197239, rho=0) det_map=(-2.65166, -3.4993) lm_pos=(-0.285, -2.52) delta=(-2.36666, -0.979299) -> 0 candidate(s)
I0419 20:54:36.017967 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781102, -0.672604)
I0419 20:54:36.148667 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0443966s, prior_pose=(-1.25576, -1.89717), yaw=2.2001 deg
I0419 20:54:36.148777 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:36.148828 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:36.148849 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:36.149693 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:36.152257 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:36.152326 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1582, 1.55102), points=5, range=1.9322, residual=0.0117837, extent=0.0281328
I0419 20:54:36.152345 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:36.152360 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:36.152371 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1582, 1.55102), tracking=(-1.4567, -1.55102), map_predicted=(-2.65187, -3.50295), range=1.9322, pts=5
I0419 20:54:36.152390 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56287m maha_sq=165.519 (gate chi2=5.99) pose_sigma=(0.197549, 0.197549, rho=0) det_map=(-2.65187, -3.50295) lm_pos=(-0.285, -2.52) delta=(-2.36687, -0.982947) -> 0 candidate(s)
I0419 20:54:36.155652 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:36.155715 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:36.270617 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.256, -1.8951), yaw=2.18529 deg backend=(-1.256, -1.8951)
I0419 20:54:36.271904 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15998, 1.54874)
I0419 20:54:36.311928 1218529 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.35% real time)
I0419 20:54:36.312244 1218529 collated_trajectory_builder.cc:82] odom rate: 248.79 Hz 4.02e-03 s +/- 6.66e-04 s (pulsed at 99.97% real time)
I0419 20:54:36.312521 1218529 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.40e-03 s (pulsed at 100.25% real time)
I0419 20:54:36.312593 1218529 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.19e-03 s (pulsed at 100.35% real time)
I0419 20:54:36.420171 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754424s, prior_pose=(-1.2533, -1.89616), yaw=2.19598 deg
I0419 20:54:36.420295 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:36.420337 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:36.420358 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:36.424187 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:36.424268 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15821, 1.54634), points=4, range=1.93275, residual=0.00822296, extent=0.0191
I0419 20:54:36.424288 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:36.424299 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:36.424309 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15821, 1.54634), tracking=(-1.45671, -1.54634), map_predicted=(-2.64969, -3.49717), range=1.93275, pts=4
I0419 20:54:36.424324 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55864m maha_sq=164.804 (gate chi2=5.99) pose_sigma=(0.197833, 0.197833, rho=0) det_map=(-2.64969, -3.49717) lm_pos=(-0.285, -2.52) delta=(-2.36469, -0.977174) -> 0 candidate(s)
I0419 20:54:36.515198 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:36.518836 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1559, 1.5433)
I0419 20:54:36.670727 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601041s, prior_pose=(-1.25858, -1.89426), yaw=2.16914 deg
I0419 20:54:36.670845 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:36.670881 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:36.670894 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:36.671751 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:36.694103 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:36.694298 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15999, 1.54406), points=5, range=1.9336, residual=0.0123811, extent=0.0328754
I0419 20:54:36.694343 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:36.694377 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:36.694399 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15999, 1.54406), tracking=(-1.45849, -1.54406), map_predicted=(-2.65751, -3.49247), range=1.9336, pts=5
I0419 20:54:36.694442 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56408m maha_sq=164.616 (gate chi2=5.99) pose_sigma=(0.198158, 0.198158, rho=0) det_map=(-2.65751, -3.49247) lm_pos=(-0.285, -2.52) delta=(-2.37251, -0.972473) -> 0 candidate(s)
I0419 20:54:36.798077 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:36.798164 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:36.802392 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779707, -0.673754)
I0419 20:54:36.942030 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475599s, prior_pose=(-1.25805, -1.89484), yaw=2.17137 deg
I0419 20:54:36.942140 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:36.942193 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:36.942215 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:37.056108 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:37.056223 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15741, 1.54527), points=4, range=1.92725, residual=0.0100965, extent=0.0231989
I0419 20:54:37.056248 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:37.056264 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:37.056277 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15741, 1.54527), tracking=(-1.45591, -1.54527), map_predicted=(-2.65112, -3.49627), range=1.92725, pts=4
I0419 20:54:37.056299 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55962m maha_sq=163.504 (gate chi2=5.99) pose_sigma=(0.198621, 0.198621, rho=0) det_map=(-2.65112, -3.49627) lm_pos=(-0.285, -2.52) delta=(-2.36612, -0.976272) -> 0 candidate(s)
I0419 20:54:37.074568 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15819, 1.54166)
I0419 20:54:37.162017 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25428, -1.89603), yaw=2.20398 deg backend=(-1.25428, -1.89603)
I0419 20:54:37.234369 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718043s, prior_pose=(-1.25428, -1.89603), yaw=2.20481 deg
I0419 20:54:37.234519 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:54:37.234647 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:37.234686 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:37.323742 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:37.325374 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:37.325487 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15745, 1.55002), points=5, range=1.931, residual=0.0117259, extent=0.0293845
I0419 20:54:37.325511 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:37.325524 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:37.325533 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15745, 1.55002), tracking=(-1.45595, -1.55002), map_predicted=(-2.65045, -3.50016), range=1.931, pts=5
I0419 20:54:37.325549 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56048m maha_sq=163.275 (gate chi2=5.99) pose_sigma=(0.198741, 0.198741, rho=0) det_map=(-2.65045, -3.50016) lm_pos=(-0.285, -2.52) delta=(-2.36545, -0.980157) -> 0 candidate(s)
I0419 20:54:37.337899 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15853, 1.54683)
I0419 20:54:37.354360 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:37.354460 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:37.591177 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565292s, prior_pose=(-1.25341, -1.89686), yaw=2.18488 deg
I0419 20:54:37.591279 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:37.591325 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:37.591349 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:37.618575 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70337, 0.49917)
I0419 20:54:37.618669 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:37.618691 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78279, -0.672492), points=6, range=1.028, residual=0.0122813, extent=0.0357774
I0419 20:54:37.618707 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:37.618718 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:37.618734 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78279, -0.672492), tracking=(1.08129, -0.672492), map_predicted=(-0.147277, -2.52765), range=1.028, pts=6
I0419 20:54:37.618758 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137935m maha_sq=0.473149 (gate chi2=5.99) pose_sigma=(0.199021, 0.199021, rho=0) det_map=(-0.147277, -2.52765) lm_pos=(-0.285, -2.52) delta=(0.137723, -0.0076544) -> 1 candidate(s)
I0419 20:54:37.832005 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437712s, prior_pose=(-1.25732, -1.89467), yaw=2.18959 deg
I0419 20:54:37.832108 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:37.832150 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:37.832170 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:37.838006 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:37.957018 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783378, -0.67456)
I0419 20:54:37.957437 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:37.957990 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:37.958045 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1573, 1.54982), points=5, range=1.931, residual=0.011603, extent=0.0293935
I0419 20:54:37.958063 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:37.958077 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:37.958087 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1573, 1.54982), tracking=(-1.4558, -1.54982), map_predicted=(-2.64955, -3.5014), range=1.931, pts=5
I0419 20:54:37.958106 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56013m maha_sq=161.989 (gate chi2=5.99) pose_sigma=(0.19952, 0.19952, rho=0) det_map=(-2.64955, -3.5014) lm_pos=(-0.285, -2.52) delta=(-2.36455, -0.981399) -> 0 candidate(s)
I0419 20:54:37.989842 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25433, -1.89677), yaw=2.20227 deg backend=(-1.25433, -1.89677)
I0419 20:54:38.030308 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:38.030398 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:38.118254 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759408s, prior_pose=(-1.25503, -1.89557), yaw=2.19108 deg
I0419 20:54:38.118366 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:38.118415 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:38.118435 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:38.223558 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780181, -0.672196)
I0419 20:54:38.226960 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:38.227057 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15954, 1.54346), points=5, range=1.9326, residual=0.0119542, extent=0.0314368
I0419 20:54:38.227077 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:38.227089 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:38.227098 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15954, 1.54346), tracking=(-1.45804, -1.54346), map_predicted=(-2.65403, -3.4952), range=1.9326, pts=5
I0419 20:54:38.227115 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56189m maha_sq=161.882 (gate chi2=5.99) pose_sigma=(0.199706, 0.199706, rho=0) det_map=(-2.65403, -3.4952) lm_pos=(-0.285, -2.52) delta=(-2.36903, -0.975197) -> 0 candidate(s)
I0419 20:54:38.410300 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599859s, prior_pose=(-1.25598, -1.89547), yaw=2.22267 deg
I0419 20:54:38.410447 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:38.410529 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:38.410565 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:38.425704 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:38.488173 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70241, 0.498889)
I0419 20:54:38.510442 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:38.510579 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16134, 1.54585), points=5, range=1.9352, residual=0.0111126, extent=0.0294379
I0419 20:54:38.510620 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:38.510648 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:38.510671 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16134, 1.54585), tracking=(-1.45984, -1.54585), map_predicted=(-2.65505, -3.49625), range=1.9352, pts=5
I0419 20:54:38.510710 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56324m maha_sq=161.906 (gate chi2=5.99) pose_sigma=(0.199846, 0.199846, rho=0) det_map=(-2.65505, -3.49625) lm_pos=(-0.285, -2.52) delta=(-2.37005, -0.976254) -> 0 candidate(s)
I0419 20:54:38.637938 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:38.638044 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:38.791821 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476589s, prior_pose=(-1.25341, -1.89619), yaw=2.20857 deg
I0419 20:54:38.791930 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:38.791987 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:38.792006 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:38.793650 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.774321, -0.670658)
I0419 20:54:38.806157 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:38.806280 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1537, 1.54969), points=6, range=1.92783, residual=0.0151672, extent=0.0366174
I0419 20:54:38.806324 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:38.806350 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:38.806371 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1537, 1.54969), tracking=(-1.4522, -1.54969), map_predicted=(-2.6448, -3.5007), range=1.92783, pts=6
I0419 20:54:38.806406 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55547m maha_sq=160.258 (gate chi2=5.99) pose_sigma=(0.200003, 0.200003, rho=0) det_map=(-2.6448, -3.5007) lm_pos=(-0.285, -2.52) delta=(-2.3598, -0.980703) -> 0 candidate(s)
I0419 20:54:38.932210 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25191, -1.89655), yaw=2.19887 deg backend=(-1.25191, -1.89655)
I0419 20:54:39.007700 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:54:39.054239 1218530 pose_graph_2d.cc:160] Inserted submap (1, 4).
I0419 20:54:39.056638 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758839s, prior_pose=(-1.25451, -1.89689), yaw=2.19597 deg
I0419 20:54:39.056747 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:54:39.056788 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:39.056809 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:39.058820 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:39.059643 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780809, -0.672745)
I0419 20:54:39.151113 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:39.151233 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15597, 1.55274), points=6, range=1.93283, residual=0.012575, extent=0.0333089
I0419 20:54:39.151253 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:39.151265 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:39.151317 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15597, 1.55274), tracking=(-1.45447, -1.55274), map_predicted=(-2.64956, -3.50279), range=1.93283, pts=6
I0419 20:54:39.151340 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56067m maha_sq=160.634 (gate chi2=5.99) pose_sigma=(0.200357, 0.200357, rho=0) det_map=(-2.64956, -3.50279) lm_pos=(-0.285, -2.52) delta=(-2.36456, -0.982788) -> 0 candidate(s)
I0419 20:54:39.206313 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:39.206406 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:39.294638 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608312s, prior_pose=(-1.25648, -1.89605), yaw=2.19716 deg
I0419 20:54:39.294785 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:54:39.294854 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:39.294889 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:39.322383 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778982, -0.671794)
I0419 20:54:39.415264 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:39.416317 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:39.416393 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16101, 1.55007), points=4, range=1.93275, residual=0.0106701, extent=0.0239272
I0419 20:54:39.416419 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:39.416430 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:39.416440 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16101, 1.55007), tracking=(-1.45951, -1.55007), map_predicted=(-2.6568, -3.50046), range=1.93275, pts=4
I0419 20:54:39.416458 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56646m maha_sq=161.386 (gate chi2=5.99) pose_sigma=(0.200453, 0.200453, rho=0) det_map=(-2.6568, -3.50046) lm_pos=(-0.285, -2.52) delta=(-2.3718, -0.98046) -> 0 candidate(s)
I0419 20:54:39.588879 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437996s, prior_pose=(-1.2542, -1.89656), yaw=2.18853 deg
I0419 20:54:39.588994 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=251, threshold=230, above_threshold=4, candidates=4
I0419 20:54:39.589030 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:39.589047 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:39.598857 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15675, 1.54441)
I0419 20:54:39.599045 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:39.725534 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:39.725649 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15699, 1.54006), points=5, range=1.9284, residual=0.0120337, extent=0.0314037
I0419 20:54:39.725669 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:39.725679 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:39.725805 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15699, 1.54006), tracking=(-1.45549, -1.54006), map_predicted=(-2.64902, -3.49157), range=1.9284, pts=5
I0419 20:54:39.725827 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55588m maha_sq=159.589 (gate chi2=5.99) pose_sigma=(0.200676, 0.200676, rho=0) det_map=(-2.64902, -3.49157) lm_pos=(-0.285, -2.52) delta=(-2.36402, -0.971574) -> 0 candidate(s)
I0419 20:54:39.823782 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25321, -1.8997), yaw=2.18938 deg backend=(-1.25321, -1.8997)
I0419 20:54:39.826422 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:39.826504 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:39.862900 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15974, 1.54843)
I0419 20:54:39.886912 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802585s, prior_pose=(-1.25321, -1.8997), yaw=2.18992 deg
I0419 20:54:39.887315 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:39.887470 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:39.887557 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:39.992305 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:39.992462 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15864, 1.55163), points=5, range=1.9328, residual=0.01273, extent=0.0321405
I0419 20:54:39.992487 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:39.992501 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:39.992511 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15864, 1.55163), tracking=(-1.45714, -1.55163), map_predicted=(-2.65115, -3.50329), range=1.9328, pts=5
I0419 20:54:39.992530 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56232m maha_sq=159.751 (gate chi2=5.99) pose_sigma=(0.201042, 0.201042, rho=0) det_map=(-2.65115, -3.50329) lm_pos=(-0.285, -2.52) delta=(-2.36615, -0.983289) -> 0 candidate(s)
I0419 20:54:40.247294 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15398, 1.54074)
I0419 20:54:40.248284 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599659s, prior_pose=(-1.25301, -1.89509), yaw=2.19121 deg
I0419 20:54:40.248340 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:40.248381 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:40.248401 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:40.249200 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:40.274256 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:40.274403 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1576, 1.55022), points=5, range=1.9312, residual=0.0123795, extent=0.0314202
I0419 20:54:40.274451 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:40.274482 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:40.274542 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1576, 1.55022), tracking=(-1.4561, -1.55022), map_predicted=(-2.64872, -3.49989), range=1.9312, pts=5
I0419 20:54:40.274585 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55878m maha_sq=159.056 (gate chi2=5.99) pose_sigma=(0.201228, 0.201228, rho=0) det_map=(-2.64872, -3.49989) lm_pos=(-0.285, -2.52) delta=(-2.36372, -0.979895) -> 0 candidate(s)
I0419 20:54:40.382755 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:40.382858 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:40.509999 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15806, 1.54618)
I0419 20:54:40.511755 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0438785s, prior_pose=(-1.25324, -1.89737), yaw=2.20365 deg
I0419 20:54:40.511826 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:54:40.511862 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:40.511883 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:40.603674 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:40.603791 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15626, 1.54841), points=5, range=1.9298, residual=0.0106112, extent=0.0254101
I0419 20:54:40.603811 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:40.603822 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:40.603834 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15626, 1.54841), tracking=(-1.45476, -1.54841), map_predicted=(-2.64796, -3.50077), range=1.9298, pts=5
I0419 20:54:40.603850 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55842m maha_sq=158.816 (gate chi2=5.99) pose_sigma=(0.201454, 0.201454, rho=0) det_map=(-2.64796, -3.50077) lm_pos=(-0.285, -2.52) delta=(-2.36296, -0.980769) -> 0 candidate(s)
I0419 20:54:40.627700 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25375, -1.89762), yaw=2.20441 deg backend=(-1.25375, -1.89762)
I0419 20:54:40.758167 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15854, 1.54682)
I0419 20:54:40.762553 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758921s, prior_pose=(-1.25255, -1.89709), yaw=2.21088 deg
I0419 20:54:40.762632 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=251, threshold=230, above_threshold=4, candidates=4
I0419 20:54:40.762674 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:40.762694 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:40.774281 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:40.885906 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:40.890234 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:40.890352 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782447, -0.674163), points=7, range=1.03029, residual=0.0107133, extent=0.0299539
I0419 20:54:40.890376 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:40.890434 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:40.890448 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782447, -0.674163), tracking=(1.08095, -0.674163), map_predicted=(-0.148191, -2.52883), range=1.03029, pts=7
I0419 20:54:40.890468 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137094m maha_sq=0.455988 (gate chi2=5.99) pose_sigma=(0.201622, 0.201622, rho=0) det_map=(-0.148191, -2.52883) lm_pos=(-0.285, -2.52) delta=(0.136809, -0.00882928) -> 1 candidate(s)
I0419 20:54:41.019546 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:41.019626 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:41.038403 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15758, 1.54554)
I0419 20:54:41.054152 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592905s, prior_pose=(-1.25672, -1.8967), yaw=2.17535 deg
I0419 20:54:41.054338 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:41.054430 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:41.054471 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:41.170325 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:41.170445 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781998, -0.673801), points=5, range=1.034, residual=0.00665079, extent=0.0177167
I0419 20:54:41.170485 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:41.170508 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:41.170527 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781998, -0.673801), tracking=(1.0805, -0.673801), map_predicted=(-0.150469, -2.52823), range=1.034, pts=5
I0419 20:54:41.170562 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134782m maha_sq=0.440634 (gate chi2=5.99) pose_sigma=(0.20182, 0.20182, rho=0) det_map=(-0.150469, -2.52823) lm_pos=(-0.285, -2.52) delta=(0.134531, -0.00822546) -> 1 candidate(s)
I0419 20:54:41.318183 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.782574, -0.67427)
I0419 20:54:41.399772 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0438158s, prior_pose=(-1.25758, -1.89685), yaw=2.181 deg
I0419 20:54:41.399888 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:41.399938 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:41.399958 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:41.400867 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:41.574940 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:41.575034 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15831, 1.54649), points=6, range=1.92817, residual=0.0152224, extent=0.0381652
I0419 20:54:41.575053 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:41.575065 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:41.575106 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15831, 1.54649), tracking=(-1.45681, -1.54649), map_predicted=(-2.65255, -3.49743), range=1.92817, pts=6
I0419 20:54:41.575129 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56138m maha_sq=157.566 (gate chi2=5.99) pose_sigma=(0.202208, 0.202208, rho=0) det_map=(-2.65255, -3.49743) lm_pos=(-0.285, -2.52) delta=(-2.36755, -0.97743) -> 0 candidate(s)
I0419 20:54:41.578002 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25605, -1.89627), yaw=2.19468 deg backend=(-1.25605, -1.89627)
I0419 20:54:41.681628 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.783467, -0.672087)
I0419 20:54:41.681754 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:41.681777 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:41.683396 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719432s, prior_pose=(-1.25158, -1.89622), yaw=2.20941 deg
I0419 20:54:41.683486 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=253, threshold=230, above_threshold=4, candidates=4
I0419 20:54:41.683522 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:41.683542 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:41.828783 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:41.829210 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15864, 1.55162), points=5, range=1.9328, residual=0.0124755, extent=0.0314286
I0419 20:54:41.829253 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:41.829267 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:41.829278 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15864, 1.55162), tracking=(-1.45714, -1.55162), map_predicted=(-2.65106, -3.50291), range=1.9328, pts=5
I0419 20:54:41.829299 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5621m maha_sq=157.293 (gate chi2=5.99) pose_sigma=(0.202631, 0.202631, rho=0) det_map=(-2.65106, -3.50291) lm_pos=(-0.285, -2.52) delta=(-2.36606, -0.982907) -> 0 candidate(s)
I0419 20:54:41.951608 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.77581, -0.670363)
I0419 20:54:41.955720 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558498s, prior_pose=(-1.25578, -1.89663), yaw=2.21586 deg
I0419 20:54:41.955814 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:41.955847 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:41.955865 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:41.956641 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:42.093600 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:42.093693 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78325, -0.672878), points=6, range=1.02883, residual=0.0124608, extent=0.0366685
I0419 20:54:42.093711 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:42.093760 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:42.093771 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78325, -0.672878), tracking=(1.08175, -0.672878), map_predicted=(-0.149885, -2.52723), range=1.02883, pts=6
I0419 20:54:42.093788 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135308m maha_sq=0.438904 (gate chi2=5.99) pose_sigma=(0.202748, 0.202748, rho=0) det_map=(-0.149885, -2.52723) lm_pos=(-0.285, -2.52) delta=(0.135115, -0.00722677) -> 1 candidate(s)
I0419 20:54:42.225863 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15513, 1.54695)
I0419 20:54:42.231931 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434462s, prior_pose=(-1.25553, -1.89613), yaw=2.20065 deg
I0419 20:54:42.232010 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:42.232046 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:42.232064 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:42.232082 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:42.232095 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:42.369758 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:42.378985 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:42.379112 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786502, -0.674692), points=5, range=1.0336, residual=0.00899342, extent=0.0219281
I0419 20:54:42.379156 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:42.379181 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:42.379201 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786502, -0.674692), tracking=(1.085, -0.674692), map_predicted=(-0.146555, -2.52873), range=1.0336, pts=5
I0419 20:54:42.379235 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13872m maha_sq=0.461657 (gate chi2=5.99) pose_sigma=(0.202855, 0.202855, rho=0) det_map=(-0.146555, -2.52873) lm_pos=(-0.285, -2.52) delta=(0.138445, -0.0087329) -> 1 candidate(s)
I0419 20:54:42.408215 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:42.477337 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25661, -1.89573), yaw=2.19577 deg backend=(-1.25661, -1.89573)
I0419 20:54:42.479774 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.778582, -0.672767)
I0419 20:54:42.522320 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.071628s, prior_pose=(-1.25661, -1.89573), yaw=2.19708 deg
I0419 20:54:42.522511 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:42.522599 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:42.522639 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:42.620453 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:42.759364 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:42.759500 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78008, -0.674106), points=6, range=1.03317, residual=0.0095973, extent=0.0266403
I0419 20:54:42.759521 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:42.759533 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:42.759543 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78008, -0.674106), tracking=(1.07858, -0.674106), map_predicted=(-0.15269, -2.52971), range=1.03317, pts=6
I0419 20:54:42.759565 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.132666m maha_sq=0.421226 (gate chi2=5.99) pose_sigma=(0.203075, 0.203075, rho=0) det_map=(-0.15269, -2.52971) lm_pos=(-0.285, -2.52) delta=(0.13231, -0.00970831) -> 1 candidate(s)
I0419 20:54:42.761256 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.782946, -0.672618)
I0419 20:54:42.857378 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594408s, prior_pose=(-1.25431, -1.89583), yaw=2.20693 deg
I0419 20:54:42.857517 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:42.857571 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:42.857595 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:42.857621 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:42.857636 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:43.035737 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:43.035828 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772989, -0.671905), points=6, range=1.027, residual=0.0123786, extent=0.03666
I0419 20:54:43.035851 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:43.035866 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:43.035877 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.772989, -0.671905), tracking=(1.07149, -0.671905), map_predicted=(-0.158832, -2.5252), range=1.027, pts=6
I0419 20:54:43.035893 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.126275m maha_sq=0.380279 (gate chi2=5.99) pose_sigma=(0.203288, 0.203288, rho=0) det_map=(-0.158832, -2.5252) lm_pos=(-0.285, -2.52) delta=(0.126168, -0.00520122) -> 1 candidate(s)
I0419 20:54:43.037636 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15684, 1.54921)
I0419 20:54:43.158138 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434763s, prior_pose=(-1.25615, -1.89457), yaw=2.19516 deg
I0419 20:54:43.158257 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:54:43.158296 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:43.158316 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:43.159219 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:43.300485 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15926, 1.54778)
I0419 20:54:43.302704 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:43.302866 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16029, 1.54446), points=5, range=1.9336, residual=0.0117122, extent=0.0307496
I0419 20:54:43.302891 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:43.302906 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:43.302915 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16029, 1.54446), tracking=(-1.45879, -1.54446), map_predicted=(-2.65557, -3.49432), range=1.9336, pts=5
I0419 20:54:43.302930 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56299m maha_sq=156.309 (gate chi2=5.99) pose_sigma=(0.203395, 0.203395, rho=0) det_map=(-2.65557, -3.49432) lm_pos=(-0.285, -2.52) delta=(-2.37057, -0.974322) -> 0 candidate(s)
I0419 20:54:43.304225 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25667, -1.89543), yaw=2.18297 deg backend=(-1.25667, -1.89543)
I0419 20:54:43.406293 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0763698s, prior_pose=(-1.25459, -1.89652), yaw=2.20731 deg
I0419 20:54:43.406400 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=831, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:43.406453 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:43.406474 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:43.434495 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:43.434573 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:43.534214 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15759, 1.54554)
I0419 20:54:43.578439 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:43.578635 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779319, -0.673456), points=6, range=1.032, residual=0.00871086, extent=0.0258079
I0419 20:54:43.578666 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:43.578685 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:43.578702 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779319, -0.673456), tracking=(1.07782, -0.673456), map_predicted=(-0.153688, -2.5266), range=1.032, pts=6
I0419 20:54:43.578737 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.131477m maha_sq=0.411514 (gate chi2=5.99) pose_sigma=(0.203664, 0.203664, rho=0) det_map=(-0.153688, -2.5266) lm_pos=(-0.285, -2.52) delta=(0.131312, -0.00659552) -> 1 candidate(s)
I0419 20:54:43.698549 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602194s, prior_pose=(-1.25323, -1.89589), yaw=2.21743 deg
I0419 20:54:43.698647 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:43.698702 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:43.698722 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:43.713599 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:43.778052 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:43.830569 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15951, 1.5481)
I0419 20:54:43.908420 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:43.908537 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784994, -0.673378), points=5, range=1.0298, residual=0.0136021, extent=0.0358123
I0419 20:54:43.908556 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:43.908569 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:43.908578 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784994, -0.673378), tracking=(1.08349, -0.673378), map_predicted=(-0.148162, -2.52678), range=1.0298, pts=5
I0419 20:54:43.908599 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137005m maha_sq=0.443653 (gate chi2=5.99) pose_sigma=(0.204138, 0.204138, rho=0) det_map=(-0.148162, -2.52678) lm_pos=(-0.285, -2.52) delta=(0.136838, -0.00677895) -> 1 candidate(s)
I0419 20:54:44.041469 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440865s, prior_pose=(-1.25553, -1.89577), yaw=2.19744 deg
I0419 20:54:44.041594 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:44.041646 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:44.041666 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:44.050058 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:44.050138 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:44.109730 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.78518, -0.673545)
I0419 20:54:44.208730 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25599, -1.89634), yaw=2.19904 deg backend=(-1.25599, -1.89634)
I0419 20:54:44.209430 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:44.209483 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78181, -0.673636), points=5, range=1.034, residual=0.00720903, extent=0.0192323
I0419 20:54:44.209503 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:44.209517 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:44.209524 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78181, -0.673636), tracking=(1.08031, -0.673636), map_predicted=(-0.150627, -2.52802), range=1.034, pts=5
I0419 20:54:44.209540 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134612m maha_sq=0.429198 (gate chi2=5.99) pose_sigma=(0.204244, 0.204244, rho=0) det_map=(-0.150627, -2.52802) lm_pos=(-0.285, -2.52) delta=(0.134373, -0.00802409) -> 1 candidate(s)
I0419 20:54:44.300266 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760934s, prior_pose=(-1.25522, -1.89561), yaw=2.19865 deg
I0419 20:54:44.300385 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:44.300426 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:44.300446 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:44.302096 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:44.470666 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15854, 1.54682)
I0419 20:54:44.477381 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:44.477499 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.778269, -0.673513), points=5, range=1.0314, residual=0.0105205, extent=0.0283988
I0419 20:54:44.477522 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:44.477536 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:44.477547 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.778269, -0.673513), tracking=(1.07677, -0.673513), map_predicted=(-0.150874, -2.527), range=1.0314, pts=5
I0419 20:54:44.477569 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134309m maha_sq=0.42586 (gate chi2=5.99) pose_sigma=(0.204442, 0.204442, rho=0) det_map=(-0.150874, -2.527) lm_pos=(-0.285, -2.52) delta=(0.134126, -0.00700347) -> 1 candidate(s)
I0419 20:54:44.590986 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598552s, prior_pose=(-1.25522, -1.89615), yaw=2.19793 deg
I0419 20:54:44.591162 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=831, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:54:44.591208 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:44.591231 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:44.638002 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:44.638093 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:44.709364 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15902, 1.54746)
I0419 20:54:44.753916 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:44.754189 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781885, -0.673036), points=4, range=1.034, residual=0.00773182, extent=0.0192249
I0419 20:54:44.754346 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:44.754488 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:44.754632 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781885, -0.673036), tracking=(1.08039, -0.673036), map_predicted=(-0.148499, -2.52723), range=1.034, pts=4
I0419 20:54:44.754792 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136692m maha_sq=0.440711 (gate chi2=5.99) pose_sigma=(0.204659, 0.204659, rho=0) det_map=(-0.148499, -2.52723) lm_pos=(-0.285, -2.52) delta=(0.136501, -0.00722722) -> 1 candidate(s)
I0419 20:54:44.770725 1218972 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 7 -> 6 (threshold=0.03, iters=3)
I0419 20:54:44.873822 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0397537s, prior_pose=(-1.25597, -1.89585), yaw=2.20949 deg
I0419 20:54:44.874171 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:44.874359 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:44.874394 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:44.886236 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:44.988655 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15863, 1.55162)
I0419 20:54:45.128400 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25672, -1.89416), yaw=2.19848 deg backend=(-1.25672, -1.89416)
I0419 20:54:45.129174 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:45.129242 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.775734, -0.672699), points=6, range=1.02917, residual=0.0115797, extent=0.0332449
I0419 20:54:45.129264 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:45.129279 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:45.129287 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.775734, -0.672699), tracking=(1.07423, -0.672699), map_predicted=(-0.157473, -2.52515), range=1.02917, pts=6
I0419 20:54:45.129307 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.127631m maha_sq=0.382333 (gate chi2=5.99) pose_sigma=(0.204989, 0.204989, rho=0) det_map=(-0.157473, -2.52515) lm_pos=(-0.285, -2.52) delta=(0.127527, -0.00515309) -> 1 candidate(s)
I0419 20:54:45.166131 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720658s, prior_pose=(-1.25672, -1.89416), yaw=2.19718 deg
I0419 20:54:45.166272 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:45.166422 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:45.166474 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:45.262607 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:45.265182 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:45.265290 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:45.266045 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15894, 1.53802)
I0419 20:54:45.382997 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:45.383118 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783656, -0.674556), points=4, range=1.03675, residual=0.00864283, extent=0.0216632
I0419 20:54:45.383143 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:45.383155 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:45.383170 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783656, -0.674556), tracking=(1.08216, -0.674556), map_predicted=(-0.148029, -2.52809), range=1.03675, pts=4
I0419 20:54:45.383194 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13721m maha_sq=0.441853 (gate chi2=5.99) pose_sigma=(0.205138, 0.205138, rho=0) det_map=(-0.148029, -2.52809) lm_pos=(-0.285, -2.52) delta=(0.136971, -0.00809023) -> 1 candidate(s)
I0419 20:54:45.519682 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595691s, prior_pose=(-1.25713, -1.89547), yaw=2.19405 deg
I0419 20:54:45.519814 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:54:45.519866 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:45.519932 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:45.520808 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:45.523450 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15358, 1.54953)
I0419 20:54:45.663333 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:45.663415 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777812, -0.672138), points=5, range=1.0312, residual=0.0112505, extent=0.0300137
I0419 20:54:45.663434 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:45.663443 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:45.663452 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777812, -0.672138), tracking=(1.07631, -0.672138), map_predicted=(-0.156501, -2.52893), range=1.0312, pts=5
I0419 20:54:45.663475 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.128808m maha_sq=0.387917 (gate chi2=5.99) pose_sigma=(0.205409, 0.205409, rho=0) det_map=(-0.156501, -2.52893) lm_pos=(-0.285, -2.52) delta=(0.128499, -0.00892543) -> 1 candidate(s)
I0419 20:54:45.798352 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437546s, prior_pose=(-1.2556, -1.8951), yaw=2.20038 deg
I0419 20:54:45.798532 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:54:45.798579 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:45.798600 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:45.801931 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15535, 1.54722)
I0419 20:54:45.814532 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:45.814615 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:45.920099 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25568, -1.89685), yaw=2.18403 deg backend=(-1.25568, -1.89685)
I0419 20:54:45.946535 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:45.946677 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15625, 1.54842), points=5, range=1.9286, residual=0.0129651, extent=0.0306902
I0419 20:54:45.946702 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:45.946718 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:45.946735 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15625, 1.54842), tracking=(-1.45475, -1.54842), map_predicted=(-2.65036, -3.49959), range=1.9286, pts=5
I0419 20:54:45.946763 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56018m maha_sq=152.408 (gate chi2=5.99) pose_sigma=(0.205719, 0.205719, rho=0) det_map=(-2.65036, -3.49959) lm_pos=(-0.285, -2.52) delta=(-2.36536, -0.979588) -> 0 candidate(s)
I0419 20:54:46.046281 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0721045s, prior_pose=(-1.25534, -1.89716), yaw=2.20009 deg
I0419 20:54:46.046386 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=244, threshold=230, above_threshold=7, candidates=7
I0419 20:54:46.046427 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:46.046479 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:46.061877 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:46.090905 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.1564, 1.54862)
I0419 20:54:46.291674 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:46.291769 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15894, 1.55203), points=5, range=1.933, residual=0.0131228, extent=0.0336007
I0419 20:54:46.291790 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:46.291803 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:46.291813 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15894, 1.55203), tracking=(-1.45744, -1.55203), map_predicted=(-2.65255, -3.50288), range=1.933, pts=5
I0419 20:54:46.291833 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56347m maha_sq=152.632 (gate chi2=5.99) pose_sigma=(0.205823, 0.205823, rho=0) det_map=(-2.65255, -3.50288) lm_pos=(-0.285, -2.52) delta=(-2.36755, -0.982884) -> 0 candidate(s)
I0419 20:54:46.342046 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598766s, prior_pose=(-1.25552, -1.89627), yaw=2.19201 deg
I0419 20:54:46.342216 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:46.342298 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:46.342337 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:46.447675 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15565, 1.54762)
I0419 20:54:46.451092 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:46.451155 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:46.592022 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:46.592132 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776577, -0.673054), points=7, range=1.02957, residual=0.00939742, extent=0.0276485
I0419 20:54:46.592154 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:46.592165 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:46.592175 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.776577, -0.673054), tracking=(1.07508, -0.673054), map_predicted=(-0.155538, -2.52616), range=1.02957, pts=7
I0419 20:54:46.592191 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.129609m maha_sq=0.390356 (gate chi2=5.99) pose_sigma=(0.20614, 0.20614, rho=0) det_map=(-0.155538, -2.52616) lm_pos=(-0.285, -2.52) delta=(0.129462, -0.0061557) -> 1 candidate(s)
I0419 20:54:46.714527 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0396161s, prior_pose=(-1.25495, -1.89725), yaw=2.21245 deg
I0419 20:54:46.714643 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:54:46.714694 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:46.714712 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:46.715322 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:46.715618 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15962, 1.54826)
I0419 20:54:46.715672 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:46.840762 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25403, -1.89672), yaw=2.20177 deg backend=(-1.25403, -1.89672)
I0419 20:54:46.842834 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:46.842909 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.774499, -0.670229), points=5, range=1.0276, residual=0.0135533, extent=0.0375318
I0419 20:54:46.842931 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:46.842945 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:46.842955 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.774499, -0.670229), tracking=(1.073, -0.670229), map_predicted=(-0.156079, -2.52523), range=1.0276, pts=5
I0419 20:54:46.842970 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.129027m maha_sq=0.385224 (gate chi2=5.99) pose_sigma=(0.206353, 0.206353, rho=0) det_map=(-0.156079, -2.52523) lm_pos=(-0.285, -2.52) delta=(0.128921, -0.00522964) -> 1 candidate(s)
I0419 20:54:46.989114 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0768044s, prior_pose=(-1.25501, -1.89653), yaw=2.20715 deg
I0419 20:54:46.989250 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:46.989285 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:46.989303 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:46.991140 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.1552, 1.54702)
I0419 20:54:47.121765 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:47.121923 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:47.147274 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:47.147840 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15999, 1.55343), points=5, range=1.9354, residual=0.0119277, extent=0.0307665
I0419 20:54:47.148118 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:47.148205 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:47.148313 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15999, 1.55343), tracking=(-1.45849, -1.55343), map_predicted=(-2.6533, -3.50595), range=1.9354, pts=5
I0419 20:54:47.148417 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56533m maha_sq=152.006 (gate chi2=5.99) pose_sigma=(0.206478, 0.206478, rho=0) det_map=(-2.6533, -3.50595) lm_pos=(-0.285, -2.52) delta=(-2.3683, -0.985945) -> 0 candidate(s)
I0419 20:54:47.240897 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0589709s, prior_pose=(-1.25787, -1.89595), yaw=2.18801 deg
I0419 20:54:47.241008 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:54:47.241045 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:47.241118 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780934, -0.672855)
I0419 20:54:47.241137 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:47.241900 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:47.514806 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:47.514909 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15685, 1.54922), points=6, range=1.92767, residual=0.0154889, extent=0.0338417
I0419 20:54:47.514933 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:47.514947 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:47.514957 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15685, 1.54922), tracking=(-1.45535, -1.54922), map_predicted=(-2.64883, -3.50005), range=1.92767, pts=6
I0419 20:54:47.514974 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55894m maha_sq=150.372 (gate chi2=5.99) pose_sigma=(0.206855, 0.206855, rho=0) det_map=(-2.64883, -3.50005) lm_pos=(-0.285, -2.52) delta=(-2.36383, -0.980046) -> 0 candidate(s)
I0419 20:54:47.519167 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1601, 1.5489)
I0419 20:54:47.520854 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439213s, prior_pose=(-1.25405, -1.89608), yaw=2.20072 deg
I0419 20:54:47.520917 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:47.520951 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:47.520968 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:47.662372 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:47.662503 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:47.746897 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25618, -1.89749), yaw=2.18863 deg backend=(-1.25618, -1.89749)
I0419 20:54:47.750995 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:47.751088 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15969, 1.54365), points=5, range=1.9312, residual=0.0104135, extent=0.0259125
I0419 20:54:47.751106 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:47.751116 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:47.751125 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15969, 1.54365), tracking=(-1.45819, -1.54365), map_predicted=(-2.65435, -3.49571), range=1.9312, pts=5
I0419 20:54:47.751143 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56239m maha_sq=150.905 (gate chi2=5.99) pose_sigma=(0.207082, 0.207082, rho=0) det_map=(-2.65435, -3.49571) lm_pos=(-0.285, -2.52) delta=(-2.36935, -0.975706) -> 0 candidate(s)
I0419 20:54:47.782351 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.781311, -0.673183)
I0419 20:54:47.814129 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075496s, prior_pose=(-1.25618, -1.89749), yaw=2.19055 deg
I0419 20:54:47.814328 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:47.814525 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:47.814571 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:47.908732 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:48.030849 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:48.031021 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15227, 1.54776), points=6, range=1.9275, residual=0.0114474, extent=0.0304341
I0419 20:54:48.031069 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:48.031100 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:48.031121 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15227, 1.54776), tracking=(-1.45077, -1.54776), map_predicted=(-2.64574, -3.49969), range=1.9275, pts=6
I0419 20:54:48.031159 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55595m maha_sq=149.898 (gate chi2=5.99) pose_sigma=(0.207203, 0.207203, rho=0) det_map=(-2.64574, -3.49969) lm_pos=(-0.285, -2.52) delta=(-2.36074, -0.979689) -> 0 candidate(s)
I0419 20:54:48.074105 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.78051, -0.672438)
I0419 20:54:48.162806 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:48.163540 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597834s, prior_pose=(-1.25617, -1.89613), yaw=2.19826 deg
I0419 20:54:48.163617 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:48.163658 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:48.163681 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:48.307222 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:48.307312 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:48.322374 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:48.322990 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15984, 1.54386), points=5, range=1.9328, residual=0.0121175, extent=0.0314286
I0419 20:54:48.323040 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:48.323064 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:48.323083 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15984, 1.54386), tracking=(-1.45834, -1.54386), map_predicted=(-2.64993, -3.49506), range=1.9328, pts=5
I0419 20:54:48.323115 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55805m maha_sq=149.698 (gate chi2=5.99) pose_sigma=(0.207478, 0.207478, rho=0) det_map=(-2.64993, -3.49506) lm_pos=(-0.285, -2.52) delta=(-2.36493, -0.975055) -> 0 candidate(s)
I0419 20:54:48.433353 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.786506, -0.674687)
I0419 20:54:48.435702 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043845s, prior_pose=(-1.25657, -1.89493), yaw=2.19683 deg
I0419 20:54:48.435777 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:54:48.435851 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:48.435869 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:48.436653 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:48.581786 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2562, -1.89611), yaw=2.19549 deg backend=(-1.2562, -1.89611)
I0419 20:54:48.699728 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:48.699824 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15894, 1.55203), points=5, range=1.9332, residual=0.0128232, extent=0.0328675
I0419 20:54:48.699846 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:48.699857 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:48.699868 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15894, 1.55203), tracking=(-1.45744, -1.55203), map_predicted=(-2.6517, -3.50301), range=1.9332, pts=5
I0419 20:54:48.699887 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56273m maha_sq=149.656 (gate chi2=5.99) pose_sigma=(0.20785, 0.20785, rho=0) det_map=(-2.6517, -3.50301) lm_pos=(-0.285, -2.52) delta=(-2.3667, -0.983013) -> 0 candidate(s)
I0419 20:54:48.703317 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.77982, -0.672246)
I0419 20:54:48.705021 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760319s, prior_pose=(-1.25485, -1.89624), yaw=2.19883 deg
I0419 20:54:48.705127 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:48.705168 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:48.705185 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:48.838577 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:48.838672 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:48.935842 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:48.935958 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16059, 1.54486), points=5, range=1.9348, residual=0.0129413, extent=0.0343703
I0419 20:54:48.935979 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:48.935995 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:48.936007 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16059, 1.54486), tracking=(-1.45909, -1.54486), map_predicted=(-2.65475, -3.49486), range=1.9348, pts=5
I0419 20:54:48.936025 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56243m maha_sq=149.195 (gate chi2=5.99) pose_sigma=(0.208143, 0.208143, rho=0) det_map=(-2.65475, -3.49486) lm_pos=(-0.285, -2.52) delta=(-2.36975, -0.974857) -> 0 candidate(s)
I0419 20:54:48.941691 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1583, 1.5465)
I0419 20:54:48.986282 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606594s, prior_pose=(-1.25601, -1.89515), yaw=2.19978 deg
I0419 20:54:48.986387 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:48.986474 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:48.986496 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:48.998211 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:49.235504 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:49.235602 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15454, 1.55081), points=6, range=1.93117, residual=0.0116116, extent=0.0300878
I0419 20:54:49.235625 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:49.235636 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:49.235646 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15454, 1.55081), tracking=(-1.45304, -1.55081), map_predicted=(-2.64997, -3.50101), range=1.93117, pts=6
I0419 20:54:49.235662 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56036m maha_sq=148.896 (gate chi2=5.99) pose_sigma=(0.208264, 0.208264, rho=0) det_map=(-2.64997, -3.50101) lm_pos=(-0.285, -2.52) delta=(-2.36497, -0.981012) -> 0 candidate(s)
I0419 20:54:49.238019 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16164, 1.54625)
I0419 20:54:49.361428 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436653s, prior_pose=(-1.25556, -1.8968), yaw=2.19254 deg
I0419 20:54:49.361529 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:49.361574 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:49.361594 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:49.506707 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25729, -1.89523), yaw=2.18071 deg backend=(-1.25729, -1.89523)
I0419 20:54:49.508780 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:49.508836 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:49.514719 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70433, 0.499452)
I0419 20:54:49.530481 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:49.530596 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16181, 1.55114), points=4, range=1.93325, residual=0.0121278, extent=0.0269167
I0419 20:54:49.530642 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:49.530670 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:49.530694 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16181, 1.55114), tracking=(-1.46031, -1.55114), map_predicted=(-2.65754, -3.50079), range=1.93325, pts=4
I0419 20:54:49.530732 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56727m maha_sq=149.303 (gate chi2=5.99) pose_sigma=(0.208515, 0.208515, rho=0) det_map=(-2.65754, -3.50079) lm_pos=(-0.285, -2.52) delta=(-2.37254, -0.980794) -> 0 candidate(s)
I0419 20:54:49.617475 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:49.618543 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758206s, prior_pose=(-1.2572, -1.89587), yaw=2.20703 deg
I0419 20:54:49.618659 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=251, threshold=230, above_threshold=8, candidates=8
I0419 20:54:49.618700 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:49.618721 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:49.620334 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:49.672426 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:49.778927 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.781949, -0.673719)
I0419 20:54:49.885236 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:49.885389 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1576, 1.55022), points=5, range=1.931, residual=0.0122829, extent=0.0293756
I0419 20:54:49.885445 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:49.885468 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:49.885489 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1576, 1.55022), tracking=(-1.4561, -1.55022), map_predicted=(-2.6493, -3.50185), range=1.931, pts=5
I0419 20:54:49.885525 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56007m maha_sq=148.171 (gate chi2=5.99) pose_sigma=(0.208718, 0.208718, rho=0) det_map=(-2.6493, -3.50185) lm_pos=(-0.285, -2.52) delta=(-2.3643, -0.981845) -> 0 candidate(s)
I0419 20:54:49.893103 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598746s, prior_pose=(-1.25421, -1.8965), yaw=2.21516 deg
I0419 20:54:49.893260 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:54:49.893344 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:49.893383 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:50.058243 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15322, 1.54905)
I0419 20:54:50.154928 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:50.155018 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:50.158380 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:50.158453 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15969, 1.55303), points=5, range=1.9346, residual=0.0124862, extent=0.0321568
I0419 20:54:50.158471 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:50.158481 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:50.158489 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15969, 1.55303), tracking=(-1.45819, -1.55303), map_predicted=(-2.65313, -3.50437), range=1.9346, pts=5
I0419 20:54:50.158504 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56457m maha_sq=148.422 (gate chi2=5.99) pose_sigma=(0.208899, 0.208899, rho=0) det_map=(-2.65313, -3.50437) lm_pos=(-0.285, -2.52) delta=(-2.36813, -0.984374) -> 0 candidate(s)
I0419 20:54:50.162674 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0482389s, prior_pose=(-1.25568, -1.89648), yaw=2.20223 deg
I0419 20:54:50.162860 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:54:50.162940 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:50.162976 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:50.174465 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:50.418946 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25518, -1.89605), yaw=2.20469 deg backend=(-1.25518, -1.89605)
I0419 20:54:50.419703 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70624, 0.500014)
I0419 20:54:50.427600 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:50.427721 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15954, 1.55283), points=5, range=1.934, residual=0.0133377, extent=0.0343627
I0419 20:54:50.427768 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:50.427793 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:50.427815 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15954, 1.55283), tracking=(-1.45804, -1.55283), map_predicted=(-2.65235, -3.50387), range=1.934, pts=5
I0419 20:54:50.427850 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56365m maha_sq=148.109 (gate chi2=5.99) pose_sigma=(0.208994, 0.208994, rho=0) det_map=(-2.65235, -3.50387) lm_pos=(-0.285, -2.52) delta=(-2.36735, -0.983869) -> 0 candidate(s)
I0419 20:54:50.454998 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718456s, prior_pose=(-1.25518, -1.89605), yaw=2.2064 deg
I0419 20:54:50.455211 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=252, threshold=230, above_threshold=4, candidates=4
I0419 20:54:50.455291 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:50.455328 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:50.666589 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15782, 1.54586)
I0419 20:54:50.670507 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:50.670595 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:50.706359 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:50.706492 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16029, 1.54446), points=5, range=1.9334, residual=0.0121664, extent=0.0314286
I0419 20:54:50.706514 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:50.706527 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:50.706537 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16029, 1.54446), tracking=(-1.45879, -1.54446), map_predicted=(-2.65381, -3.49616), range=1.9334, pts=5
I0419 20:54:50.706559 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56206m maha_sq=147.786 (gate chi2=5.99) pose_sigma=(0.209165, 0.209165, rho=0) det_map=(-2.65381, -3.49616) lm_pos=(-0.285, -2.52) delta=(-2.36881, -0.976158) -> 0 candidate(s)
I0419 20:54:50.787087 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601726s, prior_pose=(-1.25826, -1.89403), yaw=2.20528 deg
I0419 20:54:50.787303 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:54:50.787405 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:50.787460 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:50.792476 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:50.827553 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:54:50.914574 1218972 pose_graph_2d.cc:160] Inserted submap (1, 5).
I0419 20:54:50.916989 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783549, -0.673143)
I0419 20:54:51.054282 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:51.054443 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15843, 1.54665), points=6, range=1.93217, residual=0.0109282, extent=0.0283396
I0419 20:54:51.054509 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:51.054545 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:51.054574 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15843, 1.54665), tracking=(-1.45693, -1.54665), map_predicted=(-2.65316, -3.49709), range=1.93217, pts=6
I0419 20:54:51.054617 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56181m maha_sq=147.309 (gate chi2=5.99) pose_sigma=(0.209557, 0.209557, rho=0) det_map=(-2.65316, -3.49709) lm_pos=(-0.285, -2.52) delta=(-2.36816, -0.977087) -> 0 candidate(s)
I0419 20:54:51.058705 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0447043s, prior_pose=(-1.2562, -1.89606), yaw=2.18332 deg
I0419 20:54:51.058945 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:51.059034 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:51.059078 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:51.095394 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 47
I0419 20:54:51.181689 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15975, 1.54842)
I0419 20:54:51.203683 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25571, -1.89621), yaw=2.21963 deg backend=(-1.25571, -1.89621)
I0419 20:54:51.246176 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:51.246277 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:51.335346 1218529 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.36e-03 s (pulsed at 100.54% real time)
I0419 20:54:51.335556 1218529 collated_trajectory_builder.cc:82] odom rate: 248.53 Hz 4.02e-03 s +/- 7.07e-04 s (pulsed at 100.16% real time)
I0419 20:54:51.335656 1218529 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.10e-03 s (pulsed at 100.49% real time)
I0419 20:54:51.335686 1218529 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.40e-03 s (pulsed at 100.42% real time)
I0419 20:54:51.337378 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:51.337504 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1564, 1.54862), points=5, range=1.9296, residual=0.0116341, extent=0.0300451
I0419 20:54:51.337527 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:51.337541 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:51.337549 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1564, 1.54862), tracking=(-1.4549, -1.54862), map_predicted=(-2.65143, -3.50065), range=1.9296, pts=5
I0419 20:54:51.337572 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56158m maha_sq=147.064 (gate chi2=5.99) pose_sigma=(0.209677, 0.209677, rho=0) det_map=(-2.65143, -3.50065) lm_pos=(-0.285, -2.52) delta=(-2.36643, -0.98065) -> 0 candidate(s)
I0419 20:54:51.340842 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0727624s, prior_pose=(-1.2569, -1.89745), yaw=2.19604 deg
I0419 20:54:51.340924 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:51.340963 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:51.340981 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:51.350513 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:51.475813 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.780903, -0.671589)
I0419 20:54:51.585765 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:51.585866 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15746, 1.55002), points=5, range=1.9314, residual=0.0111488, extent=0.0264234
I0419 20:54:51.585886 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:51.585898 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:51.585911 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15746, 1.55002), tracking=(-1.45596, -1.55002), map_predicted=(-2.65367, -3.49978), range=1.9314, pts=5
I0419 20:54:51.585930 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56331m maha_sq=147.058 (gate chi2=5.99) pose_sigma=(0.209851, 0.209851, rho=0) det_map=(-2.65367, -3.49978) lm_pos=(-0.285, -2.52) delta=(-2.36867, -0.979784) -> 0 candidate(s)
I0419 20:54:51.626454 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564192s, prior_pose=(-1.25782, -1.89543), yaw=2.18415 deg
I0419 20:54:51.626556 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:54:51.626608 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:51.626634 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=0
I0419 20:54:51.734442 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15736, 1.54758)
I0419 20:54:51.894697 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:51.894811 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:51.909644 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:51.909744 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1537, 1.54969), points=6, range=1.93033, residual=0.0110311, extent=0.0291321
I0419 20:54:51.909795 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:51.909807 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:51.909817 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1537, 1.54969), tracking=(-1.4522, -1.54969), map_predicted=(-2.65008, -3.49747), range=1.93033, pts=6
I0419 20:54:51.909839 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55911m maha_sq=146.202 (gate chi2=5.99) pose_sigma=(0.21013, 0.21013, rho=0) det_map=(-2.65008, -3.49747) lm_pos=(-0.285, -2.52) delta=(-2.36508, -0.977473) -> 0 candidate(s)
I0419 20:54:51.977684 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439521s, prior_pose=(-1.25597, -1.89538), yaw=2.18755 deg
I0419 20:54:51.977821 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:54:51.977872 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:51.977893 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:51.978900 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:51.995867 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15818, 1.54634)
I0419 20:54:52.106734 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25489, -1.89661), yaw=2.20713 deg backend=(-1.25489, -1.89661)
I0419 20:54:52.265156 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076944s, prior_pose=(-1.25621, -1.89492), yaw=2.19378 deg
I0419 20:54:52.265275 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:52.265321 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:52.265339 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:52.265352 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:52.265365 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784614, -0.674052), points=6, range=1.03133, residual=0.0106336, extent=0.0308733
I0419 20:54:52.265379 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:52.265390 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:52.265399 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784614, -0.674052), tracking=(1.08311, -0.674052), map_predicted=(-0.148091, -2.52702), range=1.03133, pts=6
I0419 20:54:52.265415 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137089m maha_sq=0.418931 (gate chi2=5.99) pose_sigma=(0.210465, 0.210465, rho=0) det_map=(-0.148091, -2.52702) lm_pos=(-0.285, -2.52) delta=(0.136909, -0.0070161) -> 1 candidate(s)
I0419 20:54:52.274047 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.775782, -0.671674)
I0419 20:54:52.517421 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:52.518761 1218972 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:54:52.521170 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608971s, prior_pose=(-1.25494, -1.89411), yaw=2.19286 deg
I0419 20:54:52.521245 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:54:52.521319 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:52.521337 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:52.526458 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:52.526557 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15804, 1.54146), points=5, range=1.9296, residual=0.0117983, extent=0.0300365
I0419 20:54:52.526582 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:52.526598 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:52.526609 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15804, 1.54146), tracking=(-1.45654, -1.54146), map_predicted=(-2.65142, -3.49017), range=1.9296, pts=5
I0419 20:54:52.526633 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55757m maha_sq=145.079 (gate chi2=5.99) pose_sigma=(0.210784, 0.210784, rho=0) det_map=(-2.65142, -3.49017) lm_pos=(-0.285, -2.52) delta=(-2.36642, -0.970169) -> 0 candidate(s)
I0419 20:54:52.526659 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:52.538327 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.775682, -0.671835)
I0419 20:54:52.538488 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:52.538512 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:52.806530 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437812s, prior_pose=(-1.25478, -1.89597), yaw=2.18521 deg
I0419 20:54:52.806732 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:54:52.806823 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:52.806859 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.777279, -0.671653)
I0419 20:54:52.806885 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:52.818025 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:52.818132 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15893, 1.54266), points=5, range=1.9316, residual=0.0126017, extent=0.0328516
I0419 20:54:52.818171 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:52.818200 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:52.818220 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15893, 1.54266), tracking=(-1.45743, -1.54266), map_predicted=(-2.65233, -3.49308), range=1.9316, pts=5
I0419 20:54:52.818254 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55952m maha_sq=144.874 (gate chi2=5.99) pose_sigma=(0.211051, 0.211051, rho=0) det_map=(-2.65233, -3.49308) lm_pos=(-0.285, -2.52) delta=(-2.36733, -0.973079) -> 0 candidate(s)
I0419 20:54:53.063766 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25527, -1.89642), yaw=2.19201 deg backend=(-1.25527, -1.89642)
I0419 20:54:53.097837 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755604s, prior_pose=(-1.25527, -1.89642), yaw=2.19246 deg
I0419 20:54:53.098107 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 20:54:53.098214 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:53.098243 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.781331, -0.672848)
I0419 20:54:53.098268 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:53.191217 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:53.191330 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15745, 1.55002), points=5, range=1.9312, residual=0.0115726, extent=0.0293935
I0419 20:54:53.191351 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:53.191363 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:53.191372 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15745, 1.55002), tracking=(-1.45595, -1.55002), map_predicted=(-2.65377, -3.49926), range=1.9312, pts=5
I0419 20:54:53.191391 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56321m maha_sq=144.949 (gate chi2=5.99) pose_sigma=(0.211363, 0.211363, rho=0) det_map=(-2.65377, -3.49926) lm_pos=(-0.285, -2.52) delta=(-2.36877, -0.979258) -> 0 candidate(s)
I0419 20:54:53.191412 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:53.192203 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:53.192265 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:53.459827 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15866, 1.54698)
I0419 20:54:53.460726 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558227s, prior_pose=(-1.25585, -1.89708), yaw=2.17663 deg
I0419 20:54:53.460788 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:53.460824 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:53.460841 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:53.461684 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:53.461732 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15394, 1.55001), points=6, range=1.93033, residual=0.0113059, extent=0.0300878
I0419 20:54:53.461751 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:53.461764 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:53.461776 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15394, 1.55001), tracking=(-1.45244, -1.55001), map_predicted=(-2.64838, -3.50114), range=1.93033, pts=6
I0419 20:54:53.461791 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55894m maha_sq=144.111 (gate chi2=5.99) pose_sigma=(0.211642, 0.211642, rho=0) det_map=(-2.64838, -3.50114) lm_pos=(-0.285, -2.52) delta=(-2.36338, -0.981137) -> 0 candidate(s)
I0419 20:54:53.731491 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.15679, 1.54451)
I0419 20:54:53.733278 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0435287s, prior_pose=(-1.25266, -1.89629), yaw=2.19629 deg
I0419 20:54:53.733378 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:54:53.733418 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:53.733436 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:53.734167 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:53.734205 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16074, 1.54506), points=5, range=1.9352, residual=0.0130652, extent=0.0351365
I0419 20:54:53.734223 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:53.734236 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:53.734244 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16074, 1.54506), tracking=(-1.45924, -1.54506), map_predicted=(-2.65162, -3.49614), range=1.9352, pts=5
I0419 20:54:53.734262 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56002m maha_sq=143.608 (gate chi2=5.99) pose_sigma=(0.212007, 0.212007, rho=0) det_map=(-2.65162, -3.49614) lm_pos=(-0.285, -2.52) delta=(-2.36662, -0.976139) -> 0 candidate(s)
I0419 20:54:53.734282 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:53.735137 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:53.735165 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:53.861534 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25395, -1.89668), yaw=2.19037 deg backend=(-1.25395, -1.89668)
I0419 20:54:53.994186 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:53.998273 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15759, 1.54553)
I0419 20:54:53.999944 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.071991s, prior_pose=(-1.25438, -1.89625), yaw=2.19391 deg
I0419 20:54:54.000065 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:54.000144 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:54.000188 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:54.007128 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:54.007349 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782184, -0.671969), points=6, range=1.029, residual=0.00878572, extent=0.0257826
I0419 20:54:54.007400 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:54.007429 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:54.007453 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782184, -0.671969), tracking=(1.08068, -0.671969), map_predicted=(-0.148761, -2.52636), range=1.029, pts=6
I0419 20:54:54.007494 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136387m maha_sq=0.40865 (gate chi2=5.99) pose_sigma=(0.21211, 0.21211, rho=0) det_map=(-0.148761, -2.52636) lm_pos=(-0.285, -2.52) delta=(0.136239, -0.00635537) -> 1 candidate(s)
I0419 20:54:54.267392 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.774772, -0.670803)
I0419 20:54:54.274160 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601471s, prior_pose=(-1.25535, -1.89618), yaw=2.18386 deg
I0419 20:54:54.274278 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=830, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:54.274338 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:54.274369 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:54.286669 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:54.361387 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:54.361516 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15639, 1.54394), points=6, range=1.9255, residual=0.0145033, extent=0.0381652
I0419 20:54:54.361536 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:54.361547 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:54.361557 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15639, 1.54394), tracking=(-1.45489, -1.54394), map_predicted=(-2.65004, -3.49311), range=1.9255, pts=6
I0419 20:54:54.361572 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55741m maha_sq=142.883 (gate chi2=5.99) pose_sigma=(0.212241, 0.212241, rho=0) det_map=(-2.65004, -3.49311) lm_pos=(-0.285, -2.52) delta=(-2.36504, -0.973113) -> 0 candidate(s)
I0419 20:54:54.365127 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:54.365214 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:54.506551 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.776507, -0.670955)
I0419 20:54:54.642083 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0435612s, prior_pose=(-1.2528, -1.89711), yaw=2.19914 deg
I0419 20:54:54.642181 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:54:54.642235 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:54.642256 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:54.645994 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:54.646087 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15686, 1.54921), points=5, range=1.9302, residual=0.0115497, extent=0.026952
I0419 20:54:54.646111 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:54.646124 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:54.646134 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15686, 1.54921), tracking=(-1.45536, -1.54921), map_predicted=(-2.64767, -3.501), range=1.9302, pts=5
I0419 20:54:54.646153 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55824m maha_sq=142.966 (gate chi2=5.99) pose_sigma=(0.212428, 0.212428, rho=0) det_map=(-2.64767, -3.501) lm_pos=(-0.285, -2.52) delta=(-2.36267, -0.981004) -> 0 candidate(s)
I0419 20:54:54.786491 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25421, -1.89419), yaw=2.19014 deg backend=(-1.25421, -1.89419)
I0419 20:54:54.803020 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779566, -0.672858)
I0419 20:54:54.898380 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0751945s, prior_pose=(-1.25428, -1.89535), yaw=2.19063 deg
I0419 20:54:54.898528 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:54:54.898595 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:54.898630 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:54.901180 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:54.903595 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:54.903671 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15894, 1.55203), points=5, range=1.9312, residual=0.0167988, extent=0.041556
I0419 20:54:54.903698 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:54.903723 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:54.903738 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15894, 1.55203), tracking=(-1.45744, -1.55203), map_predicted=(-2.6513, -3.50198), range=1.9312, pts=5
I0419 20:54:54.903764 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56197m maha_sq=142.611 (gate chi2=5.99) pose_sigma=(0.21266, 0.21266, rho=0) det_map=(-2.6513, -3.50198) lm_pos=(-0.285, -2.52) delta=(-2.3663, -0.981976) -> 0 candidate(s)
I0419 20:54:54.950892 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:54.951048 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:55.165386 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784799, -0.673221)
I0419 20:54:55.169872 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640471s, prior_pose=(-1.25387, -1.89587), yaw=2.19097 deg
I0419 20:54:55.169966 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:55.170006 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:55.170025 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:55.198380 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:55.198513 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15806, 1.55082), points=5, range=1.9328, residual=0.0107147, extent=0.0249796
I0419 20:54:55.198554 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:55.198583 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:55.198607 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15806, 1.55082), tracking=(-1.45656, -1.55082), map_predicted=(-2.65005, -3.50126), range=1.9328, pts=5
I0419 20:54:55.198644 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56053m maha_sq=142.721 (gate chi2=5.99) pose_sigma=(0.21285, 0.21285, rho=0) det_map=(-2.65005, -3.50126) lm_pos=(-0.285, -2.52) delta=(-2.36505, -0.981262) -> 0 candidate(s)
I0419 20:54:55.434327 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15915, 1.54762)
I0419 20:54:55.434407 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:55.446511 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442662s, prior_pose=(-1.25503, -1.89658), yaw=2.18477 deg
I0419 20:54:55.446661 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:54:55.446744 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:55.446785 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:55.461720 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:55.572763 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:55.572866 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1555, 1.54742), points=5, range=1.9298, residual=0.00985494, extent=0.0241765
I0419 20:54:55.572887 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:55.572898 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:55.572907 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1555, 1.54742), tracking=(-1.454, -1.54742), map_predicted=(-2.64903, -3.49779), range=1.9298, pts=5
I0419 20:54:55.572926 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55827m maha_sq=142.333 (gate chi2=5.99) pose_sigma=(0.212994, 0.212994, rho=0) det_map=(-2.64903, -3.49779) lm_pos=(-0.285, -2.52) delta=(-2.36403, -0.977788) -> 0 candidate(s)
I0419 20:54:55.576108 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:55.576179 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:55.717434 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25466, -1.89684), yaw=2.17522 deg backend=(-1.25466, -1.89684)
I0419 20:54:55.721446 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16046, 1.54938)
I0419 20:54:55.742026 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755976s, prior_pose=(-1.25466, -1.89684), yaw=2.17525 deg
I0419 20:54:55.742177 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=832, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:55.742254 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:55.742277 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:55.815253 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:55.815356 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16028, 1.55383), points=5, range=1.9338, residual=0.016177, extent=0.0415812
I0419 20:54:55.815380 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:55.815393 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:55.815402 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16028, 1.55383), tracking=(-1.45878, -1.55383), map_predicted=(-2.65315, -3.50533), range=1.9338, pts=5
I0419 20:54:55.815418 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56496m maha_sq=142.47 (gate chi2=5.99) pose_sigma=(0.213068, 0.213068, rho=0) det_map=(-2.65315, -3.50533) lm_pos=(-0.285, -2.52) delta=(-2.36815, -0.985334) -> 0 candidate(s)
I0419 20:54:55.970966 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16033, 1.54923)
I0419 20:54:56.105990 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596146s, prior_pose=(-1.25552, -1.895), yaw=2.18464 deg
I0419 20:54:56.106094 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:56.106137 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:56.106158 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:56.107084 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:56.109496 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:56.109557 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15984, 1.54385), points=5, range=1.9316, residual=0.0104457, extent=0.0264333
I0419 20:54:56.109575 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:56.109586 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:56.109596 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15984, 1.54385), tracking=(-1.45834, -1.54385), map_predicted=(-2.65394, -3.49333), range=1.9316, pts=5
I0419 20:54:56.109613 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56111m maha_sq=142.307 (gate chi2=5.99) pose_sigma=(0.213225, 0.213225, rho=0) det_map=(-2.65394, -3.49333) lm_pos=(-0.285, -2.52) delta=(-2.36894, -0.973334) -> 0 candidate(s)
I0419 20:54:56.122684 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:56.122778 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:56.246763 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.69665, 0.497202)
I0419 20:54:56.363581 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0435043s, prior_pose=(-1.25354, -1.89496), yaw=2.19493 deg
I0419 20:54:56.363698 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:54:56.363737 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:56.363756 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:56.374500 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:56.374605 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16029, 1.54446), points=5, range=1.934, residual=0.0124182, extent=0.0328754
I0419 20:54:56.374635 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:56.374656 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:56.374670 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16029, 1.54446), tracking=(-1.45879, -1.54446), map_predicted=(-2.65204, -3.49421), range=1.934, pts=5
I0419 20:54:56.374701 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55968m maha_sq=141.7 (gate chi2=5.99) pose_sigma=(0.213461, 0.213461, rho=0) det_map=(-2.65204, -3.49421) lm_pos=(-0.285, -2.52) delta=(-2.36704, -0.97421) -> 0 candidate(s)
I0419 20:54:56.492472 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25518, -1.89611), yaw=2.18067 deg backend=(-1.25518, -1.89611)
I0419 20:54:56.506647 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780616, -0.673217)
I0419 20:54:56.632750 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0642832s, prior_pose=(-1.25481, -1.89501), yaw=2.20372 deg
I0419 20:54:56.632853 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:56.632891 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:56.632910 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:56.637941 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:56.665778 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:56.665858 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16044, 1.54466), points=5, range=1.9338, residual=0.0119377, extent=0.0314368
I0419 20:54:56.665884 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:56.665902 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:56.665921 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16044, 1.54466), tracking=(-1.45894, -1.54466), map_predicted=(-2.65329, -3.49462), range=1.9338, pts=5
I0419 20:54:56.665947 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56099m maha_sq=141.663 (gate chi2=5.99) pose_sigma=(0.213628, 0.213628, rho=0) det_map=(-2.65329, -3.49462) lm_pos=(-0.285, -2.52) delta=(-2.36829, -0.974615) -> 0 candidate(s)
I0419 20:54:56.764267 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:56.764396 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:56.772832 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71584, 0.502826)
I0419 20:54:56.906783 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:56.914490 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563152s, prior_pose=(-1.25623, -1.89696), yaw=2.19531 deg
I0419 20:54:56.914608 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:54:56.914666 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:56.914739 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:56.948874 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:54:57.014698 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:57.014832 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15806, 1.55081), points=5, range=1.9326, residual=0.0108802, extent=0.0254307
I0419 20:54:57.014854 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:57.014866 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:57.014878 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15806, 1.55081), tracking=(-1.45656, -1.55081), map_predicted=(-2.6482, -3.50232), range=1.9326, pts=5
I0419 20:54:57.014894 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55923m maha_sq=141.058 (gate chi2=5.99) pose_sigma=(0.213999, 0.213999, rho=0) det_map=(-2.6482, -3.50232) lm_pos=(-0.285, -2.52) delta=(-2.3632, -0.98232) -> 0 candidate(s)
I0419 20:54:57.062776 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.778301, -0.671564)
I0419 20:54:57.266546 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043295s, prior_pose=(-1.2548, -1.89633), yaw=2.16929 deg
I0419 20:54:57.266707 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:54:57.266799 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:57.266845 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:57.267740 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:57.270376 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:57.270457 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15939, 1.54326), points=5, range=1.9314, residual=0.0112459, extent=0.0287526
I0419 20:54:57.270475 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:57.270486 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:57.270496 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15939, 1.54326), tracking=(-1.45789, -1.54326), map_predicted=(-2.65324, -3.49366), range=1.9314, pts=5
I0419 20:54:57.270514 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56058m maha_sq=141.002 (gate chi2=5.99) pose_sigma=(0.214138, 0.214138, rho=0) det_map=(-2.65324, -3.49366) lm_pos=(-0.285, -2.52) delta=(-2.36824, -0.973664) -> 0 candidate(s)
I0419 20:54:57.298205 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:57.298311 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:57.326133 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70145, 0.498608)
I0419 20:54:57.413148 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25455, -1.89376), yaw=2.18422 deg backend=(-1.25455, -1.89376)
I0419 20:54:57.558166 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0726448s, prior_pose=(-1.25384, -1.89607), yaw=2.18812 deg
I0419 20:54:57.558269 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:57.558316 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:57.558334 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:57.561650 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:57.561748 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15774, 1.55042), points=5, range=1.9314, residual=0.0125264, extent=0.0321324
I0419 20:54:57.561769 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:57.561784 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:57.561793 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15774, 1.55042), tracking=(-1.45624, -1.55042), map_predicted=(-2.64983, -3.50096), range=1.9314, pts=5
I0419 20:54:57.561810 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56021m maha_sq=140.529 (gate chi2=5.99) pose_sigma=(0.214401, 0.214401, rho=0) det_map=(-2.64983, -3.50096) lm_pos=(-0.285, -2.52) delta=(-2.36483, -0.98096) -> 0 candidate(s)
I0419 20:54:57.658947 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15915, 1.54762)
I0419 20:54:57.801121 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0624995s, prior_pose=(-1.25582, -1.8964), yaw=2.20248 deg
I0419 20:54:57.801397 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=8, candidates=8
I0419 20:54:57.801609 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:54:57.801780 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:54:57.810597 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:57.842721 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:57.842818 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15805, 1.55082), points=5, range=1.9322, residual=0.0116452, extent=0.0294023
I0419 20:54:57.842839 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:57.842852 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:57.842862 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15805, 1.55082), tracking=(-1.45655, -1.55082), map_predicted=(-2.65172, -3.50203), range=1.9322, pts=5
I0419 20:54:57.842886 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56237m maha_sq=140.358 (gate chi2=5.99) pose_sigma=(0.214766, 0.214766, rho=0) det_map=(-2.65172, -3.50203) lm_pos=(-0.285, -2.52) delta=(-2.36672, -0.982028) -> 0 candidate(s)
I0419 20:54:57.927726 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1589, 1.5473)
I0419 20:54:57.928656 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:57.928711 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:58.091799 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0455749s, prior_pose=(-1.25618, -1.89494), yaw=2.1876 deg
I0419 20:54:58.091928 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=255, threshold=230, above_threshold=4, candidates=4
I0419 20:54:58.091979 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:58.092000 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:58.202855 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:58.202960 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15879, 1.55182), points=5, range=1.9332, residual=0.0121402, extent=0.0307411
I0419 20:54:58.202983 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:58.202996 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:58.203006 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15879, 1.55182), tracking=(-1.45729, -1.55182), map_predicted=(-2.65149, -3.50165), range=1.9332, pts=5
I0419 20:54:58.203027 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56202m maha_sq=140.035 (gate chi2=5.99) pose_sigma=(0.21496, 0.21496, rho=0) det_map=(-2.65149, -3.50165) lm_pos=(-0.285, -2.52) delta=(-2.36649, -0.981653) -> 0 candidate(s)
I0419 20:54:58.204718 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15914, 1.54762)
I0419 20:54:58.349823 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25523, -1.89487), yaw=2.2079 deg backend=(-1.25523, -1.89487)
I0419 20:54:58.351015 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:58.382299 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.071967s, prior_pose=(-1.25523, -1.89487), yaw=2.20851 deg
I0419 20:54:58.382395 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:54:58.382447 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:58.382467 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:58.471962 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:58.473820 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:58.473975 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15924, 1.55242), points=5, range=1.9338, residual=0.0123166, extent=0.0307411
I0419 20:54:58.474018 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:58.474049 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:58.474078 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15924, 1.55242), tracking=(-1.45774, -1.55242), map_predicted=(-2.65314, -3.50218), range=1.9338, pts=5
I0419 20:54:58.474118 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56374m maha_sq=140.105 (gate chi2=5.99) pose_sigma=(0.215042, 0.215042, rho=0) det_map=(-2.65314, -3.50218) lm_pos=(-0.285, -2.52) delta=(-2.36814, -0.982184) -> 0 candidate(s)
I0419 20:54:58.475836 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.778909, -0.671465)
I0419 20:54:58.477649 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:58.477783 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:58.715560 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595546s, prior_pose=(-1.25536, -1.89672), yaw=2.17415 deg
I0419 20:54:58.715678 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:54:58.715716 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:58.715734 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:58.722401 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15614, 1.54827)
I0419 20:54:58.753769 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:58.753855 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15909, 1.55223), points=5, range=1.9334, residual=0.0127791, extent=0.0328675
I0419 20:54:58.753873 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:58.753886 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:58.753897 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15909, 1.55223), tracking=(-1.45759, -1.55223), map_predicted=(-2.65296, -3.50317), range=1.9334, pts=5
I0419 20:54:58.753939 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56395m maha_sq=139.966 (gate chi2=5.99) pose_sigma=(0.215141, 0.215141, rho=0) det_map=(-2.65296, -3.50317) lm_pos=(-0.285, -2.52) delta=(-2.36796, -0.983174) -> 0 candidate(s)
I0419 20:54:59.005237 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0407961s, prior_pose=(-1.25669, -1.89459), yaw=2.17598 deg
I0419 20:54:59.005336 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:54:59.005380 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:59.005402 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:59.006268 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:59.007184 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778848, -0.671695)
I0419 20:54:59.124064 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:59.124197 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78669, -0.674856), points=5, range=1.0306, residual=0.0151913, extent=0.0362013
I0419 20:54:59.124215 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:59.124228 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:59.124238 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78669, -0.674856), tracking=(1.08519, -0.674856), map_predicted=(-0.144056, -2.52793), range=1.0306, pts=5
I0419 20:54:59.124257 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.141167m maha_sq=0.423223 (gate chi2=5.99) pose_sigma=(0.215416, 0.215416, rho=0) det_map=(-0.144056, -2.52793) lm_pos=(-0.285, -2.52) delta=(0.140944, -0.00793079) -> 1 candidate(s)
I0419 20:54:59.137697 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25439, -1.89529), yaw=2.19881 deg backend=(-1.25439, -1.89529)
I0419 20:54:59.150561 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:59.150688 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:59.276453 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0710608s, prior_pose=(-1.25814, -1.89565), yaw=2.18708 deg
I0419 20:54:59.276589 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:54:59.276628 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:59.276643 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:59.294227 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.780019, -0.673252)
I0419 20:54:59.377043 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:59.377203 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783998, -0.673541), points=6, range=1.03067, residual=0.00974169, extent=0.0268444
I0419 20:54:59.377224 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:59.377235 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:59.377244 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783998, -0.673541), tracking=(1.0825, -0.673541), map_predicted=(-0.147293, -2.52725), range=1.03067, pts=6
I0419 20:54:59.377300 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137898m maha_sq=0.403652 (gate chi2=5.99) pose_sigma=(0.215785, 0.215785, rho=0) det_map=(-0.147293, -2.52725) lm_pos=(-0.285, -2.52) delta=(0.137707, -0.00725431) -> 1 candidate(s)
I0419 20:54:59.562165 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601184s, prior_pose=(-1.25517, -1.89576), yaw=2.18841 deg
I0419 20:54:59.562361 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:54:59.562446 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:59.562484 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:59.574610 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15818, 1.54635)
I0419 20:54:59.574779 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:54:59.677368 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:59.677464 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.770075, -0.669359), points=4, range=1.02525, residual=0.014873, extent=0.0375235
I0419 20:54:59.677485 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:59.677495 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:59.677505 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.770075, -0.669359), tracking=(1.06857, -0.669359), map_predicted=(-0.162113, -2.52426), range=1.02525, pts=4
I0419 20:54:59.677522 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.122961m maha_sq=0.319914 (gate chi2=5.99) pose_sigma=(0.215843, 0.215843, rho=0) det_map=(-0.162113, -2.52426) lm_pos=(-0.285, -2.52) delta=(0.122887, -0.0042558) -> 1 candidate(s)
I0419 20:54:59.797812 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:54:59.799674 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:54:59.799787 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:54:59.916074 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0363894s, prior_pose=(-1.25703, -1.89569), yaw=2.18151 deg
I0419 20:54:59.916195 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:54:59.916246 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:54:59.916270 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:54:59.917068 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15759, 1.54553)
I0419 20:54:59.958591 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:54:59.958685 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15633, 1.55322), points=6, range=1.934, residual=0.0118362, extent=0.0309146
I0419 20:54:59.958706 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:54:59.958719 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:54:59.958726 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15633, 1.55322), tracking=(-1.45483, -1.55322), map_predicted=(-2.65163, -3.5032), range=1.934, pts=6
I0419 20:54:59.958781 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56274m maha_sq=138.619 (gate chi2=5.99) pose_sigma=(0.216149, 0.216149, rho=0) det_map=(-2.65163, -3.5032) lm_pos=(-0.285, -2.52) delta=(-2.36663, -0.983204) -> 0 candidate(s)
I0419 20:55:00.045959 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25395, -1.89541), yaw=2.19358 deg backend=(-1.25395, -1.89541)
I0419 20:55:00.198277 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0727834s, prior_pose=(-1.25492, -1.89593), yaw=2.18057 deg
I0419 20:55:00.198387 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:55:00.198468 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:00.198490 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781424, -0.67132)
I0419 20:55:00.198506 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:00.200444 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:00.310834 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:00.310943 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1579, 1.55062), points=5, range=1.932, residual=0.0116579, extent=0.0294023
I0419 20:55:00.310968 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:00.310985 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:00.310997 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1579, 1.55062), tracking=(-1.4564, -1.55062), map_predicted=(-2.65157, -3.50078), range=1.932, pts=5
I0419 20:55:00.311018 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56176m maha_sq=138.191 (gate chi2=5.99) pose_sigma=(0.216414, 0.216414, rho=0) det_map=(-2.65157, -3.50078) lm_pos=(-0.285, -2.52) delta=(-2.36657, -0.980784) -> 0 candidate(s)
I0419 20:55:00.351310 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:00.351428 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:00.467984 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15704, 1.54948)
I0419 20:55:00.468874 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593555s, prior_pose=(-1.25708, -1.89505), yaw=2.19243 deg
I0419 20:55:00.468928 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:00.468963 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:00.468981 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:00.610893 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:00.610996 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786804, -0.673961), points=5, range=1.0342, residual=0.00705396, extent=0.0192323
I0419 20:55:00.611017 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:00.611030 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:00.611070 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786804, -0.673961), tracking=(1.0853, -0.673961), map_predicted=(-0.142355, -2.52739), range=1.0342, pts=5
I0419 20:55:00.611090 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.142836m maha_sq=0.429773 (gate chi2=5.99) pose_sigma=(0.216727, 0.216727, rho=0) det_map=(-0.142355, -2.52739) lm_pos=(-0.285, -2.52) delta=(0.142645, -0.00738573) -> 1 candidate(s)
I0419 20:55:00.740790 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15807, 1.54618)
I0419 20:55:00.742664 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440594s, prior_pose=(-1.25369, -1.89654), yaw=2.21259 deg
I0419 20:55:00.742758 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:55:00.742794 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:00.742810 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:00.749665 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:00.850013 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:00.850121 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772533, -0.672503), points=5, range=1.0278, residual=0.0122987, extent=0.0332543
I0419 20:55:00.850147 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:00.850165 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:00.850180 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.772533, -0.672503), tracking=(1.07103, -0.672503), map_predicted=(-0.157721, -2.52582), range=1.0278, pts=5
I0419 20:55:00.850207 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.127412m maha_sq=0.340639 (gate chi2=5.99) pose_sigma=(0.21692, 0.21692, rho=0) det_map=(-0.157721, -2.52582) lm_pos=(-0.285, -2.52) delta=(0.127279, -0.00582118) -> 1 candidate(s)
I0419 20:55:00.998023 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25528, -1.89436), yaw=2.1943 deg backend=(-1.25528, -1.89436)
I0419 20:55:01.003016 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:01.003105 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:01.005551 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779095, -0.673189)
I0419 20:55:01.030679 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076363s, prior_pose=(-1.25528, -1.89436), yaw=2.19564 deg
I0419 20:55:01.030831 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:01.030912 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:01.030946 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:01.146211 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:01.146317 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776957, -0.673378), points=7, range=1.03014, residual=0.0100381, extent=0.0307864
I0419 20:55:01.146339 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:01.146389 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:01.146399 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.776957, -0.673378), tracking=(1.07546, -0.673378), map_predicted=(-0.153979, -2.52791), range=1.03014, pts=7
I0419 20:55:01.146416 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13126m maha_sq=0.361288 (gate chi2=5.99) pose_sigma=(0.217108, 0.217108, rho=0) det_map=(-0.153979, -2.52791) lm_pos=(-0.285, -2.52) delta=(0.131021, -0.00791004) -> 1 candidate(s)
I0419 20:55:01.249562 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:01.261875 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779417, -0.672725)
I0419 20:55:01.373485 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602328s, prior_pose=(-1.25796, -1.89497), yaw=2.18093 deg
I0419 20:55:01.373585 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:01.373621 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:01.373638 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:01.374567 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:01.531006 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:01.531121 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785095, -0.672499), points=5, range=1.032, residual=0.00673236, extent=0.017693
I0419 20:55:01.531144 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:01.531162 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:01.531172 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785095, -0.672499), tracking=(1.08359, -0.672499), map_predicted=(-0.145893, -2.52741), range=1.032, pts=5
I0419 20:55:01.531193 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139304m maha_sq=0.405648 (gate chi2=5.99) pose_sigma=(0.217582, 0.217582, rho=0) det_map=(-0.145893, -2.52741) lm_pos=(-0.285, -2.52) delta=(0.139107, -0.00740751) -> 1 candidate(s)
I0419 20:55:01.558326 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.783083, -0.674701)
I0419 20:55:01.558549 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:01.558598 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:01.665241 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401138s, prior_pose=(-1.25581, -1.89488), yaw=2.19691 deg
I0419 20:55:01.665362 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:01.665400 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:01.665418 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:01.795305 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:01.795413 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784307, -0.673791), points=4, range=1.02825, residual=0.0141853, extent=0.0340775
I0419 20:55:01.795435 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:01.795482 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:01.795495 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784307, -0.673791), tracking=(1.08281, -0.673791), map_predicted=(-0.147227, -2.52588), range=1.02825, pts=4
I0419 20:55:01.795511 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137898m maha_sq=0.39556 (gate chi2=5.99) pose_sigma=(0.217763, 0.217763, rho=0) det_map=(-0.147227, -2.52588) lm_pos=(-0.285, -2.52) delta=(0.137773, -0.0058818) -> 1 candidate(s)
I0419 20:55:01.800457 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25509, -1.89413), yaw=2.19903 deg backend=(-1.25509, -1.89413)
I0419 20:55:01.902963 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15521, 1.53773)
I0419 20:55:01.910553 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0725334s, prior_pose=(-1.25441, -1.89582), yaw=2.1915 deg
I0419 20:55:01.910705 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:01.910785 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:01.910822 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:01.926204 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:02.042309 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:02.042433 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.789303, -0.674121), points=4, range=1.03525, residual=0.00794499, extent=0.0192323
I0419 20:55:02.042456 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:02.042466 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:02.042474 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.789303, -0.674121), tracking=(1.0878, -0.674121), map_predicted=(-0.141612, -2.52647), range=1.03525, pts=4
I0419 20:55:02.042488 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.143534m maha_sq=0.429153 (gate chi2=5.99) pose_sigma=(0.217924, 0.217924, rho=0) det_map=(-0.141612, -2.52647) lm_pos=(-0.285, -2.52) delta=(0.143388, -0.00646894) -> 1 candidate(s)
I0419 20:55:02.199749 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15723, 1.54506)
I0419 20:55:02.202316 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:02.202383 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:02.206998 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559256s, prior_pose=(-1.25277, -1.8958), yaw=2.18453 deg
I0419 20:55:02.207070 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=854, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:55:02.207106 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:02.207125 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:02.322471 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:02.322566 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779775, -0.673846), points=6, range=1.03267, residual=0.00911417, extent=0.026632
I0419 20:55:02.322589 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:02.322640 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:02.322655 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779775, -0.673846), tracking=(1.07828, -0.673846), map_predicted=(-0.152222, -2.53066), range=1.03267, pts=6
I0419 20:55:02.322678 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.133205m maha_sq=0.368483 (gate chi2=5.99) pose_sigma=(0.218216, 0.218216, rho=0) det_map=(-0.152222, -2.53066) lm_pos=(-0.285, -2.52) delta=(0.132778, -0.0106568) -> 1 candidate(s)
I0419 20:55:02.451666 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779107, -0.671904)
I0419 20:55:02.582615 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0448231s, prior_pose=(-1.25535, -1.89718), yaw=2.18627 deg
I0419 20:55:02.582724 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:55:02.582772 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:02.582794 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:02.583877 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:02.613917 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:02.614009 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785665, -0.672985), points=5, range=1.0326, residual=0.00716511, extent=0.0192177
I0419 20:55:02.614034 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:02.614048 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:02.614059 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785665, -0.672985), tracking=(1.08417, -0.672985), map_predicted=(-0.146316, -2.52834), range=1.0326, pts=5
I0419 20:55:02.614079 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138935m maha_sq=0.399779 (gate chi2=5.99) pose_sigma=(0.218588, 0.218588, rho=0) det_map=(-0.146316, -2.52834) lm_pos=(-0.285, -2.52) delta=(0.138684, -0.00834002) -> 1 candidate(s)
I0419 20:55:02.687193 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25504, -1.89566), yaw=2.17683 deg backend=(-1.25504, -1.89566)
I0419 20:55:02.694955 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:02.702723 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779861, -0.672562)
I0419 20:55:02.724578 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:02.730773 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:02.731038 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:02.813454 1219452 pose_graph_2d.cc:160] Inserted submap (1, 6).
I0419 20:55:02.815840 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0717397s, prior_pose=(-1.25644, -1.89661), yaw=2.19851 deg
I0419 20:55:02.815954 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:55:02.815996 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:02.816015 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:02.944079 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:02.944204 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781568, -0.673395), points=7, range=1.02857, residual=0.012367, extent=0.0375484
I0419 20:55:02.944232 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:02.944247 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:02.944257 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781568, -0.673395), tracking=(1.08007, -0.673395), map_predicted=(-0.150318, -2.52614), range=1.02857, pts=7
I0419 20:55:02.944279 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134822m maha_sq=0.374672 (gate chi2=5.99) pose_sigma=(0.218883, 0.218883, rho=0) det_map=(-0.150318, -2.52614) lm_pos=(-0.285, -2.52) delta=(0.134682, -0.00614431) -> 1 candidate(s)
I0419 20:55:02.966276 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.69953, 0.498045)
I0419 20:55:03.083781 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557687s, prior_pose=(-1.25414, -1.89531), yaw=2.17396 deg
I0419 20:55:03.084069 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:55:03.084133 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:03.084156 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:03.101965 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:03.220115 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:03.220223 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78854, -0.673475), points=4, range=1.035, residual=0.00650876, extent=0.0150201
I0419 20:55:03.220243 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:03.220254 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:03.220263 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78854, -0.673475), tracking=(1.08704, -0.673475), map_predicted=(-0.144113, -2.5261), range=1.035, pts=4
I0419 20:55:03.220280 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.141019m maha_sq=0.410173 (gate chi2=5.99) pose_sigma=(0.219063, 0.219063, rho=0) det_map=(-0.144113, -2.5261) lm_pos=(-0.285, -2.52) delta=(0.140887, -0.00609984) -> 1 candidate(s)
I0419 20:55:03.246598 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15974, 1.54843)
I0419 20:55:03.371876 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:03.371968 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:03.378494 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441276s, prior_pose=(-1.25401, -1.89458), yaw=2.19177 deg
I0419 20:55:03.378638 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=245, threshold=230, above_threshold=6, candidates=6
I0419 20:55:03.378715 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:03.378749 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:03.513276 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:03.513412 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783398, -0.673013), points=6, range=1.02933, residual=0.0113676, extent=0.0332354
I0419 20:55:03.513432 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:03.513443 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:03.513456 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783398, -0.673013), tracking=(1.0819, -0.673013), map_predicted=(-0.150388, -2.52703), range=1.02933, pts=6
I0419 20:55:03.513471 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134796m maha_sq=0.373164 (gate chi2=5.99) pose_sigma=(0.219342, 0.219342, rho=0) det_map=(-0.150388, -2.52703) lm_pos=(-0.285, -2.52) delta=(0.134612, -0.00703386) -> 1 candidate(s)
I0419 20:55:03.542430 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15674, 1.54443)
I0419 20:55:03.645917 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2552, -1.89491), yaw=2.18096 deg backend=(-1.2552, -1.89491)
I0419 20:55:03.670652 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0636249s, prior_pose=(-1.2552, -1.89491), yaw=2.18035 deg
I0419 20:55:03.670852 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:55:03.670938 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:03.670971 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:03.761545 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:03.786482 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:03.786643 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786426, -0.673635), points=5, range=1.034, residual=0.00691466, extent=0.0184668
I0419 20:55:03.786664 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:03.786679 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:03.786688 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786426, -0.673635), tracking=(1.08493, -0.673635), map_predicted=(-0.144418, -2.52804), range=1.034, pts=5
I0419 20:55:03.786715 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140812m maha_sq=0.407182 (gate chi2=5.99) pose_sigma=(0.219536, 0.219536, rho=0) det_map=(-0.144418, -2.52804) lm_pos=(-0.285, -2.52) delta=(0.140582, -0.00804008) -> 1 candidate(s)
I0419 20:55:03.881624 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71392, 0.502264)
I0419 20:55:03.935038 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:03.935190 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:04.031498 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596813s, prior_pose=(-1.25522, -1.89467), yaw=2.17315 deg
I0419 20:55:04.031634 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:04.031687 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:04.031709 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:04.172240 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:04.173049 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.777272, -0.671661)
I0419 20:55:04.173161 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:04.173184 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779919, -0.67199), points=7, range=1.02729, residual=0.00976109, extent=0.0283547
I0419 20:55:04.173199 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:04.173210 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:04.173220 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779919, -0.67199), tracking=(1.07842, -0.67199), map_predicted=(-0.151247, -2.52628), range=1.02729, pts=7
I0419 20:55:04.173237 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.1339m maha_sq=0.366922 (gate chi2=5.99) pose_sigma=(0.219812, 0.219812, rho=0) det_map=(-0.151247, -2.52628) lm_pos=(-0.285, -2.52) delta=(0.133753, -0.00628223) -> 1 candidate(s)
I0419 20:55:04.219210 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:04.290330 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0393737s, prior_pose=(-1.25378, -1.89469), yaw=2.19204 deg
I0419 20:55:04.290477 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 20:55:04.290531 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:04.290555 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:04.291458 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:04.436815 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16074, 1.54506)
I0419 20:55:04.437732 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:04.437799 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784764, -0.674185), points=6, range=1.03183, residual=0.0102643, extent=0.0299853
I0419 20:55:04.437820 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:04.437839 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:04.437849 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784764, -0.674185), tracking=(1.08326, -0.674185), map_predicted=(-0.144613, -2.52962), range=1.03183, pts=6
I0419 20:55:04.437868 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140717m maha_sq=0.404299 (gate chi2=5.99) pose_sigma=(0.220045, 0.220045, rho=0) det_map=(-0.144613, -2.52962) lm_pos=(-0.285, -2.52) delta=(0.140387, -0.00962075) -> 1 candidate(s)
I0419 20:55:04.439967 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25291, -1.89743), yaw=2.19583 deg backend=(-1.25291, -1.89743)
I0419 20:55:04.550405 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0681358s, prior_pose=(-1.253, -1.89523), yaw=2.19503 deg
I0419 20:55:04.550519 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:55:04.550573 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:04.550596 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:04.550665 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:04.550684 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:04.688987 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15974, 1.54842)
I0419 20:55:04.698800 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:04.698916 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.774525, -0.671651), points=6, range=1.02733, residual=0.0111932, extent=0.0315591
I0419 20:55:04.698936 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:04.698952 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:04.698966 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.774525, -0.671651), tracking=(1.07302, -0.671651), map_predicted=(-0.158513, -2.52629), range=1.02733, pts=6
I0419 20:55:04.698989 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.126643m maha_sq=0.326503 (gate chi2=5.99) pose_sigma=(0.22033, 0.22033, rho=0) det_map=(-0.158513, -2.52629) lm_pos=(-0.285, -2.52) delta=(0.126487, -0.00628692) -> 1 candidate(s)
I0419 20:55:04.846011 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590802s, prior_pose=(-1.25326, -1.89688), yaw=2.21348 deg
I0419 20:55:04.846138 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:55:04.846215 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:04.846242 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:04.862710 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:04.966626 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.785939, -0.674196)
I0419 20:55:04.995018 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:04.995160 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783857, -0.673399), points=6, range=1.0295, residual=0.0127453, extent=0.0375484
I0419 20:55:04.995208 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:04.995235 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:04.995257 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783857, -0.673399), tracking=(1.08236, -0.673399), map_predicted=(-0.145361, -2.52769), range=1.0295, pts=6
I0419 20:55:04.995298 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139851m maha_sq=0.397154 (gate chi2=5.99) pose_sigma=(0.220527, 0.220527, rho=0) det_map=(-0.145361, -2.52769) lm_pos=(-0.285, -2.52) delta=(0.139639, -0.00768989) -> 1 candidate(s)
I0419 20:55:05.189373 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401607s, prior_pose=(-1.25477, -1.89486), yaw=2.20803 deg
I0419 20:55:05.189713 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:55:05.189935 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:05.190090 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:05.190289 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:05.190425 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:05.246313 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15431, 1.54581)
I0419 20:55:05.361141 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:05.361245 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.787023, -0.672171), points=4, range=1.033, residual=0.0071623, extent=0.0177088
I0419 20:55:05.361266 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:05.361279 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:05.361291 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.787023, -0.672171), tracking=(1.08552, -0.672171), map_predicted=(-0.144148, -2.52651), range=1.033, pts=4
I0419 20:55:05.361310 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.141002m maha_sq=0.403729 (gate chi2=5.99) pose_sigma=(0.220776, 0.220776, rho=0) det_map=(-0.144148, -2.52651) lm_pos=(-0.285, -2.52) delta=(0.140852, -0.00650557) -> 1 candidate(s)
I0419 20:55:05.363418 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25455, -1.89628), yaw=2.18879 deg backend=(-1.25455, -1.89628)
I0419 20:55:05.460587 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.071626s, prior_pose=(-1.255, -1.89463), yaw=2.21069 deg
I0419 20:55:05.460721 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:05.460772 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:05.460791 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:05.462724 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:05.522482 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.785674, -0.674966)
I0419 20:55:05.588264 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:05.598683 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:05.598778 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1594, 1.54325), points=5, range=1.9308, residual=0.00945521, extent=0.0235165
I0419 20:55:05.598798 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:05.598810 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:05.598822 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1594, 1.54325), tracking=(-1.4579, -1.54325), map_predicted=(-2.65387, -3.49377), range=1.9308, pts=5
I0419 20:55:05.598845 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5612m maha_sq=132.72 (gate chi2=5.99) pose_sigma=(0.220948, 0.220948, rho=0) det_map=(-2.65387, -3.49377) lm_pos=(-0.285, -2.52) delta=(-2.36887, -0.973766) -> 0 candidate(s)
I0419 20:55:05.726437 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602733s, prior_pose=(-1.25471, -1.89596), yaw=2.19633 deg
I0419 20:55:05.726537 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:05.726580 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:05.726632 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:05.758351 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:05.758438 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:05.786680 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.785832, -0.675085)
I0419 20:55:05.905857 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:05.905964 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.787782, -0.672822), points=4, range=1.0335, residual=0.00760246, extent=0.0184515
I0419 20:55:05.905988 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:05.906003 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:05.906015 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.787782, -0.672822), tracking=(1.08628, -0.672822), map_predicted=(-0.141, -2.52585), range=1.0335, pts=4
I0419 20:55:05.906041 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.144119m maha_sq=0.420289 (gate chi2=5.99) pose_sigma=(0.221155, 0.221155, rho=0) det_map=(-0.141, -2.52585) lm_pos=(-0.285, -2.52) delta=(0.144, -0.00584988) -> 1 candidate(s)
I0419 20:55:06.021669 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0430322s, prior_pose=(-1.25509, -1.89569), yaw=2.19215 deg
I0419 20:55:06.021795 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:06.021864 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:06.021893 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:06.038622 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:06.141036 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.78153, -0.671397)
I0419 20:55:06.266371 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25433, -1.89596), yaw=2.19897 deg backend=(-1.25433, -1.89596)
I0419 20:55:06.268026 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:06.268100 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15924, 1.55243), points=5, range=1.934, residual=0.0123351, extent=0.0314452
I0419 20:55:06.268119 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:06.268132 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:06.268142 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15924, 1.55243), tracking=(-1.45774, -1.55243), map_predicted=(-2.65143, -3.50317), range=1.934, pts=5
I0419 20:55:06.268160 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56254m maha_sq=131.997 (gate chi2=5.99) pose_sigma=(0.221534, 0.221534, rho=0) det_map=(-2.65143, -3.50317) lm_pos=(-0.285, -2.52) delta=(-2.36643, -0.983172) -> 0 candidate(s)
I0419 20:55:06.314754 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722975s, prior_pose=(-1.25433, -1.89596), yaw=2.1983 deg
I0419 20:55:06.314899 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:06.314988 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:06.315068 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:06.404573 1218530 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.38e-03 s (pulsed at 100.54% real time)
I0419 20:55:06.404765 1218530 collated_trajectory_builder.cc:82] odom rate: 248.59 Hz 4.02e-03 s +/- 7.10e-04 s (pulsed at 100.05% real time)
I0419 20:55:06.404865 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.14e-03 s (pulsed at 100.49% real time)
I0419 20:55:06.404899 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.39e-03 s (pulsed at 100.41% real time)
I0419 20:55:06.408236 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.783585, -0.67514)
I0419 20:55:06.410034 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:06.410125 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:06.522279 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:06.522379 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.774976, -0.672047), points=6, range=1.02817, residual=0.0109719, extent=0.0299643
I0419 20:55:06.522403 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:06.522419 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:06.522432 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.774976, -0.672047), tracking=(1.07348, -0.672047), map_predicted=(-0.155054, -2.52711), range=1.02817, pts=6
I0419 20:55:06.522454 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13014m maha_sq=0.340822 (gate chi2=5.99) pose_sigma=(0.221633, 0.221633, rho=0) det_map=(-0.155054, -2.52711) lm_pos=(-0.285, -2.52) delta=(0.129946, -0.00710727) -> 1 candidate(s)
I0419 20:55:06.680757 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593445s, prior_pose=(-1.2558, -1.8937), yaw=2.19108 deg
I0419 20:55:06.680879 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=853, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:55:06.680915 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:06.680933 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:06.681774 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:06.683491 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780554, -0.672529)
I0419 20:55:06.821193 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:06.821302 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.774944, -0.671629), points=7, range=1.02771, residual=0.0106616, extent=0.032412
I0419 20:55:06.821324 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:06.821336 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:06.821346 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.774944, -0.671629), tracking=(1.07344, -0.671629), map_predicted=(-0.155354, -2.52534), range=1.02771, pts=7
I0419 20:55:06.821362 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.129756m maha_sq=0.337852 (gate chi2=5.99) pose_sigma=(0.221967, 0.221967, rho=0) det_map=(-0.155354, -2.52534) lm_pos=(-0.285, -2.52) delta=(0.129646, -0.00534006) -> 1 candidate(s)
I0419 20:55:06.927034 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402962s, prior_pose=(-1.25428, -1.89609), yaw=2.18557 deg
I0419 20:55:06.927148 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:06.927183 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:06.927199 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:06.927961 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15866, 1.54698)
I0419 20:55:07.078374 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:07.082957 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:07.083041 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:07.087838 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25357, -1.89568), yaw=2.20822 deg backend=(-1.25357, -1.89568)
I0419 20:55:07.106371 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:07.106472 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785666, -0.672984), points=5, range=1.0328, residual=0.00713862, extent=0.0192249
I0419 20:55:07.106494 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:07.106508 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:07.106518 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785666, -0.672984), tracking=(1.08417, -0.672984), map_predicted=(-0.144274, -2.52639), range=1.0328, pts=5
I0419 20:55:07.106540 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140871m maha_sq=0.398478 (gate chi2=5.99) pose_sigma=(0.222032, 0.222032, rho=0) det_map=(-0.144274, -2.52639) lm_pos=(-0.285, -2.52) delta=(0.140726, -0.00639249) -> 1 candidate(s)
I0419 20:55:07.198710 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0766559s, prior_pose=(-1.256, -1.89586), yaw=2.19099 deg
I0419 20:55:07.198853 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:07.198940 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:07.198975 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779748, -0.671419)
I0419 20:55:07.199002 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:07.214919 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:07.443989 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:07.444092 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15789, 1.55062), points=5, range=1.9322, residual=0.0118688, extent=0.0307496
I0419 20:55:07.444110 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:07.444120 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:07.444129 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15789, 1.55062), tracking=(-1.45639, -1.55062), map_predicted=(-2.64787, -3.50254), range=1.9322, pts=5
I0419 20:55:07.444145 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55901m maha_sq=130.712 (gate chi2=5.99) pose_sigma=(0.22235, 0.22235, rho=0) det_map=(-2.64787, -3.50254) lm_pos=(-0.285, -2.52) delta=(-2.36287, -0.982536) -> 0 candidate(s)
I0419 20:55:07.478219 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15567, 1.54297)
I0419 20:55:07.490587 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598838s, prior_pose=(-1.25252, -1.89676), yaw=2.21761 deg
I0419 20:55:07.490799 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:07.490914 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:07.490963 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:07.638877 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:07.639050 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:07.724614 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:07.724730 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15789, 1.55063), points=5, range=1.9294, residual=0.0168856, extent=0.0415434
I0419 20:55:07.724766 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:07.724783 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:07.724797 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15789, 1.55063), tracking=(-1.45639, -1.55063), map_predicted=(-2.64979, -3.50249), range=1.9294, pts=5
I0419 20:55:07.724822 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56076m maha_sq=130.249 (gate chi2=5.99) pose_sigma=(0.222582, 0.222582, rho=0) det_map=(-2.64979, -3.50249) lm_pos=(-0.285, -2.52) delta=(-2.36479, -0.982486) -> 0 candidate(s)
I0419 20:55:07.770582 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15621, 1.53906)
I0419 20:55:07.862849 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0397071s, prior_pose=(-1.25426, -1.89669), yaw=2.20008 deg
I0419 20:55:07.862958 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=833, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:55:07.863006 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:07.863025 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:07.863996 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:08.006531 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25324, -1.89647), yaw=2.21386 deg backend=(-1.25324, -1.89647)
I0419 20:55:08.010366 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:08.010447 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1555, 1.5521), points=4, range=1.9315, residual=0.0100379, extent=0.0218877
I0419 20:55:08.010466 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:08.010479 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:08.010495 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1555, 1.5521), tracking=(-1.454, -1.5521), map_predicted=(-2.64616, -3.50361), range=1.9315, pts=4
I0419 20:55:08.010514 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55784m maha_sq=130.346 (gate chi2=5.99) pose_sigma=(0.222654, 0.222654, rho=0) det_map=(-2.64616, -3.50361) lm_pos=(-0.285, -2.52) delta=(-2.36116, -0.98361) -> 0 candidate(s)
I0419 20:55:08.137434 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15793, 1.54603)
I0419 20:55:08.138324 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0729713s, prior_pose=(-1.25507, -1.89565), yaw=2.20427 deg
I0419 20:55:08.138401 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:08.138439 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:08.138459 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:08.282931 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:08.283022 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:08.364988 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:08.365114 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1574, 1.55466), points=6, range=1.93533, residual=0.0123795, extent=0.0333457
I0419 20:55:08.365137 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:08.365149 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:08.365157 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1574, 1.55466), tracking=(-1.4559, -1.55466), map_predicted=(-2.64854, -3.50612), range=1.93533, pts=6
I0419 20:55:08.365171 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56101m maha_sq=130.281 (gate chi2=5.99) pose_sigma=(0.22287, 0.22287, rho=0) det_map=(-2.64854, -3.50612) lm_pos=(-0.285, -2.52) delta=(-2.36354, -0.986121) -> 0 candidate(s)
I0419 20:55:08.365929 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.784761, -0.674187)
I0419 20:55:08.370124 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561596s, prior_pose=(-1.25346, -1.89666), yaw=2.20357 deg
I0419 20:55:08.370219 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:08.370260 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:08.370280 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:08.385891 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:08.507797 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:08.649971 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15579, 1.54314)
I0419 20:55:08.650085 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:08.650108 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15714, 1.54026), points=5, range=1.928, residual=0.0109267, extent=0.0264333
I0419 20:55:08.650125 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:08.650187 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:08.650202 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15714, 1.54026), tracking=(-1.45564, -1.54026), map_predicted=(-2.65212, -3.4892), range=1.928, pts=5
I0419 20:55:08.650264 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55785m maha_sq=129.789 (gate chi2=5.99) pose_sigma=(0.223097, 0.223097, rho=0) det_map=(-2.65212, -3.4892) lm_pos=(-0.285, -2.52) delta=(-2.36712, -0.969203) -> 0 candidate(s)
I0419 20:55:08.665989 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442507s, prior_pose=(-1.25675, -1.89414), yaw=2.20246 deg
I0419 20:55:08.666152 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:55:08.666218 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:08.666252 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:08.942296 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25581, -1.895), yaw=2.20235 deg backend=(-1.25581, -1.895)
I0419 20:55:08.944676 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:08.944737 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:08.947638 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777312, -0.671684)
I0419 20:55:08.948530 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:08.948583 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15894, 1.55203), points=5, range=1.9334, residual=0.0125323, extent=0.0321486
I0419 20:55:08.948603 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:08.948616 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:08.948629 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15894, 1.55203), tracking=(-1.45744, -1.55203), map_predicted=(-2.65254, -3.50188), range=1.9334, pts=5
I0419 20:55:08.948644 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56307m maha_sq=129.871 (gate chi2=5.99) pose_sigma=(0.223401, 0.223401, rho=0) det_map=(-2.65254, -3.50188) lm_pos=(-0.285, -2.52) delta=(-2.36754, -0.98188) -> 0 candidate(s)
I0419 20:55:08.958617 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0721942s, prior_pose=(-1.25581, -1.895), yaw=2.20214 deg
I0419 20:55:08.958719 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:08.958787 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:08.958824 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:09.054072 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:09.190874 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1589, 1.5473)
I0419 20:55:09.226884 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:09.227311 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.773983, -0.671475), points=4, range=1.02825, residual=0.0104946, extent=0.0249792
I0419 20:55:09.227376 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:09.227404 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:09.227427 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.773983, -0.671475), tracking=(1.07248, -0.671475), map_predicted=(-0.156292, -2.52565), range=1.02825, pts=4
I0419 20:55:09.227527 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.128832m maha_sq=0.32853 (gate chi2=5.99) pose_sigma=(0.223516, 0.223516, rho=0) det_map=(-0.156292, -2.52565) lm_pos=(-0.285, -2.52) delta=(0.128708, -0.00565279) -> 1 candidate(s)
I0419 20:55:09.332018 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598295s, prior_pose=(-1.25361, -1.89776), yaw=2.20589 deg
I0419 20:55:09.332114 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:09.332151 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:09.332170 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:09.458607 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.784561, -0.674007)
I0419 20:55:09.594096 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:09.594187 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:09.595072 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:09.595129 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16121, 1.55034), points=4, range=1.9325, residual=0.0117389, extent=0.0261412
I0419 20:55:09.595148 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:09.595160 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:09.595168 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16121, 1.55034), tracking=(-1.45971, -1.55034), map_predicted=(-2.653, -3.50062), range=1.9325, pts=4
I0419 20:55:09.595183 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56301m maha_sq=129.268 (gate chi2=5.99) pose_sigma=(0.223966, 0.223966, rho=0) det_map=(-2.653, -3.50062) lm_pos=(-0.285, -2.52) delta=(-2.368, -0.980618) -> 0 candidate(s)
I0419 20:55:09.596755 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0405617s, prior_pose=(-1.25385, -1.89542), yaw=2.1993 deg
I0419 20:55:09.596810 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:09.596848 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:09.596864 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:09.597771 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:09.730861 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25327, -1.89569), yaw=2.20052 deg backend=(-1.25327, -1.89569)
I0419 20:55:09.731419 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.775934, -0.670474)
I0419 20:55:09.861385 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0683821s, prior_pose=(-1.25289, -1.89709), yaw=2.19218 deg
I0419 20:55:09.861495 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:09.861528 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:09.861547 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:09.861600 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:09.861614 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783765, -0.67136), points=5, range=1.0308, residual=0.00605257, extent=0.0162801
I0419 20:55:09.861629 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:09.861639 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:09.861647 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783765, -0.67136), tracking=(1.08227, -0.67136), map_predicted=(-0.145737, -2.52656), range=1.0308, pts=5
I0419 20:55:09.861665 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139417m maha_sq=0.383405 (gate chi2=5.99) pose_sigma=(0.224071, 0.224071, rho=0) det_map=(-0.145737, -2.52656) lm_pos=(-0.285, -2.52) delta=(0.139263, -0.00656089) -> 1 candidate(s)
I0419 20:55:09.979238 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:10.001986 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1577, 1.5457)
I0419 20:55:10.134235 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604352s, prior_pose=(-1.2551, -1.89614), yaw=2.17929 deg
I0419 20:55:10.134413 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:10.134490 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:10.134521 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:10.134543 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:10.134575 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784798, -0.673223), points=5, range=1.031, residual=0.0105383, extent=0.0276371
I0419 20:55:10.134599 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:10.134619 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:10.134635 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784798, -0.673223), tracking=(1.0833, -0.673223), map_predicted=(-0.14699, -2.52768), range=1.031, pts=5
I0419 20:55:10.134665 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138224m maha_sq=0.375749 (gate chi2=5.99) pose_sigma=(0.224242, 0.224242, rho=0) det_map=(-0.14699, -2.52768) lm_pos=(-0.285, -2.52) delta=(0.13801, -0.00768473) -> 1 candidate(s)
I0419 20:55:10.134696 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:10.134716 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:10.150511 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:10.258255 1218978 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:55:10.282334 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.77512, -0.669782)
I0419 20:55:10.509155 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043724s, prior_pose=(-1.25492, -1.8951), yaw=2.19945 deg
I0419 20:55:10.509244 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:10.509291 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:10.509331 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:10.510175 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:10.510226 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1558, 1.54782), points=5, range=1.9266, residual=0.0155703, extent=0.0374108
I0419 20:55:10.510244 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:10.510255 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:10.510267 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1558, 1.54782), tracking=(-1.4543, -1.54782), map_predicted=(-2.64874, -3.4976), range=1.9266, pts=5
I0419 20:55:10.510298 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55792m maha_sq=127.936 (gate chi2=5.99) pose_sigma=(0.224459, 0.224459, rho=0) det_map=(-2.64874, -3.4976) lm_pos=(-0.285, -2.52) delta=(-2.36374, -0.977599) -> 0 candidate(s)
I0419 20:55:10.648042 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.777252, -0.671623)
I0419 20:55:10.650234 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25482, -1.89583), yaw=2.19374 deg backend=(-1.25482, -1.89583)
I0419 20:55:10.783177 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0713086s, prior_pose=(-1.25629, -1.89542), yaw=2.1704 deg
I0419 20:55:10.783300 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:55:10.783334 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:10.783351 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:10.785024 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:10.785164 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1557, 1.55237), points=4, range=1.93175, residual=0.0100892, extent=0.0218877
I0419 20:55:10.785207 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:10.785233 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:10.785256 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1557, 1.55237), tracking=(-1.4542, -1.55237), map_predicted=(-2.65068, -3.50173), range=1.93175, pts=4
I0419 20:55:10.785295 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56129m maha_sq=128.498 (gate chi2=5.99) pose_sigma=(0.224573, 0.224573, rho=0) det_map=(-2.65068, -3.50173) lm_pos=(-0.285, -2.52) delta=(-2.36568, -0.981728) -> 0 candidate(s)
I0419 20:55:10.785328 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:10.786368 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:10.786430 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:10.888227 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.780126, -0.672504)
I0419 20:55:11.013806 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594474s, prior_pose=(-1.25423, -1.89598), yaw=2.18935 deg
I0419 20:55:11.013896 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:11.013942 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:11.013993 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:11.042426 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:11.042526 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782641, -0.673691), points=4, range=1.035, residual=0.00740527, extent=0.0184668
I0419 20:55:11.042546 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:11.042559 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:11.042567 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782641, -0.673691), tracking=(1.08114, -0.673691), map_predicted=(-0.148132, -2.52786), range=1.035, pts=4
I0419 20:55:11.042590 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137094m maha_sq=0.368326 (gate chi2=5.99) pose_sigma=(0.224768, 0.224768, rho=0) det_map=(-0.148132, -2.52786) lm_pos=(-0.285, -2.52) delta=(0.136868, -0.00786186) -> 1 candidate(s)
I0419 20:55:11.147262 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70816, 0.500576)
I0419 20:55:11.309562 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043941s, prior_pose=(-1.25503, -1.89331), yaw=2.21127 deg
I0419 20:55:11.309674 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:11.309719 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:11.309742 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:11.326803 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:11.338179 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:11.338315 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784201, -0.674684), points=5, range=1.0298, residual=0.0135746, extent=0.0384423
I0419 20:55:11.338343 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:11.338366 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:11.338382 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784201, -0.674684), tracking=(1.0827, -0.674684), map_predicted=(-0.1471, -2.52572), range=1.0298, pts=5
I0419 20:55:11.338411 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138019m maha_sq=0.371847 (gate chi2=5.99) pose_sigma=(0.224928, 0.224928, rho=0) det_map=(-0.1471, -2.52572) lm_pos=(-0.285, -2.52) delta=(0.1379, -0.00572064) -> 1 candidate(s)
I0419 20:55:11.428762 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:11.429095 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:11.429141 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:11.429965 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15735, 1.54522)
I0419 20:55:11.496624 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:11.545976 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25773, -1.89481), yaw=2.18162 deg backend=(-1.25773, -1.89481)
I0419 20:55:11.601998 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0709559s, prior_pose=(-1.25773, -1.89481), yaw=2.18174 deg
I0419 20:55:11.602221 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=246, threshold=230, above_threshold=5, candidates=5
I0419 20:55:11.602341 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:11.602383 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:11.680002 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:11.680148 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78431, -0.673792), points=6, range=1.03, residual=0.0126756, extent=0.0375484
I0419 20:55:11.680176 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:11.680193 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:11.680205 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78431, -0.673792), tracking=(1.08281, -0.673792), map_predicted=(-0.146374, -2.52727), range=1.03, pts=6
I0419 20:55:11.680227 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138816m maha_sq=0.375182 (gate chi2=5.99) pose_sigma=(0.225276, 0.225276, rho=0) det_map=(-0.146374, -2.52727) lm_pos=(-0.285, -2.52) delta=(0.138626, -0.00726538) -> 1 candidate(s)
I0419 20:55:11.683694 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15747, 1.54538)
I0419 20:55:11.941159 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563851s, prior_pose=(-1.25203, -1.89652), yaw=2.20274 deg
I0419 20:55:11.941277 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:55:11.941320 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:11.941339 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:11.942327 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:11.944864 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:11.944934 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1553, 1.55183), points=4, range=1.931, residual=0.0102068, extent=0.0225372
I0419 20:55:11.944957 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:11.944970 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:11.944983 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1553, 1.55183), tracking=(-1.4538, -1.55183), map_predicted=(-2.64508, -3.5031), range=1.931, pts=4
I0419 20:55:11.945001 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55666m maha_sq=127.072 (gate chi2=5.99) pose_sigma=(0.225426, 0.225426, rho=0) det_map=(-2.64508, -3.5031) lm_pos=(-0.285, -2.52) delta=(-2.36008, -0.983105) -> 0 candidate(s)
I0419 20:55:11.970135 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15731, 1.54053)
I0419 20:55:11.982520 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:11.982659 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:12.224897 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0438665s, prior_pose=(-1.25389, -1.89609), yaw=2.1983 deg
I0419 20:55:12.225040 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=251, threshold=230, above_threshold=4, candidates=4
I0419 20:55:12.225138 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:12.225158 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:12.226720 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70049, 0.498327)
I0419 20:55:12.234090 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:12.234261 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16119, 1.54566), points=5, range=1.9354, residual=0.0120215, extent=0.0321649
I0419 20:55:12.234292 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:12.234310 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:12.234323 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16119, 1.54566), tracking=(-1.45969, -1.54566), map_predicted=(-2.65319, -3.49663), range=1.9354, pts=5
I0419 20:55:12.234344 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.56167m maha_sq=127.223 (gate chi2=5.99) pose_sigma=(0.225647, 0.225647, rho=0) det_map=(-2.65319, -3.49663) lm_pos=(-0.285, -2.52) delta=(-2.36819, -0.976626) -> 0 candidate(s)
I0419 20:55:12.355314 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25182, -1.89746), yaw=2.20448 deg backend=(-1.25182, -1.89746)
I0419 20:55:12.495162 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720939s, prior_pose=(-1.2516, -1.89459), yaw=2.19903 deg
I0419 20:55:12.495272 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:55:12.495317 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:12.495335 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.777178, -0.671551)
I0419 20:55:12.495349 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:12.498453 1218529 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:55:12.498556 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:12.530112 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:12.530227 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73077, -2.21793), points=3, range=3.51433, residual=0.0116643, extent=0.0232073
I0419 20:55:12.530267 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:12.530295 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:12.530316 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73077, -2.21793), tracking=(-3.02927, 2.21793), map_predicted=(-4.36373, 0.205487), range=3.51433, pts=3
I0419 20:55:12.530354 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90554m maha_sq=463.602 (gate chi2=5.99) pose_sigma=(0.225914, 0.225914, rho=0) det_map=(-4.36373, 0.205487) lm_pos=(-0.285, -2.52) delta=(-4.07873, 2.72549) -> 0 candidate(s)
I0419 20:55:12.617707 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:12.617812 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:12.657924 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.784229, -0.672734)
I0419 20:55:12.729039 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779928, -0.67198), points=7, range=1.02614, residual=0.0130831, extent=0.0392937
I0419 20:55:12.729156 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779928, -0.67198), tracking=(1.07843, -0.67198), map_predicted=(-0.153334, -2.52467), range=1.02614, pts=7
I0419 20:55:12.729178 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.131749m maha_sq=0.335271 (gate chi2=5.99) pose_sigma=(0.226164, 0.226164, rho=0) det_map=(-0.153334, -2.52467) lm_pos=(-0.285, -2.52) delta=(0.131666, -0.00466672) -> 1 candidate(s)
I0419 20:55:12.778160 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600481s, prior_pose=(-1.25634, -1.89385), yaw=2.16181 deg
I0419 20:55:12.778276 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:12.778323 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:12.778342 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:12.897936 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:12.898259 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:12.898329 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:12.898350 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:12.902688 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15554, 1.54748)
I0419 20:55:13.019810 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772194, -0.670226), points=5, range=1.026, residual=0.0127616, extent=0.0366514
I0419 20:55:13.019961 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.772194, -0.670226), tracking=(1.07069, -0.670226), map_predicted=(-0.161293, -2.52478), range=1.026, pts=5
I0419 20:55:13.019989 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.123799m maha_sq=0.294885 (gate chi2=5.99) pose_sigma=(0.226626, 0.226626, rho=0) det_map=(-0.161293, -2.52478) lm_pos=(-0.285, -2.52) delta=(0.123707, -0.00477877) -> 1 candidate(s)
I0419 20:55:13.137832 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0405449s, prior_pose=(-1.25304, -1.89485), yaw=2.20539 deg
I0419 20:55:13.137970 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:13.138025 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:13.138042 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:13.138892 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:13.141497 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:13.141583 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:13.141601 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:13.146773 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16019, 1.55139)
I0419 20:55:13.162386 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:13.162467 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:13.305393 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25176, -1.89468), yaw=2.21047 deg backend=(-1.25176, -1.89468)
I0419 20:55:13.309965 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781576, -0.67145), points=6, range=1.02833, residual=0.00886001, extent=0.0254019
I0419 20:55:13.310056 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781576, -0.67145), tracking=(1.08008, -0.67145), map_predicted=(-0.146594, -2.52397), range=1.02833, pts=6
I0419 20:55:13.310081 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138463m maha_sq=0.368685 (gate chi2=5.99) pose_sigma=(0.226872, 0.226872, rho=0) det_map=(-0.146594, -2.52397) lm_pos=(-0.285, -2.52) delta=(0.138406, -0.00397498) -> 1 candidate(s)
I0419 20:55:13.398350 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720914s, prior_pose=(-1.25501, -1.89509), yaw=2.18926 deg
I0419 20:55:13.398475 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:13.398516 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:13.398535 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.77835, -0.671251)
I0419 20:55:13.398548 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:13.410676 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:13.410835 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:13.410871 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:13.565783 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15842, 1.54667)
I0419 20:55:13.570719 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788036, -0.673037), points=4, range=1.03375, residual=0.00785319, extent=0.0192249
I0419 20:55:13.570878 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.788036, -0.673037), tracking=(1.08654, -0.673037), map_predicted=(-0.145946, -2.52503), range=1.03375, pts=4
I0419 20:55:13.570930 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139145m maha_sq=0.371498 (gate chi2=5.99) pose_sigma=(0.227164, 0.227164, rho=0) det_map=(-0.145946, -2.52503) lm_pos=(-0.285, -2.52) delta=(0.139054, -0.00503183) -> 1 candidate(s)
I0419 20:55:13.672240 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059519s, prior_pose=(-1.25548, -1.89589), yaw=2.17674 deg
I0419 20:55:13.672356 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:13.672390 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:13.672415 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:13.674909 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:13.702400 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:13.702533 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:13.702571 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:13.806613 1218529 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.15926, 1.54778)
I0419 20:55:13.807555 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:13.807600 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:13.822602 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1549, 1.54662), points=5, range=1.9248, residual=0.0166796, extent=0.039847
I0419 20:55:13.822775 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1549, 1.54662), tracking=(-1.4534, -1.54662), map_predicted=(-2.64582, -3.49731), range=1.9248, pts=5
I0419 20:55:13.822840 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55511m maha_sq=124.316 (gate chi2=5.99) pose_sigma=(0.227421, 0.227421, rho=0) det_map=(-2.64582, -3.49731) lm_pos=(-0.285, -2.52) delta=(-2.36082, -0.977308) -> 0 candidate(s)
I0419 20:55:13.931910 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.7288, -2.20976)
I0419 20:55:13.954121 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445363s, prior_pose=(-1.25406, -1.89649), yaw=2.16825 deg
I0419 20:55:13.954264 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=254, threshold=230, above_threshold=5, candidates=5
I0419 20:55:13.954306 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:13.954324 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:14.100173 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:14.100288 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:14.100307 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:14.102274 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72865, -2.20307), points=3, range=3.509, residual=0.0114654, extent=0.0236702
I0419 20:55:14.102365 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72865, -2.20307), tracking=(-3.02715, 2.20307), map_predicted=(-4.36519, 0.191539), range=3.509, pts=3
I0419 20:55:14.102526 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89902m maha_sq=455.619 (gate chi2=5.99) pose_sigma=(0.227623, 0.227623, rho=0) det_map=(-4.36519, 0.191539) lm_pos=(-0.285, -2.52) delta=(-4.08019, 2.71154) -> 0 candidate(s)
I0419 20:55:14.107985 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72551, -2.21367)
I0419 20:55:14.221894 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25655, -1.89503), yaw=2.17308 deg backend=(-1.25655, -1.89503)
I0419 20:55:14.229244 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78355, -0.673142), points=6, range=1.03117, residual=0.00834586, extent=0.0242086
I0419 20:55:14.229326 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78355, -0.673142), tracking=(1.08205, -0.673142), map_predicted=(-0.14974, -2.52664), range=1.03117, pts=6
I0419 20:55:14.229353 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135423m maha_sq=0.350426 (gate chi2=5.99) pose_sigma=(0.227626, 0.227626, rho=0) det_map=(-0.14974, -2.52664) lm_pos=(-0.285, -2.52) delta=(0.13526, -0.00664365) -> 1 candidate(s)
I0419 20:55:14.246344 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719017s, prior_pose=(-1.25655, -1.89503), yaw=2.17394 deg
I0419 20:55:14.246546 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:55:14.246654 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:14.246760 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:14.353935 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:14.354733 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:14.354842 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.782197, -0.673943)
I0419 20:55:14.355795 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:14.355887 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:14.355911 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:14.366555 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:14.366675 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:14.499737 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781243, -0.673146), points=5, range=1.0332, residual=0.00728682, extent=0.0192249
I0419 20:55:14.499943 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.781243, -0.673146), tracking=(1.07974, -0.673146), map_predicted=(-0.150338, -2.52693), range=1.0332, pts=5
I0419 20:55:14.499967 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134841m maha_sq=0.347156 (gate chi2=5.99) pose_sigma=(0.227748, 0.227748, rho=0) det_map=(-0.150338, -2.52693) lm_pos=(-0.285, -2.52) delta=(0.134662, -0.00693341) -> 1 candidate(s)
I0419 20:55:14.503700 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.15534, 1.54721)
I0419 20:55:14.583798 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562166s, prior_pose=(-1.2534, -1.89491), yaw=2.18324 deg
I0419 20:55:14.583901 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:14.583954 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:14.583979 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:14.598359 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:14.598495 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:14.598541 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:14.614702 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15581, 1.54781), points=5, range=1.929, residual=0.0106703, extent=0.0258924
I0419 20:55:14.614894 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15581, 1.54781), tracking=(-1.45431, -1.54781), map_predicted=(-2.64778, -3.49693), range=1.929, pts=5
I0419 20:55:14.614950 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55678m maha_sq=124.428 (gate chi2=5.99) pose_sigma=(0.227828, 0.227828, rho=0) det_map=(-2.64778, -3.49693) lm_pos=(-0.285, -2.52) delta=(-2.36278, -0.976928) -> 0 candidate(s)
I0419 20:55:14.643740 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:14.718925 1218972 pose_graph_2d.cc:160] Inserted submap (1, 7).
I0419 20:55:14.720726 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72776, -2.20892)
I0419 20:55:14.860630 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73106, -2.19847), points=4, range=3.508, residual=0.0136281, extent=0.0325333
I0419 20:55:14.860877 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73106, -2.19847), tracking=(-3.02956, 2.19847), map_predicted=(-4.36379, 0.187912), range=3.508, pts=4
I0419 20:55:14.860954 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89585m maha_sq=453.162 (gate chi2=5.99) pose_sigma=(0.227981, 0.227981, rho=0) det_map=(-4.36379, 0.187912) lm_pos=(-0.285, -2.52) delta=(-4.07879, 2.70791) -> 0 candidate(s)
I0419 20:55:14.862954 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442755s, prior_pose=(-1.25282, -1.89376), yaw=2.18031 deg
I0419 20:55:14.863158 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:14.863250 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:14.863305 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:14.864252 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.1556, 1.53827)
I0419 20:55:14.864428 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:14.890722 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:14.890839 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:14.890861 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:14.979200 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:14.979290 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:15.000196 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25606, -1.89472), yaw=2.17262 deg backend=(-1.25606, -1.89472)
I0419 20:55:15.011059 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.775879, -0.67247), points=5, range=1.0296, residual=0.00906744, extent=0.0249966
I0419 20:55:15.011387 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.775879, -0.67247), tracking=(1.07438, -0.67247), map_predicted=(-0.156957, -2.52598), range=1.0296, pts=5
I0419 20:55:15.011554 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.128183m maha_sq=0.312464 (gate chi2=5.99) pose_sigma=(0.228147, 0.228147, rho=0) det_map=(-0.156957, -2.52598) lm_pos=(-0.285, -2.52) delta=(0.128043, -0.00597987) -> 1 candidate(s)
I0419 20:55:15.038439 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.7072, 0.500295)
I0419 20:55:15.126343 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.072241s, prior_pose=(-1.25521, -1.8941), yaw=2.18064 deg
I0419 20:55:15.126439 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:55:15.126487 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:15.126514 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:15.274087 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:15.274189 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:15.274206 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:15.275182 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1561, 1.54822), points=5, range=1.9302, residual=0.0110655, extent=0.026453
I0419 20:55:15.275280 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1561, 1.54822), tracking=(-1.4546, -1.54822), map_predicted=(-2.64846, -3.49646), range=1.9302, pts=5
I0419 20:55:15.275307 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55723m maha_sq=123.996 (gate chi2=5.99) pose_sigma=(0.228251, 0.228251, rho=0) det_map=(-2.64846, -3.49646) lm_pos=(-0.285, -2.52) delta=(-2.36346, -0.976465) -> 0 candidate(s)
I0419 20:55:15.277968 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15602, 1.54346)
I0419 20:55:15.410637 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1561, 1.54822), points=5, range=1.9298, residual=0.0107232, extent=0.0269811
I0419 20:55:15.410755 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1561, 1.54822), tracking=(-1.4546, -1.54822), map_predicted=(-2.64919, -3.49614), range=1.9298, pts=5
I0419 20:55:15.410787 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55778m maha_sq=124.049 (gate chi2=5.99) pose_sigma=(0.228268, 0.228268, rho=0) det_map=(-2.64919, -3.49614) lm_pos=(-0.285, -2.52) delta=(-2.36419, -0.976136) -> 0 candidate(s)
I0419 20:55:15.418594 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566967s, prior_pose=(-1.25463, -1.89362), yaw=2.18348 deg
I0419 20:55:15.418764 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 20:55:15.418849 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:15.418884 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:15.438544 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.72821, -2.20929)
I0419 20:55:15.438705 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:15.551144 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:15.551251 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:15.551270 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:15.570098 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:15.570258 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:15.677484 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73213, -2.20589)
I0419 20:55:15.677569 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73418, -2.20098), points=4, range=3.5115, residual=0.0133795, extent=0.0319378
I0419 20:55:15.677590 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73418, -2.20098), tracking=(-3.03268, 2.20098), map_predicted=(-4.37047, 0.188503), range=3.5115, pts=4
I0419 20:55:15.677609 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90174m maha_sq=452.365 (gate chi2=5.99) pose_sigma=(0.228478, 0.228478, rho=0) det_map=(-4.37047, 0.188503) lm_pos=(-0.285, -2.52) delta=(-4.08547, 2.7085) -> 0 candidate(s)
I0419 20:55:15.783574 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440185s, prior_pose=(-1.25778, -1.89559), yaw=2.17403 deg
I0419 20:55:15.783694 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:15.783748 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:15.783803 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:15.784464 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:15.789841 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:15.789945 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:15.789966 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:15.802392 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781729, -0.671578)
I0419 20:55:15.802498 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783768, -0.671358), points=5, range=1.0306, residual=0.00684362, extent=0.018444
I0419 20:55:15.802523 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783768, -0.671358), tracking=(1.08227, -0.671358), map_predicted=(-0.150826, -2.52541), range=1.0306, pts=5
I0419 20:55:15.802546 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134283m maha_sq=0.341799 (gate chi2=5.99) pose_sigma=(0.228599, 0.228599, rho=0) det_map=(-0.150826, -2.52541) lm_pos=(-0.285, -2.52) delta=(0.134174, -0.00540947) -> 1 candidate(s)
I0419 20:55:15.909742 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25463, -1.89695), yaw=2.19106 deg backend=(-1.25463, -1.89695)
I0419 20:55:16.074204 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.16074, 1.54505)
I0419 20:55:16.074303 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16081, 1.5498), points=4, range=1.9325, residual=0.0106424, extent=0.0239272
I0419 20:55:16.074326 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16081, 1.5498), tracking=(-1.45931, -1.5498), map_predicted=(-2.65085, -3.5015), range=1.9325, pts=4
I0419 20:55:16.074344 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56136m maha_sq=123.691 (gate chi2=5.99) pose_sigma=(0.228929, 0.228929, rho=0) det_map=(-2.65085, -3.5015) lm_pos=(-0.285, -2.52) delta=(-2.36585, -0.981502) -> 0 candidate(s)
I0419 20:55:16.075094 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759454s, prior_pose=(-1.25231, -1.89664), yaw=2.20738 deg
I0419 20:55:16.075146 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:16.075184 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:16.075202 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:16.076961 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:16.082559 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:16.082614 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:16.082631 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:16.185364 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:16.185478 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:16.199815 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72906, -2.20997)
I0419 20:55:16.199927 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72844, -2.21603), points=3, range=3.51167, residual=0.0113542, extent=0.0227374
I0419 20:55:16.199993 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72844, -2.21603), tracking=(-3.02694, 2.21603), map_predicted=(-4.36489, 0.203617), range=3.51167, pts=3
I0419 20:55:16.200019 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90547m maha_sq=450.991 (gate chi2=5.99) pose_sigma=(0.229118, 0.229118, rho=0) det_map=(-4.36489, 0.203617) lm_pos=(-0.285, -2.52) delta=(-4.07989, 2.72362) -> 0 candidate(s)
I0419 20:55:16.321893 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605886s, prior_pose=(-1.25294, -1.89654), yaw=2.19068 deg
I0419 20:55:16.321993 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:16.322026 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:16.322042 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:16.362378 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778578, -0.672767)
I0419 20:55:16.453651 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:16.453747 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15939, 1.55263), points=5, range=1.9342, residual=0.0122095, extent=0.0314452
I0419 20:55:16.453768 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:16.453779 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:16.453789 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15939, 1.55263), tracking=(-1.45789, -1.55263), map_predicted=(-2.65084, -3.50381), range=1.9342, pts=5
I0419 20:55:16.453805 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56225m maha_sq=123.295 (gate chi2=5.99) pose_sigma=(0.229302, 0.229302, rho=0) det_map=(-2.65084, -3.50381) lm_pos=(-0.285, -2.52) delta=(-2.36584, -0.983814) -> 0 candidate(s)
I0419 20:55:16.588045 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15879, 1.54714)
I0419 20:55:16.594327 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0397831s, prior_pose=(-1.25281, -1.89527), yaw=2.18951 deg
I0419 20:55:16.594431 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:16.594475 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:16.594491 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:16.614411 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73176, -2.20558), points=3, range=3.50733, residual=0.0116772, extent=0.0236652
I0419 20:55:16.614511 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73176, -2.20558), tracking=(-3.03026, 2.20558), map_predicted=(-4.36513, 0.192927), range=3.50733, pts=3
I0419 20:55:16.614542 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89974m maha_sq=448.908 (gate chi2=5.99) pose_sigma=(0.22937, 0.22937, rho=0) det_map=(-4.36513, 0.192927) lm_pos=(-0.285, -2.52) delta=(-4.08013, 2.71293) -> 0 candidate(s)
I0419 20:55:16.614564 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:16.720954 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:16.721108 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:16.721170 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:16.762055 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73291, -2.20652)
I0419 20:55:16.864377 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25495, -1.89609), yaw=2.17789 deg backend=(-1.25495, -1.89609)
I0419 20:55:16.866744 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786512, -0.671742), points=4, range=1.033, residual=0.0058374, extent=0.0139041
I0419 20:55:16.866829 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786512, -0.671742), tracking=(1.08501, -0.671742), map_predicted=(-0.145197, -2.52612), range=1.033, pts=4
I0419 20:55:16.866852 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139937m maha_sq=0.368263 (gate chi2=5.99) pose_sigma=(0.229541, 0.229541, rho=0) det_map=(-0.145197, -2.52612) lm_pos=(-0.285, -2.52) delta=(0.139803, -0.00611776) -> 1 candidate(s)
I0419 20:55:16.866873 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:16.866885 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:16.889931 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718693s, prior_pose=(-1.25495, -1.89609), yaw=2.17885 deg
I0419 20:55:16.890154 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:55:16.890272 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:16.890409 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:16.996055 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73087, -2.21144)
I0419 20:55:17.001567 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:17.001672 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:17.001691 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:17.006671 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788407, -0.676311), points=5, range=1.0356, residual=0.0107305, extent=0.0283297
I0419 20:55:17.006829 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.788407, -0.676311), tracking=(1.08691, -0.676311), map_predicted=(-0.141958, -2.53085), range=1.0356, pts=5
I0419 20:55:17.006883 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.143453m maha_sq=0.386221 (gate chi2=5.99) pose_sigma=(0.229598, 0.229598, rho=0) det_map=(-0.141958, -2.53085) lm_pos=(-0.285, -2.52) delta=(0.143042, -0.0108521) -> 1 candidate(s)
I0419 20:55:17.131067 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.15535, 1.54722)
I0419 20:55:17.263376 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596778s, prior_pose=(-1.25223, -1.89615), yaw=2.21349 deg
I0419 20:55:17.263479 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:17.263518 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:17.263537 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:17.263628 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:17.264616 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:17.270833 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15359, 1.54952), points=6, range=1.9295, residual=0.0116647, extent=0.0300607
I0419 20:55:17.270946 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15359, 1.54952), tracking=(-1.45209, -1.54952), map_predicted=(-2.64339, -3.5006), range=1.9295, pts=6
I0419 20:55:17.270982 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55413m maha_sq=122.119 (gate chi2=5.99) pose_sigma=(0.229708, 0.229708, rho=0) det_map=(-2.64339, -3.5006) lm_pos=(-0.285, -2.52) delta=(-2.35839, -0.980595) -> 0 candidate(s)
I0419 20:55:17.289938 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72745, -2.21525)
I0419 20:55:17.290114 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:17.290162 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:17.290194 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:17.401063 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:17.401180 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:17.531822 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.476032, -0.387798)
I0419 20:55:17.535902 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437655s, prior_pose=(-1.25347, -1.89609), yaw=2.18069 deg
I0419 20:55:17.536001 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=849, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:17.536038 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:17.536056 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:17.537292 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15573, 1.52911), points=6, range=1.92317, residual=0.017536, extent=0.0388585
I0419 20:55:17.537388 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15573, 1.52911), tracking=(-1.45423, -1.52911), map_predicted=(-2.64846, -3.47943), range=1.92317, pts=6
I0419 20:55:17.537500 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.55078m maha_sq=121.274 (gate chi2=5.99) pose_sigma=(0.229839, 0.229839, rho=0) det_map=(-2.64846, -3.47943) lm_pos=(-0.285, -2.52) delta=(-2.36346, -0.959434) -> 0 candidate(s)
I0419 20:55:17.660079 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:17.660182 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:17.660200 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:17.664275 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.7347, -2.20139)
I0419 20:55:17.665566 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25776, -1.89564), yaw=2.1979 deg backend=(-1.25776, -1.89564)
I0419 20:55:17.781721 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72746, -2.21524), points=5, range=3.5116, residual=0.0160575, extent=0.042279
I0419 20:55:17.781831 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72746, -2.21524), tracking=(-3.02596, 2.21524), map_predicted=(-4.36439, 0.202532), range=3.5116, pts=5
I0419 20:55:17.781855 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90445m maha_sq=445.89 (gate chi2=5.99) pose_sigma=(0.230117, 0.230117, rho=0) det_map=(-4.36439, 0.202532) lm_pos=(-0.285, -2.52) delta=(-4.07939, 2.72253) -> 0 candidate(s)
I0419 20:55:17.785652 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0715425s, prior_pose=(-1.25651, -1.89622), yaw=2.17688 deg
I0419 20:55:17.785745 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:17.785792 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:17.785815 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:17.788013 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:17.819159 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15842, 1.54666)
I0419 20:55:17.933105 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:17.933212 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:17.933233 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:17.936547 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780808, -0.672745), points=7, range=1.02757, residual=0.0120947, extent=0.03666
I0419 20:55:17.936676 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780808, -0.672745), tracking=(1.07931, -0.672745), map_predicted=(-0.150761, -2.52646), range=1.02757, pts=7
I0419 20:55:17.936704 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134395m maha_sq=0.337048 (gate chi2=5.99) pose_sigma=(0.230198, 0.230198, rho=0) det_map=(-0.150761, -2.52646) lm_pos=(-0.285, -2.52) delta=(0.134239, -0.00645853) -> 1 candidate(s)
I0419 20:55:18.052130 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:18.052213 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:18.055759 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.72852, -2.20955)
I0419 20:55:18.062850 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0569236s, prior_pose=(-1.25567, -1.89517), yaw=2.18506 deg
I0419 20:55:18.062990 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:55:18.063078 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:18.063119 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:18.196764 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15633, 1.55321), points=6, range=1.93383, residual=0.0120562, extent=0.0313417
I0419 20:55:18.196870 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15633, 1.55321), tracking=(-1.45483, -1.55321), map_predicted=(-2.64967, -3.50337), range=1.93383, pts=6
I0419 20:55:18.196893 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.561m maha_sq=122.162 (gate chi2=5.99) pose_sigma=(0.230271, 0.230271, rho=0) det_map=(-2.64967, -3.50337) lm_pos=(-0.285, -2.52) delta=(-2.36467, -0.983369) -> 0 candidate(s)
I0419 20:55:18.201169 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:18.201259 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:18.201308 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:18.210851 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.786696, -0.67485)
I0419 20:55:18.335786 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72802, -2.20913), points=4, range=3.508, residual=0.0145829, extent=0.0345497
I0419 20:55:18.335887 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72802, -2.20913), tracking=(-3.02652, 2.20913), map_predicted=(-4.36294, 0.196309), range=3.508, pts=4
I0419 20:55:18.335911 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89979m maha_sq=444.699 (gate chi2=5.99) pose_sigma=(0.230308, 0.230308, rho=0) det_map=(-4.36294, 0.196309) lm_pos=(-0.285, -2.52) delta=(-4.07794, 2.71631) -> 0 candidate(s)
I0419 20:55:18.446537 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0393286s, prior_pose=(-1.25328, -1.89481), yaw=2.19642 deg
I0419 20:55:18.446645 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:55:18.446703 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:18.446723 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:18.447755 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:18.448534 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.780725, -0.673034)
I0419 20:55:18.466148 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:18.466233 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:18.466250 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:18.548310 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72751, -2.2087), points=4, range=3.50625, residual=0.0142555, extent=0.0332147
I0419 20:55:18.548434 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72751, -2.2087), tracking=(-3.02601, 2.2087), map_predicted=(-4.3647, 0.195227), range=3.50625, pts=4
I0419 20:55:18.548460 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90066m maha_sq=444.03 (gate chi2=5.99) pose_sigma=(0.230547, 0.230547, rho=0) det_map=(-4.3647, 0.195227) lm_pos=(-0.285, -2.52) delta=(-4.0797, 2.71523) -> 0 candidate(s)
I0419 20:55:18.549775 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25638, -1.89604), yaw=2.19336 deg backend=(-1.25638, -1.89604)
I0419 20:55:18.582393 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15697, 1.54475)
I0419 20:55:18.594554 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:18.594657 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:18.677676 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:18.678758 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0672163s, prior_pose=(-1.25748, -1.89668), yaw=2.17069 deg
I0419 20:55:18.678864 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:55:18.678907 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:18.678926 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:18.715276 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:18.725975 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73295, -2.21311), points=4, range=3.5135, residual=0.0141185, extent=0.0336861
I0419 20:55:18.726069 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73295, -2.21311), tracking=(-3.03145, 2.21311), map_predicted=(-4.37067, 0.199883), range=3.5135, pts=4
I0419 20:55:18.726104 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90821m maha_sq=445.184 (gate chi2=5.99) pose_sigma=(0.230609, 0.230609, rho=0) det_map=(-4.37067, 0.199883) lm_pos=(-0.285, -2.52) delta=(-4.08567, 2.71988) -> 0 candidate(s)
I0419 20:55:18.823819 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.7301, -2.21081)
I0419 20:55:18.823987 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:18.824025 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:18.824043 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:18.951763 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785216, -0.673251), points=4, range=1.032, residual=0.00823282, extent=0.020823
I0419 20:55:18.951895 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785216, -0.673251), tracking=(1.08372, -0.673251), map_predicted=(-0.146423, -2.53032), range=1.032, pts=4
I0419 20:55:18.951920 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138961m maha_sq=0.358621 (gate chi2=5.99) pose_sigma=(0.230925, 0.230925, rho=0) det_map=(-0.146423, -2.53032) lm_pos=(-0.285, -2.52) delta=(0.138577, -0.0103214) -> 1 candidate(s)
I0419 20:55:18.954924 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600692s, prior_pose=(-1.25491, -1.89868), yaw=2.17568 deg
I0419 20:55:18.955010 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:18.955047 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:18.955065 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:18.963503 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:18.974330 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777699, -0.672)
I0419 20:55:19.078197 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:19.078299 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:19.078320 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:19.109949 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15595, 1.54802), points=5, range=1.929, residual=0.011213, extent=0.0287435
I0419 20:55:19.110101 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15595, 1.54802), tracking=(-1.45445, -1.54802), map_predicted=(-2.64973, -3.49892), range=1.929, pts=5
I0419 20:55:19.110157 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55935m maha_sq=121.254 (gate chi2=5.99) pose_sigma=(0.231034, 0.231034, rho=0) det_map=(-2.64973, -3.49892) lm_pos=(-0.285, -2.52) delta=(-2.36473, -0.978925) -> 0 candidate(s)
I0419 20:55:19.210923 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15699, 1.54474)
I0419 20:55:19.214653 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:19.214802 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:19.237516 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.039556s, prior_pose=(-1.25476, -1.89608), yaw=2.20309 deg
I0419 20:55:19.237627 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:55:19.237684 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:19.237705 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:19.342512 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73062, -2.21123), points=3, range=3.51367, residual=0.0090103, extent=0.0219477
I0419 20:55:19.342615 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73062, -2.21123), tracking=(-3.02912, 2.21123), map_predicted=(-4.36793, 0.199017), range=3.51367, pts=3
I0419 20:55:19.342638 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90544m maha_sq=443.495 (gate chi2=5.99) pose_sigma=(0.231179, 0.231179, rho=0) det_map=(-4.36793, 0.199017) lm_pos=(-0.285, -2.52) delta=(-4.08293, 2.71902) -> 0 candidate(s)
I0419 20:55:19.373843 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72785, -2.20244)
I0419 20:55:19.373942 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:19.373970 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:19.373986 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:19.477252 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2543, -1.89536), yaw=2.18398 deg backend=(-1.2543, -1.89536)
I0419 20:55:19.506582 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784463, -0.673921), points=6, range=1.0305, residual=0.0122613, extent=0.0358123
I0419 20:55:19.506687 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784463, -0.673921), tracking=(1.08296, -0.673921), map_predicted=(-0.146447, -2.52753), range=1.0305, pts=6
I0419 20:55:19.506718 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138758m maha_sq=0.355907 (gate chi2=5.99) pose_sigma=(0.231292, 0.231292, rho=0) det_map=(-0.146447, -2.52753) lm_pos=(-0.285, -2.52) delta=(0.138553, -0.00752816) -> 1 candidate(s)
I0419 20:55:19.533393 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0711824s, prior_pose=(-1.2543, -1.89536), yaw=2.18384 deg
I0419 20:55:19.533496 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:19.533547 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:19.533567 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:19.606331 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.15445, 1.54602)
I0419 20:55:19.606436 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:19.666337 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:19.666435 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:19.666453 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:19.745970 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15969, 1.55303), points=5, range=1.9344, residual=0.0129843, extent=0.0336163
I0419 20:55:19.746127 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15969, 1.55303), tracking=(-1.45819, -1.55303), map_predicted=(-2.65247, -3.50307), range=1.9344, pts=5
I0419 20:55:19.746157 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56347m maha_sq=121.227 (gate chi2=5.99) pose_sigma=(0.231344, 0.231344, rho=0) det_map=(-2.65247, -3.50307) lm_pos=(-0.285, -2.52) delta=(-2.36747, -0.983075) -> 0 candidate(s)
I0419 20:55:19.748879 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15818, 1.54634)
I0419 20:55:19.800297 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:19.800642 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:19.885743 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598886s, prior_pose=(-1.25044, -1.89483), yaw=2.19905 deg
I0419 20:55:19.885854 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:55:19.885900 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:19.885919 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:19.901872 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73272, -2.20636), points=5, range=3.5128, residual=0.0161128, extent=0.0425557
I0419 20:55:19.901989 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73272, -2.20636), tracking=(-3.03122, 2.20636), map_predicted=(-4.36413, 0.193538), range=3.5128, pts=5
I0419 20:55:19.902029 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89924m maha_sq=439.432 (gate chi2=5.99) pose_sigma=(0.231579, 0.231579, rho=0) det_map=(-4.36413, 0.193538) lm_pos=(-0.285, -2.52) delta=(-4.07913, 2.71354) -> 0 candidate(s)
I0419 20:55:19.934573 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72958, -2.21039)
I0419 20:55:20.035957 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:20.036065 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:20.036082 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:20.129467 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777811, -0.67214), points=5, range=1.0302, residual=0.00975078, extent=0.0257826
I0419 20:55:20.129595 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777811, -0.67214), tracking=(1.07631, -0.67214), map_predicted=(-0.151849, -2.52704), range=1.0302, pts=5
I0419 20:55:20.129626 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.133337m maha_sq=0.327425 (gate chi2=5.99) pose_sigma=(0.231846, 0.231846, rho=0) det_map=(-0.151849, -2.52704) lm_pos=(-0.285, -2.52) delta=(0.133151, -0.00704048) -> 1 candidate(s)
I0419 20:55:20.129529 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:20.132211 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0444258s, prior_pose=(-1.25304, -1.89648), yaw=2.18772 deg
I0419 20:55:20.132309 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:20.132347 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:20.132364 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779587, -0.673639)
I0419 20:55:20.132411 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:20.138530 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:20.279799 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:20.279908 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:20.279925 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:20.281950 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15894, 1.55203), points=5, range=1.933, residual=0.0132437, extent=0.0328595
I0419 20:55:20.282085 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15894, 1.55203), tracking=(-1.45744, -1.55203), map_predicted=(-2.6532, -3.50271), range=1.933, pts=5
I0419 20:55:20.282141 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.564m maha_sq=120.606 (gate chi2=5.99) pose_sigma=(0.23198, 0.23198, rho=0) det_map=(-2.6532, -3.50271) lm_pos=(-0.285, -2.52) delta=(-2.3682, -0.982707) -> 0 candidate(s)
I0419 20:55:20.399755 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25535, -1.89498), yaw=2.19215 deg backend=(-1.25535, -1.89498)
I0419 20:55:20.400830 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.15455, 1.54614)
I0419 20:55:20.406708 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:20.406780 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:20.414898 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720507s, prior_pose=(-1.25535, -1.89498), yaw=2.1948 deg
I0419 20:55:20.415048 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:55:20.415135 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:20.415177 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:20.536424 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73243, -2.21269), points=4, range=3.51425, residual=0.0129966, extent=0.0314413
I0419 20:55:20.536584 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73243, -2.21269), tracking=(-3.03093, 2.21269), map_predicted=(-4.36765, 0.200493), range=3.51425, pts=4
I0419 20:55:20.536613 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90603m maha_sq=439.482 (gate chi2=5.99) pose_sigma=(0.232087, 0.232087, rho=0) det_map=(-4.36765, 0.200493) lm_pos=(-0.285, -2.52) delta=(-4.08265, 2.72049) -> 0 candidate(s)
I0419 20:55:20.537664 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778467, -0.671371)
I0419 20:55:20.551009 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:20.551153 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:20.551177 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:20.677881 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784801, -0.673219), points=5, range=1.029, residual=0.0141395, extent=0.0375402
I0419 20:55:20.677971 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784801, -0.673219), tracking=(1.0833, -0.673219), map_predicted=(-0.145474, -2.52641), range=1.029, pts=5
I0419 20:55:20.678048 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139673m maha_sq=0.357731 (gate chi2=5.99) pose_sigma=(0.232127, 0.232127, rho=0) det_map=(-0.145474, -2.52641) lm_pos=(-0.285, -2.52) delta=(0.139526, -0.00641255) -> 1 candidate(s)
I0419 20:55:20.754158 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73574, -2.20223)
I0419 20:55:20.754978 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562688s, prior_pose=(-1.25245, -1.89579), yaw=2.18117 deg
I0419 20:55:20.755039 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:20.755077 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:20.755095 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:20.755973 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:20.918881 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:20.918979 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:20.918996 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:20.921479 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1595, 1.54811)
I0419 20:55:20.921545 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16029, 1.54446), points=5, range=1.9342, residual=0.012607, extent=0.0336163
I0419 20:55:20.921567 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16029, 1.54446), tracking=(-1.45879, -1.54446), map_predicted=(-2.65321, -3.49524), range=1.9342, pts=5
I0419 20:55:20.921587 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56115m maha_sq=120.031 (gate chi2=5.99) pose_sigma=(0.232317, 0.232317, rho=0) det_map=(-2.65321, -3.49524) lm_pos=(-0.285, -2.52) delta=(-2.36821, -0.975238) -> 0 candidate(s)
I0419 20:55:21.055096 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:21.055212 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:21.059053 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0408877s, prior_pose=(-1.25609, -1.89633), yaw=2.20106 deg
I0419 20:55:21.059175 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=849, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:21.059239 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:21.059265 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:21.064330 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15446, 1.54139)
I0419 20:55:21.078243 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72844, -2.21603), points=3, range=3.51067, residual=0.0123501, extent=0.0247537
I0419 20:55:21.078316 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72844, -2.21603), tracking=(-3.02694, 2.21603), map_predicted=(-4.36593, 0.201793), range=3.51067, pts=3
I0419 20:55:21.078368 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90531m maha_sq=438.402 (gate chi2=5.99) pose_sigma=(0.23238, 0.23238, rho=0) det_map=(-4.36593, 0.201793) lm_pos=(-0.285, -2.52) delta=(-4.08093, 2.72179) -> 0 candidate(s)
I0419 20:55:21.159184 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:21.159339 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:21.159359 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:21.169121 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25535, -1.8981), yaw=2.189 deg backend=(-1.25535, -1.8981)
I0419 20:55:21.297168 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72726, -2.21509)
I0419 20:55:21.300256 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.7308, -2.19826), points=4, range=3.50775, residual=0.0139183, extent=0.0328808
I0419 20:55:21.300406 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.7308, -2.19826), tracking=(-3.0293, 2.19826), map_predicted=(-4.3665, 0.185794), range=3.50775, pts=4
I0419 20:55:21.300448 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89694m maha_sq=435.767 (gate chi2=5.99) pose_sigma=(0.232601, 0.232601, rho=0) det_map=(-4.3665, 0.185794) lm_pos=(-0.285, -2.52) delta=(-4.0815, 2.70579) -> 0 candidate(s)
I0419 20:55:21.301661 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0686283s, prior_pose=(-1.25566, -1.89548), yaw=2.18306 deg
I0419 20:55:21.301757 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:55:21.301815 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:21.301842 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:21.310758 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:21.451409 1218530 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.37e-03 s (pulsed at 100.48% real time)
I0419 20:55:21.451591 1218530 collated_trajectory_builder.cc:82] odom rate: 248.79 Hz 4.02e-03 s +/- 6.89e-04 s (pulsed at 99.71% real time)
I0419 20:55:21.451695 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.11e-03 s (pulsed at 100.49% real time)
I0419 20:55:21.451726 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.37e-03 s (pulsed at 100.39% real time)
I0419 20:55:21.458205 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.783082, -0.674702)
I0419 20:55:21.458308 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:21.458330 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:21.458350 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:21.474517 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.773592, -0.672426), points=4, range=1.029, residual=0.0128933, extent=0.032412
I0419 20:55:21.474716 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.773592, -0.672426), tracking=(1.07209, -0.672426), map_predicted=(-0.157895, -2.52747), range=1.029, pts=4
I0419 20:55:21.474766 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.127325m maha_sq=0.296111 (gate chi2=5.99) pose_sigma=(0.23266, 0.23266, rho=0) det_map=(-0.157895, -2.52747) lm_pos=(-0.285, -2.52) delta=(0.127105, -0.00746653) -> 1 candidate(s)
I0419 20:55:21.571491 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:21.589967 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593416s, prior_pose=(-1.25494, -1.8965), yaw=2.1871 deg
I0419 20:55:21.590114 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:21.590266 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:21.590291 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:21.590339 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:21.590358 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:21.713542 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73233, -2.20605)
I0419 20:55:21.716228 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15744, 1.55002), points=5, range=1.931, residual=0.0123427, extent=0.0321324
I0419 20:55:21.716334 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15744, 1.55002), tracking=(-1.45594, -1.55002), map_predicted=(-2.65023, -3.49945), range=1.931, pts=5
I0419 20:55:21.716360 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56001m maha_sq=119.509 (gate chi2=5.99) pose_sigma=(0.232738, 0.232738, rho=0) det_map=(-2.65023, -3.49945) lm_pos=(-0.285, -2.52) delta=(-2.36523, -0.979451) -> 0 candidate(s)
I0419 20:55:21.738152 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:21.738294 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:21.738324 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:21.825011 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.782489, -0.673224)
I0419 20:55:21.870427 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73183, -2.1991), points=4, range=3.5095, residual=0.0158335, extent=0.0382728
I0419 20:55:21.870579 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73183, -2.1991), tracking=(-3.03033, 2.1991), map_predicted=(-4.36708, 0.18564), range=3.5095, pts=4
I0419 20:55:21.870610 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89733m maha_sq=434.76 (gate chi2=5.99) pose_sigma=(0.23277, 0.23277, rho=0) det_map=(-4.36708, 0.18564) lm_pos=(-0.285, -2.52) delta=(-4.08208, 2.70564) -> 0 candidate(s)
I0419 20:55:21.967892 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0394063s, prior_pose=(-1.25629, -1.89628), yaw=2.19832 deg
I0419 20:55:21.968003 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:21.968053 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:21.968075 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:21.969090 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:22.073451 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15303, 1.53946)
I0419 20:55:22.074450 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:22.074520 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:22.074537 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:22.076853 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25608, -1.89471), yaw=2.17828 deg backend=(-1.25608, -1.89471)
I0419 20:55:22.077550 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784715, -0.672173), points=5, range=1.0318, residual=0.00636617, extent=0.0169759
I0419 20:55:22.077651 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784715, -0.672173), tracking=(1.08321, -0.672173), map_predicted=(-0.148103, -2.52522), range=1.0318, pts=5
I0419 20:55:22.077677 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136997m maha_sq=0.342808 (gate chi2=5.99) pose_sigma=(0.23293, 0.23293, rho=0) det_map=(-0.148103, -2.52522) lm_pos=(-0.285, -2.52) delta=(0.136897, -0.00522153) -> 1 candidate(s)
I0419 20:55:22.210903 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0724104s, prior_pose=(-1.25636, -1.89638), yaw=2.20207 deg
I0419 20:55:22.211054 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=852, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:55:22.211104 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:22.211120 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:22.213872 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:22.213990 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:22.221341 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72958, -2.21039)
I0419 20:55:22.265993 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786872, -0.672017), points=6, range=1.03083, residual=0.0135629, extent=0.0383395
I0419 20:55:22.266088 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786872, -0.672017), tracking=(1.08537, -0.672017), map_predicted=(-0.145958, -2.52618), range=1.03083, pts=6
I0419 20:55:22.266125 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139179m maha_sq=0.352647 (gate chi2=5.99) pose_sigma=(0.233011, 0.233011, rho=0) det_map=(-0.145958, -2.52618) lm_pos=(-0.285, -2.52) delta=(0.139042, -0.00618337) -> 1 candidate(s)
I0419 20:55:22.354641 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:22.354737 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:22.354753 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:22.499917 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777817, -0.672119)
I0419 20:55:22.504714 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15804, 1.54146), points=5, range=1.93, residual=0.0112995, extent=0.0300538
I0419 20:55:22.504842 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15804, 1.54146), tracking=(-1.45654, -1.54146), map_predicted=(-2.65248, -3.49192), range=1.93, pts=5
I0419 20:55:22.504868 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55922m maha_sq=119.057 (gate chi2=5.99) pose_sigma=(0.233166, 0.233166, rho=0) det_map=(-2.65248, -3.49192) lm_pos=(-0.285, -2.52) delta=(-2.36748, -0.971916) -> 0 candidate(s)
I0419 20:55:22.505913 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051197s, prior_pose=(-1.25587, -1.89596), yaw=2.18878 deg
I0419 20:55:22.505981 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:22.506021 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:22.506043 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:22.507051 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:22.625161 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72802, -2.20913)
I0419 20:55:22.646286 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:22.646466 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:22.646503 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:22.666030 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15685, 1.54922), points=5, range=1.9308, residual=0.0106171, extent=0.0269811
I0419 20:55:22.666189 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15685, 1.54922), tracking=(-1.45535, -1.54922), map_predicted=(-2.64655, -3.49935), range=1.9308, pts=5
I0419 20:55:22.666246 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55657m maha_sq=118.632 (gate chi2=5.99) pose_sigma=(0.233376, 0.233376, rho=0) det_map=(-2.64655, -3.49935) lm_pos=(-0.285, -2.52) delta=(-2.36155, -0.979352) -> 0 candidate(s)
I0419 20:55:22.786964 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0397348s, prior_pose=(-1.25453, -1.89515), yaw=2.19357 deg
I0419 20:55:22.787087 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:55:22.787132 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:22.787154 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:22.794562 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.780045, -0.671687)
I0419 20:55:22.868867 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:22.868950 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:22.872433 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72624, -2.22084), points=4, range=3.513, residual=0.0142167, extent=0.0341098
I0419 20:55:22.872522 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72624, -2.22084), tracking=(-3.02474, 2.22084), map_predicted=(-4.36299, 0.207935), range=3.513, pts=4
I0419 20:55:22.872547 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90629m maha_sq=433.86 (gate chi2=5.99) pose_sigma=(0.233553, 0.233553, rho=0) det_map=(-4.36299, 0.207935) lm_pos=(-0.285, -2.52) delta=(-4.07799, 2.72793) -> 0 candidate(s)
I0419 20:55:23.013502 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2587, -1.89447), yaw=2.16492 deg backend=(-1.2587, -1.89447)
I0419 20:55:23.014289 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:23.014345 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:23.014364 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:23.014784 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:23.017738 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15783, 1.54586)
I0419 20:55:23.058791 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0690059s, prior_pose=(-1.2587, -1.89447), yaw=2.16414 deg
I0419 20:55:23.058979 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:23.059165 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:23.059207 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:23.059255 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783855, -0.6734), points=6, range=1.03067, residual=0.0105127, extent=0.0307864
I0419 20:55:23.059293 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783855, -0.6734), tracking=(1.08236, -0.6734), map_predicted=(-0.151692, -2.52652), range=1.03067, pts=6
I0419 20:55:23.059341 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.133467m maha_sq=0.32277 (gate chi2=5.99) pose_sigma=(0.233725, 0.233725, rho=0) det_map=(-0.151692, -2.52652) lm_pos=(-0.285, -2.52) delta=(0.133308, -0.00651519) -> 1 candidate(s)
I0419 20:55:23.167199 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:23.192603 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73418, -2.20098)
I0419 20:55:23.298357 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:23.298441 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:23.298456 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:23.300405 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15879, 1.55182), points=5, range=1.933, residual=0.0126119, extent=0.0314286
I0419 20:55:23.300468 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15879, 1.55182), tracking=(-1.45729, -1.55182), map_predicted=(-2.65282, -3.50277), range=1.933, pts=5
I0419 20:55:23.300493 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56367m maha_sq=118.681 (gate chi2=5.99) pose_sigma=(0.233883, 0.233883, rho=0) det_map=(-2.65282, -3.50277) lm_pos=(-0.285, -2.52) delta=(-2.36782, -0.982766) -> 0 candidate(s)
I0419 20:55:23.432791 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560536s, prior_pose=(-1.25373, -1.89512), yaw=2.19538 deg
I0419 20:55:23.432904 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:23.432943 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:23.432961 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.775369, -0.671586)
I0419 20:55:23.432974 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:23.437357 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:23.437422 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:23.459299 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72444, -2.21936), points=4, range=3.51125, residual=0.01366, extent=0.0325333
I0419 20:55:23.459473 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72444, -2.21936), tracking=(-3.02294, 2.21936), map_predicted=(-4.35949, 0.206787), range=3.51125, pts=4
I0419 20:55:23.459533 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90273m maha_sq=431.68 (gate chi2=5.99) pose_sigma=(0.234013, 0.234013, rho=0) det_map=(-4.35949, 0.206787) lm_pos=(-0.285, -2.52) delta=(-4.07449, 2.72679) -> 0 candidate(s)
I0419 20:55:23.571324 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:23.571431 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:23.571477 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:23.572439 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1552, 1.54233)
I0419 20:55:23.698832 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436389s, prior_pose=(-1.25463, -1.89651), yaw=2.18722 deg
I0419 20:55:23.698954 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:23.698997 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:23.699014 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:23.699038 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780102, -0.672172), points=5, range=1.0314, residual=0.00613508, extent=0.0162888
I0419 20:55:23.699056 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780102, -0.672172), tracking=(1.0786, -0.672172), map_predicted=(-0.151165, -2.52702), range=1.0314, pts=5
I0419 20:55:23.699074 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134019m maha_sq=0.324669 (gate chi2=5.99) pose_sigma=(0.234162, 0.234162, rho=0) det_map=(-0.151165, -2.52702) lm_pos=(-0.285, -2.52) delta=(0.133835, -0.00702469) -> 1 candidate(s)
I0419 20:55:23.700038 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:23.831303 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72958, -2.21039)
I0419 20:55:23.836810 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25637, -1.89677), yaw=2.19295 deg backend=(-1.25637, -1.89677)
I0419 20:55:23.838393 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:23.838469 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:23.838491 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:23.850800 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780348, -0.671948), points=6, range=1.02633, residual=0.012607, extent=0.0340592
I0419 20:55:23.850919 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780348, -0.671948), tracking=(1.07885, -0.671948), map_predicted=(-0.152603, -2.52695), range=1.02633, pts=6
I0419 20:55:23.850968 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.132579m maha_sq=0.316811 (gate chi2=5.99) pose_sigma=(0.234247, 0.234247, rho=0) det_map=(-0.152603, -2.52695) lm_pos=(-0.285, -2.52) delta=(0.132397, -0.0069475) -> 1 candidate(s)
I0419 20:55:23.963208 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0675913s, prior_pose=(-1.25546, -1.89581), yaw=2.20029 deg
I0419 20:55:23.963328 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:23.963362 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:23.963379 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783072, -0.674301)
I0419 20:55:23.963394 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:24.071310 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:24.071419 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:24.073470 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16284, 1.54786), points=5, range=1.9384, residual=0.0128481, extent=0.0336474
I0419 20:55:24.073573 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16284, 1.54786), tracking=(-1.46134, -1.54786), map_predicted=(-2.65605, -3.4997), range=1.9384, pts=5
I0419 20:55:24.073602 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56548m maha_sq=118.348 (gate chi2=5.99) pose_sigma=(0.234369, 0.234369, rho=0) det_map=(-2.65605, -3.4997) lm_pos=(-0.285, -2.52) delta=(-2.37105, -0.979698) -> 0 candidate(s)
I0419 20:55:24.086491 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70912, 0.500858)
I0419 20:55:24.212296 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:24.212399 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:24.212417 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:24.234520 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605879s, prior_pose=(-1.25542, -1.89446), yaw=2.19176 deg
I0419 20:55:24.234719 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:24.234805 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:24.234844 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:24.250900 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:24.340298 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15625, 1.54842), points=5, range=1.928, residual=0.0140582, extent=0.0335463
I0419 20:55:24.340404 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15625, 1.54842), tracking=(-1.45475, -1.54842), map_predicted=(-2.64751, -3.49994), range=1.928, pts=5
I0419 20:55:24.340427 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55768m maha_sq=117.302 (gate chi2=5.99) pose_sigma=(0.234633, 0.234633, rho=0) det_map=(-2.64751, -3.49994) lm_pos=(-0.285, -2.52) delta=(-2.36251, -0.979935) -> 0 candidate(s)
I0419 20:55:24.343118 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72802, -2.20913)
I0419 20:55:24.471333 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:24.472520 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:24.472587 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:24.472606 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:24.475759 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.778052, -0.671552)
I0419 20:55:24.486326 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73116, -2.2051), points=5, range=3.5108, residual=0.0159432, extent=0.0422677
I0419 20:55:24.486944 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73116, -2.2051), tracking=(-3.02966, 2.2051), map_predicted=(-4.36636, 0.190749), range=3.5108, pts=5
I0419 20:55:24.487337 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89956m maha_sq=428.211 (gate chi2=5.99) pose_sigma=(0.234676, 0.234676, rho=0) det_map=(-4.36636, 0.190749) lm_pos=(-0.285, -2.52) delta=(-4.08136, 2.71075) -> 0 candidate(s)
I0419 20:55:24.623982 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.039799s, prior_pose=(-1.25365, -1.896), yaw=2.21236 deg
I0419 20:55:24.624150 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:24.624199 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:24.624217 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:24.630792 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:24.630859 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:24.762692 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15724, 1.54505)
I0419 20:55:24.763598 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777352, -0.671756), points=6, range=1.02967, residual=0.00906237, extent=0.0266156
I0419 20:55:24.763670 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777352, -0.671756), tracking=(1.07585, -0.671756), map_predicted=(-0.155555, -2.525), range=1.02967, pts=6
I0419 20:55:24.763695 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.129542m maha_sq=0.301389 (gate chi2=5.99) pose_sigma=(0.234831, 0.234831, rho=0) det_map=(-0.155555, -2.525) lm_pos=(-0.285, -2.52) delta=(0.129445, -0.00500245) -> 1 candidate(s)
I0419 20:55:24.765894 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25636, -1.89497), yaw=2.19477 deg backend=(-1.25636, -1.89497)
I0419 20:55:24.767252 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:24.767313 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:24.767330 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:24.852626 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.787248, -0.637503)
I0419 20:55:24.853415 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601282s, prior_pose=(-1.25383, -1.89638), yaw=2.20735 deg
I0419 20:55:24.853502 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:55:24.853547 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:24.853569 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:24.855549 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:24.910508 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784005, -0.673533), points=6, range=1.03, residual=0.011704, extent=0.0340867
I0419 20:55:24.910599 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784005, -0.673533), tracking=(1.08251, -0.673533), map_predicted=(-0.146152, -2.52766), range=1.03, pts=6
I0419 20:55:24.910632 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139059m maha_sq=0.346553 (gate chi2=5.99) pose_sigma=(0.23497, 0.23497, rho=0) det_map=(-0.146152, -2.52766) lm_pos=(-0.285, -2.52) delta=(0.138848, -0.00766179) -> 1 candidate(s)
I0419 20:55:24.999109 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778979, -0.671797)
I0419 20:55:25.013607 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:25.013700 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:25.013746 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:25.142679 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564701s, prior_pose=(-1.25724, -1.89655), yaw=2.21016 deg
I0419 20:55:25.142774 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:55:25.142809 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:25.142828 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:25.162350 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.72977, -2.21055)
I0419 20:55:25.162539 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15586, 1.55257), points=6, range=1.933, residual=0.0120539, extent=0.0313288
I0419 20:55:25.162591 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15586, 1.55257), tracking=(-1.45436, -1.55257), map_predicted=(-2.65065, -3.50405), range=1.933, pts=6
I0419 20:55:25.162637 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56216m maha_sq=117.319 (gate chi2=5.99) pose_sigma=(0.235143, 0.235143, rho=0) det_map=(-2.65065, -3.50405) lm_pos=(-0.285, -2.52) delta=(-2.36565, -0.984048) -> 0 candidate(s)
I0419 20:55:25.284813 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:25.284921 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:25.306553 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(2.7288, -2.20976)
I0419 20:55:25.385222 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:25.385350 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:25.385368 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:25.388001 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15621, 1.55306), points=6, range=1.9335, residual=0.0122388, extent=0.0313288
I0419 20:55:25.388129 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15621, 1.55306), tracking=(-1.45471, -1.55306), map_predicted=(-2.65189, -3.50208), range=1.9335, pts=6
I0419 20:55:25.388159 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56255m maha_sq=117.029 (gate chi2=5.99) pose_sigma=(0.235463, 0.235463, rho=0) det_map=(-2.65189, -3.50208) lm_pos=(-0.285, -2.52) delta=(-2.36689, -0.982076) -> 0 candidate(s)
I0419 20:55:25.406097 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0403918s, prior_pose=(-1.25744, -1.89469), yaw=2.18615 deg
I0419 20:55:25.406204 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:55:25.406260 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:25.406281 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:25.426203 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:25.517284 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.15251, 1.54341)
I0419 20:55:25.572996 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73392, -2.20077), points=4, range=3.51075, residual=0.0137728, extent=0.0332548
I0419 20:55:25.573118 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73392, -2.20077), tracking=(-3.03242, 2.20077), map_predicted=(-4.36824, 0.18793), range=3.51075, pts=4
I0419 20:55:25.573207 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89956m maha_sq=425.283 (gate chi2=5.99) pose_sigma=(0.235635, 0.235635, rho=0) det_map=(-4.36824, 0.18793) lm_pos=(-0.285, -2.52) delta=(-4.08324, 2.70793) -> 0 candidate(s)
I0419 20:55:25.651131 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2551, -1.89602), yaw=2.18387 deg backend=(-1.2551, -1.89602)
I0419 20:55:25.655449 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:25.655542 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:25.655560 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:25.662117 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.10302, -0.355369)
I0419 20:55:25.702545 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0724541s, prior_pose=(-1.2551, -1.89602), yaw=2.18258 deg
I0419 20:55:25.702646 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:25.702702 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:25.702724 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:25.789383 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1597, 1.54365), points=5, range=1.9316, residual=0.0101344, extent=0.0264431
I0419 20:55:25.789505 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1597, 1.54365), tracking=(-1.4582, -1.54365), map_predicted=(-2.65423, -3.49298), range=1.9316, pts=5
I0419 20:55:25.789534 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56124m maha_sq=116.69 (gate chi2=5.99) pose_sigma=(0.235788, 0.235788, rho=0) det_map=(-2.65423, -3.49298) lm_pos=(-0.285, -2.52) delta=(-2.36923, -0.972978) -> 0 candidate(s)
I0419 20:55:25.806175 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.114336, -0.351891)
I0419 20:55:25.910583 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:25.914098 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:25.914186 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:25.937916 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783094, -0.672752)
I0419 20:55:25.951045 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:25.951422 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:25.951475 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:25.961395 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:26.038566 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.7263, -2.21429), points=5, range=3.5098, residual=0.0162623, extent=0.0425222
I0419 20:55:26.038700 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.7263, -2.21429), tracking=(-3.0248, 2.21429), map_predicted=(-4.36134, 0.200634), range=3.5098, pts=5
I0419 20:55:26.038734 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90086m maha_sq=423.913 (gate chi2=5.99) pose_sigma=(0.235927, 0.235927, rho=0) det_map=(-4.36134, 0.200634) lm_pos=(-0.285, -2.52) delta=(-4.07634, 2.72063) -> 0 candidate(s)
I0419 20:55:26.039624 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559918s, prior_pose=(-1.25403, -1.89629), yaw=2.19298 deg
I0419 20:55:26.039690 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:26.039731 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:26.039750 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:26.040721 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:26.070762 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.108645, -0.341116)
I0419 20:55:26.199847 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782183, -0.671972), points=6, range=1.02733, residual=0.0119284, extent=0.03405
I0419 20:55:26.199951 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782183, -0.671972), tracking=(1.08068, -0.671972), map_predicted=(-0.146642, -2.52443), range=1.02733, pts=6
I0419 20:55:26.199975 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138429m maha_sq=0.340307 (gate chi2=5.99) pose_sigma=(0.236043, 0.236043, rho=0) det_map=(-0.146642, -2.52443) lm_pos=(-0.285, -2.52) delta=(0.138358, -0.00443331) -> 1 candidate(s)
I0419 20:55:26.230623 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.778834, -0.670642)
I0419 20:55:26.304946 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:26.305055 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:26.305091 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:26.308478 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0391259s, prior_pose=(-1.25542, -1.89653), yaw=2.20301 deg
I0419 20:55:26.308576 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:26.308611 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:26.308629 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:26.365780 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15655, 1.54882), points=5, range=1.9296, residual=0.0119738, extent=0.0307156
I0419 20:55:26.365885 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15655, 1.54882), tracking=(-1.45505, -1.54882), map_predicted=(-2.64986, -3.50013), range=1.9296, pts=5
I0419 20:55:26.365916 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55993m maha_sq=116.069 (gate chi2=5.99) pose_sigma=(0.236217, 0.236217, rho=0) det_map=(-2.64986, -3.50013) lm_pos=(-0.285, -2.52) delta=(-2.36486, -0.980134) -> 0 candidate(s)
I0419 20:55:26.448608 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.73252, -2.2062)
I0419 20:55:26.455302 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25487, -1.89613), yaw=2.19526 deg backend=(-1.25487, -1.89613)
I0419 20:55:26.493944 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:26.494045 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:26.514323 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:26.589015 1219453 pose_graph_2d.cc:160] Inserted submap (1, 8).
I0419 20:55:26.592064 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:26.592187 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:26.592209 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:26.594882 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72805, -2.21572), points=3, range=3.51133, residual=0.0112166, extent=0.0223129
I0419 20:55:26.595009 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72805, -2.21572), tracking=(-3.02655, 2.21572), map_predicted=(-4.36363, 0.20412), range=3.51133, pts=3
I0419 20:55:26.595036 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9047m maha_sq=424.286 (gate chi2=5.99) pose_sigma=(0.236302, 0.236302, rho=0) det_map=(-4.36363, 0.20412) lm_pos=(-0.285, -2.52) delta=(-4.07863, 2.72412) -> 0 candidate(s)
I0419 20:55:26.595706 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0675295s, prior_pose=(-1.2551, -1.89504), yaw=2.17681 deg
I0419 20:55:26.595775 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 20:55:26.595816 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:26.595839 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:26.598441 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.105178, -0.358906)
I0419 20:55:26.598544 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:26.758637 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.77881, -0.673035), points=4, range=1.03175, residual=0.00737262, extent=0.0177009
I0419 20:55:26.758749 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.77881, -0.673035), tracking=(1.07731, -0.673035), map_predicted=(-0.151151, -2.52649), range=1.03175, pts=4
I0419 20:55:26.758778 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134007m maha_sq=0.318504 (gate chi2=5.99) pose_sigma=(0.23638, 0.23638, rho=0) det_map=(-0.151151, -2.52649) lm_pos=(-0.285, -2.52) delta=(0.133849, -0.00649005) -> 1 candidate(s)
I0419 20:55:26.825839 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15844, 1.54665)
I0419 20:55:26.836155 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:26.836522 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:26.836707 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:26.878408 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602948s, prior_pose=(-1.25202, -1.8958), yaw=2.19729 deg
I0419 20:55:26.878528 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=849, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:26.878589 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:26.878611 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:26.975975 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15833, 1.54186), points=5, range=1.931, residual=0.0129606, extent=0.0343398
I0419 20:55:26.976467 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15833, 1.54186), tracking=(-1.45683, -1.54186), map_predicted=(-2.65024, -3.49314), range=1.931, pts=5
I0419 20:55:26.976699 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55761m maha_sq=115.479 (gate chi2=5.99) pose_sigma=(0.236557, 0.236557, rho=0) det_map=(-2.65024, -3.49314) lm_pos=(-0.285, -2.52) delta=(-2.36524, -0.97314) -> 0 candidate(s)
I0419 20:55:26.977803 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.776035, -0.671891)
I0419 20:55:27.096153 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:27.096252 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:27.129985 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:27.130107 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:27.130138 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:27.158329 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72906, -2.20997)
I0419 20:55:27.158475 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72922, -2.21667), points=3, range=3.51167, residual=0.0123523, extent=0.0247585
I0419 20:55:27.158529 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72922, -2.21667), tracking=(-3.02772, 2.21667), map_predicted=(-4.36432, 0.20313), range=3.51167, pts=3
I0419 20:55:27.158578 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90472m maha_sq=422.875 (gate chi2=5.99) pose_sigma=(0.236647, 0.236647, rho=0) det_map=(-4.36432, 0.20313) lm_pos=(-0.285, -2.52) delta=(-4.07932, 2.72313) -> 0 candidate(s)
I0419 20:55:27.263398 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0406621s, prior_pose=(-1.25795, -1.89419), yaw=2.17717 deg
I0419 20:55:27.263505 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:27.263552 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:27.263573 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:27.264571 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:27.381918 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=35, centroid=(0.00813383, -0.337583)
I0419 20:55:27.382160 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:27.383682 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72805, -2.21572), points=3, range=3.51033, residual=0.0121553, extent=0.0241998
I0419 20:55:27.383744 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.72805, -2.21572), tracking=(-3.02655, 2.21572), map_predicted=(-4.36472, 0.204544), range=3.51033, pts=3
I0419 20:55:27.383767 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=4.90584m maha_sq=421.897 (gate chi2=5.99) pose_sigma=(0.23699, 0.23699, rho=0) det_map=(-4.36472, 0.204544) lm_pos=(-0.285, -2.52) delta=(-4.07972, 2.72454) -> 0 candidate(s)
I0419 20:55:27.384981 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25569, -1.89388), yaw=2.19116 deg backend=(-1.25569, -1.89388)
I0419 20:55:27.422128 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:27.422281 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:27.422303 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:27.516464 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682972s, prior_pose=(-1.25186, -1.89779), yaw=2.20051 deg
I0419 20:55:27.516592 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:27.516630 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:27.516650 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783244, -0.672885)
I0419 20:55:27.516664 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:27.522580 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783853, -0.673404), points=6, range=1.03067, residual=0.0100911, extent=0.029175
I0419 20:55:27.522691 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783853, -0.673404), tracking=(1.08235, -0.673404), map_predicted=(-0.144449, -2.52914), range=1.03067, pts=6
I0419 20:55:27.522720 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140848m maha_sq=0.34901 (gate chi2=5.99) pose_sigma=(0.23725, 0.23725, rho=0) det_map=(-0.144449, -2.52914) lm_pos=(-0.285, -2.52) delta=(0.140551, -0.00914229) -> 1 candidate(s)
I0419 20:55:27.637826 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70528, 0.499733)
I0419 20:55:27.760443 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:27.760537 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:27.762367 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:27.762439 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78499, -0.673383), points=5, range=1.0288, residual=0.0148565, extent=0.0384099
I0419 20:55:27.762461 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:27.762475 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:27.762485 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78499, -0.673383), tracking=(1.08349, -0.673383), map_predicted=(-0.147012, -2.52597), range=1.0288, pts=5
I0419 20:55:27.762507 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.138117m maha_sq=0.334189 (gate chi2=5.99) pose_sigma=(0.237509, 0.237509, rho=0) det_map=(-0.147012, -2.52597) lm_pos=(-0.285, -2.52) delta=(0.137988, -0.00596722) -> 1 candidate(s)
I0419 20:55:27.764889 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596601s, prior_pose=(-1.2555, -1.89459), yaw=2.19709 deg
I0419 20:55:27.764966 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:55:27.765004 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:27.765023 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:27.773924 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:27.899681 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.7265, -2.20791)
I0419 20:55:27.933929 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78279, -0.672493), points=6, range=1.0285, residual=0.0112725, extent=0.032383
I0419 20:55:27.934027 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78279, -0.672493), tracking=(1.08129, -0.672493), map_predicted=(-0.149845, -2.52548), range=1.0285, pts=6
I0419 20:55:27.934101 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135266m maha_sq=0.320985 (gate chi2=5.99) pose_sigma=(0.237536, 0.237536, rho=0) det_map=(-0.149845, -2.52548) lm_pos=(-0.285, -2.52) delta=(0.135155, -0.00548085) -> 1 candidate(s)
I0419 20:55:28.049691 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15842, 1.54666)
I0419 20:55:28.051276 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:28.051342 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:28.051363 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:28.053210 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0409442s, prior_pose=(-1.25292, -1.8953), yaw=2.19977 deg
I0419 20:55:28.053292 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=849, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:55:28.053328 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:28.053344 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:28.197118 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16059, 1.54486), points=5, range=1.935, residual=0.0128848, extent=0.0343779
I0419 20:55:28.197213 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16059, 1.54486), tracking=(-1.45909, -1.54486), map_predicted=(-2.65327, -3.49363), range=1.935, pts=5
I0419 20:55:28.197237 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.5606m maha_sq=114.602 (gate chi2=5.99) pose_sigma=(0.237756, 0.237756, rho=0) det_map=(-2.65327, -3.49363) lm_pos=(-0.285, -2.52) delta=(-2.36827, -0.97363) -> 0 candidate(s)
I0419 20:55:28.202967 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778346, -0.671256)
I0419 20:55:28.328337 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25362, -1.89522), yaw=2.20641 deg backend=(-1.25362, -1.89522)
I0419 20:55:28.335803 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:28.335880 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:28.336745 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:28.336796 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73621, -2.19606), points=3, range=3.51167, residual=0.0124042, extent=0.0259419
I0419 20:55:28.336822 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:28.336834 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:28.336844 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73621, -2.19606), tracking=(-3.03471, 2.19606), map_predicted=(-4.37075, 0.182197), range=3.51167, pts=3
I0419 20:55:28.336860 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.8985m maha_sq=417.766 (gate chi2=5.99) pose_sigma=(0.237802, 0.237802, rho=0) det_map=(-4.37075, 0.182197) lm_pos=(-0.285, -2.52) delta=(-4.08575, 2.7022) -> 0 candidate(s)
I0419 20:55:28.346828 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0723213s, prior_pose=(-1.25362, -1.89522), yaw=2.20973 deg
I0419 20:55:28.346975 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=245, threshold=230, above_threshold=5, candidates=5
I0419 20:55:28.347064 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:28.347177 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:28.451313 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:28.453182 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1595, 1.54811)
I0419 20:55:28.581274 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.77989, -0.67156), points=6, range=1.02567, residual=0.0124489, extent=0.0317002
I0419 20:55:28.581382 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.77989, -0.67156), tracking=(1.07839, -0.67156), map_predicted=(-0.14972, -2.52439), range=1.02567, pts=6
I0419 20:55:28.581410 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135352m maha_sq=0.320415 (gate chi2=5.99) pose_sigma=(0.237844, 0.237844, rho=0) det_map=(-0.14972, -2.52439) lm_pos=(-0.285, -2.52) delta=(0.13528, -0.00438772) -> 1 candidate(s)
I0419 20:55:28.598275 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73447, -2.20777)
I0419 20:55:28.703859 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565211s, prior_pose=(-1.25095, -1.89439), yaw=2.20444 deg
I0419 20:55:28.703979 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:28.704017 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:28.704039 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:28.704051 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:28.704066 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:28.704079 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:28.726449 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780957, -0.672467), points=6, range=1.02667, residual=0.0137139, extent=0.0375235
I0419 20:55:28.726738 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780957, -0.672467), tracking=(1.07946, -0.672467), map_predicted=(-0.146403, -2.5248), range=1.02667, pts=6
I0419 20:55:28.726794 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13868m maha_sq=0.335897 (gate chi2=5.99) pose_sigma=(0.237942, 0.237942, rho=0) det_map=(-0.146403, -2.5248) lm_pos=(-0.285, -2.52) delta=(0.138597, -0.00480268) -> 1 candidate(s)
I0419 20:55:28.848244 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:28.849321 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.778458, -0.67107)
I0419 20:55:28.986500 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15805, 1.55082), points=5, range=1.932, residual=0.0121974, extent=0.0300538
I0419 20:55:28.986620 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15805, 1.55082), tracking=(-1.45655, -1.55082), map_predicted=(-2.65226, -3.50074), range=1.932, pts=5
I0419 20:55:28.986646 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56237m maha_sq=114.376 (gate chi2=5.99) pose_sigma=(0.238197, 0.238197, rho=0) det_map=(-2.65226, -3.50074) lm_pos=(-0.285, -2.52) delta=(-2.36726, -0.980737) -> 0 candidate(s)
I0419 20:55:28.988467 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0438442s, prior_pose=(-1.2562, -1.89525), yaw=2.19556 deg
I0419 20:55:28.988560 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=854, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:28.988643 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:28.988662 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:28.988673 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:28.988685 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:28.988696 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:28.988708 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:28.988718 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:28.989660 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:28.992305 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73311, -2.20667)
I0419 20:55:29.123378 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25701, -1.89543), yaw=2.20419 deg backend=(-1.25701, -1.89543)
I0419 20:55:29.126541 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72804, -2.21571), points=5, range=3.5122, residual=0.0161759, extent=0.0420242
I0419 20:55:29.126663 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72804, -2.21571), tracking=(-3.02654, 2.21571), map_predicted=(-4.36653, 0.202234), range=3.5122, pts=5
I0419 20:55:29.126714 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90606m maha_sq=416.775 (gate chi2=5.99) pose_sigma=(0.238237, 0.238237, rho=0) det_map=(-4.36653, 0.202234) lm_pos=(-0.285, -2.52) delta=(-4.08153, 2.72223) -> 0 candidate(s)
I0419 20:55:29.240604 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15854, 1.54682)
I0419 20:55:29.245646 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0716744s, prior_pose=(-1.25407, -1.8956), yaw=2.20938 deg
I0419 20:55:29.245740 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:29.245779 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:29.245800 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:29.245813 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:29.245826 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:29.245836 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:29.377233 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785557, -0.673874), points=5, range=1.0318, residual=0.0108311, extent=0.0284099
I0419 20:55:29.377355 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785557, -0.673874), tracking=(1.08406, -0.673874), map_predicted=(-0.14458, -2.52856), range=1.0318, pts=5
I0419 20:55:29.377382 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.14068m maha_sq=0.344673 (gate chi2=5.99) pose_sigma=(0.238434, 0.238434, rho=0) det_map=(-0.14458, -2.52856) lm_pos=(-0.285, -2.52) delta=(0.14042, -0.00855933) -> 1 candidate(s)
I0419 20:55:29.380067 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70528, 0.499733)
I0419 20:55:29.501289 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:55:29.518617 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566354s, prior_pose=(-1.25528, -1.898), yaw=2.19457 deg
I0419 20:55:29.518728 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:29.518783 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:29.518813 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:29.518841 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785972, -0.673906), points=4, range=1.0335, residual=0.00703533, extent=0.0177167
I0419 20:55:29.518867 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785972, -0.673906), tracking=(1.08447, -0.673906), map_predicted=(-0.145799, -2.52989), range=1.0335, pts=4
I0419 20:55:29.518895 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139552m maha_sq=0.339297 (gate chi2=5.99) pose_sigma=(0.238528, 0.238528, rho=0) det_map=(-0.145799, -2.52989) lm_pos=(-0.285, -2.52) delta=(0.139201, -0.00988546) -> 1 candidate(s)
I0419 20:55:29.538537 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15878, 1.54714)
I0419 20:55:29.538657 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:29.538695 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:29.538725 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:29.538755 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:29.632326 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:29.632407 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:29.776880 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15775, 1.55042), points=5, range=1.9318, residual=0.0113535, extent=0.028142
I0419 20:55:29.776991 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15775, 1.55042), tracking=(-1.45625, -1.55042), map_predicted=(-2.64815, -3.50232), range=1.9318, pts=5
I0419 20:55:29.777015 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55919m maha_sq=113.562 (gate chi2=5.99) pose_sigma=(0.2388, 0.2388, rho=0) det_map=(-2.64815, -3.50232) lm_pos=(-0.285, -2.52) delta=(-2.36315, -0.982325) -> 0 candidate(s)
I0419 20:55:29.778779 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779987, -0.672671)
I0419 20:55:29.911862 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402865s, prior_pose=(-1.25448, -1.89427), yaw=2.21394 deg
I0419 20:55:29.911962 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=840, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:29.912010 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:29.912029 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:29.913102 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:29.913160 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:29.913180 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:29.919903 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15806, 1.54618)
I0419 20:55:29.920009 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72883, -2.21635), points=3, range=3.512, residual=0.0115119, extent=0.0231971
I0419 20:55:29.920030 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72883, -2.21635), tracking=(-3.02733, 2.21635), map_predicted=(-4.36517, 0.203484), range=3.512, pts=3
I0419 20:55:29.920048 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90562m maha_sq=415.081 (gate chi2=5.99) pose_sigma=(0.238979, 0.238979, rho=0) det_map=(-4.36517, 0.203484) lm_pos=(-0.285, -2.52) delta=(-4.08017, 2.72348) -> 0 candidate(s)
I0419 20:55:30.040831 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2525, -1.89708), yaw=2.19867 deg backend=(-1.2525, -1.89708)
I0419 20:55:30.171286 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0717215s, prior_pose=(-1.25126, -1.89621), yaw=2.20843 deg
I0419 20:55:30.171419 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:55:30.171454 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:30.171471 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.775677, -0.671841)
I0419 20:55:30.171483 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:30.171502 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779436, -0.672545), points=5, range=1.0262, residual=0.0117568, extent=0.031569
I0419 20:55:30.171518 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779436, -0.672545), tracking=(1.07794, -0.672545), map_predicted=(-0.148204, -2.52672), range=1.0262, pts=5
I0419 20:55:30.171535 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.136961m maha_sq=0.324472 (gate chi2=5.99) pose_sigma=(0.239212, 0.239212, rho=0) det_map=(-0.148204, -2.52672) lm_pos=(-0.285, -2.52) delta=(0.136796, -0.00672071) -> 1 candidate(s)
I0419 20:55:30.173241 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:30.173314 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:30.173329 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:30.173341 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:30.174189 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:30.174229 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:30.302100 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:30.306109 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781106, -0.672601)
I0419 20:55:30.308145 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15406, 1.55017), points=6, range=1.93017, residual=0.0118599, extent=0.0304475
I0419 20:55:30.308211 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15406, 1.55017), tracking=(-1.45256, -1.55017), map_predicted=(-2.64646, -3.50046), range=1.93017, pts=6
I0419 20:55:30.308235 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55691m maha_sq=112.819 (gate chi2=5.99) pose_sigma=(0.239355, 0.239355, rho=0) det_map=(-2.64646, -3.50046) lm_pos=(-0.285, -2.52) delta=(-2.36146, -0.980456) -> 0 candidate(s)
I0419 20:55:30.410315 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599901s, prior_pose=(-1.25329, -1.89696), yaw=2.20064 deg
I0419 20:55:30.410465 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=837, max_intensity=251, threshold=230, above_threshold=3, candidates=3
I0419 20:55:30.410501 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:30.410521 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:55:30.429828 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:30.430166 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:30.430434 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:30.538115 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15758, 1.54554)
I0419 20:55:30.539839 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15969, 1.54366), points=5, range=1.933, residual=0.0127013, extent=0.0336007
I0419 20:55:30.539918 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15969, 1.54366), tracking=(-1.45819, -1.54366), map_predicted=(-2.64816, -3.49508), range=1.933, pts=5
I0419 20:55:30.539943 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55643m maha_sq=112.536 (gate chi2=5.99) pose_sigma=(0.239569, 0.239569, rho=0) det_map=(-2.64816, -3.49508) lm_pos=(-0.285, -2.52) delta=(-2.36316, -0.975079) -> 0 candidate(s)
I0419 20:55:30.705698 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72854, -2.20955)
I0419 20:55:30.707458 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.040337s, prior_pose=(-1.25167, -1.89598), yaw=2.20564 deg
I0419 20:55:30.707525 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:55:30.707561 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:30.707578 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:30.713600 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72904, -2.20338), points=3, range=3.509, residual=0.0110621, extent=0.0227217
I0419 20:55:30.713678 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72904, -2.20338), tracking=(-3.02754, 2.20338), map_predicted=(-4.36176, 0.189255), range=3.509, pts=3
I0419 20:55:30.713703 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.8949m maha_sq=411.09 (gate chi2=5.99) pose_sigma=(0.239643, 0.239643, rho=0) det_map=(-4.36176, 0.189255) lm_pos=(-0.285, -2.52) delta=(-4.07676, 2.70926) -> 0 candidate(s)
I0419 20:55:30.713726 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:30.725871 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:30.725953 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:30.725972 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:30.820348 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:30.820446 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:30.857647 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15322, 1.54905)
I0419 20:55:30.930119 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25325, -1.89606), yaw=2.19326 deg backend=(-1.25325, -1.89606)
I0419 20:55:30.932691 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785182, -0.673542), points=5, range=1.0294, residual=0.0145605, extent=0.0384262
I0419 20:55:30.932799 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785182, -0.673542), tracking=(1.08368, -0.673542), map_predicted=(-0.144587, -2.52764), range=1.0294, pts=5
I0419 20:55:30.932826 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140621m maha_sq=0.340086 (gate chi2=5.99) pose_sigma=(0.239752, 0.239752, rho=0) det_map=(-0.144587, -2.52764) lm_pos=(-0.285, -2.52) delta=(0.140413, -0.0076368) -> 1 candidate(s)
I0419 20:55:30.990478 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.071747s, prior_pose=(-1.25325, -1.89606), yaw=2.19288 deg
I0419 20:55:30.990820 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 20:55:30.990926 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:30.991004 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:31.106145 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:31.106266 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:31.106283 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:31.110229 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.73179, -2.21218)
I0419 20:55:31.112977 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15835, 1.54185), points=5, range=1.9292, residual=0.0095423, extent=0.0245504
I0419 20:55:31.113456 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15835, 1.54185), tracking=(-1.45685, -1.54185), map_predicted=(-2.6501, -3.49282), range=1.9292, pts=5
I0419 20:55:31.113498 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55736m maha_sq=112.573 (gate chi2=5.99) pose_sigma=(0.239765, 0.239765, rho=0) det_map=(-2.6501, -3.49282) lm_pos=(-0.285, -2.52) delta=(-2.3651, -0.972819) -> 0 candidate(s)
I0419 20:55:31.262449 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778847, -0.671695)
I0419 20:55:31.364631 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606426s, prior_pose=(-1.25256, -1.89639), yaw=2.17887 deg
I0419 20:55:31.364746 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:31.364781 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:31.364801 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:31.365582 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73137, -2.20527), points=3, range=3.513, residual=0.011602, extent=0.0242144
I0419 20:55:31.365640 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73137, -2.20527), tracking=(-3.02987, 2.20527), map_predicted=(-4.36408, 0.192091), range=3.513, pts=3
I0419 20:55:31.365664 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.8984m maha_sq=410.756 (gate chi2=5.99) pose_sigma=(0.239889, 0.239889, rho=0) det_map=(-4.36408, 0.192091) lm_pos=(-0.285, -2.52) delta=(-4.07908, 2.71209) -> 0 candidate(s)
I0419 20:55:31.365691 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:31.367565 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:31.367630 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:31.367648 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:31.369279 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:31.369338 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:31.502737 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1589, 1.5473)
I0419 20:55:31.506006 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78243, -0.670867), points=4, range=1.029, residual=0.00706926, extent=0.017685
I0419 20:55:31.506084 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78243, -0.670867), tracking=(1.08093, -0.670867), map_predicted=(-0.144114, -2.52459), range=1.029, pts=4
I0419 20:55:31.506112 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140961m maha_sq=0.341964 (gate chi2=5.99) pose_sigma=(0.240009, 0.240009, rho=0) det_map=(-0.144114, -2.52459) lm_pos=(-0.285, -2.52) delta=(0.140886, -0.004594) -> 1 candidate(s)
I0419 20:55:31.632643 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0435221s, prior_pose=(-1.25264, -1.89557), yaw=2.19585 deg
I0419 20:55:31.632766 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=834, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:55:31.632809 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:31.632828 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:31.634521 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:31.634594 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:31.634608 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:31.654178 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.72931, -2.21016)
I0419 20:55:31.772378 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1522, 1.55237), points=6, range=1.92883, residual=0.013639, extent=0.0297299
I0419 20:55:31.772487 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1522, 1.55237), tracking=(-1.4507, -1.55237), map_predicted=(-2.64478, -3.50226), range=1.92883, pts=6
I0419 20:55:31.772428 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:31.772521 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55605m maha_sq=111.884 (gate chi2=5.99) pose_sigma=(0.240188, 0.240188, rho=0) det_map=(-2.64478, -3.50226) lm_pos=(-0.285, -2.52) delta=(-2.35978, -0.982259) -> 0 candidate(s)
I0419 20:55:31.778402 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25365, -1.89629), yaw=2.16073 deg backend=(-1.25365, -1.89629)
I0419 20:55:31.891116 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.777588, -0.670603)
I0419 20:55:31.892839 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795918s, prior_pose=(-1.25286, -1.89386), yaw=2.19363 deg
I0419 20:55:31.892913 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=855, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:31.892951 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:31.893011 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:31.894802 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72688, -2.21476), points=5, range=3.5108, residual=0.0161189, extent=0.0417805
I0419 20:55:31.894860 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72688, -2.21476), tracking=(-3.02538, 2.21476), map_predicted=(-4.36084, 0.203409), range=3.5108, pts=5
I0419 20:55:31.894881 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90198m maha_sq=409.077 (gate chi2=5.99) pose_sigma=(0.240307, 0.240307, rho=0) det_map=(-4.36084, 0.203409) lm_pos=(-0.285, -2.52) delta=(-4.07584, 2.72341) -> 0 candidate(s)
I0419 20:55:31.894901 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:31.902956 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:31.903088 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:31.903124 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:32.023484 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:32.023571 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:32.034368 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15579, 1.54313)
I0419 20:55:32.147364 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777083, -0.673487), points=7, range=1.03029, residual=0.00992438, extent=0.0291965
I0419 20:55:32.147473 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777083, -0.673487), tracking=(1.07558, -0.673487), map_predicted=(-0.151132, -2.52946), range=1.03029, pts=7
I0419 20:55:32.147500 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.134202m maha_sq=0.308443 (gate chi2=5.99) pose_sigma=(0.2405, 0.2405, rho=0) det_map=(-0.151132, -2.52946) lm_pos=(-0.285, -2.52) delta=(0.133868, -0.00945839) -> 1 candidate(s)
I0419 20:55:32.162632 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559103s, prior_pose=(-1.25158, -1.89742), yaw=2.18341 deg
I0419 20:55:32.162770 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:55:32.162847 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:32.162889 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:32.282912 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:32.283025 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:32.283046 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:32.284965 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.777063, -0.671465)
I0419 20:55:32.288563 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15638, 1.53926), points=5, range=1.9278, residual=0.0134219, extent=0.035077
I0419 20:55:32.288694 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15638, 1.53926), tracking=(-1.45488, -1.53926), map_predicted=(-2.64688, -3.49049), range=1.9278, pts=5
I0419 20:55:32.288722 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.5535m maha_sq=111.37 (gate chi2=5.99) pose_sigma=(0.240517, 0.240517, rho=0) det_map=(-2.64688, -3.49049) lm_pos=(-0.285, -2.52) delta=(-2.36188, -0.970494) -> 0 candidate(s)
I0419 20:55:32.418318 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.72854, -2.20955)
I0419 20:55:32.518493 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401326s, prior_pose=(-1.25292, -1.89653), yaw=2.21297 deg
I0419 20:55:32.518606 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=849, max_intensity=245, threshold=230, above_threshold=7, candidates=7
I0419 20:55:32.518661 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:32.518694 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:32.519613 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73038, -2.21761), points=3, range=3.51333, residual=0.012162, extent=0.0242144
I0419 20:55:32.519670 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73038, -2.21761), tracking=(-3.02888, 2.21761), map_predicted=(-4.36518, 0.202474), range=3.51333, pts=3
I0419 20:55:32.519695 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90507m maha_sq=409.384 (gate chi2=5.99) pose_sigma=(0.240601, 0.240601, rho=0) det_map=(-4.36518, 0.202474) lm_pos=(-0.285, -2.52) delta=(-4.08018, 2.72247) -> 0 candidate(s)
I0419 20:55:32.519719 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:32.520483 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:32.520519 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:32.520536 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:32.546725 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:32.546802 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:32.665158 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.778787, -0.671006)
I0419 20:55:32.667495 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.253, -1.89595), yaw=2.19817 deg backend=(-1.253, -1.89595)
I0419 20:55:32.682159 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72883, -2.21635), points=3, range=3.51133, residual=0.0122129, extent=0.0247585
I0419 20:55:32.682267 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72883, -2.21635), tracking=(-3.02733, 2.21635), map_predicted=(-4.36306, 0.202727), range=3.51133, pts=3
I0419 20:55:32.682299 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90345m maha_sq=409.017 (gate chi2=5.99) pose_sigma=(0.240628, 0.240628, rho=0) det_map=(-4.36306, 0.202727) lm_pos=(-0.285, -2.52) delta=(-4.07806, 2.72273) -> 0 candidate(s)
I0419 20:55:32.808629 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.067739s, prior_pose=(-1.25423, -1.89607), yaw=2.20002 deg
I0419 20:55:32.808763 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:55:32.808810 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:32.808827 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:32.812381 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15938, 1.54794)
I0419 20:55:32.812511 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:32.812532 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:32.812595 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:32.919659 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.771831, -0.670896), points=4, range=1.027, residual=0.0132601, extent=0.0332354
I0419 20:55:32.919777 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.771831, -0.670896), tracking=(1.07033, -0.670896), map_predicted=(-0.157012, -2.52516), range=1.027, pts=4
I0419 20:55:32.919803 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.128092m maha_sq=0.279991 (gate chi2=5.99) pose_sigma=(0.240776, 0.240776, rho=0) det_map=(-0.157012, -2.52516) lm_pos=(-0.285, -2.52) delta=(0.127988, -0.00516293) -> 1 candidate(s)
I0419 20:55:32.974179 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.076776, -0.552188)
I0419 20:55:33.060683 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600149s, prior_pose=(-1.25187, -1.89648), yaw=2.20396 deg
I0419 20:55:33.060804 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:33.060849 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:33.060873 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:33.061913 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:33.102042 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:33.102145 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782335, -0.672101), points=6, range=1.02783, residual=0.0115205, extent=0.0340684
I0419 20:55:33.102173 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:33.102188 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:33.102201 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782335, -0.672101), tracking=(1.08084, -0.672101), map_predicted=(-0.14598, -2.52651), range=1.02783, pts=6
I0419 20:55:33.102224 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139172m maha_sq=0.330675 (gate chi2=5.99) pose_sigma=(0.240811, 0.240811, rho=0) det_map=(-0.14598, -2.52651) lm_pos=(-0.285, -2.52) delta=(0.13902, -0.00650746) -> 1 candidate(s)
I0419 20:55:33.178045 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15651, 1.53947)
I0419 20:55:33.179471 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:33.179956 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:33.180011 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:33.232350 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:33.326027 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.15835, 1.54185)
I0419 20:55:33.326128 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72854, -2.20955), points=4, range=3.50925, residual=0.0136768, extent=0.0325416
I0419 20:55:33.326160 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72854, -2.20955), tracking=(-3.02704, 2.20955), map_predicted=(-4.3629, 0.196928), range=3.50925, pts=4
I0419 20:55:33.326187 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9001m maha_sq=407.166 (gate chi2=5.99) pose_sigma=(0.240938, 0.240938, rho=0) det_map=(-4.3629, 0.196928) lm_pos=(-0.285, -2.52) delta=(-4.0779, 2.71693) -> 0 candidate(s)
I0419 20:55:33.337946 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0393809s, prior_pose=(-1.25331, -1.89485), yaw=2.19954 deg
I0419 20:55:33.338048 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=836, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:33.338109 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:33.338132 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:33.448726 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:33.448841 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:33.448861 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:33.486310 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70241, 0.498889)
I0419 20:55:33.588464 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25329, -1.89592), yaw=2.20145 deg backend=(-1.25329, -1.89592)
I0419 20:55:33.589313 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788038, -0.673036), points=4, range=1.0335, residual=0.00848983, extent=0.020823
I0419 20:55:33.589383 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.788038, -0.673036), tracking=(1.08654, -0.673036), map_predicted=(-0.141703, -2.52672), range=1.0335, pts=4
I0419 20:55:33.589412 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.143454m maha_sq=0.350675 (gate chi2=5.99) pose_sigma=(0.241165, 0.241165, rho=0) det_map=(-0.141703, -2.52672) lm_pos=(-0.285, -2.52) delta=(0.143297, -0.00671869) -> 1 candidate(s)
I0419 20:55:33.634392 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0721524s, prior_pose=(-1.25329, -1.89592), yaw=2.19982 deg
I0419 20:55:33.634491 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=903, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:33.634545 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:33.634564 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:33.732909 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:33.733788 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.781616, -0.671434)
I0419 20:55:33.736503 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:33.736603 1218529 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:33.736621 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:33.737619 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1597, 1.55302), points=5, range=1.9346, residual=0.012192, extent=0.0294112
I0419 20:55:33.737699 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1597, 1.55302), tracking=(-1.4582, -1.55302), map_predicted=(-2.65306, -3.50406), range=1.9346, pts=5
I0419 20:55:33.737727 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56439m maha_sq=111.692 (gate chi2=5.99) pose_sigma=(0.241266, 0.241266, rho=0) det_map=(-2.65306, -3.50406) lm_pos=(-0.285, -2.52) delta=(-2.36806, -0.984058) -> 0 candidate(s)
I0419 20:55:33.750159 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:33.750289 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:33.869423 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779223, -0.672025)
I0419 20:55:34.002803 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73677, -2.20307), points=4, range=3.5155, residual=0.0140631, extent=0.0345884
I0419 20:55:34.002905 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73677, -2.20307), tracking=(-3.03527, 2.20307), map_predicted=(-4.37018, 0.188009), range=3.5155, pts=4
I0419 20:55:34.002935 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90122m maha_sq=405.687 (gate chi2=5.99) pose_sigma=(0.241415, 0.241415, rho=0) det_map=(-4.37018, 0.188009) lm_pos=(-0.285, -2.52) delta=(-4.08518, 2.70801) -> 0 candidate(s)
I0419 20:55:34.003865 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604024s, prior_pose=(-1.25274, -1.89717), yaw=2.19531 deg
I0419 20:55:34.003919 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=938, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:34.003963 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:34.003983 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:34.008371 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:34.008445 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:34.008460 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:34.035130 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.15594, 1.54801)
I0419 20:55:34.127235 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780874, -0.672167), points=4, range=1.033, residual=0.00799458, extent=0.0200115
I0419 20:55:34.127348 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780874, -0.672167), tracking=(1.07937, -0.672167), map_predicted=(-0.149812, -2.52682), range=1.033, pts=4
I0419 20:55:34.127372 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13536m maha_sq=0.311434 (gate chi2=5.99) pose_sigma=(0.241488, 0.241488, rho=0) det_map=(-0.149812, -2.52682) lm_pos=(-0.285, -2.52) delta=(0.135188, -0.00682222) -> 1 candidate(s)
I0419 20:55:34.250557 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72609, -2.21414)
I0419 20:55:34.252238 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0400301s, prior_pose=(-1.25509, -1.8957), yaw=2.18304 deg
I0419 20:55:34.252315 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=957, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:34.252357 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:34.252375 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:34.253373 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:34.278863 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:34.278975 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:34.279009 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:34.298118 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1564, 1.54862), points=5, range=1.928, residual=0.0147634, extent=0.0358415
I0419 20:55:34.298269 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1564, 1.54862), tracking=(-1.4549, -1.54862), map_predicted=(-2.64993, -3.49863), range=1.928, pts=5
I0419 20:55:34.298323 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55941m maha_sq=110.877 (gate chi2=5.99) pose_sigma=(0.241545, 0.241545, rho=0) det_map=(-2.64993, -3.49863) lm_pos=(-0.285, -2.52) delta=(-2.36493, -0.978632) -> 0 candidate(s)
I0419 20:55:34.408847 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:34.408944 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:34.412297 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15806, 1.54618)
I0419 20:55:34.413640 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25148, -1.89796), yaw=2.19524 deg backend=(-1.25148, -1.89796)
I0419 20:55:34.540894 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72805, -2.21572), points=3, range=3.511, residual=0.0115095, extent=0.0231921
I0419 20:55:34.541013 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72805, -2.21572), tracking=(-3.02655, 2.21572), map_predicted=(-4.36137, 0.201733), range=3.511, pts=3
I0419 20:55:34.541040 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90149m maha_sq=404.823 (gate chi2=5.99) pose_sigma=(0.241827, 0.241827, rho=0) det_map=(-4.36137, 0.201733) lm_pos=(-0.285, -2.52) delta=(-4.07637, 2.72173) -> 0 candidate(s)
I0419 20:55:34.541826 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0672627s, prior_pose=(-1.25204, -1.89625), yaw=2.19854 deg
I0419 20:55:34.541894 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=915, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:55:34.541930 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:34.541945 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:34.673467 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:34.673579 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:34.673600 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:34.674546 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73652, -2.20286)
I0419 20:55:34.675194 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:34.694932 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782134, -0.673258), points=4, range=1.03325, residual=0.00596287, extent=0.0150108
I0419 20:55:34.695120 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782134, -0.673258), tracking=(1.08063, -0.673258), map_predicted=(-0.147934, -2.52827), range=1.03325, pts=4
I0419 20:55:34.695175 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137315m maha_sq=0.319586 (gate chi2=5.99) pose_sigma=(0.241893, 0.241893, rho=0) det_map=(-0.147934, -2.52827) lm_pos=(-0.285, -2.52) delta=(0.137066, -0.00826541) -> 1 candidate(s)
I0419 20:55:34.799268 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.778315, -0.671535)
I0419 20:55:34.806506 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562364s, prior_pose=(-1.25302, -1.89595), yaw=2.20422 deg
I0419 20:55:34.806615 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=859, max_intensity=247, threshold=230, above_threshold=4, candidates=4
I0419 20:55:34.806763 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:34.806838 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:34.825649 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:34.896943 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:34.897048 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:34.897084 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:34.898924 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15661, 1.5442), points=4, range=1.93025, residual=0.00829302, extent=0.0195723
I0419 20:55:34.898985 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15661, 1.5442), tracking=(-1.45511, -1.5442), map_predicted=(-2.64952, -3.49432), range=1.93025, pts=4
I0419 20:55:34.899009 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55739m maha_sq=110.588 (gate chi2=5.99) pose_sigma=(0.241979, 0.241979, rho=0) det_map=(-2.64952, -3.49432) lm_pos=(-0.285, -2.52) delta=(-2.36452, -0.974321) -> 0 candidate(s)
I0419 20:55:34.926019 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:34.926160 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:35.057660 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15854, 1.54683)
I0419 20:55:35.090304 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73036, -2.21102), points=4, range=3.5145, residual=0.0133163, extent=0.0325662
I0419 20:55:35.090512 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73036, -2.21102), tracking=(-3.02886, 2.21102), map_predicted=(-4.36311, 0.195292), range=3.5145, pts=4
I0419 20:55:35.090575 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89937m maha_sq=403.179 (gate chi2=5.99) pose_sigma=(0.242127, 0.242127, rho=0) det_map=(-4.36311, 0.195292) lm_pos=(-0.285, -2.52) delta=(-4.07811, 2.71529) -> 0 candidate(s)
I0419 20:55:35.200803 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359121s, prior_pose=(-1.25367, -1.89594), yaw=2.19295 deg
I0419 20:55:35.200910 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=860, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:35.200964 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:35.200985 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:35.205384 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.777607, -0.671929)
I0419 20:55:35.205479 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:35.205503 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:35.205518 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:35.332206 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25503, -1.89599), yaw=2.18677 deg backend=(-1.25503, -1.89599)
I0419 20:55:35.332868 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.778113, -0.672406), points=6, range=1.0305, residual=0.00952762, extent=0.027444
I0419 20:55:35.332974 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.778113, -0.672406), tracking=(1.07661, -0.672406), map_predicted=(-0.153544, -2.52683), range=1.0305, pts=6
I0419 20:55:35.332998 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.131633m maha_sq=0.292389 (gate chi2=5.99) pose_sigma=(0.242319, 0.242319, rho=0) det_map=(-0.153544, -2.52683) lm_pos=(-0.285, -2.52) delta=(0.131456, -0.00682803) -> 1 candidate(s)
I0419 20:55:35.354637 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.15535, 1.54722)
I0419 20:55:35.449738 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0686098s, prior_pose=(-1.25354, -1.89597), yaw=2.21089 deg
I0419 20:55:35.449839 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=859, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 20:55:35.449878 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:35.449899 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:35.452013 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:35.455703 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:35.455792 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:35.455808 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:35.471207 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15689, 1.55397), points=4, range=1.9335, residual=0.0105261, extent=0.0232305
I0419 20:55:35.471416 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15689, 1.55397), tracking=(-1.45539, -1.55397), map_predicted=(-2.64796, -3.50488), range=1.9335, pts=4
I0419 20:55:35.471715 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56m maha_sq=110.364 (gate chi2=5.99) pose_sigma=(0.242389, 0.242389, rho=0) det_map=(-2.64796, -3.50488) lm_pos=(-0.285, -2.52) delta=(-2.36296, -0.984879) -> 0 candidate(s)
I0419 20:55:35.605314 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:35.605398 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:35.608166 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779212, -0.671727)
I0419 20:55:35.729545 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.736, -2.20244), points=4, range=3.51325, residual=0.0132331, extent=0.0322297
I0419 20:55:35.729658 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.736, -2.20244), tracking=(-3.0345, 2.20244), map_predicted=(-4.36932, 0.190246), range=3.51325, pts=4
I0419 20:55:35.729684 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90174m maha_sq=401.752 (gate chi2=5.99) pose_sigma=(0.242687, 0.242687, rho=0) det_map=(-4.36932, 0.190246) lm_pos=(-0.285, -2.52) delta=(-4.08432, 2.71025) -> 0 candidate(s)
I0419 20:55:35.730448 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604411s, prior_pose=(-1.25295, -1.89474), yaw=2.18789 deg
I0419 20:55:35.730497 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=862, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:35.730530 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:35.730549 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:35.733091 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780174, -0.672204)
I0419 20:55:35.746673 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:35.746837 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:35.746872 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:35.866226 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784914, -0.674316), points=6, range=1.03133, residual=0.0113149, extent=0.032412
I0419 20:55:35.866312 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784914, -0.674316), tracking=(1.08341, -0.674316), map_predicted=(-0.14389, -2.52794), range=1.03133, pts=6
I0419 20:55:35.866341 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.141333m maha_sq=0.335721 (gate chi2=5.99) pose_sigma=(0.242733, 0.242733, rho=0) det_map=(-0.14389, -2.52794) lm_pos=(-0.285, -2.52) delta=(0.14111, -0.00793663) -> 1 candidate(s)
I0419 20:55:35.959090 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.1588, 1.54253)
I0419 20:55:35.981938 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.039762s, prior_pose=(-1.25151, -1.89543), yaw=2.19491 deg
I0419 20:55:35.982035 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=847, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:55:35.982086 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:35.982106 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:36.002463 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:36.079077 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:36.079397 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:36.079456 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:36.079475 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:36.080260 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1573, 1.54982), points=5, range=1.931, residual=0.0118256, extent=0.0300538
I0419 20:55:36.080312 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1573, 1.54982), tracking=(-1.4558, -1.54982), map_predicted=(-2.6476, -3.49889), range=1.931, pts=5
I0419 20:55:36.080336 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55736m maha_sq=109.695 (gate chi2=5.99) pose_sigma=(0.242822, 0.242822, rho=0) det_map=(-2.6476, -3.49889) lm_pos=(-0.285, -2.52) delta=(-2.3626, -0.978889) -> 0 candidate(s)
I0419 20:55:36.102378 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:36.102455 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:36.118085 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73175, -2.20557)
I0419 20:55:36.261021 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25562, -1.89653), yaw=2.20051 deg backend=(-1.25562, -1.89653)
I0419 20:55:36.270090 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73192, -2.21227), points=4, range=3.5125, residual=0.0137384, extent=0.0328971
I0419 20:55:36.270186 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73192, -2.21227), tracking=(-3.03042, 2.21227), map_predicted=(-4.36876, 0.197725), range=3.5125, pts=4
I0419 20:55:36.270239 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90542m maha_sq=401.224 (gate chi2=5.99) pose_sigma=(0.243006, 0.243006, rho=0) det_map=(-4.36876, 0.197725) lm_pos=(-0.285, -2.52) delta=(-4.08376, 2.71773) -> 0 candidate(s)
I0419 20:55:36.278061 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720213s, prior_pose=(-1.25562, -1.89653), yaw=2.20099 deg
I0419 20:55:36.278203 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=866, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:36.278287 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:36.278329 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:36.380939 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15807, 1.54617)
I0419 20:55:36.384704 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:36.384838 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:36.384856 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:36.495564 1219453 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.31e-03 s (pulsed at 100.65% real time)
I0419 20:55:36.495738 1219453 collated_trajectory_builder.cc:82] odom rate: 248.39 Hz 4.03e-03 s +/- 7.13e-04 s (pulsed at 100.08% real time)
I0419 20:55:36.495841 1219453 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.32e-03 s (pulsed at 100.52% real time)
I0419 20:55:36.495874 1219453 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.44e-03 s (pulsed at 100.65% real time)
I0419 20:55:36.497576 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782029, -0.671843), points=6, range=1.02883, residual=0.00882431, extent=0.0261259
I0419 20:55:36.497645 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782029, -0.671843), tracking=(1.08053, -0.671843), map_predicted=(-0.147957, -2.52451), range=1.02883, pts=6
I0419 20:55:36.497670 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137117m maha_sq=0.3152 (gate chi2=5.99) pose_sigma=(0.243144, 0.243144, rho=0) det_map=(-0.147957, -2.52451) lm_pos=(-0.285, -2.52) delta=(0.137043, -0.0045053) -> 1 candidate(s)
I0419 20:55:36.500262 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.780164, -0.672216)
I0419 20:55:36.637056 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603389s, prior_pose=(-1.25459, -1.89384), yaw=2.1973 deg
I0419 20:55:36.637188 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=864, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:36.637230 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:36.637247 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:36.638130 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:36.641379 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:36.641453 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:36.641469 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:36.646270 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1585, 1.55142), points=5, range=1.9328, residual=0.0117216, extent=0.0275447
I0419 20:55:36.646466 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1585, 1.55142), tracking=(-1.457, -1.55142), map_predicted=(-2.65097, -3.50004), range=1.9328, pts=5
I0419 20:55:36.646521 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56091m maha_sq=109.66 (gate chi2=5.99) pose_sigma=(0.243207, 0.243207, rho=0) det_map=(-2.65097, -3.50004) lm_pos=(-0.285, -2.52) delta=(-2.36597, -0.980036) -> 0 candidate(s)
I0419 20:55:36.674774 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15083, 1.54584)
I0419 20:55:36.785197 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:36.785295 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:36.905189 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72844, -2.21603), points=3, range=3.511, residual=0.012009, extent=0.0242047
I0419 20:55:36.905303 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72844, -2.21603), tracking=(-3.02694, 2.21603), map_predicted=(-4.36584, 0.204051), range=3.511, pts=3
I0419 20:55:36.905331 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9065m maha_sq=399.734 (gate chi2=5.99) pose_sigma=(0.243612, 0.243612, rho=0) det_map=(-4.36584, 0.204051) lm_pos=(-0.285, -2.52) delta=(-4.08084, 2.72405) -> 0 candidate(s)
I0419 20:55:36.907104 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441908s, prior_pose=(-1.25662, -1.89498), yaw=2.18442 deg
I0419 20:55:36.907181 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=864, max_intensity=252, threshold=230, above_threshold=5, candidates=5
I0419 20:55:36.907222 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:36.907241 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:36.908109 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.73086, -2.21142)
I0419 20:55:36.922175 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:36.922312 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:36.922344 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:37.056747 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25427, -1.89647), yaw=2.1752 deg backend=(-1.25427, -1.89647)
I0419 20:55:37.057257 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780804, -0.67275), points=7, range=1.02814, residual=0.0104266, extent=0.031569
I0419 20:55:37.057322 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780804, -0.67275), tracking=(1.0793, -0.67275), map_predicted=(-0.150214, -2.52777), range=1.02814, pts=7
I0419 20:55:37.057346 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135009m maha_sq=0.303946 (gate chi2=5.99) pose_sigma=(0.243741, 0.243741, rho=0) det_map=(-0.150214, -2.52777) lm_pos=(-0.285, -2.52) delta=(0.134786, -0.00776554) -> 1 candidate(s)
I0419 20:55:37.058404 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.16046, 1.54939)
I0419 20:55:37.177148 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722103s, prior_pose=(-1.25113, -1.89616), yaw=2.19654 deg
I0419 20:55:37.177263 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=861, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:55:37.177304 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:37.177361 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:37.179201 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:37.305789 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:37.305896 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:37.305914 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:37.306910 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15881, 1.53786), points=6, range=1.9285, residual=0.0160597, extent=0.0440525
I0419 20:55:37.306999 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15881, 1.53786), tracking=(-1.45731, -1.53786), map_predicted=(-2.6534, -3.48842), range=1.9285, pts=6
I0419 20:55:37.307027 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55874m maha_sq=108.487 (gate chi2=5.99) pose_sigma=(0.244077, 0.244077, rho=0) det_map=(-2.6534, -3.48842) lm_pos=(-0.285, -2.52) delta=(-2.3684, -0.968419) -> 0 candidate(s)
I0419 20:55:37.309705 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73106, -2.19848)
I0419 20:55:37.310576 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:37.310633 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:37.442497 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72766, -2.2154), points=3, range=3.51033, residual=0.0116842, extent=0.0236802
I0419 20:55:37.442654 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72766, -2.2154), tracking=(-3.02616, 2.2154), map_predicted=(-4.3609, 0.202722), range=3.51033, pts=3
I0419 20:55:37.442700 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90165m maha_sq=397.181 (gate chi2=5.99) pose_sigma=(0.244176, 0.244176, rho=0) det_map=(-4.3609, 0.202722) lm_pos=(-0.285, -2.52) delta=(-4.0759, 2.72272) -> 0 candidate(s)
I0419 20:55:37.450544 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565483s, prior_pose=(-1.25306, -1.89657), yaw=2.1688 deg
I0419 20:55:37.450711 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=883, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:37.450799 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:37.450839 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.783277, -0.671923)
I0419 20:55:37.450868 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:37.576838 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:37.577535 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:37.577616 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:37.577632 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:37.688254 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783552, -0.67314), points=6, range=1.02917, residual=0.0123874, extent=0.0357948
I0419 20:55:37.688375 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783552, -0.67314), tracking=(1.08205, -0.67314), map_predicted=(-0.147518, -2.52678), range=1.02917, pts=6
I0419 20:55:37.688400 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.137649m maha_sq=0.313913 (gate chi2=5.99) pose_sigma=(0.244444, 0.244444, rho=0) det_map=(-0.147518, -2.52678) lm_pos=(-0.285, -2.52) delta=(0.137482, -0.00677853) -> 1 candidate(s)
I0419 20:55:37.689409 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15878, 1.54714)
I0419 20:55:37.829814 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0395435s, prior_pose=(-1.25328, -1.89566), yaw=2.19352 deg
I0419 20:55:37.829929 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=907, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:37.829984 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:37.830003 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:37.830965 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:37.834251 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:37.834326 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:37.834340 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:37.835238 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16164, 1.54626), points=5, range=1.9352, residual=0.0112955, extent=0.0287889
I0419 20:55:37.835289 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16164, 1.54626), tracking=(-1.46014, -1.54626), map_predicted=(-2.65315, -3.49668), range=1.9352, pts=5
I0419 20:55:37.835312 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56165m maha_sq=108.595 (gate chi2=5.99) pose_sigma=(0.2445, 0.2445, rho=0) det_map=(-2.65315, -3.49668) lm_pos=(-0.285, -2.52) delta=(-2.36815, -0.976681) -> 0 candidate(s)
I0419 20:55:37.836985 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.776764, -0.6712)
I0419 20:55:37.862123 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:37.862215 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:37.956790 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25379, -1.89687), yaw=2.19926 deg backend=(-1.25379, -1.89687)
I0419 20:55:38.109633 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.7333, -2.20683)
I0419 20:55:38.109771 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73166, -2.21206), points=4, range=3.513, residual=0.013191, extent=0.0312125
I0419 20:55:38.109797 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73166, -2.21206), tracking=(-3.03016, 2.21206), map_predicted=(-4.36536, 0.198352), range=3.513, pts=4
I0419 20:55:38.109820 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90294m maha_sq=395.754 (gate chi2=5.99) pose_sigma=(0.24461, 0.24461, rho=0) det_map=(-4.36536, 0.198352) lm_pos=(-0.285, -2.52) delta=(-4.08036, 2.71835) -> 0 candidate(s)
I0419 20:55:38.110467 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.072002s, prior_pose=(-1.25288, -1.89629), yaw=2.19021 deg
I0419 20:55:38.110539 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=903, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:38.110579 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:38.110599 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:38.116029 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:38.116115 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:38.116130 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:38.234185 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.779328, -0.673429)
I0419 20:55:38.234297 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776332, -0.673231), points=6, range=1.03, residual=0.0104522, extent=0.0291965
I0419 20:55:38.234328 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.776332, -0.673231), tracking=(1.07483, -0.673231), map_predicted=(-0.153512, -2.52689), range=1.03, pts=6
I0419 20:55:38.234349 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.131669m maha_sq=0.286934 (gate chi2=5.99) pose_sigma=(0.244663, 0.244663, rho=0) det_map=(-0.153512, -2.52689) lm_pos=(-0.285, -2.52) delta=(0.131488, -0.00689487) -> 1 candidate(s)
I0419 20:55:38.351450 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601735s, prior_pose=(-1.25188, -1.8963), yaw=2.17352 deg
I0419 20:55:38.351550 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=982, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 20:55:38.351590 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:38.351611 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:38.352656 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:38.391041 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:38.391250 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:38.391284 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:38.438562 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:38.477572 1219453 pose_graph_2d.cc:160] Inserted submap (1, 9).
I0419 20:55:38.478562 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.15354, 1.54481)
I0419 20:55:38.478653 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15567, 1.54298), points=6, range=1.928, residual=0.0124948, extent=0.0300607
I0419 20:55:38.478685 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15567, 1.54298), tracking=(-1.45417, -1.54298), map_predicted=(-2.6467, -3.49198), range=1.928, pts=6
I0419 20:55:38.478708 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.5539m maha_sq=107.583 (gate chi2=5.99) pose_sigma=(0.244852, 0.244852, rho=0) det_map=(-2.6467, -3.49198) lm_pos=(-0.285, -2.52) delta=(-2.3617, -0.971982) -> 0 candidate(s)
I0419 20:55:38.482364 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:38.482453 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:38.606397 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.783655, -0.672251)
I0419 20:55:38.614590 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.7302, -2.20432), points=3, range=3.511, residual=0.0111466, extent=0.0231921
I0419 20:55:38.614841 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.7302, -2.20432), tracking=(-3.0287, 2.20432), map_predicted=(-4.36516, 0.191817), range=3.511, pts=3
I0419 20:55:38.614890 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89914m maha_sq=394.446 (gate chi2=5.99) pose_sigma=(0.244932, 0.244932, rho=0) det_map=(-4.36516, 0.191817) lm_pos=(-0.285, -2.52) delta=(-4.08016, 2.71182) -> 0 candidate(s)
I0419 20:55:38.626754 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0382083s, prior_pose=(-1.25442, -1.89515), yaw=2.1912 deg
I0419 20:55:38.627133 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=966, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 20:55:38.627434 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:38.627606 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:38.735875 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:38.736552 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:38.736794 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:38.790087 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1595, 1.5481)
I0419 20:55:38.864126 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25323, -1.89465), yaw=2.20232 deg backend=(-1.25323, -1.89465)
I0419 20:55:38.865049 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780049, -0.672095), points=7, range=1.027, residual=0.0110121, extent=0.0340775
I0419 20:55:38.865236 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780049, -0.672095), tracking=(1.07855, -0.672095), map_predicted=(-0.149652, -2.5248), range=1.027, pts=7
I0419 20:55:38.865302 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.135433m maha_sq=0.30261 (gate chi2=5.99) pose_sigma=(0.245031, 0.245031, rho=0) det_map=(-0.149652, -2.5248) lm_pos=(-0.285, -2.52) delta=(0.135348, -0.00479936) -> 1 candidate(s)
I0419 20:55:38.917906 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0674042s, prior_pose=(-1.25323, -1.89465), yaw=2.20174 deg
I0419 20:55:38.918079 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=870, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:55:38.918167 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:38.918222 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:38.990216 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:38.991032 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:38.992478 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72901, -2.20339)
I0419 20:55:38.994180 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:38.994275 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:38.994295 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:39.001799 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15626, 1.54841), points=5, range=1.9302, residual=0.0100712, extent=0.0241441
I0419 20:55:39.002002 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15626, 1.54841), tracking=(-1.45476, -1.54841), map_predicted=(-2.64806, -3.49921), range=1.9302, pts=5
I0419 20:55:39.002043 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55791m maha_sq=107.779 (gate chi2=5.99) pose_sigma=(0.245126, 0.245126, rho=0) det_map=(-2.64806, -3.49921) lm_pos=(-0.285, -2.52) delta=(-2.36306, -0.979212) -> 0 candidate(s)
I0419 20:55:39.038101 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:39.038174 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:39.142482 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.72647, -2.20787)
I0419 20:55:39.262908 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.73038, -2.21761), points=3, range=3.514, residual=0.0115166, extent=0.0232073
I0419 20:55:39.263021 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.73038, -2.21761), tracking=(-3.02888, 2.21761), map_predicted=(-4.36512, 0.205755), range=3.514, pts=3
I0419 20:55:39.263051 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90684m maha_sq=394.013 (gate chi2=5.99) pose_sigma=(0.24544, 0.24544, rho=0) det_map=(-4.36512, 0.205755) lm_pos=(-0.285, -2.52) delta=(-4.08012, 2.72576) -> 0 candidate(s)
I0419 20:55:39.263784 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606179s, prior_pose=(-1.2538, -1.89463), yaw=2.1874 deg
I0419 20:55:39.263844 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=831, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:39.263881 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:39.263900 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:39.270380 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:39.270457 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:39.270473 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:39.318388 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.7257, -2.21383)
I0419 20:55:39.408061 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785858, -0.673145), points=5, range=1.0326, residual=0.00809681, extent=0.0216438
I0419 20:55:39.408222 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785858, -0.673145), tracking=(1.08436, -0.673145), map_predicted=(-0.144873, -2.52852), range=1.0326, pts=5
I0419 20:55:39.408270 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.140386m maha_sq=0.32406 (gate chi2=5.99) pose_sigma=(0.24556, 0.24556, rho=0) det_map=(-0.144873, -2.52852) lm_pos=(-0.285, -2.52) delta=(0.140127, -0.00852499) -> 1 candidate(s)
I0419 20:55:39.518365 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.779214, -0.671724)
I0419 20:55:39.521188 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0393881s, prior_pose=(-1.25317, -1.89544), yaw=2.1945 deg
I0419 20:55:39.521309 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:39.521355 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:39.521373 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:39.525640 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:39.566834 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:39.566951 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:39.567020 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:39.582527 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1594, 1.55262), points=5, range=1.9342, residual=0.0118417, extent=0.0294112
I0419 20:55:39.582947 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1594, 1.55262), tracking=(-1.4579, -1.55262), map_predicted=(-2.65057, -3.50272), range=1.9342, pts=5
I0419 20:55:39.583029 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56158m maha_sq=107.562 (gate chi2=5.99) pose_sigma=(0.245652, 0.245652, rho=0) det_map=(-2.65057, -3.50272) lm_pos=(-0.285, -2.52) delta=(-2.36557, -0.98272) -> 0 candidate(s)
I0419 20:55:39.690552 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:39.690658 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:39.692806 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15902, 1.54746)
I0419 20:55:39.696589 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25483, -1.89614), yaw=2.18887 deg backend=(-1.25483, -1.89614)
I0419 20:55:39.826120 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684662s, prior_pose=(-1.25334, -1.89533), yaw=2.19462 deg
I0419 20:55:39.826260 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:55:39.826303 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:39.826323 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:39.828323 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15566, 1.54761), points=5, range=1.927, residual=0.0137664, extent=0.0313538
I0419 20:55:39.828400 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15566, 1.54761), tracking=(-1.45416, -1.54761), map_predicted=(-2.64711, -3.49754), range=1.927, pts=5
I0419 20:55:39.828430 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.55639m maha_sq=106.904 (gate chi2=5.99) pose_sigma=(0.245813, 0.245813, rho=0) det_map=(-2.64711, -3.49754) lm_pos=(-0.285, -2.52) delta=(-2.36211, -0.977544) -> 0 candidate(s)
I0419 20:55:39.846359 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1576, 1.54553)
I0419 20:55:39.954545 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:39.954667 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:39.954685 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:40.078367 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(1.15986, 1.54858)
I0419 20:55:40.081822 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78158, -0.671445), points=6, range=1.0265, residual=0.0125782, extent=0.036643
I0419 20:55:40.081907 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.78158, -0.671445), tracking=(1.08008, -0.671445), map_predicted=(-0.145408, -2.52528), range=1.0265, pts=6
I0419 20:55:40.081933 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139692m maha_sq=0.319123 (gate chi2=5.99) pose_sigma=(0.246047, 0.246047, rho=0) det_map=(-0.145408, -2.52528) lm_pos=(-0.285, -2.52) delta=(0.139592, -0.00527638) -> 1 candidate(s)
I0419 20:55:40.094367 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596414s, prior_pose=(-1.2503, -1.8955), yaw=2.1835 deg
I0419 20:55:40.094548 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=844, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 20:55:40.094640 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:40.094672 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:40.110049 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:40.189953 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:40.190078 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:40.190094 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:40.242333 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.783399, -0.673011)
I0419 20:55:40.320364 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:40.320451 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:40.322992 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784609, -0.673059), points=5, range=1.0292, residual=0.0131233, extent=0.0340775
I0419 20:55:40.323079 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.784609, -0.673059), tracking=(1.08311, -0.673059), map_predicted=(-0.144028, -2.52787), range=1.0292, pts=5
I0419 20:55:40.323104 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.141192m maha_sq=0.325426 (gate chi2=5.99) pose_sigma=(0.246242, 0.246242, rho=0) det_map=(-0.144028, -2.52787) lm_pos=(-0.285, -2.52) delta=(0.140972, -0.00787001) -> 1 candidate(s)
I0419 20:55:40.471216 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401667s, prior_pose=(-1.25294, -1.89541), yaw=2.20686 deg
I0419 20:55:40.471330 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=842, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 20:55:40.471390 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:40.471411 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:40.472011 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:40.474918 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73058, -2.20464)
I0419 20:55:40.478307 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:55:40.478394 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:40.478411 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:40.494226 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16044, 1.55403), points=5, range=1.9358, residual=0.0125488, extent=0.0321649
I0419 20:55:40.494374 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16044, 1.55403), tracking=(-1.45894, -1.55403), map_predicted=(-2.65092, -3.5045), range=1.9358, pts=5
I0419 20:55:40.494413 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56258m maha_sq=107.047 (gate chi2=5.99) pose_sigma=(0.246311, 0.246311, rho=0) det_map=(-2.65092, -3.5045) lm_pos=(-0.285, -2.52) delta=(-2.36592, -0.984497) -> 0 candidate(s)
I0419 20:55:40.541292 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:40.590557 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25286, -1.89472), yaw=2.18428 deg backend=(-1.25286, -1.89472)
I0419 20:55:40.622181 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.776945, -0.671343)
I0419 20:55:40.714813 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0679247s, prior_pose=(-1.25295, -1.89573), yaw=2.20697 deg
I0419 20:55:40.714941 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=841, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:55:40.714986 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:40.715003 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:40.717002 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15984, 1.55323), points=5, range=1.9344, residual=0.0135864, extent=0.035907
I0419 20:55:40.717130 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15984, 1.55323), tracking=(-1.45834, -1.55323), map_predicted=(-2.65037, -3.50399), range=1.9344, pts=5
I0419 20:55:40.717163 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56187m maha_sq=106.873 (gate chi2=5.99) pose_sigma=(0.246389, 0.246389, rho=0) det_map=(-2.65037, -3.50399) lm_pos=(-0.285, -2.52) delta=(-2.36537, -0.98399) -> 0 candidate(s)
I0419 20:55:40.717195 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:40.842727 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:40.842869 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:40.842888 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:40.844664 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15746, 1.54538)
I0419 20:55:40.885903 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:40.886053 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:40.905771 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72805, -2.21572), points=3, range=3.51, residual=0.0125058, extent=0.0247491
I0419 20:55:40.905866 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72805, -2.21572), tracking=(-3.02655, 2.21572), map_predicted=(-4.36212, 0.202939), range=3.51, pts=3
I0419 20:55:40.905905 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90279m maha_sq=390.197 (gate chi2=5.99) pose_sigma=(0.246401, 0.246401, rho=0) det_map=(-4.36212, 0.202939) lm_pos=(-0.285, -2.52) delta=(-4.07712, 2.72294) -> 0 candidate(s)
I0419 20:55:40.990353 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563211s, prior_pose=(-1.25131, -1.89578), yaw=2.19965 deg
I0419 20:55:40.990473 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=838, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:55:40.990511 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:40.990526 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:41.022495 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.73252, -2.2062)
I0419 20:55:41.141446 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:41.141551 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:41.141605 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:41.143309 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783245, -0.672883), points=6, range=1.029, residual=0.0115137, extent=0.033226
I0419 20:55:41.143388 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783245, -0.672883), tracking=(1.08175, -0.672883), map_predicted=(-0.145849, -2.52709), range=1.029, pts=6
I0419 20:55:41.143412 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.139332m maha_sq=0.316341 (gate chi2=5.99) pose_sigma=(0.246544, 0.246544, rho=0) det_map=(-0.145849, -2.52709) lm_pos=(-0.285, -2.52) delta=(0.139151, -0.0070916) -> 1 candidate(s)
I0419 20:55:41.261396 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.775756, -0.670296)
I0419 20:55:41.275111 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0438895s, prior_pose=(-1.2535, -1.89381), yaw=2.1799 deg
I0419 20:55:41.275270 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=251, threshold=230, above_threshold=7, candidates=7
I0419 20:55:41.275312 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:41.275331 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:41.290557 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16256, 1.54745), points=3, range=1.92933, residual=0.0122916, extent=0.0246943
I0419 20:55:41.290699 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16256, 1.54745), tracking=(-1.46106, -1.54745), map_predicted=(-2.65465, -3.49571), range=1.92933, pts=3
I0419 20:55:41.290753 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56266m maha_sq=106.77 (gate chi2=5.99) pose_sigma=(0.246656, 0.246656, rho=0) det_map=(-2.65465, -3.49571) lm_pos=(-0.285, -2.52) delta=(-2.36965, -0.975713) -> 0 candidate(s)
I0419 20:55:41.290802 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:41.416643 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1601, 1.5489)
I0419 20:55:41.416739 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:41.416761 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:41.416774 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:41.521647 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.25069, -1.89538), yaw=2.19374 deg backend=(-1.25069, -1.89538)
I0419 20:55:41.524170 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:41.524235 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:41.526139 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.72689, -2.21477), points=3, range=3.509, residual=0.0120045, extent=0.0241949
I0419 20:55:41.526213 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.72689, -2.21477), tracking=(-3.02539, 2.21477), map_predicted=(-4.35864, 0.20196), range=3.509, pts=3
I0419 20:55:41.526237 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.89935m maha_sq=388.114 (gate chi2=5.99) pose_sigma=(0.246921, 0.246921, rho=0) det_map=(-4.35864, 0.20196) lm_pos=(-0.285, -2.52) delta=(-4.07364, 2.72196) -> 0 candidate(s)
I0419 20:55:41.562175 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0683441s, prior_pose=(-1.25069, -1.89538), yaw=2.19468 deg
I0419 20:55:41.562304 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 20:55:41.562361 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:41.562381 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.781413, -0.672857)
I0419 20:55:41.562397 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:41.670562 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:41.670662 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:41.670684 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:41.678225 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777955, -0.672282), points=6, range=1.02967, residual=0.00764631, extent=0.0205038
I0419 20:55:41.678329 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777955, -0.672282), tracking=(1.07646, -0.672282), map_predicted=(-0.153212, -2.52492), range=1.02967, pts=6
I0419 20:55:41.678360 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.13188m maha_sq=0.282378 (gate chi2=5.99) pose_sigma=(0.247148, 0.247148, rho=0) det_map=(-0.153212, -2.52492) lm_pos=(-0.285, -2.52) delta=(0.131788, -0.00491967) -> 1 candidate(s)
I0419 20:55:41.791100 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73372, -2.21375)
I0419 20:55:41.920388 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:41.920626 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556673s, prior_pose=(-1.24764, -1.89387), yaw=2.36755 deg
I0419 20:55:41.920701 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:41.920737 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:41.920756 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:41.921671 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17517, 1.54543), points=5, range=1.9388, residual=0.011015, extent=0.0282256
I0419 20:55:41.921731 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17517, 1.54543), tracking=(-1.47367, -1.54543), map_predicted=(-2.65621, -3.49887), range=1.9388, pts=5
I0419 20:55:41.921754 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56531m maha_sq=106.195 (gate chi2=5.99) pose_sigma=(0.247646, 0.247646, rho=0) det_map=(-2.65621, -3.49887) lm_pos=(-0.285, -2.52) delta=(-2.37121, -0.978865) -> 0 candidate(s)
I0419 20:55:41.921777 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:41.946763 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.755257, -0.672067)
I0419 20:55:41.962551 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:41.962698 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:41.962726 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:42.062688 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:42.062769 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:42.082211 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.78276, -2.19376), points=3, range=3.54533, residual=0.0105709, extent=0.0221212
I0419 20:55:42.082423 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.78276, -2.19376), tracking=(-3.08126, 2.19376), map_predicted=(-4.38428, 0.185522), range=3.54533, pts=3
I0419 20:55:42.082466 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.91161m maha_sq=384.85 (gate chi2=5.99) pose_sigma=(0.248663, 0.248663, rho=0) det_map=(-4.38428, 0.185522) lm_pos=(-0.285, -2.52) delta=(-4.09928, 2.70552) -> 0 candidate(s)
I0419 20:55:42.205650 1218529 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.78117, -2.19252)
I0419 20:55:42.209157 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.039883s, prior_pose=(-1.21395, -1.89415), yaw=1.96614 deg
I0419 20:55:42.209266 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=860, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 20:55:42.209308 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:42.209332 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:42.347908 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:42.348011 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:42.348028 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:42.348937 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.722963, -0.668223)
I0419 20:55:42.349030 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.725762, -0.668884), points=8, range=0.9845, residual=0.0115331, extent=0.0360516
I0419 20:55:42.349057 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.725762, -0.668884), tracking=(1.02426, -0.668884), map_predicted=(-0.159674, -2.52983), range=0.9845, pts=8
I0419 20:55:42.349203 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.125711m maha_sq=0.251262 (gate chi2=5.99) pose_sigma=(0.249627, 0.249627, rho=0) det_map=(-0.159674, -2.52983) lm_pos=(-0.285, -2.52) delta=(0.125326, -0.0098337) -> 1 candidate(s)
I0419 20:55:42.355083 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.19837, -1.89649), yaw=1.99991 deg backend=(-1.19837, -1.89649)
I0419 20:55:42.439805 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.64285, 0.512734)
I0419 20:55:42.442502 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0687716s, prior_pose=(-1.19132, -1.89352), yaw=1.95841 deg
I0419 20:55:42.442618 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=868, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:55:42.442682 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:55:42.442714 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:55:42.461480 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22003, 1.56157), points=4, range=1.978, residual=0.0104177, extent=0.0242114
I0419 20:55:42.461558 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22003, 1.56157), tracking=(-1.51853, -1.56157), map_predicted=(-2.65395, -3.50382), range=1.978, pts=4
I0419 20:55:42.461588 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56512m maha_sq=104.224 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.65395, -3.50382) lm_pos=(-0.285, -2.52) delta=(-2.36895, -0.983817) -> 0 candidate(s)
I0419 20:55:42.461640 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:42.593394 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:42.593504 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:42.593521 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:42.595237 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.21342, 1.57192)
I0419 20:55:42.734339 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:42.734434 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:42.735364 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.89109, -2.11985), points=3, range=3.58767, residual=0.0120471, extent=0.0251245
I0419 20:55:42.735430 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.89109, -2.11985), tracking=(-3.18959, 2.11985), map_predicted=(-4.39807, 0.169886), range=3.58767, pts=3
I0419 20:55:42.735457 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.91455m maha_sq=381.008 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.39807, 0.169886) lm_pos=(-0.285, -2.52) delta=(-4.11307, 2.68989) -> 0 candidate(s)
I0419 20:55:42.740509 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.20168, 1.59471)
I0419 20:55:42.741452 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060699s, prior_pose=(-1.1618, -1.89113), yaw=0.495497 deg
I0419 20:55:42.741523 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=876, max_intensity=249, threshold=230, above_threshold=10, candidates=10
I0419 20:55:42.741569 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:42.741592 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:42.878584 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:42.878687 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:42.878705 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:42.880364 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.701245, -0.622206), points=7, range=0.935857, residual=0.00845863, extent=0.0255155
I0419 20:55:42.880421 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.701245, -0.622206), tracking=(0.999745, -0.622206), map_predicted=(-0.158406, -2.52076), range=0.935857, pts=7
I0419 20:55:42.880445 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.126597m maha_sq=0.254318 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.158406, -2.52076) lm_pos=(-0.285, -2.52) delta=(0.126594, -0.000762366) -> 1 candidate(s)
I0419 20:55:42.881392 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.18413, 1.62984)
I0419 20:55:42.979733 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:43.022173 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.17485, 1.64712)
I0419 20:55:43.128425 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.040484s, prior_pose=(-1.13016, -1.89198), yaw=-1.67098 deg
I0419 20:55:43.128538 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=897, max_intensity=248, threshold=230, above_threshold=10, candidates=10
I0419 20:55:43.128635 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:43.128660 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:43.129621 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17217, 1.65859), points=5, range=2.0278, residual=0.0120909, extent=0.031566
I0419 20:55:43.129681 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17217, 1.65859), tracking=(-1.47067, -1.65859), map_predicted=(-2.64857, -3.50699), range=2.0278, pts=5
I0419 20:55:43.129707 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56136m maha_sq=103.849 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.64857, -3.50699) lm_pos=(-0.285, -2.52) delta=(-2.36357, -0.986988) -> 0 candidate(s)
I0419 20:55:43.129732 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:43.138100 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:43.138221 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:43.138264 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:43.254323 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.18124, 1.65607)
I0419 20:55:43.261014 1218529 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.11783, -1.89454), yaw=-2.04064 deg backend=(-1.11783, -1.89454)
I0419 20:55:43.265172 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:43.265259 1218529 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:43.267632 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.03373, -1.97015), points=4, range=3.6195, residual=0.0146025, extent=0.0341566
I0419 20:55:43.267727 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.03373, -1.97015), tracking=(-3.33223, 1.97015), map_predicted=(-4.37446, 0.19204), range=3.6195, pts=4
I0419 20:55:43.267762 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90702m maha_sq=379.399 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.37446, 0.19204) lm_pos=(-0.285, -2.52) delta=(-4.08946, 2.71204) -> 0 candidate(s)
I0419 20:55:43.396170 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.19568, 1.65077)
I0419 20:55:43.396741 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:43.405354 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.067288s, prior_pose=(-1.11042, -1.89471), yaw=-2.03212 deg
I0419 20:55:43.405491 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=900, max_intensity=251, threshold=230, above_threshold=11, candidates=11
I0419 20:55:43.405571 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:43.405601 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:43.485423 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:43.485993 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:43.486034 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:43.487227 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.65451, -0.603216), points=10, range=0.8883, residual=0.0104168, extent=0.0348234
I0419 20:55:43.487315 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.65451, -0.603216), tracking=(0.95301, -0.603216), map_predicted=(-0.164026, -2.52777), range=0.8883, pts=10
I0419 20:55:43.487373 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.121223m maha_sq=0.233057 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.164026, -2.52777) lm_pos=(-0.285, -2.52) delta=(0.120974, -0.00776858) -> 1 candidate(s)
I0419 20:55:43.488368 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.21292, 1.64918)
I0419 20:55:43.649437 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.23241, 1.64542)
I0419 20:55:43.650281 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05962s, prior_pose=(-1.07827, -1.895), yaw=-1.83365 deg
I0419 20:55:43.650344 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=920, max_intensity=251, threshold=230, above_threshold=10, candidates=10
I0419 20:55:43.650396 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:43.650416 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:43.651271 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23476, 1.65109), points=5, range=2.0564, residual=0.0190153, extent=0.048336
I0419 20:55:43.651314 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23476, 1.65109), tracking=(-1.53326, -1.65109), map_predicted=(-2.66357, -3.49618), range=2.0564, pts=5
I0419 20:55:43.651337 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.5711m maha_sq=104.28 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.66357, -3.49618) lm_pos=(-0.285, -2.52) delta=(-2.37857, -0.976183) -> 0 candidate(s)
I0419 20:55:43.651360 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:43.785990 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:43.786111 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:43.786132 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:43.791723 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.24884, 1.64731)
I0419 20:55:43.911938 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:43.912032 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:55:43.912986 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.08562, -1.97209), points=3, range=3.66633, residual=0.0142557, extent=0.0299249
I0419 20:55:43.913055 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.08562, -1.97209), tracking=(-3.38412, 1.97209), map_predicted=(-4.37964, 0.181358), range=3.66633, pts=3
I0419 20:55:43.913106 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.90545m maha_sq=379.165 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.37964, 0.181358) lm_pos=(-0.285, -2.52) delta=(-4.09464, 2.70136) -> 0 candidate(s)
I0419 20:55:43.917343 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.26412, 1.64748)
I0419 20:55:43.919111 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359712s, prior_pose=(-1.04826, -1.89351), yaw=-1.74758 deg
I0419 20:55:43.919179 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=917, max_intensity=251, threshold=230, above_threshold=12, candidates=12
I0419 20:55:43.919224 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:43.919282 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:44.060595 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:44.060724 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:44.060748 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:44.061900 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.587994, -0.608844), points=11, range=0.848545, residual=0.0108037, extent=0.0332143
I0419 20:55:44.061987 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.587994, -0.608844), tracking=(0.886494, -0.608844), map_predicted=(-0.168654, -2.53077), range=0.848545, pts=11
I0419 20:55:44.062021 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.116843m maha_sq=0.216498 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.168654, -2.53077) lm_pos=(-0.285, -2.52) delta=(0.116346, -0.0107654) -> 1 candidate(s)
I0419 20:55:44.064249 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.28006, 1.64831)
I0419 20:55:44.166477 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.02427, -1.89779), yaw=-1.68384 deg backend=(-1.02427, -1.89779)
I0419 20:55:44.195091 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.29643, 1.64948)
I0419 20:55:44.206038 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0676762s, prior_pose=(-1.01504, -1.89807), yaw=-1.69521 deg
I0419 20:55:44.206190 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=918, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:55:44.206305 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:44.206344 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:44.286868 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3024, 1.65211), points=5, range=2.1004, residual=0.0127351, extent=0.0342412
I0419 20:55:44.286995 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3024, 1.65211), tracking=(-1.6009, -1.65211), map_predicted=(-2.66132, -3.50062), range=2.1004, pts=5
I0419 20:55:44.287027 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.57071m maha_sq=104.57 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.66132, -3.50062) lm_pos=(-0.285, -2.52) delta=(-2.37632, -0.980621) -> 0 candidate(s)
I0419 20:55:44.287055 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:44.314345 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:44.314460 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:44.314482 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:44.342067 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31278, 1.6406)
I0419 20:55:44.412621 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:55:44.412750 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:44.412791 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.78106 deg, rms_residual=0.00617815m, sigma_yaw=0.00817023 rad, N=2
I0419 20:55:44.412817 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.216207 range=0.821333 variance=0.000542275 t_weight=5532.25 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.998592, -1.89513, -1.64116deg) obs_actual=(0.84787, -0.60832) obs_expected=(0.731195, -0.604178) delta=(0.116675, -0.00414295) |delta|=0.116748m
I0419 20:55:44.412894 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.11726, -1.89056, -1.78106deg) inliers=2 rms=0.00617815m
I0419 20:55:44.412937 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:44.412955 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289443813157.
I0419 20:55:44.415690 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.543945, -0.607632), points=11, range=0.817182, residual=0.00948843, extent=0.026279
I0419 20:55:44.415774 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.543945, -0.607632), tracking=(0.842445, -0.607632), map_predicted=(-0.292642, -2.52218), range=0.817182, pts=11
I0419 20:55:44.415799 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00794635m maha_sq=0.00245663 (gate chi2=5.99) pose_sigma=(0.158657, 0.158657, rho=0) det_map=(-0.292642, -2.52218) lm_pos=(-0.285, -2.52) delta=(-0.00764224, -0.00217732) -> 1 candidate(s)
I0419 20:55:44.415823 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:44.415879 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289444137303.
I0419 20:55:44.441992 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289444414365.
I0419 20:55:44.469920 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289444694402.
I0419 20:55:44.555369 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.32973, 1.64211)
I0419 20:55:44.556169 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567212s, prior_pose=(-1.11215, -1.89127), yaw=-1.66875 deg
I0419 20:55:44.556244 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=918, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:55:44.556305 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:44.556329 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:44.556411 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289444981577.
I0419 20:55:44.559141 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289445292115.
I0419 20:55:44.560781 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289445579156.
I0419 20:55:44.590741 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289445897792.
I0419 20:55:44.607036 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:44.607425 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34147, 1.64676), points=4, range=2.1225, residual=0.0087574, extent=0.0215498
I0419 20:55:44.607486 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:44.607517 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:44.607544 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.34147, 1.64676), tracking=(-1.63997, -1.64676), map_predicted=(-2.79559, -3.49057), range=2.1225, pts=4
I0419 20:55:44.607649 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69166m maha_sq=313.444 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.79559, -3.49057) lm_pos=(-0.285, -2.52) delta=(-2.51059, -0.970565) -> 0 candidate(s)
I0419 20:55:44.711424 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289446173368.
I0419 20:55:44.712543 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.34846, 1.63584)
I0419 20:55:44.713393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289446463555.
I0419 20:55:44.716127 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289446781995.
I0419 20:55:44.718837 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289447052039.
I0419 20:55:44.738515 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289447375974.
I0419 20:55:44.850694 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:44.850824 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37768, 0.625424), points=3, range=1.51067, residual=0.00583218, extent=0.0112304
I0419 20:55:44.850890 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.37768, 0.625424), tracking=(1.67618, 0.625424), map_predicted=(0.611682, -1.31154), range=1.51067, pts=3
I0419 20:55:44.850916 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00908927m maha_sq=0.00356898 (gate chi2=5.99) pose_sigma=(0.150439, 0.150439, rho=0) det_map=(0.611682, -1.31154) lm_pos=(0.615, -1.32) delta=(-0.00331806, 0.008462) -> 1 candidate(s)
I0419 20:55:44.850993 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289447662447.
I0419 20:55:44.851863 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.3601, 1.64023)
I0419 20:55:44.853641 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402254s, prior_pose=(-1.0753, -1.8924), yaw=-1.54044 deg
I0419 20:55:44.853719 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=932, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:55:44.853780 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:44.853799 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:44.853860 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289447942850.
I0419 20:55:44.854769 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:44.855520 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00377003 range=0.788071 variance=0.000568942 t_weight=5272.94 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.0753, -1.8924, -1.54044deg) obs_actual=(0.797623, -0.60724) obs_expected=(0.806882, -0.606123) delta=(-0.00925863, -0.00111732) |delta|=0.0093258m
I0419 20:55:44.855587 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289448216770.
I0419 20:55:44.858177 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289448542589.
I0419 20:55:44.957616 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289448822496.
I0419 20:55:44.959152 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:44.959263 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:44.959290 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:44.960572 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289449100556.
I0419 20:55:44.963660 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.37954, 1.63925)
I0419 20:55:44.965057 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289449419698.
I0419 20:55:44.966544 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.19677, -2.00404), points=3, range=3.76933, residual=0.0122661, extent=0.0245237
I0419 20:55:44.966626 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.19677, -2.00404), tracking=(-3.49527, 2.00404), map_predicted=(-4.49993, 0.206624), range=3.76933, pts=3
I0419 20:55:44.966660 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01998m maha_sq=1075.52 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49993, 0.206624) lm_pos=(-0.285, -2.52) delta=(-4.21493, 2.72662) -> 0 candidate(s)
I0419 20:55:44.968439 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.05729, -1.8898), yaw=-1.51691 deg backend=(-0.943353, -1.89829)
I0419 20:55:44.970065 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:44.970160 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:44.970242 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:44.970263 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289449694970.
I0419 20:55:44.998754 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:44.999033 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289449981057.
I0419 20:55:45.083225 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289450293667.
I0419 20:55:45.086094 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289450579430.
I0419 20:55:45.087074 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39308, 1.64076)
I0419 20:55:45.087788 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0675282s, prior_pose=(-1.05261, -1.88697), yaw=-1.49204 deg
I0419 20:55:45.087853 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=920, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:55:45.087914 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:45.087934 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:45.088011 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289450857424.
I0419 20:55:45.118232 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289451174274.
I0419 20:55:45.246189 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.463651, -0.607872), points=13, range=0.766462, residual=0.0101827, extent=0.0318447
I0419 20:55:45.246342 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.463651, -0.607872), tracking=(0.762151, -0.607872), map_predicted=(-0.294583, -2.51607), range=0.766462, pts=13
I0419 20:55:45.246372 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0103585m maha_sq=0.00461864 (gate chi2=5.99) pose_sigma=(0.150626, 0.150626, rho=0) det_map=(-0.294583, -2.51607) lm_pos=(-0.285, -2.52) delta=(-0.00958269, 0.00393324) -> 1 candidate(s)
I0419 20:55:45.246459 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289451460050.
I0419 20:55:45.248340 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289451782049.
I0419 20:55:45.250862 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:45.251003 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:45.251041 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:45.252965 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289452060779.
I0419 20:55:45.255004 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.40045, 1.63974)
I0419 20:55:45.259326 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289452338900.
I0419 20:55:45.266160 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000737144 range=0.765308 variance=0.000575342 t_weight=5214.29 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03363, -1.8926, -1.52103deg) obs_actual=(0.761007, -0.606343) obs_expected=(0.765018, -0.607305) delta=(-0.00401056, 0.000961914) |delta|=0.0041243m
I0419 20:55:45.266362 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289452655413.
I0419 20:55:45.348558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289452937193.
I0419 20:55:45.349598 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39894, 1.6428), points=5, range=2.1544, residual=0.0130597, extent=0.034692
I0419 20:55:45.349664 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.39894, 1.6428), tracking=(-1.69744, -1.6428), map_predicted=(-2.77048, -3.49221), range=2.1544, pts=5
I0419 20:55:45.349687 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66886m maha_sq=306.864 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77048, -3.49221) lm_pos=(-0.285, -2.52) delta=(-2.48548, -0.972213) -> 0 candidate(s)
I0419 20:55:45.351473 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289453221516.
I0419 20:55:45.354971 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289453540421.
I0419 20:55:45.378078 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.39702, 1.63095)
I0419 20:55:45.382436 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597515s, prior_pose=(-1.03258, -1.89592), yaw=-1.49466 deg
I0419 20:55:45.382572 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=922, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:45.382685 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:45.382722 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:45.382954 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289453819031.
I0419 20:55:45.402300 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:45.512135 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289454094720.
I0419 20:55:45.514045 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289454419719.
I0419 20:55:45.516609 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.463494, -0.607649), points=14, range=0.765429, residual=0.011801, extent=0.0439166
I0419 20:55:45.516676 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.463494, -0.607649), tracking=(0.761994, -0.607649), map_predicted=(-0.285671, -2.51866), range=0.765429, pts=14
I0419 20:55:45.516697 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00149422m maha_sq=9.65806e-05 (gate chi2=5.99) pose_sigma=(0.150128, 0.150128, rho=0) det_map=(-0.285671, -2.51866) lm_pos=(-0.285, -2.52) delta=(-0.000670577, 0.0013353) -> 1 candidate(s)
I0419 20:55:45.516772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289454696633.
I0419 20:55:45.517689 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:45.517735 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:45.517751 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:45.519483 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289454974997.
I0419 20:55:45.520331 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.39768, 1.63169)
I0419 20:55:45.530568 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289455300882.
I0419 20:55:45.600426 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:45.600535 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:45.600602 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:45.600625 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289455580174.
I0419 20:55:45.603497 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:45.603624 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289455900275.
I0419 20:55:45.618839 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289456180543.
I0419 20:55:45.638913 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39681, 1.63548), points=6, range=2.14833, residual=0.0138297, extent=0.0387882
I0419 20:55:45.639074 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.39681, 1.63548), tracking=(-1.69531, -1.63548), map_predicted=(-2.76814, -3.48414), range=2.14833, pts=6
I0419 20:55:45.639132 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66375m maha_sq=305.046 (gate chi2=5.99) pose_sigma=(0.150096, 0.150096, rho=0) det_map=(-2.76814, -3.48414) lm_pos=(-0.285, -2.52) delta=(-2.48314, -0.964139) -> 0 candidate(s)
I0419 20:55:45.646078 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=5.23251e-06 range=0.764786 variance=0.000579107 t_weight=5180.39 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03075, -1.89344, -1.49476deg) obs_actual=(0.761503, -0.606994) obs_expected=(0.761836, -0.606894) delta=(-0.000333162, -9.95811e-05) |delta|=0.000347726m
I0419 20:55:45.646252 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289456452579.
I0419 20:55:45.666340 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.39719, 1.63595)
I0419 20:55:45.773692 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.03971s, prior_pose=(-1.03084, -1.89676), yaw=-1.50378 deg
I0419 20:55:45.773803 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=925, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:45.773876 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:45.773895 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:45.773985 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289456778944.
I0419 20:55:45.775739 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289457059438.
I0419 20:55:45.778509 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289457332319.
I0419 20:55:45.781250 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289457614749.
I0419 20:55:45.782262 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:45.782331 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:45.782352 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:45.794826 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289457939880.
I0419 20:55:45.898160 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39746, 1.63624)
I0419 20:55:45.898268 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21211, -2.00716), points=4, range=3.78475, residual=0.014692, extent=0.0351179
I0419 20:55:45.898295 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21211, -2.00716), tracking=(-3.51061, 2.00716), map_predicted=(-4.48642, 0.206512), range=3.78475, pts=4
I0419 20:55:45.898320 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00857m maha_sq=1065.46 (gate chi2=5.99) pose_sigma=(0.150152, 0.150152, rho=0) det_map=(-4.48642, 0.206512) lm_pos=(-0.285, -2.52) delta=(-4.20142, 2.72651) -> 0 candidate(s)
I0419 20:55:45.899148 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.88089 deg, rms_residual=0.00174821m, sigma_yaw=0.00232552 rad, N=2
I0419 20:55:45.899210 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.02712, -1.88989, -1.88089deg) inliers=2 rms=0.00174821m
I0419 20:55:45.899243 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289458217153.
I0419 20:55:45.901506 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.02903, -1.8916), yaw=-1.50767 deg backend=(-0.923222, -1.89478)
I0419 20:55:45.902184 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289458499354.
I0419 20:55:45.903962 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289458813672.
I0419 20:55:45.911018 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289459102384.
I0419 20:55:46.025653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289459415197.
I0419 20:55:46.026729 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.39618, 1.63955)
I0419 20:55:46.027565 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722882s, prior_pose=(-1.02964, -1.89183), yaw=-1.49986 deg
I0419 20:55:46.027675 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=924, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 20:55:46.027743 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:46.027761 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:46.027778 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.463716, -0.607936), points=14, range=0.768786, residual=0.0136861, extent=0.040528
I0419 20:55:46.027792 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.463716, -0.607936), tracking=(0.762216, -0.607936), map_predicted=(-0.283595, -2.51951), range=0.768786, pts=14
I0419 20:55:46.027809 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00148746m maha_sq=9.56686e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.283595, -2.51951) lm_pos=(-0.285, -2.52) delta=(0.00140519, 0.000487816) -> 1 candidate(s)
I0419 20:55:46.027875 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289459699688.
I0419 20:55:46.029807 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:46.030857 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289459984280.
I0419 20:55:46.033730 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.011468 range=1.47325 variance=0.000592933 t_weight=5059.59 r_weight=0 yaml=(0.615, -1.32) prior=(-1.02743, -1.88947, -1.49915deg) obs_actual=(1.63772, 0.624478) obs_expected=(1.62697, 0.612246) delta=(0.0107505, 0.0122311) |delta|=0.0162842m
I0419 20:55:46.033885 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289460261250.
I0419 20:55:46.055727 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289460538772.
I0419 20:55:46.130573 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:46.130692 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:46.130712 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:46.131670 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289460855701.
I0419 20:55:46.132603 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39784, 1.6367)
I0419 20:55:46.134460 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289461138236.
I0419 20:55:46.135438 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21255, -1.99448), points=4, range=3.78325, residual=0.0155696, extent=0.0375781
I0419 20:55:46.135537 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21255, -1.99448), tracking=(-3.51105, 1.99448), map_predicted=(-4.48825, 0.191095), range=3.78325, pts=4
I0419 20:55:46.135563 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00173m maha_sq=1063.42 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48825, 0.191095) lm_pos=(-0.285, -2.52) delta=(-4.20325, 2.7111) -> 0 candidate(s)
I0419 20:55:46.146610 1218529 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:46.146737 1218529 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:46.146850 1218529 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:46.146886 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289461458785.
I0419 20:55:46.174315 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:46.174481 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289461738153.
I0419 20:55:46.268608 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289462055848.
I0419 20:55:46.269457 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:46.270767 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289462334027.
I0419 20:55:46.272758 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.40084, 1.64019)
I0419 20:55:46.273662 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563433s, prior_pose=(-1.02757, -1.89113), yaw=-1.49795 deg
I0419 20:55:46.273725 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=925, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:55:46.273789 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:46.273810 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:46.273870 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289462619281.
I0419 20:55:46.290781 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289462900641.
I0419 20:55:46.309930 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21567, -1.9964), points=3, range=3.785, residual=0.00966694, extent=0.0230977
I0419 20:55:46.310040 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21567, -1.9964), tracking=(-3.51417, 1.9964), map_predicted=(-4.48869, 0.197073), range=3.785, pts=3
I0419 20:55:46.310070 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00534m maha_sq=1071.73 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48869, 0.197073) lm_pos=(-0.285, -2.52) delta=(-4.20369, 2.71707) -> 0 candidate(s)
I0419 20:55:46.322309 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289463217891.
I0419 20:55:46.393463 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289463496574.
I0419 20:55:46.394423 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:46.394490 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:46.394544 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:46.396267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289463781178.
I0419 20:55:46.398762 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39732, 1.63609)
I0419 20:55:46.410782 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289464100656.
I0419 20:55:46.437770 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289464372427.
I0419 20:55:46.544862 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00159697 range=0.767077 variance=0.000555065 t_weight=5404.78 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03501, -1.89575, -1.54766deg) obs_actual=(0.762322, -0.608084) obs_expected=(0.766597, -0.603769) delta=(-0.00427481, -0.00431496) |delta|=0.00607395m
I0419 20:55:46.545039 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289464699177.
I0419 20:55:46.547122 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.461953, -0.607424), points=14, range=0.765571, residual=0.0122274, extent=0.0432086
I0419 20:55:46.547230 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.461953, -0.607424), tracking=(0.760453, -0.607424), map_predicted=(-0.291241, -2.52349), range=0.765571, pts=14
I0419 20:55:46.547264 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00714907m maha_sq=0.00221356 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.291241, -2.52349) lm_pos=(-0.285, -2.52) delta=(-0.00624058, -0.00348776) -> 1 candidate(s)
I0419 20:55:46.547355 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289464972164.
I0419 20:55:46.550199 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289465255857.
I0419 20:55:46.551330 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39719, 1.63594)
I0419 20:55:46.558463 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399747s, prior_pose=(-1.03296, -1.89381), yaw=-1.54743 deg
I0419 20:55:46.558558 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=926, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 20:55:46.558636 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:46.558658 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:46.558776 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289465579332.
I0419 20:55:46.573837 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:46.588236 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289465859989.
I0419 20:55:46.661247 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289466138052.
I0419 20:55:46.663941 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289466460365.
I0419 20:55:46.665203 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:46.665297 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21041, -2.0061), points=4, range=3.78225, residual=0.0151253, extent=0.0362328
I0419 20:55:46.665318 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:46.665365 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:46.665380 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21041, -2.0061), tracking=(-3.50891, 2.0061), map_predicted=(-4.4896, 0.204751), range=3.78225, pts=4
I0419 20:55:46.665396 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01028m maha_sq=1067.69 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.4896, 0.204751) lm_pos=(-0.285, -2.52) delta=(-4.2046, 2.72475) -> 0 candidate(s)
I0419 20:55:46.678145 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289466776407.
I0419 20:55:46.694434 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39797, 1.63685)
I0419 20:55:46.702647 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289467020816.
I0419 20:55:46.794677 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03396, -1.89799), yaw=-1.53124 deg backend=(-0.952057, -1.89633)
I0419 20:55:46.795459 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:46.795522 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:46.795568 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:46.795589 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289467302369.
I0419 20:55:46.797298 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:46.797386 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289467618818.
I0419 20:55:46.800045 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289467936058.
I0419 20:55:46.822767 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289468221752.
I0419 20:55:46.841775 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.39303, 1.63589)
I0419 20:55:46.841876 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21239, -2.00733), points=4, range=3.78575, residual=0.0142139, extent=0.0342218
I0419 20:55:46.841907 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21239, -2.00733), tracking=(-3.51089, 2.00733), map_predicted=(-4.48969, 0.201762), range=3.78575, pts=4
I0419 20:55:46.841933 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00874m maha_sq=1068.22 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48969, 0.201762) lm_pos=(-0.285, -2.52) delta=(-4.20469, 2.72176) -> 0 candidate(s)
I0419 20:55:46.850129 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0679022s, prior_pose=(-1.03363, -1.89857), yaw=-1.52947 deg
I0419 20:55:46.850241 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=925, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:46.850342 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:46.850370 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:46.850497 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289468497560.
I0419 20:55:46.936797 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000621254 range=0.765769 variance=0.000567545 t_weight=5285.92 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03197, -1.89631, -1.52377deg) obs_actual=(0.76145, -0.60692) obs_expected=(0.763295, -0.603609) delta=(-0.00184514, -0.00331141) |delta|=0.00379077m
I0419 20:55:46.936980 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289468813777.
I0419 20:55:46.939914 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289469095031.
I0419 20:55:46.942772 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289469422384.
I0419 20:55:46.958097 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:46.958294 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:46.958644 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:46.970139 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289469695819.
I0419 20:55:46.986907 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.39909, 1.63334)
I0419 20:55:47.060954 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.46378, -0.608002), points=13, range=0.767615, residual=0.0121697, extent=0.0410595
I0419 20:55:47.061100 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.46378, -0.608002), tracking=(0.76228, -0.608002), map_predicted=(-0.28352, -2.52225), range=0.767615, pts=13
I0419 20:55:47.061136 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00269384m maha_sq=0.000314152 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(-0.28352, -2.52225) lm_pos=(-0.285, -2.52) delta=(0.00147959, -0.00225113) -> 1 candidate(s)
I0419 20:55:47.061218 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289469980632.
I0419 20:55:47.062990 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289470252803.
I0419 20:55:47.065793 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.79256 deg, rms_residual=0.00369503m, sigma_yaw=0.00490255 rad, N=2
I0419 20:55:47.065907 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.02919, -1.89266, -1.79256deg) inliers=2 rms=0.00369503m
I0419 20:55:47.065941 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289470581967.
I0419 20:55:47.086745 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289470856322.
I0419 20:55:47.114642 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289471141153.
I0419 20:55:47.185523 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39706, 1.63579)
I0419 20:55:47.186394 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565545s, prior_pose=(-1.03139, -1.89538), yaw=-1.53535 deg
I0419 20:55:47.186466 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=926, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:55:47.186537 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:47.186559 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:47.186676 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289471421867.
I0419 20:55:47.187594 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21404, -2.00187), points=3, range=3.78367, residual=0.0116285, extent=0.0234119
I0419 20:55:47.187654 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21404, -2.00187), tracking=(-3.51254, 2.00187), map_predicted=(-4.48903, 0.19989), range=3.78367, pts=3
I0419 20:55:47.187678 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00716m maha_sq=1070.61 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48903, 0.19989) lm_pos=(-0.285, -2.52) delta=(-4.20403, 2.71989) -> 0 candidate(s)
I0419 20:55:47.187702 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:47.193994 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289471734393.
I0419 20:55:47.202513 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00192746 range=1.46933 variance=0.000583948 t_weight=5137.44 r_weight=0 yaml=(0.615, -1.32) prior=(-1.03177, -1.8953, -1.53537deg) obs_actual=(1.63395, 0.625085) obs_expected=(1.63077, 0.619221) delta=(0.00317916, 0.00586399) |delta|=0.00667034m
I0419 20:55:47.202907 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289472019925.
I0419 20:55:47.230576 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289472299620.
I0419 20:55:47.249876 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:47.249981 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:47.250003 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:47.321745 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289472615659.
I0419 20:55:47.322649 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39694, 1.63563)
I0419 20:55:47.323550 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289472896381.
I0419 20:55:47.325425 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21183, -2.00698), points=4, range=3.78425, residual=0.0148427, extent=0.035468
I0419 20:55:47.325487 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21183, -2.00698), tracking=(-3.51033, 2.00698), map_predicted=(-4.48786, 0.203686), range=3.78425, pts=4
I0419 20:55:47.325512 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00824m maha_sq=1064.75 (gate chi2=5.99) pose_sigma=(0.150179, 0.150179, rho=0) det_map=(-4.48786, 0.203686) lm_pos=(-0.285, -2.52) delta=(-4.20286, 2.72369) -> 0 candidate(s)
I0419 20:55:47.326195 1218529 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:47.326236 1218529 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:47.326277 1218529 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:47.326297 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289473180303.
I0419 20:55:47.350411 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:47.350626 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289473500196.
I0419 20:55:47.378154 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289473775949.
I0419 20:55:47.478413 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289474092344.
I0419 20:55:47.479545 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39616, 1.63472)
I0419 20:55:47.481580 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0395151s, prior_pose=(-1.03143, -1.89543), yaw=-1.53597 deg
I0419 20:55:47.481670 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=919, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:55:47.481742 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:47.481763 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:47.481866 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289474372302.
I0419 20:55:47.482831 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39554, 1.63881), points=5, range=2.1482, residual=0.0147644, extent=0.0382645
I0419 20:55:47.482894 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.39554, 1.63881), tracking=(-1.69404, -1.63881), map_predicted=(-2.76878, -3.48824), range=2.1482, pts=5
I0419 20:55:47.482920 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66583m maha_sq=305.553 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.76878, -3.48824) lm_pos=(-0.285, -2.52) delta=(-2.48378, -0.968242) -> 0 candidate(s)
I0419 20:55:47.483760 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289474653767.
I0419 20:55:47.498822 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289474981936.
I0419 20:55:47.585772 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00853203 range=1.47833 variance=0.000567901 t_weight=5282.61 r_weight=0 yaml=(0.615, -1.32) prior=(-1.03303, -1.89261, -1.53257deg) obs_actual=(1.64347, 0.624779) obs_expected=(1.63212, 0.616487) delta=(0.0113422, 0.00829257) |delta|=0.0140503m
I0419 20:55:47.585959 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289475258315.
I0419 20:55:47.587060 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:47.587212 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:47.587262 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:47.588219 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289475538791.
I0419 20:55:47.590327 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39629, 1.63487)
I0419 20:55:47.591288 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289475820104.
I0419 20:55:47.603291 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03547, -1.89659), yaw=-1.56503 deg backend=(-0.950874, -1.89669)
I0419 20:55:47.614480 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289476136445.
I0419 20:55:47.631021 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39372, 1.64152), points=6, range=2.14983, residual=0.0156926, extent=0.0440058
I0419 20:55:47.631148 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.39372, 1.64152), tracking=(-1.69222, -1.64152), map_predicted=(-2.77189, -3.49128), range=2.14983, pts=6
I0419 20:55:47.631198 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66983m maha_sq=306.097 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77189, -3.49128) lm_pos=(-0.285, -2.52) delta=(-2.48689, -0.971278) -> 0 candidate(s)
I0419 20:55:47.642465 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289476415163.
I0419 20:55:47.744468 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:47.744724 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289476739391.
I0419 20:55:47.747512 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289477019202.
I0419 20:55:47.748387 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39424, 1.64213)
I0419 20:55:47.749238 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682673s, prior_pose=(-1.03633, -1.89808), yaw=-1.62897 deg
I0419 20:55:47.749300 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=925, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:55:47.749366 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:47.749387 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:47.749456 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289477297387.
I0419 20:55:47.751283 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:47.762868 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289477620363.
I0419 20:55:47.831537 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:47.853022 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289477894597.
I0419 20:55:47.854169 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.2172, -1.98442), points=4, range=3.78075, residual=0.0142152, extent=0.0344523
I0419 20:55:47.854295 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.2172, -1.98442), tracking=(-3.5157, 1.98442), map_predicted=(-4.49061, 0.187366), range=3.78075, pts=4
I0419 20:55:47.854328 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0017m maha_sq=1065.26 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49061, 0.187366) lm_pos=(-0.285, -2.52) delta=(-4.20561, 2.70737) -> 0 candidate(s)
I0419 20:55:47.855082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289478172102.
I0419 20:55:47.857108 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:47.857205 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:47.857223 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:47.858219 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289478498776.
I0419 20:55:47.867602 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.38866, 1.65007)
I0419 20:55:47.881994 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289478789409.
I0419 20:55:47.910403 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:47.910519 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:47.910604 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:47.910625 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289479099251.
I0419 20:55:47.983588 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:47.983721 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00559657 range=1.473 variance=0.000559359 t_weight=5363.28 r_weight=0 yaml=(0.615, -1.32) prior=(-1.03442, -1.90031, -1.95597deg) obs_actual=(1.62542, 0.647171) obs_expected=(1.62865, 0.636273) delta=(-0.00322867, 0.010897) |delta|=0.0113653m
I0419 20:55:47.983795 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289479374885.
I0419 20:55:47.986579 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473558, -0.595315), points=13, range=0.762769, residual=0.0103626, extent=0.0328415
I0419 20:55:47.986687 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473558, -0.595315), tracking=(0.772058, -0.595315), map_predicted=(-0.286314, -2.52427), range=0.762769, pts=13
I0419 20:55:47.986711 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00447044m maha_sq=0.000865691 (gate chi2=5.99) pose_sigma=(0.150128, 0.150128, rho=0) det_map=(-0.286314, -2.52427) lm_pos=(-0.285, -2.52) delta=(-0.0013137, -0.00427305) -> 1 candidate(s)
I0419 20:55:47.986801 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289479657971.
I0419 20:55:47.994699 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289479939396.
I0419 20:55:48.014572 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.3614, 1.67126)
I0419 20:55:48.026665 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602891s, prior_pose=(-1.03376, -1.89749), yaw=-2.56016 deg
I0419 20:55:48.026803 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=937, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:48.026947 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:48.026993 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:48.027220 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289480260862.
I0419 20:55:48.146056 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289480538882.
I0419 20:55:48.147876 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289480819329.
I0419 20:55:48.150558 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.75559 deg, rms_residual=0.00514598m, sigma_yaw=0.00681455 rad, N=2
I0419 20:55:48.150656 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.03428, -1.89488, -2.75559deg) inliers=2 rms=0.00514598m
I0419 20:55:48.150719 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289481132983.
I0419 20:55:48.151578 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:48.151624 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:48.151643 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:48.153518 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476157, -0.591489), points=13, range=0.761231, residual=0.0101114, extent=0.0311875
I0419 20:55:48.153594 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476157, -0.591489), tracking=(0.774657, -0.591489), map_predicted=(-0.28654, -2.52158), range=0.761231, pts=13
I0419 20:55:48.153620 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00220972m maha_sq=0.000211716 (gate chi2=5.99) pose_sigma=(0.150072, 0.150072, rho=0) det_map=(-0.28654, -2.52158) lm_pos=(-0.285, -2.52) delta=(-0.00153981, -0.00158488) -> 1 candidate(s)
I0419 20:55:48.153700 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289481414880.
I0419 20:55:48.162740 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.36649, 1.67256)
I0419 20:55:48.171018 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289481700827.
I0419 20:55:48.282047 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289482021829.
I0419 20:55:48.284787 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289482296400.
I0419 20:55:48.286691 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289482612517.
I0419 20:55:48.290948 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289482900594.
I0419 20:55:48.309966 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36315, 1.67345)
I0419 20:55:48.391655 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0391403s, prior_pose=(-1.03239, -1.8961), yaw=-2.75398 deg
I0419 20:55:48.391767 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=931, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:55:48.391846 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:48.391867 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:48.391954 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289483173288.
I0419 20:55:48.393021 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25565, -1.93052), points=3, range=3.785, residual=0.00993896, extent=0.0237803
I0419 20:55:48.393112 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25565, -1.93052), tracking=(-3.55415, 1.93052), map_predicted=(-4.48968, 0.202953), range=3.785, pts=3
I0419 20:55:48.393139 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00937m maha_sq=1073.21 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48968, 0.202953) lm_pos=(-0.285, -2.52) delta=(-4.20468, 2.72295) -> 0 candidate(s)
I0419 20:55:48.393160 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:48.394037 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289483498799.
I0419 20:55:48.396941 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289483778582.
I0419 20:55:48.406091 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289484051848.
I0419 20:55:48.426731 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:48.426860 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:48.426935 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:48.446905 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00120361 range=0.762133 variance=0.000580089 t_weight=5171.62 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.0325, -1.8958, -2.73907deg) obs_actual=(0.773982, -0.592412) obs_expected=(0.776475, -0.587768) delta=(-0.00249258, -0.00464397) |delta|=0.00527062m
I0419 20:55:48.447181 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289484459144.
I0419 20:55:48.556764 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36317, 1.67343)
I0419 20:55:48.557704 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289484657169.
I0419 20:55:48.559856 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03033, -1.8921), yaw=-2.71668 deg backend=(-0.965401, -1.89318)
I0419 20:55:48.560400 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:48.560442 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:48.560487 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:48.560508 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289484944578.
I0419 20:55:48.561470 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36441, 1.67493), points=4, range=2.158, residual=0.0101025, extent=0.0247178
I0419 20:55:48.561523 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.36441, 1.67493), tracking=(-1.66291, -1.67493), map_predicted=(-2.77076, -3.48633), range=2.158, pts=4
I0419 20:55:48.561545 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66698m maha_sq=307.335 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77076, -3.48633) lm_pos=(-0.285, -2.52) delta=(-2.48576, -0.966327) -> 0 candidate(s)
I0419 20:55:48.562274 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:48.562355 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289485253256.
I0419 20:55:48.564872 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289485541502.
I0419 20:55:48.684422 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289485818819.
I0419 20:55:48.685477 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36316, 1.67344)
I0419 20:55:48.686378 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0686302s, prior_pose=(-1.03498, -1.89681), yaw=-2.72533 deg
I0419 20:55:48.686480 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=932, max_intensity=254, threshold=230, above_threshold=15, candidates=15
I0419 20:55:48.686592 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:48.686612 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:48.686707 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289486102126.
I0419 20:55:48.689589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289486413814.
I0419 20:55:48.692510 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33039, 0.660886), points=3, range=1.48267, residual=0.00652838, extent=0.0132036
I0419 20:55:48.692637 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.33039, 0.660886), tracking=(1.62889, 0.660886), map_predicted=(0.622571, -1.31512), range=1.48267, pts=3
I0419 20:55:48.692662 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00900554m maha_sq=0.00351989 (gate chi2=5.99) pose_sigma=(0.15006, 0.15006, rho=0) det_map=(0.622571, -1.31512) lm_pos=(0.615, -1.32) delta=(0.00757083, 0.00487672) -> 1 candidate(s)
I0419 20:55:48.692737 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289486701246.
I0419 20:55:48.702490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289487016171.
I0419 20:55:48.802493 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:48.802608 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:48.802632 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:48.803493 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289487296046.
I0419 20:55:48.804706 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36405, 1.67452)
I0419 20:55:48.806679 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289487580000.
I0419 20:55:48.808322 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289487862552.
I0419 20:55:48.818328 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289488175135.
I0419 20:55:48.947041 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.002043 range=0.763 variance=0.000586328 t_weight=5116.59 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03401, -1.8976, -2.75161deg) obs_actual=(0.77692, -0.592507) obs_expected=(0.778022, -0.585722) delta=(-0.00110182, -0.00678504) |delta|=0.00687392m
I0419 20:55:48.947175 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289488455805.
I0419 20:55:48.948167 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25565, -1.93052), points=3, range=3.785, residual=0.0102688, extent=0.0246069
I0419 20:55:48.948225 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25565, -1.93052), tracking=(-3.55415, 1.93052), map_predicted=(-4.49138, 0.201312), range=3.785, pts=3
I0419 20:55:48.948246 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00991m maha_sq=1073.14 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49138, 0.201312) lm_pos=(-0.285, -2.52) delta=(-4.20638, 2.72131) -> 0 candidate(s)
I0419 20:55:48.949026 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289488773625.
I0419 20:55:48.951004 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36241, 1.6725)
I0419 20:55:48.951718 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604853s, prior_pose=(-1.03394, -1.89759), yaw=-2.75238 deg
I0419 20:55:48.951776 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=934, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:48.951833 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:48.951851 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:48.951920 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289489060658.
I0419 20:55:48.952821 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:48.954705 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289489377478.
I0419 20:55:48.967540 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289489659700.
I0419 20:55:49.076639 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289489932809.
I0419 20:55:49.077670 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:49.077732 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:49.077754 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:49.079584 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289490260535.
I0419 20:55:49.080860 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36469, 1.67529)
I0419 20:55:49.080955 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36599, 1.67191), points=5, range=2.1608, residual=0.0119096, extent=0.0314922
I0419 20:55:49.080996 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.36599, 1.67191), tracking=(-1.66449, -1.67191), map_predicted=(-2.77742, -3.48662), range=2.1608, pts=5
I0419 20:55:49.081030 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67329m maha_sq=308.257 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77742, -3.48662) lm_pos=(-0.285, -2.52) delta=(-2.49242, -0.966624) -> 0 candidate(s)
I0419 20:55:49.082437 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289490533820.
I0419 20:55:49.087092 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:49.087203 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:49.087282 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:49.087319 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289490859898.
I0419 20:55:49.195042 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:49.195173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289491141754.
I0419 20:55:49.196069 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:49.196908 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289491421866.
I0419 20:55:49.199717 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289491697401.
I0419 20:55:49.200663 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36443, 1.67498)
I0419 20:55:49.202411 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0375308s, prior_pose=(-1.03467, -1.89631), yaw=-2.74108 deg
I0419 20:55:49.202481 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=933, max_intensity=253, threshold=230, above_threshold=15, candidates=15
I0419 20:55:49.202538 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:49.202556 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:49.202611 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289491994166.
I0419 20:55:49.230305 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.482001, -0.59336), points=14, range=0.761786, residual=0.0131948, extent=0.0460352
I0419 20:55:49.230500 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.482001, -0.59336), tracking=(0.780501, -0.59336), map_predicted=(-0.283438, -2.52632), range=0.761786, pts=14
I0419 20:55:49.230562 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0065073m maha_sq=0.00183204 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.283438, -2.52632) lm_pos=(-0.285, -2.52) delta=(0.00156165, -0.00631714) -> 1 candidate(s)
I0419 20:55:49.230717 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289492295032.
I0419 20:55:49.323843 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289492583773.
I0419 20:55:49.326406 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289492865504.
I0419 20:55:49.327312 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:49.327373 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:49.327392 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:49.328313 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289493179504.
I0419 20:55:49.334362 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36216, 1.6722)
I0419 20:55:49.346894 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289493459393.
I0419 20:55:49.475778 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.0301, -1.89417), yaw=-2.75707 deg backend=(-0.97522, -1.89256)
I0419 20:55:49.476547 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000477285 range=0.762786 variance=0.000603743 t_weight=4969 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.0301, -1.89417, -2.75707deg) obs_actual=(0.77416, -0.59259) obs_expected=(0.774346, -0.589269) delta=(-0.000185384, -0.00332073) |delta|=0.0033259m
I0419 20:55:49.476630 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289493777370.
I0419 20:55:49.478399 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289494061688.
I0419 20:55:49.480353 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25106, -1.92779), points=3, range=3.77967, residual=0.00942199, extent=0.0223405
I0419 20:55:49.480474 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25106, -1.92779), tracking=(-3.54956, 1.92779), map_predicted=(-4.48493, 0.201316), range=3.77967, pts=3
I0419 20:55:49.480501 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00449m maha_sq=1069.24 (gate chi2=5.99) pose_sigma=(0.150174, 0.150174, rho=0) det_map=(-4.48493, 0.201316) lm_pos=(-0.285, -2.52) delta=(-4.19993, 2.72132) -> 0 candidate(s)
I0419 20:55:49.481379 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289494334919.
I0419 20:55:49.484017 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289494661078.
I0419 20:55:49.484951 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36393, 1.67436)
I0419 20:55:49.494822 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684193s, prior_pose=(-1.03374, -1.89568), yaw=-2.75778 deg
I0419 20:55:49.494988 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:55:49.495160 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:49.495209 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:49.495456 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289494940122.
I0419 20:55:49.594821 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:49.595774 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289495222131.
I0419 20:55:49.598687 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289495541495.
I0419 20:55:49.600446 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289495820704.
I0419 20:55:49.602453 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:49.602527 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25364, -1.92933), points=4, range=3.7775, residual=0.0174459, extent=0.0407511
I0419 20:55:49.602547 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:49.602561 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:49.602573 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25364, -1.92933), tracking=(-3.55214, 1.92933), map_predicted=(-4.48769, 0.206994), range=3.7775, pts=4
I0419 20:55:49.602597 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0099m maha_sq=1062.94 (gate chi2=5.99) pose_sigma=(0.150089, 0.150089, rho=0) det_map=(-4.48769, 0.206994) lm_pos=(-0.285, -2.52) delta=(-4.20269, 2.72699) -> 0 candidate(s)
I0419 20:55:49.610081 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289496092678.
I0419 20:55:49.630338 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.36391, 1.67103)
I0419 20:55:49.734208 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289496413878.
I0419 20:55:49.735994 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:49.736063 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:49.736169 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:49.736195 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289496696157.
I0419 20:55:49.738234 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:49.738330 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289496982039.
I0419 20:55:49.740454 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289497299085.
I0419 20:55:49.758175 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.480883, -0.592014), points=15, range=0.762, residual=0.0121982, extent=0.0445693
I0419 20:55:49.758299 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.480883, -0.592014), tracking=(0.779383, -0.592014), map_predicted=(-0.284797, -2.52392), range=0.762, pts=15
I0419 20:55:49.758332 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00392327m maha_sq=0.00066563 (gate chi2=5.99) pose_sigma=(0.150119, 0.150119, rho=0) det_map=(-0.284797, -2.52392) lm_pos=(-0.285, -2.52) delta=(0.000202912, -0.00391802) -> 1 candidate(s)
I0419 20:55:49.758484 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289497575675.
I0419 20:55:49.840595 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36241, 1.6725)
I0419 20:55:49.841385 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556456s, prior_pose=(-1.03385, -1.89607), yaw=-2.76758 deg
I0419 20:55:49.841457 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=933, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:55:49.841532 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:49.841553 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:49.841615 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00137123 range=0.762867 variance=0.000658286 t_weight=4557.29 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03385, -1.89607, -2.76758deg) obs_actual=(0.774841, -0.591647) obs_expected=(0.778099, -0.587044) delta=(-0.00325767, -0.00460284) |delta|=0.00563902m
I0419 20:55:49.841678 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289497855541.
I0419 20:55:49.844563 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289498140806.
I0419 20:55:49.846414 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289498452653.
I0419 20:55:49.877727 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289498771932.
I0419 20:55:49.894403 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:49.894497 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:49.894518 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:49.966018 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289499061821.
I0419 20:55:49.967075 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36292, 1.67312)
I0419 20:55:49.967859 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289499340597.
I0419 20:55:49.969777 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.24984, -1.93346), points=3, range=3.78067, residual=0.0108193, extent=0.0219853
I0419 20:55:49.969839 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.24984, -1.93346), tracking=(-3.54834, 1.93346), map_predicted=(-4.48262, 0.207766), range=3.78067, pts=3
I0419 20:55:49.969862 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00607m maha_sq=1069.31 (gate chi2=5.99) pose_sigma=(0.150123, 0.150123, rho=0) det_map=(-4.48262, 0.207766) lm_pos=(-0.285, -2.52) delta=(-4.19762, 2.72777) -> 0 candidate(s)
I0419 20:55:49.970652 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289499614301.
I0419 20:55:49.994572 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289499938336.
I0419 20:55:50.022888 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289500220198.
I0419 20:55:50.126694 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289500539749.
I0419 20:55:50.127687 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36557, 1.67638)
I0419 20:55:50.129520 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0400374s, prior_pose=(-1.03091, -1.89377), yaw=-2.75338 deg
I0419 20:55:50.129608 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 20:55:50.129674 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:50.129693 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:50.129788 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289500817378.
I0419 20:55:50.130887 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:50.131681 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289501099572.
I0419 20:55:50.133536 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3633, 1.66863), points=5, range=2.1572, residual=0.0128969, extent=0.0340294
I0419 20:55:50.133594 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3633, 1.66863), tracking=(-1.6618, -1.66863), map_predicted=(-2.77199, -3.48123), range=2.1572, pts=5
I0419 20:55:50.133617 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66629m maha_sq=305.971 (gate chi2=5.99) pose_sigma=(0.15009, 0.15009, rho=0) det_map=(-2.77199, -3.48123) lm_pos=(-0.285, -2.52) delta=(-2.48699, -0.961225) -> 0 candidate(s)
I0419 20:55:50.143071 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289501420925.
I0419 20:55:50.277009 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289501697068.
I0419 20:55:50.278080 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:50.278172 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:50.278191 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:50.278957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289501974777.
I0419 20:55:50.281065 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.36201, 1.66871)
I0419 20:55:50.281947 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289502298546.
I0419 20:55:50.283993 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03337, -1.89468), yaw=-2.76494 deg backend=(-0.977639, -1.89443)
I0419 20:55:50.284642 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:50.284687 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:50.284725 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:50.284740 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289502574908.
I0419 20:55:50.287034 1218529 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:50.287135 1218529 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000769951 range=0.759231 variance=0.000539052 t_weight=5565.33 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03337, -1.89468, -2.76494deg) obs_actual=(0.774492, -0.591272) obs_expected=(0.777659, -0.588496) delta=(-0.00316747, -0.00277598) |delta|=0.00421176m
I0419 20:55:50.287209 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289502866782.
I0419 20:55:50.361773 1218529 pose_graph_2d.cc:160] Inserted submap (1, 10).
I0419 20:55:50.363652 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.478405, -0.590672), points=16, range=0.761, residual=0.013819, extent=0.0467604
I0419 20:55:50.363747 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.478405, -0.590672), tracking=(0.776905, -0.590672), map_predicted=(-0.284511, -2.5234), range=0.761, pts=16
I0419 20:55:50.363775 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00343226m maha_sq=0.00050838 (gate chi2=5.99) pose_sigma=(0.15014, 0.15014, rho=0) det_map=(-0.284511, -2.5234) lm_pos=(-0.285, -2.52) delta=(0.000488861, -0.00339727) -> 1 candidate(s)
I0419 20:55:50.363864 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289503178809.
I0419 20:55:50.366641 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289503460850.
I0419 20:55:50.366914 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:50.368788 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36419, 1.67467)
I0419 20:55:50.374287 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0687543s, prior_pose=(-1.03175, -1.89561), yaw=-2.79108 deg
I0419 20:55:50.374469 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:50.374558 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:50.374583 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:50.374680 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289503739711.
I0419 20:55:50.405961 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289504054311.
I0419 20:55:50.503824 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289504335603.
I0419 20:55:50.505935 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289504616119.
I0419 20:55:50.508064 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:50.508155 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:50.508177 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:50.509104 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289504902087.
I0419 20:55:50.513880 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36317, 1.67344)
I0419 20:55:50.513965 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25416, -1.92324), points=3, range=3.77967, residual=0.0108206, extent=0.0220703
I0419 20:55:50.513991 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25416, -1.92324), tracking=(-3.55266, 1.92324), map_predicted=(-4.48714, 0.197697), range=3.77967, pts=3
I0419 20:55:50.514014 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00438m maha_sq=1070.28 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48714, 0.197697) lm_pos=(-0.285, -2.52) delta=(-4.20214, 2.7177) -> 0 candidate(s)
I0419 20:55:50.522600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289505220465.
I0419 20:55:50.551231 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289505507307.
I0419 20:55:50.636823 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289505781097.
I0419 20:55:50.640949 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289506094726.
I0419 20:55:50.643317 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289506375874.
I0419 20:55:50.658327 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36266, 1.67281)
I0419 20:55:50.670264 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604637s, prior_pose=(-1.03418, -1.89804), yaw=-2.73363 deg
I0419 20:55:50.670409 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=931, max_intensity=254, threshold=230, above_threshold=15, candidates=15
I0419 20:55:50.670516 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:50.670555 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:50.670665 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289506699363.
I0419 20:55:50.690389 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:50.764051 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475522, -0.590628), points=15, range=0.7614, residual=0.0142505, extent=0.0491309
I0419 20:55:50.764189 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475522, -0.590628), tracking=(0.774022, -0.590628), map_predicted=(-0.290503, -2.52386), range=0.7614, pts=15
I0419 20:55:50.764225 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00672214m maha_sq=0.00194926 (gate chi2=5.99) pose_sigma=(0.15013, 0.15013, rho=0) det_map=(-0.290503, -2.52386) lm_pos=(-0.285, -2.52) delta=(-0.00550264, -0.00386111) -> 1 candidate(s)
I0419 20:55:50.764354 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289506987176.
I0419 20:55:50.766131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289507256804.
I0419 20:55:50.768965 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289507544259.
I0419 20:55:50.774703 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:50.775063 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:50.775243 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:50.789005 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289507884264.
I0419 20:55:50.806810 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36456, 1.67514)
I0419 20:55:50.815732 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289508151308.
I0419 20:55:50.818013 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 129
I0419 20:55:50.887777 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:50.887914 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:50.887959 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.63631 deg, rms_residual=0.00651131m, sigma_yaw=0.00860702 rad, N=2
I0419 20:55:50.887982 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00328667 range=0.7622 variance=0.00060361 t_weight=4970.1 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.0337, -1.89884, -2.76532deg) obs_actual=(0.773682, -0.592012) obs_expected=(0.777791, -0.584315) delta=(-0.00410942, -0.00769704) |delta|=0.00872535m
I0419 20:55:50.888020 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.03454, -1.89824, -2.63631deg) inliers=2 rms=0.00651131m
I0419 20:55:50.888049 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:50.888065 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289508467706.
I0419 20:55:50.890833 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:50.890971 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289508733573.
I0419 20:55:50.894490 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25321, -1.9163), points=4, range=3.775, residual=0.0139524, extent=0.0330489
I0419 20:55:50.894609 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25321, -1.9163), tracking=(-3.55171, 1.9163), map_predicted=(-4.48912, 0.186681), range=3.775, pts=4
I0419 20:55:50.894637 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00007m maha_sq=1064.95 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48912, 0.186681) lm_pos=(-0.285, -2.52) delta=(-4.20412, 2.70668) -> 0 candidate(s)
I0419 20:55:50.902390 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289509019439.
I0419 20:55:50.934332 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289509338488.
I0419 20:55:50.953748 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36444, 1.67498)
I0419 20:55:51.049328 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399024s, prior_pose=(-1.03174, -1.8959), yaw=-2.87759 deg
I0419 20:55:51.049470 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=933, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:55:51.049557 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:51.049582 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:51.049669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289509617205.
I0419 20:55:51.051453 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289509933790.
I0419 20:55:51.054243 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289510222371.
I0419 20:55:51.056969 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289510499504.
I0419 20:55:51.069849 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:51.069957 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36381, 1.67917), points=5, range=2.1606, residual=0.011578, extent=0.0303275
I0419 20:55:51.069978 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:51.069993 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:51.070005 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.36381, 1.67917), tracking=(-1.66231, -1.67917), map_predicted=(-2.7747, -3.48744), range=2.1606, pts=5
I0419 20:55:51.070025 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67105m maha_sq=307.845 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7747, -3.48744) lm_pos=(-0.285, -2.52) delta=(-2.4897, -0.967442) -> 0 candidate(s)
I0419 20:55:51.077674 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289510771462.
I0419 20:55:51.164790 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36393, 1.67436)
I0419 20:55:51.165839 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289511100796.
I0419 20:55:51.167958 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03256, -1.89416), yaw=-2.86434 deg backend=(-1.03379, -1.89151)
I0419 20:55:51.168725 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289511419120.
I0419 20:55:51.170342 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289511662657.
I0419 20:55:51.198674 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289511980342.
I0419 20:55:51.326201 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289512260080.
I0419 20:55:51.327261 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.3633, 1.67358)
I0419 20:55:51.328022 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635895s, prior_pose=(-1.03121, -1.89448), yaw=-2.85628 deg
I0419 20:55:51.328094 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=938, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:55:51.328156 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:51.328214 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:51.328231 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476162, -0.591485), points=13, range=0.762, residual=0.011391, extent=0.0380322
I0419 20:55:51.328246 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476162, -0.591485), tracking=(0.774662, -0.591485), map_predicted=(-0.286981, -2.52383), range=0.762, pts=13
I0419 20:55:51.328264 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00431554m maha_sq=0.000807304 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.286981, -2.52383) lm_pos=(-0.285, -2.52) delta=(-0.00198129, -0.00383385) -> 1 candidate(s)
I0419 20:55:51.328325 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289512537889.
I0419 20:55:51.330214 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:51.331115 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289512864230.
I0419 20:55:51.333855 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00175656 range=0.762438 variance=0.000621479 t_weight=4827.2 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03286, -1.89581, -2.85775deg) obs_actual=(0.780755, -0.591906) obs_expected=(0.778049, -0.58613) delta=(0.00270609, -0.00577536) |delta|=0.00637791m
I0419 20:55:51.333954 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289513133400.
I0419 20:55:51.346521 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289513453689.
I0419 20:55:51.436444 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:51.436554 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:51.436573 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:51.437482 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289513738997.
I0419 20:55:51.438396 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36468, 1.6753)
I0419 20:55:51.440176 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289514017541.
I0419 20:55:51.441126 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36488, 1.67056), points=5, range=2.159, residual=0.0118384, extent=0.0314735
I0419 20:55:51.441175 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.36488, 1.67056), tracking=(-1.66338, -1.67056), map_predicted=(-2.77952, -3.48194), range=2.159, pts=5
I0419 20:55:51.441200 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67356m maha_sq=308.345 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77952, -3.48194) lm_pos=(-0.285, -2.52) delta=(-2.49452, -0.961938) -> 0 candidate(s)
I0419 20:55:51.441946 1218529 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:51.441988 1218529 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:51.442030 1218529 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:51.442052 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289514343932.
I0419 20:55:51.462172 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:51.462466 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289514613925.
I0419 20:55:51.594022 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289514943487.
I0419 20:55:51.594220 1219494 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.49% real time)
I0419 20:55:51.594339 1219494 collated_trajectory_builder.cc:82] odom rate: 248.60 Hz 4.02e-03 s +/- 7.17e-04 s (pulsed at 99.83% real time)
I0419 20:55:51.594439 1219494 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.25e-03 s (pulsed at 100.36% real time)
I0419 20:55:51.594471 1219494 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.24e-03 s (pulsed at 100.46% real time)
I0419 20:55:51.596204 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289515183694.
I0419 20:55:51.598160 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36494, 1.6756)
I0419 20:55:51.599414 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558126s, prior_pose=(-1.03485, -1.89595), yaw=-2.86934 deg
I0419 20:55:51.599534 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=934, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:55:51.599664 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:51.599706 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:51.599853 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289515501613.
I0419 20:55:51.605749 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289515773444.
I0419 20:55:51.608148 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25365, -1.92932), points=3, range=3.78267, residual=0.00917913, extent=0.0223634
I0419 20:55:51.608258 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25365, -1.92932), tracking=(-3.55215, 1.92932), map_predicted=(-4.48422, 0.210267), range=3.78267, pts=3
I0419 20:55:51.608311 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00877m maha_sq=1073.64 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48422, 0.210267) lm_pos=(-0.285, -2.52) delta=(-4.19922, 2.73027) -> 0 candidate(s)
I0419 20:55:51.609763 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289516091934.
I0419 20:55:51.686810 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289516381230.
I0419 20:55:51.687862 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:51.687960 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:51.687986 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:51.689822 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289516659322.
I0419 20:55:51.690850 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36393, 1.67437)
I0419 20:55:51.698881 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0011588 range=0.761533 variance=0.000588105 t_weight=5101.13 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.0337, -1.89517, -2.8429deg) obs_actual=(0.77587, -0.591213) obs_expected=(0.778767, -0.586928) delta=(-0.00289653, -0.00428539) |delta|=0.00517247m
I0419 20:55:51.699144 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289516977480.
I0419 20:55:51.726408 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289517255687.
I0419 20:55:51.854252 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476567, -0.591975), points=14, range=0.7635, residual=0.0127158, extent=0.0396358
I0419 20:55:51.854379 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476567, -0.591975), tracking=(0.775067, -0.591975), map_predicted=(-0.29083, -2.52704), range=0.7635, pts=14
I0419 20:55:51.854410 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.009144m maha_sq=0.00361584 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(-0.29083, -2.52704) lm_pos=(-0.285, -2.52) delta=(-0.00582977, -0.00704461) -> 1 candidate(s)
I0419 20:55:51.854482 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289517534074.
I0419 20:55:51.856362 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289517860520.
I0419 20:55:51.859330 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289518133939.
I0419 20:55:51.860450 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36393, 1.67436)
I0419 20:55:51.862185 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365379s, prior_pose=(-1.03607, -1.89803), yaw=-2.86734 deg
I0419 20:55:51.862255 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=934, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:51.862322 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:51.862345 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:51.862419 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289518421725.
I0419 20:55:51.863401 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:51.874614 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289518736878.
I0419 20:55:51.982959 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289519053856.
I0419 20:55:51.985786 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289519339146.
I0419 20:55:51.986809 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:51.986900 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25593, -1.93069), points=3, range=3.78533, residual=0.0104094, extent=0.0250724
I0419 20:55:51.986922 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:51.986934 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:51.986943 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25593, -1.93069), tracking=(-3.55443, 1.93069), map_predicted=(-4.48963, 0.20943), range=3.78533, pts=3
I0419 20:55:51.986958 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01285m maha_sq=1074.26 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48963, 0.20943) lm_pos=(-0.285, -2.52) delta=(-4.20463, 2.72943) -> 0 candidate(s)
I0419 20:55:51.987843 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289519618076.
I0419 20:55:51.989867 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36241, 1.67251)
I0419 20:55:51.990762 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289519902331.
I0419 20:55:52.118916 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03837, -1.89603), yaw=-2.86288 deg backend=(-1.03524, -1.88965)
I0419 20:55:52.119719 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:52.119786 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:52.119848 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:52.119867 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289520185191.
I0419 20:55:52.120666 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:52.121542 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:52.121647 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289520500469.
I0419 20:55:52.124125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289520771622.
I0419 20:55:52.126935 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289521100385.
I0419 20:55:52.127784 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36469, 1.67529)
I0419 20:55:52.138212 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0680933s, prior_pose=(-1.03677, -1.89601), yaw=-2.86239 deg
I0419 20:55:52.138352 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=933, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:55:52.138497 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:52.138540 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:52.138582 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.477682, -0.591604), points=14, range=0.763857, residual=0.0135758, extent=0.0433104
I0419 20:55:52.138620 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.477682, -0.591604), tracking=(0.776182, -0.591604), map_predicted=(-0.291103, -2.52563), range=0.763857, pts=14
I0419 20:55:52.138660 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00830469m maha_sq=0.00298254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.291103, -2.52563) lm_pos=(-0.285, -2.52) delta=(-0.00610324, -0.00563191) -> 1 candidate(s)
I0419 20:55:52.138808 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289521375505.
I0419 20:55:52.243496 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289521660311.
I0419 20:55:52.246431 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000257598 range=0.759143 variance=0.000551368 t_weight=5441.01 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03041, -1.89315, -2.85576deg) obs_actual=(0.773687, -0.590286) obs_expected=(0.775714, -0.58893) delta=(-0.00202742, -0.0013557) |delta|=0.00243892m
I0419 20:55:52.246594 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289521989892.
I0419 20:55:52.248090 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289522261476.
I0419 20:55:52.250021 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:52.250103 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:52.250120 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:52.254469 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289522540433.
I0419 20:55:52.274636 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36152, 1.67142)
I0419 20:55:52.376389 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289522838745.
I0419 20:55:52.377643 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36468, 1.66868), points=4, range=2.161, residual=0.0170542, extent=0.0406964
I0419 20:55:52.377712 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.36468, 1.66868), tracking=(-1.66318, -1.66868), map_predicted=(-2.77815, -3.47938), range=2.161, pts=4
I0419 20:55:52.377736 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67137m maha_sq=305.848 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77815, -3.47938) lm_pos=(-0.285, -2.52) delta=(-2.49315, -0.959384) -> 0 candidate(s)
I0419 20:55:52.378662 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289523133341.
I0419 20:55:52.381539 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289523417662.
I0419 20:55:52.384243 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289523736856.
I0419 20:55:52.402369 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289524017306.
I0419 20:55:52.489969 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36316, 1.67344)
I0419 20:55:52.490772 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056188s, prior_pose=(-1.03024, -1.89158), yaw=-2.84505 deg
I0419 20:55:52.490844 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=927, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:52.490913 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:52.490934 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:52.491022 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289524298736.
I0419 20:55:52.492023 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:52.493947 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289524611904.
I0419 20:55:52.495640 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476731, -0.592194), points=13, range=0.763077, residual=0.0117395, extent=0.0353855
I0419 20:55:52.495692 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476731, -0.592194), tracking=(0.775231, -0.592194), map_predicted=(-0.285359, -2.52102), range=0.763077, pts=13
I0419 20:55:52.495716 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00108447m maha_sq=5.0962e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.285359, -2.52102) lm_pos=(-0.285, -2.52) delta=(-0.000359498, -0.00102315) -> 1 candidate(s)
I0419 20:55:52.495829 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289524899860.
I0419 20:55:52.518795 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289525179763.
I0419 20:55:52.538341 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:52.538429 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:52.538450 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:52.621537 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289525533932.
I0419 20:55:52.622869 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.36425, 1.66979)
I0419 20:55:52.623893 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289525779518.
I0419 20:55:52.627182 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:52.627266 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:52.627425 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:52.627452 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289526059914.
I0419 20:55:52.634528 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:52.634639 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=8.51146e-05 range=0.760286 variance=0.000589061 t_weight=5092.85 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.02965, -1.8895, -2.87038deg) obs_actual=(0.774502, -0.591263) obs_expected=(0.775289, -0.592424) delta=(-0.000787197, 0.00116024) |delta|=0.00140209m
I0419 20:55:52.634723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289526340980.
I0419 20:55:52.666072 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.478971, -0.591402), points=16, range=0.762875, residual=0.0140471, extent=0.0505988
I0419 20:55:52.666172 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.478971, -0.591402), tracking=(0.777471, -0.591402), map_predicted=(-0.28277, -2.51909), range=0.762875, pts=16
I0419 20:55:52.666208 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00240884m maha_sq=0.000250792 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.28277, -2.51909) lm_pos=(-0.285, -2.52) delta=(0.00222994, 0.000910988) -> 1 candidate(s)
I0419 20:55:52.666333 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289526655630.
I0419 20:55:52.747027 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289526942987.
I0419 20:55:52.748073 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.36457, 1.67017)
I0419 20:55:52.749891 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399669s, prior_pose=(-1.03093, -1.88888), yaw=-2.85237 deg
I0419 20:55:52.749986 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=932, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:55:52.750092 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:52.750118 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:52.750208 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289527258629.
I0419 20:55:52.754290 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289527536263.
I0419 20:55:52.782682 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289527821083.
I0419 20:55:52.915637 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289528132968.
I0419 20:55:52.916622 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:52.916702 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:52.916725 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:52.917622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289528422057.
I0419 20:55:52.919601 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36557, 1.67638)
I0419 20:55:52.919675 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.2576, -1.92528), points=3, range=3.78633, residual=0.0123079, extent=0.0255686
I0419 20:55:52.919698 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.2576, -1.92528), tracking=(-3.5561, 1.92528), map_predicted=(-4.48418, 0.208193), range=3.78633, pts=3
I0419 20:55:52.919718 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00761m maha_sq=1070.03 (gate chi2=5.99) pose_sigma=(0.150001, 0.150001, rho=0) det_map=(-4.48418, 0.208193) lm_pos=(-0.285, -2.52) delta=(-4.19918, 2.72819) -> 0 candidate(s)
I0419 20:55:52.920498 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.67067 deg, rms_residual=0.00684929m, sigma_yaw=0.00904974 rad, N=2
I0419 20:55:52.920562 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.03606, -1.89758, -2.67067deg) inliers=2 rms=0.00684929m
I0419 20:55:52.920595 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289528701115.
I0419 20:55:52.922741 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.03094, -1.89396), yaw=-2.86538 deg backend=(-1.02853, -1.89251)
I0419 20:55:52.923308 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289529012250.
I0419 20:55:52.930697 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289529298741.
I0419 20:55:53.036108 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289529582615.
I0419 20:55:53.039249 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289529898675.
I0419 20:55:53.040190 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.36508, 1.6733)
I0419 20:55:53.040885 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0681531s, prior_pose=(-1.03436, -1.89548), yaw=-2.84838 deg
I0419 20:55:53.040935 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:55:53.040995 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:53.041052 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:53.041142 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289530173638.
I0419 20:55:53.042999 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25459, -1.92349), points=3, range=3.781, residual=0.0109434, extent=0.0225495
I0419 20:55:53.043056 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25459, -1.92349), tracking=(-3.55309, 1.92349), map_predicted=(-4.48793, 0.201018), range=3.781, pts=3
I0419 20:55:53.043082 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00685m maha_sq=1069.83 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(-4.48793, 0.201018) lm_pos=(-0.285, -2.52) delta=(-4.20293, 2.72102) -> 0 candidate(s)
I0419 20:55:53.043104 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:53.046483 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289530460007.
I0419 20:55:53.157311 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289530780361.
I0419 20:55:53.159184 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289531052106.
I0419 20:55:53.161345 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:53.161461 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:53.161484 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:53.162300 1218529 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00559851 range=0.761571 variance=0.000600101 t_weight=4999.16 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.03569, -1.89907, -2.84814deg) obs_actual=(0.773427, -0.591682) obs_expected=(0.780612, -0.582865) delta=(-0.00718471, -0.00881686) |delta|=0.0113735m
I0419 20:55:53.162415 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289531337260.
I0419 20:55:53.163308 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36304, 1.67328)
I0419 20:55:53.165980 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289531654977.
I0419 20:55:53.195782 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:53.195914 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:53.195999 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:53.196024 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289531951596.
I0419 20:55:53.266260 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25975, -1.92654), points=3, range=3.78367, residual=0.0116285, extent=0.0234119
I0419 20:55:53.266371 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25975, -1.92654), tracking=(-3.55825, 1.92654), map_predicted=(-4.48966, 0.206815), range=3.78367, pts=3
I0419 20:55:53.266402 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01145m maha_sq=1070.01 (gate chi2=5.99) pose_sigma=(0.150178, 0.150178, rho=0) det_map=(-4.48966, 0.206815) lm_pos=(-0.285, -2.52) delta=(-4.20466, 2.72681) -> 0 candidate(s)
I0419 20:55:53.267189 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:53.267305 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289532232386.
I0419 20:55:53.269989 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289532539244.
I0419 20:55:53.282377 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289532818528.
I0419 20:55:53.302081 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36494, 1.6756)
I0419 20:55:53.314148 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598309s, prior_pose=(-1.03129, -1.89607), yaw=-2.93645 deg
I0419 20:55:53.314256 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=252, threshold=230, above_threshold=15, candidates=15
I0419 20:55:53.314344 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:53.314373 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:53.314505 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289533137553.
I0419 20:55:53.416424 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289533416227.
I0419 20:55:53.417595 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36428, 1.67976), points=5, range=2.1616, residual=0.0114051, extent=0.0292635
I0419 20:55:53.417678 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.36428, 1.67976), tracking=(-1.66278, -1.67976), map_predicted=(-2.77468, -3.48656), range=2.1616, pts=5
I0419 20:55:53.417703 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67072m maha_sq=307.819 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77468, -3.48656) lm_pos=(-0.285, -2.52) delta=(-2.48968, -0.966562) -> 0 candidate(s)
I0419 20:55:53.418684 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289533693627.
I0419 20:55:53.421324 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289533994001.
I0419 20:55:53.422284 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:53.422338 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:53.422358 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:53.430069 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289534296194.
I0419 20:55:53.449990 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.36156, 1.68144)
I0419 20:55:53.457908 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289534574135.
I0419 20:55:53.554944 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:53.555351 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289534896860.
I0419 20:55:53.558748 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00504242 range=0.754375 variance=0.000632442 t_weight=4743.52 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.02921, -1.89825, -3.2411deg) obs_actual=(0.770592, -0.586378) obs_expected=(0.778176, -0.578677) delta=(-0.0075841, -0.00770155) |delta|=0.0108089m
I0419 20:55:53.558934 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289535174558.
I0419 20:55:53.560698 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.468405, -0.585293), points=16, range=0.75325, residual=0.0141059, extent=0.0427061
I0419 20:55:53.560756 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.468405, -0.585293), tracking=(0.766905, -0.585293), map_predicted=(-0.296627, -2.52597), range=0.75325, pts=16
I0419 20:55:53.560781 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0130693m maha_sq=0.007382 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.296627, -2.52597) lm_pos=(-0.285, -2.52) delta=(-0.0116266, -0.00596884) -> 1 candidate(s)
I0419 20:55:53.560844 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289535459822.
I0419 20:55:53.578130 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289535775192.
I0419 20:55:53.594529 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.36365, 1.68904)
I0419 20:55:53.668201 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399729s, prior_pose=(-1.02359, -1.89907), yaw=-3.37377 deg
I0419 20:55:53.668313 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=937, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:55:53.668396 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:53.668416 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:53.668507 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289536054275.
I0419 20:55:53.669554 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:53.670529 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289536378112.
I0419 20:55:53.673211 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289536653595.
I0419 20:55:53.698652 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.462665, -0.583311), points=16, range=0.747, residual=0.0132181, extent=0.0401545
I0419 20:55:53.698791 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.462665, -0.583311), tracking=(0.761165, -0.583311), map_predicted=(-0.292479, -2.52697), range=0.747, pts=16
I0419 20:55:53.698849 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0102247m maha_sq=0.00450707 (gate chi2=5.99) pose_sigma=(0.150273, 0.150273, rho=0) det_map=(-0.292479, -2.52697) lm_pos=(-0.285, -2.52) delta=(-0.00747928, -0.00697175) -> 1 candidate(s)
I0419 20:55:53.699338 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289536979154.
I0419 20:55:53.714227 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:53.714329 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:53.714349 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:53.722308 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289537215195.
I0419 20:55:53.816509 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.36755, 1.69384)
I0419 20:55:53.817559 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289537535957.
I0419 20:55:53.819727 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.01101, -1.89773), yaw=-3.5572 deg backend=(-1.00911, -1.89154)
I0419 20:55:53.820281 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:53.820323 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:53.820370 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:53.820389 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289537813106.
I0419 20:55:53.822021 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:53.822101 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289538098208.
I0419 20:55:53.842417 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289538414712.
I0419 20:55:53.858618 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37136, 1.6885), points=5, range=2.1776, residual=0.0137533, extent=0.0362745
I0419 20:55:53.858722 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.37136, 1.6885), tracking=(-1.66986, -1.6885), map_predicted=(-2.78086, -3.4776), range=2.1776, pts=5
I0419 20:55:53.858752 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67326m maha_sq=307.597 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.78086, -3.4776) lm_pos=(-0.285, -2.52) delta=(-2.49586, -0.9576) -> 0 candidate(s)
I0419 20:55:53.931957 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00248723 range=0.737857 variance=0.000559806 t_weight=5358.99 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.00521, -1.89525, -3.62711deg) obs_actual=(0.751819, -0.581893) obs_expected=(0.75829, -0.577931) delta=(-0.00647127, -0.00396154) |delta|=0.00758756m
I0419 20:55:53.932103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289538695101.
I0419 20:55:53.933166 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.37858, 1.69235)
I0419 20:55:53.934016 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0712745s, prior_pose=(-1.00521, -1.89525), yaw=-3.62711 deg
I0419 20:55:53.934090 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=939, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:55:53.934155 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:53.934176 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:53.934257 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289539013740.
I0419 20:55:53.936883 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289539295975.
I0419 20:55:53.959033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289539577907.
I0419 20:55:53.990833 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.72927 deg, rms_residual=0.00240021m, sigma_yaw=0.00319007 rad, N=2
I0419 20:55:53.990993 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.99056, -1.89123, -3.72927deg) inliers=2 rms=0.00240021m
I0419 20:55:53.991074 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289539902005.
I0419 20:55:54.062100 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:54.062227 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:54.062244 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:54.063126 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.442028, -0.581225), points=14, range=0.732714, residual=0.0118505, extent=0.0387585
I0419 20:55:54.063186 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.442028, -0.581225), tracking=(0.740528, -0.581225), map_predicted=(-0.292825, -2.52041), range=0.732714, pts=14
I0419 20:55:54.063211 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00783532m maha_sq=0.00265456 (gate chi2=5.99) pose_sigma=(0.150161, 0.150161, rho=0) det_map=(-0.292825, -2.52041) lm_pos=(-0.285, -2.52) delta=(-0.00782462, -0.000409299) -> 1 candidate(s)
I0419 20:55:54.063303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289540176043.
I0419 20:55:54.064240 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.38641, 1.69189)
I0419 20:55:54.066107 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289540454871.
I0419 20:55:54.074447 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289540739413.
I0419 20:55:54.103355 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289541026109.
I0419 20:55:54.198733 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289541336833.
I0419 20:55:54.200580 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289541627755.
I0419 20:55:54.202564 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39641, 1.69403)
I0419 20:55:54.202646 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3972, 1.68995), points=5, range=2.1954, residual=0.013512, extent=0.036429
I0419 20:55:54.202665 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3972, 1.68995), tracking=(-1.6957, -1.68995), map_predicted=(-2.78131, -3.47585), range=2.1954, pts=5
I0419 20:55:54.202685 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67305m maha_sq=306.199 (gate chi2=5.99) pose_sigma=(0.150356, 0.150356, rho=0) det_map=(-2.78131, -3.47585) lm_pos=(-0.285, -2.52) delta=(-2.49631, -0.955847) -> 0 candidate(s)
I0419 20:55:54.203406 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598847s, prior_pose=(-0.982624, -1.89595), yaw=-3.60793 deg
I0419 20:55:54.203454 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=942, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:55:54.203516 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:54.203536 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:54.203619 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289541935680.
I0419 20:55:54.213898 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:54.222249 1218529 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000507948 range=0.726067 variance=0.000599623 t_weight=5003.14 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.978849, -1.89283, -3.61395deg) obs_actual=(0.728673, -0.583026) obs_expected=(0.732002, -0.582184) delta=(-0.00332872, -0.000842035) |delta|=0.00343357m
I0419 20:55:54.222420 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289542216948.
I0419 20:55:54.250447 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289542499753.
I0419 20:55:54.320815 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289542821167.
I0419 20:55:54.321938 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:54.322028 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:54.322046 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:54.323989 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289543096913.
I0419 20:55:54.329811 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.40958, 1.68987)
I0419 20:55:54.329903 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40931, 1.69453), points=5, range=2.2006, residual=0.0133383, extent=0.0350805
I0419 20:55:54.329933 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40931, 1.69453), tracking=(-1.70781, -1.69453), map_predicted=(-2.78278, -3.48098), range=2.2006, pts=5
I0419 20:55:54.329958 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67626m maha_sq=308.404 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.78278, -3.48098) lm_pos=(-0.285, -2.52) delta=(-2.49778, -0.960981) -> 0 candidate(s)
I0419 20:55:54.338670 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289543381205.
I0419 20:55:54.370301 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:54.370455 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:54.370577 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:54.370604 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289543697773.
I0419 20:55:54.461648 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:54.461798 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289543972272.
I0419 20:55:54.463770 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289544301834.
I0419 20:55:54.466526 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289544574328.
I0419 20:55:54.478499 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.41859, 1.69067)
I0419 20:55:54.486971 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399893s, prior_pose=(-0.95742, -1.90074), yaw=-3.60437 deg
I0419 20:55:54.487155 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=942, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:55:54.487401 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:54.487447 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:54.487486 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.401151, -0.581768), points=16, range=0.708562, residual=0.0119564, extent=0.039854
I0419 20:55:54.487524 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.401151, -0.581768), tracking=(0.699651, -0.581768), map_predicted=(-0.295726, -2.52535), range=0.708562, pts=16
I0419 20:55:54.487565 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0119843m maha_sq=0.00619641 (gate chi2=5.99) pose_sigma=(0.150326, 0.150326, rho=0) det_map=(-0.295726, -2.52535) lm_pos=(-0.285, -2.52) delta=(-0.0107261, -0.00534546) -> 1 candidate(s)
I0419 20:55:54.487746 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289544860628.
I0419 20:55:54.518545 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289545174986.
I0419 20:55:54.616343 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00757991 range=0.707937 variance=0.000581397 t_weight=5159.98 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.953497, -1.90213, -3.58869deg) obs_actual=(0.695855, -0.583504) obs_expected=(0.70586, -0.574811) delta=(-0.0100053, -0.00869241) |delta|=0.0132539m
I0419 20:55:54.616520 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289545454533.
I0419 20:55:54.619280 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289545737402.
I0419 20:55:54.620229 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:54.620291 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:54.620309 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:55:54.621126 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289546021788.
I0419 20:55:54.622962 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.43798, 1.69367)
I0419 20:55:54.634357 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289546336681.
I0419 20:55:54.654878 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.37786, -1.8917), points=3, range=3.86633, residual=0.0140514, extent=0.0281863
I0419 20:55:54.654978 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.37786, -1.8917), tracking=(-3.67636, 1.8917), map_predicted=(-4.49433, 0.21701), range=3.86633, pts=3
I0419 20:55:54.655011 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02092m maha_sq=1072.93 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49433, 0.21701) lm_pos=(-0.285, -2.52) delta=(-4.20933, 2.73701) -> 0 candidate(s)
I0419 20:55:54.725397 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.945434, -1.89934), yaw=-3.59478 deg backend=(-0.948118, -1.89388)
I0419 20:55:54.726259 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289546622056.
I0419 20:55:54.728116 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289546939597.
I0419 20:55:54.730847 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.34411 deg, rms_residual=0.00822904m, sigma_yaw=0.010853 rad, N=2
I0419 20:55:54.730998 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.932878, -1.90546, -3.34411deg) inliers=2 rms=0.00822904m
I0419 20:55:54.731032 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289547216552.
I0419 20:55:54.754546 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289547538684.
I0419 20:55:54.770123 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.44875, 1.69632)
I0419 20:55:54.782213 1218529 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0716444s, prior_pose=(-0.93431, -1.90273), yaw=-3.61731 deg
I0419 20:55:54.782313 1218529 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=947, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:55:54.782403 1218529 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:54.782425 1218529 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:54.782546 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289547818117.
I0419 20:55:54.873842 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45487, 1.69345), points=6, range=2.2345, residual=0.0135266, extent=0.0386811
I0419 20:55:54.873950 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45487, 1.69345), tracking=(-1.75337, -1.69345), map_predicted=(-2.78547, -3.48265), range=2.2345, pts=6
I0419 20:55:54.873977 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67938m maha_sq=306.954 (gate chi2=5.99) pose_sigma=(0.150517, 0.150517, rho=0) det_map=(-2.78547, -3.48265) lm_pos=(-0.285, -2.52) delta=(-2.50047, -0.962649) -> 0 candidate(s)
I0419 20:55:54.874003 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:54.874861 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289548094702.
I0419 20:55:54.877565 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289548371912.
I0419 20:55:54.879503 1218529 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0135331 range=0.687125 variance=0.000595933 t_weight=5034.12 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.922076, -1.90551, -3.64754deg) obs_actual=(0.659329, -0.581126) obs_expected=(0.674878, -0.572712) delta=(-0.0155488, -0.00841402) |delta|=0.0176794m
I0419 20:55:54.879611 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289548692610.
I0419 20:55:54.890413 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:54.890761 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:54.890930 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:54.898425 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289548978727.
I0419 20:55:54.917764 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.46579, 1.69618)
I0419 20:55:54.998977 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289549295148.
I0419 20:55:54.999353 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:55.000691 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.354059, -0.581427), points=17, range=0.683235, residual=0.0134217, extent=0.0452944
I0419 20:55:55.000775 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.354059, -0.581427), tracking=(0.652559, -0.581427), map_predicted=(-0.297208, -2.53071), range=0.683235, pts=17
I0419 20:55:55.000803 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0162375m maha_sq=0.0114054 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.297208, -2.53071) lm_pos=(-0.285, -2.52) delta=(-0.012208, -0.0107061) -> 1 candidate(s)
I0419 20:55:55.000841 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:55.000867 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:55.000900 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:55.000917 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289549578913.
I0419 20:55:55.003413 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:55.003540 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289549857556.
I0419 20:55:55.018819 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289550181047.
I0419 20:55:55.046741 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289550455280.
I0419 20:55:55.112823 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:55:55.123482 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.4809, 1.69365)
I0419 20:55:55.124325 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561475s, prior_pose=(-0.895408, -1.90509), yaw=-3.61933 deg
I0419 20:55:55.124393 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=944, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:55:55.124467 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:55.124491 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:55.124595 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289550742522.
I0419 20:55:55.127324 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.337296, -0.582156), points=17, range=0.675882, residual=0.0131815, extent=0.0422148
I0419 20:55:55.127421 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.337296, -0.582156), tracking=(0.635796, -0.582156), map_predicted=(-0.293776, -2.52546), range=0.675882, pts=17
I0419 20:55:55.127446 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0103351m maha_sq=0.00460573 (gate chi2=5.99) pose_sigma=(0.150271, 0.150271, rho=0) det_map=(-0.293776, -2.52546) lm_pos=(-0.285, -2.52) delta=(-0.00877627, -0.00545811) -> 1 candidate(s)
I0419 20:55:55.127523 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289551020309.
I0419 20:55:55.134006 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289551334892.
I0419 20:55:55.162776 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00706316 range=0.671529 variance=0.000563089 t_weight=5327.75 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.888552, -1.90513, -3.54641deg) obs_actual=(0.629529, -0.583034) obs_expected=(0.640431, -0.576358) delta=(-0.010902, -0.00667631) |delta|=0.0127838m
I0419 20:55:55.163017 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289551622225.
I0419 20:55:55.181962 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:55.182098 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:55.182135 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:55.270823 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289551933888.
I0419 20:55:55.271799 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.50116, 1.69183)
I0419 20:55:55.272629 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289552217669.
I0419 20:55:55.275209 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.325606, -0.583313), points=17, range=0.667, residual=0.0117238, extent=0.0393065
I0419 20:55:55.275276 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.325606, -0.583313), tracking=(0.624106, -0.583313), map_predicted=(-0.292804, -2.52823), range=0.667, pts=17
I0419 20:55:55.275300 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.011342m maha_sq=0.0055539 (gate chi2=5.99) pose_sigma=(0.150295, 0.150295, rho=0) det_map=(-0.292804, -2.52823) lm_pos=(-0.285, -2.52) delta=(-0.00780444, -0.00822988) -> 1 candidate(s)
I0419 20:55:55.275365 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289552541891.
I0419 20:55:55.282656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289552820034.
I0419 20:55:55.310660 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289553100660.
I0419 20:55:55.386590 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289553376268.
I0419 20:55:55.387633 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.51492, 1.6924)
I0419 20:55:55.393253 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0397998s, prior_pose=(-0.868529, -1.90888), yaw=-3.50135 deg
I0419 20:55:55.393376 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=946, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:55:55.393476 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:55.393499 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:55.393577 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.38777 deg, rms_residual=0.0044251m, sigma_yaw=0.00586553 rad, N=2
I0419 20:55:55.393642 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.864179, -1.90493, -3.38777deg) inliers=2 rms=0.0044251m
I0419 20:55:55.393677 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289553697892.
I0419 20:55:55.394636 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:55.398166 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.309092, -0.583259), points=18, range=0.659278, residual=0.0123079, extent=0.0430695
I0419 20:55:55.398289 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.309092, -0.583259), tracking=(0.607592, -0.583259), map_predicted=(-0.297691, -2.52815), range=0.659278, pts=18
I0419 20:55:55.398320 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0150851m maha_sq=0.00985648 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.297691, -2.52815) lm_pos=(-0.285, -2.52) delta=(-0.0126913, -0.00815425) -> 1 candidate(s)
I0419 20:55:55.398447 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289553976913.
I0419 20:55:55.430076 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289554295793.
I0419 20:55:55.530192 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00585184 range=0.6555 variance=0.000590199 t_weight=5083.03 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.854453, -1.91016, -3.50078deg) obs_actual=(0.597275, -0.582081) obs_expected=(0.605629, -0.573933) delta=(-0.00835384, -0.00814808) |delta|=0.0116695m
I0419 20:55:55.530350 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289554540816.
I0419 20:55:55.531365 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:55.531419 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:55.531453 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:55.532240 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289554856967.
I0419 20:55:55.534258 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.53653, 1.69165)
I0419 20:55:55.535199 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289555138866.
I0419 20:55:55.537384 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.843381, -1.90748), yaw=-3.48726 deg backend=(-0.844553, -1.90168)
I0419 20:55:55.546451 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.287206, -0.582275), points=19, range=0.652526, residual=0.0141536, extent=0.0443868
I0419 20:55:55.546559 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.287206, -0.582275), tracking=(0.585706, -0.582275), map_predicted=(-0.294178, -2.5243), range=0.652526, pts=19
I0419 20:55:55.546589 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0101361m maha_sq=0.0044108 (gate chi2=5.99) pose_sigma=(0.150522, 0.150522, rho=0) det_map=(-0.294178, -2.5243) lm_pos=(-0.285, -2.52) delta=(-0.00917789, -0.00430198) -> 1 candidate(s)
I0419 20:55:55.546633 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:55.546663 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:55.546732 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:55.546751 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289555459102.
I0419 20:55:55.574231 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:55.574568 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289555734978.
I0419 20:55:55.680137 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289556060252.
I0419 20:55:55.683018 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289556337446.
I0419 20:55:55.684674 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.55182, 1.68373)
I0419 20:55:55.686298 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0676045s, prior_pose=(-0.833013, -1.90855), yaw=-3.43558 deg
I0419 20:55:55.686446 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=946, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:55:55.686601 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:55.686647 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:55.686810 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289556617848.
I0419 20:55:55.692248 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.272614, -0.5845), points=19, range=0.646474, residual=0.0131598, extent=0.0465905
I0419 20:55:55.692380 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.272614, -0.5845), tracking=(0.571114, -0.5845), map_predicted=(-0.293502, -2.52805), range=0.646474, pts=19
I0419 20:55:55.692433 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0117095m maha_sq=0.00590608 (gate chi2=5.99) pose_sigma=(0.150356, 0.150356, rho=0) det_map=(-0.293502, -2.52805) lm_pos=(-0.285, -2.52) delta=(-0.00850193, -0.00805166) -> 1 candidate(s)
I0419 20:55:55.692597 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289556901034.
I0419 20:55:55.819897 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289557216323.
I0419 20:55:55.822156 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0196367 range=0.643684 variance=0.00059883 t_weight=5009.77 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.829148, -1.91327, -3.44803deg) obs_actual=(0.562001, -0.584821) obs_expected=(0.579654, -0.572907) delta=(-0.0176535, -0.0119139) |delta|=0.0212975m
I0419 20:55:55.822314 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289557497083.
I0419 20:55:55.824417 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:55.824571 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:55.824620 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:55.825505 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289557776371.
I0419 20:55:55.826643 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.56598, 1.68916)
I0419 20:55:55.828842 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289558099774.
I0419 20:55:55.841980 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.254829, -0.585918), points=20, range=0.64135, residual=0.013541, extent=0.0435542
I0419 20:55:55.842139 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.254829, -0.585918), tracking=(0.553329, -0.585918), map_predicted=(-0.301253, -2.53099), range=0.64135, pts=20
I0419 20:55:55.842180 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0196224m maha_sq=0.0166549 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.301253, -2.53099) lm_pos=(-0.285, -2.52) delta=(-0.0162529, -0.0109946) -> 1 candidate(s)
I0419 20:55:55.842371 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289558408204.
I0419 20:55:55.926397 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289558659001.
I0419 20:55:55.929307 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289559017742.
I0419 20:55:55.930918 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289559255559.
I0419 20:55:55.946633 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.58454, 1.68936)
I0419 20:55:55.958509 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561252s, prior_pose=(-0.80302, -1.90843), yaw=-3.3785 deg
I0419 20:55:55.958629 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=963, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:55:55.958814 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:55.958855 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:55.959017 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289559578994.
I0419 20:55:55.974826 1218529 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:56.077414 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08805, 0.67987), points=4, range=1.278, residual=0.0121113, extent=0.0282839
I0419 20:55:56.077515 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.08805, 0.67987), tracking=(1.38655, 0.67987), map_predicted=(0.625209, -1.31312), range=1.278, pts=4
I0419 20:55:56.077549 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0123106m maha_sq=0.00653193 (gate chi2=5.99) pose_sigma=(0.150297, 0.150297, rho=0) det_map=(0.625209, -1.31312) lm_pos=(0.615, -1.32) delta=(0.010209, 0.00687956) -> 1 candidate(s)
I0419 20:55:56.077608 1218529 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.99198 deg, rms_residual=0.0119844m, sigma_yaw=0.0157279 rad, N=2
I0419 20:55:56.077638 1218529 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.797958, -1.91698, -2.99198deg) inliers=2 rms=0.0119844m
I0419 20:55:56.077667 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289559855866.
I0419 20:55:56.079476 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289560135362.
I0419 20:55:56.082074 1218529 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00340943 range=1.2705 variance=0.000555745 t_weight=5398.16 r_weight=0 yaml=(0.615, -1.32) prior=(-0.794196, -1.90896, -3.39298deg) obs_actual=(1.37723, 0.678422) obs_expected=(1.37187, 0.671334) delta=(0.00536175, 0.00708851) |delta|=0.00888793m
I0419 20:55:56.082181 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289560421392.
I0419 20:55:56.083180 1218529 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:56.083241 1218529 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:56.083299 1218529 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:56.085258 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289560742525.
I0419 20:55:56.094331 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.60126, 1.69531)
I0419 20:55:56.103291 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289561015343.
I0419 20:55:56.209733 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06535, 0.676502), points=5, range=1.2578, residual=0.0121431, extent=0.0315786
I0419 20:55:56.209844 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06535, 0.676502), tracking=(1.36385, 0.676502), map_predicted=(0.620562, -1.31885), range=1.2578, pts=5
I0419 20:55:56.209869 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00567871m maha_sq=0.00138247 (gate chi2=5.99) pose_sigma=(0.150712, 0.150712, rho=0) det_map=(0.620562, -1.31885) lm_pos=(0.615, -1.32) delta=(0.0055617, 0.00114683) -> 1 candidate(s)
I0419 20:55:56.209908 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:56.209937 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:56.209975 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:56.209991 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289561334731.
I0419 20:55:56.212548 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:56.212658 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289561619174.
I0419 20:55:56.214346 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289561894622.
I0419 20:55:56.222487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289562216141.
I0419 20:55:56.242901 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.61778, 1.68511)
I0419 20:55:56.336820 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402032s, prior_pose=(-0.768516, -1.91389), yaw=-3.37337 deg
I0419 20:55:56.336926 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=970, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:55:56.337025 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:56.337050 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:55:56.337155 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289562494838.
I0419 20:55:56.338876 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289562773608.
I0419 20:55:56.340791 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.62667, 1.6894), points=5, range=2.3418, residual=0.0142696, extent=0.0383566
I0419 20:55:56.340864 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.62667, 1.6894), tracking=(-1.92517, -1.6894), map_predicted=(-2.78573, -3.4887), range=2.3418, pts=5
I0419 20:55:56.340886 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68179m maha_sq=307.929 (gate chi2=5.99) pose_sigma=(0.150301, 0.150301, rho=0) det_map=(-2.78573, -3.4887) lm_pos=(-0.285, -2.52) delta=(-2.50073, -0.968695) -> 0 candidate(s)
I0419 20:55:56.342056 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289563098543.
I0419 20:55:56.344622 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289563378940.
I0419 20:55:56.358912 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:56.359076 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:56.359118 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:56.366935 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289563660613.
I0419 20:55:56.468930 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.63662, 1.68498)
I0419 20:55:56.469419 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:56.469975 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00896936 range=0.6186 variance=0.000569044 t_weight=5272 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.757555, -1.91365, -3.33704deg) obs_actual=(0.495827, -0.586844) obs_expected=(0.507049, -0.577815) delta=(-0.0112223, -0.00902956) |delta|=0.0144039m
I0419 20:55:56.470052 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289563975920.
I0419 20:55:56.472186 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.752165, -1.91354), yaw=-3.33992 deg backend=(-0.749667, -1.90412)
I0419 20:55:56.472838 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289564255756.
I0419 20:55:56.474507 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.189814, -0.586945), points=20, range=0.6191, residual=0.0132332, extent=0.0478206
I0419 20:55:56.474570 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.189814, -0.586945), tracking=(0.488314, -0.586945), map_predicted=(-0.298876, -2.52794), range=0.6191, pts=20
I0419 20:55:56.474593 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0159861m maha_sq=0.0110584 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.298876, -2.52794) lm_pos=(-0.285, -2.52) delta=(-0.0138759, -0.00793819) -> 1 candidate(s)
I0419 20:55:56.474653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289564540227.
I0419 20:55:56.490676 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289564895840.
I0419 20:55:56.596961 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289565133917.
I0419 20:55:56.598111 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.65159, 1.69051)
I0419 20:55:56.598901 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0670872s, prior_pose=(-0.742645, -1.91485), yaw=-3.35405 deg
I0419 20:55:56.598987 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=976, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:55:56.599085 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:56.599107 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:56.599190 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289565413589.
I0419 20:55:56.601624 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:56.602537 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289565705432.
I0419 20:55:56.605199 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01483, 0.675938), points=4, range=1.214, residual=0.0121483, extent=0.02622
I0419 20:55:56.605260 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01483, 0.675938), tracking=(1.31333, 0.675938), map_predicted=(0.617827, -1.31744), range=1.214, pts=4
I0419 20:55:56.605284 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0038136m maha_sq=0.000626553 (gate chi2=5.99) pose_sigma=(0.150342, 0.150342, rho=0) det_map=(0.617827, -1.31744) lm_pos=(0.615, -1.32) delta=(0.00282656, 0.0025601) -> 1 candidate(s)
I0419 20:55:56.605355 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289566024424.
I0419 20:55:56.634919 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289566341182.
I0419 20:55:56.737514 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:56.737617 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:56.737633 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:56.738549 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289566615992.
I0419 20:55:56.739480 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.66955, 1.68421)
I0419 20:55:56.741336 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289566901153.
I0419 20:55:56.743017 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:56.743072 1219453 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:56.743103 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00892887 range=0.607381 variance=0.000570377 t_weight=5259.68 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.719604, -1.91538, -3.24571deg) obs_actual=(0.455477, -0.5858) obs_expected=(0.468139, -0.57904) delta=(-0.0126611, -0.00675933) |delta|=0.0143524m
I0419 20:55:56.743151 1219453 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:56.743170 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289567177373.
I0419 20:55:56.750366 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:55:56.750590 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289567494172.
I0419 20:55:56.873458 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.151468, -0.585544), points=21, range=0.606714, residual=0.0128319, extent=0.0468423
I0419 20:55:56.873559 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.151468, -0.585544), tracking=(0.449968, -0.585544), map_predicted=(-0.300927, -2.52515), range=0.606714, pts=21
I0419 20:55:56.873588 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.016739m maha_sq=0.0121242 (gate chi2=5.99) pose_sigma=(0.150038, 0.150038, rho=0) det_map=(-0.300927, -2.52515) lm_pos=(-0.285, -2.52) delta=(-0.0159272, -0.00514953) -> 1 candidate(s)
I0419 20:55:56.873698 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289567775007.
I0419 20:55:56.875590 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.96133 deg, rms_residual=0.0084314m, sigma_yaw=0.0111169 rad, N=2
I0419 20:55:56.875684 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.708192, -1.91911, -2.96133deg) inliers=2 rms=0.0084314m
I0419 20:55:56.875720 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289568100726.
I0419 20:55:56.877414 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.68372, 1.68378)
I0419 20:55:56.878288 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599677s, prior_pose=(-0.711427, -1.91652), yaw=-3.23954 deg
I0419 20:55:56.878353 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=993, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:55:56.878446 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:56.878466 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:56.878549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289568374684.
I0419 20:55:56.881192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289568658332.
I0419 20:55:56.899093 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289568975216.
I0419 20:55:57.014828 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.980713, 0.674014), points=4, range=1.18675, residual=0.00812931, extent=0.0182165
I0419 20:55:57.014930 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.980713, 0.674014), tracking=(1.27921, 0.674014), map_predicted=(0.616127, -1.3198), range=1.18675, pts=4
I0419 20:55:57.014986 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00114374m maha_sq=5.6458e-05 (gate chi2=5.99) pose_sigma=(0.150479, 0.150479, rho=0) det_map=(0.616127, -1.3198) lm_pos=(0.615, -1.32) delta=(0.00112688, 0.000195643) -> 1 candidate(s)
I0419 20:55:57.015087 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289569261452.
I0419 20:55:57.016234 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:57.016284 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:57.016299 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:57.018307 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289569533720.
I0419 20:55:57.019376 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.70025, 1.69042)
I0419 20:55:57.020290 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289569820075.
I0419 20:55:57.023116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289570137784.
I0419 20:55:57.138958 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289570412272.
I0419 20:55:57.140805 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289570740004.
I0419 20:55:57.143399 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.115956, -0.587307), points=21, range=0.599333, residual=0.0114953, extent=0.0412518
I0419 20:55:57.143492 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.115956, -0.587307), tracking=(0.414456, -0.587307), map_predicted=(-0.297905, -2.52848), range=0.599333, pts=21
I0419 20:55:57.143515 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0154399m maha_sq=0.0102709 (gate chi2=5.99) pose_sigma=(0.15048, 0.15048, rho=0) det_map=(-0.297905, -2.52848) lm_pos=(-0.285, -2.52) delta=(-0.0129048, -0.00847687) -> 1 candidate(s)
I0419 20:55:57.143563 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0102709 range=0.599333 variance=0.000566122 t_weight=5299.22 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.677986, -1.91836, -3.28874deg) obs_actual=(0.414456, -0.587307) obs_expected=(0.426854, -0.578104) delta=(-0.0123973, -0.00920323) |delta|=0.0154399m
I0419 20:55:57.143620 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289571016512.
I0419 20:55:57.144528 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.71414, 1.68941)
I0419 20:55:57.146216 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359581s, prior_pose=(-0.672699, -1.91882), yaw=-3.28847 deg
I0419 20:55:57.146289 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:55:57.146376 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:57.146399 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:57.146479 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289571296780.
I0419 20:55:57.151086 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:57.162540 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289571618123.
I0419 20:55:57.232021 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289571859272.
I0419 20:55:57.234773 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289572179035.
I0419 20:55:57.238445 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:57.238574 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:57.238618 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:57.246397 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289572456719.
I0419 20:55:57.266579 1218529 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.72839, 1.68377)
I0419 20:55:57.266716 1218529 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.65413, -1.89548), points=3, range=4.11533, residual=0.0117001, extent=0.0240176
I0419 20:55:57.266774 1218529 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.65413, -1.89548), tracking=(-3.95263, 1.89548), map_predicted=(-4.49397, 0.202586), range=4.11533, pts=3
I0419 20:55:57.266824 1218529 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01278m maha_sq=1067.27 (gate chi2=5.99) pose_sigma=(0.150196, 0.150196, rho=0) det_map=(-4.49397, 0.202586) lm_pos=(-0.285, -2.52) delta=(-4.20897, 2.72259) -> 0 candidate(s)
I0419 20:55:57.279211 1218529 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289572778396.
I0419 20:55:57.405838 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.657256, -1.91971), yaw=-3.3081 deg backend=(-0.650475, -1.91062)
I0419 20:55:57.406601 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:55:57.406668 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:55:57.406718 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:57.406737 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289573064988.
I0419 20:55:57.408463 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:57.408607 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289573372344.
I0419 20:55:57.411374 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289573653030.
I0419 20:55:57.414052 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.925955, 0.674786)
I0419 20:55:57.414173 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289573940047.
I0419 20:55:57.426188 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0680882s, prior_pose=(-0.643753, -1.91872), yaw=-3.23324 deg
I0419 20:55:57.426321 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1022, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:55:57.426532 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:57.426573 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:57.426617 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.922333, 0.67282), points=4, range=1.14375, residual=0.00883718, extent=0.020798
I0419 20:55:57.426652 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.922333, 0.67282), tracking=(1.22083, 0.67282), map_predicted=(0.613085, -1.31583), range=1.14375, pts=4
I0419 20:55:57.426687 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00459067m maha_sq=0.000914847 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.613085, -1.31583) lm_pos=(0.615, -1.32) delta=(-0.00191518, 0.00417209) -> 1 candidate(s)
I0419 20:55:57.426829 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289574255730.
I0419 20:55:57.533278 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00555218 range=1.14225 variance=0.000548934 t_weight=5465.14 r_weight=0 yaml=(0.615, -1.32) prior=(-0.636756, -1.91756, -3.20058deg) obs_actual=(1.22471, 0.674286) obs_expected=(1.21644, 0.666514) delta=(0.00827394, 0.00777174) |delta|=0.0113516m
I0419 20:55:57.533509 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289574539391.
I0419 20:55:57.539777 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289574817039.
I0419 20:55:57.542253 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289575136235.
I0419 20:55:57.544484 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.67982, -1.90204)
I0419 20:55:57.544674 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:57.544713 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:57.544731 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:57.546025 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289575420112.
I0419 20:55:57.665710 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904777, 0.671513), points=5, range=1.129, residual=0.00851677, extent=0.0230955
I0419 20:55:57.665807 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.904777, 0.671513), tracking=(1.20328, 0.671513), map_predicted=(0.616406, -1.31989), range=1.129, pts=5
I0419 20:55:57.665836 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0014102m maha_sq=8.58354e-05 (gate chi2=5.99) pose_sigma=(0.150462, 0.150462, rho=0) det_map=(0.616406, -1.31989) lm_pos=(0.615, -1.32) delta=(0.00140585, 0.00011068) -> 1 candidate(s)
I0419 20:55:57.665918 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289575705505.
I0419 20:55:57.668963 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289575983430.
I0419 20:55:57.674505 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.04614 deg, rms_residual=0.0119932m, sigma_yaw=0.0157393 rad, N=2
I0419 20:55:57.674647 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.614762, -1.92275, -3.04614deg) inliers=2 rms=0.0119932m
I0419 20:55:57.674705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289576380812.
I0419 20:55:57.676191 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.77295, 1.69232)
I0419 20:55:57.678504 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289576580551.
I0419 20:55:57.690539 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289576895453.
I0419 20:55:57.783699 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599721s, prior_pose=(-0.612049, -1.91912), yaw=-3.27569 deg
I0419 20:55:57.783818 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1063, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:55:57.783921 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:57.783941 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:57.783964 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.894886, 0.675686), points=4, range=1.118, residual=0.00928418, extent=0.0206059
I0419 20:55:57.783985 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.894886, 0.675686), tracking=(1.19339, 0.675686), map_predicted=(0.617996, -1.31273), range=1.118, pts=4
I0419 20:55:57.784006 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00786292m maha_sq=0.00267561 (gate chi2=5.99) pose_sigma=(0.150215, 0.150215, rho=0) det_map=(0.617996, -1.31273) lm_pos=(0.615, -1.32) delta=(0.00299561, 0.00726992) -> 1 candidate(s)
I0419 20:55:57.784111 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289577180272.
I0419 20:55:57.785164 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:57.787081 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0004222 range=1.11033 variance=0.000520261 t_weight=5766.34 r_weight=0 yaml=(0.615, -1.32) prior=(-0.606416, -1.92003, -3.27869deg) obs_actual=(1.18495, 0.672026) obs_expected=(1.1851, 0.668903) delta=(-0.000149325, 0.00312267) |delta|=0.00312624m
I0419 20:55:57.787246 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289577459633.
I0419 20:55:57.789139 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0436132, -0.587101)
I0419 20:55:57.789285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289577781054.
I0419 20:55:57.806548 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289578055952.
I0419 20:55:57.826344 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:57.826541 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:57.826586 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:57.928083 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289578372808.
I0419 20:55:57.929117 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:57.929903 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289578651704.
I0419 20:55:57.931725 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.79833, 1.69171), points=5, range=2.4658, residual=0.0136551, extent=0.0361377
I0419 20:55:57.931825 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.79833, 1.69171), tracking=(-2.09683, -1.69171), map_predicted=(-2.78019, -3.49056), range=2.4658, pts=5
I0419 20:55:57.931854 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6773m maha_sq=307.063 (gate chi2=5.99) pose_sigma=(0.150267, 0.150267, rho=0) det_map=(-2.78019, -3.49056) lm_pos=(-0.285, -2.52) delta=(-2.49519, -0.970562) -> 0 candidate(s)
I0419 20:55:57.932631 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.870133, 0.673256)
I0419 20:55:57.932711 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:57.932744 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:57.932777 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:57.932794 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289578936703.
I0419 20:55:57.935484 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:57.935595 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289579256511.
I0419 20:55:57.955085 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289579538776.
I0419 20:55:58.051007 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289579822076.
I0419 20:55:58.053495 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402992s, prior_pose=(-0.574974, -1.92046), yaw=-3.25552 deg
I0419 20:55:58.053592 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1091, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:55:58.053721 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:55:58.053742 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.857215, 0.671292)
I0419 20:55:58.053758 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:55:58.053828 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289580100688.
I0419 20:55:58.054757 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.81621, 1.69368), points=6, range=2.48067, residual=0.0163262, extent=0.0450612
I0419 20:55:58.054823 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.81621, 1.69368), tracking=(-2.11471, -1.69368), map_predicted=(-2.78245, -3.49131), range=2.48067, pts=6
I0419 20:55:58.054852 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67969m maha_sq=307.586 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.78245, -3.49131) lm_pos=(-0.285, -2.52) delta=(-2.49745, -0.971313) -> 0 candidate(s)
I0419 20:55:58.055689 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289580416513.
I0419 20:55:58.070091 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00150009 range=1.08183 variance=0.000581171 t_weight=5161.99 r_weight=0 yaml=(0.615, -1.32) prior=(-0.569295, -1.91971, -3.24756deg) obs_actual=(1.15061, 0.671313) obs_expected=(1.14842, 0.665835) delta=(0.00219338, 0.00547781) |delta|=0.00590062m
I0419 20:55:58.070212 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289580696033.
I0419 20:55:58.164983 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289581016839.
I0419 20:55:58.166225 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:58.166317 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:58.166334 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:58.167276 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289581296520.
I0419 20:55:58.169116 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.74834, -1.89616)
I0419 20:55:58.169991 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289581579907.
I0419 20:55:58.178000 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.82967, 1.68151), points=5, range=2.4874, residual=0.0136152, extent=0.0363412
I0419 20:55:58.178076 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.82967, 1.68151), tracking=(-2.12817, -1.68151), map_predicted=(-2.77907, -3.47765), range=2.4874, pts=5
I0419 20:55:58.178103 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67161m maha_sq=306.79 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77907, -3.47765) lm_pos=(-0.285, -2.52) delta=(-2.49407, -0.957648) -> 0 candidate(s)
I0419 20:55:58.179353 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.553188, -1.91998), yaw=-3.26958 deg backend=(-0.552122, -1.91717)
I0419 20:55:58.190706 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289581900835.
I0419 20:55:58.218313 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289582176279.
I0419 20:55:58.294494 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289582453122.
I0419 20:55:58.295595 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.84068, 1.68181)
I0419 20:55:58.297632 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.02112 deg, rms_residual=0.0113938m, sigma_yaw=0.0149645 rad, N=2
I0419 20:55:58.297734 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.544216, -1.92428, -3.02112deg) inliers=2 rms=0.0113938m
I0419 20:55:58.297768 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289582794591.
I0419 20:55:58.306345 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0681983s, prior_pose=(-0.542929, -1.91813), yaw=-3.25164 deg
I0419 20:55:58.306450 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1121, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:55:58.306574 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:55:58.306598 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:55:58.306735 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289583058518.
I0419 20:55:58.325809 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.84477, 1.69537), points=5, range=2.5026, residual=0.0135876, extent=0.0358909
I0419 20:55:58.325904 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.84477, 1.69537), tracking=(-2.14327, -1.69537), map_predicted=(-2.77438, -3.49062), range=2.5026, pts=5
I0419 20:55:58.325933 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67191m maha_sq=305.487 (gate chi2=5.99) pose_sigma=(0.150344, 0.150344, rho=0) det_map=(-2.77438, -3.49062) lm_pos=(-0.285, -2.52) delta=(-2.48938, -0.970619) -> 0 candidate(s)
I0419 20:55:58.325956 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:58.334797 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289583341888.
I0419 20:55:58.450769 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289583661103.
I0419 20:55:58.454567 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00872348 range=0.593 variance=0.000575784 t_weight=5210.28 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.537508, -1.92068, -3.2341deg) obs_actual=(0.273583, -0.59113) obs_expected=(0.285917, -0.584117) delta=(-0.0123338, -0.00701266) |delta|=0.0141881m
I0419 20:55:58.454861 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289583938917.
I0419 20:55:58.458830 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.77817, -1.90436)
I0419 20:55:58.459028 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:58.459121 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:58.459189 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:58.461066 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289584220551.
I0419 20:55:58.465695 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289584538922.
I0419 20:55:58.483237 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0327724, -0.59274), points=21, range=0.594143, residual=0.0111859, extent=0.0372695
I0419 20:55:58.483549 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0327724, -0.59274), tracking=(0.265728, -0.59274), map_predicted=(-0.295701, -2.52944), range=0.594143, pts=21
I0419 20:55:58.483628 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0142687m maha_sq=0.00882931 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.295701, -2.52944) lm_pos=(-0.285, -2.52) delta=(-0.010701, -0.00943843) -> 1 candidate(s)
I0419 20:55:58.483745 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:58.483811 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:58.483894 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:58.483927 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289584819868.
I0419 20:55:58.570801 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:58.570959 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289585095128.
I0419 20:55:58.571866 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.87091, 1.68461)
I0419 20:55:58.573717 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289585421954.
I0419 20:55:58.575525 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289585695687.
I0419 20:55:58.598798 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055931s, prior_pose=(-0.51102, -1.92168), yaw=-3.17828 deg
I0419 20:55:58.598978 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1154, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:55:58.599190 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:58.599234 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:58.599481 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289585981264.
I0419 20:55:58.718974 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0517145, -0.591141), points=23, range=0.59487, residual=0.0126482, extent=0.0442975
I0419 20:55:58.719099 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0517145, -0.591141), tracking=(0.246785, -0.591141), map_predicted=(-0.295204, -2.5271), range=0.59487, pts=23
I0419 20:55:58.719128 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.012428m maha_sq=0.00666926 (gate chi2=5.99) pose_sigma=(0.150218, 0.150218, rho=0) det_map=(-0.295204, -2.5271) lm_pos=(-0.285, -2.52) delta=(-0.0102036, -0.00709511) -> 1 candidate(s)
I0419 20:55:58.719206 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289586292725.
I0419 20:55:58.720942 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289586573432.
I0419 20:55:58.722822 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.88385, 1.68636)
I0419 20:55:58.723652 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00725527 range=0.595652 variance=0.000588618 t_weight=5096.69 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.504425, -1.92311, -3.22969deg) obs_actual=(0.243197, -0.592401) obs_expected=(0.252704, -0.583582) delta=(-0.00950707, -0.00881975) |delta|=0.0129681m
I0419 20:55:58.723738 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289586855327.
I0419 20:55:58.724748 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:58.724788 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:58.724805 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:58.726557 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289587177973.
I0419 20:55:58.746636 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289587457350.
I0419 20:55:58.848608 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0691421, -0.59156), points=22, range=0.595955, residual=0.0111365, extent=0.0370734
I0419 20:55:58.848721 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0691421, -0.59156), tracking=(0.229358, -0.59156), map_predicted=(-0.295956, -2.52345), range=0.595955, pts=22
I0419 20:55:58.848750 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0114868m maha_sq=0.00569484 (gate chi2=5.99) pose_sigma=(0.150372, 0.150372, rho=0) det_map=(-0.295956, -2.52345) lm_pos=(-0.285, -2.52) delta=(-0.0109558, -0.00345225) -> 1 candidate(s)
I0419 20:55:58.848829 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289587772643.
I0419 20:55:58.851715 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289588060562.
I0419 20:55:58.852728 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.81867, -1.90392)
I0419 20:55:58.853663 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289588336866.
I0419 20:55:58.866503 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289588657792.
I0419 20:55:58.971892 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0409431s, prior_pose=(-0.477517, -1.92174), yaw=-3.11428 deg
I0419 20:55:58.971987 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1185, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:55:58.972093 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:58.972119 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:58.972187 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.0544 deg, rms_residual=0.00885677m, sigma_yaw=0.0116712 rad, N=2
I0419 20:55:58.972218 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.475494, -1.92423, -3.0544deg) inliers=2 rms=0.00885677m
I0419 20:55:58.972245 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289588944721.
I0419 20:55:58.973201 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:58.974086 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0825107, -0.593333), points=22, range=0.599636, residual=0.0113972, extent=0.0373748
I0419 20:55:58.974186 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0825107, -0.593333), tracking=(0.215989, -0.593333), map_predicted=(-0.294081, -2.52593), range=0.599636, pts=22
I0419 20:55:58.974211 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0108454m maha_sq=0.00509989 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.294081, -2.52593) lm_pos=(-0.285, -2.52) delta=(-0.00908092, -0.00592961) -> 1 candidate(s)
I0419 20:55:58.974298 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289589220631.
I0419 20:55:58.976913 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289589538877.
I0419 20:55:58.977905 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.83329, -1.90427)
I0419 20:55:58.983172 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0026557 range=0.6001 variance=0.000549577 t_weight=5458.74 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.467226, -1.92286, -3.09768deg) obs_actual=(0.210702, -0.593424) obs_expected=(0.214228, -0.586418) delta=(-0.00352671, -0.00700542) |delta|=0.00784306m
I0419 20:55:58.983383 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289589822206.
I0419 20:55:59.002795 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:59.002986 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:59.003039 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:59.011294 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289590099856.
I0419 20:55:59.126536 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289590421515.
I0419 20:55:59.128858 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.45912, -1.92308), yaw=-3.10716 deg backend=(-0.454005, -1.91869)
I0419 20:55:59.129587 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0980714, -0.591369), points=20, range=0.59995, residual=0.0103851, extent=0.0336167
I0419 20:55:59.129649 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0980714, -0.591369), tracking=(0.200429, -0.591369), map_predicted=(-0.291041, -2.52444), range=0.59995, pts=20
I0419 20:55:59.129674 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00749766m maha_sq=0.00243015 (gate chi2=5.99) pose_sigma=(0.150301, 0.150301, rho=0) det_map=(-0.291041, -2.52444) lm_pos=(-0.285, -2.52) delta=(-0.00604058, -0.00444142) -> 1 candidate(s)
I0419 20:55:59.129714 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:59.129739 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:59.129786 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:59.129804 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289590695735.
I0419 20:55:59.131522 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.741488, 0.669149)
I0419 20:55:59.131582 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:59.131646 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289590973401.
I0419 20:55:59.134397 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289591259824.
I0419 20:55:59.248937 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289591575723.
I0419 20:55:59.250813 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0679979s, prior_pose=(-0.451074, -1.92523), yaw=-3.11718 deg
I0419 20:55:59.250936 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1219, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:55:59.251042 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:59.251066 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:59.251157 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289591861987.
I0419 20:55:59.253767 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.113595, -0.593698), points=21, range=0.604381, residual=0.0113632, extent=0.0361463
I0419 20:55:59.253858 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.113595, -0.593698), tracking=(0.184905, -0.593698), map_predicted=(-0.292077, -2.52844), range=0.604381, pts=21
I0419 20:55:59.253887 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0110143m maha_sq=0.00522606 (gate chi2=5.99) pose_sigma=(0.1505, 0.1505, rho=0) det_map=(-0.292077, -2.52844) lm_pos=(-0.285, -2.52) delta=(-0.00707688, -0.00844) -> 1 candidate(s)
I0419 20:55:59.253962 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289592181011.
I0419 20:55:59.256414 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.118908, -0.594024)
I0419 20:55:59.256563 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289592462642.
I0419 20:55:59.279165 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0111794 range=0.606318 variance=0.000587637 t_weight=5105.19 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.439889, -1.92523, -3.10091deg) obs_actual=(0.171891, -0.59142) obs_expected=(0.186836, -0.585525) delta=(-0.0149454, -0.0058941) |delta|=0.0160657m
I0419 20:55:59.279321 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289592783109.
I0419 20:55:59.355288 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:55:59.361521 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:59.361622 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:59.361641 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:59.362134 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:55:59.362535 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289593057882.
I0419 20:55:59.365201 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289593334337.
I0419 20:55:59.366906 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.129664, -0.593167), points=21, range=0.607667, residual=0.0112603, extent=0.0369764
I0419 20:55:59.366986 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.129664, -0.593167), tracking=(0.168836, -0.593167), map_predicted=(-0.289039, -2.52747), range=0.607667, pts=21
I0419 20:55:59.367062 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00849568m maha_sq=0.00312981 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.289039, -2.52747) lm_pos=(-0.285, -2.52) delta=(-0.00403872, -0.00747431) -> 1 candidate(s)
I0419 20:55:59.367127 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289593616513.
I0419 20:55:59.393911 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.136258, -0.594294)
I0419 20:55:59.394114 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289593932640.
I0419 20:55:59.505209 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289594221501.
I0419 20:55:59.507045 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289594498872.
I0419 20:55:59.509863 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595575s, prior_pose=(-0.411321, -1.92618), yaw=-3.12342 deg
I0419 20:55:59.509963 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1247, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:55:59.510064 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:55:59.510087 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:55:59.510146 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.346 deg, rms_residual=0.00829166m, sigma_yaw=0.0109347 rad, N=2
I0419 20:55:59.510172 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.412005, -1.92189, -3.346deg) inliers=2 rms=0.00829166m
I0419 20:55:59.510200 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289594817076.
I0419 20:55:59.511090 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:55:59.512774 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.693484, 0.666686), points=9, range=0.959667, residual=0.0131113, extent=0.0398479
I0419 20:55:59.512830 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.693484, 0.666686), tracking=(0.991984, 0.666686), map_predicted=(0.618603, -1.31286), range=0.959667, pts=9
I0419 20:55:59.512854 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00800019m maha_sq=0.00275862 (gate chi2=5.99) pose_sigma=(0.15027, 0.15027, rho=0) det_map=(0.618603, -1.31286) lm_pos=(0.615, -1.32) delta=(0.00360257, 0.00714314) -> 1 candidate(s)
I0419 20:55:59.512917 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289595093858.
I0419 20:55:59.530824 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.89325, -1.9059)
I0419 20:55:59.538435 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289595379566.
I0419 20:55:59.618081 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00576874 range=0.616 variance=0.000538818 t_weight=5567.74 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.406207, -1.92377, -3.08473deg) obs_actual=(0.144281, -0.596264) obs_expected=(0.153116, -0.588839) delta=(-0.008835, -0.00742457) |delta|=0.0115404m
I0419 20:55:59.618211 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289595693497.
I0419 20:55:59.619081 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:59.619144 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:59.619161 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:59.621138 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289595979078.
I0419 20:55:59.626237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289596252873.
I0419 20:55:59.658587 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.676743, 0.666871)
I0419 20:55:59.658782 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.681674, 0.66787), points=8, range=0.950125, residual=0.0131261, extent=0.0357054
I0419 20:55:59.658828 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.681674, 0.66787), tracking=(0.980174, 0.66787), map_predicted=(0.618979, -1.31059), range=0.950125, pts=8
I0419 20:55:59.658864 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0102212m maha_sq=0.00449422 (gate chi2=5.99) pose_sigma=(0.150419, 0.150419, rho=0) det_map=(0.618979, -1.31059) lm_pos=(0.615, -1.32) delta=(0.00397896, 0.00941487) -> 1 candidate(s)
I0419 20:55:59.658922 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:55:59.658973 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:55:59.659070 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:55:59.659101 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289596579611.
I0419 20:55:59.771534 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:55:59.771665 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289596860809.
I0419 20:55:59.773629 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289597181670.
I0419 20:55:59.776122 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289597456201.
I0419 20:55:59.778707 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0366019s, prior_pose=(-0.381002, -1.92766), yaw=-3.04217 deg
I0419 20:55:59.778798 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1275, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:55:59.778887 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:55:59.778908 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:55:59.778980 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289597739332.
I0419 20:55:59.806248 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.181536, -0.596918)
I0419 20:55:59.806417 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.653468, 0.663391), points=7, range=0.935571, residual=0.01165, extent=0.0298758
I0419 20:55:59.806475 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.653468, 0.663391), tracking=(0.951968, 0.663391), map_predicted=(0.604832, -1.31573), range=0.935571, pts=7
I0419 20:55:59.806595 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0110286m maha_sq=0.00526931 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.604832, -1.31573) lm_pos=(0.615, -1.32) delta=(-0.0101685, 0.00426988) -> 1 candidate(s)
I0419 20:55:59.806823 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289598052301.
I0419 20:55:59.906629 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289598343232.
I0419 20:55:59.909368 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00469524 range=0.62635 variance=0.000565566 t_weight=5304.42 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.369403, -1.92402, -2.95055deg) obs_actual=(0.105839, -0.595885) obs_expected=(0.114969, -0.590849) delta=(-0.00912996, -0.00503641) |delta|=0.010427m
I0419 20:55:59.909495 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289598616595.
I0419 20:55:59.910383 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:55:59.910441 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:55:59.910458 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:55:59.911280 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289598899503.
I0419 20:55:59.923074 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289599220171.
I0419 20:56:00.019809 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.359649, -1.92694), yaw=-2.97887 deg backend=(-0.357267, -1.92719)
I0419 20:56:00.020555 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.198184, -0.595236)
I0419 20:56:00.020630 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.64852, 0.665673), points=9, range=0.927889, residual=0.00963586, extent=0.0287191
I0419 20:56:00.020660 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.64852, 0.665673), tracking=(0.94702, 0.665673), map_predicted=(0.620685, -1.31138), range=0.927889, pts=9
I0419 20:56:00.020687 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0103278m maha_sq=0.00460625 (gate chi2=5.99) pose_sigma=(0.150389, 0.150389, rho=0) det_map=(0.620685, -1.31138) lm_pos=(0.615, -1.32) delta=(0.00568507, 0.00862222) -> 1 candidate(s)
I0419 20:56:00.020764 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289599501167.
I0419 20:56:00.022684 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289599780073.
I0419 20:56:00.025516 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289600096192.
I0419 20:56:00.037951 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289600372741.
I0419 20:56:00.070482 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684788s, prior_pose=(-0.349682, -1.92649), yaw=-2.94344 deg
I0419 20:56:00.070590 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1313, max_intensity=254, threshold=230, above_threshold=31, candidates=31
I0419 20:56:00.070721 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:00.070768 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.60324, -0.495269)
I0419 20:56:00.070785 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:00.070866 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.11916 deg, rms_residual=0.00866174m, sigma_yaw=0.0114171 rad, N=2
I0419 20:56:00.070928 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.341545, -1.92577, -3.11916deg) inliers=2 rms=0.00866174m
I0419 20:56:00.070961 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289600701148.
I0419 20:56:00.139300 1219453 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:56:00.140503 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.631135, 0.666944), points=10, range=0.9184, residual=0.0136523, extent=0.0466749
I0419 20:56:00.140625 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.631135, 0.666944), tracking=(0.929635, 0.666944), map_predicted=(0.61601, -1.30862), range=0.9184, pts=10
I0419 20:56:00.140654 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0114198m maha_sq=0.00562077 (gate chi2=5.99) pose_sigma=(0.150231, 0.150231, rho=0) det_map=(0.61601, -1.30862) lm_pos=(0.615, -1.32) delta=(0.00101035, 0.011375) -> 1 candidate(s)
I0419 20:56:00.140751 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289600982378.
I0419 20:56:00.143936 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289601253757.
I0419 20:56:00.157763 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00773846 range=0.637842 variance=0.000551713 t_weight=5437.61 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.342129, -1.92662, -2.94313deg) obs_actual=(0.0769387, -0.597813) obs_expected=(0.087521, -0.589664) delta=(-0.0105824, -0.00814852) |delta|=0.0133561m
I0419 20:56:00.157904 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289601572955.
I0419 20:56:00.177913 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:00.178035 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:00.178056 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:00.187225 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.623595, 0.666676)
I0419 20:56:00.187459 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289601866351.
I0419 20:56:00.289829 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289602145589.
I0419 20:56:00.291698 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.61414, 0.663325), points=10, range=0.8993, residual=0.0150716, extent=0.04464
I0419 20:56:00.291785 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.61414, 0.663325), tracking=(0.91264, 0.663325), map_predicted=(0.611089, -1.31028), range=0.8993, pts=10
I0419 20:56:00.291815 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0104769m maha_sq=0.00473695 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.611089, -1.31028) lm_pos=(0.615, -1.32) delta=(-0.00391052, 0.00971979) -> 1 candidate(s)
I0419 20:56:00.291852 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:00.291913 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:00.291975 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:00.291993 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289602458463.
I0419 20:56:00.294572 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:00.294696 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289602739665.
I0419 20:56:00.306349 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.609611, 0.665133)
I0419 20:56:00.306532 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289603059448.
I0419 20:56:00.330838 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289603302689.
I0419 20:56:00.396562 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557932s, prior_pose=(-0.31234, -1.92628), yaw=-2.83898 deg
I0419 20:56:00.396695 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1329, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:00.396816 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:00.396842 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:00.396955 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289603617380.
I0419 20:56:00.399662 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.590575, 0.661615), points=11, range=0.892273, residual=0.0148579, extent=0.0396803
I0419 20:56:00.399758 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.590575, 0.661615), tracking=(0.889075, 0.661615), map_predicted=(0.612231, -1.31057), range=0.892273, pts=11
I0419 20:56:00.399785 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00982435m maha_sq=0.00415007 (gate chi2=5.99) pose_sigma=(0.150304, 0.150304, rho=0) det_map=(0.612231, -1.31057) lm_pos=(0.615, -1.32) delta=(-0.00276939, 0.00942593) -> 1 candidate(s)
I0419 20:56:00.399875 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289603894826.
I0419 20:56:00.422614 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57028, -0.500136)
I0419 20:56:00.422827 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289604221475.
I0419 20:56:00.449731 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0036447 range=0.649111 variance=0.000550824 t_weight=5446.38 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.30506, -1.92878, -2.82141deg) obs_actual=(0.0465398, -0.598328) obs_expected=(0.049137, -0.589521) delta=(-0.0025972, -0.00880722) |delta|=0.00918219m
I0419 20:56:00.449898 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289604491975.
I0419 20:56:00.470491 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:00.470595 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:00.470616 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:00.536227 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289604820942.
I0419 20:56:00.538371 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289605096181.
I0419 20:56:00.540417 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.00098, -1.92269)
I0419 20:56:00.540516 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.328995, 0.597678), points=14, range=0.678071, residual=0.013403, extent=0.0337364
I0419 20:56:00.540544 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.328995, 0.597678), tracking=(0.0304955, -0.597678), map_predicted=(-0.293056, -2.52882), range=0.678071, pts=14
I0419 20:56:00.540565 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0119477m maha_sq=0.006151 (gate chi2=5.99) pose_sigma=(0.150303, 0.150303, rho=0) det_map=(-0.293056, -2.52882) lm_pos=(-0.285, -2.52) delta=(-0.00805561, -0.00882349) -> 1 candidate(s)
I0419 20:56:00.540599 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:00.541666 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289605379304.
I0419 20:56:00.566263 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289605657402.
I0419 20:56:00.598171 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289605974379.
I0419 20:56:00.660526 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.333906, 0.596099)
I0419 20:56:00.661760 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289606259135.
I0419 20:56:00.662969 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.326906, 0.593826), points=24, range=0.680417, residual=0.0167992, extent=0.0476538
I0419 20:56:00.663065 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.326906, 0.593826), tracking=(0.0284061, -0.593826), map_predicted=(-0.287768, -2.52411), range=0.680417, pts=24
I0419 20:56:00.663091 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00495211m maha_sq=0.00105619 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.287768, -2.52411) lm_pos=(-0.285, -2.52) delta=(-0.00276816, -0.00410617) -> 1 candidate(s)
I0419 20:56:00.664968 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445336s, prior_pose=(-0.28404, -1.92951), yaw=-2.76753 deg
I0419 20:56:00.665055 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1340, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:00.665174 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:00.665199 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:00.665249 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:00.665282 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.66659 deg, rms_residual=0.0132304m, sigma_yaw=0.0173347 rad, N=2
I0419 20:56:00.665323 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.283955, -1.935, -2.66659deg) inliers=2 rms=0.0132304m
I0419 20:56:00.665355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289606621458.
I0419 20:56:00.674257 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:00.686676 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289606856691.
I0419 20:56:00.714519 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53475, -0.50114)
I0419 20:56:00.714720 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289607139814.
I0419 20:56:00.825223 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00366335 range=0.661167 variance=0.000564251 t_weight=5316.78 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.275311, -1.92956, -2.77352deg) obs_actual=(0.0106946, -0.594403) obs_expected=(0.0188931, -0.590216) delta=(-0.00819846, -0.00418756) |delta|=0.009206m
I0419 20:56:00.825404 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289607455856.
I0419 20:56:00.825871 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:00.826704 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:00.826766 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.31931, 0.593551), points=24, range=0.677375, residual=0.0197466, extent=0.0576979
I0419 20:56:00.826784 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:00.826797 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:00.826807 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.31931, 0.593551), tracking=(0.0208098, -0.593551), map_predicted=(-0.283247, -2.52342), range=0.677375, pts=24
I0419 20:56:00.826829 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00384625m maha_sq=0.000634203 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.283247, -2.52342) lm_pos=(-0.285, -2.52) delta=(0.00175317, -0.00342346) -> 1 candidate(s)
I0419 20:56:00.827827 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289607739703.
I0419 20:56:00.831167 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.292831, -0.595997)
I0419 20:56:00.831307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289608031460.
I0419 20:56:00.833741 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.266078, -1.93213), yaw=-2.77695 deg backend=(-0.260479, -1.92827)
I0419 20:56:00.834765 1219453 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:00.834848 1219453 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:00.834875 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289608343284.
I0419 20:56:00.862356 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289608617033.
I0419 20:56:00.925621 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.299749, -0.59268)
I0419 20:56:00.925740 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.301266, -0.591332), points=17, range=0.664235, residual=0.010745, extent=0.0356786
I0419 20:56:00.925767 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.301266, -0.591332), tracking=(-0.00276644, -0.591332), map_predicted=(-0.29003, -2.52311), range=0.664235, pts=17
I0419 20:56:00.925788 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00591592m maha_sq=0.00150772 (gate chi2=5.99) pose_sigma=(0.150536, 0.150536, rho=0) det_map=(-0.29003, -2.52311) lm_pos=(-0.285, -2.52) delta=(-0.00502955, -0.00311476) -> 1 candidate(s)
I0419 20:56:00.925904 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289608928083.
I0419 20:56:00.928685 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289609216291.
I0419 20:56:00.950482 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677098s, prior_pose=(-0.253973, -1.93297), yaw=-2.71312 deg
I0419 20:56:00.950613 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=254, threshold=230, above_threshold=43, candidates=43
I0419 20:56:00.950762 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=43, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:00.950783 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:00.950837 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:00.950901 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289609500006.
I0419 20:56:00.970108 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:00.978000 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.352449, -0.588815)
I0419 20:56:00.978191 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289609775446.
I0419 20:56:01.066716 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.30654, -0.583918), points=16, range=0.654688, residual=0.0160269, extent=0.0478062
I0419 20:56:01.066848 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.30654, -0.583918), tracking=(-0.00804043, -0.583918), map_predicted=(-0.280905, -2.51754), range=0.654688, pts=16
I0419 20:56:01.066882 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00477593m maha_sq=0.000978574 (gate chi2=5.99) pose_sigma=(0.150387, 0.150387, rho=0) det_map=(-0.280905, -2.51754) lm_pos=(-0.285, -2.52) delta=(0.00409467, 0.00245829) -> 1 candidate(s)
I0419 20:56:01.066970 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289610066095.
I0419 20:56:01.069141 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 31 -> 17 (threshold=0.03, iters=3)
I0419 20:56:01.069298 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00243736 range=0.659765 variance=0.000670322 t_weight=4475.46 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.245599, -1.93464, -2.67728deg) obs_actual=(-0.0119178, -0.57905) obs_expected=(-0.0120158, -0.586565) delta=(9.7993e-05, 0.0075143) |delta|=0.00751494m
I0419 20:56:01.069360 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289610378333.
I0419 20:56:01.071115 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:01.071195 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:01.071213 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:01.071979 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=29, centroid=(-0.327815, -0.582792)
I0419 20:56:01.072108 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289610655366.
I0419 20:56:01.099345 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289610985426.
I0419 20:56:01.114732 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:01.126346 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289611257101.
I0419 20:56:01.190518 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.05657, -1.9494), points=4, range=4.499, residual=0.0163726, extent=0.0396996
I0419 20:56:01.190646 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.05657, -1.9494), tracking=(-4.35507, 1.9494), map_predicted=(-4.49173, 0.209063), range=4.499, pts=4
I0419 20:56:01.190677 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01441m maha_sq=1053.26 (gate chi2=5.99) pose_sigma=(0.150578, 0.150578, rho=0) det_map=(-4.49173, 0.209063) lm_pos=(-0.285, -2.52) delta=(-4.20673, 2.72906) -> 0 candidate(s)
I0419 20:56:01.191507 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.47627, -0.508305)
I0419 20:56:01.191646 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289611539146.
I0419 20:56:01.194562 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289611858189.
I0419 20:56:01.214762 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289612140710.
I0419 20:56:01.241853 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554149s, prior_pose=(-0.226075, -1.94415), yaw=-2.60288 deg
I0419 20:56:01.241988 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 20:56:01.242134 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:01.242172 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=13, centroid=(0.497834, 0.656549)
I0419 20:56:01.242200 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:01.242233 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.31444, -0.561444), points=3, range=0.652667, residual=0.017764, extent=0.0371941
I0419 20:56:01.242271 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.31444, -0.561444), tracking=(-0.0159397, -0.561444), map_predicted=(-0.267496, -2.5043), range=0.652667, pts=3
I0419 20:56:01.242303 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0235166m maha_sq=0.0236896 (gate chi2=5.99) pose_sigma=(0.150312, 0.150312, rho=0) det_map=(-0.267496, -2.5043) lm_pos=(-0.285, -2.52) delta=(0.0175043, 0.0157045) -> 1 candidate(s)
I0419 20:56:01.242365 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:01.242410 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.17098 deg, rms_residual=0.0178108m, sigma_yaw=0.0243254 rad, N=2
I0419 20:56:01.242479 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.227342, -1.94605, -3.17098deg) inliers=2 rms=0.0178108m
I0419 20:56:01.242525 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289612412338.
I0419 20:56:01.262364 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:01.327224 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289612732423.
I0419 20:56:01.329332 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289613013769.
I0419 20:56:01.331967 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289613294745.
I0419 20:56:01.350895 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:01.351032 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:01.351070 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:01.362294 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0164985 range=0.811769 variance=0.000583144 t_weight=5144.53 r_weight=0 yaml=(0.615, -1.32) prior=(-0.210354, -1.93327, -2.56564deg) obs_actual=(0.77795, 0.653818) obs_expected=(0.797075, 0.649597) delta=(-0.0191245, 0.00422127) |delta|=0.0195848m
I0419 20:56:01.362499 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289613615318.
I0419 20:56:01.378343 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.08539, -1.94864)
I0419 20:56:01.378469 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.235304, 0.594642), points=20, range=0.63775, residual=0.0129463, extent=0.0395174
I0419 20:56:01.378515 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.235304, 0.594642), tracking=(-0.0631963, -0.594642), map_predicted=(-0.300106, -2.52448), range=0.63775, pts=20
I0419 20:56:01.378556 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0157567m maha_sq=0.0107465 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.300106, -2.52448) lm_pos=(-0.285, -2.52) delta=(-0.0151057, -0.00448221) -> 1 candidate(s)
I0419 20:56:01.391247 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289613899106.
I0419 20:56:01.481765 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:01.481932 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:01.481963 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289614176634.
I0419 20:56:01.484894 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289614494663.
I0419 20:56:01.488489 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289614776532.
I0419 20:56:01.498524 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.22527, 1.66169)
I0419 20:56:01.506268 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289615057447.
I0419 20:56:01.526434 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.210312, 0.593806), points=20, range=0.63055, residual=0.0119268, extent=0.0387486
I0419 20:56:01.526547 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.210312, 0.593806), tracking=(-0.0881881, -0.593806), map_predicted=(-0.314862, -2.51771), range=0.63055, pts=20
I0419 20:56:01.526587 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0299498m maha_sq=0.0388691 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.314862, -2.51771) lm_pos=(-0.285, -2.52) delta=(-0.0298621, 0.00229035) -> 1 candidate(s)
I0419 20:56:01.611553 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.039645s, prior_pose=(-0.188619, -1.92821), yaw=-2.5858 deg
I0419 20:56:01.611670 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 20:56:01.611771 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:01.611793 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:01.611846 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:01.611894 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289615376940.
I0419 20:56:01.612920 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:01.613786 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289615660739.
I0419 20:56:01.616415 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289615977205.
I0419 20:56:01.617391 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.197495, 0.595832)
I0419 20:56:01.630499 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289616299310.
I0419 20:56:01.646093 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:01.646371 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:01.646519 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:01.654404 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289616538545.
I0419 20:56:01.717875 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.431142, 0.649265), points=14, range=0.7815, residual=0.0114949, extent=0.0381693
I0419 20:56:01.717998 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.431142, 0.649265), tracking=(0.729642, 0.649265), map_predicted=(0.585903, -1.31262), range=0.7815, pts=14
I0419 20:56:01.718027 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0300178m maha_sq=0.0388534 (gate chi2=5.99) pose_sigma=(0.150397, 0.150397, rho=0) det_map=(0.585903, -1.31262) lm_pos=(0.615, -1.32) delta=(-0.0290971, 0.00737777) -> 1 candidate(s)
I0419 20:56:01.718125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289616817111.
I0419 20:56:01.720155 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:01.721565 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-0.165114, -1.92983), yaw=-2.49274 deg backend=(-0.147675, -1.93367)
I0419 20:56:01.722364 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289617135485.
I0419 20:56:01.742434 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.38422, -0.515239)
I0419 20:56:01.742709 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289617417260.
I0419 20:56:01.769842 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289617692873.
I0419 20:56:01.861537 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289618014292.
I0419 20:56:01.863387 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0688302s, prior_pose=(-0.156119, -1.93128), yaw=-2.52773 deg
I0419 20:56:01.863503 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:56:01.863608 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:01.863631 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:01.863654 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.411131, 0.647358), points=14, range=0.768786, residual=0.011228, extent=0.0343901
I0419 20:56:01.863669 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.411131, 0.647358), tracking=(0.709631, 0.647358), map_predicted=(0.581372, -1.31585), range=0.768786, pts=14
I0419 20:56:01.863691 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0338825m maha_sq=0.0497715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.581372, -1.31585) lm_pos=(0.615, -1.32) delta=(-0.0336278, 0.00414683) -> 1 candidate(s)
I0419 20:56:01.863727 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:01.863773 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289618302818.
I0419 20:56:01.870044 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:01.870971 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.410017, 0.647585)
I0419 20:56:01.871109 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289618655025.
I0419 20:56:01.890635 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289618897959.
I0419 20:56:01.918336 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289619175290.
I0419 20:56:01.982348 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:01.982457 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:01.982475 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:01.984295 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.144669, 0.591189), points=20, range=0.6099, residual=0.0107879, extent=0.0343301
I0419 20:56:01.984356 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.144669, 0.591189), tracking=(-0.153831, -0.591189), map_predicted=(-0.318022, -2.51618), range=0.6099, pts=20
I0419 20:56:01.984386 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0332419m maha_sq=0.0477376 (gate chi2=5.99) pose_sigma=(0.150324, 0.150324, rho=0) det_map=(-0.318022, -2.51618) lm_pos=(-0.285, -2.52) delta=(-0.033022, 0.00381719) -> 1 candidate(s)
I0419 20:56:01.986065 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.392185, 0.648274)
I0419 20:56:02.005821 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0572126 range=0.752214 variance=0.000558525 t_weight=5371.29 r_weight=0 yaml=(0.615, -1.32) prior=(-0.132002, -1.93241, -2.44393deg) obs_actual=(0.68372, 0.645274) obs_expected=(0.720209, 0.643703) delta=(-0.036489, 0.00157058) |delta|=0.0365228m
I0419 20:56:02.005977 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289620053089.
I0419 20:56:02.156777 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289620741292.
I0419 20:56:02.158525 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.373732, 0.644976)
I0419 20:56:02.158690 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:02.158730 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:02.158746 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289620939996.
I0419 20:56:02.160631 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.32353, 1.64212), points=5, range=2.8468, residual=0.0138132, extent=0.0367667
I0419 20:56:02.160693 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.32353, 1.64212), tracking=(-2.62203, -1.64212), map_predicted=(-2.79703, -3.46452), range=2.8468, pts=5
I0419 20:56:02.160718 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68373m maha_sq=306.73 (gate chi2=5.99) pose_sigma=(0.150542, 0.150542, rho=0) det_map=(-2.79703, -3.46452) lm_pos=(-0.285, -2.52) delta=(-2.51203, -0.944518) -> 0 candidate(s)
I0419 20:56:02.161511 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520873s, prior_pose=(-0.108357, -1.93395), yaw=-2.40673 deg
I0419 20:56:02.161568 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:56:02.161635 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:02.161655 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:02.161693 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:02.161736 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289621262165.
I0419 20:56:02.162746 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:02.164527 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289621535609.
I0419 20:56:02.183139 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:02.263020 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:02.270897 1218970 pose_graph_2d.cc:160] Inserted submap (1, 11).
I0419 20:56:02.272878 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.357694, 0.6451)
I0419 20:56:02.274071 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:02.274189 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:02.274216 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:02.276033 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.355031, 0.644834), points=16, range=0.736063, residual=0.010819, extent=0.0359533
I0419 20:56:02.276144 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.355031, 0.644834), tracking=(0.653531, 0.644834), map_predicted=(0.588572, -1.31406), range=0.736063, pts=16
I0419 20:56:02.276180 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.027088m maha_sq=0.0314396 (gate chi2=5.99) pose_sigma=(0.150941, 0.150941, rho=0) det_map=(0.588572, -1.31406) lm_pos=(0.615, -1.32) delta=(-0.0264282, 0.00594234) -> 1 candidate(s)
I0419 20:56:02.276257 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289622414582.
I0419 20:56:02.278173 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289622692274.
I0419 20:56:02.305764 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289623043984.
I0419 20:56:02.378355 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.339559, 0.64299)
I0419 20:56:02.390367 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.330575, 0.644076), points=16, range=0.72475, residual=0.0115067, extent=0.0416336
I0419 20:56:02.390493 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.330575, 0.644076), tracking=(0.629075, 0.644076), map_predicted=(0.583123, -1.3153), range=0.72475, pts=16
I0419 20:56:02.390527 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0322219m maha_sq=0.044406 (gate chi2=5.99) pose_sigma=(0.151031, 0.151031, rho=0) det_map=(0.583123, -1.3153) lm_pos=(0.615, -1.32) delta=(-0.0318775, 0.00469843) -> 1 candidate(s)
I0419 20:56:02.418633 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401453s, prior_pose=(-0.0641025, -1.93409), yaw=-2.25602 deg
I0419 20:56:02.418752 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:02.418850 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:02.418880 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:02.418941 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:02.438187 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:02.445983 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.324319, 0.64557)
I0419 20:56:02.555405 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:02.555519 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.3845, 1.63884), points=6, range=2.89517, residual=0.0166987, extent=0.0466009
I0419 20:56:02.555543 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:02.555675 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:02.555693 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.3845, 1.63884), tracking=(-2.683, -1.63884), map_predicted=(-2.79755, -3.46611), range=2.89517, pts=6
I0419 20:56:02.555716 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68477m maha_sq=298.382 (gate chi2=5.99) pose_sigma=(0.152458, 0.152458, rho=0) det_map=(-2.79755, -3.46611) lm_pos=(-0.285, -2.52) delta=(-2.51255, -0.946113) -> 0 candidate(s)
I0419 20:56:02.555752 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:02.566784 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.30622, 0.644306)
I0419 20:56:02.649868 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-0.0372758, -1.93321), yaw=-2.26901 deg backend=(-0.0198376, -1.93705)
I0419 20:56:02.654606 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.40306, 1.64645), points=5, range=2.9098, residual=0.0152796, extent=0.0398178
I0419 20:56:02.654831 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.40306, 1.64645), tracking=(-2.70156, -1.64645), map_predicted=(-2.79589, -3.47222), range=2.9098, pts=5
I0419 20:56:02.654897 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68539m maha_sq=293.461 (gate chi2=5.99) pose_sigma=(0.153958, 0.153958, rho=0) det_map=(-2.79589, -3.47222) lm_pos=(-0.285, -2.52) delta=(-2.51089, -0.952218) -> 0 candidate(s)
I0419 20:56:02.681972 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.2688, -0.529879)
I0419 20:56:02.713817 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0717866s, prior_pose=(-0.0249028, -1.93369), yaw=-2.21353 deg
I0419 20:56:02.713941 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:02.714053 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:02.714079 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:02.714133 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:02.762274 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 243
I0419 20:56:02.771971 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:02.773819 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.42209, 1.64399), points=5, range=2.9272, residual=0.0128212, extent=0.0361092
I0419 20:56:02.773907 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.42209, 1.64399), tracking=(-2.72059, -1.64399), map_predicted=(-2.8036, -3.4708), range=2.9272, pts=5
I0419 20:56:02.773931 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69209m maha_sq=293.053 (gate chi2=5.99) pose_sigma=(0.154683, 0.154683, rho=0) det_map=(-2.8036, -3.4708) lm_pos=(-0.285, -2.52) delta=(-2.5186, -0.950797) -> 0 candidate(s)
I0419 20:56:02.802290 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.24951, -0.532502)
I0419 20:56:02.822238 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:02.822342 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:02.822365 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:02.822409 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:02.913523 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.43475, 1.63715), points=5, range=2.937, residual=0.0174673, extent=0.0461085
I0419 20:56:02.913645 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.43475, 1.63715), tracking=(-2.73325, -1.63715), map_predicted=(-2.79398, -3.4619), range=2.937, pts=5
I0419 20:56:02.913672 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67996m maha_sq=282.835 (gate chi2=5.99) pose_sigma=(0.156358, 0.156358, rho=0) det_map=(-2.79398, -3.4619) lm_pos=(-0.285, -2.52) delta=(-2.50898, -0.941899) -> 0 candidate(s)
I0419 20:56:02.917747 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.22674, -0.529119)
I0419 20:56:03.058264 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.45365, 1.63949), points=5, range=2.9526, residual=0.0142803, extent=0.037881
I0419 20:56:03.058414 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.45365, 1.63949), tracking=(-2.75215, -1.63949), map_predicted=(-2.79413, -3.46574), range=2.9526, pts=5
I0419 20:56:03.058449 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68145m maha_sq=279.466 (gate chi2=5.99) pose_sigma=(0.157738, 0.157738, rho=0) det_map=(-2.79413, -3.46574) lm_pos=(-0.285, -2.52) delta=(-2.50913, -0.945744) -> 0 candidate(s)
I0419 20:56:03.059213 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606547s, prior_pose=(0.0202254, -1.9355), yaw=-2.24856 deg
I0419 20:56:03.059326 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:03.059473 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:03.059497 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:03.059549 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:03.060695 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:03.062587 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.21096, -0.532811)
I0419 20:56:03.122274 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:03.122399 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.223987, 0.641325), points=18, range=0.6805, residual=0.0115621, extent=0.0371093
I0419 20:56:03.122421 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:03.122438 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:03.122449 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.223987, 0.641325), tracking=(0.522487, 0.641325), map_predicted=(0.580098, -1.31529), range=0.6805, pts=18
I0419 20:56:03.122473 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0352184m maha_sq=0.0481761 (gate chi2=5.99) pose_sigma=(0.158668, 0.158668, rho=0) det_map=(0.580098, -1.31529) lm_pos=(0.615, -1.32) delta=(-0.0349016, 0.00471319) -> 1 candidate(s)
I0419 20:56:03.122507 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:03.183933 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.18963, -0.529593)
I0419 20:56:03.188885 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:03.239586 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.205419, 0.641673), points=20, range=0.67385, residual=0.0120597, extent=0.0408142
I0419 20:56:03.239689 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.205419, 0.641673), tracking=(0.503919, 0.641673), map_predicted=(0.585017, -1.3118), range=0.67385, pts=20
I0419 20:56:03.239720 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0310842m maha_sq=0.0367439 (gate chi2=5.99) pose_sigma=(0.160358, 0.160358, rho=0) det_map=(0.585017, -1.3118) lm_pos=(0.615, -1.32) delta=(-0.029983, 0.00820047) -> 1 candidate(s)
I0419 20:56:03.304909 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:56:03.305800 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.17297, -0.532426)
I0419 20:56:03.308349 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402193s, prior_pose=(0.0630293, -1.93353), yaw=-2.11249 deg
I0419 20:56:03.308425 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:03.308506 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:03.308527 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:03.308564 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:03.318153 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:03.378619 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.35294, -1.97612), points=3, range=4.78, residual=0.0134935, extent=0.0278181
I0419 20:56:03.378880 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.35294, -1.97612), tracking=(-4.65144, 1.97612), map_predicted=(-4.50907, 0.207295), range=4.78, pts=3
I0419 20:56:03.378947 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02801m maha_sq=929.484 (gate chi2=5.99) pose_sigma=(0.161309, 0.161309, rho=0) det_map=(-4.50907, 0.207295) lm_pos=(-0.285, -2.52) delta=(-4.22407, 2.7273) -> 0 candidate(s)
I0419 20:56:03.458189 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.14995, -0.537191)
I0419 20:56:03.459138 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:03.459196 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:03.459218 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:03.459244 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:03.468955 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.0914729, -1.93492), yaw=-1.93048 deg backend=(0.116485, -1.94031)
I0419 20:56:03.499007 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.36229, -2.00337), points=3, range=4.80033, residual=0.0115545, extent=0.0279194
I0419 20:56:03.499188 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.36229, -2.00337), tracking=(-4.66079, 2.00337), map_predicted=(-4.49919, 0.224315), range=4.80033, pts=3
I0419 20:56:03.499253 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02898m maha_sq=914.144 (gate chi2=5.99) pose_sigma=(0.162884, 0.162884, rho=0) det_map=(-4.49919, 0.224315) lm_pos=(-0.285, -2.52) delta=(-4.21419, 2.74431) -> 0 candidate(s)
I0419 20:56:03.507305 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13992, -0.542632)
I0419 20:56:03.602645 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.068456s, prior_pose=(0.101834, -1.9337), yaw=-1.72725 deg
I0419 20:56:03.602752 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:03.602851 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:03.602874 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:03.602945 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:03.614591 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.37834, -2.01075), points=3, range=4.818, residual=0.0135488, extent=0.0327746
I0419 20:56:03.614733 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.37834, -2.01075), tracking=(-4.67684, 2.01075), map_predicted=(-4.50918, 0.210989), range=4.818, pts=3
I0419 20:56:03.614768 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.03011m maha_sq=900.655 (gate chi2=5.99) pose_sigma=(0.164024, 0.164024, rho=0) det_map=(-4.50918, 0.210989) lm_pos=(-0.285, -2.52) delta=(-4.22418, 2.73099) -> 0 candidate(s)
I0419 20:56:03.614792 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:03.622344 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.12674, -0.551528)
I0419 20:56:03.706969 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:03.709900 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:03.710035 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:03.710057 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:03.710089 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:03.730448 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.37951, -2.019), points=3, range=4.82433, residual=0.0142852, extent=0.0297878
I0419 20:56:03.730573 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.37951, -2.019), tracking=(-4.67801, 2.019), map_predicted=(-4.50515, 0.208414), range=4.82433, pts=3
I0419 20:56:03.730607 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02533m maha_sq=891.331 (gate chi2=5.99) pose_sigma=(0.164687, 0.164687, rho=0) det_map=(-4.50515, 0.208414) lm_pos=(-0.285, -2.52) delta=(-4.22015, 2.72841) -> 0 candidate(s)
I0419 20:56:03.742527 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.10031, -0.55454)
I0419 20:56:03.769899 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 22 -> 21 (threshold=0.03, iters=3)
I0419 20:56:03.850296 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.60498, 1.60677), points=4, range=3.05825, residual=0.0121734, extent=0.0296799
I0419 20:56:03.850386 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.60498, 1.60677), tracking=(-2.90348, -1.60677), map_predicted=(-2.80295, -3.47262), range=3.05825, pts=4
I0419 20:56:03.850414 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69212m maha_sq=255.365 (gate chi2=5.99) pose_sigma=(0.166054, 0.166054, rho=0) det_map=(-2.80295, -3.47262) lm_pos=(-0.285, -2.52) delta=(-2.51795, -0.95262) -> 0 candidate(s)
I0419 20:56:03.857821 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.08936, -0.559806)
I0419 20:56:03.886641 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596065s, prior_pose=(0.142532, -1.93444), yaw=-1.29935 deg
I0419 20:56:03.886765 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:03.886894 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:03.886919 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:03.886973 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:03.907035 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:03.995992 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.06258, -0.562932)
I0419 20:56:03.996104 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.11709, 0.626533), points=20, range=0.6381, residual=0.011631, extent=0.035632
I0419 20:56:03.996131 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.11709, 0.626533), tracking=(0.41559, 0.626533), map_predicted=(0.586254, -1.31425), range=0.6381, pts=20
I0419 20:56:03.996155 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0293162m maha_sq=0.0300317 (gate chi2=5.99) pose_sigma=(0.167473, 0.167473, rho=0) det_map=(0.586254, -1.31425) lm_pos=(0.615, -1.32) delta=(-0.0287461, 0.00575336) -> 1 candidate(s)
I0419 20:56:03.997181 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:03.997241 1219453 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:03.997287 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:03.997313 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:04.105487 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.04546, -0.565596)
I0419 20:56:04.105602 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.100072, 0.625805), points=20, range=0.6344, residual=0.0113397, extent=0.0371165
I0419 20:56:04.105628 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.100072, 0.625805), tracking=(0.398572, 0.625805), map_predicted=(0.585907, -1.31741), range=0.6344, pts=20
I0419 20:56:04.105662 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0292075m maha_sq=0.0293748 (gate chi2=5.99) pose_sigma=(0.168753, 0.168753, rho=0) det_map=(0.585907, -1.31741) lm_pos=(0.615, -1.32) delta=(-0.0290925, 0.00258909) -> 1 candidate(s)
I0419 20:56:04.270001 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0395918s, prior_pose=(0.19769, -1.93594), yaw=-0.975393 deg
I0419 20:56:04.270104 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:04.270224 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:04.270248 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:04.270294 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=2, buffered=1).
I0419 20:56:04.271337 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:04.272162 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.02859, -0.566179)
I0419 20:56:04.274024 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.66981, 1.57789), points=5, range=3.1028, residual=0.0152888, extent=0.0403116
I0419 20:56:04.274107 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.66981, 1.57789), tracking=(-2.96831, -1.57789), map_predicted=(-2.79058, -3.46389), range=3.1028, pts=5
I0419 20:56:04.274130 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67747m maha_sq=238.938 (gate chi2=5.99) pose_sigma=(0.170597, 0.170597, rho=0) det_map=(-2.79058, -3.46389) lm_pos=(-0.285, -2.52) delta=(-2.50558, -0.943885) -> 0 candidate(s)
I0419 20:56:04.290745 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:04.290890 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:04.290916 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:04.290943 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:04.379011 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.00764, -0.570014)
I0419 20:56:04.380069 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.21721, 0.588713), points=20, range=0.62845, residual=0.0113146, extent=0.0350225
I0419 20:56:04.380125 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.21721, 0.588713), tracking=(-0.51571, -0.588713), map_predicted=(-0.317863, -2.5164), range=0.62845, pts=20
I0419 20:56:04.380151 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0330604m maha_sq=0.0364943 (gate chi2=5.99) pose_sigma=(0.171425, 0.171425, rho=0) det_map=(-0.317863, -2.5164) lm_pos=(-0.285, -2.52) delta=(-0.0328633, 0.0036048) -> 1 candidate(s)
I0419 20:56:04.381240 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.214503, -1.93558), yaw=-0.775362 deg backend=(0.279864, -1.94137)
I0419 20:56:04.513635 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.98586, -0.572964)
I0419 20:56:04.515532 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0676649s, prior_pose=(0.236144, -1.93476), yaw=-0.678261 deg
I0419 20:56:04.515673 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:04.515770 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:04.515795 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:04.517742 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.47519, -2.07891), points=3, range=4.935, residual=0.0140627, extent=0.0291341
I0419 20:56:04.517877 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.47519, -2.07891), tracking=(-4.77369, 2.07891), map_predicted=(-4.50667, 0.197921), range=4.935, pts=3
I0419 20:56:04.517908 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02091m maha_sq=801.76 (gate chi2=5.99) pose_sigma=(0.173814, 0.173814, rho=0) det_map=(-4.50667, 0.197921) lm_pos=(-0.285, -2.52) delta=(-4.22167, 2.71792) -> 0 candidate(s)
I0419 20:56:04.517933 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:04.565668 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.962757, -0.574572)
I0419 20:56:04.641793 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:04.641886 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:04.641904 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:04.641927 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:04.643738 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.74527, 1.57435), points=4, range=3.16225, residual=0.0123848, extent=0.0300819
I0419 20:56:04.643802 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.74527, 1.57435), tracking=(-3.04377, -1.57435), map_predicted=(-2.81037, -3.47623), range=3.16225, pts=4
I0419 20:56:04.643826 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.70035m maha_sq=233.047 (gate chi2=5.99) pose_sigma=(0.17453, 0.17453, rho=0) det_map=(-2.81037, -3.47623) lm_pos=(-0.285, -2.52) delta=(-2.52537, -0.956225) -> 0 candidate(s)
I0419 20:56:04.671346 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.279024, 0.587106)
I0419 20:56:04.788429 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.926925, -0.57917), points=7, range=1.09829, residual=0.0139809, extent=0.0364303
I0419 20:56:04.788551 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.926925, -0.57917), tracking=(1.22543, -0.57917), map_predicted=(1.49927, -2.52551), range=1.09829, pts=7
I0419 20:56:04.788580 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.245795m maha_sq=1.90282 (gate chi2=5.99) pose_sigma=(0.176351, 0.176351, rho=0) det_map=(1.49927, -2.52551) lm_pos=(1.745, -2.52) delta=(-0.245733, -0.00550509) -> 1 candidate(s)
I0419 20:56:04.791090 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599667s, prior_pose=(0.286636, -1.93444), yaw=-0.542663 deg
I0419 20:56:04.791206 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:04.791347 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:04.791373 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:04.792295 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.301164, 0.588882)
I0419 20:56:04.792359 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:04.908763 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:04.908864 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.79367, 1.5592), points=4, range=3.202, residual=0.0132947, extent=0.0327038
I0419 20:56:04.908890 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:04.908905 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:04.908915 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.79367, 1.5592), tracking=(-3.09217, -1.5592), map_predicted=(-2.80342, -3.46256), range=3.202, pts=4
I0419 20:56:04.908934 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68903m maha_sq=222.49 (gate chi2=5.99) pose_sigma=(0.177881, 0.177881, rho=0) det_map=(-2.80342, -3.46256) lm_pos=(-0.285, -2.52) delta=(-2.51842, -0.942562) -> 0 candidate(s)
I0419 20:56:04.908955 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:04.914222 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.900579, -0.581035)
I0419 20:56:05.062852 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.82443, 1.5656), points=4, range=3.22575, residual=0.0136919, extent=0.0323583
I0419 20:56:05.062969 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.82443, 1.5656), tracking=(-3.12293, -1.5656), map_predicted=(-2.80109, -3.47326), range=3.22575, pts=4
I0419 20:56:05.062994 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.69061m maha_sq=218.074 (gate chi2=5.99) pose_sigma=(0.17979, 0.17979, rho=0) det_map=(-2.80109, -3.47326) lm_pos=(-0.285, -2.52) delta=(-2.51609, -0.95326) -> 0 candidate(s)
I0419 20:56:05.065008 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8283, 1.55168)
I0419 20:56:05.066757 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399811s, prior_pose=(0.34248, -1.93149), yaw=-0.386327 deg
I0419 20:56:05.066849 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:05.066951 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:05.066974 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:05.083318 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:05.170852 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:05.174005 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.372284, 0.588079)
I0419 20:56:05.174086 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:05.174108 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85016, 1.55826), points=4, range=3.24375, residual=0.0152514, extent=0.0358318
I0419 20:56:05.174125 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:05.174135 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:05.174185 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85016, 1.55826), tracking=(-3.14866, -1.55826), map_predicted=(-2.79905, -3.47382), range=3.24375, pts=4
I0419 20:56:05.174203 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.6889m maha_sq=213.766 (gate chi2=5.99) pose_sigma=(0.18139, 0.18139, rho=0) det_map=(-2.79905, -3.47382) lm_pos=(-0.285, -2.52) delta=(-2.51405, -0.953816) -> 0 candidate(s)
I0419 20:56:05.174224 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:05.334205 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.37713, -1.93462), yaw=-0.298936 deg backend=(0.442491, -1.9404)
I0419 20:56:05.339807 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.70842, 0.627445)
I0419 20:56:05.341161 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.88027, 1.54763), points=5, range=3.2712, residual=0.0152703, extent=0.0399064
I0419 20:56:05.341233 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.88027, 1.54763), tracking=(-3.17877, -1.54763), map_predicted=(-2.80208, -3.46736), range=3.2712, pts=5
I0419 20:56:05.341281 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68946m maha_sq=210.319 (gate chi2=5.99) pose_sigma=(0.182937, 0.182937, rho=0) det_map=(-2.80208, -3.46736) lm_pos=(-0.285, -2.52) delta=(-2.51708, -0.947358) -> 0 candidate(s)
I0419 20:56:05.354224 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06805s, prior_pose=(0.392738, -1.9347), yaw=-0.240028 deg
I0419 20:56:05.354314 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:05.354440 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:05.354463 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:05.419394 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:05.434459 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.424164, 0.587325)
I0419 20:56:05.462817 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:05.462956 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.90991, 1.55266), points=5, range=3.296, residual=0.0155113, extent=0.0411633
I0419 20:56:05.463002 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:05.463032 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:05.463054 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.90991, 1.55266), tracking=(-3.20841, -1.55266), map_predicted=(-2.80254, -3.47632), range=3.296, pts=5
I0419 20:56:05.463094 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.69305m maha_sq=207.091 (gate chi2=5.99) pose_sigma=(0.184618, 0.184618, rho=0) det_map=(-2.80254, -3.47632) lm_pos=(-0.285, -2.52) delta=(-2.51754, -0.95632) -> 0 candidate(s)
I0419 20:56:05.463140 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:05.574002 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.772657, -0.589215)
I0419 20:56:05.610219 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.9401, 1.54141), points=4, range=3.31525, residual=0.0158154, extent=0.0382309
I0419 20:56:05.610445 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.9401, 1.54141), tracking=(-3.2386, -1.54141), map_predicted=(-2.79865, -3.46514), range=3.31525, pts=4
I0419 20:56:05.610582 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68547m maha_sq=201.546 (gate chi2=5.99) pose_sigma=(0.186634, 0.186634, rho=0) det_map=(-2.79865, -3.46514) lm_pos=(-0.285, -2.52) delta=(-2.51365, -0.945144) -> 0 candidate(s)
I0419 20:56:05.687891 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606921s, prior_pose=(0.447524, -1.93311), yaw=-0.112988 deg
I0419 20:56:05.688021 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:05.688131 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:05.688159 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:05.689218 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:05.690769 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(-0.174764, 0.616217)
I0419 20:56:05.758013 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:05.758111 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.97182, 1.53606), points=3, range=3.34533, residual=0.00962652, extent=0.0234007
I0419 20:56:05.758136 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:05.758148 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:05.758157 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.97182, 1.53606), tracking=(-3.27032, -1.53606), map_predicted=(-2.80718, -3.46797), range=3.34533, pts=3
I0419 20:56:05.758177 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.69445m maha_sq=201.101 (gate chi2=5.99) pose_sigma=(0.187894, 0.187894, rho=0) det_map=(-2.80718, -3.46797) lm_pos=(-0.285, -2.52) delta=(-2.52218, -0.947974) -> 0 candidate(s)
I0419 20:56:05.758205 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:05.823086 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.199191, 0.619071)
I0419 20:56:05.981283 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.99644, 1.53776), points=4, range=3.36875, residual=0.0125192, extent=0.0304521
I0419 20:56:05.981389 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.99644, 1.53776), tracking=(-3.29494, -1.53776), map_predicted=(-2.80669, -3.46614), range=3.36875, pts=4
I0419 20:56:05.981420 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.69334m maha_sq=197.149 (gate chi2=5.99) pose_sigma=(0.189551, 0.189551, rho=0) det_map=(-2.80669, -3.46614) lm_pos=(-0.285, -2.52) delta=(-2.52169, -0.946142) -> 0 candidate(s)
I0419 20:56:05.982220 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.222691, 0.620082)
I0419 20:56:05.984862 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0364813s, prior_pose=(0.500146, -1.93346), yaw=-0.0494558 deg
I0419 20:56:05.984962 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:05.985102 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:05.985131 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:05.986160 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:06.098381 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.58541, 0.621838)
I0419 20:56:06.099486 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:06.099551 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.02228, 1.53993), points=4, range=3.39275, residual=0.0127973, extent=0.0309261
I0419 20:56:06.099571 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:06.099584 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:06.099596 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.02228, 1.53993), tracking=(-3.32078, -1.53993), map_predicted=(-2.80049, -3.47224), range=3.39275, pts=4
I0419 20:56:06.099612 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68969m maha_sq=193.004 (gate chi2=5.99) pose_sigma=(0.191329, 0.191329, rho=0) det_map=(-2.80049, -3.47224) lm_pos=(-0.285, -2.52) delta=(-2.51549, -0.952244) -> 0 candidate(s)
I0419 20:56:06.099642 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:06.102165 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289660816220.
I0419 20:56:06.110777 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289661100774.
I0419 20:56:06.112665 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.545352, -1.93161), yaw=-0.110441 deg backend=(0.613622, -1.93865)
I0419 20:56:06.138955 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.352263, -0.614129)
I0419 20:56:06.139308 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289661380544.
I0419 20:56:06.229939 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.03202, 1.55603), points=4, range=3.41, residual=0.0144566, extent=0.0347557
I0419 20:56:06.230054 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.03202, 1.55603), tracking=(-3.33052, -1.55603), map_predicted=(-2.78478, -3.47387), range=3.41, pts=4
I0419 20:56:06.230085 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67559m maha_sq=303.809 (gate chi2=5.99) pose_sigma=(0.150462, 0.150462, rho=0) det_map=(-2.78478, -3.47387) lm_pos=(-0.285, -2.52) delta=(-2.49978, -0.953875) -> 0 candidate(s)
I0419 20:56:06.230187 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289661699493.
I0419 20:56:06.232148 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289661979787.
I0419 20:56:06.235018 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289662260146.
I0419 20:56:06.237694 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0672508s, prior_pose=(0.563625, -1.92813), yaw=-0.377616 deg
I0419 20:56:06.237790 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:56:06.237957 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:06.237988 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.653375, -0.5814)
I0419 20:56:06.238009 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 20:56:06.258602 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:06.258867 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0175987 range=0.691133 variance=0.000559127 t_weight=5365.51 r_weight=0 yaml=(0.615, -1.32) prior=(0.570967, -1.92727, -0.596303deg) obs_actual=(0.0180216, 0.612293) obs_expected=(0.0377102, 0.6077) delta=(-0.0196887, 0.0045929) |delta|=0.0202173m
I0419 20:56:06.259035 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289662576915.
I0419 20:56:06.286984 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.03081, 1.60023), points=4, range=3.429, residual=0.0141745, extent=0.0339094
I0419 20:56:06.287289 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.03081, 1.60023), tracking=(-3.32931, -1.60023), map_predicted=(-2.77482, -3.49277), range=3.429, pts=4
I0419 20:56:06.287402 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6731m maha_sq=305.103 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77482, -3.49277) lm_pos=(-0.285, -2.52) delta=(-2.48982, -0.972768) -> 0 candidate(s)
I0419 20:56:06.287518 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:06.287734 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289662859056.
I0419 20:56:06.379752 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.03768, 1.6095)
I0419 20:56:06.379935 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289663139050.
I0419 20:56:06.380846 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289663253024.
I0419 20:56:06.382674 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:06.382759 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:06.382778 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:06.382833 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289663459005.
I0419 20:56:06.384660 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289663740640.
I0419 20:56:06.386499 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 30 -> 24 (threshold=0.03, iters=3)
I0419 20:56:06.409801 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.282937, -0.608897)
I0419 20:56:06.410516 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.284794, -0.608301), points=18, range=0.6715, residual=0.0118162, extent=0.03584
I0419 20:56:06.411208 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.284794, -0.608301), tracking=(-0.013706, 0.608301), map_predicted=(0.610979, -1.32221), range=0.6715, pts=18
I0419 20:56:06.411573 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00458769m maha_sq=0.000902382 (gate chi2=5.99) pose_sigma=(0.150824, 0.150824, rho=0) det_map=(0.610979, -1.32221) lm_pos=(0.615, -1.32) delta=(-0.00402098, -0.00220878) -> 1 candidate(s)
I0419 20:56:06.411722 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289664045720.
I0419 20:56:06.413417 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289664108053.
I0419 20:56:06.479861 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:06.480108 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:06.480162 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289664337349.
I0419 20:56:06.482362 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289664618956.
I0419 20:56:06.490489 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.610269, 0.620899)
I0419 20:56:06.490636 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00835029 range=0.663889 variance=0.000569067 t_weight=5271.79 r_weight=0 yaml=(0.615, -1.32) prior=(0.622917, -1.93243, -1.51206deg) obs_actual=(-0.0377661, 0.609232) obs_expected=(-0.0240744, 0.61201) delta=(-0.0136917, -0.00277748) |delta|=0.0139706m
I0419 20:56:06.490720 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289664900030.
I0419 20:56:06.501745 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.46938, 0.677379), points=3, range=1.622, residual=0.00961256, extent=0.0203208
I0419 20:56:06.501865 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.46938, 0.677379), tracking=(1.76788, 0.677379), map_predicted=(2.40805, -1.30194), range=1.622, pts=3
I0419 20:56:06.501897 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.019351m maha_sq=0.0162223 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40805, -1.30194) lm_pos=(2.415, -1.32) delta=(-0.00694519, 0.0180617) -> 1 candidate(s)
I0419 20:56:06.502004 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289665013274.
I0419 20:56:06.522271 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.6736 deg, rms_residual=0.00414089m, sigma_yaw=0.00549087 rad, N=2
I0419 20:56:06.522408 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.639473, -1.92697, -1.6736deg) inliers=2 rms=0.00414089m
I0419 20:56:06.522447 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289665217452.
I0419 20:56:06.529712 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595441s, prior_pose=(0.628486, -1.93056), yaw=-1.66409 deg
I0419 20:56:06.529801 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:56:06.529894 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:06.529919 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:06.550572 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:06.550763 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289665498951.
I0419 20:56:06.614694 1218530 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.69% real time)
I0419 20:56:06.614876 1218530 collated_trajectory_builder.cc:82] odom rate: 248.20 Hz 4.03e-03 s +/- 7.49e-04 s (pulsed at 100.02% real time)
I0419 20:56:06.614987 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.33e-03 s (pulsed at 100.53% real time)
I0419 20:56:06.615024 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.18e-03 s (pulsed at 100.70% real time)
I0419 20:56:06.615464 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:06.616142 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:06.616271 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289665820087.
I0419 20:56:06.617122 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.45627, 0.68421)
I0419 20:56:06.618944 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289666099965.
I0419 20:56:06.619777 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45053, 0.681528), points=4, range=1.5995, residual=0.00875817, extent=0.021224
I0419 20:56:06.619838 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45053, 0.681528), tracking=(1.74903, 0.681528), map_predicted=(2.42232, -1.30862), range=1.5995, pts=4
I0419 20:56:06.619865 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0135279m maha_sq=0.00793403 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42232, -1.30862) lm_pos=(2.415, -1.32) delta=(0.0073152, 0.0113794) -> 1 candidate(s)
I0419 20:56:06.638355 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:06.638473 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:06.638496 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:06.638585 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289666378467.
I0419 20:56:06.670318 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289666694615.
I0419 20:56:06.751451 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289666973638.
I0419 20:56:06.752297 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.573847, -0.562133)
I0419 20:56:06.752400 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:06.753428 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289667258668.
I0419 20:56:06.758661 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.09625, 1.66948), points=4, range=3.51325, residual=0.0157069, extent=0.0371413
I0419 20:56:06.758764 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.09625, 1.66948), tracking=(-3.39475, -1.66948), map_predicted=(-2.77747, -3.47905), range=3.51325, pts=4
I0419 20:56:06.758798 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67062m maha_sq=300.706 (gate chi2=5.99) pose_sigma=(0.150791, 0.150791, rho=0) det_map=(-2.77747, -3.47905) lm_pos=(-0.285, -2.52) delta=(-2.49247, -0.959048) -> 0 candidate(s)
I0419 20:56:06.758867 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000359302 range=0.64685 variance=0.00056697 t_weight=5291.29 r_weight=0 yaml=(0.615, -1.32) prior=(0.674322, -1.93095, -2.03146deg) obs_actual=(-0.0836001, 0.60961) obs_expected=(-0.0809417, 0.608467) delta=(-0.00265845, 0.00114286) |delta|=0.00289369m
I0419 20:56:06.758924 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289667580690.
I0419 20:56:06.786173 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289667853972.
I0419 20:56:06.814347 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289668134710.
I0419 20:56:06.896802 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0371105s, prior_pose=(0.699229, -1.92682), yaw=-1.92769 deg
I0419 20:56:06.896921 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=251, threshold=230, above_threshold=15, candidates=15
I0419 20:56:06.896996 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:06.897017 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.552881, -0.562499)
I0419 20:56:06.897030 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:06.898182 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:06.898300 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289668419940.
I0419 20:56:06.908995 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:06.909245 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289668738121.
I0419 20:56:06.912390 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.530668, -0.562398), points=13, range=0.775615, residual=0.0119842, extent=0.0369216
I0419 20:56:06.912500 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.530668, -0.562398), tracking=(0.829168, -0.562398), map_predicted=(1.51498, -2.51652), range=0.775615, pts=13
I0419 20:56:06.912533 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.230049m maha_sq=2.29265 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.51498, -2.51652) lm_pos=(1.745, -2.52) delta=(-0.230023, 0.0034837) -> 1 candidate(s)
I0419 20:56:06.913095 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289669099934.
I0419 20:56:06.934789 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:06.934950 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:06.934998 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:06.935190 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289669338901.
I0419 20:56:06.942560 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.526281, -0.562589)
I0419 20:56:07.014721 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289669623952.
I0419 20:56:07.016633 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:07.016762 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:07.016793 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289669895330.
I0419 20:56:07.017830 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.72482, -1.92759), yaw=-1.80848 deg backend=(0.756714, -1.93712)
I0419 20:56:07.022038 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.15479, 1.64228), points=4, range=3.55225, residual=0.0159746, extent=0.036867
I0419 20:56:07.022115 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.15479, 1.64228), tracking=(-3.45329, -1.64228), map_predicted=(-2.77858, -3.46007), range=3.55225, pts=4
I0419 20:56:07.022142 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6649m maha_sq=299.064 (gate chi2=5.99) pose_sigma=(0.150833, 0.150833, rho=0) det_map=(-2.77858, -3.46007) lm_pos=(-0.285, -2.52) delta=(-2.49358, -0.94007) -> 0 candidate(s)
I0419 20:56:07.022260 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289670216428.
I0419 20:56:07.050715 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00297782 range=0.63065 variance=0.000567548 t_weight=5285.89 r_weight=0 yaml=(0.615, -1.32) prior=(0.732108, -1.92864, -1.7577deg) obs_actual=(-0.141473, 0.610768) obs_expected=(-0.135722, 0.604759) delta=(-0.00575106, 0.00600914) |delta|=0.00831772m
I0419 20:56:07.050877 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289670500757.
I0419 20:56:07.058439 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.503071, -0.563218)
I0419 20:56:07.078600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289670780027.
I0419 20:56:07.146783 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.30188 deg, rms_residual=0.00728774m, sigma_yaw=0.00962347 rad, N=2
I0419 20:56:07.146903 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.754737, -1.92722, -1.30188deg) inliers=2 rms=0.00728774m
I0419 20:56:07.146939 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289671094639.
I0419 20:56:07.147634 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0673403s, prior_pose=(0.74749, -1.92894), yaw=-1.74529 deg
I0419 20:56:07.147704 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:56:07.147778 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:07.147799 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:07.149694 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.728819, 0.623004), points=8, range=0.963, residual=0.0139631, extent=0.0383985
I0419 20:56:07.149801 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.728819, 0.623004), tracking=(-1.02732, -0.623004), map_predicted=(-0.290974, -2.51991), range=0.963, pts=8
I0419 20:56:07.149829 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00597422m maha_sq=0.00153115 (gate chi2=5.99) pose_sigma=(0.150555, 0.150555, rho=0) det_map=(-0.290974, -2.51991) lm_pos=(-0.285, -2.52) delta=(-0.00597356, 8.86474e-05) -> 1 candidate(s)
I0419 20:56:07.149852 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:07.149919 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289671374820.
I0419 20:56:07.170280 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:07.170441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289671697973.
I0419 20:56:07.174515 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.482525, -0.562928)
I0419 20:56:07.194466 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289671938365.
I0419 20:56:07.260274 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:07.260387 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:07.260439 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:07.260519 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289672253663.
I0419 20:56:07.262590 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289672576524.
I0419 20:56:07.264026 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.458136, -0.564006), points=15, range=0.729867, residual=0.0128654, extent=0.0383612
I0419 20:56:07.264106 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.458136, -0.564006), tracking=(0.756636, -0.564006), map_predicted=(1.51463, -2.5149), range=0.729867, pts=15
I0419 20:56:07.264133 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.230422m maha_sq=2.27398 (gate chi2=5.99) pose_sigma=(0.150814, 0.150814, rho=0) det_map=(1.51463, -2.5149) lm_pos=(1.745, -2.52) delta=(-0.230366, 0.00510211) -> 1 candidate(s)
I0419 20:56:07.285975 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289672853830.
I0419 20:56:07.294657 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.457451, -0.564716)
I0419 20:56:07.294816 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:07.314672 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289673141048.
I0419 20:56:07.399719 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00105081 range=0.613682 variance=0.000601585 t_weight=4986.82 r_weight=0 yaml=(0.615, -1.32) prior=(0.800483, -1.92783, -1.74718deg) obs_actual=(-0.199288, 0.603666) obs_expected=(-0.203929, 0.60189) delta=(0.00464051, 0.00177642) |delta|=0.00496891m
I0419 20:56:07.399894 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289673734666.
I0419 20:56:07.400728 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32118, 0.678009), points=4, range=1.4795, residual=0.0127356, extent=0.0281208
I0419 20:56:07.400816 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.32118, 0.678009), tracking=(1.61968, 0.678009), map_predicted=(2.44008, -1.29952), range=1.4795, pts=4
I0419 20:56:07.400842 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0323832m maha_sq=0.0453147 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44008, -1.29952) lm_pos=(2.415, -1.32) delta=(0.0250819, 0.0204834) -> 1 candidate(s)
I0419 20:56:07.403947 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289674016395.
I0419 20:56:07.409819 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590161s, prior_pose=(0.806328, -1.92669), yaw=-1.75764 deg
I0419 20:56:07.409917 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=253, threshold=230, above_threshold=19, candidates=19
I0419 20:56:07.410010 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:07.410035 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.437385, -0.564742)
I0419 20:56:07.410051 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:07.429828 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:07.430006 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289674293650.
I0419 20:56:07.462587 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:07.462756 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289674620476.
I0419 20:56:07.523293 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289674917571.
I0419 20:56:07.524222 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30045, 0.674567), points=3, range=1.462, residual=0.00659958, extent=0.0123773
I0419 20:56:07.524322 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30045, 0.674567), tracking=(1.59895, 0.674567), map_predicted=(2.44044, -1.2975), range=1.462, pts=3
I0419 20:56:07.524353 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.033964m maha_sq=0.0501067 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44044, -1.2975) lm_pos=(2.415, -1.32) delta=(0.0254393, 0.0225032) -> 1 candidate(s)
I0419 20:56:07.525483 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:07.525556 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:07.525578 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:07.525664 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289675173000.
I0419 20:56:07.527076 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.417612, -0.565901)
I0419 20:56:07.549809 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289675492139.
I0419 20:56:07.578445 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289675775486.
I0419 20:56:07.607208 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:07.607385 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:07.607419 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289676059465.
I0419 20:56:07.699757 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27488, 0.673106), points=4, range=1.43625, residual=0.0121907, extent=0.0261733
I0419 20:56:07.699882 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27488, 0.673106), tracking=(1.57338, 0.673106), map_predicted=(2.43115, -1.29707), range=1.43625, pts=4
I0419 20:56:07.699913 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0280436m maha_sq=0.0339204 (gate chi2=5.99) pose_sigma=(0.150199, 0.150199, rho=0) det_map=(2.43115, -1.29707) lm_pos=(2.415, -1.32) delta=(0.0161502, 0.0229262) -> 1 candidate(s)
I0419 20:56:07.701725 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.392749, -0.565936)
I0419 20:56:07.703657 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289676654990.
I0419 20:56:07.705647 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0057059 range=0.605043 variance=0.000582709 t_weight=5148.37 r_weight=0 yaml=(0.615, -1.32) prior=(0.846207, -1.92337, -1.65608deg) obs_actual=(-0.25811, 0.602782) obs_expected=(-0.248548, 0.596435) delta=(-0.00956176, 0.00634668) |delta|=0.0114764m
I0419 20:56:07.705760 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289676980060.
I0419 20:56:07.707372 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402757s, prior_pose=(0.857393, -1.924), yaw=-1.6306 deg
I0419 20:56:07.707460 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 20:56:07.707544 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:07.707566 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:07.726924 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:07.727129 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289677262762.
I0419 20:56:07.817116 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.031579, -0.602676), points=23, range=0.604435, residual=0.0120945, extent=0.0391136
I0419 20:56:07.817239 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.031579, -0.602676), tracking=(-0.266921, 0.602676), map_predicted=(0.613286, -1.31457), range=0.604435, pts=23
I0419 20:56:07.817267 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00569306m maha_sq=0.00139644 (gate chi2=5.99) pose_sigma=(0.15043, 0.15043, rho=0) det_map=(0.613286, -1.31457) lm_pos=(0.615, -1.32) delta=(-0.00171386, 0.00542896) -> 1 candidate(s)
I0419 20:56:07.817306 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:07.817338 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.36731 deg, rms_residual=0.00255031m, sigma_yaw=0.00338889 rad, N=2
I0419 20:56:07.817366 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.868994, -1.92683, -1.36731deg) inliers=2 rms=0.00255031m
I0419 20:56:07.817394 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289677575022.
I0419 20:56:07.818099 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.371319, -0.566089)
I0419 20:56:07.819286 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289677821004.
I0419 20:56:07.821830 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:07.821915 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:07.821935 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:07.821964 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:07.842116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289678415401.
I0419 20:56:07.873802 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.31604, 1.64128), points=4, range=3.69725, residual=0.0143921, extent=0.0344053
I0419 20:56:07.874112 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.31604, 1.64128), tracking=(-3.61454, -1.64128), map_predicted=(-2.78068, -3.46595), range=3.69725, pts=4
I0419 20:56:07.874162 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66894m maha_sq=303.455 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.78068, -3.46595) lm_pos=(-0.285, -2.52) delta=(-2.49568, -0.94595) -> 0 candidate(s)
I0419 20:56:07.874284 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289678733297.
I0419 20:56:07.926934 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.897026, -1.92731), yaw=-1.62016 deg backend=(0.929573, -1.94305)
I0419 20:56:07.927706 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.34552, -0.565446)
I0419 20:56:07.928989 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289679016312.
I0419 20:56:07.931787 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289679295192.
I0419 20:56:07.962981 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289679618913.
I0419 20:56:07.990078 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.33934, 1.64075), points=4, range=3.71425, residual=0.0193846, extent=0.0455273
I0419 20:56:07.990478 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.33934, 1.64075), tracking=(-3.63784, -1.64075), map_predicted=(-2.7702, -3.46618), range=3.71425, pts=4
I0419 20:56:07.990751 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65923m maha_sq=296.752 (gate chi2=5.99) pose_sigma=(0.150612, 0.150612, rho=0) det_map=(-2.7702, -3.46618) lm_pos=(-0.285, -2.52) delta=(-2.4852, -0.946183) -> 0 candidate(s)
I0419 20:56:07.991142 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289679893560.
I0419 20:56:07.997805 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678021s, prior_pose=(0.911126, -1.92547), yaw=-1.56612 deg
I0419 20:56:07.997925 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:07.998078 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:07.998113 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.322417, -0.565819)
I0419 20:56:07.998137 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:08.068011 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:08.068164 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0025551 range=0.601 variance=0.000550523 t_weight=5449.37 r_weight=0 yaml=(0.615, -1.32) prior=(0.914524, -1.92196, -1.50596deg) obs_actual=(-0.318613, 0.600797) obs_expected=(-0.315241, 0.593882) delta=(-0.00337151, 0.00691448) |delta|=0.00769267m
I0419 20:56:08.068241 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289680172839.
I0419 20:56:08.068516 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:08.070111 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:08.070250 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289680461430.
I0419 20:56:08.079973 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289680781481.
I0419 20:56:08.106330 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:08.106442 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.36207, 1.63373), points=3, range=3.73567, residual=0.0112766, extent=0.0222887
I0419 20:56:08.106467 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:08.106516 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:08.106534 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.36207, 1.63373), tracking=(-3.66057, -1.63373), map_predicted=(-2.76655, -3.45986), range=3.73567, pts=3
I0419 20:56:08.106560 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65357m maha_sq=298.396 (gate chi2=5.99) pose_sigma=(0.150654, 0.150654, rho=0) det_map=(-2.76655, -3.45986) lm_pos=(-0.285, -2.52) delta=(-2.48155, -0.939856) -> 0 candidate(s)
I0419 20:56:08.106655 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289681058065.
I0419 20:56:08.118356 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.29849, -0.567102)
I0419 20:56:08.138844 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289681382260.
I0419 20:56:08.190322 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289681651824.
I0419 20:56:08.194631 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289681940657.
I0419 20:56:08.226996 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.38588, 1.61499), points=4, range=3.75425, residual=0.0162179, extent=0.0394468
I0419 20:56:08.227101 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.38588, 1.61499), tracking=(-3.68438, -1.61499), map_predicted=(-2.77596, -3.44499), range=3.75425, pts=4
I0419 20:56:08.227129 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65716m maha_sq=299.931 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77596, -3.44499) lm_pos=(-0.285, -2.52) delta=(-2.49096, -0.924994) -> 0 candidate(s)
I0419 20:56:08.234676 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.277317, -0.572511)
I0419 20:56:08.254128 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289682535478.
I0419 20:56:08.322337 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:08.322481 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:08.322515 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289682821418.
I0419 20:56:08.323591 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594949s, prior_pose=(0.965136, -1.92171), yaw=-1.32244 deg
I0419 20:56:08.323657 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:08.323752 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:08.323776 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:08.324751 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:08.328091 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:08.342095 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.967025, 0.618668)
I0419 20:56:08.342208 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:56:08.371269 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.4204, 1.61925), points=4, range=3.7865, residual=0.0150127, extent=0.0367014
I0419 20:56:08.371418 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.4204, 1.61925), tracking=(-3.7189, -1.61925), map_predicted=(-2.76971, -3.46286), range=3.7865, pts=4
I0419 20:56:08.371462 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65759m maha_sq=295.782 (gate chi2=5.99) pose_sigma=(0.151227, 0.151227, rho=0) det_map=(-2.76971, -3.46286) lm_pos=(-0.285, -2.52) delta=(-2.48471, -0.942864) -> 0 candidate(s)
I0419 20:56:08.371608 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289683703752.
I0419 20:56:08.399782 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:08.399926 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:08.399963 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:08.492424 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.99103, 0.619244)
I0419 20:56:08.492606 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00559377 range=0.61 variance=0.000576299 t_weight=5205.63 r_weight=0 yaml=(0.615, -1.32) prior=(0.995903, -1.9192, -1.1917deg) obs_actual=(-0.39991, 0.600483) obs_expected=(-0.393283, 0.591153) delta=(-0.00662749, 0.00933018) |delta|=0.0114445m
I0419 20:56:08.492690 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289684619699.
I0419 20:56:08.494621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289684898631.
I0419 20:56:08.498828 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218776, -0.572378), points=22, range=0.615273, residual=0.0136312, extent=0.0428745
I0419 20:56:08.499022 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.218776, -0.572378), tracking=(0.517276, -0.572378), map_predicted=(1.51382, -2.50181), range=0.615273, pts=22
I0419 20:56:08.499078 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.231893m maha_sq=2.29814 (gate chi2=5.99) pose_sigma=(0.150926, 0.150926, rho=0) det_map=(1.51382, -2.50181) lm_pos=(1.745, -2.52) delta=(-0.231179, 0.0181874) -> 1 candidate(s)
I0419 20:56:08.520465 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.582733 deg, rms_residual=0.00564658m, sigma_yaw=0.00747251 rad, N=2
I0419 20:56:08.520728 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.02003, -1.91875, -0.582733deg) inliers=2 rms=0.00564658m
I0419 20:56:08.520793 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289685180099.
I0419 20:56:08.597762 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.01759, 0.619502)
I0419 20:56:08.599238 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0358092s, prior_pose=(1.02579, -1.91919), yaw=-1.14327 deg
I0419 20:56:08.599328 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:08.599424 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:08.599447 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:08.606582 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:08.606828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289686060233.
I0419 20:56:08.638540 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.135029, -0.600713), points=21, range=0.617333, residual=0.0116916, extent=0.0371087
I0419 20:56:08.638666 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.135029, -0.600713), tracking=(-0.433529, 0.600713), map_predicted=(0.612307, -1.31136), range=0.617333, pts=21
I0419 20:56:08.638695 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00905051m maha_sq=0.00352258 (gate chi2=5.99) pose_sigma=(0.150606, 0.150606, rho=0) det_map=(0.612307, -1.31136) lm_pos=(0.615, -1.32) delta=(-0.00269317, 0.00864052) -> 1 candidate(s)
I0419 20:56:08.638732 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:08.638825 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289686379784.
I0419 20:56:08.667266 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289686659402.
I0419 20:56:08.744658 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.03946, 0.61839)
I0419 20:56:08.744793 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:08.744819 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:08.744835 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:08.744922 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289686935704.
I0419 20:56:08.747527 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289687258970.
I0419 20:56:08.758859 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.157176, -0.600427), points=22, range=0.622136, residual=0.0126184, extent=0.0429373
I0419 20:56:08.759001 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.157176, -0.600427), tracking=(-0.455676, 0.600427), map_predicted=(0.614171, -1.31128), range=0.622136, pts=22
I0419 20:56:08.759055 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00875866m maha_sq=0.00332184 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.614171, -1.31128) lm_pos=(0.615, -1.32) delta=(-0.000828872, 0.00871935) -> 1 candidate(s)
I0419 20:56:08.759217 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289687580652.
I0419 20:56:08.761572 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.06933, -1.91982), yaw=-1.10738 deg backend=(1.07482, -1.94083)
I0419 20:56:08.762774 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:08.782106 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289687814738.
I0419 20:56:08.872246 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.06692, 0.618028)
I0419 20:56:08.872409 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0070687 range=0.625727 variance=0.000604981 t_weight=4958.83 r_weight=0 yaml=(0.615, -1.32) prior=(1.07731, -1.91982, -1.12641deg) obs_actual=(-0.466044, 0.600667) obs_expected=(-0.474015, 0.590615) delta=(0.00797145, 0.0100522) |delta|=0.0128293m
I0419 20:56:08.872481 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289688107055.
I0419 20:56:08.882501 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.071426s, prior_pose=(1.08586, -1.91898), yaw=-1.10782 deg
I0419 20:56:08.882653 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:56:08.882766 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:08.882790 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:08.882814 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0354, 0.659619), points=4, range=1.225, residual=0.00697242, extent=0.0153235
I0419 20:56:08.882834 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0354, 0.659619), tracking=(1.3339, 0.659619), map_predicted=(2.43227, -1.28527), range=1.225, pts=4
I0419 20:56:08.882859 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0387858m maha_sq=0.06483 (gate chi2=5.99) pose_sigma=(0.150643, 0.150643, rho=0) det_map=(2.43227, -1.28527) lm_pos=(2.415, -1.32) delta=(0.0172694, 0.0347291) -> 1 candidate(s)
I0419 20:56:08.902702 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:08.902909 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289689020170.
I0419 20:56:08.930279 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(1.09514, 0.615363)
I0419 20:56:08.930437 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:08.930549 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289689297135.
I0419 20:56:09.007519 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289689581075.
I0419 20:56:09.010084 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:09.010195 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:09.010212 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:09.010282 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289689901177.
I0419 20:56:09.019009 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.55666, 1.61462), points=3, range=3.9, residual=0.0155754, extent=0.0323058
I0419 20:56:09.019289 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.55666, 1.61462), tracking=(-3.85516, -1.61462), map_predicted=(-2.77457, -3.46741), range=3.9, pts=3
I0419 20:56:09.019552 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66375m maha_sq=301.325 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77457, -3.46741) lm_pos=(-0.285, -2.52) delta=(-2.48957, -0.947405) -> 0 candidate(s)
I0419 20:56:09.019672 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289690183612.
I0419 20:56:09.047416 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.11827, 0.613479)
I0419 20:56:09.047995 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289690463553.
I0419 20:56:09.123859 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289690780253.
I0419 20:56:09.125735 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:09.125895 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:09.125926 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289691055173.
I0419 20:56:09.138924 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289691378623.
I0419 20:56:09.146888 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.979351, 0.656433), points=4, range=1.1755, residual=0.00851439, extent=0.0189942
I0419 20:56:09.147040 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.979351, 0.656433), tracking=(1.27785, 0.656433), map_predicted=(2.42991, -1.2878), range=1.1755, pts=4
I0419 20:56:09.147085 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0354856m maha_sq=0.0546728 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42991, -1.2878) lm_pos=(2.415, -1.32) delta=(0.0149122, 0.0322002) -> 1 candidate(s)
I0419 20:56:09.166474 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.14074, 0.615076)
I0419 20:56:09.166767 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00949771 range=0.65135 variance=0.000594238 t_weight=5048.48 r_weight=0 yaml=(0.615, -1.32) prior=(1.14952, -1.92183, -0.978185deg) obs_actual=(-0.53558, 0.604353) obs_expected=(-0.544714, 0.592617) delta=(0.0091345, 0.011736) |delta|=0.0148719m
I0419 20:56:09.166929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289691656239.
I0419 20:56:09.174060 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561963s, prior_pose=(1.14952, -1.92183), yaw=-0.978185 deg
I0419 20:56:09.174145 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:09.174266 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:09.174289 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:09.193881 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 21 -> 20 (threshold=0.03, iters=3)
I0419 20:56:09.193987 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:09.194092 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289691933968.
I0419 20:56:09.254499 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:09.254595 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.291508 deg, rms_residual=0.00672413m, sigma_yaw=0.00888584 rad, N=2
I0419 20:56:09.254666 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.16414, -1.92261, -0.291508deg) inliers=2 rms=0.00672413m
I0419 20:56:09.254702 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289692221309.
I0419 20:56:09.257683 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289692572794.
I0419 20:56:09.282356 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.265335, -0.607629)
I0419 20:56:09.282454 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:09.282480 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.260643, -0.606616), points=18, range=0.663111, residual=0.0126269, extent=0.0355176
I0419 20:56:09.282497 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:09.282547 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:09.282560 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.260643, -0.606616), tracking=(-0.559143, 0.606616), map_predicted=(0.617037, -1.30844), range=0.663111, pts=18
I0419 20:56:09.282583 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0117401m maha_sq=0.0059678 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.617037, -1.30844) lm_pos=(0.615, -1.32) delta=(0.00203696, 0.011562) -> 1 candidate(s)
I0419 20:56:09.282691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289692819268.
I0419 20:56:09.294433 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:09.386636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289693418930.
I0419 20:56:09.388593 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289693692592.
I0419 20:56:09.390213 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.0378934, -0.577432)
I0419 20:56:09.402942 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289694020304.
I0419 20:56:09.410444 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0336903, -0.577998), points=24, range=0.57925, residual=0.012343, extent=0.0406145
I0419 20:56:09.410563 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0336903, -0.577998), tracking=(0.33219, -0.577998), map_predicted=(1.52189, -2.50447), range=0.57925, pts=24
I0419 20:56:09.410604 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.22365m maha_sq=2.16667 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52189, -2.50447) lm_pos=(1.745, -2.52) delta=(-0.22311, 0.0155338) -> 1 candidate(s)
I0419 20:56:09.430447 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289694296570.
I0419 20:56:09.458982 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289694580564.
I0419 20:56:09.534225 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401652s, prior_pose=(1.21075, -1.92282), yaw=-0.80166 deg
I0419 20:56:09.534358 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:09.534482 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:09.534502 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.911634, 0.652913)
I0419 20:56:09.534516 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:09.534825 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:09.535543 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:09.535614 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00824915 range=0.682833 variance=0.000590893 t_weight=5077.06 r_weight=0 yaml=(0.615, -1.32) prior=(1.21075, -1.92282, -0.80166deg) obs_actual=(-0.604021, 0.608261) obs_expected=(-0.604129, 0.594421) delta=(0.000107546, 0.0138397) |delta|=0.0138401m
I0419 20:56:09.535670 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289694895006.
I0419 20:56:09.538204 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:09.538318 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289695181259.
I0419 20:56:09.546860 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.317695, -0.608073), points=19, range=0.688158, residual=0.0129854, extent=0.0395516
I0419 20:56:09.547006 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.317695, -0.608073), tracking=(-0.616195, 0.608073), map_predicted=(0.612395, -1.30654), range=0.688158, pts=19
I0419 20:56:09.547060 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0137093m maha_sq=0.00813419 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.612395, -1.30654) lm_pos=(0.615, -1.32) delta=(-0.00260464, 0.0134596) -> 1 candidate(s)
I0419 20:56:09.547194 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289695459717.
I0419 20:56:09.579562 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.67462, 1.59779)
I0419 20:56:09.579728 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:09.579764 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:09.579788 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:09.579926 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289695785208.
I0419 20:56:09.661106 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.25003, -1.92424), yaw=-0.832244 deg backend=(1.25383, -1.93827)
I0419 20:56:09.666311 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289696657719.
I0419 20:56:09.674424 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0269349, -0.57857)
I0419 20:56:09.674574 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0269221, -0.577931), points=23, range=0.579304, residual=0.0114268, extent=0.0381503
I0419 20:56:09.674620 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0269221, -0.577931), tracking=(0.271578, -0.577931), map_predicted=(1.51318, -2.50606), range=0.579304, pts=23
I0419 20:56:09.674655 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.232236m maha_sq=2.33844 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.51318, -2.50606) lm_pos=(1.745, -2.52) delta=(-0.231817, 0.0139423) -> 1 candidate(s)
I0419 20:56:09.698715 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289696978425.
I0419 20:56:09.721858 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289697212183.
I0419 20:56:09.796703 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640576s, prior_pose=(1.26903, -1.92702), yaw=-0.777253 deg
I0419 20:56:09.796849 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:09.796954 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:09.796975 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.844818, 0.649754)
I0419 20:56:09.796994 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:09.797106 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:09.798764 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:09.798898 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289697818328.
I0419 20:56:09.799695 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.837985, 0.650756), points=6, range=1.06217, residual=0.00800228, extent=0.021515
I0419 20:56:09.799746 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.837985, 0.650756), tracking=(1.13648, 0.650756), map_predicted=(2.41851, -1.29337), range=1.06217, pts=6
I0419 20:56:09.799769 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0268588m maha_sq=0.0313414 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.41851, -1.29337) lm_pos=(2.415, -1.32) delta=(0.00351489, 0.0266278) -> 1 candidate(s)
I0419 20:56:09.810240 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:56:09.878800 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:09.939021 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.7402, 1.59407)
I0419 20:56:09.939116 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:09.939142 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:09.939158 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:09.940877 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:09.940958 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:09.940982 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289699025986.
I0419 20:56:09.944061 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0849454, -0.579682), points=23, range=0.586391, residual=0.0118172, extent=0.0389897
I0419 20:56:09.944139 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0849454, -0.579682), tracking=(0.213555, -0.579682), map_predicted=(1.50727, -2.50477), range=0.586391, pts=23
I0419 20:56:09.944161 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.238215m maha_sq=2.4195 (gate chi2=5.99) pose_sigma=(0.151263, 0.151263, rho=0) det_map=(1.50727, -2.50477) lm_pos=(1.745, -2.52) delta=(-0.237728, 0.0152303) -> 1 candidate(s)
I0419 20:56:09.987299 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.76887, 1.58687)
I0419 20:56:09.987591 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289699859714.
I0419 20:56:10.074913 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552672s, prior_pose=(1.33512, -1.9222), yaw=-0.537224 deg
I0419 20:56:10.075021 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:10.075125 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:10.075148 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:10.078958 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.79439, 1.57815), points=3, range=4.11167, residual=0.012597, extent=0.0263225
I0419 20:56:10.079164 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.79439, 1.57815), tracking=(-4.09289, -1.57815), map_predicted=(-2.77239, -3.46191), range=4.11167, pts=3
I0419 20:56:10.079239 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65976m maha_sq=293.897 (gate chi2=5.99) pose_sigma=(0.15187, 0.15187, rho=0) det_map=(-2.77239, -3.46191) lm_pos=(-0.285, -2.52) delta=(-2.48739, -0.941906) -> 0 candidate(s)
I0419 20:56:10.079281 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:10.106666 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.79829, 1.5798)
I0419 20:56:10.106925 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:10.107018 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00871934 range=0.752667 variance=0.000574467 t_weight=5222.24 r_weight=0 yaml=(0.615, -1.32) prior=(1.34092, -1.92289, -0.521225deg) obs_actual=(-0.736203, 0.609826) obs_expected=(-0.731378, 0.596262) delta=(-0.004825, 0.013564) |delta|=0.0143966m
I0419 20:56:10.107180 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289701057649.
I0419 20:56:10.114593 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:10.199254 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:10.199365 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:10.199385 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:10.202589 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.74255, 0.644316)
I0419 20:56:10.222186 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.466174, -0.613008), points=14, range=0.772071, residual=0.011201, extent=0.033668
I0419 20:56:10.222361 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.466174, -0.613008), tracking=(-0.764674, 0.613008), map_predicted=(0.606949, -1.3046), range=0.772071, pts=14
I0419 20:56:10.222409 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0173784m maha_sq=0.0127656 (gate chi2=5.99) pose_sigma=(0.151963, 0.151963, rho=0) det_map=(0.606949, -1.3046) lm_pos=(0.615, -1.32) delta=(-0.00805146, 0.0154007) -> 1 candidate(s)
I0419 20:56:10.348834 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289702813910.
I0419 20:56:10.349829 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.169015, -0.586104)
I0419 20:56:10.351934 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289703096685.
I0419 20:56:10.353957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289703377525.
I0419 20:56:10.355654 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0404309s, prior_pose=(1.38812, -1.92291), yaw=-0.332623 deg
I0419 20:56:10.355717 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:10.355813 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:10.355866 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:10.370921 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.58825, 0.647069)
I0419 20:56:10.371150 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:10.371335 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289703700805.
I0419 20:56:10.378003 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.70859, 0.643213), points=7, range=0.950143, residual=0.016355, extent=0.0388786
I0419 20:56:10.378139 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.70859, 0.643213), tracking=(1.00709, 0.643213), map_predicted=(2.39893, -1.28555), range=0.950143, pts=7
I0419 20:56:10.378185 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0380112m maha_sq=0.0622375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.39893, -1.28555) lm_pos=(2.415, -1.32) delta=(-0.0160742, 0.0344451) -> 1 candidate(s)
I0419 20:56:10.442564 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:56:10.442705 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:10.442746 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.165744 deg, rms_residual=0.0124648m, sigma_yaw=0.016348 rad, N=2
I0419 20:56:10.442795 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.42733, -1.92339, 0.165744deg) inliers=2 rms=0.0124648m
I0419 20:56:10.442827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289703976030.
I0419 20:56:10.444751 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289704256311.
I0419 20:56:10.458038 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.46419, 0.598102)
I0419 20:56:10.458160 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:10.458195 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:10.458222 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:10.458392 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289704575547.
I0419 20:56:10.487604 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289704862417.
I0419 20:56:10.518433 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289705176176.
I0419 20:56:10.523900 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:10.593786 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.45468, -1.91352), yaw=-0.178312 deg backend=(1.43468, -1.93351)
I0419 20:56:10.594511 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.675225, 0.640732), points=8, range=0.929375, residual=0.00885748, extent=0.0262642
I0419 20:56:10.594573 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.675225, 0.640732), tracking=(0.973725, 0.640732), map_predicted=(2.43039, -1.27582), range=0.929375, pts=8
I0419 20:56:10.594604 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0467864m maha_sq=0.0942007 (gate chi2=5.99) pose_sigma=(0.150706, 0.150706, rho=0) det_map=(2.43039, -1.27582) lm_pos=(2.415, -1.32) delta=(0.0153916, 0.0441822) -> 1 candidate(s)
I0419 20:56:10.595731 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289705455607.
I0419 20:56:10.596588 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.58552, -0.561466)
I0419 20:56:10.596728 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:10.598523 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.0529929 range=1.592 variance=0.000838913 t_weight=3576.05 r_weight=0 yaml=(-0.285, -2.52) prior=(1.46735, -1.91397, -0.12565deg) obs_actual=(-1.78426, -0.597755) obs_expected=(-1.75102, -0.609868) delta=(-0.0332443, 0.0121132) |delta|=0.0353824m
I0419 20:56:10.598659 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289705736295.
I0419 20:56:10.607246 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289706062319.
I0419 20:56:10.634928 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289706339485.
I0419 20:56:10.642611 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682272s, prior_pose=(1.48258, -1.91385), yaw=-0.122092 deg
I0419 20:56:10.642772 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=252, threshold=230, above_threshold=33, candidates=33
I0419 20:56:10.643028 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:10.643072 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.255227, -0.58685)
I0419 20:56:10.643103 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:10.736721 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:56:10.736871 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289706655520.
I0419 20:56:10.739548 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.265485, -0.586918), points=21, range=0.643762, residual=0.0127931, extent=0.0381679
I0419 20:56:10.739728 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.265485, -0.586918), tracking=(0.0330151, -0.586918), map_predicted=(1.52186, -2.50315), range=0.643762, pts=21
I0419 20:56:10.739776 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.223775m maha_sq=2.16785 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52186, -2.50315) lm_pos=(1.745, -2.52) delta=(-0.223139, 0.0168532) -> 1 candidate(s)
I0419 20:56:10.741273 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 20:56:10.741403 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289706940380.
I0419 20:56:10.743950 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289707212844.
I0419 20:56:10.744735 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.623227, 0.637817)
I0419 20:56:10.753221 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:10.753363 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:10.753386 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:10.782478 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289707817299.
I0419 20:56:10.844668 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.606949, 0.637682), points=10, range=0.8823, residual=0.00992261, extent=0.0292555
I0419 20:56:10.844812 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.606949, 0.637682), tracking=(0.905449, 0.637682), map_predicted=(2.43156, -1.28622), range=0.8823, pts=10
I0419 20:56:10.844841 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0376215m maha_sq=0.0606796 (gate chi2=5.99) pose_sigma=(0.150939, 0.150939, rho=0) det_map=(2.43156, -1.28622) lm_pos=(2.415, -1.32) delta=(0.0165647, 0.0337786) -> 1 candidate(s)
I0419 20:56:10.846665 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.52033, -0.570945)
I0419 20:56:10.907266 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.50006, -0.570822)
I0419 20:56:10.984014 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:10.984903 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601405s, prior_pose=(1.53719, -1.9348), yaw=0.0746511 deg
I0419 20:56:10.985023 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=252, threshold=230, above_threshold=34, candidates=34
I0419 20:56:10.985188 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:10.985244 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:10.985268 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.570277, 0.63516), points=10, range=0.8557, residual=0.0100032, extent=0.0300156
I0419 20:56:10.985291 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.570277, 0.63516), tracking=(0.868777, 0.63516), map_predicted=(2.40514, -1.29851), range=0.8557, pts=10
I0419 20:56:10.985313 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.023642m maha_sq=0.0236096 (gate chi2=5.99) pose_sigma=(0.152089, 0.152089, rho=0) det_map=(2.40514, -1.29851) lm_pos=(2.415, -1.32) delta=(-0.00985741, 0.0214889) -> 1 candidate(s)
I0419 20:56:10.986591 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:10.987674 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:10.989198 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 14 -> 8 (threshold=0.03, iters=3)
I0419 20:56:10.989328 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:10.989377 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:10.989396 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289709660575.
I0419 20:56:10.990392 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:10.994984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289709940629.
I0419 20:56:11.017760 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.55365, 0.573161)
I0419 20:56:11.046063 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:11.046213 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:11.046236 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:11.127801 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.228455, 0.582449), points=22, range=0.627818, residual=0.0132637, extent=0.0392932
I0419 20:56:11.127905 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.228455, 0.582449), tracking=(-0.0700448, -0.582449), map_predicted=(1.5934, -2.52775), range=0.627818, pts=22
I0419 20:56:11.127969 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.151796m maha_sq=0.892569 (gate chi2=5.99) pose_sigma=(0.15876, 0.15876, rho=0) det_map=(1.5934, -2.52775) lm_pos=(1.745, -2.52) delta=(-0.151598, -0.0077511) -> 1 candidate(s)
I0419 20:56:11.130946 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=13, centroid=(0.533114, 0.631465)
I0419 20:56:11.265026 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0368312s, prior_pose=(1.75489, -1.95289), yaw=0.498076 deg
I0419 20:56:11.265185 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=252, threshold=230, above_threshold=15, candidates=15
I0419 20:56:11.265254 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:11.265275 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.502984, 0.628455)
I0419 20:56:11.265288 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:11.266397 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.716867, -0.634187), points=9, range=0.957333, residual=0.0102612, extent=0.0313196
I0419 20:56:11.266461 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.716867, -0.634187), tracking=(-1.01537, 0.634187), map_predicted=(0.734049, -1.32755), range=0.957333, pts=9
I0419 20:56:11.266490 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.119289m maha_sq=0.51018 (gate chi2=5.99) pose_sigma=(0.165344, 0.165344, rho=0) det_map=(0.734049, -1.32755) lm_pos=(0.615, -1.32) delta=(0.119049, -0.00755067) -> 1 candidate(s)
I0419 20:56:11.266515 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:11.282379 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:11.282457 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:11.400774 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.162211, 0.581373)
I0419 20:56:11.400908 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:11.400938 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:11.400956 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:11.401039 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289713374549.
I0419 20:56:11.404264 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289713775238.
I0419 20:56:11.405431 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.143595, 0.579403), points=21, range=0.598857, residual=0.0124642, extent=0.0384746
I0419 20:56:11.405507 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.143595, 0.579403), tracking=(-0.154905, -0.579403), map_predicted=(1.59681, -2.52975), range=0.598857, pts=21
I0419 20:56:11.405530 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.148508m maha_sq=0.955184 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.59681, -2.52975) lm_pos=(1.745, -2.52) delta=(-0.148188, -0.00974786) -> 1 candidate(s)
I0419 20:56:11.406476 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.72719, -1.94857), yaw=0.668574 deg backend=(1.64677, -1.93117)
I0419 20:56:11.406898 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.136782 range=0.772867 variance=0.000578619 t_weight=5184.76 r_weight=0 yaml=(2.415, -1.32) prior=(1.72719, -1.94857, 0.668574deg) obs_actual=(0.751685, 0.623694) obs_expected=(0.695096, 0.620503) delta=(0.0565885, 0.00319085) |delta|=0.0566784m
I0419 20:56:11.407012 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289714056475.
I0419 20:56:11.434240 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289714332150.
I0419 20:56:11.531307 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.130012, 0.578679)
I0419 20:56:11.532186 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289714656284.
I0419 20:56:11.534677 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289714939333.
I0419 20:56:11.536432 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0683091s, prior_pose=(1.70215, -1.94825), yaw=0.802408 deg
I0419 20:56:11.536504 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:56:11.536562 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:11.536583 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:11.536636 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289715259615.
I0419 20:56:11.545774 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:11.574712 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.100507, 0.579808)
I0419 20:56:11.574905 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:11.664552 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32926, -0.594144), points=3, range=1.45367, residual=0.00571878, extent=0.010973
I0419 20:56:11.664659 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.32926, -0.594144), tracking=(1.62776, -0.594144), map_predicted=(3.35676, -2.51852), range=1.45367, pts=3
I0419 20:56:11.664687 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.173245m maha_sq=1.28158 (gate chi2=5.99) pose_sigma=(0.151357, 0.151357, rho=0) det_map=(3.35676, -2.51852) lm_pos=(3.53, -2.52) delta=(-0.173238, 0.00148342) -> 1 candidate(s)
I0419 20:56:11.669263 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:11.669412 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:11.669450 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:11.676522 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:11.703027 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.29376, -0.594145)
I0419 20:56:11.770129 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28729, -0.593446), points=3, range=1.411, residual=0.0124767, extent=0.0253631
I0419 20:56:11.770251 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28729, -0.593446), tracking=(1.58579, -0.593446), map_predicted=(3.33737, -2.51982), range=1.411, pts=3
I0419 20:56:11.770275 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.192626m maha_sq=1.54213 (gate chi2=5.99) pose_sigma=(0.15307, 0.15307, rho=0) det_map=(3.33737, -2.51982) lm_pos=(3.53, -2.52) delta=(-0.192626, 0.000178617) -> 1 candidate(s)
I0419 20:56:11.772851 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289717580291.
I0419 20:56:11.818651 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059998s, prior_pose=(1.76592, -1.94821), yaw=0.732689 deg
I0419 20:56:11.818812 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:56:11.818939 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:11.818971 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:11.838054 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:11.912117 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.25805, -0.591091)
I0419 20:56:11.913491 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:11.914291 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.333603, 0.622948), points=16, range=0.706563, residual=0.0113001, extent=0.0404049
I0419 20:56:11.914356 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.333603, 0.622948), tracking=(0.632103, 0.622948), map_predicted=(2.40725, -1.31638), range=0.706563, pts=16
I0419 20:56:11.914381 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.00855155m maha_sq=0.00309289 (gate chi2=5.99) pose_sigma=(0.151918, 0.151918, rho=0) det_map=(2.40725, -1.31638) lm_pos=(2.415, -1.32) delta=(-0.00774882, 0.0036173) -> 1 candidate(s)
I0419 20:56:11.926836 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:11.926942 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:11.926987 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:12.023599 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:12.024456 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.2201, -0.586311)
I0419 20:56:12.027082 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.293138, 0.623766), points=18, range=0.688944, residual=0.0122738, extent=0.0435231
I0419 20:56:12.027186 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.293138, 0.623766), tracking=(0.591638, 0.623766), map_predicted=(2.42138, -1.31449), range=0.688944, pts=18
I0419 20:56:12.027215 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.00842877m maha_sq=0.00285728 (gate chi2=5.99) pose_sigma=(0.15581, 0.15581, rho=0) det_map=(2.42138, -1.31449) lm_pos=(2.415, -1.32) delta=(0.00637879, 0.00550956) -> 1 candidate(s)
I0419 20:56:12.160740 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0358339s, prior_pose=(1.85403, -1.94303), yaw=0.420031 deg
I0419 20:56:12.160861 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:12.160953 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:12.160976 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:12.162148 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:12.162979 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.18159, -0.584795)
I0419 20:56:12.164880 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:12.169989 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.254822, 0.625355), points=18, range=0.673667, residual=0.0118692, extent=0.0383379
I0419 20:56:12.170094 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.254822, 0.625355), tracking=(0.553322, 0.625355), map_predicted=(2.41234, -1.31389), range=0.673667, pts=18
I0419 20:56:12.170133 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.00666319m maha_sq=0.00174247 (gate chi2=5.99) pose_sigma=(0.157806, 0.157806, rho=0) det_map=(2.41234, -1.31389) lm_pos=(2.415, -1.32) delta=(-0.00266111, 0.00610873) -> 1 candidate(s)
I0419 20:56:12.221895 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:12.221992 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:12.222013 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:12.290573 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.0725952, 0.58401)
I0419 20:56:12.290714 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:12.291641 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.89232, -1.94352), yaw=0.228517 deg backend=(1.85674, -1.92572)
I0419 20:56:12.370926 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02302, -0.618761), points=6, range=1.19417, residual=0.00765557, extent=0.0175443
I0419 20:56:12.371140 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02302, -0.618761), tracking=(-1.32152, 0.618761), map_predicted=(0.57812, -1.32874), range=1.19417, pts=6
I0419 20:56:12.371201 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0379007m maha_sq=0.0546499 (gate chi2=5.99) pose_sigma=(0.160517, 0.160517, rho=0) det_map=(0.57812, -1.32874) lm_pos=(0.615, -1.32) delta=(-0.0368798, -0.00873732) -> 1 candidate(s)
I0419 20:56:12.459858 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0672464s, prior_pose=(1.9194, -1.9428), yaw=0.112275 deg
I0419 20:56:12.460037 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:12.460129 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:12.460152 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.188424, 0.625901)
I0419 20:56:12.460173 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:12.460717 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:12.462393 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:12.463440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289724341704.
I0419 20:56:12.464821 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:12.571134 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:12.571229 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:12.571250 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:12.572271 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289725303172.
I0419 20:56:12.573141 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.140977, 0.586952), points=22, range=0.603227, residual=0.0131156, extent=0.0374079
I0419 20:56:12.573205 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.140977, 0.586952), tracking=(-0.439477, -0.586952), map_predicted=(1.49488, -2.5295), range=0.603227, pts=22
I0419 20:56:12.573231 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.250302m maha_sq=2.71145 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.49488, -2.5295) lm_pos=(1.745, -2.52) delta=(-0.250122, -0.00949554) -> 1 candidate(s)
I0419 20:56:12.574731 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.147664, 0.626823)
I0419 20:56:12.602047 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:12.699762 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560874s, prior_pose=(1.97928, -1.94175), yaw=-0.211383 deg
I0419 20:56:12.699885 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:12.699972 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:12.699993 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.90616, 0.64396)
I0419 20:56:12.700008 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:12.700024 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.104455, 0.624078), points=20, range=0.63415, residual=0.0117905, extent=0.0410094
I0419 20:56:12.700042 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.104455, 0.624078), tracking=(0.402955, 0.624078), map_predicted=(2.38453, -1.31916), range=0.63415, pts=20
I0419 20:56:12.700057 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0304815m maha_sq=0.0385662 (gate chi2=5.99) pose_sigma=(0.153354, 0.153354, rho=0) det_map=(2.38453, -1.31916) lm_pos=(2.415, -1.32) delta=(-0.0304701, 0.00083502) -> 1 candidate(s)
I0419 20:56:12.718715 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:12.750823 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:12.847148 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:12.847249 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:12.847265 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:12.849824 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.06447, 0.618056)
I0419 20:56:12.850589 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289728452717.
I0419 20:56:12.875102 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01253, -0.567042), points=5, range=1.1574, residual=0.00887973, extent=0.0206255
I0419 20:56:12.875260 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01253, -0.567042), tracking=(1.31103, -0.567042), map_predicted=(3.32943, -2.52122), range=1.1574, pts=5
I0419 20:56:12.875312 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.200573m maha_sq=1.7308 (gate chi2=5.99) pose_sigma=(0.150685, 0.150685, rho=0) det_map=(3.32943, -2.52122) lm_pos=(3.53, -2.52) delta=(-0.200569, -0.0012233) -> 1 candidate(s)
I0419 20:56:12.991968 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:12.995716 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(2.07649, 0.624946)
I0419 20:56:12.999070 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0413449s, prior_pose=(2.08791, -1.94), yaw=-0.886444 deg
I0419 20:56:12.999166 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:12.999251 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:12.999272 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:13.014072 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:13.022605 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0145018, 0.62318), points=21, range=0.623571, residual=0.0116167, extent=0.036414
I0419 20:56:13.022718 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0145018, 0.62318), tracking=(0.313002, 0.62318), map_predicted=(2.41051, -1.32174), range=0.623571, pts=21
I0419 20:56:13.022771 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.00481297m maha_sq=0.000937366 (gate chi2=5.99) pose_sigma=(0.15538, 0.15538, rho=0) det_map=(2.41051, -1.32174) lm_pos=(2.415, -1.32) delta=(-0.0044874, -0.00174008) -> 1 candidate(s)
I0419 20:56:13.119553 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:13.121389 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.263923, 0.597313)
I0419 20:56:13.123901 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:13.123978 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:13.123996 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:13.253651 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.11181, -1.94385), yaw=-0.852681 deg backend=(2.08139, -1.92793)
I0419 20:56:13.254473 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0189101, 0.617342), points=20, range=0.6194, residual=0.0119874, extent=0.0351643
I0419 20:56:13.254539 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0189101, 0.617342), tracking=(0.27959, 0.617342), map_predicted=(2.40055, -1.33073), range=0.6194, pts=20
I0419 20:56:13.254570 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0179987m maha_sq=0.0127818 (gate chi2=5.99) pose_sigma=(0.157374, 0.157374, rho=0) det_map=(2.40055, -1.33073) lm_pos=(2.415, -1.32) delta=(-0.0144481, -0.0107333) -> 1 candidate(s)
I0419 20:56:13.256417 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.92865, -0.563504)
I0419 20:56:13.256525 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:13.286934 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0642894s, prior_pose=(2.13525, -1.9442), yaw=-0.856248 deg
I0419 20:56:13.287233 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:56:13.287496 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:13.287603 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:13.362502 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:13.363478 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.055286, 0.621458)
I0419 20:56:13.364675 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:13.366273 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.889442, -0.566618), points=6, range=1.05167, residual=0.00993534, extent=0.0267639
I0419 20:56:13.366393 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.889442, -0.566618), tracking=(1.18794, -0.566618), map_predicted=(3.33435, -2.52666), range=1.05167, pts=6
I0419 20:56:13.366422 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.195762m maha_sq=1.45795 (gate chi2=5.99) pose_sigma=(0.160418, 0.160418, rho=0) det_map=(3.33435, -2.52666) lm_pos=(3.53, -2.52) delta=(-0.195648, -0.00666066) -> 1 candidate(s)
I0419 20:56:13.394608 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:13.394793 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:13.394827 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:13.512876 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.0829629, 0.623113)
I0419 20:56:13.517796 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:13.522294 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845618, -0.570362), points=6, range=1.01783, residual=0.00811625, extent=0.0225196
I0419 20:56:13.522382 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.845618, -0.570362), tracking=(1.14412, -0.570362), map_predicted=(3.33214, -2.52661), range=1.01783, pts=6
I0419 20:56:13.522409 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.197973m maha_sq=1.44254 (gate chi2=5.99) pose_sigma=(0.163257, 0.163257, rho=0) det_map=(3.33214, -2.52661) lm_pos=(3.53, -2.52) delta=(-0.197863, -0.0066142) -> 1 candidate(s)
I0419 20:56:13.550388 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.111415, 0.621276)
I0419 20:56:13.638713 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558775s, prior_pose=(2.20203, -1.94277), yaw=-0.611105 deg
I0419 20:56:13.638823 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:13.638916 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:13.638938 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:13.639953 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:13.642288 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 20:56:13.666595 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.139542, 0.620852)
I0419 20:56:13.690378 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:13.690599 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:13.690649 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:13.778580 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36161, -0.603848), points=3, range=1.49367, residual=0.00987663, extent=0.0208899
I0419 20:56:13.778745 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36161, -0.603848), tracking=(-1.66011, 0.603848), map_predicted=(0.553745, -1.32573), range=1.49367, pts=3
I0419 20:56:13.778855 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.061522m maha_sq=0.134083 (gate chi2=5.99) pose_sigma=(0.166283, 0.166283, rho=0) det_map=(0.553745, -1.32573) lm_pos=(0.615, -1.32) delta=(-0.0612545, -0.00573025) -> 1 candidate(s)
I0419 20:56:13.790616 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:13.806737 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.39308, -0.610539)
I0419 20:56:13.865331 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:13.874161 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0403198s, prior_pose=(2.26238, -1.94129), yaw=-0.260801 deg
I0419 20:56:13.874321 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:13.874540 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:13.874588 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:13.894732 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.483446, 0.596937), points=14, range=0.772143, residual=0.0137206, extent=0.0404152
I0419 20:56:13.895000 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.483446, 0.596937), tracking=(-0.781946, -0.596937), map_predicted=(1.47772, -2.53467), range=0.772143, pts=14
I0419 20:56:13.895099 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.267678m maha_sq=2.43158 (gate chi2=5.99) pose_sigma=(0.16982, 0.16982, rho=0) det_map=(1.47772, -2.53467) lm_pos=(1.745, -2.52) delta=(-0.267276, -0.0146655) -> 1 candidate(s)
I0419 20:56:13.895171 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:13.922112 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.41803, -0.611665)
I0419 20:56:13.922227 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=2, buffered=1).
I0419 20:56:14.024035 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:14.024145 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:14.024161 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:14.042465 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.44612, -0.613809)
I0419 20:56:14.043705 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.3198, -1.94174), yaw=-0.0367546 deg backend=(2.28939, -1.92584)
I0419 20:56:14.077780 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.68891, -0.584871), points=9, range=0.903889, residual=0.0121393, extent=0.0374686
I0419 20:56:14.077893 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.68891, -0.584871), tracking=(0.98741, -0.584871), map_predicted=(3.30684, -2.52725), range=0.903889, pts=9
I0419 20:56:14.077926 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.223282m maha_sq=1.62267 (gate chi2=5.99) pose_sigma=(0.173583, 0.173583, rho=0) det_map=(3.30684, -2.52725) lm_pos=(3.53, -2.52) delta=(-0.223164, -0.00724753) -> 1 candidate(s)
I0419 20:56:14.077960 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:14.129410 1219494 pose_graph_2d.cc:160] Inserted submap (1, 12).
I0419 20:56:14.134792 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289741334306.
I0419 20:56:14.138295 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.674235, -0.586009)
I0419 20:56:14.165804 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06443s, prior_pose=(2.34967, -1.94165), yaw=-0.0237047 deg
I0419 20:56:14.166143 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:14.166303 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:14.166353 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:14.185925 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:14.190532 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:14.217757 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.49712, -0.617575), points=3, range=1.61267, residual=0.0131804, extent=0.0267
I0419 20:56:14.217890 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.49712, -0.617575), tracking=(-1.79562, 0.617575), map_predicted=(0.567738, -1.324), range=1.61267, pts=3
I0419 20:56:14.217919 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0474307m maha_sq=0.0937374 (gate chi2=5.99) pose_sigma=(0.152761, 0.152761, rho=0) det_map=(0.567738, -1.324) lm_pos=(0.615, -1.32) delta=(-0.0472617, -0.00400044) -> 1 candidate(s)
I0419 20:56:14.217958 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=3, buffered=5).
I0419 20:56:14.218020 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289742172519.
I0419 20:56:14.266676 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.277801, 0.619014)
I0419 20:56:14.274631 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:14.274744 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:14.274770 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:14.314231 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.301126, 0.619564)
I0419 20:56:14.314440 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289743136660.
I0419 20:56:14.342505 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.310466, 0.618086), points=18, range=0.691167, residual=0.0117164, extent=0.034787
I0419 20:56:14.342643 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.310466, 0.618086), tracking=(-0.0119658, 0.618086), map_predicted=(2.38102, -1.31703), range=0.691167, pts=18
I0419 20:56:14.342674 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0341088m maha_sq=0.0504204 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.38102, -1.31703) lm_pos=(2.415, -1.32) delta=(-0.0339792, 0.00297078) -> 1 candidate(s)
I0419 20:56:14.402601 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.625137, 0.597786)
I0419 20:56:14.421963 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:14.430426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289744297666.
I0419 20:56:14.459933 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563371s, prior_pose=(2.4253, -1.9367), yaw=0.0957452 deg
I0419 20:56:14.460297 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:56:14.460675 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:14.460856 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:56:14.463186 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.408103 deg, rms_residual=0.00898888m, sigma_yaw=0.00988888 rad, N=2
I0419 20:56:14.463578 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(2.43676, -1.93478, -0.408103deg) inliers=2 rms=0.00898888m
I0419 20:56:14.463825 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289744595268.
I0419 20:56:14.481802 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.55299, -0.622205)
I0419 20:56:14.482173 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.642196, 0.597043), points=11, range=0.882727, residual=0.0157332, extent=0.0402961
I0419 20:56:14.482331 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.642196, 0.597043), tracking=(-0.940696, -0.597043), map_predicted=(1.4856, -2.53531), range=0.882727, pts=11
I0419 20:56:14.482383 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.259849m maha_sq=2.91142 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.4856, -2.53531) lm_pos=(1.745, -2.52) delta=(-0.259398, -0.0153144) -> 1 candidate(s)
I0419 20:56:14.482416 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:14.545593 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:14.546993 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[3] 'ref_4' maha_sq=0.0196817 range=0.6945 variance=0.000622896 t_weight=4816.22 r_weight=0 yaml=(2.415, -1.32) prior=(2.4343, -1.93647, 0.112908deg) obs_actual=(-0.0393255, 0.613724) obs_expected=(-0.0180802, 0.616503) delta=(-0.0212453, -0.00277843) |delta|=0.0214262m
I0419 20:56:14.547355 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289745178542.
I0419 20:56:14.549499 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289745423413.
I0419 20:56:14.570632 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:14.570719 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:14.570736 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:14.578315 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.55567, -0.590551)
I0419 20:56:14.599651 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:14.599783 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:14.599807 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289745988753.
I0419 20:56:14.606917 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.546407, -0.589307), points=11, range=0.807727, residual=0.0137375, extent=0.0405534
I0419 20:56:14.607028 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.546407, -0.589307), tracking=(0.844907, -0.589307), map_predicted=(3.31147, -2.51941), range=0.807727, pts=11
I0419 20:56:14.607146 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.218529m maha_sq=2.06463 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31147, -2.51941) lm_pos=(3.53, -2.52) delta=(-0.218528, 0.000586561) -> 1 candidate(s)
I0419 20:56:14.687389 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.705244, 0.594336)
I0419 20:56:14.687616 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289746866738.
I0419 20:56:14.746402 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289747456251.
I0419 20:56:14.803431 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0351867s, prior_pose=(2.51582, -1.9314), yaw=0.334255 deg
I0419 20:56:14.803540 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=254, threshold=230, above_threshold=14, candidates=14
I0419 20:56:14.803612 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:14.803637 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:14.803660 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.502337, -0.588082), points=11, range=0.777182, residual=0.0132239, extent=0.0400524
I0419 20:56:14.803681 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.502337, -0.588082), tracking=(0.800837, -0.588082), map_predicted=(3.32007, -2.5148), range=0.777182, pts=11
I0419 20:56:14.803705 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.209993m maha_sq=1.90629 (gate chi2=5.99) pose_sigma=(0.150058, 0.150058, rho=0) det_map=(3.32007, -2.5148) lm_pos=(3.53, -2.52) delta=(-0.209929, 0.005199) -> 1 candidate(s)
I0419 20:56:14.804803 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:14.809038 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.731766, 0.593351)
I0419 20:56:14.809217 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:14.815831 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:14.862604 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:14.862707 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:14.862731 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:14.922767 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38495, 0.619029), points=3, range=1.514, residual=0.00673992, extent=0.0133221
I0419 20:56:14.923005 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.38495, 0.619029), tracking=(1.68345, 0.619029), map_predicted=(4.21563, -1.29727), range=1.514, pts=3
I0419 20:56:14.923094 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0227373m maha_sq=0.0219618 (gate chi2=5.99) pose_sigma=(0.151698, 0.151698, rho=0) det_map=(4.21563, -1.29727) lm_pos=(4.215, -1.32) delta=(0.000625707, 0.0227287) -> 1 candidate(s)
I0419 20:56:14.925199 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(2.54153, -1.92711), yaw=0.384481 deg backend=(2.50121, -1.91904)
I0419 20:56:14.929926 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.457197, -0.590318)
I0419 20:56:15.066265 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0647765s, prior_pose=(2.58647, -1.92728), yaw=0.461677 deg
I0419 20:56:15.066418 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:56:15.066525 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:15.066548 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.428358, -0.590955)
I0419 20:56:15.066562 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:15.070099 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.807719, 0.59039), points=5, range=0.9984, residual=0.0105744, extent=0.0299897
I0419 20:56:15.070205 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.807719, 0.59039), tracking=(-1.10622, -0.59039), map_predicted=(1.49497, -2.52752), range=0.9984, pts=5
I0419 20:56:15.070236 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.250139m maha_sq=2.51054 (gate chi2=5.99) pose_sigma=(0.15608, 0.15608, rho=0) det_map=(1.49497, -2.52752) lm_pos=(1.745, -2.52) delta=(-0.250026, -0.00752497) -> 1 candidate(s)
I0419 20:56:15.070262 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:15.098518 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:15.108315 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:15.184111 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:15.184237 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:15.184257 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:15.189411 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.5452, -0.19934)
I0419 20:56:15.217989 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.846278, 0.588846), points=8, range=1.02863, residual=0.0125626, extent=0.0365678
I0419 20:56:15.218098 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.846278, 0.588846), tracking=(-1.14478, -0.588846), map_predicted=(1.4806, -2.52925), range=1.02863, pts=8
I0419 20:56:15.218130 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.264564m maha_sq=2.72548 (gate chi2=5.99) pose_sigma=(0.158342, 0.158342, rho=0) det_map=(1.4806, -2.52925) lm_pos=(1.745, -2.52) delta=(-0.264402, -0.00925399) -> 1 candidate(s)
I0419 20:56:15.335584 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:15.336091 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.580097, -0.211154)
I0419 20:56:15.342105 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561155s, prior_pose=(2.63594, -1.92776), yaw=0.7758 deg
I0419 20:56:15.342223 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:56:15.342314 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:15.342338 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:15.361742 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.877357, 0.588034), points=7, range=1.06071, residual=0.0129998, extent=0.0328323
I0419 20:56:15.361850 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.877357, 0.588034), tracking=(-1.17586, -0.588034), map_predicted=(1.46815, -2.53166), range=1.06071, pts=7
I0419 20:56:15.361879 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.277091m maha_sq=2.93693 (gate chi2=5.99) pose_sigma=(0.159752, 0.159752, rho=0) det_map=(1.46815, -2.53166) lm_pos=(1.745, -2.52) delta=(-0.276846, -0.0116593) -> 1 candidate(s)
I0419 20:56:15.361934 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:15.393857 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:15.402220 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:15.464722 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.24709, 0.610467)
I0419 20:56:15.466235 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:15.466323 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:15.466341 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:15.509730 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.920823, 0.586593), points=7, range=1.096, residual=0.0120195, extent=0.0306789
I0419 20:56:15.509842 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.920823, 0.586593), tracking=(-1.21932, -0.586593), map_predicted=(1.49664, -2.53161), range=1.096, pts=7
I0419 20:56:15.509874 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.248634m maha_sq=2.23073 (gate chi2=5.99) pose_sigma=(0.16466, 0.16466, rho=0) det_map=(1.49664, -2.53161) lm_pos=(1.745, -2.52) delta=(-0.248363, -0.0116142) -> 1 candidate(s)
I0419 20:56:15.583364 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.28687, -0.594607)
I0419 20:56:15.626578 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289756260391.
I0419 20:56:15.634074 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0356493s, prior_pose=(2.71687, -1.92664), yaw=1.01175 deg
I0419 20:56:15.634166 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:56:15.634259 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:15.634282 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:15.654821 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:15.666060 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.262137, -0.598018), points=17, range=0.654412, residual=0.0110683, extent=0.0351239
I0419 20:56:15.666162 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.262137, -0.598018), tracking=(0.560637, -0.598018), map_predicted=(3.28798, -2.51466), range=0.654412, pts=17
I0419 20:56:15.666195 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.242077m maha_sq=2.5081 (gate chi2=5.99) pose_sigma=(0.151018, 0.151018, rho=0) det_map=(3.28798, -2.51466) lm_pos=(3.53, -2.52) delta=(-0.242018, 0.00533506) -> 1 candidate(s)
I0419 20:56:15.757764 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:15.758821 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19245, 0.6032)
I0419 20:56:15.758908 1218972 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 19 -> 18 (threshold=0.03, iters=3)
I0419 20:56:15.760262 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:15.763262 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:15.763371 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:15.763435 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:15.865337 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.79256, -1.92478), yaw=1.27685 deg backend=(2.80833, -1.92691)
I0419 20:56:15.866086 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.1587, 0.597447)
I0419 20:56:15.866142 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.223479, -0.600277), points=17, range=0.641294, residual=0.0108051, extent=0.0377563
I0419 20:56:15.866166 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.223479, -0.600277), tracking=(0.521979, -0.600277), map_predicted=(3.32779, -2.51327), range=0.641294, pts=17
I0419 20:56:15.866194 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.202324m maha_sq=1.63333 (gate chi2=5.99) pose_sigma=(0.156557, 0.156557, rho=0) det_map=(3.32779, -2.51327) lm_pos=(3.53, -2.52) delta=(-0.202212, 0.00672776) -> 1 candidate(s)
I0419 20:56:15.930205 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682896s, prior_pose=(2.81504, -1.92423), yaw=1.48843 deg
I0419 20:56:15.930322 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:15.930469 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:15.930500 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:15.991065 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(1.04321, 0.56835)
I0419 20:56:15.991257 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:15.992110 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13034, 0.58842), points=4, range=1.272, residual=0.00666501, extent=0.0130972
I0419 20:56:15.992208 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.13034, 0.58842), tracking=(1.42884, 0.58842), map_predicted=(4.24335, -1.29717), range=1.272, pts=4
I0419 20:56:15.992259 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0363976m maha_sq=0.0511983 (gate chi2=5.99) pose_sigma=(0.159266, 0.159266, rho=0) det_map=(4.24335, -1.29717) lm_pos=(4.215, -1.32) delta=(0.0283479, 0.0228295) -> 1 candidate(s)
I0419 20:56:15.993465 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:16.009927 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:16.038247 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:16.038381 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:16.038406 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:16.125866 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10371, 0.588187)
I0419 20:56:16.129369 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.126186, -0.606647), points=19, range=0.620842, residual=0.0105459, extent=0.0330408
I0419 20:56:16.129492 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.126186, -0.606647), tracking=(-0.424686, 0.606647), map_predicted=(2.42783, -1.32724), range=0.620842, pts=19
I0419 20:56:16.129522 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0147298m maha_sq=0.00808632 (gate chi2=5.99) pose_sigma=(0.162128, 0.162128, rho=0) det_map=(2.42783, -1.32724) lm_pos=(2.415, -1.32) delta=(0.0128301, -0.00723563) -> 1 candidate(s)
I0419 20:56:16.271450 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056472s, prior_pose=(2.88478, -1.92072), yaw=1.98279 deg
I0419 20:56:16.271564 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:16.271670 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:16.271697 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.111308, -0.605162)
I0419 20:56:16.271713 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:16.273325 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:16.276039 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:16.281620 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0941559, -0.605663), points=19, range=0.614579, residual=0.0114629, extent=0.041583
I0419 20:56:16.281708 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0941559, -0.605663), tracking=(0.392656, -0.605663), map_predicted=(3.31128, -2.51162), range=0.614579, pts=19
I0419 20:56:16.281737 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.218876m maha_sq=1.74549 (gate chi2=5.99) pose_sigma=(0.163951, 0.163951, rho=0) det_map=(3.31128, -2.51162) lm_pos=(3.53, -2.52) delta=(-0.218715, 0.00837639) -> 1 candidate(s)
I0419 20:56:16.302035 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:16.334173 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:16.334329 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:16.334369 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:16.414804 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.187249, -0.615577)
I0419 20:56:16.458417 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0478155, -0.607117), points=21, range=0.609667, residual=0.0125009, extent=0.0479021
I0419 20:56:16.458529 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0478155, -0.607117), tracking=(0.346315, -0.607117), map_predicted=(3.30328, -2.51133), range=0.609667, pts=21
I0419 20:56:16.458563 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.226882m maha_sq=1.81985 (gate chi2=5.99) pose_sigma=(0.166418, 0.166418, rho=0) det_map=(3.30328, -2.51133) lm_pos=(3.53, -2.52) delta=(-0.226716, 0.00867366) -> 1 candidate(s)
I0419 20:56:16.509938 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.22416, -0.615754)
I0419 20:56:16.517994 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0360447s, prior_pose=(2.9484, -1.91724), yaw=2.23072 deg
I0419 20:56:16.518088 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:16.518191 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:16.518215 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:16.538267 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:16.566838 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:16.598713 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:16.686610 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.963692, 0.573949), points=4, range=1.1185, residual=0.00891901, extent=0.0222083
I0419 20:56:16.686827 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.963692, 0.573949), tracking=(1.26219, 0.573949), map_predicted=(4.20163, -1.2915), range=1.1185, pts=4
I0419 20:56:16.686877 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0314814m maha_sq=0.0342852 (gate chi2=5.99) pose_sigma=(0.168437, 0.168437, rho=0) det_map=(4.20163, -1.2915) lm_pos=(4.215, -1.32) delta=(-0.0133686, 0.028502) -> 1 candidate(s)
I0419 20:56:16.688400 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:16.688547 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:16.688570 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:16.689724 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.949085, 0.570951)
I0419 20:56:16.694577 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.98695, -1.9138), yaw=2.30347 deg backend=(3.00272, -1.91601)
I0419 20:56:16.803894 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.929379, 0.569515), points=4, range=1.08725, residual=0.00782121, extent=0.0181251
I0419 20:56:16.803957 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:16.804010 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.929379, 0.569515), tracking=(1.22788, 0.569515), map_predicted=(4.19345, -1.29598), range=1.08725, pts=4
I0419 20:56:16.804126 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0322707m maha_sq=0.0353158 (gate chi2=5.99) pose_sigma=(0.170213, 0.170213, rho=0) det_map=(4.19345, -1.29598) lm_pos=(4.215, -1.32) delta=(-0.0215468, 0.0240236) -> 1 candidate(s)
I0419 20:56:16.806466 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0381568, -0.611672)
I0419 20:56:16.810662 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678284s, prior_pose=(3.00229, -1.91416), yaw=2.35795 deg
I0419 20:56:16.810809 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:16.810988 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:16.811031 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:16.834280 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:16.919117 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289768893275.
I0419 20:56:16.920044 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:16.921775 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:16.921855 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.329806, -0.61803), points=17, range=0.702059, residual=0.0114113, extent=0.0332009
I0419 20:56:16.921875 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:16.921886 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:16.921895 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.329806, -0.61803), tracking=(-0.628306, 0.61803), map_predicted=(2.37295, -1.3209), range=0.702059, pts=17
I0419 20:56:16.921911 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0420633m maha_sq=0.0760015 (gate chi2=5.99) pose_sigma=(0.150707, 0.150707, rho=0) det_map=(2.37295, -1.3209) lm_pos=(2.415, -1.32) delta=(-0.0420538, -0.000895461) -> 1 candidate(s)
I0419 20:56:16.922003 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289769174578.
I0419 20:56:16.930269 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0783829, -0.609163)
I0419 20:56:16.950732 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:16.950855 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289769500108.
I0419 20:56:16.978173 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289769777066.
I0419 20:56:16.993517 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:56:17.047513 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289770115962.
I0419 20:56:17.070143 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.369557, -0.623131)
I0419 20:56:17.070484 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289770693380.
I0419 20:56:17.098376 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289770976100.
I0419 20:56:17.106714 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600763s, prior_pose=(3.07713, -1.91014), yaw=2.53862 deg
I0419 20:56:17.106894 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:56:17.107120 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:17.107165 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:17.107213 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.124132, -0.610118), points=19, range=0.623316, residual=0.0104758, extent=0.0341122
I0419 20:56:17.107257 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.124132, -0.610118), tracking=(0.174368, -0.610118), map_predicted=(3.27835, -2.51194), range=0.623316, pts=19
I0419 20:56:17.107303 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.251777m maha_sq=2.75085 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.27835, -2.51194) lm_pos=(3.53, -2.52) delta=(-0.251648, 0.00806395) -> 1 candidate(s)
I0419 20:56:17.127111 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:17.206126 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289771542007.
I0419 20:56:17.209182 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.37019, 0.542023)
I0419 20:56:17.209381 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289771862491.
I0419 20:56:17.214562 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:17.214664 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:17.214722 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:17.214861 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289772139500.
I0419 20:56:17.255815 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.137881 range=0.7482 variance=0.000577702 t_weight=5192.98 r_weight=0 yaml=(2.415, -1.32) prior=(3.0978, -1.9102, 2.59655deg) obs_actual=(-0.712141, 0.620951) obs_expected=(-0.655356, 0.620531) delta=(-0.0567851, 0.000420372) |delta|=0.0567867m
I0419 20:56:17.256454 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289772533169.
I0419 20:56:17.349254 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289772738407.
I0419 20:56:17.349903 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782227, 0.563092), points=7, range=0.961857, residual=0.00940305, extent=0.0286958
I0419 20:56:17.349969 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.782227, 0.563092), tracking=(1.08073, 0.563092), map_predicted=(4.16368, -1.29803), range=0.961857, pts=7
I0419 20:56:17.349995 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0558204m maha_sq=0.13526 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.16368, -1.29803) lm_pos=(4.215, -1.32) delta=(-0.0513166, 0.0219665) -> 1 candidate(s)
I0419 20:56:17.350030 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:56:17.351176 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.40145, 0.540299)
I0419 20:56:17.351301 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289773015923.
I0419 20:56:17.362664 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289773618561.
I0419 20:56:17.370645 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289773697641.
I0419 20:56:17.390524 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289773892475.
I0419 20:56:17.498703 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.040395s, prior_pose=(3.15083, -1.90959), yaw=2.59798 deg
I0419 20:56:17.498842 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:17.498956 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:17.499003 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:17.500029 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.43684, 0.544362)
I0419 20:56:17.500079 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:17.500115 1219453 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:17.500173 1219453 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:17.500190 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289774181147.
I0419 20:56:17.501259 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:17.504571 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.224731, -0.617314), points=19, range=0.656684, residual=0.0124419, extent=0.0368034
I0419 20:56:17.504669 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.224731, -0.617314), tracking=(0.0737691, -0.617314), map_predicted=(3.26856, -2.52405), range=0.656684, pts=19
I0419 20:56:17.504735 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.261472m maha_sq=2.91399 (gate chi2=5.99) pose_sigma=(0.151232, 0.151232, rho=0) det_map=(3.26856, -2.52405) lm_pos=(3.53, -2.52) delta=(-0.261441, -0.00404844) -> 1 candidate(s)
I0419 20:56:17.506222 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289774772272.
I0419 20:56:17.508882 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:17.508935 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:17.508951 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:17.514539 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289775136694.
I0419 20:56:17.580785 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.4517, 0.540348)
I0419 20:56:17.583730 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.21135, -1.91215), yaw=2.5481 deg backend=(3.18328, -1.90254)
I0419 20:56:17.584331 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 20:56:17.584441 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289775736190.
I0419 20:56:17.594851 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.34291, 0.618344), points=22, range=0.706182, residual=0.0165207, extent=0.0460277
I0419 20:56:17.594996 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.34291, 0.618344), tracking=(0.0444097, -0.618344), map_predicted=(3.2832, -2.52791), range=0.706182, pts=22
I0419 20:56:17.595046 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.246925m maha_sq=2.62692 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.2832, -2.52791) lm_pos=(3.53, -2.52) delta=(-0.246798, -0.00791203) -> 1 candidate(s)
I0419 20:56:17.626171 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289776254799.
I0419 20:56:17.633896 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.267259, -0.61703)
I0419 20:56:17.634089 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289776333415.
I0419 20:56:17.654532 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289776540206.
I0419 20:56:17.698436 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[5] 'ref_6' maha_sq=0.148098 range=0.881889 variance=0.000548323 t_weight=5471.23 r_weight=0 yaml=(4.215, -1.32) prior=(3.32007, -1.91069, 2.54186deg) obs_actual=(0.979641, 0.564794) obs_expected=(0.920242, 0.550418) delta=(0.059399, 0.0143758) |delta|=0.0611139m
I0419 20:56:17.698568 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289776616741.
I0419 20:56:17.699729 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289776852647.
I0419 20:56:17.700567 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0685925s, prior_pose=(3.32007, -1.91069), yaw=2.54186 deg
I0419 20:56:17.700667 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:17.700759 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:17.700817 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:17.700845 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.661693, 0.56675), points=10, range=0.8736, residual=0.0107847, extent=0.0317213
I0419 20:56:17.700865 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.661693, 0.56675), tracking=(0.960193, 0.56675), map_predicted=(4.25419, -1.30191), range=0.8736, pts=10
I0419 20:56:17.700887 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[5] 'ref_6' eucl_dist=0.0431599m maha_sq=0.0807782 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.25419, -1.30191) lm_pos=(4.215, -1.32) delta=(0.0391871, 0.0180872) -> 1 candidate(s)
I0419 20:56:17.700958 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289776940724.
I0419 20:56:17.714391 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:17.722339 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.287203, -0.618165)
I0419 20:56:17.722558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289777216979.
I0419 20:56:17.742434 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289777418557.
I0419 20:56:17.774473 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289777738969.
I0419 20:56:17.782434 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289777818239.
I0419 20:56:17.834775 1219453 reflector_detector.cc:209] [Detect]   cluster[2]: points=14, centroid=(-0.289942, 0.614642)
I0419 20:56:17.834878 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:17.834908 1219453 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:17.834925 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:17.835000 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289778018865.
I0419 20:56:17.835763 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.305093, -0.616437), points=16, range=0.686875, residual=0.0101254, extent=0.0330015
I0419 20:56:17.835830 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.305093, -0.616437), tracking=(-0.00659325, -0.616437), map_predicted=(3.38187, -2.52381), range=0.686875, pts=16
I0419 20:56:17.835858 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.148177m maha_sq=0.953002 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.38187, -2.52381) lm_pos=(3.53, -2.52) delta=(-0.148128, -0.00380943) -> 1 candidate(s)
I0419 20:56:17.835903 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.37451 deg, rms_residual=0.00799545m, sigma_yaw=0.0105482 rad, N=2
I0419 20:56:17.835947 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.2924, -1.90932, 1.37451deg) inliers=2 rms=0.00799545m
I0419 20:56:17.835975 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289778097881.
I0419 20:56:17.838981 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289778380097.
I0419 20:56:17.870333 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 20:56:17.870482 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[5] 'ref_6' maha_sq=0.0598443 range=0.843417 variance=0.000600728 t_weight=4993.94 r_weight=0 yaml=(4.215, -1.32) prior=(3.35254, -1.90775, 2.02546deg) obs_actual=(0.913197, 0.578157) obs_expected=(0.882692, 0.556899) delta=(0.0305048, 0.0212581) |delta|=0.0371813m
I0419 20:56:17.870641 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289778693868.
I0419 20:56:17.890969 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.54895, 0.571432)
I0419 20:56:17.898939 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289778979508.
I0419 20:56:17.922109 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.260758, 0.614222), points=18, range=0.669222, residual=0.012345, extent=0.0377249
I0419 20:56:17.922288 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.260758, 0.614222), tracking=(-0.0377416, -0.614222), map_predicted=(3.32948, -2.52444), range=0.669222, pts=18
I0419 20:56:17.922348 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[4] 'ref_5' eucl_dist=0.200568m maha_sq=1.7423 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.32948, -2.52444) lm_pos=(3.53, -2.52) delta=(-0.200518, -0.00444191) -> 1 candidate(s)
I0419 20:56:17.922545 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289779212509.
I0419 20:56:17.995821 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:17.996001 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:17.996029 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289779258588.
I0419 20:56:17.998437 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289779581304.
I0419 20:56:18.000277 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.629687, -0.618705)
I0419 20:56:18.000993 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594265s, prior_pose=(3.40411, -1.90648), yaw=1.73889 deg
I0419 20:56:18.001055 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:18.001156 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:18.001179 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:56:18.001260 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289779852853.
I0419 20:56:18.006457 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:18.014981 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289780139709.
I0419 20:56:18.038094 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.228407, 0.613532), points=17, range=0.656353, residual=0.0109041, extent=0.0313258
I0419 20:56:18.038259 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.228407, 0.613532), tracking=(-0.0700926, -0.613532), map_predicted=(3.3446, -2.52513), range=0.656353, pts=17
I0419 20:56:18.038317 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.185471m maha_sq=1.49209 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.3446, -2.52513) lm_pos=(3.53, -2.52) delta=(-0.1854, -0.00513232) -> 1 candidate(s)
I0419 20:56:18.046183 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289780452723.
I0419 20:56:18.116665 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.59236, 0.569098)
I0419 20:56:18.117909 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289780739232.
I0419 20:56:18.119127 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:18.119216 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:18.119239 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:18.119272 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:18.121017 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289781060705.
I0419 20:56:18.134218 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0122775 range=0.789167 variance=0.000525091 t_weight=5713.29 r_weight=0 yaml=(4.215, -1.32) prior=(3.3864, -1.90496, 1.82631deg) obs_actual=(0.839487, 0.573383) obs_expected=(0.846821, 0.558253) delta=(-0.00733381, 0.0151297) |delta|=0.0168134m
I0419 20:56:18.134670 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289781334489.
I0419 20:56:18.162828 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:18.163365 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289781621642.
I0419 20:56:18.187364 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.188567, 0.613487), points=17, range=0.642941, residual=0.0103032, extent=0.0302429
I0419 20:56:18.187551 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.188567, 0.613487), tracking=(-0.109933, -0.613487), map_predicted=(3.30108, -2.51932), range=0.642941, pts=17
I0419 20:56:18.187615 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.228925m maha_sq=2.27444 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.30108, -2.51932) lm_pos=(3.53, -2.52) delta=(-0.228924, 0.000678103) -> 1 candidate(s)
I0419 20:56:18.272362 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.41493, -0.664804)
I0419 20:56:18.272614 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289781897202.
I0419 20:56:18.274048 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:18.275024 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289782220257.
I0419 20:56:18.277763 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289782507150.
I0419 20:56:18.280313 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0360335s, prior_pose=(3.41239, -1.89671), yaw=2.01241 deg
I0419 20:56:18.280390 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 20:56:18.280462 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:18.280484 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:18.280550 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289782781824.
I0419 20:56:18.303067 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:18.311151 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289783101754.
I0419 20:56:18.379985 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.719889, -0.620237)
I0419 20:56:18.380110 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.152282, 0.61448), points=19, range=0.634316, residual=0.0110121, extent=0.0336183
I0419 20:56:18.380137 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.152282, 0.61448), tracking=(-0.146218, -0.61448), map_predicted=(3.29638, -2.5144), range=0.634316, pts=19
I0419 20:56:18.380163 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.233689m maha_sq=2.34709 (gate chi2=5.99) pose_sigma=(0.150702, 0.150702, rho=0) det_map=(3.29638, -2.5144) lm_pos=(3.53, -2.52) delta=(-0.233622, 0.00560068) -> 1 candidate(s)
I0419 20:56:18.381032 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289783375127.
I0419 20:56:18.383262 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.772308 deg, rms_residual=0.0121532m, sigma_yaw=0.0159459 rad, N=2
I0419 20:56:18.383337 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.44052, -1.89181, 0.772308deg) inliers=2 rms=0.0121532m
I0419 20:56:18.383364 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289783659838.
I0419 20:56:18.390759 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:18.390878 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:18.390910 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:18.403319 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289784022461.
I0419 20:56:18.426254 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0525851 range=0.735267 variance=0.000642379 t_weight=4670.14 r_weight=0 yaml=(4.215, -1.32) prior=(3.44763, -1.895, 1.81109deg) obs_actual=(0.756115, 0.570103) obs_expected=(0.785164, 0.550461) delta=(-0.0290489, 0.0196426) |delta|=0.0350667m
I0419 20:56:18.426409 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289784255705.
I0419 20:56:18.499991 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.46662, -1.8922), yaw=1.78961 deg backend=(3.42419, -1.89139)
I0419 20:56:18.500885 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:18.500972 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289784573957.
I0419 20:56:18.502116 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.761758, -0.616282)
I0419 20:56:18.502184 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.115951, 0.610658), points=19, range=0.623474, residual=0.0111873, extent=0.0332759
I0419 20:56:18.502213 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.115951, 0.610658), tracking=(-0.182549, -0.610658), map_predicted=(3.30323, -2.50827), range=0.623474, pts=19
I0419 20:56:18.502233 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.227073m maha_sq=2.23601 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.30323, -2.50827) lm_pos=(3.53, -2.52) delta=(-0.226769, 0.0117348) -> 1 candidate(s)
I0419 20:56:18.503116 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289784853233.
I0419 20:56:18.514205 1219453 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:18.514493 1219453 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:18.514647 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289785137220.
I0419 20:56:18.546873 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289785461100.
I0419 20:56:18.574846 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0687101s, prior_pose=(3.48706, -1.89196), yaw=1.55419 deg
I0419 20:56:18.575105 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=252, threshold=230, above_threshold=21, candidates=21
I0419 20:56:18.575390 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:18.575446 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:18.575659 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289785739016.
I0419 20:56:18.661871 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:18.662842 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289786021129.
I0419 20:56:18.663880 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.808317, -0.607223)
I0419 20:56:18.663978 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0823752, 0.611831), points=18, range=0.619, residual=0.0107924, extent=0.0341237
I0419 20:56:18.664000 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0823752, 0.611831), tracking=(-0.216125, -0.611831), map_predicted=(3.29835, -2.51297), range=0.619, pts=18
I0419 20:56:18.664022 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.231755m maha_sq=2.33007 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.29835, -2.51297) lm_pos=(3.53, -2.52) delta=(-0.231649, 0.00703118) -> 1 candidate(s)
I0419 20:56:18.665558 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289786336888.
I0419 20:56:18.667375 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289786621842.
I0419 20:56:18.682238 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:18.682369 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:18.682391 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:18.682427 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:18.694990 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289786944566.
I0419 20:56:18.762531 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0437812 range=0.689438 variance=0.000575239 t_weight=5215.22 r_weight=0 yaml=(4.215, -1.32) prior=(3.53071, -1.88826, 0.850723deg) obs_actual=(0.668754, 0.579226) obs_expected=(0.692654, 0.558037) delta=(-0.0238998, 0.0211898) |delta|=0.0319406m
I0419 20:56:18.762814 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289787213267.
I0419 20:56:18.764997 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:18.765206 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289787493365.
I0419 20:56:18.770140 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.85094, -0.597015)
I0419 20:56:18.770246 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0502784, 0.615902), points=18, range=0.619278, residual=0.0103559, extent=0.031662
I0419 20:56:18.770269 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0502784, 0.615902), tracking=(-0.248222, -0.615902), map_predicted=(3.30115, -2.5068), range=0.619278, pts=18
I0419 20:56:18.770296 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.229233m maha_sq=2.25658 (gate chi2=5.99) pose_sigma=(0.150813, 0.150813, rho=0) det_map=(3.30115, -2.5068) lm_pos=(3.53, -2.52) delta=(-0.228853, 0.0132024) -> 1 candidate(s)
I0419 20:56:18.777940 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289787774131.
I0419 20:56:18.811240 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289788102196.
I0419 20:56:18.838964 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289788378200.
I0419 20:56:18.919797 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553301s, prior_pose=(3.56073, -1.88659), yaw=0.415936 deg
I0419 20:56:18.919905 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:18.919984 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:18.920006 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:18.920101 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289788655497.
I0419 20:56:18.921252 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:18.922842 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289788981574.
I0419 20:56:18.923835 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.900463, -0.588463)
I0419 20:56:18.923898 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0196199, 0.612704), points=18, range=0.614167, residual=0.00997104, extent=0.0311833
I0419 20:56:18.923921 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0196199, 0.612704), tracking=(-0.27888, -0.612704), map_predicted=(3.29571, -2.4996), range=0.614167, pts=18
I0419 20:56:18.923942 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.235182m maha_sq=2.40127 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.29571, -2.4996) lm_pos=(3.53, -2.52) delta=(-0.234295, 0.0204034) -> 1 candidate(s)
I0419 20:56:18.926225 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289789253392.
I0419 20:56:18.954993 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.13019 deg, rms_residual=0.0146565m, sigma_yaw=0.0191674 rad, N=2
I0419 20:56:18.955178 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.59294, -1.88301, -1.13019deg) inliers=2 rms=0.0146565m
I0419 20:56:18.955283 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289789542151.
I0419 20:56:18.978955 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:18.979125 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:18.979163 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:19.063444 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289789861399.
I0419 20:56:19.065591 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.114486 range=0.655353 variance=0.000592717 t_weight=5061.43 r_weight=0 yaml=(4.215, -1.32) prior=(3.58617, -1.88591, 0.122508deg) obs_actual=(0.583661, 0.58676) obs_expected=(0.63004, 0.564563) delta=(-0.0463797, 0.0221973) |delta|=0.0514179m
I0419 20:56:19.065745 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289790136123.
I0419 20:56:19.068295 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:19.068414 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289790415510.
I0419 20:56:19.069633 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.939988, -0.583543)
I0419 20:56:19.069716 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0170291, 0.615834), points=19, range=0.617368, residual=0.0104776, extent=0.0331266
I0419 20:56:19.069739 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0170291, 0.615834), tracking=(-0.315529, -0.615834), map_predicted=(3.28564, -2.5008), range=0.617368, pts=19
I0419 20:56:19.069758 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.24511m maha_sq=2.60711 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.28564, -2.5008) lm_pos=(3.53, -2.52) delta=(-0.244357, 0.0192038) -> 1 candidate(s)
I0419 20:56:19.074398 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289790733264.
I0419 20:56:19.103605 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:19.104080 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:19.104146 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289791024034.
I0419 20:56:19.189554 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289791335784.
I0419 20:56:19.192001 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0395987s, prior_pose=(3.64155, -1.88292), yaw=0.00710445 deg
I0419 20:56:19.192090 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:19.192173 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:19.192194 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:19.192281 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289791614308.
I0419 20:56:19.193341 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:19.194250 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289791895100.
I0419 20:56:19.211308 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.972724, -0.584428)
I0419 20:56:19.211503 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.056574, 0.615663), points=19, range=0.619632, residual=0.0106705, extent=0.0331725
I0419 20:56:19.211562 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.056574, 0.615663), tracking=(-0.355074, -0.615663), map_predicted=(3.29885, -2.49921), range=0.619632, pts=19
I0419 20:56:19.211617 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.232079m maha_sq=2.31044 (gate chi2=5.99) pose_sigma=(0.150876, 0.150876, rho=0) det_map=(3.29885, -2.49921) lm_pos=(3.53, -2.52) delta=(-0.231146, 0.0207922) -> 1 candidate(s)
I0419 20:56:19.222236 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289792212832.
I0419 20:56:19.307993 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289792502704.
I0419 20:56:19.309103 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:19.309177 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:19.309197 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:19.309226 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:19.310086 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289792773076.
I0419 20:56:19.311713 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289792974137.
I0419 20:56:19.312677 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0159468 range=1.3054 variance=0.000580067 t_weight=5171.82 r_weight=0 yaml=(5.115, -2.52) prior=(3.68878, -1.88536, 0.107192deg) obs_actual=(1.4411, -0.626823) obs_expected=(1.42503, -0.637305) delta=(0.016068, 0.0104819) |delta|=0.0191847m
I0419 20:56:19.312760 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289793097796.
I0419 20:56:19.333290 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.69851, -1.88625), yaw=0.15102 deg backend=(3.68233, -1.89283)
I0419 20:56:19.339061 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:19.339295 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289793375178.
I0419 20:56:19.358227 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.0176, -0.590439)
I0419 20:56:19.366617 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289793655177.
I0419 20:56:19.451486 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.105595, 0.61445), points=17, range=0.624529, residual=0.00941974, extent=0.0293654
I0419 20:56:19.451619 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.105595, 0.61445), tracking=(-0.404095, -0.61445), map_predicted=(3.29594, -2.5019), range=0.624529, pts=17
I0419 20:56:19.451658 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.234761m maha_sq=2.39162 (gate chi2=5.99) pose_sigma=(0.150069, 0.150069, rho=0) det_map=(3.29594, -2.5019) lm_pos=(3.53, -2.52) delta=(-0.234063, 0.0180962) -> 1 candidate(s)
I0419 20:56:19.452998 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289793979806.
I0419 20:56:19.455921 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289794254913.
I0419 20:56:19.457841 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0669682s, prior_pose=(3.71005, -1.88508), yaw=0.265133 deg
I0419 20:56:19.457933 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1340, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:19.458036 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:19.458058 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:19.458142 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289794532338.
I0419 20:56:19.478163 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 20 -> 19 (threshold=0.03, iters=3)
I0419 20:56:19.478348 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:19.487259 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289794855043.
I0419 20:56:19.506405 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.04877, -0.591327)
I0419 20:56:19.585371 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289795134619.
I0419 20:56:19.587852 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.148249, 0.583619), points=21, range=0.604, residual=0.0123176, extent=0.0394211
I0419 20:56:19.588059 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.148249, 0.583619), tracking=(0.446749, 0.583619), map_predicted=(4.17157, -1.29913), range=0.604, pts=21
I0419 20:56:19.588099 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0481843m maha_sq=0.100569 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17157, -1.29913) lm_pos=(4.215, -1.32) delta=(-0.0434276, 0.020875) -> 1 candidate(s)
I0419 20:56:19.588174 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.76224 deg, rms_residual=0.0186611m, sigma_yaw=0.0242774 rad, N=2
I0419 20:56:19.588217 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.74933, -1.8827, -0.76224deg) inliers=2 rms=0.0186611m
I0419 20:56:19.588256 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289795414471.
I0419 20:56:19.590440 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:19.590615 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:19.590641 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:19.591750 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289795735355.
I0419 20:56:19.611124 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0639179 range=0.600571 variance=0.000594087 t_weight=5049.76 r_weight=0 yaml=(4.215, -1.32) prior=(3.75584, -1.88345, 0.4131deg) obs_actual=(0.432332, 0.583446) obs_expected=(0.463211, 0.560127) delta=(-0.0308791, 0.0233185) |delta|=0.0386946m
I0419 20:56:19.611385 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289796100995.
I0419 20:56:19.634560 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.127758, 0.584147)
I0419 20:56:19.634795 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:19.634908 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289796337146.
I0419 20:56:19.696543 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:19.696802 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:19.697124 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:19.697166 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289796611571.
I0419 20:56:19.700359 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289796940503.
I0419 20:56:19.718560 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04039, -0.637532), points=6, range=1.217, residual=0.0110529, extent=0.0306018
I0419 20:56:19.718712 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04039, -0.637532), tracking=(1.33889, -0.637532), map_predicted=(5.12285, -2.50804), range=1.217, pts=6
I0419 20:56:19.718748 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0143044m maha_sq=0.00886392 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.12285, -2.50804) lm_pos=(5.115, -2.52) delta=(0.00784729, 0.0119598) -> 1 candidate(s)
I0419 20:56:19.718868 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289797179937.
I0419 20:56:19.746368 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0515142s, prior_pose=(3.79164, -1.88145), yaw=0.535304 deg
I0419 20:56:19.746790 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:19.746986 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:19.747022 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:19.747123 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289797455645.
I0419 20:56:19.770566 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:19.826393 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.0911264, 0.580711)
I0419 20:56:19.826589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289797780107.
I0419 20:56:19.828425 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289798053618.
I0419 20:56:19.838886 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289798380801.
I0419 20:56:19.859663 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:19.859833 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:19.859863 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:19.865958 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0711338, 0.579355), points=21, range=0.583952, residual=0.0109264, extent=0.0339566
I0419 20:56:19.866135 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0711338, 0.579355), tracking=(0.369634, 0.579355), map_predicted=(4.18967, -1.30033), range=0.583952, pts=21
I0419 20:56:19.866189 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0320718m maha_sq=0.0440097 (gate chi2=5.99) pose_sigma=(0.15106, 0.15106, rho=0) det_map=(4.18967, -1.30033) lm_pos=(4.215, -1.32) delta=(-0.0253306, 0.0196714) -> 1 candidate(s)
I0419 20:56:19.866319 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289798652123.
I0419 20:56:19.886858 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:19.895540 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0855343 range=0.58325 variance=0.000548403 t_weight=5470.43 r_weight=0 yaml=(4.215, -1.32) prior=(3.8282, -1.88481, 0.803818deg) obs_actual=(0.355161, 0.57956) obs_expected=(0.394686, 0.55933) delta=(-0.0395246, 0.0202296) |delta|=0.0444008m
I0419 20:56:19.895728 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289798940429.
I0419 20:56:19.979709 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.0533865, 0.580542)
I0419 20:56:19.979926 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:19.980046 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289799253318.
I0419 20:56:19.983824 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289799541995.
I0419 20:56:19.986549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289799820498.
I0419 20:56:20.013893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289800133078.
I0419 20:56:20.101801 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0367155s, prior_pose=(3.85723, -1.89385), yaw=0.659278 deg
I0419 20:56:20.101934 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:20.102062 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:20.102092 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:20.102118 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.941865, -0.649303), points=7, range=1.14171, residual=0.0114014, extent=0.0327493
I0419 20:56:20.102145 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.941865, -0.649303), tracking=(1.24036, -0.649303), map_predicted=(5.10499, -2.52884), range=1.14171, pts=7
I0419 20:56:20.102171 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.013358m maha_sq=0.00764071 (gate chi2=5.99) pose_sigma=(0.150883, 0.150883, rho=0) det_map=(5.10499, -2.52884) lm_pos=(5.115, -2.52) delta=(-0.0100119, -0.00884287) -> 1 candidate(s)
I0419 20:56:20.102273 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289800421784.
I0419 20:56:20.103425 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.293803, 0.618171)
I0419 20:56:20.103531 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:20.104458 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289800695675.
I0419 20:56:20.107470 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289801020061.
I0419 20:56:20.130369 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289801294752.
I0419 20:56:20.150390 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:20.150497 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:20.150521 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:20.158533 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.0252864 deg, rms_residual=0.0181775m, sigma_yaw=0.0236632 rad, N=2
I0419 20:56:20.158699 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.91598, -1.8832, 0.0252864deg) inliers=2 rms=0.0181775m
I0419 20:56:20.158771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289801576600.
I0419 20:56:20.227594 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.89908, -0.651136)
I0419 20:56:20.227748 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0511574 range=0.577571 variance=0.000550605 t_weight=5448.55 r_weight=0 yaml=(4.215, -1.32) prior=(3.90518, -1.8891, 0.884109deg) obs_actual=(0.286737, 0.577645) obs_expected=(0.318561, 0.564256) delta=(-0.0318242, 0.013389) |delta|=0.034526m
I0419 20:56:20.227821 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289801895134.
I0419 20:56:20.228791 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22989, -0.60429), points=4, range=1.366, residual=0.0102904, extent=0.0224135
I0419 20:56:20.228849 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.22989, -0.60429), tracking=(-1.52839, 0.60429), map_predicted=(2.36765, -1.30847), range=1.366, pts=4
I0419 20:56:20.228874 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0487356m maha_sq=0.102921 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.36765, -1.30847) lm_pos=(2.415, -1.32) delta=(-0.0473519, 0.0115308) -> 1 candidate(s)
I0419 20:56:20.229882 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.91987, -1.88811), yaw=0.941383 deg backend=(3.86311, -1.89371)
I0419 20:56:20.230487 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:20.230569 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289802174241.
I0419 20:56:20.250245 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:20.250459 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:20.250502 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289802493272.
I0419 20:56:20.278412 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289802772658.
I0419 20:56:20.344241 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.0429822, 0.578898)
I0419 20:56:20.344426 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289803062975.
I0419 20:56:20.346215 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0632407s, prior_pose=(3.9571, -1.88501), yaw=0.958561 deg
I0419 20:56:20.346355 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:20.346462 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:20.346485 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:20.346582 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289803331522.
I0419 20:56:20.358081 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27147, -0.611008), points=4, range=1.40775, residual=0.00773297, extent=0.0178726
I0419 20:56:20.358187 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.27147, -0.611008), tracking=(-1.56997, 0.611008), map_predicted=(2.38682, -1.30172), range=1.40775, pts=4
I0419 20:56:20.358222 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.033591m maha_sq=0.0485141 (gate chi2=5.99) pose_sigma=(0.150745, 0.150745, rho=0) det_map=(2.38682, -1.30172) lm_pos=(2.415, -1.32) delta=(-0.0281784, 0.0182848) -> 1 candidate(s)
I0419 20:56:20.358243 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:20.366315 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289803657321.
I0419 20:56:20.394399 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289803938161.
I0419 20:56:20.422823 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289804221840.
I0419 20:56:20.476727 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.28829, -0.614469)
I0419 20:56:20.476845 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:20.476868 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:20.476886 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:20.478034 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289804542103.
I0419 20:56:20.479308 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:20.482553 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0165845 range=0.584348 variance=0.000586601 t_weight=5114.21 r_weight=0 yaml=(4.215, -1.32) prior=(4.00329, -1.88556, 1.17687deg) obs_actual=(0.210642, 0.57616) obs_expected=(0.223285, 0.561094) delta=(-0.0126436, 0.0150669) |delta|=0.0196691m
I0419 20:56:20.482690 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289804819760.
I0419 20:56:20.514127 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0997702, 0.575474), points=21, range=0.583857, residual=0.0110725, extent=0.034262
I0419 20:56:20.514218 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0997702, 0.575474), tracking=(0.19873, 0.575474), map_predicted=(4.19015, -1.30613), range=0.583857, pts=21
I0419 20:56:20.514249 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0284564m maha_sq=0.0351215 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.19015, -1.30613) lm_pos=(4.215, -1.32) delta=(-0.0248457, 0.0138728) -> 1 candidate(s)
I0419 20:56:20.514292 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:20.514400 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289805136303.
I0419 20:56:20.542186 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289805415224.
I0419 20:56:20.562397 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.430828, 0.615172)
I0419 20:56:20.646036 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289805692472.
I0419 20:56:20.648088 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289806080046.
I0419 20:56:20.650631 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607636s, prior_pose=(4.02391, -1.88572), yaw=1.31247 deg
I0419 20:56:20.650735 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:20.650847 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:20.650875 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:20.650969 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289806300108.
I0419 20:56:20.651957 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:20.658684 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289806573066.
I0419 20:56:20.692200 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289806901633.
I0419 20:56:20.791985 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.473885, 0.613761)
I0419 20:56:20.793881 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.743088, -0.663183), points=8, range=1.00038, residual=0.0139001, extent=0.0379372
I0419 20:56:20.794001 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.743088, -0.663183), tracking=(1.04159, -0.663183), map_predicted=(5.12689, -2.5213), range=1.00038, pts=8
I0419 20:56:20.794034 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0119653m maha_sq=0.0060086 (gate chi2=5.99) pose_sigma=(0.152263, 0.152263, rho=0) det_map=(5.12689, -2.5213) lm_pos=(5.115, -2.52) delta=(0.0118939, -0.00130474) -> 1 candidate(s)
I0419 20:56:20.794143 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289807180618.
I0419 20:56:20.795368 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:20.795437 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:20.795455 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:20.797971 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.26114 deg, rms_residual=0.0126186m, sigma_yaw=0.0165464 rad, N=2
I0419 20:56:20.798091 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.0766, -1.89094, 1.26114deg) inliers=2 rms=0.0126186m
I0419 20:56:20.798128 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289807458378.
I0419 20:56:20.800972 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0217575 range=0.599952 variance=0.000565591 t_weight=5304.19 r_weight=0 yaml=(4.215, -1.32) prior=(4.07877, -1.88492, 1.49384deg) obs_actual=(0.13489, 0.576832) obs_expected=(0.150912, 0.561175) delta=(-0.0160223, 0.0156568) |delta|=0.022402m
I0419 20:56:20.801262 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289807781513.
I0419 20:56:20.806493 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:20.806686 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289808057522.
I0419 20:56:20.880709 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:20.880832 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:20.880859 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289808338431.
I0419 20:56:20.882064 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.514134, 0.618075)
I0419 20:56:20.882941 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289808657118.
I0419 20:56:20.894834 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289808939348.
I0419 20:56:20.914690 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.52806, 0.616412), points=12, range=0.813917, residual=0.0108601, extent=0.0317232
I0419 20:56:20.914809 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.52806, 0.616412), tracking=(-0.82656, -0.616412), map_predicted=(3.28106, -2.52326), range=0.813917, pts=12
I0419 20:56:20.914847 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.248959m maha_sq=2.68786 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.28106, -2.52326) lm_pos=(3.53, -2.52) delta=(-0.248938, -0.00325871) -> 1 candidate(s)
I0419 20:56:20.926882 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0403171s, prior_pose=(4.10773, -1.88462), yaw=1.50733 deg
I0419 20:56:20.927043 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:56:20.927253 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:20.927304 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:20.927520 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289809262425.
I0419 20:56:20.946858 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:20.954365 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289809534423.
I0419 20:56:21.038192 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289809819687.
I0419 20:56:21.039342 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.555455, 0.616778)
I0419 20:56:21.041092 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289810102022.
I0419 20:56:21.042114 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:21.042174 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:21.042234 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:21.043107 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289810418209.
I0419 20:56:21.063005 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:56:21.071005 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0415335 range=0.624389 variance=0.000545949 t_weight=5495.02 r_weight=0 yaml=(4.215, -1.32) prior=(4.14507, -1.88358, 1.48573deg) obs_actual=(0.0563951, 0.57492) obs_expected=(0.0845209, 0.561573) delta=(-0.0281259, 0.0133472) |delta|=0.0311322m
I0419 20:56:21.071276 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289810700374.
I0419 20:56:21.181170 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.15802, -1.8845), yaw=1.51665 deg backend=(4.09052, -1.88541)
I0419 20:56:21.182399 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:21.183318 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.25253, 0.57385), points=18, range=0.627444, residual=0.0100287, extent=0.031525
I0419 20:56:21.183409 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.25253, 0.57385), tracking=(0.0459703, 0.57385), map_predicted=(4.18879, -1.30964), range=0.627444, pts=18
I0419 20:56:21.183451 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.028185m maha_sq=0.0340536 (gate chi2=5.99) pose_sigma=(0.150971, 0.150971, rho=0) det_map=(4.18879, -1.30964) lm_pos=(4.215, -1.32) delta=(-0.0262105, 0.0103635) -> 1 candidate(s)
I0419 20:56:21.183493 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:21.183609 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289810977024.
I0419 20:56:21.185707 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289811296907.
I0419 20:56:21.187542 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.596112, 0.617222)
I0419 20:56:21.188548 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289811575430.
I0419 20:56:21.189918 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289811867463.
I0419 20:56:21.217969 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677086s, prior_pose=(4.1873, -1.88393), yaw=1.58435 deg
I0419 20:56:21.218189 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 20:56:21.218452 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:21.218500 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:56:21.218705 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289812172234.
I0419 20:56:21.274412 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:21.275229 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=31, centroid=(-0.311051, 0.569412)
I0419 20:56:21.275385 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289812462408.
I0419 20:56:21.278002 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.595546, -0.66523), points=11, range=0.892727, residual=0.0128001, extent=0.0443727
I0419 20:56:21.278111 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.595546, -0.66523), tracking=(0.894046, -0.66523), map_predicted=(5.1216, -2.52202), range=0.892727, pts=11
I0419 20:56:21.278138 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0068994m maha_sq=0.00203003 (gate chi2=5.99) pose_sigma=(0.151129, 0.151129, rho=0) det_map=(5.1216, -2.52202) lm_pos=(5.115, -2.52) delta=(0.00659568, -0.00202454) -> 1 candidate(s)
I0419 20:56:21.278219 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289812745104.
I0419 20:56:21.306624 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289813059341.
I0419 20:56:21.326014 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:21.326128 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:21.326153 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:21.334371 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.1561 deg, rms_residual=0.00895824m, sigma_yaw=0.0118033 rad, N=2
I0419 20:56:21.334496 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.23477, -1.88089, 1.1561deg) inliers=2 rms=0.00895824m
I0419 20:56:21.334538 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289813338040.
I0419 20:56:21.409948 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.318093, 0.56807)
I0419 20:56:21.410154 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00347324 range=0.874769 variance=0.000641482 t_weight=4676.67 r_weight=5000 yaml=(5.115, -2.52) prior=(4.23288, -1.88011, 1.69327deg) obs_actual=(0.871841, -0.66531) obs_expected=(0.862829, -0.665673) delta=(0.0090119, 0.000363798) |delta|=0.00901924m
I0419 20:56:21.410219 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289813621940.
I0419 20:56:21.412101 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:21.412207 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289813941179.
I0419 20:56:21.414498 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.277414, -0.564539), points=18, range=0.631056, residual=0.0114672, extent=0.0348175
I0419 20:56:21.414597 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.277414, -0.564539), tracking=(-0.0210859, 0.564539), map_predicted=(4.20564, -1.31776), range=0.631056, pts=18
I0419 20:56:21.414628 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00962496m maha_sq=0.00397502 (gate chi2=5.99) pose_sigma=(0.150795, 0.150795, rho=0) det_map=(4.20564, -1.31776) lm_pos=(4.215, -1.32) delta=(-0.0093601, 0.00224238) -> 1 candidate(s)
I0419 20:56:21.422430 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:21.422549 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:21.422572 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289814219037.
I0419 20:56:21.452008 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289814513832.
I0419 20:56:21.482098 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289814813131.
I0419 20:56:21.530592 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.25565, -0.565461)
I0419 20:56:21.531402 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0586606s, prior_pose=(4.27108, -1.88364), yaw=1.68613 deg
I0419 20:56:21.531473 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:56:21.531535 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:21.531558 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:21.531632 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289815100438.
I0419 20:56:21.532651 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:21.538311 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289815378017.
I0419 20:56:21.569797 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289815693213.
I0419 20:56:21.589627 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.711211, 0.619445), points=8, range=0.9455, residual=0.00967519, extent=0.0246609
I0419 20:56:21.589746 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.711211, 0.619445), tracking=(-1.00971, -0.619445), map_predicted=(3.2881, -2.53275), range=0.9455, pts=8
I0419 20:56:21.589778 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.242239m maha_sq=2.54275 (gate chi2=5.99) pose_sigma=(0.150121, 0.150121, rho=0) det_map=(3.2881, -2.53275) lm_pos=(3.53, -2.52) delta=(-0.241903, -0.0127543) -> 1 candidate(s)
I0419 20:56:21.601848 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289816013359.
I0419 20:56:21.621986 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:21.622097 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:21.622116 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:21.622237 1218967 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.30e-03 s (pulsed at 100.42% real time)
I0419 20:56:21.622347 1218967 collated_trajectory_builder.cc:82] odom rate: 247.68 Hz 4.04e-03 s +/- 8.16e-04 s (pulsed at 99.97% real time)
I0419 20:56:21.622448 1218967 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.35e-03 s (pulsed at 100.25% real time)
I0419 20:56:21.622473 1218967 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.24e-03 s (pulsed at 100.35% real time)
I0419 20:56:21.663305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289816294447.
I0419 20:56:21.664425 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.216293, -0.563355)
I0419 20:56:21.664556 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:21.665378 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289816573741.
I0419 20:56:21.686434 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:21.689675 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289816858741.
I0419 20:56:21.714529 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289817139583.
I0419 20:56:21.742990 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:21.746235 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289817456852.
I0419 20:56:21.807852 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.458859, -0.655164)
I0419 20:56:21.808053 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289817731612.
I0419 20:56:21.809275 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.171579, -0.561117), points=21, range=0.589143, residual=0.0122777, extent=0.0370157
I0419 20:56:21.809343 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.171579, -0.561117), tracking=(-0.126921, 0.561117), map_predicted=(4.16922, -1.32952), range=0.589143, pts=21
I0419 20:56:21.809370 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0467618m maha_sq=0.0947247 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.16922, -1.32952) lm_pos=(4.215, -1.32) delta=(-0.0457818, -0.00952318) -> 1 candidate(s)
I0419 20:56:21.810791 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442113s, prior_pose=(4.3229, -1.88722), yaw=1.21853 deg
I0419 20:56:21.810853 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:56:21.810915 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:21.810935 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:21.811014 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289818097104.
I0419 20:56:21.826198 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:21.834625 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0614303 range=0.792125 variance=0.000637298 t_weight=4707.37 r_weight=0 yaml=(5.115, -2.52) prior=(4.3229, -1.88722, 1.21853deg) obs_actual=(0.741031, -0.653924) obs_expected=(0.778468, -0.649478) delta=(-0.0374375, -0.00444609) |delta|=0.0377006m
I0419 20:56:21.835175 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289818339081.
I0419 20:56:21.862159 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289818615188.
I0419 20:56:21.950809 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289818906947.
I0419 20:56:21.952152 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:21.952252 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:21.952275 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:21.953126 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.427981, -0.650509)
I0419 20:56:21.953274 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289819218463.
I0419 20:56:21.956082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289819537883.
I0419 20:56:21.974247 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.122509, -0.556385), points=22, range=0.570955, residual=0.0110703, extent=0.0355282
I0419 20:56:21.974428 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.122509, -0.556385), tracking=(-0.175991, 0.556385), map_predicted=(4.17814, -1.3343), range=0.570955, pts=22
I0419 20:56:21.974481 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0395418m maha_sq=0.0678163 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17814, -1.3343) lm_pos=(4.215, -1.32) delta=(-0.0368636, -0.0143048) -> 1 candidate(s)
I0419 20:56:21.976390 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.37161, -1.88801), yaw=0.746079 deg backend=(4.33907, -1.87944)
I0419 20:56:21.981906 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:21.982066 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289819812605.
I0419 20:56:22.011159 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:22.011377 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:22.011420 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289820096718.
I0419 20:56:22.095654 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289820376060.
I0419 20:56:22.098984 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.39342, -0.646043)
I0419 20:56:22.099191 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289820702239.
I0419 20:56:22.101591 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0644566s, prior_pose=(4.39496, -1.88468), yaw=0.54256 deg
I0419 20:56:22.101686 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:56:22.101792 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:22.101819 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:22.101917 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289820976288.
I0419 20:56:22.118408 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:22.125916 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.374059, -0.643447), points=17, range=0.746706, residual=0.0139684, extent=0.0461251
I0419 20:56:22.126037 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.374059, -0.643447), tracking=(0.672559, -0.643447), map_predicted=(5.08742, -2.52438), range=0.746706, pts=17
I0419 20:56:22.126070 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0279242m maha_sq=0.0332231 (gate chi2=5.99) pose_sigma=(0.151117, 0.151117, rho=0) det_map=(5.08742, -2.52438) lm_pos=(5.115, -2.52) delta=(-0.0275784, -0.00438111) -> 1 candidate(s)
I0419 20:56:22.126214 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289821253717.
I0419 20:56:22.208534 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289821573618.
I0419 20:56:22.210541 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0535729 range=1.395 variance=0.000616994 t_weight=4862.29 r_weight=0 yaml=(6.015, -1.32) prior=(4.41266, -1.88719, 0.320765deg) obs_actual=(1.57033, 0.559603) obs_expected=(1.60549, 0.558215) delta=(-0.0351642, 0.00138772) |delta|=0.0351915m
I0419 20:56:22.210719 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289821857810.
I0419 20:56:22.212438 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:22.212529 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:22.212550 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:22.214015 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.355249, -0.645107)
I0419 20:56:22.214146 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289822136824.
I0419 20:56:22.235253 1219453 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:22.245492 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289822446105.
I0419 20:56:22.273829 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.33387, -0.643546), points=18, range=0.727167, residual=0.0136281, extent=0.0441272
I0419 20:56:22.273926 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.33387, -0.643546), tracking=(0.63237, -0.643546), map_predicted=(5.0819, -2.52815), range=0.727167, pts=18
I0419 20:56:22.273960 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0340922m maha_sq=0.050263 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.0819, -2.52815) lm_pos=(5.115, -2.52) delta=(-0.0331028, -0.00815376) -> 1 candidate(s)
I0419 20:56:22.274001 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:22.274089 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289822734102.
I0419 20:56:22.322547 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289823022607.
I0419 20:56:22.334352 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289823337339.
I0419 20:56:22.354133 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289823534720.
I0419 20:56:22.362629 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.314192, -0.64638)
I0419 20:56:22.362818 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289823621801.
I0419 20:56:22.390525 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564399s, prior_pose=(4.49199, -1.88609), yaw=0.463639 deg
I0419 20:56:22.390673 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:22.390803 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:22.390854 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:22.391058 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289823901738.
I0419 20:56:22.414681 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:22.465112 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289824217814.
I0419 20:56:22.466425 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00162337, -0.556558), points=23, range=0.557217, residual=0.0116171, extent=0.0361797
I0419 20:56:22.466508 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00162337, -0.556558), tracking=(-0.296877, 0.556558), map_predicted=(4.20682, -1.33318), range=0.557217, pts=23
I0419 20:56:22.466537 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0155088m maha_sq=0.0104268 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20682, -1.33318) lm_pos=(4.215, -1.32) delta=(-0.00817946, -0.0131765) -> 1 candidate(s)
I0419 20:56:22.466629 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289824414743.
I0419 20:56:22.467586 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289824492318.
I0419 20:56:22.482676 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.06828 deg, rms_residual=0.00792684m, sigma_yaw=0.0104586 rad, N=2
I0419 20:56:22.482776 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0135357 range=0.70465 variance=0.000620406 t_weight=4835.54 r_weight=0 yaml=(5.115, -2.52) prior=(4.51801, -1.88792, 0.564969deg) obs_actual=(0.57531, -0.646771) obs_expected=(0.590728, -0.637935) delta=(-0.015418, -0.00883573) |delta|=0.0177703m
I0419 20:56:22.482867 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.52298, -1.89041, 1.06828deg) inliers=2 rms=0.00792684m
I0419 20:56:22.482918 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289824819539.
I0419 20:56:22.499788 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:22.499886 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:22.499905 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:22.511026 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.271847, -0.647713)
I0419 20:56:22.511248 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289825098414.
I0419 20:56:22.538045 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:22.538193 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:22.538219 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289825376076.
I0419 20:56:22.581404 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:22.581799 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:22.581979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289825697417.
I0419 20:56:22.590646 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.972694, 0.63569), points=4, range=1.16475, residual=0.00774474, extent=0.0189566
I0419 20:56:22.590757 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.972694, 0.63569), tracking=(-1.27119, -0.63569), map_predicted=(3.26887, -2.53955), range=1.16475, pts=4
I0419 20:56:22.590791 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.261857m maha_sq=2.97881 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.26887, -2.53955) lm_pos=(3.53, -2.52) delta=(-0.261126, -0.0195503) -> 1 candidate(s)
I0419 20:56:22.598474 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289825979524.
I0419 20:56:22.629756 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289826292536.
I0419 20:56:22.654837 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.231795, -0.648411)
I0419 20:56:22.655035 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289826544354.
I0419 20:56:22.731206 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0364369s, prior_pose=(4.55846, -1.89072), yaw=0.662228 deg
I0419 20:56:22.731351 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:22.731467 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:22.731493 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:22.731597 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289826861998.
I0419 20:56:22.732638 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:22.732756 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289827059888.
I0419 20:56:22.733664 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289827138129.
I0419 20:56:22.742602 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.207998, -0.64647), points=20, range=0.68195, residual=0.0147236, extent=0.0451435
I0419 20:56:22.742702 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.207998, -0.64647), tracking=(0.506498, -0.64647), map_predicted=(5.08664, -2.53105), range=0.68195, pts=20
I0419 20:56:22.742733 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.030438m maha_sq=0.039458 (gate chi2=5.99) pose_sigma=(0.151084, 0.151084, rho=0) det_map=(5.08664, -2.53105) lm_pos=(5.115, -2.52) delta=(-0.0283628, -0.0110464) -> 1 candidate(s)
I0419 20:56:22.742801 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00299176 range=1.266 variance=0.000507319 t_weight=5913.44 r_weight=0 yaml=(6.015, -1.32) prior=(4.57296, -1.89026, 0.638863deg) obs_actual=(1.44008, 0.552677) obs_expected=(1.44831, 0.55415) delta=(-0.00822439, -0.0014726) |delta|=0.00835519m
I0419 20:56:22.742849 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289827421129.
I0419 20:56:22.774415 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289827737730.
I0419 20:56:22.794559 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:22.794816 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:22.794847 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:22.794938 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289827939910.
I0419 20:56:22.806617 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.196691, -0.646496)
I0419 20:56:22.806814 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289828061409.
I0419 20:56:22.847611 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289828260024.
I0419 20:56:22.848621 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289828338350.
I0419 20:56:22.855358 1219453 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.60681, -1.88785), yaw=0.247817 deg backend=(4.53271, -1.87612)
I0419 20:56:22.862370 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:22.862509 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289828618396.
I0419 20:56:22.890270 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289828894885.
I0419 20:56:22.914011 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289829133596.
I0419 20:56:22.922020 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.97439, -0.641523)
I0419 20:56:22.922335 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289829213084.
I0419 20:56:22.942445 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289829419258.
I0419 20:56:22.989419 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.155479, -0.639298), points=20, range=0.65965, residual=0.0125016, extent=0.0432782
I0419 20:56:22.989532 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.155479, -0.639298), tracking=(0.453979, -0.639298), map_predicted=(5.06822, -2.52697), range=0.65965, pts=20
I0419 20:56:22.989562 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0473001m maha_sq=0.0967532 (gate chi2=5.99) pose_sigma=(0.150105, 0.150105, rho=0) det_map=(5.06822, -2.52697) lm_pos=(5.115, -2.52) delta=(-0.0467836, -0.00697055) -> 1 candidate(s)
I0419 20:56:22.989643 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289829497536.
I0419 20:56:22.991403 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640915s, prior_pose=(4.61175, -1.88945), yaw=0.223369 deg
I0419 20:56:22.991518 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:22.991613 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:22.991639 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:22.991698 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:22.991740 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:22.991758 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289829774511.
I0419 20:56:23.003078 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:23.010012 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289830094448.
I0419 20:56:23.030789 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:23.038340 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.95442, -0.635034)
I0419 20:56:23.038558 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289830378823.
I0419 20:56:23.066520 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0619663 range=0.652636 variance=0.000613136 t_weight=4892.88 r_weight=0 yaml=(5.115, -2.52) prior=(4.64981, -1.89128, 0.0898767deg) obs_actual=(0.427476, -0.638587) obs_expected=(0.464201, -0.629448) delta=(-0.0367249, -0.00913881) |delta|=0.0378449m
I0419 20:56:23.066692 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289830659394.
I0419 20:56:23.106702 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:23.106812 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:23.106832 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:23.107774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289830980840.
I0419 20:56:23.117797 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.190565, -0.555943), points=20, range=0.58835, residual=0.0110025, extent=0.033956
I0419 20:56:23.117903 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.190565, -0.555943), tracking=(-0.489065, 0.555943), map_predicted=(4.19068, -1.33251), range=0.58835, pts=20
I0419 20:56:23.117934 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0273503m maha_sq=0.0324462 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.19068, -1.33251) lm_pos=(4.215, -1.32) delta=(-0.0243209, -0.0125112) -> 1 candidate(s)
I0419 20:56:23.126029 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289831255010.
I0419 20:56:23.153862 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.92501, -0.631674)
I0419 20:56:23.153983 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:23.154067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289831534846.
I0419 20:56:23.186020 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289831853221.
I0419 20:56:23.258157 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289832135686.
I0419 20:56:23.260249 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289832454617.
I0419 20:56:23.265750 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15905, 0.662445), points=3, range=1.333, residual=0.00507616, extent=0.00980056
I0419 20:56:23.265841 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15905, 0.662445), tracking=(-1.45755, -0.662445), map_predicted=(3.26495, -2.54779), range=1.333, pts=3
I0419 20:56:23.265868 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.266502m maha_sq=3.06182 (gate chi2=5.99) pose_sigma=(0.150669, 0.150669, rho=0) det_map=(3.26495, -2.54779) lm_pos=(3.53, -2.52) delta=(-0.265049, -0.0277887) -> 1 candidate(s)
I0419 20:56:23.274375 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603657s, prior_pose=(4.72459, -1.88997), yaw=-0.18176 deg
I0419 20:56:23.274466 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:23.274583 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:23.274644 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.88713, -0.62837)
I0419 20:56:23.274664 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:23.274782 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289832739343.
I0419 20:56:23.294664 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:23.294842 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289832939143.
I0419 20:56:23.301882 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.102471 deg, rms_residual=0.00850608m, sigma_yaw=0.0112143 rad, N=2
I0419 20:56:23.302023 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.73737, -1.88815, 0.102471deg) inliers=2 rms=0.00850608m
I0419 20:56:23.302067 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289833012948.
I0419 20:56:23.326927 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289833256271.
I0419 20:56:23.334960 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289833337876.
I0419 20:56:23.411394 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0045456 range=1.127 variance=0.000503284 t_weight=5960.85 r_weight=0 yaml=(6.015, -1.32) prior=(4.73213, -1.88941, -0.219952deg) obs_actual=(1.27044, 0.574416) obs_expected=(1.28068, 0.574334) delta=(-0.0102341, 8.17119e-05) |delta|=0.0102345m
I0419 20:56:23.411610 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289833618731.
I0419 20:56:23.412817 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:23.412883 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:23.412904 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:23.414611 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.85788, -0.630659)
I0419 20:56:23.414794 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289833902553.
I0419 20:56:23.418920 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289834180373.
I0419 20:56:23.442814 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289834416003.
I0419 20:56:23.450676 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0316435, -0.638976), points=21, range=0.639809, residual=0.0119419, extent=0.0407323
I0419 20:56:23.450831 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0316435, -0.638976), tracking=(0.330143, -0.638976), map_predicted=(5.08702, -2.52974), range=0.639809, pts=21
I0419 20:56:23.450888 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.029628m maha_sq=0.0380373 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08702, -2.52974) lm_pos=(5.115, -2.52) delta=(-0.0279797, -0.00974437) -> 1 candidate(s)
I0419 20:56:23.450977 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:23.451107 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289834497418.
I0419 20:56:23.544384 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:23.544636 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:23.544663 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289834778926.
I0419 20:56:23.546809 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.8164, -0.631357)
I0419 20:56:23.546996 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289835096787.
I0419 20:56:23.548913 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289835294208.
I0419 20:56:23.549929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289835373748.
I0419 20:56:23.566498 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0364074s, prior_pose=(4.80588, -1.88814), yaw=-0.128939 deg
I0419 20:56:23.566663 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:23.566917 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:23.566963 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:23.567175 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289835658282.
I0419 20:56:23.590430 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:23.591043 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289835896333.
I0419 20:56:23.598853 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289835978200.
I0419 20:56:23.681699 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.327351, -0.55746), points=16, range=0.64475, residual=0.0117704, extent=0.0294236
I0419 20:56:23.681815 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.327351, -0.55746), tracking=(-0.625851, 0.55746), map_predicted=(4.18949, -1.32723), range=0.64475, pts=16
I0419 20:56:23.681847 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0265151m maha_sq=0.0301943 (gate chi2=5.99) pose_sigma=(0.150699, 0.150699, rho=0) det_map=(4.18949, -1.32723) lm_pos=(4.215, -1.32) delta=(-0.0255091, -0.00723431) -> 1 candidate(s)
I0419 20:56:23.682718 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.78257, -0.637088)
I0419 20:56:23.682842 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00239114 range=1.0606 variance=0.000510606 t_weight=5875.37 r_weight=0 yaml=(6.015, -1.32) prior=(4.81479, -1.88531, -0.0566999deg) obs_actual=(1.19227, 0.567548) obs_expected=(1.19965, 0.566501) delta=(-0.00737748, 0.00104742) |delta|=0.00745146m
I0419 20:56:23.682921 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289836261960.
I0419 20:56:23.685968 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289836538744.
I0419 20:56:23.688108 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:23.688251 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:23.688282 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:23.689895 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289836856779.
I0419 20:56:23.714327 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289837132376.
I0419 20:56:23.735106 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289837339456.
I0419 20:56:23.811026 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.83091, -1.88265), yaw=0.0140362 deg backend=(4.73759, -1.8729)
I0419 20:56:23.812069 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.75816, -0.639923)
I0419 20:56:23.812219 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:23.812316 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289837418654.
I0419 20:56:23.813732 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28979, 0.65482), points=3, range=1.445, residual=0.00494392, extent=0.0103281
I0419 20:56:23.813838 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28979, 0.65482), tracking=(-1.58829, -0.65482), map_predicted=(3.24277, -2.53786), range=1.445, pts=3
I0419 20:56:23.813869 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.287781m maha_sq=3.60052 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.24277, -2.53786) lm_pos=(3.53, -2.52) delta=(-0.287226, -0.0178639) -> 1 candidate(s)
I0419 20:56:23.814983 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289837738200.
I0419 20:56:23.817013 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:56:23.818120 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289838022283.
I0419 20:56:23.827003 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289838261217.
I0419 20:56:23.830449 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289838295406.
I0419 20:56:23.861974 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0670604s, prior_pose=(4.8652, -1.88335), yaw=0.0410111 deg
I0419 20:56:23.862160 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:23.862418 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:23.862461 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.72675, -0.642743)
I0419 20:56:23.862494 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:23.862720 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289838613132.
I0419 20:56:23.946674 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:23.947855 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00735682 range=1.0025 variance=0.00053606 t_weight=5596.39 r_weight=0 yaml=(6.015, -1.32) prior=(4.88108, -1.88291, 0.0941304deg) obs_actual=(1.12296, 0.566605) obs_expected=(1.13485, 0.561042) delta=(-0.011881, 0.00556272) |delta|=0.0131188m
I0419 20:56:23.948037 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289838898873.
I0419 20:56:23.949414 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289839096460.
I0419 20:56:23.951257 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.820018, 0.565299), points=7, range=0.993429, residual=0.0107839, extent=0.0320686
I0419 20:56:23.951344 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.820018, 0.565299), tracking=(1.11852, 0.565299), map_predicted=(6.01378, -1.31598), range=0.993429, pts=7
I0419 20:56:23.951370 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00420397m maha_sq=0.000755134 (gate chi2=5.99) pose_sigma=(0.151124, 0.151124, rho=0) det_map=(6.01378, -1.31598) lm_pos=(6.015, -1.32) delta=(-0.00121727, 0.00402388) -> 1 candidate(s)
I0419 20:56:23.951424 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:23.951444 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.262812 deg, rms_residual=0.0090344m, sigma_yaw=0.0119025 rad, N=2
I0419 20:56:23.951472 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.90451, -1.8832, 0.262812deg) inliers=2 rms=0.0090344m
I0419 20:56:23.951500 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:23.951517 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289839179866.
I0419 20:56:23.952692 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289839421038.
I0419 20:56:23.953642 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289839494162.
I0419 20:56:23.973315 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:23.973460 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:23.973489 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:23.978430 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.69727, -0.640219)
I0419 20:56:23.978772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289839777222.
I0419 20:56:24.077724 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289840100025.
I0419 20:56:24.078532 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:24.079173 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289840294156.
I0419 20:56:24.080197 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:24.080303 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289840373346.
I0419 20:56:24.083009 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289840655615.
I0419 20:56:24.087437 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289840859050.
I0419 20:56:24.097877 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.66831, -0.640407)
I0419 20:56:24.098007 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.137544, -0.647184), points=21, range=0.661143, residual=0.0125394, extent=0.0409174
I0419 20:56:24.098057 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.137544, -0.647184), tracking=(0.160956, -0.647184), map_predicted=(5.10334, -2.53002), range=0.661143, pts=21
I0419 20:56:24.098132 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0153735m maha_sq=0.0101096 (gate chi2=5.99) pose_sigma=(0.150947, 0.150947, rho=0) det_map=(5.10334, -2.53002) lm_pos=(5.115, -2.52) delta=(-0.0116635, -0.0100153) -> 1 candidate(s)
I0419 20:56:24.098264 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289840971596.
I0419 20:56:24.126416 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00705659 range=0.945286 variance=0.000558013 t_weight=5376.22 r_weight=0 yaml=(6.015, -1.32) prior=(4.94242, -1.88282, -0.00388722deg) obs_actual=(1.05988, 0.564496) obs_expected=(1.07254, 0.562893) delta=(-0.0126548, 0.00160246) |delta|=0.0127558m
I0419 20:56:24.126569 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289841257595.
I0419 20:56:24.187088 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289841457356.
I0419 20:56:24.188324 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563591s, prior_pose=(4.95081, -1.88401), yaw=-0.0115094 deg
I0419 20:56:24.188525 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:56:24.188689 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:24.188721 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:24.188879 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289841535187.
I0419 20:56:24.190112 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:24.190254 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289841741367.
I0419 20:56:24.191965 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289841816122.
I0419 20:56:24.206197 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289842052887.
I0419 20:56:24.215162 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.63568, -0.641557)
I0419 20:56:24.215355 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289842145416.
I0419 20:56:24.242200 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289842416129.
I0419 20:56:24.262413 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:24.262518 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:24.262542 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:24.262624 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289842620160.
I0419 20:56:24.302067 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.184192, -0.653022), points=19, range=0.678737, residual=0.0118878, extent=0.0364367
I0419 20:56:24.302181 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.184192, -0.653022), tracking=(0.114308, -0.653022), map_predicted=(5.13795, -2.53151), range=0.678737, pts=19
I0419 20:56:24.302248 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.025675m maha_sq=0.0272642 (gate chi2=5.99) pose_sigma=(0.153625, 0.153625, rho=0) det_map=(5.13795, -2.53151) lm_pos=(5.115, -2.52) delta=(0.0229504, -0.0115103) -> 1 candidate(s)
I0419 20:56:24.302335 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289842701391.
I0419 20:56:24.303349 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:24.303416 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:24.303437 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289842941959.
I0419 20:56:24.304246 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289843020899.
I0419 20:56:24.322556 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289843216446.
I0419 20:56:24.330571 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.708748, 0.56874)
I0419 20:56:24.330762 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:24.330829 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0052808 range=0.684684 variance=0.000589654 t_weight=5087.73 r_weight=0 yaml=(5.115, -2.52) prior=(5.02677, -1.87731, -0.175837deg) obs_actual=(0.0903362, -0.653457) obs_expected=(0.0901987, -0.642416) delta=(0.000137485, -0.0110414) |delta|=0.0110423m
I0419 20:56:24.330919 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289843296830.
I0419 20:56:24.358820 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289843578801.
I0419 20:56:24.382619 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289843820828.
I0419 20:56:24.391439 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289843903068.
I0419 20:56:24.440732 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:24.470924 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289844094639.
I0419 20:56:24.472045 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289844173160.
I0419 20:56:24.473515 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.552356, -0.553856)
I0419 20:56:24.473596 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.557101, -0.553806), points=12, range=0.78225, residual=0.0121787, extent=0.0354473
I0419 20:56:24.473625 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.557101, -0.553806), tracking=(-0.855601, 0.553806), map_predicted=(4.16705, -1.31931), range=0.78225, pts=12
I0419 20:56:24.473651 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0479545m maha_sq=0.0996005 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.16705, -1.31931) lm_pos=(4.215, -1.32) delta=(-0.0479496, 0.000685872) -> 1 candidate(s)
I0419 20:56:24.473733 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289844420100.
I0419 20:56:24.475406 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0400807s, prior_pose=(5.04368, -1.87379), yaw=-0.279864 deg
I0419 20:56:24.475523 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:56:24.475660 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:24.475685 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:24.475749 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.538 deg, rms_residual=0.00985004m, sigma_yaw=0.0129631 rad, N=2
I0419 20:56:24.475800 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.05018, -1.87425, -0.538deg) inliers=2 rms=0.00985004m
I0419 20:56:24.475831 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289844495446.
I0419 20:56:24.477121 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 23 -> 21 (threshold=0.03, iters=3)
I0419 20:56:24.477192 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:24.477274 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289844695167.
I0419 20:56:24.478206 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289844773332.
I0419 20:56:24.498445 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0231049 range=0.79325 variance=0.000588099 t_weight=5101.18 r_weight=0 yaml=(4.215, -1.32) prior=(5.05286, -1.87041, -0.355064deg) obs_actual=(-0.863072, 0.553125) obs_expected=(-0.841259, 0.545205) delta=(-0.021813, 0.00792022) |delta|=0.0232064m
I0419 20:56:24.498708 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289844975343.
I0419 20:56:24.506371 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845055839.
I0419 20:56:24.513150 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:24.530272 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.577246, -0.5525)
I0419 20:56:24.530541 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845295257.
I0419 20:56:24.591758 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845375981.
I0419 20:56:24.593180 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:24.593289 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:24.593314 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:24.593429 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845581692.
I0419 20:56:24.594462 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.265912, -0.655343), points=18, range=0.706667, residual=0.0121431, extent=0.035156
I0419 20:56:24.594525 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.265912, -0.655343), tracking=(0.0325879, -0.655343), map_predicted=(5.08565, -2.52445), range=0.706667, pts=18
I0419 20:56:24.594553 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0296869m maha_sq=0.038177 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08565, -2.52445) lm_pos=(5.115, -2.52) delta=(-0.0293522, -0.00444548) -> 1 candidate(s)
I0419 20:56:24.594627 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845660259.
I0419 20:56:24.596521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845855549.
I0419 20:56:24.597544 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53825, -0.629307)
I0419 20:56:24.597643 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:24.597703 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:24.597728 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289845933432.
I0419 20:56:24.618439 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289846173958.
I0419 20:56:24.620355 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.09105, -1.87143), yaw=-0.470987 deg backend=(4.97609, -1.87061)
I0419 20:56:24.622663 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:24.622845 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289846218663.
I0419 20:56:24.646358 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0430081 range=0.820364 variance=0.000596013 t_weight=5033.44 r_weight=0 yaml=(4.215, -1.32) prior=(5.09105, -1.87143, -0.470987deg) obs_actual=(-0.911729, 0.548854) obs_expected=(-0.880557, 0.544206) delta=(-0.0311723, 0.00464797) |delta|=0.0315169m
I0419 20:56:24.646584 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289846455550.
I0419 20:56:24.654487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289846535126.
I0419 20:56:24.741967 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289846778897.
I0419 20:56:24.742707 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.52408, -0.626087)
I0419 20:56:24.742767 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.52992, -0.625903), points=3, range=1.64767, residual=0.0108183, extent=0.0221767
I0419 20:56:24.742791 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.52992, -0.625903), tracking=(1.82842, -0.625903), map_predicted=(6.94116, -2.51803), range=1.64767, pts=3
I0419 20:56:24.742811 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0262359m maha_sq=0.0297848 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94116, -2.51803) lm_pos=(6.915, -2.52) delta=(0.0261618, 0.00197088) -> 1 candidate(s)
I0419 20:56:24.742892 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289846814680.
I0419 20:56:24.744046 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289847052792.
I0419 20:56:24.745507 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289847096619.
I0419 20:56:24.746608 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289847335591.
I0419 20:56:24.747339 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637823s, prior_pose=(5.13413, -1.87328), yaw=-0.674696 deg
I0419 20:56:24.747391 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:56:24.747529 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:24.747551 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:24.747596 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.12711 deg, rms_residual=0.00888991m, sigma_yaw=0.0117144 rad, N=2
I0419 20:56:24.747627 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.12605, -1.86986, -1.12711deg) inliers=2 rms=0.00888991m
I0419 20:56:24.747651 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289847416720.
I0419 20:56:24.762789 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:24.763016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289847621759.
I0419 20:56:24.770049 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00572321 range=0.727778 variance=0.000597603 t_weight=5020.05 r_weight=0 yaml=(5.115, -2.52) prior=(5.1377, -1.87233, -0.703769deg) obs_actual=(-0.00960928, -0.658189) obs_expected=(-0.0147448, -0.647903) delta=(0.00513557, -0.0102868) |delta|=0.0114975m
I0419 20:56:24.770257 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289847692961.
I0419 20:56:24.795185 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.653029, -0.547881)
I0419 20:56:24.795569 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289847941305.
I0419 20:56:24.877882 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289848023096.
I0419 20:56:24.879369 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.652411, -0.544157), points=9, range=0.853556, residual=0.0127408, extent=0.0359836
I0419 20:56:24.879490 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.652411, -0.544157), tracking=(-0.950911, 0.544157), map_predicted=(4.20871, -1.31501), range=0.853556, pts=9
I0419 20:56:24.879528 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00803252m maha_sq=0.00279246 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20871, -1.31501) lm_pos=(4.215, -1.32) delta=(-0.00629416, 0.00499048) -> 1 candidate(s)
I0419 20:56:24.879642 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289848222507.
I0419 20:56:24.880708 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289848292128.
I0419 20:56:24.882751 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:24.882824 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:24.882845 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:24.882910 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289848500878.
I0419 20:56:24.883826 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=11, centroid=(0.5551, 0.578047)
I0419 20:56:24.883942 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289848619355.
I0419 20:56:24.885058 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289848816122.
I0419 20:56:24.890130 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:24.890394 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:24.890509 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289848892587.
I0419 20:56:24.910789 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0252256 range=0.8735 variance=0.000597889 t_weight=5017.65 r_weight=0 yaml=(4.215, -1.32) prior=(5.16133, -1.87166, -0.986156deg) obs_actual=(-0.97869, 0.54261) obs_expected=(-0.955687, 0.535293) delta=(-0.0230027, 0.00731659) |delta|=0.0241383m
I0419 20:56:24.911201 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289849101327.
I0419 20:56:24.918547 1219453 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:56:24.918695 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289849179439.
I0419 20:56:24.996572 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289849375456.
I0419 20:56:24.997752 1219453 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.44979, -0.615404)
I0419 20:56:24.997843 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.387916, -0.660855), points=15, range=0.7616, residual=0.015679, extent=0.046567
I0419 20:56:24.997882 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.387916, -0.660855), tracking=(-0.0894162, -0.660855), map_predicted=(5.05803, -2.53919), range=0.7616, pts=15
I0419 20:56:24.997915 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.060114m maha_sq=0.155861 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.05803, -2.53919) lm_pos=(5.115, -2.52) delta=(-0.0569691, -0.0191889) -> 1 candidate(s)
I0419 20:56:24.998025 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289849454461.
I0419 20:56:24.999780 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289849698919.
I0419 20:56:25.002130 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289849778348.
I0419 20:56:25.003773 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289849976816.
I0419 20:56:25.006811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289850060984.
I0419 20:56:25.027107 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289850258499.
I0419 20:56:25.034876 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564279s, prior_pose=(5.18706, -1.88425), yaw=-1.18436 deg
I0419 20:56:25.035028 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 20:56:25.035224 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:25.035266 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(-0.321253, -0.583711)
I0419 20:56:25.035298 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:56:25.035491 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.56969 deg, rms_residual=0.0163355m, sigma_yaw=0.0173135 rad, N=3
I0419 20:56:25.035537 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.00829378 range=1.56533 variance=0.000679484 t_weight=4415.12 r_weight=3079.22 yaml=(6.915, -2.52) prior=(5.18706, -1.88425, -1.18436deg) obs_actual=(1.74689, -0.612313) obs_expected=(1.74071, -0.599901) delta=(0.006179, -0.0124123) |delta|=0.0138653m
I0419 20:56:25.035637 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.20111, -1.86471, -1.56969deg) inliers=3 rms=0.0163355m
I0419 20:56:25.035693 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289850342627.
I0419 20:56:25.058665 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:25.058986 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289850576768.
I0419 20:56:25.133049 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289850653822.
I0419 20:56:25.134563 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.733041, -0.535818), points=6, range=0.904833, residual=0.0109874, extent=0.0309265
I0419 20:56:25.134752 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.733041, -0.535818), tracking=(-1.03154, 0.535818), map_predicted=(4.20764, -1.32254), range=0.904833, pts=6
I0419 20:56:25.134788 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00778679m maha_sq=0.0026287 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20764, -1.32254) lm_pos=(4.215, -1.32) delta=(-0.00735947, -0.00254405) -> 1 candidate(s)
I0419 20:56:25.134914 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289850857642.
I0419 20:56:25.135975 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289850936386.
I0419 20:56:25.138420 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.200261, 0.651416)
I0419 20:56:25.138574 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289851175142.
I0419 20:56:25.139281 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289851219230.
I0419 20:56:25.147192 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:25.147321 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:25.147356 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:25.147502 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289851464293.
I0419 20:56:25.154556 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289851535164.
I0419 20:56:25.174800 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289851736900.
I0419 20:56:25.183017 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:25.183228 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:25.183290 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289851820031.
I0419 20:56:25.230924 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:25.265890 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.01367 range=0.66985 variance=0.000606929 t_weight=4942.91 r_weight=0 yaml=(5.115, -2.52) prior=(5.24074, -1.876, -1.5889deg) obs_actual=(-0.12555, -0.645335) obs_expected=(-0.107833, -0.647235) delta=(-0.017717, 0.00190018) |delta|=0.0178186m
I0419 20:56:25.266076 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289852055796.
I0419 20:56:25.266912 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:25.266978 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289852098987.
I0419 20:56:25.268121 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.6412, 0.710771)
I0419 20:56:25.268231 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289852335637.
I0419 20:56:25.269740 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.440416, 0.582552), points=15, range=0.7324, residual=0.0155091, extent=0.0523721
I0419 20:56:25.269799 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.440416, 0.582552), tracking=(0.738916, 0.582552), map_predicted=(6.01418, -1.31736), range=0.7324, pts=15
I0419 20:56:25.269824 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00276705m maha_sq=0.000324688 (gate chi2=5.99) pose_sigma=(0.151335, 0.151335, rho=0) det_map=(6.01418, -1.31736) lm_pos=(6.015, -1.32) delta=(-0.000821707, 0.00264223) -> 1 candidate(s)
I0419 20:56:25.269894 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289852382034.
I0419 20:56:25.271004 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289852614791.
I0419 20:56:25.271783 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289852693892.
I0419 20:56:25.294888 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289852937548.
I0419 20:56:25.302887 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853017701.
I0419 20:56:25.322944 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853218946.
I0419 20:56:25.417944 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0364245s, prior_pose=(5.26887, -1.87708), yaw=-1.85657 deg
I0419 20:56:25.418051 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 20:56:25.418134 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:25.418159 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:25.418247 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853301793.
I0419 20:56:25.419260 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.812424, -0.524165)
I0419 20:56:25.419337 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:25.419413 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853500540.
I0419 20:56:25.420207 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00112183 range=1.48667 variance=0.000675366 t_weight=4442.04 r_weight=0 yaml=(6.915, -2.52) prior=(5.26887, -1.87708, -1.85657deg) obs_actual=(1.67117, -0.589742) obs_expected=(1.6661, -0.589252) delta=(0.00507527, -0.000490434) |delta|=0.00509891m
I0419 20:56:25.420295 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853576708.
I0419 20:56:25.422230 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853779069.
I0419 20:56:25.423156 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.396017, 0.587021), points=15, range=0.710667, residual=0.0125375, extent=0.0397192
I0419 20:56:25.423213 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.396017, 0.587021), tracking=(0.694517, 0.587021), map_predicted=(5.99385, -1.3111), range=0.710667, pts=15
I0419 20:56:25.423241 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0229463m maha_sq=0.0227988 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99385, -1.3111) lm_pos=(6.015, -1.32) delta=(-0.0211482, 0.00890439) -> 1 candidate(s)
I0419 20:56:25.423290 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.80392 deg, rms_residual=0.0141853m, sigma_yaw=0.0185627 rad, N=2
I0419 20:56:25.423324 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.28409, -1.861, -2.80392deg) inliers=2 rms=0.0141853m
I0419 20:56:25.423353 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289853893926.
I0419 20:56:25.424402 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289854100493.
I0419 20:56:25.426023 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289854173124.
I0419 20:56:25.438956 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:25.439102 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:25.439136 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:25.439277 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289854381336.
I0419 20:56:25.446300 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289854452245.
I0419 20:56:25.543597 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:25.543682 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.847002, -0.515065)
I0419 20:56:25.543879 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289854701969.
I0419 20:56:25.544689 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:25.544782 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:25.544806 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289854736774.
I0419 20:56:25.546311 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289854980408.
I0419 20:56:25.547427 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.33533, -1.87595), yaw=-2.35024 deg backend=(5.25051, -1.87186)
I0419 20:56:25.548018 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:25.548063 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00223114 range=0.69275 variance=0.0005889 t_weight=5094.24 r_weight=0 yaml=(6.015, -1.32) prior=(5.33533, -1.87595, -2.35024deg) obs_actual=(0.659887, 0.589639) obs_expected=(0.656302, 0.583357) delta=(0.00358515, 0.00628167) |delta|=0.00723275m
I0419 20:56:25.548138 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289855059906.
I0419 20:56:25.549451 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289855256961.
I0419 20:56:25.550414 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289855334605.
I0419 20:56:25.564272 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0931013, 0.648639), points=21, range=0.656952, residual=0.0125609, extent=0.0391484
I0419 20:56:25.564438 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0931013, 0.648639), tracking=(-0.205399, -0.648639), map_predicted=(5.1125, -2.51927), range=0.656952, pts=21
I0419 20:56:25.564497 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.00260954m maha_sq=0.000291695 (gate chi2=5.99) pose_sigma=(0.150837, 0.150837, rho=0) det_map=(5.1125, -2.51927) lm_pos=(5.115, -2.52) delta=(-0.00250457, 0.000732703) -> 1 candidate(s)
I0419 20:56:25.564656 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289855633143.
I0419 20:56:25.566468 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289855657494.
I0419 20:56:25.586040 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.0887869, 0.652966)
I0419 20:56:25.586329 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289855852970.
I0419 20:56:25.646888 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289855941971.
I0419 20:56:25.648339 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289856137011.
I0419 20:56:25.649142 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.058376s, prior_pose=(5.34366, -1.88346), yaw=-2.59437 deg
I0419 20:56:25.649230 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:56:25.649308 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:25.649333 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:25.649397 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289856216903.
I0419 20:56:25.651360 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:25.651454 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289856458408.
I0419 20:56:25.654274 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289856536952.
I0419 20:56:25.674962 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0168287 range=0.6535 variance=0.00059813 t_weight=5015.63 r_weight=0 yaml=(5.115, -2.52) prior=(5.35765, -1.88625, -2.6642deg) obs_actual=(-0.232252, -0.648263) obs_expected=(-0.21293, -0.644343) delta=(-0.019322, -0.00392052) |delta|=0.0197158m
I0419 20:56:25.675269 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289856740500.
I0419 20:56:25.682480 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289856818334.
I0419 20:56:25.706727 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857059648.
I0419 20:56:25.709830 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29333, -0.569081), points=3, range=1.40867, residual=0.00850663, extent=0.0162174
I0419 20:56:25.709934 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29333, -0.569081), tracking=(1.59183, -0.569081), map_predicted=(6.93728, -2.53309), range=1.40867, pts=3
I0419 20:56:25.709970 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0258388m maha_sq=0.0289689 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93728, -2.53309) lm_pos=(6.915, -2.52) delta=(0.0222782, -0.0130892) -> 1 candidate(s)
I0419 20:56:25.710063 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857093253.
I0419 20:56:25.793895 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.922707, -0.504437)
I0419 20:56:25.793990 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:25.794018 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:25.794036 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:25.794094 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.54677 deg, rms_residual=0.00798198m, sigma_yaw=0.0105306 rad, N=2
I0419 20:56:25.794123 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.40114, -1.89289, -3.54677deg) inliers=2 rms=0.00798198m
I0419 20:56:25.794152 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857337918.
I0419 20:56:25.795053 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857414558.
I0419 20:56:25.796165 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857613856.
I0419 20:56:25.797798 1219453 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:25.797892 1219453 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:25.797917 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857694985.
I0419 20:56:25.799026 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289857899828.
I0419 20:56:25.801980 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:25.802130 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289858013033.
I0419 20:56:25.822073 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00850087 range=0.6495 variance=0.000573934 t_weight=5227.08 r_weight=0 yaml=(5.115, -2.52) prior=(5.40773, -1.87703, -3.00626deg) obs_actual=(-0.268337, -0.647291) obs_expected=(-0.258611, -0.657437) delta=(-0.00972584, 0.0101468) |delta|=0.0140553m
I0419 20:56:25.822249 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289858215594.
I0419 20:56:25.830224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289858296794.
I0419 20:56:25.850487 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289858499088.
I0419 20:56:25.909963 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.24719, -0.570532)
I0419 20:56:25.910074 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25362, -0.571297), points=4, range=1.3715, residual=0.014303, extent=0.0322877
I0419 20:56:25.910099 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25362, -0.571297), tracking=(1.55212, -0.571297), map_predicted=(6.94757, -2.53367), range=1.3715, pts=4
I0419 20:56:25.910121 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0353275m maha_sq=0.0528076 (gate chi2=5.99) pose_sigma=(0.151515, 0.151515, rho=0) det_map=(6.94757, -2.53367) lm_pos=(6.915, -2.52) delta=(0.0325736, -0.0136745) -> 1 candidate(s)
I0419 20:56:25.910199 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289858586859.
I0419 20:56:25.911598 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289858801973.
I0419 20:56:25.912662 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289858897676.
I0419 20:56:25.914765 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289859100127.
I0419 20:56:25.918339 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592265s, prior_pose=(5.4387, -1.88648), yaw=-2.93491 deg
I0419 20:56:25.918437 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:25.918536 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:25.918555 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:25.918646 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289859179124.
I0419 20:56:25.937955 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:25.938145 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289859374445.
I0419 20:56:25.946079 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289859454926.
I0419 20:56:25.965911 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289859653756.
I0419 20:56:25.967162 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:25.973798 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.055054 range=1.3462 variance=0.000670087 t_weight=4477.03 r_weight=0 yaml=(6.915, -2.52) prior=(5.45357, -1.88975, -2.83477deg) obs_actual=(1.52087, -0.576496) obs_expected=(1.49081, -0.557207) delta=(0.030059, -0.0192889) |delta|=0.0357156m
I0419 20:56:25.973935 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289859732575.
I0419 20:56:26.021288 1219453 pose_graph_2d.cc:160] Inserted submap (1, 13).
I0419 20:56:26.022557 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860027785.
I0419 20:56:26.023264 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.2102, -0.579379)
I0419 20:56:26.023381 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227081, 0.591456), points=18, range=0.633889, residual=0.010633, extent=0.0356808
I0419 20:56:26.023424 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227081, 0.591456), tracking=(0.525581, 0.591456), map_predicted=(6.01969, -1.3199), range=0.633889, pts=18
I0419 20:56:26.023463 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00468875m maha_sq=0.000953848 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.01969, -1.3199) lm_pos=(6.015, -1.32) delta=(0.00468766, 0.000101423) -> 1 candidate(s)
I0419 20:56:26.023551 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860052728.
I0419 20:56:26.026664 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:26.026908 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:26.026957 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:26.027055 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860262826.
I0419 20:56:26.034610 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.31223 deg, rms_residual=0.0141862m, sigma_yaw=0.0185638 rad, N=2
I0419 20:56:26.034734 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.45737, -1.86715, -3.31223deg) inliers=2 rms=0.0141862m
I0419 20:56:26.034773 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860340731.
I0419 20:56:26.055163 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860546119.
I0419 20:56:26.062628 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:26.062770 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:26.062794 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860620350.
I0419 20:56:26.083850 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289860830390.
I0419 20:56:26.095587 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:26.095741 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289860949338.
I0419 20:56:26.114490 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289861138862.
I0419 20:56:26.163879 1219453 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.199706, 0.587811)
I0419 20:56:26.163990 1219453 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 20 -> 19 (threshold=0.03, iters=3)
I0419 20:56:26.164070 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0165861 range=0.619684 variance=0.000552607 t_weight=5428.81 r_weight=0 yaml=(6.015, -1.32) prior=(5.47652, -1.88664, -2.46963deg) obs_actual=(0.494061, 0.587237) obs_expected=(0.513566, 0.589312) delta=(-0.0195046, -0.00207488) |delta|=0.0196147m
I0419 20:56:26.164162 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289861236533.
I0419 20:56:26.165284 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289861431671.
I0419 20:56:26.166168 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289861498368.
I0419 20:56:26.174022 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0700413, 0.648101), points=21, range=0.653048, residual=0.01221, extent=0.0385502
I0419 20:56:26.174121 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0700413, 0.648101), tracking=(-0.368541, -0.648101), map_predicted=(5.09204, -2.51341), range=0.653048, pts=21
I0419 20:56:26.174155 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0238921m maha_sq=0.0244429 (gate chi2=5.99) pose_sigma=(0.150894, 0.150894, rho=0) det_map=(5.09204, -2.51341) lm_pos=(5.115, -2.52) delta=(-0.0229641, 0.0065942) -> 1 candidate(s)
I0419 20:56:26.174280 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289861735132.
I0419 20:56:26.181895 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289861813513.
I0419 20:56:26.203150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289862024918.
I0419 20:56:26.211822 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0379488s, prior_pose=(5.50932, -1.88731), yaw=-2.24786 deg
I0419 20:56:26.211939 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=254, threshold=230, above_threshold=26, candidates=26
I0419 20:56:26.212067 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:26.212095 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:26.212212 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289862114620.
I0419 20:56:26.234416 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:26.234576 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289862338675.
I0419 20:56:26.237859 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.167604, 0.587525)
I0419 20:56:26.238094 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289862374110.
I0419 20:56:26.290391 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289862618972.
I0419 20:56:26.291471 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289862698158.
I0419 20:56:26.292546 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289862893336.
I0419 20:56:26.299082 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00480145 range=1.268 variance=0.000641291 t_weight=4678.07 r_weight=0 yaml=(6.915, -2.52) prior=(5.52381, -1.87862, -2.29971deg) obs_actual=(1.42489, -0.590502) obs_expected=(1.41581, -0.585042) delta=(0.00908527, -0.0054606) |delta|=0.0106m
I0419 20:56:26.299247 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289862982674.
I0419 20:56:26.322492 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:26.322613 1219453 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:26.322636 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:26.322768 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289863220014.
I0419 20:56:26.325910 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289863253235.
I0419 20:56:26.349792 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.116057, 0.647157), points=19, range=0.658368, residual=0.0110037, extent=0.0348153
I0419 20:56:26.350096 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.116057, 0.647157), tracking=(-0.414557, -0.647157), map_predicted=(5.0936, -2.50618), range=0.658368, pts=19
I0419 20:56:26.350258 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0254736m maha_sq=0.0278694 (gate chi2=5.99) pose_sigma=(0.150754, 0.150754, rho=0) det_map=(5.0936, -2.50618) lm_pos=(5.115, -2.52) delta=(-0.0213991, 0.0138196) -> 1 candidate(s)
I0419 20:56:26.350461 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289863493327.
I0419 20:56:26.358652 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:26.358767 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:26.358793 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289863581387.
I0419 20:56:26.378118 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.125614, 0.650364)
I0419 20:56:26.378305 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289863776841.
I0419 20:56:26.436776 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.53779, -1.8744), yaw=-2.13434 deg backend=(5.45185, -1.87969)
I0419 20:56:26.437654 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:26.437757 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289864011640.
I0419 20:56:26.438597 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289864082504.
I0419 20:56:26.439396 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289864133205.
I0419 20:56:26.441157 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289864380040.
I0419 20:56:26.446571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289864459403.
I0419 20:56:26.466140 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289864655800.
I0419 20:56:26.474002 1219453 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.49999 deg, rms_residual=0.0126547m, sigma_yaw=0.0165929 rad, N=2
I0419 20:56:26.474125 1219453 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.57665, -1.87087, -2.49999deg) inliers=2 rms=0.0126547m
I0419 20:56:26.474164 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289864733544.
I0419 20:56:26.497992 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0438824 range=0.673474 variance=0.000576958 t_weight=5199.69 r_weight=0 yaml=(5.115, -2.52) prior=(5.56548, -1.87142, -2.01724deg) obs_actual=(-0.457549, -0.65395) obs_expected=(-0.427367, -0.664036) delta=(-0.0301818, 0.0100861) |delta|=0.0318225m
I0419 20:56:26.498147 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289864973820.
I0419 20:56:26.506388 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0681169s, prior_pose=(5.56548, -1.87142), yaw=-2.01724 deg
I0419 20:56:26.506465 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:26.506577 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:26.506599 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:26.506709 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289865061209.
I0419 20:56:26.571079 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.165168, 0.654175)
I0419 20:56:26.571221 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:26.571292 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289865259400.
I0419 20:56:26.572116 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0901598, 0.580066), points=22, range=0.588, residual=0.0117361, extent=0.0403865
I0419 20:56:26.572212 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0901598, 0.580066), tracking=(0.38866, 0.580066), map_predicted=(5.99289, -1.30475), range=0.588, pts=22
I0419 20:56:26.572240 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0268621m maha_sq=0.0312756 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99289, -1.30475) lm_pos=(6.015, -1.32) delta=(-0.0221127, 0.0152513) -> 1 candidate(s)
I0419 20:56:26.572311 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289865339389.
I0419 20:56:26.573546 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289865577406.
I0419 20:56:26.575016 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289865621992.
I0419 20:56:26.582556 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289865820848.
I0419 20:56:26.590624 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289865899113.
I0419 20:56:26.618528 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:26.618645 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:26.618673 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:26.618791 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289866180102.
I0419 20:56:26.621938 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289866213776.
I0419 20:56:26.642622 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289866419951.
I0419 20:56:26.717760 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:26.717985 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:26.718016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289866500808.
I0419 20:56:26.719161 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.206498, 0.654753)
I0419 20:56:26.719280 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289866735326.
I0419 20:56:26.720170 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:26.720218 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0315631 range=0.581091 variance=0.000581107 t_weight=5162.56 r_weight=0 yaml=(6.015, -1.32) prior=(5.61787, -1.87302, -1.75658deg) obs_actual=(0.355762, 0.576828) obs_expected=(0.379991, 0.564935) delta=(-0.0242294, 0.0118931) |delta|=0.0269909m
I0419 20:56:26.720276 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289866814437.
I0419 20:56:26.722455 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289867014604.
I0419 20:56:26.723990 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289867094805.
I0419 20:56:26.730207 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289867295229.
I0419 20:56:26.738173 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00328, -0.605802), points=5, range=1.169, residual=0.0100152, extent=0.022624
I0419 20:56:26.738305 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00328, -0.605802), tracking=(1.30178, -0.605802), map_predicted=(6.92336, -2.51663), range=1.169, pts=5
I0419 20:56:26.738337 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00901777m maha_sq=0.00348658 (gate chi2=5.99) pose_sigma=(0.150878, 0.150878, rho=0) det_map=(6.92336, -2.51663) lm_pos=(6.915, -2.52) delta=(0.0083649, 0.00336877) -> 1 candidate(s)
I0419 20:56:26.738482 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289867373811.
I0419 20:56:26.762847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289867620248.
I0419 20:56:26.771152 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289867699639.
I0419 20:56:26.800588 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:26.873463 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289867900385.
I0419 20:56:26.874285 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603436s, prior_pose=(5.65015, -1.87378), yaw=-1.56274 deg
I0419 20:56:26.874377 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:26.874478 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:26.874502 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:26.874583 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289867977247.
I0419 20:56:26.875583 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.247986, 0.654338)
I0419 20:56:26.875658 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:26.875730 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289868184587.
I0419 20:56:26.877205 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289868255846.
I0419 20:56:26.878530 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289868498291.
I0419 20:56:26.879384 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289868575051.
I0419 20:56:26.881273 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289868781056.
I0419 20:56:26.886577 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00041295 range=1.13943 variance=0.000559909 t_weight=5358.02 r_weight=5000 yaml=(6.915, -2.52) prior=(5.67336, -1.87284, -1.44181deg) obs_actual=(1.26048, -0.614791) obs_expected=(1.25753, -0.61571) delta=(0.00294587, 0.000918933) |delta|=0.00308587m
I0419 20:56:26.886797 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289868855152.
I0419 20:56:26.910354 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:26.910544 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:26.910583 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:26.910761 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289869095015.
I0419 20:56:27.010792 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.000835579, 0.573601), points=22, range=0.574227, residual=0.0114231, extent=0.0353992
I0419 20:56:27.010911 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.000835579, 0.573601), tracking=(0.297664, 0.573601), map_predicted=(5.99543, -1.30795), range=0.574227, pts=22
I0419 20:56:27.010944 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0229862m maha_sq=0.0226755 (gate chi2=5.99) pose_sigma=(0.150789, 0.150789, rho=0) det_map=(5.99543, -1.30795) lm_pos=(6.015, -1.32) delta=(-0.0195715, 0.0120549) -> 1 candidate(s)
I0419 20:56:27.011020 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289869139869.
I0419 20:56:27.011507 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:27.012267 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289869379595.
I0419 20:56:27.013041 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:27.013129 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:27.013155 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289869458670.
I0419 20:56:27.014819 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.288231, 0.652322)
I0419 20:56:27.014930 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289869657914.
I0419 20:56:27.015666 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:27.015786 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289869738323.
I0419 20:56:27.016780 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289869939776.
I0419 20:56:27.018301 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289870054058.
I0419 20:56:27.026561 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289870256781.
I0419 20:56:27.034839 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289870340741.
I0419 20:56:27.113337 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.73911 deg, rms_residual=0.0139042m, sigma_yaw=0.0182014 rad, N=2
I0419 20:56:27.113462 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0130311 range=0.57413 variance=0.000576407 t_weight=5204.65 r_weight=0 yaml=(6.015, -1.32) prior=(5.7294, -1.87426, -1.16396deg) obs_actual=(0.261049, 0.571431) obs_expected=(0.274281, 0.55995) delta=(-0.0132326, 0.0114809) |delta|=0.0175189m
I0419 20:56:27.113505 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.72839, -1.87212, -1.73911deg) inliers=2 rms=0.0139042m
I0419 20:56:27.113535 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289870660037.
I0419 20:56:27.113986 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289870660267.
I0419 20:56:27.115361 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289870861767.
I0419 20:56:27.115790 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885603s, prior_pose=(5.7294, -1.87426), yaw=-1.16396 deg
I0419 20:56:27.115847 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:27.115952 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:27.115973 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:27.116034 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289870939661.
I0419 20:56:27.117842 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.326734, 0.650496), points=17, range=0.729882, residual=0.012606, extent=0.0397009
I0419 20:56:27.117931 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.326734, 0.650496), tracking=(-0.625234, -0.650496), map_predicted=(5.10592, -2.51328), range=0.729882, pts=17
I0419 20:56:27.117957 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0112948m maha_sq=0.00545269 (gate chi2=5.99) pose_sigma=(0.150993, 0.150993, rho=0) det_map=(5.10592, -2.51328) lm_pos=(5.115, -2.52) delta=(-0.00907615, 0.00672279) -> 1 candidate(s)
I0419 20:56:27.117977 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:27.118016 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289871134137.
I0419 20:56:27.122973 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.897054, -0.623542)
I0419 20:56:27.123170 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289871222205.
I0419 20:56:27.142755 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289871419169.
I0419 20:56:27.150514 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289871498587.
I0419 20:56:27.171403 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289871704681.
I0419 20:56:27.232326 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289871781902.
I0419 20:56:27.233834 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:27.233987 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:27.234037 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:27.234138 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289872021525.
I0419 20:56:27.235316 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289872102642.
I0419 20:56:27.237684 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289872293995.
I0419 20:56:27.242434 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:27.242555 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:27.242586 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289872417821.
I0419 20:56:27.262609 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.36958, 0.648675)
I0419 20:56:27.262799 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0188566 range=0.746647 variance=0.000603241 t_weight=4973.13 r_weight=0 yaml=(5.115, -2.52) prior=(5.77114, -1.87361, -0.958053deg) obs_actual=(-0.664133, -0.64839) obs_expected=(-0.645244, -0.657269) delta=(-0.0188894, 0.00887904) |delta|=0.0208722m
I0419 20:56:27.262873 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289872620464.
I0419 20:56:27.264279 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.7823, -1.87462), yaw=-0.855715 deg backend=(5.70472, -1.88375)
I0419 20:56:27.269886 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:56:27.270022 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289872693159.
I0419 20:56:27.290503 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289872899064.
I0419 20:56:27.298610 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.850325, -0.627267), points=7, range=1.05414, residual=0.0108816, extent=0.0306765
I0419 20:56:27.298744 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.850325, -0.627267), tracking=(1.14882, -0.627267), map_predicted=(6.92162, -2.51897), range=1.05414, pts=7
I0419 20:56:27.298795 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00670326m maha_sq=0.00194761 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92162, -2.51897) lm_pos=(6.915, -2.52) delta=(0.00662428, 0.001026) -> 1 candidate(s)
I0419 20:56:27.298934 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289872976136.
I0419 20:56:27.372099 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289873181046.
I0419 20:56:27.373062 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289873259252.
I0419 20:56:27.374053 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289873458143.
I0419 20:56:27.376179 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289873581834.
I0419 20:56:27.378367 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.26202, -0.522748)
I0419 20:56:27.378562 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289873778007.
I0419 20:56:27.387022 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677392s, prior_pose=(5.79952, -1.87577), yaw=-0.835724 deg
I0419 20:56:27.387295 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:27.387566 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:27.387631 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:27.387895 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289873858438.
I0419 20:56:27.410393 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:27.410691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289874095368.
I0419 20:56:27.414453 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289874133336.
I0419 20:56:27.438189 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0203253 range=0.772429 variance=0.000561557 t_weight=5342.29 r_weight=0 yaml=(5.115, -2.52) prior=(5.81694, -1.87514, -0.820971deg) obs_actual=(-0.713577, -0.649389) obs_expected=(-0.692628, -0.654853) delta=(-0.0209495, 0.00546358) |delta|=0.0216502m
I0419 20:56:27.438459 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289874373070.
I0419 20:56:27.535929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289874456982.
I0419 20:56:27.536897 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.924237, -0.376549)
I0419 20:56:27.537020 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289874653968.
I0419 20:56:27.537839 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.139361, 0.569391), points=20, range=0.5879, residual=0.011474, extent=0.0327145
I0419 20:56:27.537921 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.139361, 0.569391), tracking=(0.159139, 0.569391), map_predicted=(5.9858, -1.30739), range=0.5879, pts=20
I0419 20:56:27.537948 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0318101m maha_sq=0.0438702 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.9858, -1.30739) lm_pos=(6.015, -1.32) delta=(-0.0292041, 0.0126095) -> 1 candidate(s)
I0419 20:56:27.538013 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289874736568.
I0419 20:56:27.539661 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:27.539742 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:27.539801 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:27.539865 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289874939401.
I0419 20:56:27.540650 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289875021277.
I0419 20:56:27.541672 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289875260450.
I0419 20:56:27.543126 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:27.543195 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:27.543215 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289875338556.
I0419 20:56:27.554381 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289875534444.
I0419 20:56:27.561761 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.6498, 0.589627)
I0419 20:56:27.561899 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:27.561990 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289875613355.
I0419 20:56:27.653930 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289875815239.
I0419 20:56:27.654958 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289875901652.
I0419 20:56:27.656049 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289876141544.
I0419 20:56:27.657615 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0326087 range=0.597571 variance=0.000571807 t_weight=5246.53 r_weight=0 yaml=(6.015, -1.32) prior=(5.86372, -1.87542, -0.609248deg) obs_actual=(0.120708, 0.56954) obs_expected=(0.145367, 0.556996) delta=(-0.0246594, 0.0125438) |delta|=0.0276664m
I0419 20:56:27.657716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289876222054.
I0419 20:56:27.658813 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289876413233.
I0419 20:56:27.659651 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.16821 deg, rms_residual=0.0182546m, sigma_yaw=0.0237612 rad, N=2
I0419 20:56:27.659713 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.88797, -1.87474, -1.16821deg) inliers=2 rms=0.0182546m
I0419 20:56:27.659742 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289876492466.
I0419 20:56:27.670652 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289876699938.
I0419 20:56:27.678722 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558052s, prior_pose=(5.87845, -1.87529), yaw=-0.566597 deg
I0419 20:56:27.678879 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:27.679116 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:27.679162 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:27.679257 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.736897, -0.638678), points=8, range=0.980125, residual=0.0132348, extent=0.0346444
I0419 20:56:27.679306 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.736897, -0.638678), tracking=(1.0354, -0.638678), map_predicted=(6.90748, -2.52418), range=0.980125, pts=8
I0419 20:56:27.679349 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00859865m maha_sq=0.00319738 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90748, -2.52418) lm_pos=(6.915, -2.52) delta=(-0.00751657, -0.00417588) -> 1 candidate(s)
I0419 20:56:27.679543 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289876780106.
I0419 20:56:27.702682 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:27.703014 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289877017438.
I0419 20:56:27.790287 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.60255, 0.580632)
I0419 20:56:27.790485 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289877095094.
I0419 20:56:27.791788 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289877298455.
I0419 20:56:27.792840 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289877373935.
I0419 20:56:27.794757 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289877617018.
I0419 20:56:27.795526 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289877660778.
I0419 20:56:27.796630 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:27.796690 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:27.796710 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:27.796769 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289877855939.
I0419 20:56:27.798403 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289877952507.
I0419 20:56:27.818500 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0277626 range=0.836231 variance=0.000570977 t_weight=5254.15 r_weight=0 yaml=(5.115, -2.52) prior=(5.91752, -1.87892, -0.443228deg) obs_actual=(-0.82229, -0.652556) obs_expected=(-0.797541, -0.647267) delta=(-0.0247495, -0.00528891) |delta|=0.0253083m
I0419 20:56:27.818729 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289878178065.
I0419 20:56:27.827677 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:27.827875 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:27.827929 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289878261652.
I0419 20:56:27.924883 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289878464676.
I0419 20:56:27.925788 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.57025, 0.584477)
I0419 20:56:27.925889 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.238939, 0.567429), points=18, range=0.617389, residual=0.0109786, extent=0.0344475
I0419 20:56:27.925911 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.238939, 0.567429), tracking=(0.0595612, 0.567429), map_predicted=(5.99702, -1.31086), range=0.617389, pts=18
I0419 20:56:27.925936 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0201697m maha_sq=0.0176455 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99702, -1.31086) lm_pos=(6.015, -1.32) delta=(-0.0179819, 0.00913611) -> 1 candidate(s)
I0419 20:56:27.925972 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:27.926023 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289878548949.
I0419 20:56:27.927241 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289878863182.
I0419 20:56:27.927619 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289878863426.
I0419 20:56:27.929625 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289879058688.
I0419 20:56:27.930241 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289879136920.
I0419 20:56:27.938737 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289879382023.
I0419 20:56:27.942407 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289879418421.
I0419 20:56:27.965888 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289879652072.
I0419 20:56:28.059209 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0352354s, prior_pose=(5.95986, -1.87598), yaw=-0.519199 deg
I0419 20:56:28.059338 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:56:28.059459 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:28.059484 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 20:56:28.059580 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289879734377.
I0419 20:56:28.060568 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.567657, 0.658684)
I0419 20:56:28.060628 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:28.060694 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289879939576.
I0419 20:56:28.061614 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0679243 range=0.6334 variance=0.000604273 t_weight=4964.64 r_weight=0 yaml=(6.015, -1.32) prior=(5.95986, -1.87598, -0.519199deg) obs_actual=(0.0118121, 0.566618) obs_expected=(0.0501007, 0.556453) delta=(-0.0382886, 0.0101647) |delta|=0.0396149m
I0419 20:56:28.061704 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289880019945.
I0419 20:56:28.063396 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289880257404.
I0419 20:56:28.064251 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.300477, 0.563046), points=25, range=0.64116, residual=0.0199261, extent=0.0578682
I0419 20:56:28.064339 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.300477, 0.563046), tracking=(-0.00197651, 0.563046), map_predicted=(5.97722, -1.31294), range=0.64116, pts=25
I0419 20:56:28.064363 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[7] 'ref_8' eucl_dist=0.0384307m maha_sq=0.0632992 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.97722, -1.31294) lm_pos=(6.015, -1.32) delta=(-0.0377776, 0.00705516) -> 1 candidate(s)
I0419 20:56:28.064433 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289880337172.
I0419 20:56:28.065517 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289880534375.
I0419 20:56:28.067103 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289880622346.
I0419 20:56:28.082320 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:28.082489 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:28.082530 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:28.082731 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289880813167.
I0419 20:56:28.090973 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289880893167.
I0419 20:56:28.199355 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=30, centroid=(-0.314583, -0.560791)
I0419 20:56:28.199561 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289881142221.
I0419 20:56:28.200474 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:28.200528 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.7 deg, rms_residual=0.0103846m, sigma_yaw=0.013657 rad, N=2
I0419 20:56:28.200555 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.00834, -1.87493, -1.7deg) inliers=2 rms=0.0103846m
I0419 20:56:28.200583 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:28.200601 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289881220458.
I0419 20:56:28.201969 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289881412144.
I0419 20:56:28.203215 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.02767, -1.87414), yaw=-1.31203 deg backend=(6.0078, -1.88506)
I0419 20:56:28.204063 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:56:28.204195 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0186133 range=0.885846 variance=0.000637286 t_weight=4707.46 r_weight=5000 yaml=(6.915, -2.52) prior=(6.02767, -1.87414, -1.31203deg) obs_actual=(0.922692, -0.62412) obs_expected=(0.901884, -0.625369) delta=(0.0208076, 0.00124911) |delta|=0.0208451m
I0419 20:56:28.204284 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289881506516.
I0419 20:56:28.205853 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289881698432.
I0419 20:56:28.206700 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.617788, -0.621337), points=11, range=0.876364, residual=0.0118327, extent=0.0409212
I0419 20:56:28.206795 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.617788, -0.621337), tracking=(0.916288, -0.621337), map_predicted=(6.92949, -2.5163), range=0.876364, pts=11
I0419 20:56:28.206827 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0149572m maha_sq=0.0096914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92949, -2.5163) lm_pos=(6.915, -2.52) delta=(0.0144921, 0.00370095) -> 1 candidate(s)
I0419 20:56:28.206882 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289881776260.
I0419 20:56:28.208761 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289882012726.
I0419 20:56:28.209451 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289882056998.
I0419 20:56:28.230626 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.264231, -0.558225)
I0419 20:56:28.230842 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289882301802.
I0419 20:56:28.279202 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289882380781.
I0419 20:56:28.280375 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289882580231.
I0419 20:56:28.281066 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.064599s, prior_pose=(6.02633, -1.87333), yaw=-1.55586 deg
I0419 20:56:28.281201 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=250, threshold=230, above_threshold=14, candidates=14
I0419 20:56:28.281266 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:28.281286 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:28.281356 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289882658716.
I0419 20:56:28.290035 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:28.290203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289882894136.
I0419 20:56:28.294567 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289882938720.
I0419 20:56:28.318583 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0288384 range=0.932636 variance=0.000598344 t_weight=5013.84 r_weight=0 yaml=(5.115, -2.52) prior=(6.03946, -1.87313, -1.71991deg) obs_actual=(-0.929199, -0.682241) obs_expected=(-0.904633, -0.67433) delta=(-0.0245667, -0.00791171) |delta|=0.0258093m
I0419 20:56:28.318732 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289883180037.
I0419 20:56:28.326259 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289883256692.
I0419 20:56:28.346127 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289883454234.
I0419 20:56:28.353868 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.42743, 0.628076)
I0419 20:56:28.353966 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.573486, -0.611356), points=13, range=0.840846, residual=0.0125836, extent=0.0393515
I0419 20:56:28.354064 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.573486, -0.611356), tracking=(0.871986, -0.611356), map_predicted=(6.90601, -2.51336), range=0.840846, pts=13
I0419 20:56:28.354094 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0111767m maha_sq=0.00540752 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90601, -2.51336) lm_pos=(6.915, -2.52) delta=(-0.00899256, 0.00663725) -> 1 candidate(s)
I0419 20:56:28.354194 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289883534729.
I0419 20:56:28.418952 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:28.419000 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:28.419188 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:28.419211 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:28.419293 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289883779554.
I0419 20:56:28.420019 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289883819698.
I0419 20:56:28.421147 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289884053268.
I0419 20:56:28.422645 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:28.422748 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:28.422775 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289884134390.
I0419 20:56:28.434209 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289884336534.
I0419 20:56:28.441883 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:28.442016 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289884413756.
I0419 20:56:28.466790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289884661172.
I0419 20:56:28.470224 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289884696156.
I0419 20:56:28.494755 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00436904 range=0.591 variance=0.000573188 t_weight=5233.89 r_weight=0 yaml=(6.015, -1.32) prior=(6.09232, -1.87592, -2.11324deg) obs_actual=(-0.106319, 0.557946) obs_expected=(-0.0977653, 0.552689) delta=(-0.00855377, 0.00525744) |delta|=0.0100403m
I0419 20:56:28.494947 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289884941185.
I0419 20:56:28.557521 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.39378, 0.630269)
I0419 20:56:28.557708 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289885017473.
I0419 20:56:28.558791 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.69507, 0.684958), points=10, range=0.9731, residual=0.0127006, extent=0.0378687
I0419 20:56:28.558880 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.69507, 0.684958), tracking=(-0.99357, -0.684958), map_predicted=(5.0942, -2.52183), range=0.9731, pts=10
I0419 20:56:28.558952 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0208823m maha_sq=0.0188694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.0942, -2.52183) lm_pos=(5.115, -2.52) delta=(-0.0208022, -0.00182768) -> 1 candidate(s)
I0419 20:56:28.559043 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.48225 deg, rms_residual=0.0119817m, sigma_yaw=0.0157244 rad, N=2
I0419 20:56:28.559087 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.11877, -1.87056, -1.48225deg) inliers=2 rms=0.0119817m
I0419 20:56:28.559118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289885219138.
I0419 20:56:28.560005 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289885297031.
I0419 20:56:28.561851 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289885533308.
I0419 20:56:28.562649 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595463s, prior_pose=(6.12124, -1.87365), yaw=-2.13233 deg
I0419 20:56:28.562738 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:56:28.562811 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:28.562834 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:28.562906 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289885612936.
I0419 20:56:28.582193 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:28.582363 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289885816405.
I0419 20:56:28.590656 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289885900598.
I0419 20:56:28.610818 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289886102242.
I0419 20:56:28.618316 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289886178060.
I0419 20:56:28.686431 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289886414548.
I0419 20:56:28.687366 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.35858, 0.626307)
I0419 20:56:28.687506 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.000431421 range=0.788571 variance=0.000577194 t_weight=5197.56 r_weight=0 yaml=(6.915, -2.52) prior=(6.14689, -1.88179, -2.06961deg) obs_actual=(0.790672, -0.613208) obs_expected=(0.790659, -0.610053) delta=(1.31985e-05, -0.00315528) |delta|=0.00315531m
I0419 20:56:28.687561 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289886494480.
I0419 20:56:28.688561 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:28.688679 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:28.688716 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:28.688807 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289886732551.
I0419 20:56:28.690481 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289886778388.
I0419 20:56:28.698486 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.733172, 0.680999), points=7, range=1.00314, residual=0.0112807, extent=0.0335255
I0419 20:56:28.698597 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.733172, 0.680999), tracking=(-1.03167, -0.680999), map_predicted=(5.10414, -2.5236), range=1.00314, pts=7
I0419 20:56:28.698632 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0114375m maha_sq=0.00566859 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.10414, -2.5236) lm_pos=(5.115, -2.52) delta=(-0.0108572, -0.00359696) -> 1 candidate(s)
I0419 20:56:28.698756 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289886980215.
I0419 20:56:28.706264 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:28.706406 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:28.706434 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289887057792.
I0419 20:56:28.730157 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289887295311.
I0419 20:56:28.734549 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:28.734778 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289887340183.
I0419 20:56:28.755403 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289887547918.
I0419 20:56:28.816862 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289887658247.
I0419 20:56:28.818140 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289887861727.
I0419 20:56:28.818924 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.456596, -0.615064)
I0419 20:56:28.819060 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289887935316.
I0419 20:56:28.821000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289888177195.
I0419 20:56:28.826407 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.000756725 range=0.7602 variance=0.000585526 t_weight=5123.6 r_weight=0 yaml=(6.915, -2.52) prior=(6.19363, -1.87813, -1.82404deg) obs_actual=(0.742247, -0.614479) obs_expected=(0.741438, -0.618579) delta=(0.000809433, 0.00410051) |delta|=0.00417964m
I0419 20:56:28.826529 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289888258955.
I0419 20:56:28.846589 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289888459957.
I0419 20:56:28.854579 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.036458s, prior_pose=(6.20549, -1.8768), yaw=-1.748 deg
I0419 20:56:28.854696 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:56:28.854785 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:28.854846 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:28.854871 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31101, 0.618301), points=3, range=1.45167, residual=0.00662709, extent=0.0138639
I0419 20:56:28.854889 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31101, 0.618301), tracking=(1.60951, 0.618301), map_predicted=(7.83312, -1.30788), range=1.45167, pts=3
I0419 20:56:28.854912 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0217963m maha_sq=0.0203982 (gate chi2=5.99) pose_sigma=(0.150893, 0.150893, rho=0) det_map=(7.83312, -1.30788) lm_pos=(7.815, -1.32) delta=(0.0181169, 0.0121185) -> 1 candidate(s)
I0419 20:56:28.855031 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289888541775.
I0419 20:56:28.874107 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:28.874284 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289888735782.
I0419 20:56:28.882402 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289888814031.
I0419 20:56:28.970089 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.961905 deg, rms_residual=0.00930068m, sigma_yaw=0.012249 rad, N=2
I0419 20:56:28.970197 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.22037, -1.86975, -0.961905deg) inliers=2 rms=0.00930068m
I0419 20:56:28.970237 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289889052411.
I0419 20:56:28.971132 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289889141367.
I0419 20:56:28.972167 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289889332294.
I0419 20:56:28.973547 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.415428, -0.615777)
I0419 20:56:28.973659 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289889420222.
I0419 20:56:28.974646 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:28.974686 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:28.974704 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:28.974761 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289889658867.
I0419 20:56:28.975495 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0111743 range=1.41975 variance=0.000603744 t_weight=4968.99 r_weight=0 yaml=(7.815, -1.32) prior=(6.21312, -1.87763, -1.70943deg) obs_actual=(1.58079, 0.620797) obs_expected=(1.58453, 0.605171) delta=(-0.00374208, 0.0156258) |delta|=0.0160676m
I0419 20:56:28.975560 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289889735925.
I0419 20:56:28.995033 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289889939139.
I0419 20:56:29.002703 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:29.002861 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:29.002898 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890020762.
I0419 20:56:29.022606 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0563157, -0.551165), points=23, range=0.555609, residual=0.011958, extent=0.0361172
I0419 20:56:29.022733 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0563157, -0.551165), tracking=(-0.242184, 0.551165), map_predicted=(5.99747, -1.32348), range=0.555609, pts=23
I0419 20:56:29.022779 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0178744m maha_sq=0.0138455 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99747, -1.32348) lm_pos=(6.015, -1.32) delta=(-0.0175327, -0.00347834) -> 1 candidate(s)
I0419 20:56:29.022933 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890219226.
I0419 20:56:29.089788 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.24516, -1.87904), yaw=-1.8483 deg backend=(6.23407, -1.88411)
I0419 20:56:29.096940 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:29.097154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890297688.
I0419 20:56:29.098609 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890555461.
I0419 20:56:29.099648 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890579807.
I0419 20:56:29.101836 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890816516.
I0419 20:56:29.102888 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.380344, -0.614502)
I0419 20:56:29.103070 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289890900805.
I0419 20:56:29.111133 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891100683.
I0419 20:56:29.118490 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0218116 range=1.38825 variance=0.000717809 t_weight=4179.39 r_weight=0 yaml=(7.815, -1.32) prior=(6.26685, -1.87957, -1.88492deg) obs_actual=(1.54512, 0.626056) obs_expected=(1.52891, 0.610186) delta=(0.0162133, 0.0158704) |delta|=0.0226879m
I0419 20:56:29.118644 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891179952.
I0419 20:56:29.138862 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891378748.
I0419 20:56:29.146237 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639542s, prior_pose=(6.26685, -1.87957), yaw=-1.88492 deg
I0419 20:56:29.146370 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:56:29.146538 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:29.146584 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:29.146768 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891456058.
I0419 20:56:29.242161 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0224618, -0.550419), points=23, range=0.551696, residual=0.011735, extent=0.0363297
I0419 20:56:29.242321 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0224618, -0.550419), tracking=(-0.276038, 0.550419), map_predicted=(6.00775, -1.32564), range=0.551696, pts=23
I0419 20:56:29.242352 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00917892m maha_sq=0.00363177 (gate chi2=5.99) pose_sigma=(0.150428, 0.150428, rho=0) det_map=(6.00775, -1.32564) lm_pos=(6.015, -1.32) delta=(-0.00724561, -0.00563505) -> 1 candidate(s)
I0419 20:56:29.242375 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:29.242441 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891700805.
I0419 20:56:29.243459 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891781219.
I0419 20:56:29.244577 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289891977447.
I0419 20:56:29.245949 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.75225 deg, rms_residual=0.00981069m, sigma_yaw=0.012912 rad, N=2
I0419 20:56:29.246063 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.28325, -1.89406, -1.75225deg) inliers=2 rms=0.00981069m
I0419 20:56:29.246097 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892056159.
I0419 20:56:29.247277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892300784.
I0419 20:56:29.247903 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.34008, -0.613361)
I0419 20:56:29.247997 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892337128.
I0419 20:56:29.258886 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:29.259025 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:29.259066 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:29.259227 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892573969.
I0419 20:56:29.266223 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00480035 range=1.3565 variance=0.000657568 t_weight=4562.26 r_weight=0 yaml=(7.815, -1.32) prior=(6.29225, -1.8843, -2.01163deg) obs_actual=(1.50873, 0.625521) obs_expected=(1.50201, 0.617402) delta=(0.00672639, 0.00811912) |delta|=0.0105435m
I0419 20:56:29.270797 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892654250.
I0419 20:56:29.286080 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892854228.
I0419 20:56:29.336272 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:29.336416 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:29.336443 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289892937433.
I0419 20:56:29.337481 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0208423, -0.550373), points=21, range=0.55119, residual=0.010583, extent=0.0324039
I0419 20:56:29.337560 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0208423, -0.550373), tracking=(-0.319342, 0.550373), map_predicted=(6.00319, -1.31849), range=0.55119, pts=21
I0419 20:56:29.337626 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0119034m maha_sq=0.00614859 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00319, -1.31849) lm_pos=(6.015, -1.32) delta=(-0.0118077, 0.00150685) -> 1 candidate(s)
I0419 20:56:29.337713 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289893136848.
I0419 20:56:29.338536 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:29.338601 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289893253156.
I0419 20:56:29.345870 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289893452974.
I0419 20:56:29.353771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289893532802.
I0419 20:56:29.374315 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0328587, -0.550244)
I0419 20:56:29.374529 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289893736211.
I0419 20:56:29.382695 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289893821659.
I0419 20:56:29.406315 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894056946.
I0419 20:56:29.413959 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894133862.
I0419 20:56:29.482969 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0647248 range=1.15933 variance=0.000544202 t_weight=5512.66 r_weight=0 yaml=(5.115, -2.52) prior=(6.3352, -1.87979, -1.92629deg) obs_actual=(-1.2365, -0.684812) obs_expected=(-1.19799, -0.680865) delta=(-0.038516, -0.00394722) |delta|=0.0387177m
I0419 20:56:29.483134 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894335960.
I0419 20:56:29.483889 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593208s, prior_pose=(6.3352, -1.87979), yaw=-1.92629 deg
I0419 20:56:29.483956 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:29.484041 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:29.484061 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:29.484143 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894414867.
I0419 20:56:29.485208 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:29.485313 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894612944.
I0419 20:56:29.486806 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.280565, -0.617982), points=19, range=0.680474, residual=0.0126152, extent=0.0387404
I0419 20:56:29.486905 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.280565, -0.617982), tracking=(0.579065, -0.617982), map_predicted=(6.91157, -2.51262), range=0.680474, pts=19
I0419 20:56:29.486931 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00813996m maha_sq=0.00281703 (gate chi2=5.99) pose_sigma=(0.15141, 0.15141, rho=0) det_map=(6.91157, -2.51262) lm_pos=(6.915, -2.52) delta=(-0.00343012, 0.00738195) -> 1 candidate(s)
I0419 20:56:29.487067 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894713698.
I0419 20:56:29.494148 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894935592.
I0419 20:56:29.499527 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289894983491.
I0419 20:56:29.522495 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0717176, -0.550618)
I0419 20:56:29.522723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289895216608.
I0419 20:56:29.530351 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.57391 deg, rms_residual=0.0110363m, sigma_yaw=0.0145017 rad, N=2
I0419 20:56:29.530510 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.36469, -1.89563, -1.57391deg) inliers=2 rms=0.0110363m
I0419 20:56:29.530563 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289895296444.
I0419 20:56:29.550598 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:29.550704 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:29.550724 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:29.550859 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289895500311.
I0419 20:56:29.639098 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289895579416.
I0419 20:56:29.640300 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0119612 range=1.19343 variance=0.000585013 t_weight=5128.09 r_weight=0 yaml=(5.115, -2.52) prior=(6.39173, -1.87574, -1.85653deg) obs_actual=(-1.2718, -0.685702) obs_expected=(-1.25519, -0.685282) delta=(-0.0166117, -0.000420887) |delta|=0.016617m
I0419 20:56:29.640430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289895819499.
I0419 20:56:29.641278 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:29.641369 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:29.641392 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289895902022.
I0419 20:56:29.643136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896094623.
I0419 20:56:29.643949 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.243924, -0.616569), points=20, range=0.66395, residual=0.0119171, extent=0.0385442
I0419 20:56:29.644004 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.243924, -0.616569), tracking=(0.542424, -0.616569), map_predicted=(6.91803, -2.51367), range=0.66395, pts=20
I0419 20:56:29.644026 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00701558m maha_sq=0.0021327 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.91803, -2.51367) lm_pos=(6.915, -2.52) delta=(0.0030322, 0.00632647) -> 1 candidate(s)
I0419 20:56:29.644060 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:29.644142 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896173049.
I0419 20:56:29.645231 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896377659.
I0419 20:56:29.646579 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896455194.
I0419 20:56:29.670416 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.108598, -0.549911)
I0419 20:56:29.670691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896692271.
I0419 20:56:29.674669 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896739627.
I0419 20:56:29.754249 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289896980907.
I0419 20:56:29.755125 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289897058680.
I0419 20:56:29.756332 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0880156 range=1.22375 variance=0.000573862 t_weight=5227.74 r_weight=0 yaml=(5.115, -2.52) prior=(6.40983, -1.88232, -1.83608deg) obs_actual=(-1.31866, -0.682346) obs_expected=(-1.27373, -0.678836) delta=(-0.0449281, -0.00351011) |delta|=0.045065m
I0419 20:56:29.756448 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289897254829.
I0419 20:56:29.757947 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0352417s, prior_pose=(6.4275, -1.87775), yaw=-1.82836 deg
I0419 20:56:29.758033 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:29.758119 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:29.758142 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:29.758224 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289897333324.
I0419 20:56:29.759446 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:29.759527 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289897574266.
I0419 20:56:29.766026 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.19846, -0.61995), points=20, range=0.65115, residual=0.0118126, extent=0.0372172
I0419 20:56:29.766355 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.19846, -0.61995), tracking=(0.49696, -0.61995), map_predicted=(6.90443, -2.51324), range=0.65115, pts=20
I0419 20:56:29.766422 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0125469m maha_sq=0.00682229 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90443, -2.51324) lm_pos=(6.915, -2.52) delta=(-0.0105694, 0.00676113) -> 1 candidate(s)
I0419 20:56:29.766556 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289897653507.
I0419 20:56:29.786589 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289897855535.
I0419 20:56:29.794509 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289897935348.
I0419 20:56:29.818435 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.145483, -0.552148)
I0419 20:56:29.819011 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289898175829.
I0419 20:56:29.908223 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:29.910032 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289898222016.
I0419 20:56:29.911707 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:29.911810 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:29.911844 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:29.911898 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.681527 deg, rms_residual=0.0132701m, sigma_yaw=0.0173859 rad, N=2
I0419 20:56:29.911927 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.46399, -1.86458, -0.681527deg) inliers=2 rms=0.0132701m
I0419 20:56:29.911952 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289898451977.
I0419 20:56:29.912757 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289898532542.
I0419 20:56:29.914800 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289898740032.
I0419 20:56:29.915607 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:29.915660 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0105837 range=0.639158 variance=0.00055231 t_weight=5431.74 r_weight=0 yaml=(6.915, -2.52) prior=(6.4542, -1.87956, -1.67325deg) obs_actual=(0.469032, -0.614942) obs_expected=(0.479302, -0.626711) delta=(-0.0102699, 0.011769) |delta|=0.0156198m
I0419 20:56:29.915701 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:29.915719 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289898815995.
I0419 20:56:29.916935 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899138296.
I0419 20:56:29.917387 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:29.917449 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899138464.
I0419 20:56:29.918411 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.4714, -1.87851), yaw=-1.72343 deg backend=(6.44246, -1.88821)
I0419 20:56:29.933965 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.174304, -0.552696), points=20, range=0.5814, residual=0.0117921, extent=0.036893
I0419 20:56:29.934065 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.174304, -0.552696), tracking=(-0.472804, 0.552696), map_predicted=(6.01543, -1.31185), range=0.5814, pts=20
I0419 20:56:29.934098 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00816431m maha_sq=0.00284125 (gate chi2=5.99) pose_sigma=(0.151286, 0.151286, rho=0) det_map=(6.01543, -1.31185) lm_pos=(6.015, -1.32) delta=(0.000427776, 0.0081531) -> 1 candidate(s)
I0419 20:56:29.934188 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899334118.
I0419 20:56:29.939381 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.15549, -0.615857)
I0419 20:56:29.939487 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:56:29.939587 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899388840.
I0419 20:56:30.008344 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899614343.
I0419 20:56:30.009264 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899701485.
I0419 20:56:30.010351 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899941012.
I0419 20:56:30.011739 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289899976357.
I0419 20:56:30.022043 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289900215286.
I0419 20:56:30.029498 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677771s, prior_pose=(6.49469, -1.87831), yaw=-1.77831 deg
I0419 20:56:30.029704 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:30.029835 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:30.029860 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:30.029944 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0173332 range=1.1805 variance=0.000614093 t_weight=4885.25 r_weight=0 yaml=(7.815, -1.32) prior=(6.49469, -1.87831, -1.77831deg) obs_actual=(1.31037, 0.617349) obs_expected=(1.30235, 0.59901) delta=(0.00801885, 0.0183395) |delta|=0.020016m
I0419 20:56:30.029999 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289900292114.
I0419 20:56:30.050539 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:30.050696 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289900500178.
I0419 20:56:30.058856 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.998125, 0.613608)
I0419 20:56:30.059062 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289900583697.
I0419 20:56:30.082126 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.213594, -0.553898), points=21, range=0.595714, residual=0.0126957, extent=0.0401206
I0419 20:56:30.082227 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.213594, -0.553898), tracking=(-0.512094, 0.553898), map_predicted=(6.00647, -1.31508), range=0.595714, pts=21
I0419 20:56:30.082257 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00984409m maha_sq=0.00419596 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00647, -1.31508) lm_pos=(6.015, -1.32) delta=(-0.00852716, 0.0049187) -> 1 candidate(s)
I0419 20:56:30.082355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289900815738.
I0419 20:56:30.132241 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289900861785.
I0419 20:56:30.133594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901094339.
I0419 20:56:30.134560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901180916.
I0419 20:56:30.138469 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:30.138566 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:30.138585 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:30.138685 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901381011.
I0419 20:56:30.145962 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.65094 deg, rms_residual=0.00773287m, sigma_yaw=0.0102053 rad, N=2
I0419 20:56:30.146096 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.52623, -1.89559, -1.65094deg) inliers=2 rms=0.00773287m
I0419 20:56:30.146138 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901453876.
I0419 20:56:30.166996 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901663486.
I0419 20:56:30.174623 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:30.174721 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0318114 range=1.14833 variance=0.000583702 t_weight=5139.61 r_weight=0 yaml=(7.815, -1.32) prior=(6.54426, -1.87721, -1.80903deg) obs_actual=(1.26942, 0.618507) obs_expected=(1.25251, 0.597045) delta=(0.0169065, 0.0214623) |delta|=0.0273214m
I0419 20:56:30.174814 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:30.174842 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901740548.
I0419 20:56:30.199175 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.247273, -0.553059)
I0419 20:56:30.199584 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289901982900.
I0419 20:56:30.206830 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:30.207058 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289902058879.
I0419 20:56:30.282510 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.257163, -0.55349), points=19, range=0.610211, residual=0.0115267, extent=0.035439
I0419 20:56:30.282629 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.257163, -0.55349), tracking=(-0.555663, 0.55349), map_predicted=(6.01122, -1.31247), range=0.610211, pts=19
I0419 20:56:30.282663 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00842862m maha_sq=0.00305671 (gate chi2=5.99) pose_sigma=(0.150579, 0.150579, rho=0) det_map=(6.01122, -1.31247) lm_pos=(6.015, -1.32) delta=(-0.00377828, 0.00753434) -> 1 candidate(s)
I0419 20:56:30.282763 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289902261147.
I0419 20:56:30.283653 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289902340574.
I0419 20:56:30.284909 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289902576542.
I0419 20:56:30.286489 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289902658100.
I0419 20:56:30.287675 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289902860470.
I0419 20:56:30.294515 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289902934496.
I0419 20:56:30.318295 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289903173066.
I0419 20:56:30.322491 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560386s, prior_pose=(6.57298, -1.88455), yaw=-1.79956 deg
I0419 20:56:30.322636 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:30.322865 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:30.322908 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0578028, -0.619163)
I0419 20:56:30.322942 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:30.323136 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289903218486.
I0419 20:56:30.346411 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:30.346592 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00506432 range=0.620235 variance=0.000553827 t_weight=5416.85 r_weight=0 yaml=(6.015, -1.32) prior=(6.57298, -1.88455, -1.79956deg) obs_actual=(-0.585374, 0.550986) obs_expected=(-0.575433, 0.546753) delta=(-0.00994169, 0.00423259) |delta|=0.0108052m
I0419 20:56:30.346760 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289903454060.
I0419 20:56:30.425818 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289903499626.
I0419 20:56:30.427209 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18848, 0.688467), points=5, range=1.3708, residual=0.00880635, extent=0.021867
I0419 20:56:30.427309 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18848, 0.688467), tracking=(-1.48698, -0.688467), map_predicted=(5.07965, -2.52227), range=1.3708, pts=5
I0419 20:56:30.427342 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.035426m maha_sq=0.054448 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07965, -2.52227) lm_pos=(5.115, -2.52) delta=(-0.035353, -0.00227261) -> 1 candidate(s)
I0419 20:56:30.427444 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289903743088.
I0419 20:56:30.428385 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289903814664.
I0419 20:56:30.430465 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904020961.
I0419 20:56:30.431466 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904097939.
I0419 20:56:30.434803 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:30.435019 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:30.435074 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:30.435286 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904340004.
I0419 20:56:30.445346 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904420691.
I0419 20:56:30.462502 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.316342, -0.54959)
I0419 20:56:30.462720 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.88964 deg, rms_residual=0.0132618m, sigma_yaw=0.0173752 rad, N=2
I0419 20:56:30.462822 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.62547, -1.86751, -0.88964deg) inliers=2 rms=0.0132618m
I0419 20:56:30.462873 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904616578.
I0419 20:56:30.475064 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:30.475382 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:30.475464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904739791.
I0419 20:56:30.576586 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0130648 range=0.640444 variance=0.000621634 t_weight=4825.99 r_weight=0 yaml=(6.015, -1.32) prior=(6.63426, -1.88545, -1.85758deg) obs_actual=(-0.620399, 0.550009) obs_expected=(-0.637262, 0.545077) delta=(0.0168624, 0.00493239) |delta|=0.017569m
I0419 20:56:30.576717 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904938918.
I0419 20:56:30.577519 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:30.577612 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289904972918.
I0419 20:56:30.578622 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23079, 0.686905), points=3, range=1.40233, residual=0.0151153, extent=0.0306873
I0419 20:56:30.578692 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23079, 0.686905), tracking=(-1.52929, -0.686905), map_predicted=(5.08351, -2.52242), range=1.40233, pts=3
I0419 20:56:30.578715 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0315835m maha_sq=0.0429916 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08351, -2.52242) lm_pos=(5.115, -2.52) delta=(-0.0314908, -0.00241911) -> 1 candidate(s)
I0419 20:56:30.578783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289905213778.
I0419 20:56:30.580235 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289905293038.
I0419 20:56:30.581240 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289905497550.
I0419 20:56:30.582077 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289905575903.
I0419 20:56:30.583783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289905821386.
I0419 20:56:30.586436 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.00905353, -0.624551)
I0419 20:56:30.586722 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289905855840.
I0419 20:56:30.611111 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906099044.
I0419 20:56:30.705430 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0361146s, prior_pose=(6.65085, -1.87916), yaw=-1.85138 deg
I0419 20:56:30.705526 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:30.705647 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:30.705670 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:30.705763 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906182532.
I0419 20:56:30.706801 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:30.706887 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00538307 range=0.658588 variance=0.000612247 t_weight=4899.98 r_weight=0 yaml=(6.015, -1.32) prior=(6.65085, -1.87916, -1.85138deg) obs_actual=(-0.659037, 0.548059) obs_expected=(-0.653581, 0.53833) delta=(-0.00545592, 0.00972872) |delta|=0.0111541m
I0419 20:56:30.706954 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906373657.
I0419 20:56:30.707692 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906459569.
I0419 20:56:30.709312 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26428, 0.688804), points=5, range=1.4354, residual=0.0130496, extent=0.0325821
I0419 20:56:30.709374 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26428, 0.688804), tracking=(-1.56278, -0.688804), map_predicted=(5.07453, -2.52206), range=1.4354, pts=5
I0419 20:56:30.709398 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0405203m maha_sq=0.0702632 (gate chi2=5.99) pose_sigma=(0.150735, 0.150735, rho=0) det_map=(5.07453, -2.52206) lm_pos=(5.115, -2.52) delta=(-0.0404678, -0.00206235) -> 1 candidate(s)
I0419 20:56:30.709461 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906659866.
I0419 20:56:30.710219 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906737088.
I0419 20:56:30.711351 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289906977168.
I0419 20:56:30.712672 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289907060815.
I0419 20:56:30.726634 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.386594, -0.549967)
I0419 20:56:30.726820 1219453 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:30.726907 1219453 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:30.726953 1219453 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:30.727154 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289907254232.
I0419 20:56:30.734589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289907335569.
I0419 20:56:30.809576 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.13777 deg, rms_residual=0.0132715m, sigma_yaw=0.0173876 rad, N=2
I0419 20:56:30.809738 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.70542, -1.87338, -1.13777deg) inliers=2 rms=0.0132715m
I0419 20:56:30.809783 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289907582006.
I0419 20:56:30.810716 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:30.810825 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:30.810856 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289907615400.
I0419 20:56:30.812117 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00633895 range=0.681643 variance=0.000558965 t_weight=5367.06 r_weight=0 yaml=(6.015, -1.32) prior=(6.68864, -1.88175, -1.89321deg) obs_actual=(-0.696075, 0.550508) obs_expected=(-0.691832, 0.539187) delta=(-0.00424282, 0.0113211) |delta|=0.0120901m
I0419 20:56:30.812216 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289907858965.
I0419 20:56:30.813302 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.69759, -1.88596), yaw=-1.87871 deg backend=(6.6725, -1.88948)
I0419 20:56:30.814169 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:30.814285 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289907938753.
I0419 20:56:30.815464 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289908136944.
I0419 20:56:30.822209 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0693199, -0.624335), points=21, range=0.62881, residual=0.0117917, extent=0.0418472
I0419 20:56:30.822299 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0693199, -0.624335), tracking=(0.22918, -0.624335), map_predicted=(6.90618, -2.51747), range=0.62881, pts=21
I0419 20:56:30.822329 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00917475m maha_sq=0.00364811 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90618, -2.51747) lm_pos=(6.915, -2.52) delta=(-0.00881912, 0.00252968) -> 1 candidate(s)
I0419 20:56:30.822434 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289908217093.
I0419 20:56:30.846407 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.419491, -0.551553)
I0419 20:56:30.846678 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289908457632.
I0419 20:56:30.850847 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289908501164.
I0419 20:56:30.874554 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289908733302.
I0419 20:56:30.952225 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289908812352.
I0419 20:56:30.953413 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909016806.
I0419 20:56:30.957352 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637434s, prior_pose=(6.72235, -1.89004), yaw=-1.88928 deg
I0419 20:56:30.957469 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:30.957644 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:30.957676 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:30.957808 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909095066.
I0419 20:56:30.959851 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:30.959997 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909332211.
I0419 20:56:30.960933 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00601325 range=0.63385 variance=0.000566475 t_weight=5295.91 r_weight=0 yaml=(6.915, -2.52) prior=(6.73118, -1.89146, -1.88547deg) obs_actual=(0.192962, -0.62497) obs_expected=(0.204397, -0.622152) delta=(-0.0114353, -0.00281755) |delta|=0.0117773m
I0419 20:56:30.961032 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909379376.
I0419 20:56:30.962172 1219453 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.450221, -0.552543)
I0419 20:56:30.962293 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909587958.
I0419 20:56:30.970362 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.75016, 0.616505), points=8, range=0.975125, residual=0.0125669, extent=0.0367943
I0419 20:56:30.970455 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.75016, 0.616505), tracking=(1.04866, 0.616505), map_predicted=(7.81826, -1.30354), range=0.975125, pts=8
I0419 20:56:30.970482 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0167776m maha_sq=0.0119517 (gate chi2=5.99) pose_sigma=(0.151478, 0.151478, rho=0) det_map=(7.81826, -1.30354) lm_pos=(7.815, -1.32) delta=(0.00326079, 0.0164577) -> 1 candidate(s)
I0419 20:56:30.970592 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909699201.
I0419 20:56:30.990459 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909892493.
I0419 20:56:30.998231 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289909975308.
I0419 20:56:31.071977 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:31.072110 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:31.072131 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:31.072220 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289910213090.
I0419 20:56:31.073007 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289910257569.
I0419 20:56:31.074234 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289910499815.
I0419 20:56:31.075837 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:31.075939 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:31.075963 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289910577750.
I0419 20:56:31.078253 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.484599, -0.550822)
I0419 20:56:31.078477 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289910777638.
I0419 20:56:31.086784 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:31.087168 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.25478 deg, rms_residual=0.00709727m, sigma_yaw=0.00937432 rad, N=2
I0419 20:56:31.087240 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0080828 range=0.952875 variance=0.000570448 t_weight=5259.03 r_weight=0 yaml=(7.815, -1.32) prior=(6.76769, -1.89068, -1.9631deg) obs_actual=(1.01923, 0.61735) obs_expected=(1.02714, 0.606218) delta=(-0.00790834, 0.0111325) |delta|=0.0136555m
I0419 20:56:31.087339 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.77652, -1.89109, -2.25478deg) inliers=2 rms=0.00709727m
I0419 20:56:31.087393 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289910859313.
I0419 20:56:31.109958 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911093104.
I0419 20:56:31.118602 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911180550.
I0419 20:56:31.138058 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.498028, -0.55144), points=14, range=0.745071, residual=0.0114654, extent=0.0325606
I0419 20:56:31.138234 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.498028, -0.55144), tracking=(-0.796528, 0.55144), map_predicted=(6.00027, -1.31216), range=0.745071, pts=14
I0419 20:56:31.138293 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0166883m maha_sq=0.0120717 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00027, -1.31216) lm_pos=(6.015, -1.32) delta=(-0.0147306, 0.00784256) -> 1 candidate(s)
I0419 20:56:31.138501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911373332.
I0419 20:56:31.170639 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:31.211670 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911454792.
I0419 20:56:31.213095 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911653478.
I0419 20:56:31.214262 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911733242.
I0419 20:56:31.216471 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.518019, -0.550558)
I0419 20:56:31.216673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289911979012.
I0419 20:56:31.217418 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601841s, prior_pose=(6.78816, -1.88881), yaw=-2.06452 deg
I0419 20:56:31.217494 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:31.217610 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:31.217636 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:31.217794 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912056633.
I0419 20:56:31.226090 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:31.226482 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912253569.
I0419 20:56:31.234951 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00840217 range=0.9259 variance=0.000596063 t_weight=5033.03 r_weight=0 yaml=(7.815, -1.32) prior=(6.8097, -1.88962, -2.12921deg) obs_actual=(0.981739, 0.620544) obs_expected=(0.983445, 0.606572) delta=(-0.00170576, 0.0139722) |delta|=0.0140759m
I0419 20:56:31.235176 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912339345.
I0419 20:56:31.259142 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912581820.
I0419 20:56:31.262534 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912616006.
I0419 20:56:31.366807 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.537869, -0.552076), points=13, range=0.774, residual=0.01246, extent=0.0375175
I0419 20:56:31.366921 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.537869, -0.552076), tracking=(-0.836369, 0.552076), map_predicted=(6.01237, -1.30663), range=0.774, pts=13
I0419 20:56:31.366952 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0136301m maha_sq=0.00791197 (gate chi2=5.99) pose_sigma=(0.15128, 0.15128, rho=0) det_map=(6.01237, -1.30663) lm_pos=(6.015, -1.32) delta=(-0.00263004, 0.013374) -> 1 candidate(s)
I0419 20:56:31.367033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912858716.
I0419 20:56:31.367141 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:31.367871 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289912937650.
I0419 20:56:31.368824 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.552749, -0.550747)
I0419 20:56:31.368871 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:31.368894 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:31.368909 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:31.368956 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289913139945.
I0419 20:56:31.370499 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289913222496.
I0419 20:56:31.371511 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289913461962.
I0419 20:56:31.372268 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:31.372326 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:31.372347 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289913495669.
I0419 20:56:31.373991 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289913701900.
I0419 20:56:31.379052 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:31.379215 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.72674 deg, rms_residual=0.00712586m, sigma_yaw=0.00941172 rad, N=2
I0419 20:56:31.379266 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00780817 range=0.896727 variance=0.000606211 t_weight=4948.77 r_weight=0 yaml=(7.815, -1.32) prior=(6.85046, -1.89076, -2.30143deg) obs_actual=(0.939312, 0.622382) obs_expected=(0.940839, 0.609037) delta=(-0.00152686, 0.0133449) |delta|=0.0134319m
I0419 20:56:31.379331 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.85142, -1.89129, -2.72674deg) inliers=2 rms=0.00712586m
I0419 20:56:31.379380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289913781100.
I0419 20:56:31.402604 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914018534.
I0419 20:56:31.451094 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914092478.
I0419 20:56:31.452112 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.58363, -0.547078)
I0419 20:56:31.452181 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.581732, -0.547167), points=13, range=0.8, residual=0.0117967, extent=0.0381344
I0419 20:56:31.452208 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.581732, -0.547167), tracking=(-0.880232, 0.547167), map_predicted=(5.99877, -1.30398), range=0.8, pts=13
I0419 20:56:31.452230 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0228074m maha_sq=0.022538 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99877, -1.30398) lm_pos=(6.015, -1.32) delta=(-0.0162306, 0.0160233) -> 1 candidate(s)
I0419 20:56:31.452291 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914300765.
I0419 20:56:31.453109 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914413927.
I0419 20:56:31.462298 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914616864.
I0419 20:56:31.467109 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914665774.
I0419 20:56:31.490828 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289914899557.
I0419 20:56:31.497846 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0358617s, prior_pose=(6.8929, -1.88888), yaw=-2.49038 deg
I0419 20:56:31.497962 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 20:56:31.498085 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:31.498109 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:31.498222 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289914975481.
I0419 20:56:31.522681 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.351836, 0.628965)
I0419 20:56:31.522817 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:56:31.522882 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.000842883 range=0.724824 variance=0.000669146 t_weight=4483.33 r_weight=2888.78 yaml=(6.915, -2.52) prior=(6.8929, -1.88888, -2.49038deg) obs_actual=(0.0492632, -0.633973) obs_expected=(0.0495041, -0.629561) delta=(-0.000240941, -0.00441258) |delta|=0.00441915m
I0419 20:56:31.522972 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289915221516.
I0419 20:56:31.527232 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289915267346.
I0419 20:56:31.568109 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:31.589322 1219453 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 25 -> 24 (threshold=0.03, iters=3)
I0419 20:56:31.589426 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.346634, 0.632673), points=24, range=0.721542, residual=0.019117, extent=0.0548368
I0419 20:56:31.589454 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.346634, 0.632673), tracking=(0.0481338, -0.632673), map_predicted=(6.94408, -2.52481), range=0.721542, pts=24
I0419 20:56:31.589479 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[8] 'ref_9' eucl_dist=0.0294791m maha_sq=0.0362263 (gate chi2=5.99) pose_sigma=(0.152266, 0.152266, rho=0) det_map=(6.94408, -2.52481) lm_pos=(6.915, -2.52) delta=(0.0290844, -0.0048079) -> 1 candidate(s)
I0419 20:56:31.589584 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289915492274.
I0419 20:56:31.590314 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289915536411.
I0419 20:56:31.591874 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289915776129.
I0419 20:56:31.593528 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289915852778.
I0419 20:56:31.610890 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=28, centroid=(-0.341432, 0.624728)
I0419 20:56:31.610987 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:31.611020 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:31.611042 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:31.611163 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289916102115.
I0419 20:56:31.614418 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289916136921.
I0419 20:56:31.634791 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289916340506.
I0419 20:56:31.646147 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:31.646248 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00325571 range=0.690444 variance=0.000583787 t_weight=5138.86 r_weight=0 yaml=(6.915, -2.52) prior=(6.91923, -1.89644, -2.57289deg) obs_actual=(0.0237405, -0.631786) obs_expected=(0.0237677, -0.623117) delta=(-2.71754e-05, -0.0086691) |delta|=0.00866915m
I0419 20:56:31.646358 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:31.646390 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289916452942.
I0419 20:56:31.667155 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289916661753.
I0419 20:56:31.764078 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(6.94128, -1.89392), yaw=-2.59708 deg backend=(6.8906, -1.89773)
I0419 20:56:31.764847 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.281729, -0.632724), points=18, range=0.694278, residual=0.0121678, extent=0.0347192
I0419 20:56:31.764906 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.281729, -0.632724), tracking=(0.0167707, -0.632724), map_predicted=(6.92936, -2.52676), range=0.694278, pts=18
I0419 20:56:31.764935 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0158708m maha_sq=0.0106801 (gate chi2=5.99) pose_sigma=(0.151655, 0.151655, rho=0) det_map=(6.92936, -2.52676) lm_pos=(6.915, -2.52) delta=(0.0143607, -0.00675668) -> 1 candidate(s)
I0419 20:56:31.764973 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:31.765003 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.04521 deg, rms_residual=0.00668435m, sigma_yaw=0.00883373 rad, N=2
I0419 20:56:31.765049 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.92786, -1.89263, -3.04521deg) inliers=2 rms=0.00668435m
I0419 20:56:31.765094 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289916732588.
I0419 20:56:31.766219 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.379213, 0.620848)
I0419 20:56:31.766325 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289916979231.
I0419 20:56:31.766999 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289917015086.
I0419 20:56:31.768761 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289917258080.
I0419 20:56:31.769563 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289917337302.
I0419 20:56:31.770740 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289917573357.
I0419 20:56:31.772106 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00417918 range=0.821462 variance=0.000601358 t_weight=4988.71 r_weight=0 yaml=(7.815, -1.32) prior=(6.95839, -1.89642, -2.76916deg) obs_actual=(0.831772, 0.626163) obs_expected=(0.827762, 0.617129) delta=(0.00400987, 0.0090344) |delta|=0.0098843m
I0419 20:56:31.772189 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289917618190.
I0419 20:56:31.786242 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289917854995.
I0419 20:56:31.791990 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0645238s, prior_pose=(6.95839, -1.89642), yaw=-2.76916 deg
I0419 20:56:31.792200 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:56:31.793339 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:31.793429 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.370726, -0.597296)
I0419 20:56:31.793468 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 20:56:31.793778 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289917903318.
I0419 20:56:31.895287 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.691312, -0.53683), points=8, range=0.8735, residual=0.0103406, extent=0.029865
I0419 20:56:31.895399 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.691312, -0.53683), tracking=(-0.989812, 0.53683), map_predicted=(6.00795, -1.31203), range=0.8735, pts=8
I0419 20:56:31.895431 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0106419m maha_sq=0.00485787 (gate chi2=5.99) pose_sigma=(0.15087, 0.15087, rho=0) det_map=(6.00795, -1.31203) lm_pos=(6.015, -1.32) delta=(-0.00704848, 0.00797305) -> 1 candidate(s)
I0419 20:56:31.895453 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:31.895535 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289918137080.
I0419 20:56:31.896538 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289918218673.
I0419 20:56:31.898177 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289918459825.
I0419 20:56:31.899789 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289918493814.
I0419 20:56:31.901031 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.262304, 0.625482)
I0419 20:56:31.901204 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289918739320.
I0419 20:56:31.902165 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289918773435.
I0419 20:56:31.904044 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:31.904111 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:31.904130 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:31.904196 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289919019249.
I0419 20:56:31.910140 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00737274 range=1.56733 variance=0.000578472 t_weight=5186.08 r_weight=2147.67 yaml=(8.715, -2.52) prior=(6.98787, -1.90149, -2.93759deg) obs_actual=(1.76956, -0.528159) obs_expected=(1.75655, -0.529187) delta=(0.0130037, 0.00102784) |delta|=0.0130442m
I0419 20:56:31.910251 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289919096026.
I0419 20:56:31.930146 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289919295038.
I0419 20:56:32.001406 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.483806, 0.626666), points=13, range=0.793923, residual=0.0112271, extent=0.0367651
I0419 20:56:32.001499 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.483806, 0.626666), tracking=(0.782306, 0.626666), map_predicted=(7.80758, -1.31626), range=0.793923, pts=13
I0419 20:56:32.001529 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.00831248m maha_sq=0.00297897 (gate chi2=5.99) pose_sigma=(0.150427, 0.150427, rho=0) det_map=(7.80758, -1.31626) lm_pos=(7.815, -1.32) delta=(-0.0074217, 0.00374377) -> 1 candidate(s)
I0419 20:56:32.001582 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:32.001623 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:32.001681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289919374269.
I0419 20:56:32.002787 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57911, 0.730761)
I0419 20:56:32.002923 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289919621095.
I0419 20:56:32.003574 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:32.003623 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.8792 deg, rms_residual=0.0113128m, sigma_yaw=0.0148596 rad, N=2
I0419 20:56:32.003665 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.01422, -1.8967, -2.8792deg) inliers=2 rms=0.0113128m
I0419 20:56:32.003690 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289919654421.
I0419 20:56:32.005686 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289919900296.
I0419 20:56:32.006634 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289919979445.
I0419 20:56:32.018355 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289920173143.
I0419 20:56:32.026218 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=14, centroid=(0.465541, 0.626834)
I0419 20:56:32.026504 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289920253618.
I0419 20:56:32.050887 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289920499813.
I0419 20:56:32.059141 1219453 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00286635 range=1.532 variance=0.000549914 t_weight=5455.4 r_weight=0 yaml=(8.715, -2.52) prior=(7.02088, -1.90187, -3.1432deg) obs_actual=(1.73359, -0.524697) obs_expected=(1.72547, -0.52431) delta=(0.00811907, -0.000387153) |delta|=0.0081283m
I0419 20:56:32.059448 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289920581240.
I0419 20:56:32.145188 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289920779564.
I0419 20:56:32.146114 1219453 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602892s, prior_pose=(7.02171, -1.89895), yaw=-3.15205 deg
I0419 20:56:32.146247 1219453 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:56:32.146322 1219453 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:32.146348 1219453 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:32.146427 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289920856510.
I0419 20:56:32.147569 1219453 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.765092, -0.530739), points=7, range=0.932714, residual=0.00820734, extent=0.0217559
I0419 20:56:32.147640 1219453 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.765092, -0.530739), tracking=(-1.06359, 0.530739), map_predicted=(5.98891, -1.31054), range=0.932714, pts=7
I0419 20:56:32.147667 1219453 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0277523m maha_sq=0.0334659 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98891, -1.31054) lm_pos=(6.015, -1.32) delta=(-0.0260884, 0.00946475) -> 1 candidate(s)
I0419 20:56:32.147728 1219453 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:32.147790 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289921056809.
I0419 20:56:32.149348 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289921134797.
I0419 20:56:32.150538 1219453 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.61033, 0.731035)
I0419 20:56:32.150693 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289921372766.
I0419 20:56:32.151568 1219453 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289921460574.
I0419 20:56:32.167011 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289921662385.
I0419 20:56:32.175071 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289921740802.
I0419 20:56:32.194506 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:32.194674 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:32.194712 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:32.194927 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289921935001.
I0419 20:56:32.297811 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289922018911.
I0419 20:56:32.299049 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.00110463 range=0.6472 variance=0.000572962 t_weight=5235.95 r_weight=0 yaml=(6.915, -2.52) prior=(7.06624, -1.90471, -3.32165deg) obs_actual=(-0.119628, -0.620356) obs_expected=(-0.115339, -0.62302) delta=(-0.00428866, 0.00266352) |delta|=0.00504846m
I0419 20:56:32.299167 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289922259159.
I0419 20:56:32.299948 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:32.300035 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:32.300060 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289922294328.
I0419 20:56:32.301883 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.64681, 0.738949)
I0419 20:56:32.302021 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289922541457.
I0419 20:56:32.302757 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39158, -0.520283), points=4, range=1.48775, residual=0.0078811, extent=0.0198311
I0419 20:56:32.302816 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.39158, -0.520283), tracking=(1.69008, -0.520283), map_predicted=(8.72725, -2.51818), range=1.48775, pts=4
I0419 20:56:32.302839 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0123818m maha_sq=0.00665332 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72725, -2.51818) lm_pos=(8.715, -2.52) delta=(0.012248, 0.00181526) -> 1 candidate(s)
I0419 20:56:32.302875 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:32.302958 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289922620562.
I0419 20:56:32.304134 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289922861454.
I0419 20:56:32.305639 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289922894897.
I0419 20:56:32.314477 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289923136068.
I0419 20:56:32.318900 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.374 deg, rms_residual=0.0107162m, sigma_yaw=0.014087 rad, N=2
I0419 20:56:32.319051 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.08064, -1.88545, -4.374deg) inliers=2 rms=0.0107162m
I0419 20:56:32.319118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289923181579.
I0419 20:56:32.405555 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289923419678.
I0419 20:56:32.406435 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289923498153.
I0419 20:56:32.407778 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289923781771.
I0419 20:56:32.408167 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088707s, prior_pose=(7.09048, -1.89712), yaw=-3.4455 deg
I0419 20:56:32.408228 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1398, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:32.408329 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:32.408349 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.6654, 0.741477)
I0419 20:56:32.408362 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:32.408411 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0329202 range=0.988286 variance=0.000549576 t_weight=5458.76 r_weight=0 yaml=(6.015, -1.32) prior=(7.09048, -1.89712, -3.4455deg) obs_actual=(-1.13248, 0.524481) obs_expected=(-1.10822, 0.511439) delta=(-0.0242631, 0.0130422) |delta|=0.0275463m
I0419 20:56:32.408458 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289923781967.
I0419 20:56:32.410521 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:32.410625 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289924020903.
I0419 20:56:32.411262 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289924101562.
I0419 20:56:32.430691 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.857062, -0.521765), points=7, range=1.00043, residual=0.00950058, extent=0.0230195
I0419 20:56:32.430837 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.857062, -0.521765), tracking=(-1.15556, 0.521765), map_predicted=(5.99483, -1.31347), range=1.00043, pts=7
I0419 20:56:32.430889 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0211979m maha_sq=0.0192843 (gate chi2=5.99) pose_sigma=(0.150868, 0.150868, rho=0) det_map=(5.99483, -1.31347) lm_pos=(6.015, -1.32) delta=(-0.0201686, 0.00652514) -> 1 candidate(s)
I0419 20:56:32.431126 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289924298640.
I0419 20:56:32.438730 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289924378461.
I0419 20:56:32.459381 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289924583119.
I0419 20:56:32.558591 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289924653306.
I0419 20:56:32.559834 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:32.559901 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:32.559921 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:32.559993 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289924893445.
I0419 20:56:32.560721 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.34454, -0.518364)
I0419 20:56:32.560812 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289924973609.
I0419 20:56:32.562605 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289925176965.
I0419 20:56:32.563266 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:32.563333 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:32.563356 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289925256196.
I0419 20:56:32.564486 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.00182643 range=0.636864 variance=0.000610199 t_weight=4916.43 r_weight=0 yaml=(6.915, -2.52) prior=(7.13729, -1.91066, -3.6154deg) obs_actual=(-0.189199, -0.625111) obs_expected=(-0.183419, -0.622142) delta=(-0.00577919, -0.00296817) |delta|=0.00649685m
I0419 20:56:32.564558 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289925500594.
I0419 20:56:32.565480 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.14945, -1.9119), yaw=-3.6903 deg backend=(7.10763, -1.90691)
I0419 20:56:32.565856 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:32.565915 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289925534329.
I0419 20:56:32.579128 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289925781339.
I0419 20:56:32.582546 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31543, -0.515946), points=3, range=1.418, residual=0.0111022, extent=0.0234937
I0419 20:56:32.582690 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.31543, -0.515946), tracking=(1.61393, -0.515946), map_predicted=(8.72683, -2.53066), range=1.418, pts=3
I0419 20:56:32.582749 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0159181m maha_sq=0.0109697 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72683, -2.53066) lm_pos=(8.715, -2.52) delta=(0.0118253, -0.0106558) -> 1 candidate(s)
I0419 20:56:32.582952 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289925817910.
I0419 20:56:32.686651 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289926092014.
I0419 20:56:32.687456 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289926136988.
I0419 20:56:32.688696 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.905098, -0.521092)
I0419 20:56:32.688858 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289926379171.
I0419 20:56:32.690238 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289926414025.
I0419 20:56:32.691339 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289926656933.
I0419 20:56:32.691987 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609687s, prior_pose=(7.16781, -1.90941), yaw=-3.73267 deg
I0419 20:56:32.692052 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:32.692124 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:32.692147 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:32.692209 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289926701701.
I0419 20:56:32.694006 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:32.694098 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289926935868.
I0419 20:56:32.702502 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.56582 deg, rms_residual=0.0134035m, sigma_yaw=0.0175575 rad, N=2
I0419 20:56:32.702630 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00719458 range=0.694333 variance=0.000563181 t_weight=5326.88 r_weight=0 yaml=(7.815, -1.32) prior=(7.1727, -1.904, -3.7374deg) obs_actual=(0.590857, 0.629284) obs_expected=(0.602865, 0.624621) delta=(-0.0120077, 0.00466309) |delta|=0.0128814m
I0419 20:56:32.702728 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.16788, -1.88953, -4.56582deg) inliers=2 rms=0.0134035m
I0419 20:56:32.702788 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927015854.
I0419 20:56:32.722851 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927218945.
I0419 20:56:32.815537 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927334022.
I0419 20:56:32.816630 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.943773, -0.51955), points=4, range=1.07475, residual=0.00734921, extent=0.0176895
I0419 20:56:32.816730 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.943773, -0.51955), tracking=(-1.24227, 0.51955), map_predicted=(5.98394, -1.30843), range=1.07475, pts=4
I0419 20:56:32.816761 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0331409m maha_sq=0.0477367 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98394, -1.30843) lm_pos=(6.015, -1.32) delta=(-0.0310551, 0.0115716) -> 1 candidate(s)
I0419 20:56:32.816840 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927536615.
I0419 20:56:32.817345 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:32.817818 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927614555.
I0419 20:56:32.819615 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.946609, -0.51574)
I0419 20:56:32.819701 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:32.819727 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:32.819744 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:32.819806 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927814899.
I0419 20:56:32.820626 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289927899743.
I0419 20:56:32.821688 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289928098048.
I0419 20:56:32.823227 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:32.823309 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:32.823329 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289928177053.
I0419 20:56:32.842425 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289928414491.
I0419 20:56:32.850682 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:32.850833 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00385569 range=0.681059 variance=0.000554628 t_weight=5409.03 r_weight=0 yaml=(7.815, -1.32) prior=(7.20916, -1.91127, -3.94158deg) obs_actual=(0.55438, 0.630586) obs_expected=(0.563762, 0.631517) delta=(-0.00938214, -0.000931003) |delta|=0.00942822m
I0419 20:56:32.850929 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289928499707.
I0419 20:56:32.923614 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289928695643.
I0419 20:56:32.924535 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289928772127.
I0419 20:56:32.925627 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.972419, -0.517039), points=4, range=1.10325, residual=0.00602645, extent=0.0146195
I0419 20:56:32.925709 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.972419, -0.517039), tracking=(-1.27092, 0.517039), map_predicted=(5.98532, -1.30162), range=1.10325, pts=4
I0419 20:56:32.925734 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0349116m maha_sq=0.0530112 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98532, -1.30162) lm_pos=(6.015, -1.32) delta=(-0.0296804, 0.0183818) -> 1 candidate(s)
I0419 20:56:32.925801 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929018229.
I0419 20:56:32.927160 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929052188.
I0419 20:56:32.929955 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.979548, -0.513518)
I0419 20:56:32.930202 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929293609.
I0419 20:56:32.936712 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929353028.
I0419 20:56:32.958207 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289929574366.
I0419 20:56:32.974563 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0689102s, prior_pose=(7.23612, -1.90686), yaw=-4.01471 deg
I0419 20:56:32.974699 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:32.974828 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:32.974865 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:32.974977 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929741290.
I0419 20:56:32.990962 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:32.991166 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929898654.
I0419 20:56:33.064424 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289929931960.
I0419 20:56:33.065784 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.38291 deg, rms_residual=0.00696093m, sigma_yaw=0.00919589 rad, N=2
I0419 20:56:33.065887 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0369281 range=1.1236 variance=0.000531376 t_weight=5645.72 r_weight=0 yaml=(6.015, -1.32) prior=(7.2427, -1.91246, -4.11789deg) obs_actual=(-1.29494, 0.511362) obs_expected=(-1.26708, 0.502767) delta=(-0.0278682, 0.00859485) |delta|=0.0291634m
I0419 20:56:33.065937 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.2629, -1.92326, -4.38291deg) inliers=2 rms=0.00696093m
I0419 20:56:33.065973 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289930182180.
I0419 20:56:33.066764 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289930262027.
I0419 20:56:33.068444 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00548095, 0.626971), points=21, range=0.628143, residual=0.0116442, extent=0.0370497
I0419 20:56:33.068511 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00548095, 0.626971), tracking=(-0.303981, -0.626971), map_predicted=(6.90217, -2.51165), range=0.628143, pts=21
I0419 20:56:33.068536 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0153112m maha_sq=0.0100748 (gate chi2=5.99) pose_sigma=(0.150662, 0.150662, rho=0) det_map=(6.90217, -2.51165) lm_pos=(6.915, -2.52) delta=(-0.0128322, 0.00835282) -> 1 candidate(s)
I0419 20:56:33.068608 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289930455489.
I0419 20:56:33.069464 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289930534420.
I0419 20:56:33.074317 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.02, -0.514113)
I0419 20:56:33.074386 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:33.074414 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:33.074457 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:33.074537 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289930738597.
I0419 20:56:33.082290 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289930817768.
I0419 20:56:33.106326 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289931054202.
I0419 20:56:33.114106 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:33.114292 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:33.114341 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289931132971.
I0419 20:56:33.203896 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289931383735.
I0419 20:56:33.204598 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:33.204666 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289931418377.
I0419 20:56:33.205772 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.00840049 range=0.62925 variance=0.000564946 t_weight=5310.24 r_weight=0 yaml=(6.915, -2.52) prior=(7.27728, -1.9103, -4.11393deg) obs_actual=(-0.329535, -0.626933) obs_expected=(-0.317611, -0.634115) delta=(-0.0119241, 0.00718138) |delta|=0.0139197m
I0419 20:56:33.205857 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289931661625.
I0419 20:56:33.207269 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289931740504.
I0419 20:56:33.208302 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289931934112.
I0419 20:56:33.209048 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.173164, 0.627871), points=18, range=0.651722, residual=0.0105754, extent=0.0338949
I0419 20:56:33.209115 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.173164, 0.627871), tracking=(0.471664, 0.627871), map_predicted=(7.80853, -1.32412), range=0.651722, pts=18
I0419 20:56:33.209138 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.00766926m maha_sq=0.00255202 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.80853, -1.32412) lm_pos=(7.815, -1.32) delta=(-0.00646964, -0.00411842) -> 1 candidate(s)
I0419 20:56:33.209206 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932013718.
I0419 20:56:33.227069 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.05027, -0.516017)
I0419 20:56:33.227438 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932260829.
I0419 20:56:33.230455 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932296169.
I0419 20:56:33.254972 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932537049.
I0419 20:56:33.336519 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357864s, prior_pose=(7.3042, -1.9194), yaw=-3.888 deg
I0419 20:56:33.336745 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:33.336882 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:33.336920 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:33.337065 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932618693.
I0419 20:56:33.338604 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:33.338725 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932815072.
I0419 20:56:33.339725 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289932896321.
I0419 20:56:33.341922 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289933098717.
I0419 20:56:33.342964 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0180776 range=0.6398 variance=0.000566359 t_weight=5296.99 r_weight=0 yaml=(7.815, -1.32) prior=(7.31096, -1.91197, -3.83202deg) obs_actual=(0.443067, 0.621988) obs_expected=(0.463352, 0.624334) delta=(-0.020285, -0.00234611) |delta|=0.0204202m
I0419 20:56:33.343070 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289933177886.
I0419 20:56:33.344401 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289933414446.
I0419 20:56:33.346488 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289933459787.
I0419 20:56:33.370962 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.08304, -0.520434)
I0419 20:56:33.371112 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:33.371166 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0842541, 0.625838), points=19, range=0.632632, residual=0.0107001, extent=0.0337442
I0419 20:56:33.371206 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:33.371234 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:33.371255 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0842541, 0.625838), tracking=(-0.382754, -0.625838), map_predicted=(6.89698, -2.50621), range=0.632632, pts=19
I0419 20:56:33.371313 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0226967m maha_sq=0.0223494 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.89698, -2.50621) lm_pos=(6.915, -2.52) delta=(-0.0180237, 0.0137945) -> 1 candidate(s)
I0419 20:56:33.371438 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.11982 deg, rms_residual=0.0100236m, sigma_yaw=0.0131885 rad, N=2
I0419 20:56:33.371541 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.34774, -1.9313, -4.11982deg) inliers=2 rms=0.0100236m
I0419 20:56:33.371601 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289933701237.
I0419 20:56:33.379279 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289933782720.
I0419 20:56:33.461917 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289933984249.
I0419 20:56:33.463044 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:33.463195 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:33.463228 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289934059759.
I0419 20:56:33.464634 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289934303284.
I0419 20:56:33.465790 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.34494, -1.9019), yaw=-3.65454 deg backend=(7.31708, -1.91789)
I0419 20:56:33.466452 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:33.466528 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289934378042.
I0419 20:56:33.467680 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289934575859.
I0419 20:56:33.468459 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289934656226.
I0419 20:56:33.486963 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289934857322.
I0419 20:56:33.495270 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289934940298.
I0419 20:56:33.526087 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.10734, -0.526176)
I0419 20:56:33.526345 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00871309 range=1.226 variance=0.000544059 t_weight=5514.11 r_weight=0 yaml=(8.715, -2.52) prior=(7.35293, -1.90003, -3.5722deg) obs_actual=(1.40991, -0.526148) obs_expected=(1.39805, -0.533896) delta=(0.0118638, 0.00774828) |delta|=0.0141699m
I0419 20:56:33.526521 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289935252428.
I0419 20:56:33.527586 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289935252694.
I0419 20:56:33.616415 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289935452521.
I0419 20:56:33.616942 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0675754s, prior_pose=(7.37032, -1.90986), yaw=-3.49373 deg
I0419 20:56:33.617007 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:33.617113 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:33.617138 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:33.617157 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09842, -0.527834), points=4, range=1.21275, residual=0.0137406, extent=0.0318037
I0419 20:56:33.617174 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.09842, -0.527834), tracking=(1.39692, -0.527834), map_predicted=(8.73248, -2.52184), range=1.21275, pts=4
I0419 20:56:33.617193 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0175774m maha_sq=0.0133459 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.73248, -2.52184) lm_pos=(8.715, -2.52) delta=(0.0174809, -0.00183906) -> 1 candidate(s)
I0419 20:56:33.617302 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289935533076.
I0419 20:56:33.619282 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:33.619410 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289935780883.
I0419 20:56:33.620086 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289935815770.
I0419 20:56:33.621449 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289936055935.
I0419 20:56:33.622921 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289936132426.
I0419 20:56:33.633764 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289936332390.
I0419 20:56:33.642624 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.0751179, 0.618313)
I0419 20:56:33.642795 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289936421598.
I0419 20:56:33.715477 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:33.715587 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:33.715605 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:33.715673 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289936662152.
I0419 20:56:33.716434 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.024242 range=0.6236 variance=0.000561979 t_weight=5338.27 r_weight=0 yaml=(7.815, -1.32) prior=(7.39356, -1.90157, -3.35446deg) obs_actual=(0.367186, 0.618606) obs_expected=(0.386685, 0.605233) delta=(-0.0194995, 0.0133731) |delta|=0.0236446m
I0419 20:56:33.716549 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289936695056.
I0419 20:56:33.717682 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289936935317.
I0419 20:56:33.719292 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:33.719417 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:33.719439 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289937013080.
I0419 20:56:33.722354 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289937214377.
I0419 20:56:33.730423 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0550339, 0.618501), points=20, range=0.6216, residual=0.0108959, extent=0.0346515
I0419 20:56:33.730515 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0550339, 0.618501), tracking=(0.353534, 0.618501), map_predicted=(7.79141, -1.30426), range=0.6216, pts=20
I0419 20:56:33.730544 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0283563m maha_sq=0.034879 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79141, -1.30426) lm_pos=(7.815, -1.32) delta=(-0.0235864, 0.0157404) -> 1 candidate(s)
I0419 20:56:33.730587 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:33.730669 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289937296179.
I0419 20:56:33.754002 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289937533293.
I0419 20:56:33.758298 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289937577515.
I0419 20:56:33.782414 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289937812965.
I0419 20:56:33.862672 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289937895320.
I0419 20:56:33.864156 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289938102731.
I0419 20:56:33.865316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289938180775.
I0419 20:56:33.867633 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289938420971.
I0419 20:56:33.868486 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604366s, prior_pose=(7.42933, -1.90139), yaw=-3.17766 deg
I0419 20:56:33.868571 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:33.868671 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:33.868698 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.02577, -0.537768)
I0419 20:56:33.868718 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:33.868798 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289938499686.
I0419 20:56:33.870093 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:33.870196 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289938695416.
I0419 20:56:33.878376 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289938777432.
I0419 20:56:33.898972 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0301236 range=0.666842 variance=0.000610225 t_weight=4916.22 r_weight=0 yaml=(6.915, -2.52) prior=(7.44052, -1.90192, -3.08641deg) obs_actual=(-0.512025, -0.628932) obs_expected=(-0.491477, -0.645483) delta=(-0.0205483, 0.0165508) |delta|=0.0263849m
I0419 20:56:33.899248 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289938979069.
I0419 20:56:33.906440 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.19905 deg, rms_residual=0.0140472m, sigma_yaw=0.0183853 rad, N=2
I0419 20:56:33.906649 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.45489, -1.9, -4.19905deg) inliers=2 rms=0.0140472m
I0419 20:56:33.906728 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289939052881.
I0419 20:56:33.990471 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289939295479.
I0419 20:56:33.991201 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00535214, 0.615635), points=22, range=0.617636, residual=0.0134191, extent=0.0442126
I0419 20:56:33.991273 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00535214, 0.615635), tracking=(0.303852, 0.615635), map_predicted=(7.78648, -1.30192), range=0.617636, pts=22
I0419 20:56:33.991341 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0337649m maha_sq=0.0493224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78648, -1.30192) lm_pos=(7.815, -1.32) delta=(-0.0285184, 0.0180767) -> 1 candidate(s)
I0419 20:56:33.991436 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289939340966.
I0419 20:56:33.992538 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:33.992589 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:33.992605 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:33.992658 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289939577912.
I0419 20:56:33.994038 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289939655616.
I0419 20:56:33.998867 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 20:56:33.999119 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289939857863.
I0419 20:56:34.000761 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:34.000877 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:34.000928 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289939933492.
I0419 20:56:34.018805 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289940177507.
I0419 20:56:34.026754 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.980228, -0.541432)
I0419 20:56:34.026969 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:34.027408 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289940258787.
I0419 20:56:34.047729 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289940463206.
I0419 20:56:34.143501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289940535170.
I0419 20:56:34.144618 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289940733307.
I0419 20:56:34.145412 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0394149 range=0.615 variance=0.000555222 t_weight=5403.24 r_weight=0 yaml=(7.815, -1.32) prior=(7.48898, -1.90366, -2.974deg) obs_actual=(0.268983, 0.614486) obs_expected=(0.295304, 0.599792) delta=(-0.026321, 0.0146943) |delta|=0.030145m
I0419 20:56:34.145624 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289940816141.
I0419 20:56:34.147401 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289941061207.
I0419 20:56:34.148401 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289941141407.
I0419 20:56:34.149466 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289941332974.
I0419 20:56:34.150820 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0351593s, prior_pose=(7.50805, -1.9042), yaw=-2.81503 deg
I0419 20:56:34.150923 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:34.151015 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:34.151036 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:34.151057 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.950032, -0.54849), points=4, range=1.09925, residual=0.00742152, extent=0.0186495
I0419 20:56:34.151078 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.950032, -0.54849), tracking=(1.24853, -0.54849), map_predicted=(8.72814, -2.51334), range=1.09925, pts=4
I0419 20:56:34.151113 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0147301m maha_sq=0.00932884 (gate chi2=5.99) pose_sigma=(0.150825, 0.150825, rho=0) det_map=(8.72814, -2.51334) lm_pos=(8.715, -2.52) delta=(0.0131393, 0.00665831) -> 1 candidate(s)
I0419 20:56:34.151177 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289941412800.
I0419 20:56:34.162653 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:34.162806 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289941618648.
I0419 20:56:34.170049 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.948183, -0.544466)
I0419 20:56:34.170217 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289941696202.
I0419 20:56:34.235443 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:34.235576 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289941898708.
I0419 20:56:34.236469 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289941975820.
I0419 20:56:34.237514 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289942216440.
I0419 20:56:34.239032 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289942294863.
I0419 20:56:34.250509 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:34.250597 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:34.250613 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:34.250687 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289942500303.
I0419 20:56:34.258733 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289942580403.
I0419 20:56:34.282582 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289942820002.
I0419 20:56:34.285923 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:34.286041 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0391364 range=0.6196 variance=0.000559627 t_weight=5360.71 r_weight=0 yaml=(7.815, -1.32) prior=(7.53029, -1.90631, -2.72607deg) obs_actual=(0.231125, 0.615266) obs_expected=(0.256499, 0.599185) delta=(-0.0253742, 0.0160817) |delta|=0.0300412m
I0419 20:56:34.286139 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:34.286156 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289942853494.
I0419 20:56:34.310266 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289943097383.
I0419 20:56:34.359974 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.53701, -1.90648), yaw=-2.62992 deg backend=(7.5181, -1.92426)
I0419 20:56:34.360754 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.903744, -0.551349)
I0419 20:56:34.360862 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:34.360919 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289943186499.
I0419 20:56:34.361990 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289943378335.
I0419 20:56:34.362711 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904555, -0.550675), points=6, range=1.05733, residual=0.00858089, extent=0.0236806
I0419 20:56:34.362768 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.904555, -0.550675), tracking=(1.20305, -0.550675), map_predicted=(8.71353, -2.51178), range=1.05733, pts=6
I0419 20:56:34.362793 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00835543m maha_sq=0.00303186 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.71353, -2.51178) lm_pos=(8.715, -2.52) delta=(-0.00147139, 0.00822486) -> 1 candidate(s)
I0419 20:56:34.362851 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289943455591.
I0419 20:56:34.370389 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289943698625.
I0419 20:56:34.378998 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289943775691.
I0419 20:56:34.398260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289943972955.
I0419 20:56:34.402773 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289944021854.
I0419 20:56:34.430534 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289944300194.
I0419 20:56:34.433712 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635244s, prior_pose=(7.56074, -1.90796), yaw=-2.5504 deg
I0419 20:56:34.433808 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:34.433951 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:34.433977 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:34.434080 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289944333869.
I0419 20:56:34.500732 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:34.500893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289944581003.
I0419 20:56:34.501623 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.871188, -0.55318)
I0419 20:56:34.501812 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289944656381.
I0419 20:56:34.502939 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289944862429.
I0419 20:56:34.504477 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0013297 range=1.02786 variance=0.000535761 t_weight=5599.51 r_weight=0 yaml=(8.715, -2.52) prior=(7.58152, -1.91042, -2.48052deg) obs_actual=(1.16197, -0.555369) obs_expected=(1.1588, -0.559948) delta=(0.00317586, 0.00457856) |delta|=0.00557219m
I0419 20:56:34.504571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289944942191.
I0419 20:56:34.517840 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289945173201.
I0419 20:56:34.522620 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.40293 deg, rms_residual=0.0190654m, sigma_yaw=0.0247904 rad, N=2
I0419 20:56:34.522706 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.59881, -1.90953, -3.40293deg) inliers=2 rms=0.0190654m
I0419 20:56:34.522744 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289945221403.
I0419 20:56:34.545890 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:34.545990 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.374646, 0.627555), points=15, range=0.733067, residual=0.0118073, extent=0.0390726
I0419 20:56:34.546018 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:34.546036 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:34.546052 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.374646, 0.627555), tracking=(-0.673146, -0.627555), map_predicted=(6.89352, -2.50868), range=0.733067, pts=15
I0419 20:56:34.546082 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0242799m maha_sq=0.0252661 (gate chi2=5.99) pose_sigma=(0.150846, 0.150846, rho=0) det_map=(6.89352, -2.50868) lm_pos=(6.915, -2.52) delta=(-0.0214798, 0.0113195) -> 1 candidate(s)
I0419 20:56:34.546228 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289945452583.
I0419 20:56:34.554284 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289945532421.
I0419 20:56:34.574708 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289945737752.
I0419 20:56:34.667550 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:34.667711 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:34.667743 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289945812275.
I0419 20:56:34.668880 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289946057699.
I0419 20:56:34.669741 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.836767, -0.559076)
I0419 20:56:34.669848 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:34.669907 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289946141099.
I0419 20:56:34.671618 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289946334195.
I0419 20:56:34.672494 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289946413661.
I0419 20:56:34.673507 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289946617696.
I0419 20:56:34.675021 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289946700562.
I0419 20:56:34.694818 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.013615 range=0.748385 variance=0.00054704 t_weight=5484.06 r_weight=0 yaml=(6.915, -2.52) prior=(7.63277, -1.91337, -2.18956deg) obs_actual=(-0.708693, -0.623609) obs_expected=(-0.69407, -0.633607) delta=(-0.0146233, 0.00999727) |delta|=0.017714m
I0419 20:56:34.695101 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289946939318.
I0419 20:56:34.699018 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289946975916.
I0419 20:56:34.796243 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289947214744.
I0419 20:56:34.797031 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599977s, prior_pose=(7.63576, -1.91445), yaw=-2.14866 deg
I0419 20:56:34.797127 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:34.797221 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:34.797242 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:34.797259 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.177294, 0.618229), points=19, range=0.642368, residual=0.0114038, extent=0.0337682
I0419 20:56:34.797273 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.177294, 0.618229), tracking=(0.121206, 0.618229), map_predicted=(7.78005, -1.3012), range=0.642368, pts=19
I0419 20:56:34.797289 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0396796m maha_sq=0.0682614 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78005, -1.3012) lm_pos=(7.815, -1.32) delta=(-0.0349451, 0.0187966) -> 1 candidate(s)
I0419 20:56:34.797358 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289947300539.
I0419 20:56:34.798327 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:34.798414 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289947494650.
I0419 20:56:34.799863 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.797053, -0.559768)
I0419 20:56:34.799983 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289947572283.
I0419 20:56:34.800988 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289947782969.
I0419 20:56:34.801703 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289947861310.
I0419 20:56:34.811079 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289948101162.
I0419 20:56:34.819075 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289948180922.
I0419 20:56:34.838169 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:34.838321 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:34.838361 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:34.838538 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289948373716.
I0419 20:56:34.918248 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289948455155.
I0419 20:56:34.919485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289948700072.
I0419 20:56:34.920194 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:34.920243 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0408659 range=0.650105 variance=0.000558846 t_weight=5368.2 r_weight=0 yaml=(7.815, -1.32) prior=(7.67384, -1.91608, -2.08282deg) obs_actual=(0.0924919, 0.615593) obs_expected=(0.119401, 0.60082) delta=(-0.0269088, 0.0147728) |delta|=0.0306972m
I0419 20:56:34.920292 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:34.920312 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289948734960.
I0419 20:56:34.922194 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289948977013.
I0419 20:56:34.922881 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.760461, -0.562641)
I0419 20:56:34.922950 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:34.923002 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289949059502.
I0419 20:56:34.926132 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289949252709.
I0419 20:56:34.934356 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.749815, -0.563282), points=8, range=0.94225, residual=0.0124491, extent=0.0356173
I0419 20:56:34.934518 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.749815, -0.563282), tracking=(1.04832, -0.563282), map_predicted=(8.72443, -2.51789), range=0.94225, pts=8
I0419 20:56:34.934577 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00966362m maha_sq=0.00399302 (gate chi2=5.99) pose_sigma=(0.150947, 0.150947, rho=0) det_map=(8.72443, -2.51789) lm_pos=(8.715, -2.52) delta=(0.00942956, 0.00211399) -> 1 candidate(s)
I0419 20:56:34.934793 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289949334069.
I0419 20:56:34.959288 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289949582615.
I0419 20:56:34.974442 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289949733412.
I0419 20:56:35.063441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289949857490.
I0419 20:56:35.064437 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289949938653.
I0419 20:56:35.065485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289950137570.
I0419 20:56:35.066953 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359376s, prior_pose=(7.70904, -1.9247), yaw=-1.9955 deg
I0419 20:56:35.067040 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:35.067131 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:35.067153 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:35.067242 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289950216866.
I0419 20:56:35.068202 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.502914, 0.628412)
I0419 20:56:35.068257 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:35.068320 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289950453916.
I0419 20:56:35.069151 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289950499756.
I0419 20:56:35.074924 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0192173 range=0.704429 variance=0.00046369 t_weight=6469.84 r_weight=0 yaml=(7.815, -1.32) prior=(7.72109, -1.92269, -1.9628deg) obs_actual=(0.052599, 0.610191) obs_expected=(0.0732153, 0.605549) delta=(-0.0206162, 0.00464262) |delta|=0.0211325m
I0419 20:56:35.075136 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289950739888.
I0419 20:56:35.082979 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.73598 deg, rms_residual=0.0170189m, sigma_yaw=0.0221883 rad, N=2
I0419 20:56:35.083174 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.73454, -1.91773, -2.73598deg) inliers=2 rms=0.0170189m
I0419 20:56:35.083236 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289950819745.
I0419 20:56:35.106817 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.51673, 0.62866), points=12, range=0.815417, residual=0.010274, extent=0.0297094
I0419 20:56:35.106998 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.51673, 0.62866), tracking=(-0.81523, -0.62866), map_predicted=(6.8848, -2.52305), range=0.815417, pts=12
I0419 20:56:35.107059 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.030351m maha_sq=0.0399694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.8848, -2.52305) lm_pos=(6.915, -2.52) delta=(-0.0301969, -0.00305485) -> 1 candidate(s)
I0419 20:56:35.107290 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951058574.
I0419 20:56:35.163107 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951093820.
I0419 20:56:35.164217 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:35.164288 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:35.164306 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:35.164371 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951336280.
I0419 20:56:35.165198 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951416291.
I0419 20:56:35.166953 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.535049, 0.628245)
I0419 20:56:35.167094 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951618591.
I0419 20:56:35.170194 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 20:56:35.170325 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:35.170351 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289951696287.
I0419 20:56:35.190941 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951902420.
I0419 20:56:35.192143 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.76218, -1.92172), yaw=-1.82332 deg backend=(7.74054, -1.93031)
I0419 20:56:35.198168 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:35.198292 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0100852 range=0.675 variance=0.000584843 t_weight=5129.58 r_weight=0 yaml=(7.815, -1.32) prior=(7.76218, -1.92172, -1.82332deg) obs_actual=(0.0215107, 0.612468) obs_expected=(0.0336454, 0.603094) delta=(-0.0121347, 0.00937488) |delta|=0.0153342m
I0419 20:56:35.198418 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289951974712.
I0419 20:56:35.222294 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289952216563.
I0419 20:56:35.226866 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.285023, 0.613474), points=18, range=0.6785, residual=0.0122711, extent=0.0345613
I0419 20:56:35.227308 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.285023, 0.613474), tracking=(0.0134766, 0.613474), map_predicted=(7.79517, -1.30898), range=0.6785, pts=18
I0419 20:56:35.227403 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[9] 'ref_10' eucl_dist=0.0226836m maha_sq=0.0222871 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79517, -1.30898) lm_pos=(7.815, -1.32) delta=(-0.0198283, 0.0110174) -> 1 candidate(s)
I0419 20:56:35.227607 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289952261223.
I0419 20:56:35.291909 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289952495795.
I0419 20:56:35.292824 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-0.364768, 0.589521)
I0419 20:56:35.292990 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289952579824.
I0419 20:56:35.294262 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289952816973.
I0419 20:56:35.295881 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289952861110.
I0419 20:56:35.310678 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289953100732.
I0419 20:56:35.314321 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0644015s, prior_pose=(7.78196, -1.9232), yaw=-1.77128 deg
I0419 20:56:35.314419 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=253, threshold=230, above_threshold=40, candidates=40
I0419 20:56:35.314610 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:35.314668 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:35.314837 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289953139810.
I0419 20:56:35.338927 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:35.339110 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289953383223.
I0419 20:56:35.346074 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00275527 range=0.866889 variance=0.000554767 t_weight=5407.68 r_weight=5000 yaml=(8.715, -2.52) prior=(7.79312, -1.92259, -1.73269deg) obs_actual=(0.947, -0.57202) obs_expected=(0.939522, -0.569263) delta=(0.00747775, -0.00275779) |delta|=0.00797008m
I0419 20:56:35.346218 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289953454711.
I0419 20:56:35.365787 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.290967, -0.605643)
I0419 20:56:35.366000 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289953652803.
I0419 20:56:35.426200 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.639889, -0.569414), points=9, range=0.861, residual=0.0126264, extent=0.0352798
I0419 20:56:35.426313 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.639889, -0.569414), tracking=(0.938389, -0.569414), map_predicted=(8.72273, -2.51802), range=0.861, pts=9
I0419 20:56:35.426344 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00798198m maha_sq=0.00273522 (gate chi2=5.99) pose_sigma=(0.150633, 0.150633, rho=0) det_map=(8.72273, -2.51802) lm_pos=(8.715, -2.52) delta=(0.00773312, 0.00197756) -> 1 candidate(s)
I0419 20:56:35.426404 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.33933 deg, rms_residual=0.0131193m, sigma_yaw=0.0171917 rad, N=2
I0419 20:56:35.426443 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.80851, -1.92325, -2.33933deg) inliers=2 rms=0.0131193m
I0419 20:56:35.426472 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289953740587.
I0419 20:56:35.427708 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289953980315.
I0419 20:56:35.428536 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289954061968.
I0419 20:56:35.430306 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:35.430388 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:35.430405 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:35.430476 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289954252825.
I0419 20:56:35.433866 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289954332916.
I0419 20:56:35.458426 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289954571649.
I0419 20:56:35.462260 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=14, centroid=(-0.333144, 0.595124)
I0419 20:56:35.462432 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:35.462509 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:35.462533 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289954617409.
I0419 20:56:35.486411 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00117849 range=0.657947 variance=0.000563221 t_weight=5326.51 r_weight=0 yaml=(7.815, -1.32) prior=(7.82538, -1.92137, -1.64771deg) obs_actual=(-0.0328567, 0.601282) obs_expected=(-0.0276639, 0.600819) delta=(-0.00519284, 0.000462824) |delta|=0.00521343m
I0419 20:56:35.486665 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289954852911.
I0419 20:56:35.494683 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:35.494863 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289954941934.
I0419 20:56:35.560402 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.629542, 0.625849), points=9, range=0.886333, residual=0.00920922, extent=0.0261843
I0419 20:56:35.560520 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.629542, 0.625849), tracking=(-0.928042, -0.625849), map_predicted=(6.89431, -2.5208), range=0.886333, pts=9
I0419 20:56:35.560549 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0207077m maha_sq=0.018358 (gate chi2=5.99) pose_sigma=(0.151092, 0.151092, rho=0) det_map=(6.89431, -2.5208) lm_pos=(6.915, -2.52) delta=(-0.0206924, -0.000797904) -> 1 candidate(s)
I0419 20:56:35.560653 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289955135767.
I0419 20:56:35.561509 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289955214393.
I0419 20:56:35.562563 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289955420690.
I0419 20:56:35.564034 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289955499387.
I0419 20:56:35.573997 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289955733794.
I0419 20:56:35.582659 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289955822344.
I0419 20:56:35.601898 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.236411, -0.602719)
I0419 20:56:35.602104 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289956014102.
I0419 20:56:35.610446 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600981s, prior_pose=(7.86263, -1.91996), yaw=-1.59451 deg
I0419 20:56:35.610821 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=14, candidates=14
I0419 20:56:35.610944 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:35.610971 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:35.611128 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289956100368.
I0419 20:56:35.634033 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:35.634228 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289956332901.
I0419 20:56:35.698357 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0278791 range=1.58133 variance=0.000578222 t_weight=5188.32 r_weight=0 yaml=(9.615, -1.32) prior=(7.87894, -1.91975, -1.51436deg) obs_actual=(1.74074, 0.659793) obs_expected=(1.7196, 0.645416) delta=(0.0211407, 0.0143772) |delta|=0.0255663m
I0419 20:56:35.698496 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289956377380.
I0419 20:56:35.699170 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:35.699683 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289956612563.
I0419 20:56:35.700563 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289956693934.
I0419 20:56:35.702348 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.672175, 0.622503), points=7, range=0.915143, residual=0.00999692, extent=0.0272913
I0419 20:56:35.702436 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.672175, 0.622503), tracking=(-0.970675, -0.622503), map_predicted=(6.90002, -2.51692), range=0.915143, pts=7
I0419 20:56:35.702463 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0152984m maha_sq=0.0100829 (gate chi2=5.99) pose_sigma=(0.150552, 0.150552, rho=0) det_map=(6.90002, -2.51692) lm_pos=(6.915, -2.52) delta=(-0.0149844, 0.00308365) -> 1 candidate(s)
I0419 20:56:35.702525 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289956897229.
I0419 20:56:35.703284 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289956975285.
I0419 20:56:35.718214 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:35.718308 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:35.718324 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:35.718400 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289957178539.
I0419 20:56:35.726092 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.88787 deg, rms_residual=0.00470869m, sigma_yaw=0.00623909 rad, N=2
I0419 20:56:35.726204 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.88163, -1.92004, -1.88787deg) inliers=2 rms=0.00470869m
I0419 20:56:35.726240 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289957255097.
I0419 20:56:35.750375 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.201867, -0.603306)
I0419 20:56:35.750572 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289957497953.
I0419 20:56:35.754765 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:35.754892 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:35.754920 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289957542316.
I0419 20:56:35.815941 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289957776746.
I0419 20:56:35.816771 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:35.816843 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289957854651.
I0419 20:56:35.818143 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289958095897.
I0419 20:56:35.819512 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0156134 range=0.785308 variance=0.000605406 t_weight=4955.36 r_weight=0 yaml=(8.715, -2.52) prior=(7.91774, -1.92046, -1.47022deg) obs_actual=(0.831312, -0.576313) obs_expected=(0.812383, -0.57889) delta=(0.018929, 0.00257727) |delta|=0.0191037m
I0419 20:56:35.819602 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289958139455.
I0419 20:56:35.837937 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289958374334.
I0419 20:56:35.842463 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289958419136.
I0419 20:56:35.868667 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.176061, -0.597634), points=18, range=0.624556, residual=0.0103692, extent=0.031215
I0419 20:56:35.868781 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.176061, -0.597634), tracking=(-0.122439, 0.597634), map_predicted=(7.81833, -1.31966), range=0.624556, pts=18
I0419 20:56:35.868816 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00334296m maha_sq=0.000481177 (gate chi2=5.99) pose_sigma=(0.150608, 0.150608, rho=0) det_map=(7.81833, -1.31966) lm_pos=(7.815, -1.32) delta=(0.00332571, 0.000339222) -> 1 candidate(s)
I0419 20:56:35.868917 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289958680558.
I0419 20:56:35.874691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289958741783.
I0419 20:56:35.897262 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.16842, -0.60054)
I0419 20:56:35.897488 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289958963496.
I0419 20:56:35.959513 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0379341s, prior_pose=(7.93466, -1.92208), yaw=-1.37167 deg
I0419 20:56:35.959662 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 20:56:35.959743 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:35.959769 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:35.959901 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289959059899.
I0419 20:56:35.961166 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:35.961277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289959257788.
I0419 20:56:35.962175 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289959301474.
I0419 20:56:35.964144 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289959541216.
I0419 20:56:35.965242 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289959619567.
I0419 20:56:35.986199 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289959853984.
I0419 20:56:35.990756 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00344039 range=0.751857 variance=0.000602425 t_weight=4979.88 r_weight=0 yaml=(8.715, -2.52) prior=(7.95514, -1.92173, -1.28466deg) obs_actual=(0.779232, -0.574536) obs_expected=(0.773086, -0.581086) delta=(0.00614562, 0.0065507) |delta|=0.00898222m
I0419 20:56:35.990949 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289959899374.
I0419 20:56:36.014328 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:36.014462 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:36.014496 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:36.014775 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289960132330.
I0419 20:56:36.022173 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289960213626.
I0419 20:56:36.101753 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.134214, -0.597199)
I0419 20:56:36.101871 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.13222, -0.596459), points=21, range=0.61219, residual=0.0114993, extent=0.0361785
I0419 20:56:36.101902 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.13222, -0.596459), tracking=(-0.16628, 0.596459), map_predicted=(7.80802, -1.31777), range=0.61219, pts=21
I0419 20:56:36.101926 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00732682m maha_sq=0.00231194 (gate chi2=5.99) pose_sigma=(0.150509, 0.150509, rho=0) det_map=(7.80802, -1.31777) lm_pos=(7.815, -1.32) delta=(-0.00697925, 0.00222989) -> 1 candidate(s)
I0419 20:56:36.102032 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289960412506.
I0419 20:56:36.102926 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:36.103020 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:36.103044 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289960492971.
I0419 20:56:36.104166 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289960732406.
I0419 20:56:36.105212 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.97793, -1.91619), yaw=-1.26253 deg backend=(7.94357, -1.9314)
I0419 20:56:36.105773 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:36.105856 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289960778499.
I0419 20:56:36.107017 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961022326.
I0419 20:56:36.110395 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961099976.
I0419 20:56:36.134295 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961336571.
I0419 20:56:36.137669 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.01638 deg, rms_residual=0.00954517m, sigma_yaw=0.012567 rad, N=2
I0419 20:56:36.137785 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.97533, -1.93707, -1.01638deg) inliers=2 rms=0.00954517m
I0419 20:56:36.137826 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961372176.
I0419 20:56:36.162166 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0061428 range=0.60645 variance=0.000562162 t_weight=5336.54 r_weight=0 yaml=(7.815, -1.32) prior=(7.98239, -1.92117, -1.20531deg) obs_actual=(-0.19172, 0.59544) obs_expected=(-0.18, 0.597516) delta=(-0.0117199, -0.00207617) |delta|=0.0119024m
I0419 20:56:36.162382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961614095.
I0419 20:56:36.246830 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961658445.
I0419 20:56:36.248109 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.101921, -0.598863)
I0419 20:56:36.248191 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.803722, 0.620425), points=4, range=1.01275, residual=0.00778933, extent=0.0190731
I0419 20:56:36.248219 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.803722, 0.620425), tracking=(-1.10222, -0.620425), map_predicted=(6.88477, -2.51831), range=1.01275, pts=4
I0419 20:56:36.248242 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0302765m maha_sq=0.0398356 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.88477, -2.51831) lm_pos=(6.915, -2.52) delta=(-0.0302292, 0.00169175) -> 1 candidate(s)
I0419 20:56:36.248343 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961898606.
I0419 20:56:36.249039 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641544s, prior_pose=(7.99902, -1.91976), yaw=-1.13095 deg
I0419 20:56:36.249122 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:56:36.249188 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:36.249204 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:36.249291 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289961978115.
I0419 20:56:36.250974 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:36.251082 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289962177974.
I0419 20:56:36.251924 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289962301873.
I0419 20:56:36.252954 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289962504345.
I0419 20:56:36.258198 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289962577335.
I0419 20:56:36.278367 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289962778371.
I0419 20:56:36.286479 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289962856185.
I0419 20:56:36.345310 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:36.345418 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:36.345435 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:36.345486 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0169077 range=0.60165 variance=0.000552612 t_weight=5428.76 r_weight=0 yaml=(7.815, -1.32) prior=(8.01096, -1.9271, -1.06089deg) obs_actual=(-0.226058, 0.597319) obs_expected=(-0.207164, 0.603364) delta=(-0.018894, -0.00604492) |delta|=0.0198375m
I0419 20:56:36.345556 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289963057618.
I0419 20:56:36.346426 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289963136548.
I0419 20:56:36.347584 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0698547, -0.597551)
I0419 20:56:36.347712 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289963376134.
I0419 20:56:36.349107 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.3946, -0.581292), points=15, range=0.704467, residual=0.0112786, extent=0.0328422
I0419 20:56:36.349189 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.3946, -0.581292), tracking=(0.6931, -0.581292), map_predicted=(8.71313, -2.51532), range=0.704467, pts=15
I0419 20:56:36.349217 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0050399m maha_sq=0.00108021 (gate chi2=5.99) pose_sigma=(0.151492, 0.151492, rho=0) det_map=(8.71313, -2.51532) lm_pos=(8.715, -2.52) delta=(-0.00186764, 0.00468108) -> 1 candidate(s)
I0419 20:56:36.349261 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:36.349308 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:36.349327 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289963422438.
I0419 20:56:36.366150 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289963655485.
I0419 20:56:36.373880 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:36.374049 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289963733841.
I0419 20:56:36.399654 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289963983402.
I0419 20:56:36.406087 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964053412.
I0419 20:56:36.426870 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964261824.
I0419 20:56:36.486572 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964340618.
I0419 20:56:36.487737 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964542385.
I0419 20:56:36.489322 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.663945 deg, rms_residual=0.00868862m, sigma_yaw=0.0114522 rad, N=2
I0419 20:56:36.489432 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0121735 range=0.688071 variance=0.000533129 t_weight=5627.16 r_weight=0 yaml=(8.715, -2.52) prior=(8.04716, -1.92023, -0.85209deg) obs_actual=(0.661491, -0.58274) obs_expected=(0.676687, -0.589775) delta=(-0.0151958, 0.00703432) |delta|=0.016745m
I0419 20:56:36.489490 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.05509, -1.93658, -0.663945deg) inliers=2 rms=0.00868862m
I0419 20:56:36.489518 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964621528.
I0419 20:56:36.491248 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0357159, -0.59815)
I0419 20:56:36.491398 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964820111.
I0419 20:56:36.497779 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0630591s, prior_pose=(8.05559, -1.92522), yaw=-0.825573 deg
I0419 20:56:36.497893 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 20:56:36.497995 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:36.498021 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:36.498046 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25361, 0.641039), points=3, range=1.406, residual=0.00522661, extent=0.0101397
I0419 20:56:36.498072 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25361, 0.641039), tracking=(1.55211, 0.641039), map_predicted=(9.61678, -1.30661), range=1.406, pts=3
I0419 20:56:36.498100 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0135033m maha_sq=0.0079272 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61678, -1.30661) lm_pos=(9.615, -1.32) delta=(0.0017766, 0.0133859) -> 1 candidate(s)
I0419 20:56:36.498239 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289964971209.
I0419 20:56:36.514158 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:36.514333 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289965136819.
I0419 20:56:36.518823 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289965181077.
I0419 20:56:36.542261 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289965417498.
I0419 20:56:36.549976 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289965494616.
I0419 20:56:36.626116 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289965737894.
I0419 20:56:36.626331 1218970 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.08% real time)
I0419 20:56:36.626497 1218970 collated_trajectory_builder.cc:82] odom rate: 248.45 Hz 4.02e-03 s +/- 7.91e-04 s (pulsed at 99.85% real time)
I0419 20:56:36.626601 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.46e-03 s (pulsed at 100.00% real time)
I0419 20:56:36.626633 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.52e-03 s (pulsed at 100.00% real time)
I0419 20:56:36.627492 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289965782576.
I0419 20:56:36.628661 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:36.628729 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:36.628747 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:36.628829 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966020680.
I0419 20:56:36.630391 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0799761 range=1.384 variance=0.000582631 t_weight=5149.06 r_weight=0 yaml=(9.615, -1.32) prior=(8.11294, -1.92001, -0.657075deg) obs_actual=(1.53194, 0.639799) obs_expected=(1.49508, 0.6172) delta=(0.0368543, 0.0225991) |delta|=0.0432315m
I0419 20:56:36.630506 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966100727.
I0419 20:56:36.631543 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.00434698, -0.5992)
I0419 20:56:36.631652 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966296614.
I0419 20:56:36.638720 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:36.638885 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:36.638931 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966379885.
I0419 20:56:36.666865 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.312055, -0.586799), points=17, range=0.667, residual=0.0125539, extent=0.0414349
I0419 20:56:36.667007 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.312055, -0.586799), tracking=(0.610555, -0.586799), map_predicted=(8.71909, -2.51764), range=0.667, pts=17
I0419 20:56:36.667055 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00472497m maha_sq=0.000962082 (gate chi2=5.99) pose_sigma=(0.150371, 0.150371, rho=0) det_map=(8.71909, -2.51764) lm_pos=(8.715, -2.52) delta=(0.00409468, 0.00235775) -> 1 candidate(s)
I0419 20:56:36.667193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966662413.
I0419 20:56:36.667856 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:36.667944 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966662528.
I0419 20:56:36.690160 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966894820.
I0419 20:56:36.697938 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289966973990.
I0419 20:56:36.758061 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289967173975.
I0419 20:56:36.758844 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289967259251.
I0419 20:56:36.760834 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289967499444.
I0419 20:56:36.761544 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289967533184.
I0419 20:56:36.778861 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0305607, -0.599086)
I0419 20:56:36.779119 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00779939 range=0.59995 variance=0.000547051 t_weight=5483.95 r_weight=0 yaml=(7.815, -1.32) prior=(8.13276, -1.93309, -0.537817deg) obs_actual=(-0.330784, 0.598826) obs_expected=(-0.323501, 0.610083) delta=(-0.00728278, -0.0112567) |delta|=0.0134072m
I0419 20:56:36.779253 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289967780840.
I0419 20:56:36.786852 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0360104s, prior_pose=(8.13859, -1.93428), yaw=-0.521204 deg
I0419 20:56:36.787019 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:56:36.787184 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:36.787228 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:36.787416 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289967859548.
I0419 20:56:36.806150 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:36.806281 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.40608 deg, rms_residual=0.00796742m, sigma_yaw=0.0105116 rad, N=2
I0419 20:56:36.806373 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.15994, -1.90875, 0.40608deg) inliers=2 rms=0.00796742m
I0419 20:56:36.806420 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289968055020.
I0419 20:56:36.814080 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.276538, -0.588478), points=17, range=0.651941, residual=0.0113369, extent=0.0371469
I0419 20:56:36.814183 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.276538, -0.588478), tracking=(0.575038, -0.588478), map_predicted=(8.70825, -2.52796), range=0.651941, pts=17
I0419 20:56:36.814217 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0104392m maha_sq=0.00472495 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.70825, -2.52796) lm_pos=(8.715, -2.52) delta=(-0.00675283, -0.00796092) -> 1 candidate(s)
I0419 20:56:36.814335 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289968135375.
I0419 20:56:36.887562 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289968378929.
I0419 20:56:36.888370 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289968455449.
I0419 20:56:36.889477 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289968655285.
I0419 20:56:36.890991 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289968737662.
I0419 20:56:36.894739 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:36.894822 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:36.894843 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:36.894945 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289968940912.
I0419 20:56:36.902393 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289969016730.
I0419 20:56:36.926229 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0620627, -0.598405)
I0419 20:56:36.926445 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289969255587.
I0419 20:56:36.934365 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:36.934475 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0198911 range=0.641778 variance=0.000563163 t_weight=5327.06 r_weight=0 yaml=(8.715, -2.52) prior=(8.15489, -1.93682, -0.411633deg) obs_actual=(0.546191, -0.590606) obs_expected=(0.564283, -0.579141) delta=(-0.0180916, -0.011465) |delta|=0.0214185m
I0419 20:56:36.934561 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:36.934585 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289969338076.
I0419 20:56:36.954295 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289969537211.
I0419 20:56:37.009796 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.1545, -1.93504), yaw=-0.35387 deg backend=(8.14295, -1.93218)
I0419 20:56:37.010608 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:37.010733 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289969581767.
I0419 20:56:37.011843 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.076976, -0.597817), points=19, range=0.603474, residual=0.01054, extent=0.0320503
I0419 20:56:37.011914 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.076976, -0.597817), tracking=(-0.375476, 0.597817), map_predicted=(7.78272, -1.33492), range=0.603474, pts=19
I0419 20:56:37.011940 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.035561m maha_sq=0.0548741 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78272, -1.33492) lm_pos=(7.815, -1.32) delta=(-0.0322795, -0.0149203) -> 1 candidate(s)
I0419 20:56:37.012035 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289969815633.
I0419 20:56:37.013137 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289969896047.
I0419 20:56:37.015100 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289970138521.
I0419 20:56:37.021816 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289970212736.
I0419 20:56:37.042109 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289970415685.
I0419 20:56:37.050591 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289970495658.
I0419 20:56:37.070474 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.0965115, -0.598028)
I0419 20:56:37.070698 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289970700457.
I0419 20:56:37.078223 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640934s, prior_pose=(8.1916, -1.92678), yaw=-0.325134 deg
I0419 20:56:37.078315 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:37.078464 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:37.078486 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:37.078609 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289970779455.
I0419 20:56:37.131201 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:37.131428 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:37.131565 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0216492 range=0.608333 variance=0.000567992 t_weight=5281.76 r_weight=0 yaml=(7.815, -1.32) prior=(8.19338, -1.92942, -0.324614deg) obs_actual=(-0.402136, 0.597846) obs_expected=(-0.381831, 0.607262) delta=(-0.0203048, -0.00941625) |delta|=0.0223819m
I0419 20:56:37.131635 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971016421.
I0419 20:56:37.132287 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971060892.
I0419 20:56:37.133591 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04065, 0.604851), points=4, range=1.20475, residual=0.00576798, extent=0.0138311
I0419 20:56:37.133675 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04065, 0.604851), tracking=(-1.33915, -0.604851), map_predicted=(6.85083, -2.52667), range=1.20475, pts=4
I0419 20:56:37.133704 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0645206m maha_sq=0.181039 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.85083, -2.52667) lm_pos=(6.915, -2.52) delta=(-0.0641749, -0.00666986) -> 1 candidate(s)
I0419 20:56:37.133769 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971299895.
I0419 20:56:37.138092 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.28316 deg, rms_residual=0.00939217m, sigma_yaw=0.012368 rad, N=2
I0419 20:56:37.138186 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.21373, -1.93299, -0.28316deg) inliers=2 rms=0.00939217m
I0419 20:56:37.138221 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971376129.
I0419 20:56:37.157910 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971574015.
I0419 20:56:37.165798 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971652710.
I0419 20:56:37.190408 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:37.190554 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:37.190604 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:37.190752 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971899159.
I0419 20:56:37.193971 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289971933884.
I0419 20:56:37.218796 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.132594, -0.605626)
I0419 20:56:37.219120 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289972179679.
I0419 20:56:37.300628 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:37.300750 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:37.300776 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289972260618.
I0419 20:56:37.301898 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0407945 range=1.22475 variance=0.000518687 t_weight=5783.83 r_weight=0 yaml=(6.915, -2.52) prior=(8.25444, -1.92184, -0.126411deg) obs_actual=(-1.36876, -0.601414) obs_expected=(-1.33812, -0.601113) delta=(-0.0306422, -0.000300715) |delta|=0.0306437m
I0419 20:56:37.301999 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289972456003.
I0419 20:56:37.302779 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:37.302841 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289972538243.
I0419 20:56:37.304564 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289972774285.
I0419 20:56:37.305284 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289972819762.
I0419 20:56:37.306339 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.149112, -0.605433), points=20, range=0.6253, residual=0.0121304, extent=0.038716
I0419 20:56:37.306402 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.149112, -0.605433), tracking=(-0.447612, 0.605433), map_predicted=(7.81783, -1.3116), range=0.6253, pts=20
I0419 20:56:37.306427 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00886496m maha_sq=0.00340472 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81783, -1.3116) lm_pos=(7.815, -1.32) delta=(0.00283226, 0.00840035) -> 1 candidate(s)
I0419 20:56:37.306486 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289973053409.
I0419 20:56:37.314842 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289973142672.
I0419 20:56:37.339056 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289973378590.
I0419 20:56:37.342020 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289973411725.
I0419 20:56:37.432577 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.165589, -0.607083)
I0419 20:56:37.432772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289973657678.
I0419 20:56:37.433512 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592326s, prior_pose=(8.27301, -1.92526), yaw=-0.108037 deg
I0419 20:56:37.433576 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:37.433666 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:37.433686 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:37.433768 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289973734998.
I0419 20:56:37.434778 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:37.434857 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289973939884.
I0419 20:56:37.436293 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289974017811.
I0419 20:56:37.437353 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289974255050.
I0419 20:56:37.438126 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00751957 range=0.605105 variance=0.000556211 t_weight=5393.64 r_weight=0 yaml=(8.715, -2.52) prior=(8.28021, -1.93, -0.0609764deg) obs_actual=(0.422326, -0.590928) obs_expected=(0.43542, -0.589534) delta=(-0.0130931, -0.00139396) |delta|=0.0131671m
I0419 20:56:37.438203 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289974301417.
I0419 20:56:37.454046 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289974532745.
I0419 20:56:37.462656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289974614468.
I0419 20:56:37.487140 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:37.487645 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.188724, -0.604579), points=18, range=0.635333, residual=0.0115429, extent=0.0364037
I0419 20:56:37.487931 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:37.487984 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:37.488011 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.188724, -0.604579), tracking=(-0.487224, 0.604579), map_predicted=(7.80029, -1.32818), range=0.635333, pts=18
I0419 20:56:37.488063 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0168315m maha_sq=0.0122808 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.80029, -1.32818) lm_pos=(7.815, -1.32) delta=(-0.0147074, -0.00818471) -> 1 candidate(s)
I0419 20:56:37.488283 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289974861058.
I0419 20:56:37.575073 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289974901776.
I0419 20:56:37.576712 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.198443, -0.607504)
I0419 20:56:37.577014 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289975138512.
I0419 20:56:37.578408 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:37.578583 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:37.578647 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289975178326.
I0419 20:56:37.580778 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289975419684.
I0419 20:56:37.581779 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:37.581851 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.262199 deg, rms_residual=0.0114596m, sigma_yaw=0.0150496 rad, N=2
I0419 20:56:37.581907 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.31215, -1.93824, 0.262199deg) inliers=2 rms=0.0114596m
I0419 20:56:37.581967 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289975502152.
I0419 20:56:37.583142 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289975747281.
I0419 20:56:37.584705 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289975784946.
I0419 20:56:37.602181 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0957479 range=1.30133 variance=0.000488793 t_weight=6137.57 r_weight=0 yaml=(6.915, -2.52) prior=(8.32498, -1.92269, 0.165804deg) obs_actual=(-1.45862, -0.593234) obs_expected=(-1.4117, -0.593224) delta=(-0.0469162, -1.00313e-05) |delta|=0.0469162m
I0419 20:56:37.602327 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976017049.
I0419 20:56:37.606783 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976060694.
I0419 20:56:37.674890 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976295784.
I0419 20:56:37.675540 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.990279, 0.617429)
I0419 20:56:37.675611 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0748432, -0.595132), points=18, range=0.600833, residual=0.00974843, extent=0.0326385
I0419 20:56:37.675634 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0748432, -0.595132), tracking=(0.373343, -0.595132), map_predicted=(8.72481, -2.51999), range=0.600833, pts=18
I0419 20:56:37.675655 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00980581m maha_sq=0.00417533 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72481, -2.51999) lm_pos=(8.715, -2.52) delta=(0.00980581, 1.03225e-05) -> 1 candidate(s)
I0419 20:56:37.675721 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289976339046.
I0419 20:56:37.676957 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976574311.
I0419 20:56:37.678215 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0356961s, prior_pose=(8.36267, -1.92021), yaw=0.195964 deg
I0419 20:56:37.678290 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:37.678367 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:37.678390 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:37.678462 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976652745.
I0419 20:56:37.686245 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:37.686412 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976857394.
I0419 20:56:37.694536 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289976935904.
I0419 20:56:37.718313 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289977174180.
I0419 20:56:37.726424 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289977254801.
I0419 20:56:37.746260 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289977454703.
I0419 20:56:37.843932 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.023364 range=1.14375 variance=0.000576172 t_weight=5206.78 r_weight=0 yaml=(9.615, -1.32) prior=(8.36096, -1.9197, 0.245126deg) obs_actual=(1.26879, 0.614171) obs_expected=(1.25659, 0.594332) delta=(0.012195, 0.0198382) |delta|=0.0232868m
I0419 20:56:37.844111 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289977533280.
I0419 20:56:37.845777 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:37.845891 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:37.845909 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:37.845968 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289977777501.
I0419 20:56:37.846689 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.955988, 0.612905)
I0419 20:56:37.846817 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289977821918.
I0419 20:56:37.849227 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.263862, -0.609194), points=16, range=0.665563, residual=0.0107465, extent=0.0350138
I0419 20:56:37.849354 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.263862, -0.609194), tracking=(-0.562362, 0.609194), map_predicted=(7.80343, -1.3174), range=0.665563, pts=16
I0419 20:56:37.849392 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0118582m maha_sq=0.00604793 (gate chi2=5.99) pose_sigma=(0.150661, 0.150661, rho=0) det_map=(7.80343, -1.3174) lm_pos=(7.815, -1.32) delta=(-0.0115688, 0.00260383) -> 1 candidate(s)
I0419 20:56:37.849486 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978056881.
I0419 20:56:37.850714 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:37.850800 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:37.850828 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978134077.
I0419 20:56:37.852370 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978341858.
I0419 20:56:37.853884 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.38855, -1.91796), yaw=0.342832 deg backend=(8.34146, -1.93206)
I0419 20:56:37.854916 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:37.855002 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978419542.
I0419 20:56:37.863799 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:37.867471 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978662071.
I0419 20:56:37.875133 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978740387.
I0419 20:56:37.948334 1218530 pose_graph_2d.cc:160] Inserted submap (1, 14).
I0419 20:56:37.949497 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.2813 deg, rms_residual=0.0117027m, sigma_yaw=0.0153638 rad, N=2
I0419 20:56:37.949594 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.41725, -1.90713, 1.2813deg) inliers=2 rms=0.0117027m
I0419 20:56:37.949625 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978932751.
I0419 20:56:37.950477 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0150069 range=1.113 variance=0.000566753 t_weight=5293.31 r_weight=0 yaml=(9.615, -1.32) prior=(8.3914, -1.92093, 0.389511deg) obs_actual=(1.23269, 0.610511) obs_expected=(1.22766, 0.592599) delta=(0.0050291, 0.0179128) |delta|=0.0186054m
I0419 20:56:37.950562 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289978995182.
I0419 20:56:37.951606 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289979221381.
I0419 20:56:37.953119 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.925823, 0.610797)
I0419 20:56:37.953240 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289979299450.
I0419 20:56:37.954411 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.295809, -0.610962), points=16, range=0.680562, residual=0.0106869, extent=0.0325701
I0419 20:56:37.954471 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.295809, -0.610962), tracking=(-0.594309, 0.610962), map_predicted=(7.81123, -1.309), range=0.680562, pts=16
I0419 20:56:37.954495 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0116318m maha_sq=0.00586962 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81123, -1.309) lm_pos=(7.815, -1.32) delta=(-0.00377318, 0.0110028) -> 1 candidate(s)
I0419 20:56:37.954552 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289979540561.
I0419 20:56:37.962237 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0686457s, prior_pose=(8.41017, -1.91542), yaw=0.435919 deg
I0419 20:56:37.962353 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:37.962455 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:37.962476 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:37.962560 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289979619208.
I0419 20:56:37.981832 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:37.981990 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289979813928.
I0419 20:56:37.990520 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289979899955.
I0419 20:56:38.011255 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289980102198.
I0419 20:56:38.058125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289980179319.
I0419 20:56:38.059473 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289980388687.
I0419 20:56:38.060470 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289980459685.
I0419 20:56:38.069967 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:38.070067 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:38.070086 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:38.070155 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.105548 range=1.39667 variance=0.000513122 t_weight=5846.57 r_weight=0 yaml=(6.915, -2.52) prior=(8.4291, -1.91945, 0.558907deg) obs_actual=(-1.56945, -0.585911) obs_expected=(-1.51989, -0.585748) delta=(-0.0495579, -0.000163381) |delta|=0.0495582m
I0419 20:56:38.070210 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289980695618.
I0419 20:56:38.077756 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.892285, 0.608445)
I0419 20:56:38.077948 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289980772704.
I0419 20:56:38.102478 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981019618.
I0419 20:56:38.109957 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0401769, -0.599742), points=19, range=0.602, residual=0.0102495, extent=0.0351152
I0419 20:56:38.110049 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0401769, -0.599742), tracking=(0.258323, -0.599742), map_predicted=(8.71323, -2.51216), range=0.602, pts=19
I0419 20:56:38.110077 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00803995m maha_sq=0.00275085 (gate chi2=5.99) pose_sigma=(0.151523, 0.151523, rho=0) det_map=(8.71323, -2.51216) lm_pos=(8.715, -2.52) delta=(-0.00176551, 0.00784371) -> 1 candidate(s)
I0419 20:56:38.110138 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:38.110180 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:38.110198 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981095415.
I0419 20:56:38.129731 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981292699.
I0419 20:56:38.138649 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:38.138773 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981382256.
I0419 20:56:38.194314 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981570095.
I0419 20:56:38.195380 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981659922.
I0419 20:56:38.196517 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981892944.
I0419 20:56:38.198072 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289981958479.
I0419 20:56:38.219458 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.52537 deg, rms_residual=0.00976031m, sigma_yaw=0.0128466 rad, N=2
I0419 20:56:38.219841 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0487611 range=1.42433 variance=0.000500434 t_weight=5994.79 r_weight=0 yaml=(6.915, -2.52) prior=(8.4789, -1.91562, 0.594984deg) obs_actual=(-1.60206, -0.578108) obs_expected=(-1.57009, -0.588103) delta=(-0.0319629, 0.00999499) |delta|=0.0334892m
I0419 20:56:38.220160 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.49524, -1.90726, 1.52537deg) inliers=2 rms=0.00976031m
I0419 20:56:38.220369 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289982178898.
I0419 20:56:38.222496 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0684794, -0.601193)
I0419 20:56:38.222889 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289982220358.
I0419 20:56:38.246099 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289982456122.
I0419 20:56:38.253703 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.057512s, prior_pose=(8.48306, -1.92087), yaw=0.607846 deg
I0419 20:56:38.253780 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:38.253888 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:38.253912 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:38.253939 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845003, 0.604537), points=8, range=1.04237, residual=0.0125015, extent=0.03127
I0419 20:56:38.253959 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.845003, 0.604537), tracking=(1.1435, 0.604537), map_predicted=(9.62008, -1.30423), range=1.04237, pts=8
I0419 20:56:38.253983 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0165657m maha_sq=0.0118754 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.62008, -1.30423) lm_pos=(9.615, -1.32) delta=(0.00508099, 0.0157672) -> 1 candidate(s)
I0419 20:56:38.254076 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289982533599.
I0419 20:56:38.274750 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:38.274914 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289982740960.
I0419 20:56:38.333329 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289982820132.
I0419 20:56:38.334890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289983052504.
I0419 20:56:38.336007 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289983096755.
I0419 20:56:38.338039 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289983341777.
I0419 20:56:38.342438 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.0971841, -0.602265)
I0419 20:56:38.342689 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289983419659.
I0419 20:56:38.365981 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:38.366122 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:38.366155 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:38.366387 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289983653159.
I0419 20:56:38.370658 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289983698408.
I0419 20:56:38.395803 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289983938716.
I0419 20:56:38.402154 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:38.402258 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00529195 range=0.611778 variance=0.000531892 t_weight=5640.24 r_weight=0 yaml=(8.715, -2.52) prior=(8.51161, -1.9193, 0.692151deg) obs_actual=(0.185403, -0.60046) obs_expected=(0.196119, -0.603115) delta=(-0.0107161, 0.00265489) |delta|=0.0110401m
I0419 20:56:38.402352 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:38.402379 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289984015896.
I0419 20:56:38.485684 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289984218609.
I0419 20:56:38.486873 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.81167, 0.603006), points=7, range=1.00814, residual=0.0118144, extent=0.0314993
I0419 20:56:38.487126 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.81167, 0.603006), tracking=(1.11017, 0.603006), map_predicted=(9.61699, -1.30604), range=1.00814, pts=7
I0419 20:56:38.487298 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0141043m maha_sq=0.00861552 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61699, -1.30604) lm_pos=(9.615, -1.32) delta=(0.00199264, 0.0139629) -> 1 candidate(s)
I0419 20:56:38.487470 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:38.487685 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289984297495.
I0419 20:56:38.488932 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289984538572.
I0419 20:56:38.490427 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.800592, 0.603226)
I0419 20:56:38.490585 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289984571400.
I0419 20:56:38.491606 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289984811563.
I0419 20:56:38.492441 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289984900601.
I0419 20:56:38.511072 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289985102209.
I0419 20:56:38.518923 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289985180111.
I0419 20:56:38.542322 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289985415426.
I0419 20:56:38.635191 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0354089s, prior_pose=(8.55712, -1.92234), yaw=0.694631 deg
I0419 20:56:38.635309 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:38.635445 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:38.635468 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:38.635556 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289985456298.
I0419 20:56:38.635900 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:38.636706 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:38.636776 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00788029 range=0.764615 variance=0.000536343 t_weight=5593.43 r_weight=0 yaml=(7.815, -1.32) prior=(8.55712, -1.92234, 0.694631deg) obs_actual=(-0.745671, 0.619199) obs_expected=(-0.73476, 0.611293) delta=(-0.0109104, 0.00790542) |delta|=0.0134734m
I0419 20:56:38.636826 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289985700623.
I0419 20:56:38.637686 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289985779185.
I0419 20:56:38.639303 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.454499, -0.621689)
I0419 20:56:38.639374 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39266, 0.574479), points=3, range=1.50067, residual=0.0113, extent=0.0227398
I0419 20:56:38.639395 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.39266, 0.574479), tracking=(-1.69116, -0.574479), map_predicted=(6.8812, -2.51887), range=1.50067, pts=3
I0419 20:56:38.639415 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0338169m maha_sq=0.0491201 (gate chi2=5.99) pose_sigma=(0.150573, 0.150573, rho=0) det_map=(6.8812, -2.51887) lm_pos=(6.915, -2.52) delta=(-0.0337982, 0.00112542) -> 1 candidate(s)
I0419 20:56:38.639468 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289986017220.
I0419 20:56:38.640187 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.04426 deg, rms_residual=0.0134653m, sigma_yaw=0.017637 rad, N=2
I0419 20:56:38.640235 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.56254, -1.9276, 1.04426deg) inliers=2 rms=0.0134653m
I0419 20:56:38.640262 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289986061921.
I0419 20:56:38.641240 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289986296694.
I0419 20:56:38.642565 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289986340547.
I0419 20:56:38.658596 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:38.658735 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:38.658771 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:38.658867 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289986581312.
I0419 20:56:38.666939 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289986660440.
I0419 20:56:38.731282 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289986859594.
I0419 20:56:38.732311 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:38.732434 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:38.732460 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289986976797.
I0419 20:56:38.733299 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.48202, -0.622485)
I0419 20:56:38.733407 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.122723 range=1.53667 variance=0.000536327 t_weight=5593.6 r_weight=0 yaml=(6.915, -2.52) prior=(8.57999, -1.92325, 0.906662deg) obs_actual=(-1.7272, -0.574811) obs_expected=(-1.67422, -0.570327) delta=(-0.052981, -0.0044847) |delta|=0.0531704m
I0419 20:56:38.733456 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289987134321.
I0419 20:56:38.734390 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.60016, -1.91929), yaw=0.900502 deg backend=(8.53481, -1.9242)
I0419 20:56:38.734922 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:38.734977 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289987213886.
I0419 20:56:38.745899 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289987452189.
I0419 20:56:38.754333 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.736367, 0.598008), points=10, range=0.944, residual=0.0149692, extent=0.0429743
I0419 20:56:38.754503 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.736367, 0.598008), tracking=(1.03487, 0.598008), map_predicted=(9.6255, -1.3051), range=0.944, pts=10
I0419 20:56:38.754542 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0182301m maha_sq=0.0143425 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6255, -1.3051) lm_pos=(9.615, -1.32) delta=(0.0104983, 0.0149037) -> 1 candidate(s)
I0419 20:56:38.754676 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289987536226.
I0419 20:56:38.774403 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289987737730.
I0419 20:56:38.782224 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289987815521.
I0419 20:56:38.802611 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289988020611.
I0419 20:56:38.877117 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289988097642.
I0419 20:56:38.878146 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.509449, -0.621947)
I0419 20:56:38.878265 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289988337420.
I0419 20:56:38.878957 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0676378s, prior_pose=(8.62104, -1.91973), yaw=0.910405 deg
I0419 20:56:38.879012 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:38.879099 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:38.879119 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:38.879176 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 10 -> 9 (threshold=0.03, iters=3)
I0419 20:56:38.879236 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289988414108.
I0419 20:56:38.880829 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:38.880928 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289988612917.
I0419 20:56:38.881747 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289988699818.
I0419 20:56:38.893862 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0243312 range=0.816273 variance=0.000561896 t_weight=5339.07 r_weight=0 yaml=(7.815, -1.32) prior=(8.62656, -1.91996, 0.948814deg) obs_actual=(-0.823035, 0.62321) obs_expected=(-0.801509, 0.613321) delta=(-0.0215254, 0.00988846) |delta|=0.023688m
I0419 20:56:38.894030 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289988932360.
I0419 20:56:38.898239 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289988977053.
I0419 20:56:38.900570 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:38.922932 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289989220665.
I0419 20:56:38.930658 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.694494, 0.596551)
I0419 20:56:38.930903 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.689401, 0.595718), points=9, range=0.915556, residual=0.0134486, extent=0.0392901
I0419 20:56:38.930992 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.689401, 0.595718), tracking=(0.987901, 0.595718), map_predicted=(9.60407, -1.31165), range=0.915556, pts=9
I0419 20:56:38.931044 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0137524m maha_sq=0.00817783 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60407, -1.31165) lm_pos=(9.615, -1.32) delta=(-0.010926, 0.0083516) -> 1 candidate(s)
I0419 20:56:38.931223 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289989300188.
I0419 20:56:38.996498 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:38.996591 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:38.996608 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:38.996685 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289989497815.
I0419 20:56:38.997591 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289989576583.
I0419 20:56:38.998622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289989780374.
I0419 20:56:39.000049 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:39.000174 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:39.000203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289989860013.
I0419 20:56:39.010892 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289990098512.
I0419 20:56:39.018765 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:39.018905 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.19112 deg, rms_residual=0.0143215m, sigma_yaw=0.0187375 rad, N=2
I0419 20:56:39.018998 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.66155, -1.92226, 1.19112deg) inliers=2 rms=0.0143215m
I0419 20:56:39.019062 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289990178484.
I0419 20:56:39.042963 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.49985, 0.565744)
I0419 20:56:39.043285 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289990420131.
I0419 20:56:39.046823 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.010735 range=0.667562 variance=0.000532867 t_weight=5629.93 r_weight=4398.57 yaml=(8.715, -2.52) prior=(8.66717, -1.92472, 0.998624deg) obs_actual=(0.0292643, -0.609447) obs_expected=(0.0374475, -0.596019) delta=(-0.00818317, -0.0134274) |delta|=0.0157244m
I0419 20:56:39.047014 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289990460688.
I0419 20:56:39.071188 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289990701217.
I0419 20:56:39.151396 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.281278, -0.610092), points=17, range=0.670824, residual=0.0105581, extent=0.0317978
I0419 20:56:39.151533 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.281278, -0.610092), tracking=(0.0172221, -0.610092), map_predicted=(8.70269, -2.53356), range=0.670824, pts=17
I0419 20:56:39.151575 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0183167m maha_sq=0.0144548 (gate chi2=5.99) pose_sigma=(0.150541, 0.150541, rho=0) det_map=(8.70269, -2.53356) lm_pos=(8.715, -2.52) delta=(-0.0123135, -0.0135602) -> 1 candidate(s)
I0419 20:56:39.151683 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289990781197.
I0419 20:56:39.152979 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289990977349.
I0419 20:56:39.153892 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289991057427.
I0419 20:56:39.155977 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(-0.362788, 0.603785)
I0419 20:56:39.156103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289991300957.
I0419 20:56:39.156710 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553372s, prior_pose=(8.68322, -1.92279), yaw=1.06464 deg
I0419 20:56:39.156766 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:39.156850 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:39.156873 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:39.156939 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289991334569.
I0419 20:56:39.158056 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:39.158185 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289991554894.
I0419 20:56:39.163204 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289991620278.
I0419 20:56:39.195868 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0060671 range=1.64 variance=0.000536074 t_weight=5596.24 r_weight=5000 yaml=(10.515, -2.52) prior=(8.70012, -1.92219, 1.14446deg) obs_actual=(1.80626, -0.645177) obs_expected=(1.80258, -0.633941) delta=(0.00367473, -0.0112365) |delta|=0.0118221m
I0419 20:56:39.196214 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289991936219.
I0419 20:56:39.197618 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289991936583.
I0419 20:56:39.293311 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.54486, 0.562277)
I0419 20:56:39.293431 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.28038, 0.603503), points=16, range=0.666375, residual=0.0105173, extent=0.0296778
I0419 20:56:39.293457 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.28038, 0.603503), tracking=(-0.0181202, -0.603503), map_predicted=(8.70982, -2.52527), range=0.666375, pts=16
I0419 20:56:39.293483 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.00739039m maha_sq=0.00233434 (gate chi2=5.99) pose_sigma=(0.151165, 0.151165, rho=0) det_map=(8.70982, -2.52527) lm_pos=(8.715, -2.52) delta=(-0.00517709, -0.00527404) -> 1 candidate(s)
I0419 20:56:39.293577 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289992174129.
I0419 20:56:39.294127 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289992219691.
I0419 20:56:39.295471 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:39.295562 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:39.295578 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:39.295646 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289992458501.
I0419 20:56:39.297237 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289992537837.
I0419 20:56:39.298292 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289992737806.
I0419 20:56:39.299147 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 20:56:39.299230 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:39.299254 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289992816075.
I0419 20:56:39.303128 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.56188, 0.560768)
I0419 20:56:39.303406 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289993022737.
I0419 20:56:39.310575 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:56:39.310702 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.46703 deg, rms_residual=0.0122461m, sigma_yaw=0.0131699 rad, N=3
I0419 20:56:39.310796 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0083846 range=0.66775 variance=0.000560791 t_weight=5349.59 r_weight=5000 yaml=(8.715, -2.52) prior=(8.72702, -1.92498, 1.21344deg) obs_actual=(-0.0139807, -0.585679) obs_expected=(-0.0246201, -0.594632) delta=(0.0106394, 0.00895318) |delta|=0.0139052m
I0419 20:56:39.311332 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.72008, -1.92782, 1.46703deg) inliers=3 rms=0.0122461m
I0419 20:56:39.311390 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289993097863.
I0419 20:56:39.334661 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289993334674.
I0419 20:56:39.412066 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.321194, -0.588143), points=8, range=0.6775, residual=0.0208664, extent=0.0470947
I0419 20:56:39.412205 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.321194, -0.588143), tracking=(-0.0226943, -0.588143), map_predicted=(8.72452, -2.5113), range=0.6775, pts=8
I0419 20:56:39.412242 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0129003m maha_sq=0.00706749 (gate chi2=5.99) pose_sigma=(0.150582, 0.150582, rho=0) det_map=(8.72452, -2.5113) lm_pos=(8.715, -2.52) delta=(0.00952069, 0.00870479) -> 1 candidate(s)
I0419 20:56:39.412359 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122289993421503.
I0419 20:56:39.413727 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289993659662.
I0419 20:56:39.414711 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289993700939.
I0419 20:56:39.416498 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.241897, 0.606211)
I0419 20:56:39.416613 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289993933541.
I0419 20:56:39.417464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289993979790.
I0419 20:56:39.422806 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289994222288.
I0419 20:56:39.430980 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.037105s, prior_pose=(8.76341, -1.91933), yaw=1.24005 deg
I0419 20:56:39.431098 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 20:56:39.431233 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:39.431272 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 20:56:39.431430 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289994304591.
I0419 20:56:39.450780 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:39.451025 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289994498271.
I0419 20:56:39.458457 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.017565 range=1.59267 variance=0.000525075 t_weight=5713.47 r_weight=0 yaml=(10.515, -2.52) prior=(8.76341, -1.91933, 1.24005deg) obs_actual=(1.75654, -0.646626) obs_expected=(1.73818, -0.638435) delta=(0.0183669, -0.00819096) |delta|=0.0201106m
I0419 20:56:39.458746 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289994576827.
I0419 20:56:39.553159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289994812590.
I0419 20:56:39.553929 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289994857911.
I0419 20:56:39.555124 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.670982, -0.625652)
I0419 20:56:39.555189 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.668108, -0.626625), points=9, range=0.917444, residual=0.00922501, extent=0.0244408
I0419 20:56:39.555217 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.668108, -0.626625), tracking=(-0.966608, 0.626625), map_predicted=(7.78629, -1.31212), range=0.917444, pts=9
I0419 20:56:39.555238 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0297722m maha_sq=0.0384863 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78629, -1.31212) lm_pos=(7.815, -1.32) delta=(-0.0287112, 0.00787733) -> 1 candidate(s)
I0419 20:56:39.555300 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289995097654.
I0419 20:56:39.556718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289995176769.
I0419 20:56:39.557773 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:39.557842 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:39.557863 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:39.557919 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289995377740.
I0419 20:56:39.558557 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289995456374.
I0419 20:56:39.570920 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289995698032.
I0419 20:56:39.574361 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:39.574586 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:39.574636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289995733538.
I0419 20:56:39.598737 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289995975853.
I0419 20:56:39.693992 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.7968, -1.91696), yaw=1.19381 deg backend=(8.79034, -1.91458)
I0419 20:56:39.694630 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:39.694710 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289996056676.
I0419 20:56:39.695776 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.700933, -0.62555)
I0419 20:56:39.695900 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0163708 range=0.635056 variance=0.000551197 t_weight=5442.7 r_weight=0 yaml=(8.715, -2.52) prior=(8.7968, -1.91696, 1.19381deg) obs_actual=(-0.112988, -0.606687) obs_expected=(-0.0943505, -0.601208) delta=(-0.0186371, -0.00547939) |delta|=0.0194259m
I0419 20:56:39.696013 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289996258614.
I0419 20:56:39.696861 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289996337717.
I0419 20:56:39.698746 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289996573978.
I0419 20:56:39.699437 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.51247, 0.589429), points=14, range=0.784786, residual=0.0141282, extent=0.0436176
I0419 20:56:39.699505 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.51247, 0.589429), tracking=(0.81097, 0.589429), map_predicted=(9.6083, -1.31071), range=0.784786, pts=14
I0419 20:56:39.699529 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0114588m maha_sq=0.00567435 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6083, -1.31071) lm_pos=(9.615, -1.32) delta=(-0.00670277, 0.00929395) -> 1 candidate(s)
I0419 20:56:39.699600 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289996622377.
I0419 20:56:39.700611 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289996855867.
I0419 20:56:39.702278 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.891559 deg, rms_residual=0.0134187m, sigma_yaw=0.0175771 rad, N=2
I0419 20:56:39.702378 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.8139, -1.91148, 0.891559deg) inliers=2 rms=0.0134187m
I0419 20:56:39.702415 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289996939527.
I0419 20:56:39.718647 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289997174782.
I0419 20:56:39.722935 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0649658s, prior_pose=(8.82624, -1.91809), yaw=1.16522 deg
I0419 20:56:39.723336 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:56:39.723807 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:39.724064 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:39.724256 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289997223636.
I0419 20:56:39.782891 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:39.783113 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289997453288.
I0419 20:56:39.783898 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.39034, -0.643403)
I0419 20:56:39.784013 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289997496590.
I0419 20:56:39.785183 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289997737405.
I0419 20:56:39.786753 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0294869 range=1.51733 variance=0.000700721 t_weight=4281.3 r_weight=0 yaml=(10.515, -2.52) prior=(8.84691, -1.91677, 0.977709deg) obs_actual=(1.68156, -0.642476) obs_expected=(1.65756, -0.631603) delta=(0.0239992, -0.010873) |delta|=0.0263474m
I0419 20:56:39.786890 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289997782416.
I0419 20:56:39.802636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998021062.
I0419 20:56:39.810545 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122289998099167.
I0419 20:56:39.833963 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:39.834052 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.752596, -0.622196), points=7, range=0.974, residual=0.0104747, extent=0.0302068
I0419 20:56:39.834075 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:39.834089 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:39.834100 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.752596, -0.622196), tracking=(-1.0511, 0.622196), map_predicted=(7.79554, -1.31261), range=0.974, pts=7
I0419 20:56:39.834123 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0208114m maha_sq=0.0186016 (gate chi2=5.99) pose_sigma=(0.150749, 0.150749, rho=0) det_map=(7.79554, -1.31261) lm_pos=(7.815, -1.32) delta=(-0.0194552, 0.00738987) -> 1 candidate(s)
I0419 20:56:39.834229 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998334569.
I0419 20:56:39.838358 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998378807.
I0419 20:56:39.862318 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998617923.
I0419 20:56:39.920317 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:39.920444 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:39.920475 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998696262.
I0419 20:56:39.921682 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998896966.
I0419 20:56:39.922515 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.35394, -0.640965)
I0419 20:56:39.922607 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:39.922667 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289998974604.
I0419 20:56:39.924503 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289999212849.
I0419 20:56:39.926621 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00126767 range=0.7375 variance=0.000555679 t_weight=5398.8 r_weight=0 yaml=(9.615, -1.32) prior=(8.87776, -1.91396, 0.940567deg) obs_actual=(0.744719, 0.586727) obs_expected=(0.746895, 0.581778) delta=(-0.00217611, 0.00494889) |delta|=0.00540619m
I0419 20:56:39.926738 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289999260857.
I0419 20:56:39.949961 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289999493307.
I0419 20:56:39.958775 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289999582061.
I0419 20:56:39.978578 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.79638, -0.618473), points=4, range=1.00625, residual=0.00674822, extent=0.0160584
I0419 20:56:39.978679 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.79638, -0.618473), tracking=(-1.09488, 0.618473), map_predicted=(7.78851, -1.31512), range=1.00625, pts=4
I0419 20:56:39.978708 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0269311m maha_sq=0.0315398 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78851, -1.31512) lm_pos=(7.815, -1.32) delta=(-0.0264857, 0.00487799) -> 1 candidate(s)
I0419 20:56:39.978822 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289999781278.
I0419 20:56:39.987295 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122289999859569.
I0419 20:56:40.072036 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:40.072031 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.452914 deg, rms_residual=0.0100727m, sigma_yaw=0.0132523 rad, N=2
I0419 20:56:40.072211 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.91562, -1.92331, 0.452914deg) inliers=2 rms=0.0100727m
I0419 20:56:40.072270 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000094974.
I0419 20:56:40.072850 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557881s, prior_pose=(8.89688, -1.91155), yaw=0.88201 deg
I0419 20:56:40.072916 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=254, threshold=230, above_threshold=20, candidates=20
I0419 20:56:40.072997 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:40.073020 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:40.073117 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000139942.
I0419 20:56:40.074266 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:40.074349 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000374320.
I0419 20:56:40.075838 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.32249, -0.640263)
I0419 20:56:40.075946 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000453038.
I0419 20:56:40.077014 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000652228.
I0419 20:56:40.077914 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00244705 range=0.7152 variance=0.000568075 t_weight=5280.99 r_weight=0 yaml=(9.615, -1.32) prior=(8.91365, -1.91482, 0.859318deg) obs_actual=(0.703164, 0.586895) obs_expected=(0.71019, 0.584234) delta=(-0.0070263, 0.00266082) |delta|=0.00751324m
I0419 20:56:40.077999 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000732672.
I0419 20:56:40.098055 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290000974783.
I0419 20:56:40.106946 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001060289.
I0419 20:56:40.126874 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:40.127071 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832097, -0.61759), points=5, range=1.0352, residual=0.0054447, extent=0.0134441
I0419 20:56:40.127103 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:40.127122 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:40.127137 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.832097, -0.61759), tracking=(-1.1306, 0.61759), map_predicted=(7.77708, -1.30787), range=1.0352, pts=5
I0419 20:56:40.127171 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0398154m maha_sq=0.0689804 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.77708, -1.30787) lm_pos=(7.815, -1.32) delta=(-0.0379234, 0.0121277) -> 1 candidate(s)
I0419 20:56:40.127305 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001261525.
I0419 20:56:40.205665 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001344423.
I0419 20:56:40.206820 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001546400.
I0419 20:56:40.207608 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:40.207669 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:40.207691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001613463.
I0419 20:56:40.209931 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001907423.
I0419 20:56:40.210358 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.84274, -0.61789)
I0419 20:56:40.210436 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:40.210479 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290001907531.
I0419 20:56:40.214383 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290002137584.
I0419 20:56:40.222105 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00679103 range=0.695467 variance=0.000550609 t_weight=5448.52 r_weight=0 yaml=(9.615, -1.32) prior=(8.93821, -1.90739, 0.801093deg) obs_actual=(0.675622, 0.586221) obs_expected=(0.684941, 0.577873) delta=(-0.00931918, 0.00834808) |delta|=0.0125115m
I0419 20:56:40.222211 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290002216328.
I0419 20:56:40.246562 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290002460903.
I0419 20:56:40.250128 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290002494208.
I0419 20:56:40.325423 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.870781, -0.61921), points=5, range=1.0658, residual=0.00793739, extent=0.0193683
I0419 20:56:40.325548 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.870781, -0.61921), tracking=(-1.16928, 0.61921), map_predicted=(7.76773, -1.30027), range=1.0658, pts=5
I0419 20:56:40.325577 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0512281m maha_sq=0.113676 (gate chi2=5.99) pose_sigma=(0.150232, 0.150232, rho=0) det_map=(7.76773, -1.30027) lm_pos=(7.815, -1.32) delta=(-0.0472743, 0.0197345) -> 1 candidate(s)
I0419 20:56:40.325703 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290002732430.
I0419 20:56:40.326529 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290002777747.
I0419 20:56:40.327586 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.262525 deg, rms_residual=0.0105349m, sigma_yaw=0.013852 rad, N=2
I0419 20:56:40.327641 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.9862, -1.92161, 0.262525deg) inliers=2 rms=0.0105349m
I0419 20:56:40.327668 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003024152.
I0419 20:56:40.331403 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0364085s, prior_pose=(8.9664, -1.90606), yaw=0.79477 deg
I0419 20:56:40.331521 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 20:56:40.331619 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:40.331640 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:40.331727 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003096515.
I0419 20:56:40.332744 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:40.332858 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003296836.
I0419 20:56:40.337785 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.25712, -0.645132)
I0419 20:56:40.337960 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003373687.
I0419 20:56:40.362460 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003616355.
I0419 20:56:40.367017 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0186648 range=0.676278 variance=0.00057365 t_weight=5229.67 r_weight=0 yaml=(9.615, -1.32) prior=(8.97199, -1.9018, 0.776603deg) obs_actual=(0.634543, 0.585882) obs_expected=(0.650837, 0.57303) delta=(-0.0162937, 0.0128522) |delta|=0.0207525m
I0419 20:56:40.367220 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003664248.
I0419 20:56:40.390682 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003897062.
I0419 20:56:40.469326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290003980344.
I0419 20:56:40.470716 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:40.470818 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.907802, -0.61809), points=5, range=1.0958, residual=0.00793593, extent=0.0196692
I0419 20:56:40.470847 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:40.470862 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:40.470875 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.907802, -0.61809), tracking=(-1.2063, 0.61809), map_predicted=(7.77091, -1.3063), range=1.0958, pts=5
I0419 20:56:40.470943 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0461678m maha_sq=0.0926001 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.77091, -1.3063) lm_pos=(7.815, -1.32) delta=(-0.0440892, 0.0136972) -> 1 candidate(s)
I0419 20:56:40.471019 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290004181053.
I0419 20:56:40.471984 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290004260676.
I0419 20:56:40.474128 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290004501518.
I0419 20:56:40.475054 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:40.475172 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:40.475219 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290004580134.
I0419 20:56:40.478027 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(0.0088291, 0.606874)
I0419 20:56:40.478252 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290004773348.
I0419 20:56:40.480239 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.0122, -1.90946), yaw=0.705599 deg backend=(8.99306, -1.90865)
I0419 20:56:40.486244 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:40.486889 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290004852639.
I0419 20:56:40.510069 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290005093270.
I0419 20:56:40.514212 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00574813 range=0.6585 variance=0.000554981 t_weight=5405.59 r_weight=0 yaml=(9.615, -1.32) prior=(9.0122, -1.90946, 0.705599deg) obs_actual=(0.599098, 0.585641) obs_expected=(0.610018, 0.581996) delta=(-0.0109198, 0.00364428) |delta|=0.0115119m
I0419 20:56:40.514436 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290005132598.
I0419 20:56:40.607180 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290005385222.
I0419 20:56:40.608031 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290005453876.
I0419 20:56:40.609190 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0282482, 0.606561), points=18, range=0.608889, residual=0.0101746, extent=0.0309393
I0419 20:56:40.609263 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0282482, 0.606561), tracking=(-0.326748, -0.606561), map_predicted=(8.69706, -2.51473), range=0.608889, pts=18
I0419 20:56:40.609292 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0187029m maha_sq=0.0151837 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.69706, -2.51473) lm_pos=(8.715, -2.52) delta=(-0.0179439, 0.00527397) -> 1 candidate(s)
I0419 20:56:40.609356 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290005661741.
I0419 20:56:40.610793 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290005731859.
I0419 20:56:40.611851 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290005939895.
I0419 20:56:40.612589 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0676329s, prior_pose=(9.02608, -1.9016), yaw=0.549882 deg
I0419 20:56:40.612644 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:40.612720 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:40.612743 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:40.612789 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.0577685 deg, rms_residual=0.0185517m, sigma_yaw=0.0241385 rad, N=2
I0419 20:56:40.612824 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.02992, -1.89168, -0.0577685deg) inliers=2 rms=0.0185517m
I0419 20:56:40.612851 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006061551.
I0419 20:56:40.625680 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.0416178, 0.608008)
I0419 20:56:40.625769 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:40.625857 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006252878.
I0419 20:56:40.635288 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006342586.
I0419 20:56:40.658888 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006579268.
I0419 20:56:40.744671 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006614107.
I0419 20:56:40.746356 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.09435 range=1.15 variance=0.000523417 t_weight=5731.57 r_weight=0 yaml=(7.815, -1.32) prior=(9.05355, -1.90556, 0.516879deg) obs_actual=(-1.27835, 0.608322) obs_expected=(-1.23322, 0.59671) delta=(-0.045138, 0.0116114) |delta|=0.0466075m
I0419 20:56:40.746495 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006862788.
I0419 20:56:40.747452 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290006942333.
I0419 20:56:40.749977 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:40.750159 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0578562, 0.610221), points=18, range=0.613889, residual=0.00977438, extent=0.0306481
I0419 20:56:40.750226 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:40.750283 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:40.750337 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0578562, 0.610221), tracking=(-0.356356, -0.610221), map_predicted=(8.70625, -2.51476), range=0.613889, pts=18
I0419 20:56:40.750408 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0101969m maha_sq=0.0044896 (gate chi2=5.99) pose_sigma=(0.150431, 0.150431, rho=0) det_map=(8.70625, -2.51476) lm_pos=(8.715, -2.52) delta=(-0.00874506, 0.00524409) -> 1 candidate(s)
I0419 20:56:40.750562 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290007135423.
I0419 20:56:40.751791 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290007214452.
I0419 20:56:40.753284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290007421912.
I0419 20:56:40.755497 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:40.755620 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:40.755654 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290007492584.
I0419 20:56:40.773998 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.0714801, 0.611707)
I0419 20:56:40.774199 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290007735456.
I0419 20:56:40.781850 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:40.781975 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290007814520.
I0419 20:56:40.841801 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290008021696.
I0419 20:56:40.842679 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290008092240.
I0419 20:56:40.843700 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290008298751.
I0419 20:56:40.845207 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.035519 range=1.30175 variance=0.000770339 t_weight=3894.39 r_weight=0 yaml=(10.515, -2.52) prior=(9.09422, -1.90186, 0.0678585deg) obs_actual=(1.44764, -0.628256) obs_expected=(1.42004, -0.61982) delta=(0.0275926, -0.00843618) |delta|=0.0288535m
I0419 20:56:40.845295 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290008376084.
I0419 20:56:40.862596 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290008620059.
I0419 20:56:40.870971 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.209722, 0.592128), points=20, range=0.62795, residual=0.0115924, extent=0.0356138
I0419 20:56:40.871116 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.209722, 0.592128), tracking=(0.508222, 0.592128), map_predicted=(9.60175, -1.30913), range=0.62795, pts=20
I0419 20:56:40.871176 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0171402m maha_sq=0.012735 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60175, -1.30913) lm_pos=(9.615, -1.32) delta=(-0.0132547, 0.0108673) -> 1 candidate(s)
I0419 20:56:40.871382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290008701117.
I0419 20:56:40.890327 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290008894651.
I0419 20:56:40.898388 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601373s, prior_pose=(9.09963, -1.89978), yaw=-0.0106429 deg
I0419 20:56:40.898574 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:40.898808 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:40.898911 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:40.899138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290008977457.
I0419 20:56:40.918184 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.103753, 0.614397)
I0419 20:56:40.918370 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:40.918567 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290009174494.
I0419 20:56:41.006304 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290009254081.
I0419 20:56:41.007814 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.998933 deg, rms_residual=0.0137354m, sigma_yaw=0.0179845 rad, N=2
I0419 20:56:41.007905 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.14234, -1.9251, -0.998933deg) inliers=2 rms=0.0137354m
I0419 20:56:41.007939 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290009495126.
I0419 20:56:41.008762 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290009575502.
I0419 20:56:41.010511 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290009781700.
I0419 20:56:41.011252 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290009860365.
I0419 20:56:41.012408 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:41.012462 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:41.012480 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:41.012513 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0150718 range=0.627368 variance=0.000557327 t_weight=5382.83 r_weight=0 yaml=(8.715, -2.52) prior=(9.11773, -1.90215, -0.1751deg) obs_actual=(-0.418782, -0.614023) obs_expected=(-0.400839, -0.61908) delta=(-0.0179428, 0.00505702) |delta|=0.0186418m
I0419 20:56:41.012562 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290010099761.
I0419 20:56:41.013989 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290010133653.
I0419 20:56:41.038777 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290010379785.
I0419 20:56:41.046954 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.162372, 0.595467), points=21, range=0.617857, residual=0.0123211, extent=0.0455991
I0419 20:56:41.047116 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.162372, 0.595467), tracking=(0.460872, 0.595467), map_predicted=(9.59198, -1.30649), range=0.617857, pts=21
I0419 20:56:41.047168 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0266974m maha_sq=0.0308734 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59198, -1.30649) lm_pos=(9.615, -1.32) delta=(-0.0230245, 0.0135139) -> 1 candidate(s)
I0419 20:56:41.047267 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:41.047374 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:41.047461 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290010460400.
I0419 20:56:41.136590 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.133912, 0.616667)
I0419 20:56:41.136787 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290010659204.
I0419 20:56:41.137589 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:41.137677 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290010735219.
I0419 20:56:41.138737 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290010980804.
I0419 20:56:41.140065 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290011014818.
I0419 20:56:41.141178 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290011254640.
I0419 20:56:41.141996 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290011292248.
I0419 20:56:41.154757 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290011538486.
I0419 20:56:41.162623 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290011617164.
I0419 20:56:41.183164 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290011821182.
I0419 20:56:41.282979 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365051s, prior_pose=(9.17043, -1.89409), yaw=-0.708855 deg
I0419 20:56:41.283090 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:41.283193 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:41.283218 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:41.283286 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0178082 range=1.234 variance=0.000498862 t_weight=6013.69 r_weight=0 yaml=(10.515, -2.52) prior=(9.17043, -1.89409, -0.708855deg) obs_actual=(1.37248, -0.611761) obs_expected=(1.35221, -0.609224) delta=(0.0202707, -0.00253789) |delta|=0.020429m
I0419 20:56:41.283352 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290011903537.
I0419 20:56:41.284373 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.16595, 0.622967)
I0419 20:56:41.284441 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:41.284512 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290012142302.
I0419 20:56:41.285351 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290012219878.
I0419 20:56:41.287134 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11488, -0.576241), points=4, range=1.25725, residual=0.00829435, extent=0.0202247
I0419 20:56:41.287233 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.11488, -0.576241), tracking=(-1.41338, 0.576241), map_predicted=(7.77271, -1.29765), range=1.25725, pts=4
I0419 20:56:41.287271 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0478299m maha_sq=0.0985754 (gate chi2=5.99) pose_sigma=(0.15058, 0.15058, rho=0) det_map=(7.77271, -1.29765) lm_pos=(7.815, -1.32) delta=(-0.0422889, 0.0223461) -> 1 candidate(s)
I0419 20:56:41.287418 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290012422410.
I0419 20:56:41.288371 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290012501160.
I0419 20:56:41.289513 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290012696517.
I0419 20:56:41.291080 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290012774409.
I0419 20:56:41.302330 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:41.302496 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:41.302539 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:41.302747 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013014023.
I0419 20:56:41.310135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013088581.
I0419 20:56:41.405414 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013304628.
I0419 20:56:41.406286 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:41.406361 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:41.406384 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013376528.
I0419 20:56:41.407368 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.201504, 0.629224)
I0419 20:56:41.407460 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.130933 range=1.28025 variance=0.000525423 t_weight=5709.68 r_weight=0 yaml=(7.815, -1.32) prior=(9.20139, -1.89734, -0.975558deg) obs_actual=(-1.44866, 0.569276) obs_expected=(-1.39602, 0.553651) delta=(-0.0526368, 0.0156253) |delta|=0.054907m
I0419 20:56:41.407517 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013618836.
I0419 20:56:41.408461 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.22133, -1.90404), yaw=-1.05756 deg backend=(9.20082, -1.90577)
I0419 20:56:41.408895 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:41.408938 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.54766 deg, rms_residual=0.0136226m, sigma_yaw=0.0178395 rad, N=2
I0419 20:56:41.408982 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.21439, -1.89168, -1.54766deg) inliers=2 rms=0.0136226m
I0419 20:56:41.409009 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013654070.
I0419 20:56:41.410197 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.203956, 0.627641), points=17, range=0.661647, residual=0.011166, extent=0.0358663
I0419 20:56:41.410260 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.203956, 0.627641), tracking=(-0.502456, -0.627641), map_predicted=(8.70737, -2.5223), range=0.661647, pts=17
I0419 20:56:41.410322 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.00796538m maha_sq=0.00275133 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.70737, -2.5223) lm_pos=(8.715, -2.52) delta=(-0.00762649, -0.00229866) -> 1 candidate(s)
I0419 20:56:41.410388 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013896282.
I0419 20:56:41.411218 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290013978424.
I0419 20:56:41.418862 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290014181075.
I0419 20:56:41.426991 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290014259493.
I0419 20:56:41.450857 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290014499802.
I0419 20:56:41.546386 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290014538541.
I0419 20:56:41.546615 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:41.547745 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290014782372.
I0419 20:56:41.548539 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0715668s, prior_pose=(9.24572, -1.90681), yaw=-1.16809 deg
I0419 20:56:41.548612 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:56:41.548730 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:41.548758 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:41.548830 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290014896743.
I0419 20:56:41.550581 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.231071, 0.63189)
I0419 20:56:41.550676 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:41.550724 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00073224 range=0.672875 variance=0.000550303 t_weight=5451.54 r_weight=0 yaml=(8.715, -2.52) prior=(9.25282, -1.90351, -1.24021deg) obs_actual=(-0.527139, -0.631024) obs_expected=(-0.524346, -0.62799) delta=(-0.00279331, -0.00303393) |delta|=0.00412399m
I0419 20:56:41.550767 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290015095107.
I0419 20:56:41.551474 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290015135186.
I0419 20:56:41.552688 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290015380240.
I0419 20:56:41.554095 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0277149, 0.595), points=21, range=0.595905, residual=0.0112319, extent=0.0352865
I0419 20:56:41.554153 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0277149, 0.595), tracking=(0.326215, 0.595), map_predicted=(9.60212, -1.31282), range=0.595905, pts=21
I0419 20:56:41.554183 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0147414m maha_sq=0.00933542 (gate chi2=5.99) pose_sigma=(0.150725, 0.150725, rho=0) det_map=(9.60212, -1.31282) lm_pos=(9.615, -1.32) delta=(-0.0128774, 0.00717509) -> 1 candidate(s)
I0419 20:56:41.554279 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290015417139.
I0419 20:56:41.566525 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290015657627.
I0419 20:56:41.574693 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290015737924.
I0419 20:56:41.657467 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:41.657560 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:41.657578 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:41.657660 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290015934127.
I0419 20:56:41.658568 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290016014858.
I0419 20:56:41.659706 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290016260575.
I0419 20:56:41.660997 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:41.661060 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:41.661098 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290016293655.
I0419 20:56:41.662096 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.773466, -0.352491)
I0419 20:56:41.662175 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290016545379.
I0419 20:56:41.662909 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:41.662956 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290016612650.
I0419 20:56:41.682559 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00395129 range=0.690812 variance=0.00055963 t_weight=5360.68 r_weight=0 yaml=(8.715, -2.52) prior=(9.2898, -1.89638, -1.51651deg) obs_actual=(-0.566788, -0.634568) obs_expected=(-0.558095, -0.638611) delta=(-0.0086928, 0.00404255) |delta|=0.00958681m
I0419 20:56:41.682703 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290016820400.
I0419 20:56:41.691133 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290016899377.
I0419 20:56:41.714466 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290017136246.
I0419 20:56:41.790817 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00948528, 0.594079), points=22, range=0.595182, residual=0.0119251, extent=0.0367991
I0419 20:56:41.790962 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.00948528, 0.594079), tracking=(0.289015, 0.594079), map_predicted=(9.60595, -1.3098), range=0.595182, pts=22
I0419 20:56:41.791002 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0136395m maha_sq=0.00798099 (gate chi2=5.99) pose_sigma=(0.150777, 0.150777, rho=0) det_map=(9.60595, -1.3098) lm_pos=(9.615, -1.32) delta=(-0.00905254, 0.0102023) -> 1 candidate(s)
I0419 20:56:41.791100 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290017172468.
I0419 20:56:41.792402 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290017411461.
I0419 20:56:41.793311 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290017499800.
I0419 20:56:41.796962 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290017700465.
I0419 20:56:41.797780 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604071s, prior_pose=(9.30885, -1.89748), yaw=-1.7444 deg
I0419 20:56:41.797881 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:56:41.797979 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:41.798003 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:41.798065 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.1316 deg, rms_residual=0.0120498m, sigma_yaw=0.0158123 rad, N=2
I0419 20:56:41.798107 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.3133, -1.89354, -2.1316deg) inliers=2 rms=0.0120498m
I0419 20:56:41.798134 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290017776539.
I0419 20:56:41.802621 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:41.802762 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290018021396.
I0419 20:56:41.808678 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290018077043.
I0419 20:56:41.830752 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.302747, 0.639354)
I0419 20:56:41.830940 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290018302187.
I0419 20:56:41.834642 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290018339503.
I0419 20:56:41.918074 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290018617829.
I0419 20:56:41.918922 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0201715 range=0.598478 variance=0.000578095 t_weight=5189.46 r_weight=0 yaml=(9.615, -1.32) prior=(9.32722, -1.89602, -1.87339deg) obs_actual=(0.249891, 0.595522) obs_expected=(0.268792, 0.585117) delta=(-0.0189011, 0.0104052) |delta|=0.0215759m
I0419 20:56:41.919023 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290018662057.
I0419 20:56:41.920308 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:41.920401 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:41.920423 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:41.920501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290018973836.
I0419 20:56:41.920908 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290018974054.
I0419 20:56:41.923110 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290019178565.
I0419 20:56:41.925983 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.898756, -0.591066), points=8, range=1.07225, residual=0.0145603, extent=0.0429004
I0419 20:56:41.926054 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.898756, -0.591066), tracking=(1.19726, -0.591066), map_predicted=(10.5179, -2.52562), range=1.07225, pts=8
I0419 20:56:41.926081 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00632639m maha_sq=0.00172769 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5179, -2.52562) lm_pos=(10.515, -2.52) delta=(0.00289852, -0.00562332) -> 1 candidate(s)
I0419 20:56:41.926136 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:41.926187 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:41.926205 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290019255839.
I0419 20:56:41.950702 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290019501840.
I0419 20:56:41.954133 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:41.954252 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290019536176.
I0419 20:56:41.978317 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290019775791.
I0419 20:56:42.053682 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290019856651.
I0419 20:56:42.055308 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290020061630.
I0419 20:56:42.056284 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.0850106, 0.598434)
I0419 20:56:42.056455 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290020138583.
I0419 20:56:42.058684 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290020340294.
I0419 20:56:42.059717 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290020416969.
I0419 20:56:42.066033 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290020653125.
I0419 20:56:42.070259 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357745s, prior_pose=(9.38244, -1.89516), yaw=-1.83373 deg
I0419 20:56:42.070361 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:56:42.070508 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:42.070535 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:42.070629 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00414056 range=1.04271 variance=0.000675199 t_weight=4443.14 r_weight=0 yaml=(10.515, -2.52) prior=(9.38244, -1.89516, -1.83373deg) obs_actual=(1.16082, -0.592593) obs_expected=(1.15197, -0.588282) delta=(0.0088529, -0.00431065) |delta|=0.0098466m
I0419 20:56:42.070714 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290020698039.
I0419 20:56:42.094390 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:42.094566 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290020939118.
I0419 20:56:42.102550 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290021019456.
I0419 20:56:42.176112 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.369833, 0.638384), points=13, range=0.740154, residual=0.0102944, extent=0.0300039
I0419 20:56:42.176224 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.369833, 0.638384), tracking=(-0.668333, -0.638384), map_predicted=(8.70234, -2.51272), range=0.740154, pts=13
I0419 20:56:42.176256 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0146053m maha_sq=0.00919358 (gate chi2=5.99) pose_sigma=(0.150526, 0.150526, rho=0) det_map=(8.70234, -2.51272) lm_pos=(8.715, -2.52) delta=(-0.0126639, 0.00727606) -> 1 candidate(s)
I0419 20:56:42.176354 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290021262875.
I0419 20:56:42.177186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290021295729.
I0419 20:56:42.178201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290021534214.
I0419 20:56:42.179919 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290021619727.
I0419 20:56:42.181696 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:42.181769 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:42.181785 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:42.181869 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290021813526.
I0419 20:56:42.190613 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290021898966.
I0419 20:56:42.214128 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290022136373.
I0419 20:56:42.218823 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.821107, -0.592828)
I0419 20:56:42.218976 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:42.219056 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:42.219084 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290022182565.
I0419 20:56:42.242442 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290022419480.
I0419 20:56:42.308938 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.4189, -1.89792), yaw=-1.71557 deg backend=(9.41451, -1.90879)
I0419 20:56:42.309844 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:42.309954 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290022496415.
I0419 20:56:42.310977 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0196078 range=0.761077 variance=0.000567583 t_weight=5285.57 r_weight=0 yaml=(8.715, -2.52) prior=(9.4189, -1.89792, -1.71557deg) obs_actual=(-0.705966, -0.639561) obs_expected=(-0.684958, -0.642871) delta=(-0.0210083, 0.00331011) |delta|=0.0212674m
I0419 20:56:42.311115 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290022694146.
I0419 20:56:42.312011 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290022776243.
I0419 20:56:42.317364 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290022979041.
I0419 20:56:42.318092 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.157757, 0.59205), points=22, range=0.613, residual=0.0122485, extent=0.0377893
I0419 20:56:42.318161 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.157757, 0.59205), tracking=(0.140743, 0.59205), map_predicted=(9.58809, -1.30993), range=0.613, pts=22
I0419 20:56:42.318186 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0287357m maha_sq=0.0357704 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.58809, -1.30993) lm_pos=(9.615, -1.32) delta=(-0.0269118, 0.0100743) -> 1 candidate(s)
I0419 20:56:42.318256 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290023061715.
I0419 20:56:42.330425 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290023298689.
I0419 20:56:42.338636 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290023380340.
I0419 20:56:42.358160 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290023576897.
I0419 20:56:42.365885 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0674953s, prior_pose=(9.44202, -1.89689), yaw=-1.68863 deg
I0419 20:56:42.366106 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:42.366302 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:42.366341 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:42.366423 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.80786 deg, rms_residual=0.0118088m, sigma_yaw=0.0155009 rad, N=2
I0419 20:56:42.366492 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.46182, -1.89927, -1.80786deg) inliers=2 rms=0.0118088m
I0419 20:56:42.366529 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290023653994.
I0419 20:56:42.440855 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:42.441013 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290023898901.
I0419 20:56:42.441809 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290023934769.
I0419 20:56:42.442934 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.449571, 0.643974)
I0419 20:56:42.443033 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290024180248.
I0419 20:56:42.444377 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290024213351.
I0419 20:56:42.446266 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290024458103.
I0419 20:56:42.454048 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0225267 range=0.624636 variance=0.000609909 t_weight=4918.76 r_weight=0 yaml=(9.615, -1.32) prior=(9.46587, -1.89817, -1.67907deg) obs_actual=(0.112907, 0.594586) obs_expected=(0.132125, 0.582287) delta=(-0.019218, 0.0122987) |delta|=0.0228164m
I0419 20:56:42.454231 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290024535264.
I0419 20:56:42.474844 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:42.474942 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:42.474967 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:42.475070 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290024743467.
I0419 20:56:42.482479 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290024818775.
I0419 20:56:42.506750 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290025061144.
I0419 20:56:42.573715 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.759881, -0.600797), points=9, range=0.964333, residual=0.0137915, extent=0.0399303
I0419 20:56:42.573819 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.759881, -0.600797), tracking=(1.05838, -0.600797), map_predicted=(10.5203, -2.52844), range=0.964333, pts=9
I0419 20:56:42.573855 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00993943m maha_sq=0.00424809 (gate chi2=5.99) pose_sigma=(0.15039, 0.15039, rho=0) det_map=(10.5203, -2.52844) lm_pos=(10.515, -2.52) delta=(0.00525305, -0.00843787) -> 1 candidate(s)
I0419 20:56:42.573915 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:42.573971 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:42.573990 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290025095462.
I0419 20:56:42.575112 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290025333872.
I0419 20:56:42.576022 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:42.576128 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290025416927.
I0419 20:56:42.577989 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290025658031.
I0419 20:56:42.578866 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290025702593.
I0419 20:56:42.594502 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290025939959.
I0419 20:56:42.598608 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.224745, 0.598299)
I0419 20:56:42.598816 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290025981741.
I0419 20:56:42.622351 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290026217765.
I0419 20:56:42.630214 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290026295696.
I0419 20:56:42.703214 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290026537760.
I0419 20:56:42.704000 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590546s, prior_pose=(9.51587, -1.90087), yaw=-1.52583 deg
I0419 20:56:42.704087 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:42.704188 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:42.704213 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:42.704280 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00553337 range=0.937125 variance=0.000565261 t_weight=5307.29 r_weight=0 yaml=(10.515, -2.52) prior=(9.51587, -1.90087, -1.52583deg) obs_actual=(1.01761, -0.603352) obs_expected=(1.01526, -0.592301) delta=(0.00234878, -0.0110504) |delta|=0.0112973m
I0419 20:56:42.704340 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290026572287.
I0419 20:56:42.705400 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:42.705518 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290026814957.
I0419 20:56:42.707149 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290026894671.
I0419 20:56:42.714077 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.520932, 0.643278), points=11, range=0.829455, residual=0.00925524, extent=0.0270383
I0419 20:56:42.714188 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.520932, 0.643278), tracking=(-0.819432, -0.643278), map_predicted=(8.69385, -2.52229), range=0.829455, pts=11
I0419 20:56:42.714218 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0212726m maha_sq=0.0196512 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.69385, -2.52229) lm_pos=(8.715, -2.52) delta=(-0.0211491, -0.0022893) -> 1 candidate(s)
I0419 20:56:42.714324 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290027136299.
I0419 20:56:42.718609 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290027180303.
I0419 20:56:42.742813 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290027421666.
I0419 20:56:42.746093 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290027455351.
I0419 20:56:42.769738 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:42.769845 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:42.769872 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:42.770005 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290027692064.
I0419 20:56:42.845444 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.267814, 0.594357)
I0419 20:56:42.845664 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290027781597.
I0419 20:56:42.846776 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290027978377.
I0419 20:56:42.847561 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:42.847658 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:42.847685 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028058451.
I0419 20:56:42.849627 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00543097 range=0.8476 variance=0.000544665 t_weight=5507.97 r_weight=0 yaml=(8.715, -2.52) prior=(9.56693, -1.90301, -1.36549deg) obs_actual=(-0.846345, -0.643319) obs_expected=(-0.836985, -0.637114) delta=(-0.00935981, -0.00620462) |delta|=0.0112296m
I0419 20:56:42.849764 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028292067.
I0419 20:56:42.850629 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:42.850708 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028377126.
I0419 20:56:42.858414 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.788587 deg, rms_residual=0.0117688m, sigma_yaw=0.0154493 rad, N=2
I0419 20:56:42.858548 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.57308, -1.89766, -0.788587deg) inliers=2 rms=0.0117688m
I0419 20:56:42.858601 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028578813.
I0419 20:56:42.866050 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.661116, -0.603996), points=11, range=0.896818, residual=0.0112054, extent=0.0354493
I0419 20:56:42.866232 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.661116, -0.603996), tracking=(0.959616, -0.603996), map_predicted=(10.5227, -2.52773), range=0.896818, pts=11
I0419 20:56:42.866303 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0109296m maha_sq=0.00512503 (gate chi2=5.99) pose_sigma=(0.15079, 0.15079, rho=0) det_map=(10.5227, -2.52773) lm_pos=(10.515, -2.52) delta=(0.00772281, -0.00773395) -> 1 candidate(s)
I0419 20:56:42.866427 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028655663.
I0419 20:56:42.886472 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028853719.
I0419 20:56:42.894234 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290028934587.
I0419 20:56:42.982919 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:42.983213 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.328909, -0.586817)
I0419 20:56:42.983355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290029181442.
I0419 20:56:42.984149 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290029261469.
I0419 20:56:42.985293 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290029460096.
I0419 20:56:42.986789 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0355574s, prior_pose=(9.59809, -1.90047), yaw=-1.35583 deg
I0419 20:56:42.986918 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1367, max_intensity=255, threshold=230, above_threshold=46, candidates=46
I0419 20:56:42.987069 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=46, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:42.987134 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:42.987224 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290029537016.
I0419 20:56:42.988384 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:42.988473 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0227144 range=0.873091 variance=0.000544754 t_weight=5507.07 r_weight=0 yaml=(8.715, -2.52) prior=(9.59809, -1.90047, -1.35583deg) obs_actual=(-0.890927, -0.642695) obs_expected=(-0.868179, -0.640253) delta=(-0.0227483, -0.00244157) |delta|=0.022879m
I0419 20:56:42.988533 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290029779220.
I0419 20:56:42.989305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290029812248.
I0419 20:56:43.003316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030027332.
I0419 20:56:43.010262 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.624072, -0.606111), points=13, range=0.871692, residual=0.0120738, extent=0.0353898
I0419 20:56:43.010375 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.624072, -0.606111), tracking=(0.922572, -0.606111), map_predicted=(10.5181, -2.52667), range=0.871692, pts=13
I0419 20:56:43.010411 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00733549m maha_sq=0.00233044 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5181, -2.52667) lm_pos=(10.515, -2.52) delta=(0.0030622, -0.00666576) -> 1 candidate(s)
I0419 20:56:43.010501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030096616.
I0419 20:56:43.035221 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030342173.
I0419 20:56:43.115963 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.619453, -0.605099)
I0419 20:56:43.116111 1218972 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 18 -> 16 (threshold=0.03, iters=3)
I0419 20:56:43.116217 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030421936.
I0419 20:56:43.118144 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:43.118242 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:43.118263 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:43.118378 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030660497.
I0419 20:56:43.119208 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030693984.
I0419 20:56:43.121249 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290030934922.
I0419 20:56:43.122201 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:43.122254 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:43.122277 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290031052588.
I0419 20:56:43.123420 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0304568 range=0.897857 variance=0.000506087 t_weight=5927.83 r_weight=0 yaml=(8.715, -2.52) prior=(9.62898, -1.89875, -1.3537deg) obs_actual=(-0.925501, -0.641735) obs_expected=(-0.899047, -0.64267) delta=(-0.0264541, 0.000934456) |delta|=0.0264706m
I0419 20:56:43.123482 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290031219450.
I0419 20:56:43.124589 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.64274, -1.89834), yaw=-1.31872 deg backend=(9.61767, -1.90815)
I0419 20:56:43.131004 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:43.131161 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290031303662.
I0419 20:56:43.154307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290031535505.
I0419 20:56:43.158317 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290031578441.
I0419 20:56:43.235345 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.253057, -0.581907), points=19, range=0.634632, residual=0.0109751, extent=0.0351404
I0419 20:56:43.235458 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.253057, -0.581907), tracking=(-0.0454432, 0.581907), map_predicted=(9.62226, -1.31813), range=0.634632, pts=19
I0419 20:56:43.235656 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.00749146m maha_sq=0.00240709 (gate chi2=5.99) pose_sigma=(0.150863, 0.150863, rho=0) det_map=(9.62226, -1.31813) lm_pos=(9.615, -1.32) delta=(0.00725542, 0.00186572) -> 1 candidate(s)
I0419 20:56:43.235723 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.692806 deg, rms_residual=0.00795107m, sigma_yaw=0.0104902 rad, N=2
I0419 20:56:43.235837 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.65817, -1.89605, -0.692806deg) inliers=2 rms=0.00795107m
I0419 20:56:43.235883 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290031796402.
I0419 20:56:43.236828 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.579244, -0.606783)
I0419 20:56:43.236959 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290031856143.
I0419 20:56:43.238435 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290032096787.
I0419 20:56:43.240263 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290032181774.
I0419 20:56:43.241712 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290032372164.
I0419 20:56:43.246810 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0667965s, prior_pose=(9.66579, -1.90071), yaw=-1.2969 deg
I0419 20:56:43.246892 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:56:43.246961 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:43.246981 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:43.247077 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290032464367.
I0419 20:56:43.270112 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:43.270277 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290032696206.
I0419 20:56:43.274386 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290032739818.
I0419 20:56:43.274647 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:43.298365 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290032977519.
I0419 20:56:43.377943 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290033056075.
I0419 20:56:43.379252 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00211697 range=0.62225 variance=0.000568895 t_weight=5273.38 r_weight=0 yaml=(9.615, -1.32) prior=(9.68515, -1.89804, -1.21178deg) obs_actual=(-0.0843116, 0.583139) obs_expected=(-0.0823555, 0.57643) delta=(-0.00195613, 0.00670892) |delta|=0.00698828m
I0419 20:56:43.379374 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290033300595.
I0419 20:56:43.380050 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290033334558.
I0419 20:56:43.382016 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:43.382114 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:43.382134 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:43.382220 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290033621600.
I0419 20:56:43.382611 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.685696, 0.641254), points=8, range=0.9425, residual=0.0109212, extent=0.0270337
I0419 20:56:43.382654 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.685696, 0.641254), tracking=(-0.984196, -0.641254), map_predicted=(8.69675, -2.51955), range=0.9425, pts=8
I0419 20:56:43.382683 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0182567m maha_sq=0.0144499 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.69675, -2.51955) lm_pos=(8.715, -2.52) delta=(-0.0182512, 0.000449355) -> 1 candidate(s)
I0419 20:56:43.382750 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290033621902.
I0419 20:56:43.388727 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.69605, 0.639623)
I0419 20:56:43.389050 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290033880043.
I0419 20:56:43.394977 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:43.395110 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:43.395135 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290033945625.
I0419 20:56:43.417779 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290034172053.
I0419 20:56:43.422019 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:43.422204 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290034212587.
I0419 20:56:43.509032 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290034471918.
I0419 20:56:43.509825 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290034538885.
I0419 20:56:43.511018 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290034776880.
I0419 20:56:43.512372 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290034821002.
I0419 20:56:43.513520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290035060863.
I0419 20:56:43.514318 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.000287093 range=0.783214 variance=0.000611095 t_weight=4909.22 r_weight=0 yaml=(10.515, -2.52) prior=(9.72747, -1.89728, -1.01155deg) obs_actual=(0.798258, -0.606147) obs_expected=(0.798399, -0.608719) delta=(-0.000140861, 0.002572) |delta|=0.00257586m
I0419 20:56:43.514413 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290035094552.
I0419 20:56:43.534017 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290035333184.
I0419 20:56:43.542528 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599583s, prior_pose=(9.73701, -1.89751), yaw=-1.01079 deg
I0419 20:56:43.542659 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:56:43.542766 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:43.542798 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:43.542937 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290035420585.
I0419 20:56:43.561734 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.73836, 0.641837), points=4, range=0.98075, residual=0.00699804, extent=0.0165695
I0419 20:56:43.561880 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.73836, 0.641837), tracking=(-1.03686, -0.641837), map_predicted=(8.68899, -2.52095), range=0.98075, pts=4
I0419 20:56:43.561913 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0260323m maha_sq=0.0294669 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.68899, -2.52095) lm_pos=(8.715, -2.52) delta=(-0.0260149, -0.000953308) -> 1 candidate(s)
I0419 20:56:43.561934 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:43.562043 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290035612408.
I0419 20:56:43.624974 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290035691761.
I0419 20:56:43.626188 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.154457, -0.583081)
I0419 20:56:43.626374 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290035899922.
I0419 20:56:43.627274 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290035982282.
I0419 20:56:43.629226 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290036222274.
I0419 20:56:43.631325 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290036305142.
I0419 20:56:43.650369 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:43.650465 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:43.650482 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:43.650591 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290036499085.
I0419 20:56:43.658078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290036574205.
I0419 20:56:43.682214 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290036811674.
I0419 20:56:43.687361 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:43.687588 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:43.687714 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290036857876.
I0419 20:56:43.787204 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0199169 range=1.00767 variance=0.000509465 t_weight=5888.53 r_weight=0 yaml=(8.715, -2.52) prior=(9.78459, -1.8959, -1.05394deg) obs_actual=(-1.07909, -0.639642) obs_expected=(-1.05793, -0.643663) delta=(-0.0211613, 0.00402173) |delta|=0.0215401m
I0419 20:56:43.787410 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290037102602.
I0419 20:56:43.788306 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:43.788400 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290037175150.
I0419 20:56:43.789552 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290037413676.
I0419 20:56:43.790958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290037460296.
I0419 20:56:43.792004 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.110757, -0.578671), points=21, range=0.590524, residual=0.0109719, extent=0.0347846
I0419 20:56:43.792074 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.110757, -0.578671), tracking=(-0.187743, 0.578671), map_predicted=(9.61995, -1.31348), range=0.590524, pts=21
I0419 20:56:43.792099 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.00818977m maha_sq=0.00290934 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61995, -1.31348) lm_pos=(9.615, -1.32) delta=(0.00495271, 0.0065225) -> 1 candidate(s)
I0419 20:56:43.792142 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.510751 deg, rms_residual=0.00754994m, sigma_yaw=0.00996627 rad, N=2
I0419 20:56:43.792171 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.80211, -1.89428, -0.510751deg) inliers=2 rms=0.00754994m
I0419 20:56:43.792196 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290037693360.
I0419 20:56:43.792754 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.431802, -0.603334)
I0419 20:56:43.792829 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290037737719.
I0419 20:56:43.798441 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290037974862.
I0419 20:56:43.806108 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290038054039.
I0419 20:56:43.826646 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290038256802.
I0419 20:56:43.923506 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0371406s, prior_pose=(9.80858, -1.89542), yaw=-1.17622 deg
I0419 20:56:43.923614 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:56:43.923696 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:43.923717 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:43.923805 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290038346268.
I0419 20:56:43.924922 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:43.925012 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290038577581.
I0419 20:56:43.925772 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290038612325.
I0419 20:56:43.927733 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290038869917.
I0419 20:56:43.928512 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290038939420.
I0419 20:56:43.929605 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0550859 range=1.0474 variance=0.000490157 t_weight=6120.48 r_weight=0 yaml=(8.715, -2.52) prior=(9.82075, -1.89476, -1.18065deg) obs_actual=(-1.12774, -0.64205) obs_expected=(-1.09263, -0.647892) delta=(-0.0351042, 0.00584206) |delta|=0.035587m
I0419 20:56:43.929708 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290039139178.
I0419 20:56:43.931155 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290039216205.
I0419 20:56:43.946913 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:43.947045 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:43.947075 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:43.947224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290039459529.
I0419 20:56:43.950539 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290039496690.
I0419 20:56:44.033878 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.841558, 0.641851)
I0419 20:56:44.033987 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0593675, -0.581164), points=23, range=0.585043, residual=0.0121358, extent=0.0377508
I0419 20:56:44.034013 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0593675, -0.581164), tracking=(-0.239133, 0.581164), map_predicted=(9.62142, -1.30742), range=0.585043, pts=23
I0419 20:56:44.034036 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0141262m maha_sq=0.00853267 (gate chi2=5.99) pose_sigma=(0.151016, 0.151016, rho=0) det_map=(9.62142, -1.30742) lm_pos=(9.615, -1.32) delta=(0.00641749, 0.0125844) -> 1 candidate(s)
I0419 20:56:44.034166 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290039740755.
I0419 20:56:44.035013 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:44.035089 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:44.035115 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290039817306.
I0419 20:56:44.036303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290040063235.
I0419 20:56:44.037392 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.86049, -1.89381), yaw=-1.19068 deg backend=(9.82713, -1.91056)
I0419 20:56:44.037796 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:44.037863 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290040097102.
I0419 20:56:44.039155 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290040335470.
I0419 20:56:44.040032 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290040386656.
I0419 20:56:44.062831 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290040616030.
I0419 20:56:44.070371 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290040696879.
I0419 20:56:44.094767 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290040938377.
I0419 20:56:44.188760 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290040973118.
I0419 20:56:44.189976 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0112423 range=0.580304 variance=0.000578151 t_weight=5188.95 r_weight=0 yaml=(9.615, -1.32) prior=(9.88306, -1.89426, -1.23984deg) obs_actual=(-0.268146, 0.578762) obs_expected=(-0.280418, 0.56833) delta=(0.0122728, 0.0104322) |delta|=0.0161075m
I0419 20:56:44.190099 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290041214624.
I0419 20:56:44.190843 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684509s, prior_pose=(9.88306, -1.89426), yaw=-1.23984 deg
I0419 20:56:44.190910 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:56:44.190979 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:44.191001 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:44.191073 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290041300539.
I0419 20:56:44.192808 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:44.192905 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290041494567.
I0419 20:56:44.193930 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290041575078.
I0419 20:56:44.195056 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.0126311, -0.579309)
I0419 20:56:44.195127 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.898872, 0.643113), points=5, range=1.1034, residual=0.00751194, extent=0.0189922
I0419 20:56:44.195153 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.898872, 0.643113), tracking=(-1.19737, -0.643113), map_predicted=(8.67924, -2.51055), range=1.1034, pts=5
I0419 20:56:44.195178 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0369909m maha_sq=0.0594619 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.67924, -2.51055) lm_pos=(8.715, -2.52) delta=(-0.0357625, 0.00945362) -> 1 candidate(s)
I0419 20:56:44.195250 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290041818931.
I0419 20:56:44.196887 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290041897348.
I0419 20:56:44.210752 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290042100834.
I0419 20:56:44.218724 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290042181632.
I0419 20:56:44.306618 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:44.306739 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:44.306763 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:44.306849 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290042418930.
I0419 20:56:44.307631 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290042453670.
I0419 20:56:44.308910 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290042694749.
I0419 20:56:44.310410 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:44.310523 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:44.310545 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290042740606.
I0419 20:56:44.311821 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290042983991.
I0419 20:56:44.312623 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:44.312690 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290043068967.
I0419 20:56:44.328531 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0333053 range=1.12875 variance=0.00049684 t_weight=6038.17 r_weight=0 yaml=(8.715, -2.52) prior=(9.92676, -1.89264, -1.1763deg) obs_actual=(-1.22501, -0.643391) obs_expected=(-1.19862, -0.652099) delta=(-0.0263832, 0.00870796) |delta|=0.0277831m
I0419 20:56:44.328912 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290043272551.
I0419 20:56:44.334894 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290043341667.
I0419 20:56:44.359117 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.938004, 0.641984)
I0419 20:56:44.359566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290043581458.
I0419 20:56:44.441390 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290043615069.
I0419 20:56:44.441619 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:44.442560 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.935707, 0.641064), points=5, range=1.137, residual=0.00980797, extent=0.0239857
I0419 20:56:44.442622 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.935707, 0.641064), tracking=(-1.23421, -0.641064), map_predicted=(8.69383, -2.50854), range=1.137, pts=5
I0419 20:56:44.442649 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.024078m maha_sq=0.025148 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.69383, -2.50854) lm_pos=(8.715, -2.52) delta=(-0.0211745, 0.0114626) -> 1 candidate(s)
I0419 20:56:44.442718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290043861226.
I0419 20:56:44.443445 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290043901771.
I0419 20:56:44.445168 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290044137552.
I0419 20:56:44.445896 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600572s, prior_pose=(9.94883, -1.8931), yaw=-1.14674 deg
I0419 20:56:44.445964 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:56:44.446049 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:44.446071 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:44.446130 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290044215641.
I0419 20:56:44.447160 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:44.447234 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290044454280.
I0419 20:56:44.450304 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290044498440.
I0419 20:56:44.474525 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.0794193 deg, rms_residual=0.0116643m, sigma_yaw=0.0153143 rad, N=2
I0419 20:56:44.474649 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.97386, -1.8914, -0.0794193deg) inliers=2 rms=0.0116643m
I0419 20:56:44.474692 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290044738848.
I0419 20:56:44.482517 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290044816971.
I0419 20:56:44.554486 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290045023424.
I0419 20:56:44.555367 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290045093395.
I0419 20:56:44.556375 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:44.556434 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:44.556495 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:44.556538 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0567272 range=1.1725 variance=0.000529268 t_weight=5668.2 r_weight=0 yaml=(8.715, -2.52) prior=(9.97586, -1.89196, -1.14209deg) obs_actual=(-1.28291, -0.643354) obs_expected=(-1.24809, -0.65305) delta=(-0.0348191, 0.00969629) |delta|=0.036144m
I0419 20:56:44.556577 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290045336672.
I0419 20:56:44.558008 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290045372312.
I0419 20:56:44.562245 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0773641, -0.58077)
I0419 20:56:44.562412 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290045617626.
I0419 20:56:44.570152 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:44.570271 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:44.570290 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290045695380.
I0419 20:56:44.589761 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0850065, -0.580158), points=21, range=0.58681, residual=0.0108339, extent=0.0349546
I0419 20:56:44.589852 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0850065, -0.580158), tracking=(-0.383507, 0.580158), map_predicted=(9.62444, -1.3038), range=0.58681, pts=21
I0419 20:56:44.589883 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0187461m maha_sq=0.0151331 (gate chi2=5.99) pose_sigma=(0.150568, 0.150568, rho=0) det_map=(9.62444, -1.3038) lm_pos=(9.615, -1.32) delta=(0.00943968, 0.016196) -> 1 candidate(s)
I0419 20:56:44.589963 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290045891792.
I0419 20:56:44.598400 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:44.598517 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290045979683.
I0419 20:56:44.622220 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290046213931.
I0419 20:56:44.695865 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290046258637.
I0419 20:56:44.697472 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290046498397.
I0419 20:56:44.698354 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290046578195.
I0419 20:56:44.700222 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290046778081.
I0419 20:56:44.701177 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290046859357.
I0419 20:56:44.710259 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290047096027.
I0419 20:56:44.714439 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0362114s, prior_pose=(10.0234, -1.88696), yaw=-0.925665 deg
I0419 20:56:44.714565 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:44.714725 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:44.714752 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:44.714893 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290047140195.
I0419 20:56:44.739289 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:44.739542 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290047382335.
I0419 20:56:44.747097 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.199181, -0.606658)
I0419 20:56:44.747337 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290047461776.
I0419 20:56:44.848875 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290047692062.
I0419 20:56:44.849638 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290047736991.
I0419 20:56:44.850891 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0154327 range=0.5948 variance=0.000550474 t_weight=5449.85 r_weight=0 yaml=(9.615, -1.32) prior=(10.03, -1.88757, -1.00357deg) obs_actual=(-0.429422, 0.578504) obs_expected=(-0.424828, 0.560212) delta=(-0.00459451, 0.0182927) |delta|=0.0188608m
I0419 20:56:44.851003 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290047977407.
I0419 20:56:44.852367 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290048054285.
I0419 20:56:44.853507 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:44.853574 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:44.853591 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:44.853648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290048262406.
I0419 20:56:44.854398 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290048341200.
I0419 20:56:44.858706 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0616, 0.642073), points=4, range=1.2375, residual=0.00804179, extent=0.0176677
I0419 20:56:44.858824 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0616, 0.642073), tracking=(-1.3601, -0.642073), map_predicted=(8.67203, -2.50456), range=1.2375, pts=4
I0419 20:56:44.858880 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0456618m maha_sq=0.0902088 (gate chi2=5.99) pose_sigma=(0.150283, 0.150283, rho=0) det_map=(8.67203, -2.50456) lm_pos=(8.715, -2.52) delta=(-0.0429726, 0.0154387) -> 1 candidate(s)
I0419 20:56:44.859057 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290048579240.
I0419 20:56:44.862329 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:44.862493 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:44.862546 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290048614081.
I0419 20:56:44.887589 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290048862704.
I0419 20:56:44.987437 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.0629, -1.88799), yaw=-0.993184 deg backend=(10.0372, -1.91339)
I0419 20:56:44.988217 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:44.988310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290048904753.
I0419 20:56:44.989482 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290049140833.
I0419 20:56:44.990348 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290049212654.
I0419 20:56:44.992076 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.0843, 0.640802)
I0419 20:56:44.992234 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290049454512.
I0419 20:56:44.993019 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290049500352.
I0419 20:56:44.994910 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290049739301.
I0419 20:56:44.998342 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290049817911.
I0419 20:56:45.002825 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0612685 range=1.27025 variance=0.000487675 t_weight=6151.64 r_weight=0 yaml=(8.715, -2.52) prior=(10.0889, -1.88908, -0.975706deg) obs_actual=(-1.39708, -0.638525) obs_expected=(-1.36299, -0.654224) delta=(-0.0340878, 0.0156985) |delta|=0.0375289m
I0419 20:56:45.003031 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290050020157.
I0419 20:56:45.010818 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0647894s, prior_pose=(10.0889, -1.88908), yaw=-0.975706 deg
I0419 20:56:45.010962 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:45.011125 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:45.011161 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:45.011329 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290050102406.
I0419 20:56:45.095830 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:45.095983 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290050333847.
I0419 20:56:45.096822 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290050372708.
I0419 20:56:45.097951 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.193283, -0.583152), points=21, range=0.617571, residual=0.0143151, extent=0.0442697
I0419 20:56:45.098033 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.193283, -0.583152), tracking=(-0.491783, 0.583152), map_predicted=(9.61973, -1.29908), range=0.617571, pts=21
I0419 20:56:45.098059 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0214427m maha_sq=0.0198704 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61973, -1.29908) lm_pos=(9.615, -1.32) delta=(0.00472651, 0.0209153) -> 1 candidate(s)
I0419 20:56:45.098174 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290050614080.
I0419 20:56:45.099748 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290050742616.
I0419 20:56:45.100813 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290050909099.
I0419 20:56:45.101655 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290050977976.
I0419 20:56:45.121667 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:45.121749 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:45.121770 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:45.121877 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290051212434.
I0419 20:56:45.126647 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290051257338.
I0419 20:56:45.150460 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.219007, -0.585421)
I0419 20:56:45.150790 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290051496174.
I0419 20:56:45.254915 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:45.255048 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:45.255074 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290051576288.
I0419 20:56:45.256162 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290051781594.
I0419 20:56:45.256971 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:45.257066 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290051865740.
I0419 20:56:45.258911 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0233429 range=0.631571 variance=0.000654569 t_weight=4583.17 r_weight=0 yaml=(9.615, -1.32) prior=(10.1423, -1.89349, -1.00592deg) obs_actual=(-0.527064, 0.585113) obs_expected=(-0.537326, 0.564146) delta=(0.0102614, 0.0209669) |delta|=0.0233432m
I0419 20:56:45.259044 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290052062445.
I0419 20:56:45.259806 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290052141647.
I0419 20:56:45.260994 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290052380519.
I0419 20:56:45.262429 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290052458812.
I0419 20:56:45.265864 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.242031, -0.584198), points=19, range=0.636053, residual=0.0141361, extent=0.0422356
I0419 20:56:45.265946 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.242031, -0.584198), tracking=(-0.540531, 0.584198), map_predicted=(9.62302, -1.29996), range=0.636053, pts=19
I0419 20:56:45.265975 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0215868m maha_sq=0.0201423 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.62302, -1.29996) lm_pos=(9.615, -1.32) delta=(0.00801726, 0.0200428) -> 1 candidate(s)
I0419 20:56:45.266091 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290052653816.
I0419 20:56:45.274188 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290052736566.
I0419 20:56:45.345422 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290052972480.
I0419 20:56:45.346231 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557367s, prior_pose=(10.1618, -1.89431), yaw=-0.995151 deg
I0419 20:56:45.346395 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:45.346516 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:45.346578 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:45.346666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290053016179.
I0419 20:56:45.348114 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:45.348194 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.156784 deg, rms_residual=0.0162411m, sigma_yaw=0.0211958 rad, N=2
I0419 20:56:45.348246 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.1814, -1.8908, 0.156784deg) inliers=2 rms=0.0162411m
I0419 20:56:45.348279 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290053259324.
I0419 20:56:45.350234 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.056346, -0.602999)
I0419 20:56:45.350359 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290053339429.
I0419 20:56:45.353804 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290053532486.
I0419 20:56:45.362864 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290053621558.
I0419 20:56:45.386005 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290053854367.
I0419 20:56:45.390409 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290053898440.
I0419 20:56:45.415076 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:45.415237 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:45.415270 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:45.415354 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0200071 range=0.649529 variance=0.000590607 t_weight=5079.52 r_weight=0 yaml=(9.615, -1.32) prior=(10.1863, -1.89308, -0.991004deg) obs_actual=(-0.57605, 0.584) obs_expected=(-0.581137, 0.563117) delta=(0.00508724, 0.0208829) |delta|=0.0214936m
I0419 20:56:45.415465 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290054142211.
I0419 20:56:45.495625 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290054212294.
I0419 20:56:45.497263 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290054415065.
I0419 20:56:45.498556 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0317407, -0.60488), points=23, range=0.605, residual=0.0126263, extent=0.040104
I0419 20:56:45.498651 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0317407, -0.60488), tracking=(0.330241, -0.60488), map_predicted=(10.5167, -2.50315), range=0.605, pts=23
I0419 20:56:45.498715 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0169403m maha_sq=0.0124265 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5167, -2.50315) lm_pos=(10.515, -2.52) delta=(0.00170425, 0.0168543) -> 1 candidate(s)
I0419 20:56:45.498793 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:45.498854 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:45.498874 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290054492251.
I0419 20:56:45.500977 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290054734595.
I0419 20:56:45.502164 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:45.502384 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290054778514.
I0419 20:56:45.503631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290055012074.
I0419 20:56:45.507598 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0150038, -0.603802)
I0419 20:56:45.507810 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055071189.
I0419 20:56:45.530758 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055296946.
I0419 20:56:45.538626 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055379604.
I0419 20:56:45.634552 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055614808.
I0419 20:56:45.635538 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055694345.
I0419 20:56:45.636585 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055896823.
I0419 20:56:45.637943 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0335453s, prior_pose=(10.2357, -1.89188), yaw=-1.05106 deg
I0419 20:56:45.638023 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:45.638123 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:45.638146 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:45.638213 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290055950261.
I0419 20:56:45.639343 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:45.639425 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290056220238.
I0419 20:56:45.640115 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290056256831.
I0419 20:56:45.649953 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0291228 range=0.678294 variance=0.000617692 t_weight=4856.79 r_weight=0 yaml=(9.615, -1.32) prior=(10.2374, -1.8916, -1.03476deg) obs_actual=(-0.633613, 0.586214) obs_expected=(-0.632617, 0.560264) delta=(-0.00099582, 0.02595) |delta|=0.0259691m
I0419 20:56:45.650154 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290056493657.
I0419 20:56:45.654991 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.0219686, -0.60468)
I0419 20:56:45.655279 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290056539344.
I0419 20:56:45.682521 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290056813818.
I0419 20:56:45.782020 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0298607, -0.603659), points=23, range=0.605391, residual=0.0123683, extent=0.0424806
I0419 20:56:45.782110 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0298607, -0.603659), tracking=(0.268639, -0.603659), map_predicted=(10.5144, -2.50111), range=0.605391, pts=23
I0419 20:56:45.782140 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.018898m maha_sq=0.0151934 (gate chi2=5.99) pose_sigma=(0.151389, 0.151389, rho=0) det_map=(10.5144, -2.50111) lm_pos=(10.515, -2.52) delta=(-0.000608503, 0.0188882) -> 1 candidate(s)
I0419 20:56:45.782217 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290056861794.
I0419 20:56:45.783322 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:45.783371 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:45.783390 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:45.783455 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290057062185.
I0419 20:56:45.784286 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290057141623.
I0419 20:56:45.786428 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290057381892.
I0419 20:56:45.787293 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:45.787408 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:45.787436 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290057417026.
I0419 20:56:45.788605 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290057654024.
I0419 20:56:45.789671 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.2795, -1.89473), yaw=-1.02259 deg backend=(10.2482, -1.91892)
I0419 20:56:45.790263 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:45.790335 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290057732229.
I0419 20:56:45.797995 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290057972968.
I0419 20:56:45.802104 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.76777, -0.568708)
I0419 20:56:45.802312 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290058016476.
I0419 20:56:45.873096 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290058253068.
I0419 20:56:45.873096 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:45.873953 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290058296351.
I0419 20:56:45.875231 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290058578427.
I0419 20:56:45.876596 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00923713 range=0.609783 variance=0.000579805 t_weight=5174.15 r_weight=0 yaml=(10.515, -2.52) prior=(10.3041, -1.89636, -1.11069deg) obs_actual=(0.225982, -0.605066) obs_expected=(0.222949, -0.619438) delta=(0.00303229, 0.0143723) |delta|=0.0146887m
I0419 20:56:45.876688 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290058621737.
I0419 20:56:45.886490 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290058858688.
I0419 20:56:45.890118 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643973s, prior_pose=(10.3041, -1.89636), yaw=-1.11069 deg
I0419 20:56:45.890247 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:56:45.890405 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:45.890437 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:45.890568 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290058897041.
I0419 20:56:45.914651 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:45.914880 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290059140275.
I0419 20:56:45.918135 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0806314, -0.605642), points=22, range=0.611045, residual=0.0119275, extent=0.0382248
I0419 20:56:45.918246 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0806314, -0.605642), tracking=(0.217869, -0.605642), map_predicted=(10.5163, -2.50672), range=0.611045, pts=22
I0419 20:56:45.918288 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0133474m maha_sq=0.00772006 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5163, -2.50672) lm_pos=(10.515, -2.52) delta=(0.00133639, 0.0132803) -> 1 candidate(s)
I0419 20:56:45.918377 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290059174955.
I0419 20:56:45.942503 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290059419396.
I0419 20:56:46.019624 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.71468, -0.565414)
I0419 20:56:46.019793 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290059502188.
I0419 20:56:46.020823 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290059735397.
I0419 20:56:46.021596 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290059780798.
I0419 20:56:46.023232 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:46.023291 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:46.023308 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:46.023358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290060018845.
I0419 20:56:46.024112 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290060097788.
I0419 20:56:46.030087 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290060296370.
I0419 20:56:46.038573 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:46.038715 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:46.038738 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290060380446.
I0419 20:56:46.059413 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290060585895.
I0419 20:56:46.066103 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:46.066315 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290060653350.
I0419 20:56:46.136631 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:46.143435 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0242296 range=1.49067 variance=0.000501355 t_weight=5983.79 r_weight=0 yaml=(8.715, -2.52) prior=(10.3538, -1.89105, -1.10127deg) obs_actual=(-1.64377, -0.644058) obs_expected=(-1.62642, -0.660331) delta=(-0.0173554, 0.0162725) |delta|=0.0237909m
I0419 20:56:46.143622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290060892203.
I0419 20:56:46.144297 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.68694, -0.56171)
I0419 20:56:46.144400 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290060933376.
I0419 20:56:46.145633 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290061175123.
I0419 20:56:46.147236 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290061263658.
I0419 20:56:46.150619 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.457779, -0.584118), points=15, range=0.746067, residual=0.0139601, extent=0.0413622
I0419 20:56:46.150712 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.457779, -0.584118), tracking=(-0.756279, 0.584118), map_predicted=(9.62252, -1.29439), range=0.746067, pts=15
I0419 20:56:46.150749 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0266906m maha_sq=0.0307943 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.62252, -1.29439) lm_pos=(9.615, -1.32) delta=(0.00752266, 0.0256086) -> 1 candidate(s)
I0419 20:56:46.150847 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290061501580.
I0419 20:56:46.153946 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290061534421.
I0419 20:56:46.178200 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290061774066.
I0419 20:56:46.182801 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558511s, prior_pose=(10.3758, -1.89516), yaw=-1.12864 deg
I0419 20:56:46.182938 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:56:46.183105 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:46.183141 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:46.183328 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290061822169.
I0419 20:56:46.206285 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:46.206493 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.441464 deg, rms_residual=0.0128033m, sigma_yaw=0.0167845 rad, N=2
I0419 20:56:46.206626 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.3889, -1.90052, -0.441464deg) inliers=2 rms=0.0128033m
I0419 20:56:46.206699 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290062054272.
I0419 20:56:46.305225 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290062133851.
I0419 20:56:46.306525 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290062454560.
I0419 20:56:46.306936 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.38668, 0.64416)
I0419 20:56:46.307047 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290062454824.
I0419 20:56:46.309149 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290062657722.
I0419 20:56:46.309677 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290062734640.
I0419 20:56:46.310835 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:46.310901 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:46.310917 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:46.310971 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290062935332.
I0419 20:56:46.312431 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290063018429.
I0419 20:56:46.326997 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0337421 range=0.775571 variance=0.000605569 t_weight=4954.02 r_weight=0 yaml=(9.615, -1.32) prior=(10.3977, -1.8993, -1.12042deg) obs_actual=(-0.810054, 0.586666) obs_expected=(-0.793913, 0.563882) delta=(-0.0161415, 0.0227834) |delta|=0.0279218m
I0419 20:56:46.327225 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290063261625.
I0419 20:56:46.330631 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:46.330812 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:46.330861 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290063298827.
I0419 20:56:46.416349 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290063537733.
I0419 20:56:46.417291 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:46.417392 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290063621616.
I0419 20:56:46.418318 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.527815, -0.589563), points=12, range=0.788167, residual=0.0122993, extent=0.0341375
I0419 20:56:46.418385 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.527815, -0.589563), tracking=(-0.826315, 0.589563), map_predicted=(9.59363, -1.29709), range=0.788167, pts=12
I0419 20:56:46.418408 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0313278m maha_sq=0.0425013 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59363, -1.29709) lm_pos=(9.615, -1.32) delta=(-0.0213685, 0.0229089) -> 1 candidate(s)
I0419 20:56:46.418479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290063857531.
I0419 20:56:46.419886 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.62053, -0.565909)
I0419 20:56:46.419986 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290063893065.
I0419 20:56:46.421027 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290064140534.
I0419 20:56:46.421813 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290064174310.
I0419 20:56:46.442898 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290064418629.
I0419 20:56:46.450662 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290064497777.
I0419 20:56:46.471412 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290064705809.
I0419 20:56:46.571553 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357022s, prior_pose=(10.4389, -1.90909), yaw=-1.05055 deg
I0419 20:56:46.571661 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=253, threshold=230, above_threshold=22, candidates=22
I0419 20:56:46.571768 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:46.571790 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:46.571885 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290064775651.
I0419 20:56:46.572878 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:46.572949 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065012512.
I0419 20:56:46.573741 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065063669.
I0419 20:56:46.575376 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065296633.
I0419 20:56:46.576159 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.59365, -0.566952)
I0419 20:56:46.576247 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065380927.
I0419 20:56:46.577277 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065615254.
I0419 20:56:46.578622 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065661203.
I0419 20:56:46.590838 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:46.591010 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:46.591049 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:46.591177 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0408562 range=0.823308 variance=0.000571232 t_weight=5251.81 r_weight=5000 yaml=(9.615, -1.32) prior=(10.4516, -1.91185, -1.06377deg) obs_actual=(-0.874919, 0.589922) obs_expected=(-0.847446, 0.576216) delta=(-0.0274726, 0.0137062) |delta|=0.0307018m
I0419 20:56:46.591329 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290065899896.
I0419 20:56:46.594902 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290065940027.
I0419 20:56:46.693460 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.338397, 0.608469), points=17, range=0.699235, residual=0.0144551, extent=0.0378507
I0419 20:56:46.693578 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.338397, 0.608469), tracking=(0.0398972, -0.608469), map_predicted=(10.5125, -2.51791), range=0.699235, pts=17
I0419 20:56:46.693614 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.00328324m maha_sq=0.000451462 (gate chi2=5.99) pose_sigma=(0.152418, 0.152418, rho=0) det_map=(10.5125, -2.51791) lm_pos=(10.515, -2.52) delta=(-0.00253519, 0.00208627) -> 1 candidate(s)
I0419 20:56:46.693712 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290066178381.
I0419 20:56:46.694417 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:46.694490 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:46.694514 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290066259713.
I0419 20:56:46.695778 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290066491857.
I0419 20:56:46.696725 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.4945, -1.91091), yaw=-1.0464 deg backend=(10.454, -1.91653)
I0419 20:56:46.697126 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.55578, -0.568815)
I0419 20:56:46.697191 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:46.697243 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290066536429.
I0419 20:56:46.698413 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290066780367.
I0419 20:56:46.699149 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290066858117.
I0419 20:56:46.707288 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290067060812.
I0419 20:56:46.715000 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290067140608.
I0419 20:56:46.739372 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290067380978.
I0419 20:56:46.831624 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0149191 range=1.64 variance=0.000550768 t_weight=5446.94 r_weight=0 yaml=(12.315, -2.52) prior=(10.5103, -1.91394, -1.11722deg) obs_actual=(1.83432, -0.56659) obs_expected=(1.81616, -0.570757) delta=(0.0181628, 0.0041667) |delta|=0.0186347m
I0419 20:56:46.831748 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290067415968.
I0419 20:56:46.833098 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290067657765.
I0419 20:56:46.833839 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678952s, prior_pose=(10.5103, -1.91394), yaw=-1.11722 deg
I0419 20:56:46.833914 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:46.833997 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:46.834018 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:46.834087 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290067739764.
I0419 20:56:46.835857 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.626853, -0.586152)
I0419 20:56:46.835942 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.303557, 0.608648), points=19, range=0.679895, residual=0.0140421, extent=0.04297
I0419 20:56:46.835968 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.303557, 0.608648), tracking=(0.00505729, -0.608648), map_predicted=(10.5104, -2.52346), range=0.679895, pts=19
I0419 20:56:46.835991 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.00572366m maha_sq=0.00140586 (gate chi2=5.99) pose_sigma=(0.150562, 0.150562, rho=0) det_map=(10.5104, -2.52346) lm_pos=(10.515, -2.52) delta=(-0.0045566, -0.00346377) -> 1 candidate(s)
I0419 20:56:46.836014 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:46.836076 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290067939594.
I0419 20:56:46.836876 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068016984.
I0419 20:56:46.837992 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068261720.
I0419 20:56:46.839394 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068297166.
I0419 20:56:46.854612 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068536979.
I0419 20:56:46.863250 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068621539.
I0419 20:56:46.967281 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(-0.281461, 0.607977)
I0419 20:56:46.967386 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:46.967413 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:46.967425 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:46.967546 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068813473.
I0419 20:56:46.968436 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290068894863.
I0419 20:56:46.969609 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.02331 deg, rms_residual=0.00541566m, sigma_yaw=0.00716912 rad, N=2
I0419 20:56:46.969686 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0192854 range=0.8812 variance=0.000531244 t_weight=5647.13 r_weight=0 yaml=(9.615, -1.32) prior=(10.5409, -1.91423, -1.24956deg) obs_actual=(-0.955594, 0.586441) obs_expected=(-0.938657, 0.573899) delta=(-0.0169374, 0.0125415) |delta|=0.0210753m
I0419 20:56:46.969738 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.5567, -1.91908, -1.02331deg) inliers=2 rms=0.00541566m
I0419 20:56:46.969769 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290069136221.
I0419 20:56:46.971275 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:46.971379 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:46.971406 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290069181504.
I0419 20:56:46.972412 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.263342, 0.607983), points=20, range=0.6657, residual=0.0141785, extent=0.0402652
I0419 20:56:46.972476 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.263342, 0.607983), tracking=(-0.0351579, -0.607983), map_predicted=(10.5056, -2.52292), range=0.6657, pts=20
I0419 20:56:46.972504 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.00988512m maha_sq=0.00422333 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5056, -2.52292) lm_pos=(10.515, -2.52) delta=(-0.00944473, -0.00291765) -> 1 candidate(s)
I0419 20:56:46.972582 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290069417882.
I0419 20:56:46.973315 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 16 -> 15 (threshold=0.03, iters=3)
I0419 20:56:46.973392 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:46.973440 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290069456455.
I0419 20:56:46.975461 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290069700950.
I0419 20:56:46.979141 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290069782078.
I0419 20:56:47.001163 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.678455, -0.582825)
I0419 20:56:47.001542 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290070001928.
I0419 20:56:47.096871 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290070054124.
I0419 20:56:47.098465 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290070298903.
I0419 20:56:47.099390 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290070378482.
I0419 20:56:47.101456 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00339255 range=0.65585 variance=0.000629951 t_weight=4762.28 r_weight=0 yaml=(10.515, -2.52) prior=(10.5818, -1.91471, -1.47296deg) obs_actual=(-0.0600464, -0.607842) obs_expected=(-0.0512114, -0.606803) delta=(-0.00883501, -0.00103965) |delta|=0.00889597m
I0419 20:56:47.101585 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290070581400.
I0419 20:56:47.102299 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598427s, prior_pose=(10.5818, -1.91471), yaw=-1.47296 deg
I0419 20:56:47.102363 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=254, threshold=230, above_threshold=14, candidates=14
I0419 20:56:47.102413 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:47.102437 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:47.102509 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290070652551.
I0419 20:56:47.103633 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:47.103725 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290070900793.
I0419 20:56:47.105130 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.46327, -0.559254), points=3, range=1.56167, residual=0.00965088, extent=0.0192722
I0419 20:56:47.105212 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.46327, -0.559254), tracking=(1.76177, -0.559254), map_predicted=(12.3419, -2.52276), range=1.56167, pts=3
I0419 20:56:47.105240 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0270871m maha_sq=0.0313575 (gate chi2=5.99) pose_sigma=(0.15106, 0.15106, rho=0) det_map=(12.3419, -2.52276) lm_pos=(12.315, -2.52) delta=(0.026946, -0.00276108) -> 1 candidate(s)
I0419 20:56:47.105306 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290070934832.
I0419 20:56:47.119320 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.228244, 0.607496)
I0419 20:56:47.119686 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290071181320.
I0419 20:56:47.126418 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290071253795.
I0419 20:56:47.223805 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290071459565.
I0419 20:56:47.224624 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290071538815.
I0419 20:56:47.225754 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:47.225827 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:47.225844 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:47.225916 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290071775875.
I0419 20:56:47.227252 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290071820672.
I0419 20:56:47.229787 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290072053691.
I0419 20:56:47.238792 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:47.238950 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:47.238994 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290072380079.
I0419 20:56:47.266510 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00568055 range=0.63985 variance=0.000571218 t_weight=5251.94 r_weight=0 yaml=(10.515, -2.52) prior=(10.6233, -1.91825, -1.64664deg) obs_actual=(-0.101545, -0.609077) obs_expected=(-0.091001, -0.604619) delta=(-0.0105441, -0.0044586) |delta|=0.011448m
I0419 20:56:47.266765 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290072653723.
I0419 20:56:47.348565 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:47.348676 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290072698188.
I0419 20:56:47.348781 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:47.349890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290072948888.
I0419 20:56:47.350659 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.41898, -0.551811)
I0419 20:56:47.352383 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.181751, 0.606954), points=21, range=0.634571, residual=0.0121472, extent=0.0374611
I0419 20:56:47.352443 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.181751, 0.606954), tracking=(-0.116749, -0.606954), map_predicted=(10.5033, -2.5227), range=0.634571, pts=21
I0419 20:56:47.352471 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0119969m maha_sq=0.00617293 (gate chi2=5.99) pose_sigma=(0.150774, 0.150774, rho=0) det_map=(10.5033, -2.5227) lm_pos=(10.515, -2.52) delta=(-0.0116901, -0.00269575) -> 1 candidate(s)
I0419 20:56:47.352535 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290073212671.
I0419 20:56:47.354271 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.7423 deg, rms_residual=0.00551442m, sigma_yaw=0.0072989 rad, N=2
I0419 20:56:47.354342 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.6596, -1.92307, -1.7423deg) inliers=2 rms=0.00551442m
I0419 20:56:47.354375 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290073533080.
I0419 20:56:47.358340 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365546s, prior_pose=(10.6539, -1.92096), yaw=-1.86111 deg
I0419 20:56:47.358464 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=237, threshold=230, above_threshold=2, candidates=2
I0419 20:56:47.358525 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=2, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:47.358557 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:56:47.382371 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290073814584.
I0419 20:56:47.391022 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290073901816.
I0419 20:56:47.465029 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290074098989.
I0419 20:56:47.465972 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290074177432.
I0419 20:56:47.467000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290074414278.
I0419 20:56:47.468364 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:47.468436 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290074471283.
I0419 20:56:47.470749 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290074699458.
I0419 20:56:47.478461 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290074779206.
I0419 20:56:47.502549 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.143404, 0.608493)
I0419 20:56:47.502714 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00646487 range=0.992143 variance=0.000544805 t_weight=5506.56 r_weight=0 yaml=(9.615, -1.32) prior=(10.6916, -1.92311, -2.07575deg) obs_actual=(-1.10878, 0.569086) obs_expected=(-1.09776, 0.563721) delta=(-0.0110143, 0.00536487) |delta|=0.0122514m
I0419 20:56:47.502785 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290075020089.
I0419 20:56:47.506439 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290075056928.
I0419 20:56:47.530571 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290075292411.
I0419 20:56:47.600502 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.7027, -1.92272), yaw=-2.21183 deg backend=(10.6592, -1.91865)
I0419 20:56:47.601224 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:47.601284 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36721, -0.545458), points=3, range=1.473, residual=0.00508124, extent=0.0104565
I0419 20:56:47.601302 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:47.601315 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:47.601329 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36721, -0.545458), tracking=(1.66571, -0.545458), map_predicted=(12.3461, -2.53206), range=1.473, pts=3
I0419 20:56:47.601353 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0333401m maha_sq=0.0478014 (gate chi2=5.99) pose_sigma=(0.150827, 0.150827, rho=0) det_map=(12.3461, -2.53206) lm_pos=(12.315, -2.52) delta=(0.0310813, -0.0120629) -> 1 candidate(s)
I0419 20:56:47.601428 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290075378178.
I0419 20:56:47.602499 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290075579358.
I0419 20:56:47.603262 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290075657728.
I0419 20:56:47.604902 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:47.604975 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:47.605000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290075857502.
I0419 20:56:47.605811 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290075932522.
I0419 20:56:47.617901 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:47.618042 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290076172720.
I0419 20:56:47.622468 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290076219593.
I0419 20:56:47.645805 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290076452664.
I0419 20:56:47.654237 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0681445s, prior_pose=(10.7246, -1.92459), yaw=-2.27226 deg
I0419 20:56:47.654337 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=239, threshold=230, above_threshold=3, candidates=3
I0419 20:56:47.654385 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:47.654407 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:47.654517 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290076538947.
I0419 20:56:47.724179 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290076775056.
I0419 20:56:47.724882 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0138266 range=1.43667 variance=0.000631606 t_weight=4749.8 r_weight=0 yaml=(12.315, -2.52) prior=(10.7329, -1.91715, -2.17009deg) obs_actual=(1.62137, -0.545688) obs_expected=(1.60377, -0.542512) delta=(0.0175996, -0.00317595) |delta|=0.0178838m
I0419 20:56:47.724972 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290076820616.
I0419 20:56:47.726027 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.860717, -0.569642)
I0419 20:56:47.726136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290077061372.
I0419 20:56:47.727530 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290077138576.
I0419 20:56:47.734511 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0883564, 0.609223), points=22, range=0.615818, residual=0.011857, extent=0.0387625
I0419 20:56:47.734632 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0883564, 0.609223), tracking=(-0.210144, -0.609223), map_predicted=(10.5142, -2.52132), range=0.615818, pts=22
I0419 20:56:47.734694 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.00153927m maha_sq=0.00010268 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5142, -2.52132) lm_pos=(10.515, -2.52) delta=(-0.000792415, -0.00131963) -> 1 candidate(s)
I0419 20:56:47.734870 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290077336755.
I0419 20:56:47.741789 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:47.742007 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290077412556.
I0419 20:56:47.766949 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290077660515.
I0419 20:56:47.769971 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290077693488.
I0419 20:56:47.795353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290077941467.
I0419 20:56:47.893926 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078022020.
I0419 20:56:47.895145 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078218633.
I0419 20:56:47.895915 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:47.895993 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:47.896011 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:47.896077 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078296392.
I0419 20:56:47.897917 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078501110.
I0419 20:56:47.898756 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078573296.
I0419 20:56:47.906466 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:47.906630 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:47.906682 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078821283.
I0419 20:56:47.909636 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290078855065.
I0419 20:56:47.911888 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:47.911986 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290079095557.
I0419 20:56:47.918007 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.27907, -0.55173)
I0419 20:56:47.918289 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290079173350.
I0419 20:56:48.016162 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00758988 range=0.610217 variance=0.00059499 t_weight=5042.1 r_weight=0 yaml=(10.515, -2.52) prior=(10.7849, -1.92399, -2.07168deg) obs_actual=(-0.261353, -0.607261) obs_expected=(-0.248188, -0.605376) delta=(-0.0131643, -0.00188511) |delta|=0.0132985m
I0419 20:56:48.016287 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290079378607.
I0419 20:56:48.016914 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605583s, prior_pose=(10.7849, -1.92399), yaw=-2.07168 deg
I0419 20:56:48.016973 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1340, max_intensity=236, threshold=230, above_threshold=3, candidates=3
I0419 20:56:48.017019 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:48.017035 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:48.017127 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290079460648.
I0419 20:56:48.018406 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290079693729.
I0419 20:56:48.019752 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290079740014.
I0419 20:56:48.021044 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080013520.
I0419 20:56:48.021694 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2597, -0.549914), points=3, range=1.371, residual=0.00717438, extent=0.0135823
I0419 20:56:48.021764 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.2597, -0.549914), tracking=(1.5582, -0.549914), map_predicted=(12.3353, -2.52958), range=1.371, pts=3
I0419 20:56:48.021790 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0224197m maha_sq=0.0218319 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3353, -2.52958) lm_pos=(12.315, -2.52) delta=(0.0202716, -0.00957629) -> 1 candidate(s)
I0419 20:56:48.021852 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080057814.
I0419 20:56:48.030553 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080300189.
I0419 20:56:48.033722 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:48.033859 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080333426.
I0419 20:56:48.057823 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080573534.
I0419 20:56:48.119550 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080617929.
I0419 20:56:48.120785 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080864826.
I0419 20:56:48.121577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290080932915.
I0419 20:56:48.123301 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290081139507.
I0419 20:56:48.124046 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:48.124094 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:48.124111 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:48.124161 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290081215560.
I0419 20:56:48.146196 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=23, centroid=(0.0124059, 0.609499)
I0419 20:56:48.146394 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290081456865.
I0419 20:56:48.150645 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290081501058.
I0419 20:56:48.175132 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:48.175280 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:48.175311 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290081741693.
I0419 20:56:48.182637 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290081819294.
I0419 20:56:48.264595 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:48.264797 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290082059956.
I0419 20:56:48.265656 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0278691 range=1.32867 variance=0.000545144 t_weight=5503.14 r_weight=0 yaml=(12.315, -2.52) prior=(10.8461, -1.92668, -2.01677deg) obs_actual=(1.51228, -0.551019) obs_expected=(1.48889, -0.541261) delta=(0.0233886, -0.00975807) |delta|=0.0253426m
I0419 20:56:48.265786 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290082092880.
I0419 20:56:48.267359 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290082337462.
I0419 20:56:48.268908 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0320673s, prior_pose=(10.8647, -1.92886), yaw=-2.02512 deg
I0419 20:56:48.269065 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=242, threshold=230, above_threshold=5, candidates=5
I0419 20:56:48.269150 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:48.269170 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:48.269244 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290082380629.
I0419 20:56:48.270417 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0415932, 0.607508), points=22, range=0.609545, residual=0.011986, extent=0.0375545
I0419 20:56:48.270545 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0415932, 0.607508), tracking=(-0.340093, -0.607508), map_predicted=(10.5033, -2.52397), range=0.609545, pts=22
I0419 20:56:48.270579 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0123509m maha_sq=0.00660995 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5033, -2.52397) lm_pos=(10.515, -2.52) delta=(-0.0116945, -0.00397261) -> 1 candidate(s)
I0419 20:56:48.270673 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290082621595.
I0419 20:56:48.271642 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290082699826.
I0419 20:56:48.294788 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.01131, -0.570215)
I0419 20:56:48.295004 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290082940896.
I0419 20:56:48.298322 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290082974995.
I0419 20:56:48.323028 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290083220385.
I0419 20:56:48.416287 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:48.416427 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290083302510.
I0419 20:56:48.417610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290083538693.
I0419 20:56:48.418393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290083572879.
I0419 20:56:48.420085 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.50394 deg, rms_residual=0.0133202m, sigma_yaw=0.0174503 rad, N=2
I0419 20:56:48.420163 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.9152, -1.93935, -2.50394deg) inliers=2 rms=0.0133202m
I0419 20:56:48.420235 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290083817892.
I0419 20:56:48.420862 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290083854239.
I0419 20:56:48.422102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290084093317.
I0419 20:56:48.423025 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.9167, -1.93695), yaw=-2.02369 deg backend=(10.8707, -1.92158)
I0419 20:56:48.423353 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:48.423393 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:48.423411 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:48.423446 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0942155 range=1.28233 variance=0.000546841 t_weight=5486.06 r_weight=0 yaml=(12.315, -2.52) prior=(10.9167, -1.93695, -2.02369deg) obs_actual=(1.46093, -0.552377) obs_expected=(1.41803, -0.533312) delta=(0.0429008, -0.0190647) |delta|=0.0469461m
I0419 20:56:48.423493 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290084138365.
I0419 20:56:48.442354 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290084414846.
I0419 20:56:48.446895 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290084459965.
I0419 20:56:48.526794 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:48.526906 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:48.526927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290084699784.
I0419 20:56:48.527621 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.14338, -0.553545)
I0419 20:56:48.527667 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14749, -0.553485), points=3, range=1.27033, residual=0.00726802, extent=0.0132462
I0419 20:56:48.527689 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.14749, -0.553485), tracking=(1.44599, -0.553485), map_predicted=(12.3536, -2.54196), range=1.27033, pts=3
I0419 20:56:48.527709 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0444412m maha_sq=0.0858027 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3536, -2.54196) lm_pos=(12.315, -2.52) delta=(0.038635, -0.0219627) -> 1 candidate(s)
I0419 20:56:48.527770 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290084780281.
I0419 20:56:48.528731 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:48.528806 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290084982639.
I0419 20:56:48.531184 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290085259437.
I0419 20:56:48.534693 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640338s, prior_pose=(10.9423, -1.93895), yaw=-2.04323 deg
I0419 20:56:48.534839 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=240, threshold=230, above_threshold=3, candidates=3
I0419 20:56:48.534962 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:48.535005 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 20:56:48.558571 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290085575260.
I0419 20:56:48.586478 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290085854602.
I0419 20:56:48.687603 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290086177115.
I0419 20:56:48.688401 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290086222376.
I0419 20:56:48.690403 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290086458903.
I0419 20:56:48.691272 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290086493009.
I0419 20:56:48.692422 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.139509, 0.612306)
I0419 20:56:48.692556 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290086736400.
I0419 20:56:48.694017 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:48.694126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290086815717.
I0419 20:56:48.706740 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0145365 range=0.629762 variance=0.000574794 t_weight=5219.26 r_weight=0 yaml=(10.515, -2.52) prior=(10.9746, -1.94108, -1.9656deg) obs_actual=(-0.447096, -0.611009) obs_expected=(-0.439501, -0.594343) delta=(-0.00759553, -0.0166654) |delta|=0.0183147m
I0419 20:56:48.706996 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290087055395.
I0419 20:56:48.710487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290087097352.
I0419 20:56:48.812749 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:48.812886 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290087339892.
I0419 20:56:48.813659 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290087380111.
I0419 20:56:48.814646 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1284, -0.572883), points=3, range=1.26067, residual=0.00930351, extent=0.0185118
I0419 20:56:48.814713 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1284, -0.572883), tracking=(-1.4269, 0.572883), map_predicted=(9.58631, -1.3191), range=1.26067, pts=3
I0419 20:56:48.814738 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0287048m maha_sq=0.0357448 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.58631, -1.3191) lm_pos=(9.615, -1.32) delta=(-0.0286906, 0.000902819) -> 1 candidate(s)
I0419 20:56:48.814795 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290087616159.
I0419 20:56:48.816156 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:48.816223 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:48.816279 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:48.816326 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290087695448.
I0419 20:56:48.817333 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290087902266.
I0419 20:56:48.818095 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290087983025.
I0419 20:56:48.823124 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:48.823271 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:48.823320 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290088222456.
I0419 20:56:48.826033 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561159s, prior_pose=(11.0124, -1.93949), yaw=-1.98831 deg
I0419 20:56:48.826128 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=243, threshold=230, above_threshold=5, candidates=5
I0419 20:56:48.826172 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:56:48.826195 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:56:48.826268 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290088256607.
I0419 20:56:48.850319 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:48.850579 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290088494097.
I0419 20:56:48.931650 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.87563, 0.682668)
I0419 20:56:48.931882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290088573350.
I0419 20:56:48.933372 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290088822238.
I0419 20:56:48.934240 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290088858200.
I0419 20:56:48.936915 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0107509 range=0.642762 variance=0.000582762 t_weight=5147.9 r_weight=0 yaml=(10.515, -2.52) prior=(11.0337, -1.93917, -1.79626deg) obs_actual=(-0.494247, -0.61147) obs_expected=(-0.500191, -0.596804) delta=(0.00594362, -0.0146658) |delta|=0.0158245m
I0419 20:56:48.937150 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290089092691.
I0419 20:56:48.938860 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290089181959.
I0419 20:56:48.940330 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290089378080.
I0419 20:56:48.943863 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290089433846.
I0419 20:56:48.970553 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17928, -0.577299), points=3, range=1.30733, residual=0.0125516, extent=0.0227898
I0419 20:56:48.970796 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17928, -0.577299), tracking=(-1.47778, 0.577299), map_predicted=(9.58738, -1.31866), range=1.30733, pts=3
I0419 20:56:48.970893 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.027653m maha_sq=0.0330673 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.58738, -1.31866) lm_pos=(9.615, -1.32) delta=(-0.0276205, 0.00134022) -> 1 candidate(s)
I0419 20:56:48.971002 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290089699401.
I0419 20:56:49.049664 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:49.049911 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290089981297.
I0419 20:56:49.050845 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290090058022.
I0419 20:56:49.052063 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290090252621.
I0419 20:56:49.053706 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290090340376.
I0419 20:56:49.058080 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.23462, 0.608439)
I0419 20:56:49.058264 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290090574721.
I0419 20:56:49.062243 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290090618948.
I0419 20:56:49.087441 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:49.087561 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:49.087584 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:49.087666 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290090863533.
I0419 20:56:49.094558 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290090939949.
I0419 20:56:49.114538 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290091140452.
I0419 20:56:49.174427 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357216s, prior_pose=(11.0864, -1.94017), yaw=-1.51987 deg
I0419 20:56:49.174562 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=246, threshold=230, above_threshold=4, candidates=4
I0419 20:56:49.174612 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:49.174631 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=0
I0419 20:56:49.175752 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:49.175851 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0290752 range=1.34575 variance=0.000529913 t_weight=5661.31 r_weight=0 yaml=(9.615, -1.32) prior=(11.0864, -1.94017, -1.51987deg) obs_actual=(-1.51239, 0.587685) obs_expected=(-1.48733, 0.580929) delta=(-0.0250547, 0.00675633) |delta|=0.0259497m
I0419 20:56:49.175906 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:49.175925 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290091421608.
I0419 20:56:49.176726 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290091499442.
I0419 20:56:49.178658 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:49.178772 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290091741596.
I0419 20:56:49.179675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290091793373.
I0419 20:56:49.205618 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.274676, 0.607263)
I0419 20:56:49.205711 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.271574, 0.607501), points=19, range=0.666579, residual=0.0119518, extent=0.0365744
I0419 20:56:49.205736 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.271574, 0.607501), tracking=(-0.570074, -0.607501), map_predicted=(10.5111, -2.53418), range=0.666579, pts=19
I0419 20:56:49.205763 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0147048m maha_sq=0.00936917 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5111, -2.53418) lm_pos=(10.515, -2.52) delta=(-0.00389154, -0.0141805) -> 1 candidate(s)
I0419 20:56:49.205858 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092051431.
I0419 20:56:49.210485 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092101123.
I0419 20:56:49.234337 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092337926.
I0419 20:56:49.238198 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092377921.
I0419 20:56:49.300990 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092612621.
I0419 20:56:49.301805 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092656883.
I0419 20:56:49.302875 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.39215 deg, rms_residual=0.0159057m, sigma_yaw=0.0207672 rad, N=2
I0419 20:56:49.302974 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.1302, -1.9387, -1.39215deg) inliers=2 rms=0.0159057m
I0419 20:56:49.303014 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290092899291.
I0419 20:56:49.303970 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.1296, -1.94151), yaw=-1.19247 deg backend=(11.0982, -1.9285)
I0419 20:56:49.304584 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:49.304688 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290092976400.
I0419 20:56:49.322570 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290093220268.
I0419 20:56:49.325845 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290093253634.
I0419 20:56:49.350236 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.312026, 0.607876)
I0419 20:56:49.350435 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290093497690.
I0419 20:56:49.354979 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290093544112.
I0419 20:56:49.378783 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.010828 range=0.686333 variance=0.000570443 t_weight=5259.07 r_weight=0 yaml=(10.515, -2.52) prior=(11.1383, -1.94065, -1.13307deg) obs_actual=(-0.616561, -0.60662) obs_expected=(-0.61177, -0.591558) delta=(-0.00479101, -0.0150616) |delta|=0.0158052m
I0419 20:56:49.379024 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290093781334.
I0419 20:56:49.458472 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:49.458585 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:49.458603 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:49.458673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290093870359.
I0419 20:56:49.459947 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290094131423.
I0419 20:56:49.460274 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0633842s, prior_pose=(11.1529, -1.94034), yaw=-1.00793 deg
I0419 20:56:49.460335 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1445, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 20:56:49.460412 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:49.460433 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:49.460501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290094131532.
I0419 20:56:49.462690 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:49.462786 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:49.462812 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290094376519.
I0419 20:56:49.463164 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.902428, -0.582316), points=4, range=1.07075, residual=0.00850402, extent=0.0187194
I0419 20:56:49.463212 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.902428, -0.582316), tracking=(1.20093, -0.582316), map_predicted=(12.3514, -2.54232), range=1.07075, pts=4
I0419 20:56:49.463239 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0427235m maha_sq=0.0792712 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3514, -2.54232) lm_pos=(12.315, -2.52) delta=(0.0364298, -0.0223196) -> 1 candidate(s)
I0419 20:56:49.463302 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290094420477.
I0419 20:56:49.470619 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:49.470865 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290094701656.
I0419 20:56:49.474042 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290094735164.
I0419 20:56:49.498178 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.27616, -0.599596)
I0419 20:56:49.498543 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290094976637.
I0419 20:56:49.506428 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095056288.
I0419 20:56:49.532176 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:49.576701 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095255575.
I0419 20:56:49.577790 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095334137.
I0419 20:56:49.579255 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095578200.
I0419 20:56:49.580680 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095613880.
I0419 20:56:49.587435 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095869747.
I0419 20:56:49.590636 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:49.590816 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290095900930.
I0419 20:56:49.613889 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290096133421.
I0419 20:56:49.622555 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290096217381.
I0419 20:56:49.645967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290096453302.
I0419 20:56:49.732594 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.840571, -0.588536)
I0419 20:56:49.732748 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0132224 range=1.02614 variance=0.000525323 t_weight=5710.77 r_weight=0 yaml=(12.315, -2.52) prior=(11.1874, -1.9366, -0.540577deg) obs_actual=(1.14117, -0.588195) obs_expected=(1.13306, -0.57274) delta=(0.00811561, -0.0154554) |delta|=0.0174566m
I0419 20:56:49.732803 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290096497726.
I0419 20:56:49.734118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290096732892.
I0419 20:56:49.734894 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:49.734972 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:49.734987 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:49.735050 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290096776791.
I0419 20:56:49.737155 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097019044.
I0419 20:56:49.738173 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641351s, prior_pose=(11.1939, -1.92982), yaw=-0.474224 deg
I0419 20:56:49.738303 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 20:56:49.738363 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:49.738396 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:49.738427 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.830812, -0.588959), points=6, range=1.01683, residual=0.00727515, extent=0.0190243
I0419 20:56:49.738462 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.830812, -0.588959), tracking=(1.12931, -0.588959), map_predicted=(12.3183, -2.5281), range=1.01683, pts=6
I0419 20:56:49.738533 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0087402m maha_sq=0.00332081 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3183, -2.5281) lm_pos=(12.315, -2.52) delta=(0.00327446, -0.00810364) -> 1 candidate(s)
I0419 20:56:49.738605 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097139077.
I0419 20:56:49.739841 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:49.739916 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:49.739938 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097300627.
I0419 20:56:49.741530 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097381226.
I0419 20:56:49.752941 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:49.761935 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:49.762107 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097614822.
I0419 20:56:49.766726 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097662319.
I0419 20:56:49.839910 1219452 pose_graph_2d.cc:160] Inserted submap (1, 15).
I0419 20:56:49.841012 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097895679.
I0419 20:56:49.841801 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290097940492.
I0419 20:56:49.842980 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290098177325.
I0419 20:56:49.844693 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290098312449.
I0419 20:56:49.850658 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.439311, 0.600874)
I0419 20:56:49.850853 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290098502135.
I0419 20:56:49.860100 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290098585476.
I0419 20:56:49.879269 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290098788145.
I0419 20:56:49.883337 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:49.883924 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290098829373.
I0419 20:56:49.909945 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099093888.
I0419 20:56:49.984098 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:49.984910 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099159750.
I0419 20:56:49.986292 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.154668 range=0.759154 variance=0.000534103 t_weight=5616.89 r_weight=0 yaml=(10.515, -2.52) prior=(11.2203, -1.91694, -0.241079deg) obs_actual=(-0.762199, -0.600616) obs_expected=(-0.702756, -0.606021) delta=(-0.0594427, 0.00540448) |delta|=0.0596879m
I0419 20:56:49.986583 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099374854.
I0419 20:56:49.987394 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099419882.
I0419 20:56:49.989377 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099657361.
I0419 20:56:49.990175 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:49.990249 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:49.990267 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:49.990324 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099733426.
I0419 20:56:49.998513 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290099980216.
I0419 20:56:50.002029 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357708s, prior_pose=(11.2416, -1.91702), yaw=-0.179615 deg
I0419 20:56:50.002121 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=248, threshold=230, above_threshold=10, candidates=10
I0419 20:56:50.002182 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:50.002207 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:50.002225 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.752041, -0.596399), points=8, range=0.95975, residual=0.00889302, extent=0.0293171
I0419 20:56:50.002247 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.752041, -0.596399), tracking=(1.05054, -0.596399), map_predicted=(12.2902, -2.51671), range=0.95975, pts=8
I0419 20:56:50.002270 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0249914m maha_sq=0.0268052 (gate chi2=5.99) pose_sigma=(0.150908, 0.150908, rho=0) det_map=(12.2902, -2.51671) lm_pos=(12.315, -2.52) delta=(-0.0247733, 0.00329465) -> 1 candidate(s)
I0419 20:56:50.002377 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100015069.
I0419 20:56:50.026116 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:50.026249 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:50.026273 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100255405.
I0419 20:56:50.030840 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.6244, 0.62083)
I0419 20:56:50.031060 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100299735.
I0419 20:56:50.098007 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:50.098138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100541723.
I0419 20:56:50.098992 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100619954.
I0419 20:56:50.100189 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100882992.
I0419 20:56:50.100637 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290100883167.
I0419 20:56:50.114286 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290101136838.
I0419 20:56:50.118261 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290101176940.
I0419 20:56:50.142315 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290101417835.
I0419 20:56:50.150031 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290101495588.
I0419 20:56:50.174760 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290101738517.
I0419 20:56:50.242990 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(11.2777, -1.91811), yaw=-0.0230745 deg backend=(11.2851, -1.92671)
I0419 20:56:50.243706 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:50.243813 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290101772371.
I0419 20:56:50.243901 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:50.245133 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102021674.
I0419 20:56:50.245985 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102093037.
I0419 20:56:50.247802 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.22691 range=0.808923 variance=0.000590039 t_weight=5084.41 r_weight=0 yaml=(10.515, -2.52) prior=(11.2864, -1.91811, 0.0226923deg) obs_actual=(-0.844276, -0.600782) obs_expected=(-0.771592, -0.601587) delta=(-0.0726835, 0.000805022) |delta|=0.072688m
I0419 20:56:50.247887 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102292220.
I0419 20:56:50.248708 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.690431, -0.60214)
I0419 20:56:50.248786 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102380317.
I0419 20:56:50.262198 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102616551.
I0419 20:56:50.270190 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:50.270280 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:50.270303 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:50.270394 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290102697145.
I0419 20:56:50.290513 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.551427, 0.599953), points=12, range=0.817833, residual=0.0123761, extent=0.0391368
I0419 20:56:50.290607 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.551427, 0.599953), tracking=(-0.849927, -0.599953), map_predicted=(10.4497, -2.51909), range=0.817833, pts=12
I0419 20:56:50.290638 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.065283m maha_sq=0.184537 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4497, -2.51909) lm_pos=(10.515, -2.52) delta=(-0.0652767, 0.000908118) -> 1 candidate(s)
I0419 20:56:50.290717 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102900526.
I0419 20:56:50.298249 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06863s, prior_pose=(11.2989, -1.9181), yaw=0.0703163 deg
I0419 20:56:50.298393 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=10, candidates=10
I0419 20:56:50.298460 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:50.298482 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:50.298573 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290102978520.
I0419 20:56:50.364329 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:50.364481 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:50.364504 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290103213488.
I0419 20:56:50.365197 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290103257497.
I0419 20:56:50.366382 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:50.366474 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290103492779.
I0419 20:56:50.367833 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290103537252.
I0419 20:56:50.378551 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290103779675.
I0419 20:56:50.386161 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.55659, 0.613153)
I0419 20:56:50.386354 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290103856042.
I0419 20:56:50.405884 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290104052330.
I0419 20:56:50.413900 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290104133014.
I0419 20:56:50.439555 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0873612 range=0.846636 variance=0.000604854 t_weight=4959.87 r_weight=0 yaml=(10.515, -2.52) prior=(11.3602, -1.92579, 0.166829deg) obs_actual=(-0.891205, -0.599581) obs_expected=(-0.846967, -0.591743) delta=(-0.0442384, -0.00783802) |delta|=0.0449274m
I0419 20:56:50.439687 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290104387977.
I0419 20:56:50.515606 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290104415506.
I0419 20:56:50.516884 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290104675745.
I0419 20:56:50.517529 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:50.517597 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290104702786.
I0419 20:56:50.519433 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.322147, -0.621226), points=18, range=0.694833, residual=0.0186664, extent=0.0519173
I0419 20:56:50.519536 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.322147, -0.621226), tracking=(0.0236475, 0.621226), map_predicted=(11.412, -1.30573), range=0.694833, pts=18
I0419 20:56:50.519568 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0145909m maha_sq=0.00904614 (gate chi2=5.99) pose_sigma=(0.150827, 0.150827, rho=0) det_map=(11.412, -1.30573) lm_pos=(11.415, -1.32) delta=(-0.003048, 0.014269) -> 1 candidate(s)
I0419 20:56:50.519682 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290104987192.
I0419 20:56:50.520299 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290105021565.
I0419 20:56:50.527587 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290105268224.
I0419 20:56:50.529701 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.51962, 0.611382)
I0419 20:56:50.529842 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290105292131.
I0419 20:56:50.554435 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290105539033.
I0419 20:56:50.562969 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:50.563102 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:50.563122 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:50.563207 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290105624592.
I0419 20:56:50.637720 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290105852403.
I0419 20:56:50.638904 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0616724s, prior_pose=(11.4142, -1.92812), yaw=0.273312 deg
I0419 20:56:50.639061 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=250, threshold=230, above_threshold=14, candidates=14
I0419 20:56:50.639174 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:50.639201 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:50.639302 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290105908855.
I0419 20:56:50.640944 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:50.641144 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:50.641178 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290106138197.
I0419 20:56:50.643059 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290106182420.
I0419 20:56:50.645510 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:50.645637 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.012604 range=0.687947 variance=0.000591132 t_weight=5075.01 r_weight=0 yaml=(11.415, -1.32) prior=(11.4313, -1.92855, 0.341731deg) obs_actual=(-0.0156645, 0.625433) obs_expected=(-0.0126867, 0.608635) delta=(-0.00297782, 0.016798) |delta|=0.0170599m
I0419 20:56:50.645735 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290106419093.
I0419 20:56:50.650141 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290106496219.
I0419 20:56:50.676820 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290106738458.
I0419 20:56:50.678716 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.48133, 0.606019)
I0419 20:56:50.678826 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.569874, -0.60574), points=12, range=0.831417, residual=0.0108634, extent=0.0371631
I0419 20:56:50.678859 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.569874, -0.60574), tracking=(0.868374, -0.60574), map_predicted=(12.3146, -2.52841), range=0.831417, pts=12
I0419 20:56:50.678898 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00841479m maha_sq=0.00307059 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3146, -2.52841) lm_pos=(12.315, -2.52) delta=(-0.00035911, -0.00840712) -> 1 candidate(s)
I0419 20:56:50.679008 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290106781489.
I0419 20:56:50.702406 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290107016819.
I0419 20:56:50.712600 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:50.773681 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.226292 deg, rms_residual=0.0102586m, sigma_yaw=0.0134936 rad, N=2
I0419 20:56:50.773794 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.4437, -1.92484, 0.226292deg) inliers=2 rms=0.0102586m
I0419 20:56:50.773836 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290107053274.
I0419 20:56:50.775023 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290107298651.
I0419 20:56:50.775703 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290107342360.
I0419 20:56:50.777706 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290107618296.
I0419 20:56:50.778398 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:50.778481 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290107653418.
I0419 20:56:50.790277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290107897104.
I0419 20:56:50.794741 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290107941656.
I0419 20:56:50.817931 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0155038 range=0.66835 variance=0.000609244 t_weight=4924.14 r_weight=0 yaml=(11.415, -1.32) prior=(11.4768, -1.92343, 0.474851deg) obs_actual=(-0.0605949, 0.622463) obs_expected=(-0.0567929, 0.60392) delta=(-0.00380193, 0.0185426) |delta|=0.0189283m
I0419 20:56:50.818085 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290108174508.
I0419 20:56:50.826128 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.45239, 0.604064)
I0419 20:56:50.826341 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290108255355.
I0419 20:56:50.885350 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290108499280.
I0419 20:56:50.886258 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:50.886404 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.5215, -0.606976), points=13, range=0.802462, residual=0.0111702, extent=0.0351187
I0419 20:56:50.886425 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:50.886438 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:50.886447 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.5215, -0.606976), tracking=(0.82, -0.606976), map_predicted=(12.3159, -2.52389), range=0.802462, pts=13
I0419 20:56:50.886468 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00400356m maha_sq=0.0006949 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3159, -2.52389) lm_pos=(12.315, -2.52) delta=(0.000937102, -0.00389234) -> 1 candidate(s)
I0419 20:56:50.886559 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290108532192.
I0419 20:56:50.887820 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290108774254.
I0419 20:56:50.889248 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0318608s, prior_pose=(11.5048, -1.92531), yaw=0.600673 deg
I0419 20:56:50.889339 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 20:56:50.889403 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:50.889427 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:50.889525 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290108817888.
I0419 20:56:50.906740 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:50.906878 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:50.906927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290109062097.
I0419 20:56:50.914450 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290109139209.
I0419 20:56:50.937878 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:50.938063 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290109372136.
I0419 20:56:50.942099 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290109415744.
I0419 20:56:50.966279 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290109656372.
I0419 20:56:51.034755 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.41666, 0.601325)
I0419 20:56:51.034909 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0215093 range=1.539 variance=0.000508247 t_weight=5902.65 r_weight=0 yaml=(13.215, -1.32) prior=(11.5254, -1.92808, 0.676352deg) obs_actual=(1.71336, 0.602996) obs_expected=(1.69664, 0.588095) delta=(0.016719, 0.0149008) |delta|=0.0223956m
I0419 20:56:51.034968 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290109732679.
I0419 20:56:51.036194 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290109942266.
I0419 20:56:51.037035 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290110018026.
I0419 20:56:51.038753 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.743437, 0.596619), points=5, range=0.956, residual=0.0113135, extent=0.0286404
I0419 20:56:51.038820 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.743437, 0.596619), tracking=(-1.04194, -0.596619), map_predicted=(10.4998, -2.537), range=0.956, pts=5
I0419 20:56:51.038846 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0228181m maha_sq=0.0223653 (gate chi2=5.99) pose_sigma=(0.150679, 0.150679, rho=0) det_map=(10.4998, -2.537) lm_pos=(10.515, -2.52) delta=(-0.0152191, -0.0170014) -> 1 candidate(s)
I0419 20:56:51.038928 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290110214115.
I0419 20:56:51.039698 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290110300928.
I0419 20:56:51.054072 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290110534621.
I0419 20:56:51.055305 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.5473, -1.92779), yaw=0.718047 deg backend=(11.52, -1.91923)
I0419 20:56:51.058581 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:51.058885 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290110580651.
I0419 20:56:51.087663 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290110861652.
I0419 20:56:51.091910 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.47407 deg, rms_residual=0.00795309m, sigma_yaw=0.0104929 rad, N=2
I0419 20:56:51.092147 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.5461, -1.9252, 0.47407deg) inliers=2 rms=0.00795309m
I0419 20:56:51.092211 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290110905354.
I0419 20:56:51.187915 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290111136139.
I0419 20:56:51.189680 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.3813, 0.595826)
I0419 20:56:51.189981 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290111180313.
I0419 20:56:51.193780 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0259886 range=0.652 variance=0.000574089 t_weight=5225.67 r_weight=0 yaml=(11.415, -1.32) prior=(11.5541, -1.92569, 0.68319deg) obs_actual=(-0.13616, 0.631406) obs_expected=(-0.131843, 0.607302) delta=(-0.00431775, 0.0241043) |delta|=0.024488m
I0419 20:56:51.194080 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290111417638.
I0419 20:56:51.195777 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:51.195860 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:51.195878 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:51.195976 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290111497860.
I0419 20:56:51.197228 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.793004, 0.594641), points=6, range=0.988667, residual=0.0110875, extent=0.0297967
I0419 20:56:51.197304 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.793004, 0.594641), tracking=(-1.0915, -0.594641), map_predicted=(10.4845, -2.53607), range=0.988667, pts=6
I0419 20:56:51.197336 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0344641m maha_sq=0.0514802 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4845, -2.53607) lm_pos=(10.515, -2.52) delta=(-0.0304902, -0.0160661) -> 1 candidate(s)
I0419 20:56:51.197420 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290111738163.
I0419 20:56:51.198139 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0646262s, prior_pose=(11.5683, -1.92755), yaw=0.730673 deg
I0419 20:56:51.198206 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:56:51.198273 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:51.198290 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:51.198367 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290111782401.
I0419 20:56:51.202544 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:51.202675 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:51.202700 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112019778.
I0419 20:56:51.206113 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112055102.
I0419 20:56:51.231190 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:51.231453 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112301435.
I0419 20:56:51.324172 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290112377063.
I0419 20:56:51.325397 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112621492.
I0419 20:56:51.326218 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.35492, 0.593806)
I0419 20:56:51.326364 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112656458.
I0419 20:56:51.328399 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0424382 range=1.0066 variance=0.000585727 t_weight=5121.84 r_weight=0 yaml=(10.515, -2.52) prior=(11.5923, -1.93351, 0.891196deg) obs_actual=(-1.1078, -0.592469) obs_expected=(-1.08625, -0.569665) delta=(-0.0215516, -0.0228037) |delta|=0.0313764m
I0419 20:56:51.328542 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112894928.
I0419 20:56:51.329275 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290112940683.
I0419 20:56:51.330581 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290113179457.
I0419 20:56:51.331980 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.399083, -0.61056), points=16, range=0.732813, residual=0.013607, extent=0.0420001
I0419 20:56:51.332049 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.399083, -0.61056), tracking=(0.697583, -0.61056), map_predicted=(12.3163, -2.53037), range=0.732813, pts=16
I0419 20:56:51.332074 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.010452m maha_sq=0.00464924 (gate chi2=5.99) pose_sigma=(0.151241, 0.151241, rho=0) det_map=(12.3163, -2.53037) lm_pos=(12.315, -2.52) delta=(0.00133905, -0.0103659) -> 1 candidate(s)
I0419 20:56:51.332139 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290113254557.
I0419 20:56:51.351347 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290113502163.
I0419 20:56:51.354616 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:51.354851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290113537063.
I0419 20:56:51.453888 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290113774007.
I0419 20:56:51.454664 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290113855493.
I0419 20:56:51.455859 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114059007.
I0419 20:56:51.457533 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.30687, 0.582943)
I0419 20:56:51.457640 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.83344 deg, rms_residual=0.00659793m, sigma_yaw=0.00872052 rad, N=2
I0419 20:56:51.457687 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.6278, -1.92184, 0.83344deg) inliers=2 rms=0.00659793m
I0419 20:56:51.457718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114132130.
I0419 20:56:51.459031 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114376095.
I0419 20:56:51.459699 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:51.459745 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:51.459765 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:51.459807 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00705434 range=0.71675 variance=0.000621235 t_weight=4829.09 r_weight=0 yaml=(12.315, -2.52) prior=(11.6304, -1.92952, 1.09594deg) obs_actual=(0.664115, -0.612432) obs_expected=(0.673211, -0.603468) delta=(-0.00909623, -0.00896459) |delta|=0.0127713m
I0419 20:56:51.459859 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114419940.
I0419 20:56:51.465973 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114652439.
I0419 20:56:51.470598 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566136s, prior_pose=(11.6349, -1.93217), yaw=1.15591 deg
I0419 20:56:51.470767 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:56:51.470938 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:51.471065 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:51.471120 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30454, 0.580809), points=4, range=1.42275, residual=0.0120563, extent=0.0261194
I0419 20:56:51.471160 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30454, 0.580809), tracking=(1.60304, 0.580809), map_predicted=(13.2259, -1.31914), range=1.42275, pts=4
I0419 20:56:51.471203 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0109283m maha_sq=0.00516538 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2259, -1.31914) lm_pos=(13.215, -1.32) delta=(0.0108945, 0.00085978) -> 1 candidate(s)
I0419 20:56:51.471379 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114698266.
I0419 20:56:51.495190 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:51.495468 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:51.495519 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290114940493.
I0419 20:56:51.586853 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290115013365.
I0419 20:56:51.588081 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:51.588210 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290115258458.
I0419 20:56:51.588979 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290115293102.
I0419 20:56:51.590765 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290115534430.
I0419 20:56:51.591527 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.28353, 0.580412)
I0419 20:56:51.591645 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290115611950.
I0419 20:56:51.592628 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290115817698.
I0419 20:56:51.594208 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290115909927.
I0419 20:56:51.614787 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.100805 range=1.07433 variance=0.000534801 t_weight=5609.56 r_weight=0 yaml=(10.515, -2.52) prior=(11.6623, -1.93243, 1.35924deg) obs_actual=(-1.20448, -0.580852) obs_expected=(-1.16095, -0.560188) delta=(-0.043532, -0.0206638) |delta|=0.0481874m
I0419 20:56:51.615016 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290116141527.
I0419 20:56:51.618150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290116175167.
I0419 20:56:51.705758 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290116416213.
I0419 20:56:51.705754 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:51.705912 1218967 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.31e-03 s (pulsed at 100.46% real time)
I0419 20:56:51.706034 1218967 collated_trajectory_builder.cc:82] odom rate: 248.58 Hz 4.02e-03 s +/- 7.53e-04 s (pulsed at 99.97% real time)
I0419 20:56:51.706171 1218967 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.19e-03 s (pulsed at 100.35% real time)
I0419 20:56:51.706204 1218967 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.23e-03 s (pulsed at 100.33% real time)
I0419 20:56:51.706941 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27024, 0.576642), points=3, range=1.389, residual=0.0113549, extent=0.0224979
I0419 20:56:51.706988 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27024, 0.576642), tracking=(1.56874, 0.576642), map_predicted=(13.2284, -1.31783), range=1.389, pts=3
I0419 20:56:51.707016 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0136012m maha_sq=0.00800756 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2284, -1.31783) lm_pos=(13.215, -1.32) delta=(0.0134267, 0.00217151) -> 1 candidate(s)
I0419 20:56:51.707038 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:51.707091 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290116498032.
I0419 20:56:51.708030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290116699931.
I0419 20:56:51.709483 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290116779101.
I0419 20:56:51.710500 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117013778.
I0419 20:56:51.711218 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117059026.
I0419 20:56:51.730947 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117297800.
I0419 20:56:51.738543 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.24734, 0.57501)
I0419 20:56:51.738684 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:51.738734 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:51.738758 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:51.738881 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117379395.
I0419 20:56:51.763043 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117623505.
I0419 20:56:51.763741 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844632s, prior_pose=(11.6911, -1.9332), yaw=1.43083 deg
I0419 20:56:51.763805 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1424, max_intensity=241, threshold=230, above_threshold=26, candidates=26
I0419 20:56:51.763924 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:51.763950 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:51.764081 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117623733.
I0419 20:56:51.843007 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:51.843217 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.00790543 range=0.629143 variance=0.000521526 t_weight=5752.35 r_weight=0 yaml=(11.415, -1.32) prior=(11.7049, -1.92977, 1.64461deg) obs_actual=(-0.279264, 0.629508) obs_expected=(-0.272306, 0.617841) delta=(-0.00695731, 0.0116672) |delta|=0.0135841m
I0419 20:56:51.843356 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:51.843415 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117897068.
I0419 20:56:51.843963 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.87978 deg, rms_residual=0.013092m, sigma_yaw=0.0171565 rad, N=2
I0419 20:56:51.844059 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.7124, -1.92931, 1.87978deg) inliers=2 rms=0.013092m
I0419 20:56:51.844127 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290117935302.
I0419 20:56:51.846186 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.957978, 0.577113), points=6, range=1.117, residual=0.00836387, extent=0.0214325
I0419 20:56:51.846352 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.957978, 0.577113), tracking=(-1.25648, -0.577113), map_predicted=(10.4742, -2.54413), range=1.117, pts=6
I0419 20:56:51.846418 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0473877m maha_sq=0.0967826 (gate chi2=5.99) pose_sigma=(0.150587, 0.150587, rho=0) det_map=(10.4742, -2.54413) lm_pos=(10.515, -2.52) delta=(-0.0407845, -0.0241292) -> 1 candidate(s)
I0419 20:56:51.846498 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:51.846580 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290118183244.
I0419 20:56:51.847345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290118253979.
I0419 20:56:51.848425 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290118459634.
I0419 20:56:51.854764 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290118542002.
I0419 20:56:51.883301 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290118773641.
I0419 20:56:51.886516 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.2034, 0.563966)
I0419 20:56:51.886718 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290118860711.
I0419 20:56:51.954977 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290119054770.
I0419 20:56:51.955936 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290119100256.
I0419 20:56:51.956933 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290119339936.
I0419 20:56:51.957917 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.7487, -1.92603), yaw=1.68957 deg backend=(11.7297, -1.91124)
I0419 20:56:51.958462 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:51.958523 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00996756 range=1.32267 variance=0.000554627 t_weight=5409.04 r_weight=0 yaml=(13.215, -1.32) prior=(11.7487, -1.92603, 1.68957deg) obs_actual=(1.49788, 0.567796) obs_expected=(1.48351, 0.56253) delta=(0.0143738, 0.0052662) |delta|=0.0153081m
I0419 20:56:51.958565 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290119416132.
I0419 20:56:51.965749 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290119652386.
I0419 20:56:51.970569 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290119700075.
I0419 20:56:51.994251 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0329954, -0.629714), points=16, range=0.630437, residual=0.00874899, extent=0.0293405
I0419 20:56:51.994391 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0329954, -0.629714), tracking=(-0.331495, 0.629714), map_predicted=(11.4068, -1.30149), range=0.630437, pts=16
I0419 20:56:51.994443 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0202299m maha_sq=0.0176125 (gate chi2=5.99) pose_sigma=(0.150748, 0.150748, rho=0) det_map=(11.4068, -1.30149) lm_pos=(11.415, -1.32) delta=(-0.00815603, 0.018513) -> 1 candidate(s)
I0419 20:56:51.994608 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290119935526.
I0419 20:56:52.003000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120016116.
I0419 20:56:52.022629 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120217993.
I0419 20:56:52.055348 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:52.101087 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17804, 0.566088)
I0419 20:56:52.101186 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:52.101217 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:52.101235 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:52.101311 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120300182.
I0419 20:56:52.102401 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120538659.
I0419 20:56:52.103192 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682412s, prior_pose=(11.7736, -1.91852), yaw=1.84663 deg
I0419 20:56:52.103272 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:52.103351 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:52.103374 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:52.103451 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120617938.
I0419 20:56:52.105101 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:52.105204 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:52.105232 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120817565.
I0419 20:56:52.105888 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00942969 range=1.2925 variance=0.000522178 t_weight=5745.17 r_weight=0 yaml=(13.215, -1.32) prior=(11.7802, -1.92161, 1.88148deg) obs_actual=(1.46438, 0.564446) obs_expected=(1.45382, 0.554173) delta=(0.0105624, 0.0102727) |delta|=0.014734m
I0419 20:56:52.106015 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290120862807.
I0419 20:56:52.114270 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:52.114475 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290121134124.
I0419 20:56:52.118701 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290121181650.
I0419 20:56:52.142483 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0683841, -0.628774), points=10, range=0.633, residual=0.00675595, extent=0.0190652
I0419 20:56:52.142644 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0683841, -0.628774), tracking=(-0.366884, 0.628774), map_predicted=(11.41, -1.30249), range=0.633, pts=10
I0419 20:56:52.142699 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0182054m maha_sq=0.0144224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.41, -1.30249) lm_pos=(11.415, -1.32) delta=(-0.00498527, 0.0175095) -> 1 candidate(s)
I0419 20:56:52.142810 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.75239 deg, rms_residual=0.0248519m, sigma_yaw=0.0320731 rad, N=2
I0419 20:56:52.142915 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.8159, -1.91738, 1.75239deg) inliers=2 rms=0.0248519m
I0419 20:56:52.142970 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290121416672.
I0419 20:56:52.147190 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290121461992.
I0419 20:56:52.193645 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:52.219426 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290121701511.
I0419 20:56:52.220317 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.14531, 0.56478)
I0419 20:56:52.220568 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290121779160.
I0419 20:56:52.221911 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290122019758.
I0419 20:56:52.223434 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290122052914.
I0419 20:56:52.229928 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290122293468.
I0419 20:56:52.235481 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:52.235704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290122347309.
I0419 20:56:52.267539 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00801145 range=0.645895 variance=0.000584518 t_weight=5132.44 r_weight=0 yaml=(12.315, -2.52) prior=(11.8247, -1.92084, 1.96401deg) obs_actual=(0.459062, -0.624442) obs_expected=(0.469447, -0.615612) delta=(-0.0103847, -0.00883052) |delta|=0.0136316m
I0419 20:56:52.267815 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290122665306.
I0419 20:56:52.382869 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290122934913.
I0419 20:56:52.384075 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:56:52.384793 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290123225590.
I0419 20:56:52.386760 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.137241, -0.623177)
I0419 20:56:52.386883 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.134285, -0.622799), points=20, range=0.6382, residual=0.0115232, extent=0.0375034
I0419 20:56:52.386914 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.134285, -0.622799), tracking=(0.432785, -0.622799), map_predicted=(12.2953, -2.53046), range=0.6382, pts=20
I0419 20:56:52.386941 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0222756m maha_sq=0.0213655 (gate chi2=5.99) pose_sigma=(0.150521, 0.150521, rho=0) det_map=(12.2953, -2.53046) lm_pos=(12.315, -2.52) delta=(-0.0196679, -0.0104584) -> 1 candidate(s)
I0419 20:56:52.387043 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290123539356.
I0419 20:56:52.387408 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604614s, prior_pose=(11.8402, -1.92377), yaw=2.07952 deg
I0419 20:56:52.387461 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1424, max_intensity=236, threshold=230, above_threshold=5, candidates=5
I0419 20:56:52.387501 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:52.387521 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:52.387594 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290123539527.
I0419 20:56:52.388875 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:52.388936 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:52.388957 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:52.389020 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290123779223.
I0419 20:56:52.389482 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290123811971.
I0419 20:56:52.406759 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290124057414.
I0419 20:56:52.410506 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:52.410722 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:52.410764 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290124095918.
I0419 20:56:52.507138 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290124336992.
I0419 20:56:52.508036 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:52.508141 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290124414441.
I0419 20:56:52.509305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290124658428.
I0419 20:56:52.510859 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290124693405.
I0419 20:56:52.512022 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290124939716.
I0419 20:56:52.512812 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.90488, -0.687056)
I0419 20:56:52.512897 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.000562953 range=1.203 variance=0.000538441 t_weight=5571.64 r_weight=0 yaml=(13.215, -1.32) prior=(11.8694, -1.92575, 2.32184deg) obs_actual=(1.37044, 0.554052) obs_expected=(1.36902, 0.550744) delta=(0.00142301, 0.00330826) |delta|=0.00360133m
I0419 20:56:52.512940 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290125018924.
I0419 20:56:52.522818 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290125218601.
I0419 20:56:52.531068 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290125302122.
I0419 20:56:52.554024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290125532680.
I0419 20:56:52.650686 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05634, 0.547932), points=5, range=1.1858, residual=0.0113335, extent=0.026119
I0419 20:56:52.650827 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.05634, 0.547932), tracking=(1.35484, 0.547932), map_predicted=(13.2159, -1.32014), range=1.1858, pts=5
I0419 20:56:52.650859 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.000932577m maha_sq=3.74269e-05 (gate chi2=5.99) pose_sigma=(0.150495, 0.150495, rho=0) det_map=(13.2159, -1.32014) lm_pos=(13.215, -1.32) delta=(0.000921536, -0.000143075) -> 1 candidate(s)
I0419 20:56:52.650976 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290125577412.
I0419 20:56:52.652105 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:52.652237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290125819896.
I0419 20:56:52.653002 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290125855617.
I0419 20:56:52.654984 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290126092648.
I0419 20:56:52.655956 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290126174022.
I0419 20:56:52.657157 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290126422141.
I0419 20:56:52.658741 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0362682s, prior_pose=(11.9055, -1.92286), yaw=2.53625 deg
I0419 20:56:52.658831 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:56:52.658932 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:52.658955 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.87537, -0.694966)
I0419 20:56:52.658972 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:52.659054 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290126455330.
I0419 20:56:52.670001 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:52.670114 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:52.670131 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:52.670231 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290126696589.
I0419 20:56:52.674636 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290126741620.
I0419 20:56:52.703089 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:52.734138 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290126977370.
I0419 20:56:52.734922 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:52.735006 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:52.735033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290127053596.
I0419 20:56:52.736166 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.166352 range=1.311 variance=0.000522204 t_weight=5744.89 r_weight=0 yaml=(10.515, -2.52) prior=(11.9212, -1.92224, 2.57053deg) obs_actual=(-1.48741, -0.560718) obs_expected=(-1.43154, -0.534091) delta=(-0.055864, -0.026627) |delta|=0.0618852m
I0419 20:56:52.736238 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290127300697.
I0419 20:56:52.737555 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:52.737630 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290127332963.
I0419 20:56:52.758029 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290127575382.
I0419 20:56:52.763072 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290127620012.
I0419 20:56:52.786401 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.19905, 0.55911)
I0419 20:56:52.786540 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20258, 0.558637), points=3, range=1.323, residual=0.00657504, extent=0.0134237
I0419 20:56:52.786580 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.20258, 0.558637), tracking=(-1.50108, -0.558637), map_predicted=(10.4683, -2.54598), range=1.323, pts=3
I0419 20:56:52.786628 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0534612m maha_sq=0.123166 (gate chi2=5.99) pose_sigma=(0.150643, 0.150643, rho=0) det_map=(10.4683, -2.54598) lm_pos=(10.515, -2.52) delta=(-0.0467222, -0.0259833) -> 1 candidate(s)
I0419 20:56:52.786818 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290127856392.
I0419 20:56:52.794831 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290127940576.
I0419 20:56:52.814973 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290128142458.
I0419 20:56:52.906893 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.9469, -1.91648), yaw=2.78764 deg backend=(11.9437, -1.90403)
I0419 20:56:52.907799 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.85845 deg, rms_residual=0.0135566m, sigma_yaw=0.0177546 rad, N=2
I0419 20:56:52.907896 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.9589, -1.91662, 2.85845deg) inliers=2 rms=0.0135566m
I0419 20:56:52.907934 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290128294914.
I0419 20:56:52.908792 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290128457634.
I0419 20:56:52.909782 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290128539637.
I0419 20:56:52.911504 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:52.911638 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290128740322.
I0419 20:56:52.912462 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290128818185.
I0419 20:56:52.913586 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290129059088.
I0419 20:56:52.915117 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290129094346.
I0419 20:56:52.938288 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639987s, prior_pose=(11.9745, -1.91505), yaw=2.88376 deg
I0419 20:56:52.938383 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:56:52.938489 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:52.938509 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0136153, -0.627514)
I0419 20:56:52.938524 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:52.938587 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0247139 range=0.62775 variance=0.000574296 t_weight=5223.79 r_weight=0 yaml=(12.315, -2.52) prior=(11.9745, -1.91505, 2.88376deg) obs_actual=(0.286674, -0.627895) obs_expected=(0.30963, -0.621315) delta=(-0.0229557, -0.00657956) |delta|=0.02388m
I0419 20:56:52.938647 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290129380309.
I0419 20:56:53.014163 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290129659094.
I0419 20:56:53.014992 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:53.015067 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:53.015087 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:53.015168 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290129692702.
I0419 20:56:53.016165 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26199, 0.550908), points=3, range=1.373, residual=0.00795382, extent=0.0152533
I0419 20:56:53.016228 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.26199, 0.550908), tracking=(-1.56049, -0.550908), map_predicted=(10.4573, -2.5437), range=1.373, pts=3
I0419 20:56:53.016255 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0623342m maha_sq=0.168677 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4573, -2.5437) lm_pos=(10.515, -2.52) delta=(-0.0576539, -0.0236975) -> 1 candidate(s)
I0419 20:56:53.016367 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290129939505.
I0419 20:56:53.017906 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290129979996.
I0419 20:56:53.030640 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:53.030754 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:53.030781 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290130301308.
I0419 20:56:53.053719 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290130531809.
I0419 20:56:53.058511 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0451359, -0.632452)
I0419 20:56:53.058701 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:53.058846 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290130577672.
I0419 20:56:53.083096 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290130819936.
I0419 20:56:53.176429 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290130853847.
I0419 20:56:53.177068 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:53.177666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290131093134.
I0419 20:56:53.178480 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290131174865.
I0419 20:56:53.180114 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290131420940.
I0419 20:56:53.180787 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00596615 range=1.05225 variance=0.000562055 t_weight=5337.56 r_weight=0 yaml=(13.215, -1.32) prior=(12.0314, -1.91149, 3.15388deg) obs_actual=(1.20332, 0.529425) obs_expected=(1.21437, 0.525477) delta=(-0.0110456, 0.00394794) |delta|=0.0117299m
I0419 20:56:53.180863 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290131457589.
I0419 20:56:53.183151 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290131733314.
I0419 20:56:53.197926 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.316851, -0.630905)
I0419 20:56:53.206389 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290132052819.
I0419 20:56:53.282534 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32122, 0.538279), points=4, range=1.4245, residual=0.00668276, extent=0.0153329
I0419 20:56:53.282635 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.32122, 0.538279), tracking=(-1.61972, -0.538279), map_predicted=(10.4716, -2.53888), range=1.4245, pts=4
I0419 20:56:53.282667 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0472939m maha_sq=0.0960226 (gate chi2=5.99) pose_sigma=(0.150908, 0.150908, rho=0) det_map=(10.4716, -2.53888) lm_pos=(10.515, -2.52) delta=(-0.04336, -0.0188845) -> 1 candidate(s)
I0419 20:56:53.282688 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:53.282809 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290132303713.
I0419 20:56:53.283452 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605951s, prior_pose=(12.0577, -1.9084), yaw=3.29501 deg
I0419 20:56:53.283525 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:53.283638 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:53.283659 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:53.283743 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290132339265.
I0419 20:56:53.285168 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290132621862.
I0419 20:56:53.285583 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290132622018.
I0419 20:56:53.293885 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290132933028.
I0419 20:56:53.322113 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290133214518.
I0419 20:56:53.345700 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.34694, 0.535089)
I0419 20:56:53.345794 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:53.345816 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:53.345837 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:53.345922 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290133453454.
I0419 20:56:53.403903 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290133498267.
I0419 20:56:53.405941 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290133812326.
I0419 20:56:53.407864 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:53.407980 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:53.408002 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290134053469.
I0419 20:56:53.410274 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0162597 range=0.650842 variance=0.000552623 t_weight=5428.65 r_weight=0 yaml=(12.315, -2.52) prior=(12.0989, -1.90524, 3.59069deg) obs_actual=(0.159614, -0.635209) obs_expected=(0.177187, -0.627084) delta=(-0.017573, -0.00812502) |delta|=0.0193605m
I0419 20:56:53.410379 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290134098095.
I0419 20:56:53.434548 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:53.434718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290134340416.
I0419 20:56:53.437840 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290134373819.
I0419 20:56:53.461930 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.378428, -0.637298), points=6, range=0.742167, residual=0.0073926, extent=0.0210075
I0419 20:56:53.462106 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.378428, -0.637298), tracking=(-0.676928, 0.637298), map_predicted=(11.3944, -1.31208), range=0.742167, pts=6
I0419 20:56:53.462142 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.022104m maha_sq=0.021249 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.3944, -1.31208) lm_pos=(11.415, -1.32) delta=(-0.0206358, 0.00792169) -> 1 candidate(s)
I0419 20:56:53.462224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290134613623.
I0419 20:56:53.470268 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.66305, -0.749149)
I0419 20:56:53.470395 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=3.80843 deg, rms_residual=0.0111031m, sigma_yaw=0.0145882 rad, N=2
I0419 20:56:53.470428 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.1225, -1.90432, 3.80843deg) inliers=2 rms=0.0111031m
I0419 20:56:53.470456 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290134698809.
I0419 20:56:53.503605 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:56:53.531212 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290134995075.
I0419 20:56:53.533669 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365636s, prior_pose=(12.1315, -1.90367), yaw=3.8345 deg
I0419 20:56:53.533790 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:53.533887 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:53.533914 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:53.534022 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290135265556.
I0419 20:56:53.557708 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290135571725.
I0419 20:56:53.580137 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:53.586678 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290135858418.
I0419 20:56:53.610244 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290136097888.
I0419 20:56:53.668031 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.191894, -0.644403)
I0419 20:56:53.668146 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:53.668223 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290136143705.
I0419 20:56:53.669492 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.111465 range=1.51733 variance=0.000556646 t_weight=5389.42 r_weight=0 yaml=(10.515, -2.52) prior=(12.1559, -1.89983, 3.93343deg) obs_actual=(-1.72596, -0.52661) obs_expected=(-1.67958, -0.506148) delta=(-0.0463823, -0.020462) |delta|=0.0506953m
I0419 20:56:53.669612 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290136384061.
I0419 20:56:53.670356 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290136461507.
I0419 20:56:53.672381 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290136698491.
I0419 20:56:53.673748 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.774194, 0.512383), points=7, range=0.933286, residual=0.0137771, extent=0.0354753
I0419 20:56:53.673817 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.774194, 0.512383), tracking=(1.07269, 0.512383), map_predicted=(13.2002, -1.31364), range=0.933286, pts=7
I0419 20:56:53.673844 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0161152m maha_sq=0.0112246 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2002, -1.31364) lm_pos=(13.215, -1.32) delta=(-0.014809, 0.00635548) -> 1 candidate(s)
I0419 20:56:53.673942 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290136733115.
I0419 20:56:53.698179 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290136976158.
I0419 20:56:53.699259 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.1797, -1.89524), yaw=3.97485 deg backend=(12.1767, -1.88822)
I0419 20:56:53.706408 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:53.706511 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:53.706529 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:53.706645 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137059972.
I0419 20:56:53.726130 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.44489, 0.521139)
I0419 20:56:53.726519 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137256993.
I0419 20:56:53.734030 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137333990.
I0419 20:56:53.798103 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:53.798245 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:53.798280 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137578516.
I0419 20:56:53.799110 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137611769.
I0419 20:56:53.800321 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:53.800441 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137857859.
I0419 20:56:53.801949 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00742206 range=0.910286 variance=0.000566153 t_weight=5298.92 r_weight=0 yaml=(13.215, -1.32) prior=(12.2046, -1.89165, 4.14265deg) obs_actual=(1.05764, 0.5072) obs_expected=(1.04909, 0.49716) delta=(0.00854904, 0.01004) |delta|=0.0131866m
I0419 20:56:53.802074 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290137901492.
I0419 20:56:53.814170 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.321369, 0.560391)
I0419 20:56:53.814352 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290138137075.
I0419 20:56:53.821784 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635663s, prior_pose=(12.2046, -1.89165), yaw=4.14265 deg
I0419 20:56:53.821877 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:56:53.821982 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:53.822005 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:56:53.822140 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290138214179.
I0419 20:56:53.846473 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.37086, 0.647714), points=21, range=0.743, residual=0.020055, extent=0.0538697
I0419 20:56:53.846604 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.37086, 0.647714), tracking=(0.0723601, -0.647714), map_predicted=(12.3235, -2.52743), range=0.743, pts=21
I0419 20:56:53.846643 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.01129m maha_sq=0.00543505 (gate chi2=5.99) pose_sigma=(0.150371, 0.150371, rho=0) det_map=(12.3235, -2.52743) lm_pos=(12.315, -2.52) delta=(0.00849933, -0.00743143) -> 1 candidate(s)
I0419 20:56:53.846812 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290138459576.
I0419 20:56:53.850561 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290138494158.
I0419 20:56:53.866345 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:53.874893 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290138739930.
I0419 20:56:53.949534 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290138818850.
I0419 20:56:53.950699 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.326038, 0.646639)
I0419 20:56:53.950848 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=4.4457 deg, rms_residual=0.0139m, sigma_yaw=0.0181961 rad, N=2
I0419 20:56:53.950887 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.2501, -1.88947, 4.4457deg) inliers=2 rms=0.0139m
I0419 20:56:53.950917 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290139060354.
I0419 20:56:53.951671 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:53.951767 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290139094180.
I0419 20:56:53.953689 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290139337264.
I0419 20:56:53.954555 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00270956 range=1.72233 variance=0.000610394 t_weight=4914.86 r_weight=3527.78 yaml=(14.115, -2.52) prior=(12.2273, -1.88593, 4.24883deg) obs_actual=(1.84338, -0.773052) obs_expected=(1.83551, -0.772184) delta=(0.00786544, -0.000868243) |delta|=0.00791321m
I0419 20:56:53.954640 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290139381277.
I0419 20:56:53.962080 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290139613768.
I0419 20:56:53.970672 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.710655, 0.505292), points=10, range=0.8744, residual=0.0110473, extent=0.0317213
I0419 20:56:53.970760 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.710655, 0.505292), tracking=(1.00915, 0.505292), map_predicted=(13.2154, -1.30629), range=0.8744, pts=10
I0419 20:56:53.970795 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0137177m maha_sq=0.00800497 (gate chi2=5.99) pose_sigma=(0.151464, 0.151464, rho=0) det_map=(13.2154, -1.30629) lm_pos=(13.215, -1.32) delta=(0.000350517, 0.0137133) -> 1 candidate(s)
I0419 20:56:53.970923 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290139701787.
I0419 20:56:53.994737 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.300067, 0.645775)
I0419 20:56:53.995131 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290139938241.
I0419 20:56:53.997984 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:56:53.998104 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:53.998147 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:53.998311 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290139972560.
I0419 20:56:54.086705 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290140218308.
I0419 20:56:54.087706 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290140297803.
I0419 20:56:54.088802 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:54.088903 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:54.088927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290140500558.
I0419 20:56:54.090464 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00707913 range=0.854778 variance=0.000552653 t_weight=5428.36 r_weight=0 yaml=(13.215, -1.32) prior=(12.2724, -1.88378, 4.35961deg) obs_actual=(0.986449, 0.502841) obs_expected=(0.982739, 0.490497) delta=(0.00371008, 0.0123441) |delta|=0.0128895m
I0419 20:56:54.090574 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290140582838.
I0419 20:56:54.091599 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:54.091674 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290140773085.
I0419 20:56:54.092367 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.314645, -0.649947)
I0419 20:56:54.092418 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.688636, 0.503354), points=9, range=0.85, residual=0.0104017, extent=0.0280954
I0419 20:56:54.092448 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.688636, 0.503354), tracking=(0.987136, 0.503354), map_predicted=(13.2184, -1.30685), range=0.85, pts=9
I0419 20:56:54.092473 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[15] 'ref_16' eucl_dist=0.0135882m maha_sq=0.00800996 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2184, -1.30685) lm_pos=(13.215, -1.32) delta=(0.00340657, 0.0131543) -> 1 candidate(s)
I0419 20:56:54.092578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290140862320.
I0419 20:56:54.111513 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290141103448.
I0419 20:56:54.114032 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0550528s, prior_pose=(12.2709, -1.88033), yaw=4.3542 deg
I0419 20:56:54.114193 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 20:56:54.114462 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:56:54.114509 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:56:54.114710 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290141133366.
I0419 20:56:54.138368 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290141373382.
I0419 20:56:54.228672 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290141460165.
I0419 20:56:54.230041 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290141701113.
I0419 20:56:54.230748 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(-0.386567, -0.641491)
I0419 20:56:54.230813 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 17 -> 14 (threshold=0.03, iters=3)
I0419 20:56:54.230901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290141735096.
I0419 20:56:54.232965 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=4.75662 deg, rms_residual=0.00934476m, sigma_yaw=0.0123063 rad, N=2
I0419 20:56:54.233057 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0207409 range=0.692722 variance=0.000626903 t_weight=4785.43 r_weight=0 yaml=(12.315, -2.52) prior=(12.2949, -1.88047, 4.46696deg) obs_actual=(-0.0512464, -0.643977) obs_expected=(-0.0297882, -0.639155) delta=(-0.0214582, -0.00482189) |delta|=0.0219933m
I0419 20:56:54.233197 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.3183, -1.88147, 4.75662deg) inliers=2 rms=0.00934476m
I0419 20:56:54.233232 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290141980245.
I0419 20:56:54.234050 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:56:54.234151 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290142058604.
I0419 20:56:54.235338 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.23856, 0.643715), points=16, range=0.689125, residual=0.0117859, extent=0.0364184
I0419 20:56:54.235388 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.23856, 0.643715), tracking=(-0.0599405, -0.643715), map_predicted=(12.2853, -2.52689), range=0.689125, pts=16
I0419 20:56:54.235414 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.030495m maha_sq=0.0402997 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2853, -2.52689) lm_pos=(12.315, -2.52) delta=(-0.0297056, -0.00689405) -> 1 candidate(s)
I0419 20:56:54.235477 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290142302641.
I0419 20:56:54.236838 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290142337551.
I0419 20:56:54.267023 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.46272, -0.785942)
I0419 20:56:54.267426 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290142659228.
I0419 20:56:54.268482 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290142659456.
I0419 20:56:54.362162 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290142861741.
I0419 20:56:54.363227 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:56:54.363338 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:54.363377 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:56:54.363521 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290142942238.
I0419 20:56:54.366315 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290143140689.
I0419 20:56:54.369818 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0121999 range=0.8015 variance=0.000536543 t_weight=5591.35 r_weight=0 yaml=(13.215, -1.32) prior=(12.3428, -1.87852, 4.58991deg) obs_actual=(0.925042, 0.499819) obs_expected=(0.914141, 0.48693) delta=(0.0109007, 0.012889) |delta|=0.0168805m
I0419 20:56:54.370013 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290143220032.
I0419 20:56:54.372149 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.59674, 0.505995)
I0419 20:56:54.372303 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:54.372391 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:54.372426 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290143421405.
I0419 20:56:54.373399 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.623768, 0.499068), points=10, range=0.7966, residual=0.0111822, extent=0.0293493
I0419 20:56:54.373481 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.623768, 0.499068), tracking=(0.922268, 0.499068), map_predicted=(13.2221, -1.30725), range=0.7966, pts=10
I0419 20:56:54.373517 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[15] 'ref_16' eucl_dist=0.0146071m maha_sq=0.0092504 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2221, -1.30725) lm_pos=(13.215, -1.32) delta=(0.00713023, 0.0127487) -> 1 candidate(s)
I0419 20:56:54.373615 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290143499874.
I0419 20:56:54.375784 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:54.375936 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290143739836.
I0419 20:56:54.382633 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290143818900.
I0419 20:56:54.402405 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290144016566.
I0419 20:56:54.491569 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0360099s, prior_pose=(12.3551, -1.86718), yaw=4.60101 deg
I0419 20:56:54.491730 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=248, threshold=230, above_threshold=14, candidates=14
I0419 20:56:54.491804 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:54.491827 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:54.491930 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290144099935.
I0419 20:56:54.493067 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290144343378.
I0419 20:56:54.493948 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.41663, -0.790641)
I0419 20:56:54.494071 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290144382423.
I0419 20:56:54.495996 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0175076 range=0.67375 variance=0.000629448 t_weight=4766.08 r_weight=0 yaml=(12.315, -2.52) prior=(12.3595, -1.86887, 4.64479deg) obs_actual=(-0.117215, -0.646221) obs_expected=(-0.0970632, -0.645387) delta=(-0.020152, -0.000833868) |delta|=0.0201692m
I0419 20:56:54.496105 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290144616365.
I0419 20:56:54.496886 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290144661204.
I0419 20:56:54.498093 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290144896978.
I0419 20:56:54.499461 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.584569, 0.494814), points=12, range=0.763333, residual=0.0115255, extent=0.0370827
I0419 20:56:54.499536 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.584569, 0.494814), tracking=(0.883069, 0.494814), map_predicted=(13.2084, -1.30402), range=0.763333, pts=12
I0419 20:56:54.499562 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0172807m maha_sq=0.0128257 (gate chi2=5.99) pose_sigma=(0.150701, 0.150701, rho=0) det_map=(13.2084, -1.30402) lm_pos=(13.215, -1.32) delta=(-0.00657911, 0.0159793) -> 1 candidate(s)
I0419 20:56:54.499583 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:54.499612 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=4.7213 deg, rms_residual=0.00897316m, sigma_yaw=0.0118228 rad, N=2
I0419 20:56:54.499642 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.3703, -1.87864, 4.7213deg) inliers=2 rms=0.00897316m
I0419 20:56:54.499666 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290144956185.
I0419 20:56:54.522698 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290145220321.
I0419 20:56:54.526002 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290145253892.
I0419 20:56:54.583269 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:56:54.608644 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290145495593.
I0419 20:56:54.609143 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:54.609540 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.567158, 0.495836)
I0419 20:56:54.609720 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290145574771.
I0419 20:56:54.610877 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290145780681.
I0419 20:56:54.611996 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.3985, -1.86952), yaw=4.73449 deg backend=(12.3825, -1.86543)
I0419 20:56:54.612591 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:54.612648 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:54.612666 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:54.612728 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290145856792.
I0419 20:56:54.613972 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290146093593.
I0419 20:56:54.614629 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290146137834.
I0419 20:56:54.638885 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:54.639039 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0318173 range=0.927429 variance=0.000569738 t_weight=5265.58 r_weight=0 yaml=(11.415, -1.32) prior=(12.4106, -1.86946, 4.6853deg) obs_actual=(-0.970551, 0.643309) obs_expected=(-0.947389, 0.62895) delta=(-0.0231618, 0.014359) |delta|=0.0272516m
I0419 20:56:54.639142 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:54.639182 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290146379913.
I0419 20:56:54.647140 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290146461440.
I0419 20:56:54.670656 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:54.670804 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290146700797.
I0419 20:56:54.732676 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.537973, 0.497164)
I0419 20:56:54.732806 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.541071, 0.497159), points=14, range=0.732571, residual=0.0125169, extent=0.041517
I0419 20:56:54.732861 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.541071, 0.497159), tracking=(0.839571, 0.497159), map_predicted=(13.2124, -1.30681), range=0.732571, pts=14
I0419 20:56:54.732919 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.013444m maha_sq=0.00778538 (gate chi2=5.99) pose_sigma=(0.1504, 0.1504, rho=0) det_map=(13.2124, -1.30681) lm_pos=(13.215, -1.32) delta=(-0.00258054, 0.013194) -> 1 candidate(s)
I0419 20:56:54.733014 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290146737134.
I0419 20:56:54.734324 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290146979315.
I0419 20:56:54.734963 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0632911s, prior_pose=(12.4159, -1.87033), yaw=4.64556 deg
I0419 20:56:54.735046 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 20:56:54.735159 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:54.735179 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:54.735256 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290147012824.
I0419 20:56:54.737107 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290147255278.
I0419 20:56:54.737983 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290147298652.
I0419 20:56:54.758828 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290147580875.
I0419 20:56:54.762035 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290147614589.
I0419 20:56:54.786652 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290147860208.
I0419 20:56:54.790026 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:54.790155 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0139832 range=0.7104 variance=0.000595222 t_weight=5040.14 r_weight=0 yaml=(13.215, -1.32) prior=(12.4405, -1.86884, 4.67263deg) obs_actual=(0.803439, 0.496118) obs_expected=(0.816634, 0.483919) delta=(-0.0131959, 0.0121989) |delta|=0.0179707m
I0419 20:56:54.790237 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290147895689.
I0419 20:56:54.856563 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.499561, 0.496527)
I0419 20:56:54.856763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290148179987.
I0419 20:56:54.857208 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290148180177.
I0419 20:56:54.858558 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0889363, 0.639411), points=19, range=0.646789, residual=0.0111976, extent=0.0373549
I0419 20:56:54.858616 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0889363, 0.639411), tracking=(-0.209564, -0.639411), map_predicted=(12.2913, -2.5177), range=0.646789, pts=19
I0419 20:56:54.858644 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0237707m maha_sq=0.0245025 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2913, -2.5177) lm_pos=(12.315, -2.52) delta=(-0.0236593, 0.00229922) -> 1 candidate(s)
I0419 20:56:54.858702 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290148454709.
I0419 20:56:54.859123 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290148501716.
I0419 20:56:54.873874 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290148732746.
I0419 20:56:54.878345 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:54.878473 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:54.878496 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:54.878588 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=4.1985 deg, rms_residual=0.0119598m, sigma_yaw=0.0156962 rad, N=2
I0419 20:56:54.878621 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.4656, -1.86251, 4.1985deg) inliers=2 rms=0.0119598m
I0419 20:56:54.878680 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290148779110.
I0419 20:56:54.902120 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290149012590.
I0419 20:56:54.910475 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290149099471.
I0419 20:56:54.934077 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.0673614, 0.642022)
I0419 20:56:54.934299 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:54.934378 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:54.934401 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290149334384.
I0419 20:56:55.007277 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290149378725.
I0419 20:56:55.008416 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:55.008528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290149612374.
I0419 20:56:55.009279 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00472817 range=1.51367 variance=0.000534029 t_weight=5617.67 r_weight=0 yaml=(14.115, -2.52) prior=(12.4716, -1.86557, 4.55778deg) obs_actual=(1.5931, -0.790748) obs_expected=(1.58617, -0.782947) delta=(0.00693168, -0.00780132) |delta|=0.0104359m
I0419 20:56:55.009375 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290149657083.
I0419 20:56:55.011386 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290149892565.
I0419 20:56:55.012070 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558826s, prior_pose=(12.4816, -1.86017), yaw=4.57612 deg
I0419 20:56:55.012143 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 20:56:55.012219 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:55.012240 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:55.012303 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290149937551.
I0419 20:56:55.018822 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290150178866.
I0419 20:56:55.027674 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28093, -0.790082), points=4, range=1.49925, residual=0.0131979, extent=0.0290894
I0419 20:56:55.027809 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28093, -0.790082), tracking=(1.57943, -0.790082), map_predicted=(14.1282, -2.51871), range=1.49925, pts=4
I0419 20:56:55.027870 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0132402m maha_sq=0.00749537 (gate chi2=5.99) pose_sigma=(0.150774, 0.150774, rho=0) det_map=(14.1282, -2.51871) lm_pos=(14.115, -2.52) delta=(0.0131772, 0.00129061) -> 1 candidate(s)
I0419 20:56:55.028133 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290150269327.
I0419 20:56:55.049993 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.0412153, 0.642703)
I0419 20:56:55.050254 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290150493118.
I0419 20:56:55.054818 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290150539317.
I0419 20:56:55.145056 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290150775982.
I0419 20:56:55.145862 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:55.145991 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290150855974.
I0419 20:56:55.147203 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290151062579.
I0419 20:56:55.148703 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290151132318.
I0419 20:56:55.149793 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290151342020.
I0419 20:56:55.150696 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290151418827.
I0419 20:56:55.167117 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290151659921.
I0419 20:56:55.174060 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.24673, -0.78914)
I0419 20:56:55.174190 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:55.174237 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:55.174269 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:55.174350 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0339548 range=0.641667 variance=0.000613108 t_weight=4893.1 r_weight=0 yaml=(13.215, -1.32) prior=(12.5295, -1.8509, 4.46675deg) obs_actual=(0.70341, 0.494013) obs_expected=(0.724778, 0.475897) delta=(-0.0213683, 0.0181162) |delta|=0.0280143m
I0419 20:56:55.174481 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290151732545.
I0419 20:56:55.199276 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290151981913.
I0419 20:56:55.281875 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290152018106.
I0419 20:56:55.283087 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:55.283177 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:55.283200 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290152257739.
I0419 20:56:55.283910 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.389159, 0.495032), points=17, range=0.631588, residual=0.0115627, extent=0.0400409
I0419 20:56:55.283977 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.389159, 0.495032), tracking=(0.687659, 0.495032), map_predicted=(13.1799, -1.30379), range=0.631588, pts=17
I0419 20:56:55.284042 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0386329m maha_sq=0.0646982 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1799, -1.30379) lm_pos=(13.215, -1.32) delta=(-0.0350686, 0.0162079) -> 1 candidate(s)
I0419 20:56:55.284116 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290152342484.
I0419 20:56:55.286068 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:55.286178 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290152573169.
I0419 20:56:55.286824 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290152617750.
I0419 20:56:55.289165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290152882366.
I0419 20:56:55.289947 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0864449s, prior_pose=(12.5412, -1.84901), yaw=4.40815 deg
I0419 20:56:55.290056 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1442, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:55.290205 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:55.290241 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:55.290362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290152882555.
I0419 20:56:55.314208 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290153135283.
I0419 20:56:55.318609 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290153180004.
I0419 20:56:55.407425 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.84001, 0.516043)
I0419 20:56:55.407588 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290153414317.
I0419 20:56:55.408447 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290153494373.
I0419 20:56:55.409614 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290153740627.
I0419 20:56:55.411058 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:55.411151 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290153776435.
I0419 20:56:55.412207 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0272858 range=0.644105 variance=0.000564567 t_weight=5313.8 r_weight=0 yaml=(12.315, -2.52) prior=(12.5828, -1.84464, 4.22275deg) obs_actual=(-0.338639, -0.641375) obs_expected=(-0.316847, -0.653803) delta=(-0.0217918, 0.0124279) |delta|=0.0250865m
I0419 20:56:55.412282 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290154014742.
I0419 20:56:55.413229 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290154102322.
I0419 20:56:55.430655 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290154301337.
I0419 20:56:55.438097 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.337865, 0.497707), points=18, range=0.602389, residual=0.0105825, extent=0.0370897
I0419 20:56:55.438191 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.337865, 0.497707), tracking=(0.636365, 0.497707), map_predicted=(13.1897, -1.29982), range=0.602389, pts=18
I0419 20:56:55.438223 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0323273m maha_sq=0.0453465 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1897, -1.29982) lm_pos=(13.215, -1.32) delta=(-0.0252565, 0.0201783) -> 1 candidate(s)
I0419 20:56:55.438313 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290154376343.
I0419 20:56:55.458811 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290154578017.
I0419 20:56:55.552554 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.5935, -1.8421), yaw=4.14395 deg backend=(12.5908, -1.84962)
I0419 20:56:55.553310 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:55.553392 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:55.553412 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:55.553504 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290154658659.
I0419 20:56:55.554736 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290154902309.
I0419 20:56:55.555490 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290154938563.
I0419 20:56:55.557381 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0690832, 0.646019)
I0419 20:56:55.557524 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:55.557566 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:55.557585 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290155172387.
I0419 20:56:55.558357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290155254046.
I0419 20:56:55.559444 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:55.559512 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290155502017.
I0419 20:56:55.560812 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=3.23509 deg, rms_residual=0.0206753m, sigma_yaw=0.0268275 rad, N=2
I0419 20:56:55.560887 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.6273, -1.83778, 3.23509deg) inliers=2 rms=0.0206753m
I0419 20:56:55.560917 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290155566895.
I0419 20:56:55.578958 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290155775070.
I0419 20:56:55.582647 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.064715s, prior_pose=(12.6181, -1.8389), yaw=3.97785 deg
I0419 20:56:55.582803 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:56:55.583039 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:55.583083 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:55.583287 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0785825 range=0.583409 variance=0.000619857 t_weight=4839.82 r_weight=0 yaml=(13.215, -1.32) prior=(12.6181, -1.8389, 3.97785deg) obs_actual=(0.595875, 0.499698) obs_expected=(0.631462, 0.476237) delta=(-0.0355869, 0.0234604) |delta|=0.0426241m
I0419 20:56:55.583425 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290155819537.
I0419 20:56:55.682729 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290156100490.
I0419 20:56:55.683516 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290156138322.
I0419 20:56:55.684947 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290156377890.
I0419 20:56:55.686537 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14424, -0.781523), points=4, range=1.3825, residual=0.00809186, extent=0.0177178
I0419 20:56:55.686635 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.14424, -0.781523), tracking=(1.44274, -0.781523), map_predicted=(14.1378, -2.51916), range=1.3825, pts=4
I0419 20:56:55.686668 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0227907m maha_sq=0.0223219 (gate chi2=5.99) pose_sigma=(0.150768, 0.150768, rho=0) det_map=(14.1378, -2.51916) lm_pos=(14.115, -2.52) delta=(0.0227753, 0.000837975) -> 1 candidate(s)
I0419 20:56:55.686759 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290156422152.
I0419 20:56:55.688063 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290156655815.
I0419 20:56:55.688985 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:55.689134 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290156700314.
I0419 20:56:55.694852 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.109404, 0.647834)
I0419 20:56:55.695044 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290156941317.
I0419 20:56:55.702138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290157013648.
I0419 20:56:55.726379 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290157252550.
I0419 20:56:55.821672 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290157299894.
I0419 20:56:55.822825 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290157538484.
I0419 20:56:55.823603 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:55.823665 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:55.823684 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:55.823745 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290157617395.
I0419 20:56:55.825531 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290157859281.
I0419 20:56:55.826309 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0119535 range=1.34967 variance=0.000590431 t_weight=5081.03 r_weight=0 yaml=(14.115, -2.52) prior=(12.6754, -1.83459, 3.8228deg) obs_actual=(1.40732, -0.778811) obs_expected=(1.39074, -0.779865) delta=(0.0165801, 0.0010543) |delta|=0.0166136m
I0419 20:56:55.826468 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290157894927.
I0419 20:56:55.827521 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:55.827579 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:55.827600 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290158135647.
I0419 20:56:55.829066 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290158179605.
I0419 20:56:55.842684 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.143113, 0.645473), points=18, range=0.662833, residual=0.0110631, extent=0.0333265
I0419 20:56:55.842814 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.143113, 0.645473), tracking=(-0.441613, -0.645473), map_predicted=(12.2889, -2.50561), range=0.662833, pts=18
I0419 20:56:55.842854 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.029806m maha_sq=0.0385282 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2889, -2.50561) lm_pos=(12.315, -2.52) delta=(-0.0261025, 0.0143895) -> 1 candidate(s)
I0419 20:56:55.842897 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:55.843009 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290158420308.
I0419 20:56:55.846338 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290158456634.
I0419 20:56:55.917514 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290158732529.
I0419 20:56:55.918325 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059692s, prior_pose=(12.694, -1.83285), yaw=3.68886 deg
I0419 20:56:55.918413 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:56:55.918517 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:55.918541 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.226267, 0.502096)
I0419 20:56:55.918557 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:55.918645 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290158776525.
I0419 20:56:55.919744 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290159019860.
I0419 20:56:55.921207 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290159054322.
I0419 20:56:55.929857 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290159293587.
I0419 20:56:55.938014 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290159373451.
I0419 20:56:55.963423 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290159622241.
I0419 20:56:55.966733 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:55.966991 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290159658191.
I0419 20:56:55.990149 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0440452 range=0.67379 variance=0.000591022 t_weight=5075.96 r_weight=0 yaml=(12.315, -2.52) prior=(12.7177, -1.83127, 3.69007deg) obs_actual=(-0.47522, -0.64809) obs_expected=(-0.446232, -0.661386) delta=(-0.0289876, 0.0132955) |delta|=0.0318912m
I0419 20:56:55.990351 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290159896305.
I0419 20:56:56.048933 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290159940953.
I0419 20:56:56.049414 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:56.050314 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290160172615.
I0419 20:56:56.051179 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.187042, 0.504591), points=23, range=0.537348, residual=0.0115357, extent=0.0387847
I0419 20:56:56.051256 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.187042, 0.504591), tracking=(0.485542, 0.504591), map_predicted=(13.1822, -1.2966), range=0.537348, pts=23
I0419 20:56:56.051285 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0402596m maha_sq=0.0702715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1822, -1.2966) lm_pos=(13.215, -1.32) delta=(-0.0327637, 0.0233959) -> 1 candidate(s)
I0419 20:56:56.051348 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290160255976.
I0419 20:56:56.053232 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290160498514.
I0419 20:56:56.053928 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:56.054000 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:56.054019 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:56.054075 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290160535689.
I0419 20:56:56.078588 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290160780005.
I0419 20:56:56.082039 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.02711, -0.767732)
I0419 20:56:56.082219 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290160816038.
I0419 20:56:56.106774 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:56.106895 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:56.106916 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290161062692.
I0419 20:56:56.114671 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290161137050.
I0419 20:56:56.173282 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:56.173405 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290161378720.
I0419 20:56:56.174185 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.87571 deg, rms_residual=0.0163384m, sigma_yaw=0.02132 rad, N=2
I0419 20:56:56.174253 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.7772, -1.83464, 2.87571deg) inliers=2 rms=0.0163384m
I0419 20:56:56.174286 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290161415334.
I0419 20:56:56.175432 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290161653551.
I0419 20:56:56.176829 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0371836s, prior_pose=(12.7767, -1.82987), yaw=3.23387 deg
I0419 20:56:56.176919 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=254, threshold=230, above_threshold=29, candidates=29
I0419 20:56:56.177035 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:56.177058 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:56.177145 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0432773 range=0.52604 variance=0.000593441 t_weight=5055.26 r_weight=0 yaml=(13.215, -1.32) prior=(12.7767, -1.82987, 3.23387deg) obs_actual=(0.441569, 0.504303) obs_expected=(0.466361, 0.484336) delta=(-0.0247917, 0.0199668) |delta|=0.0318324m
I0419 20:56:56.177191 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290161750556.
I0419 20:56:56.194828 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290161942688.
I0419 20:56:56.200346 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290161991192.
I0419 20:56:56.226333 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290162258834.
I0419 20:56:56.230785 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290162302512.
I0419 20:56:56.258137 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.119296, 0.506518), points=25, range=0.52076, residual=0.0115441, extent=0.0392371
I0419 20:56:56.258240 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.119296, 0.506518), tracking=(0.417796, 0.506518), map_predicted=(13.1746, -1.3), range=0.52076, pts=25
I0419 20:56:56.258271 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0450465m maha_sq=0.0879766 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1746, -1.3) lm_pos=(13.215, -1.32) delta=(-0.040362, 0.0200024) -> 1 candidate(s)
I0419 20:56:56.258349 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290162576800.
I0419 20:56:56.258755 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:56.258814 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290162576977.
I0419 20:56:56.314286 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.2442, 0.664509)
I0419 20:56:56.314489 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290162817366.
I0419 20:56:56.315155 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290162898728.
I0419 20:56:56.317096 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290163108784.
I0419 20:56:56.319096 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290163185183.
I0419 20:56:56.342110 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290163415904.
I0419 20:56:56.343222 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.8221, -1.82861), yaw=2.80559 deg backend=(12.8114, -1.82969)
I0419 20:56:56.346578 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:56.346665 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:56.346689 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:56.346763 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290163461618.
I0419 20:56:56.370743 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290163700178.
I0419 20:56:56.378490 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290163779084.
I0419 20:56:56.438995 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:56.439111 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:56.439136 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290164044734.
I0419 20:56:56.445955 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290164056600.
I0419 20:56:56.447240 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:56.447320 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290164298019.
I0419 20:56:56.448740 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00457038 range=1.211 variance=0.000534119 t_weight=5616.73 r_weight=0 yaml=(14.115, -2.52) prior=(12.8371, -1.83423, 2.50433deg) obs_actual=(1.25056, -0.75053) obs_expected=(1.24674, -0.740958) delta=(0.00382582, -0.0095723) |delta|=0.0103085m
I0419 20:56:56.448859 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290164342171.
I0419 20:56:56.458307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290164578188.
I0419 20:56:56.466482 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0616846s, prior_pose=(12.8371, -1.83423), yaw=2.50433 deg
I0419 20:56:56.466580 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 20:56:56.466711 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:56.466733 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.0656217, 0.509397)
I0419 20:56:56.466747 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:56.466893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290164661580.
I0419 20:56:56.490026 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.283322, 0.672897), points=16, range=0.730563, residual=0.0110283, extent=0.0321115
I0419 20:56:56.490145 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.283322, 0.672897), tracking=(-0.581822, -0.672897), map_predicted=(12.2957, -2.52788), range=0.730563, pts=16
I0419 20:56:56.490176 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0208274m maha_sq=0.0185984 (gate chi2=5.99) pose_sigma=(0.150876, 0.150876, rho=0) det_map=(12.2957, -2.52788) lm_pos=(12.315, -2.52) delta=(-0.0192799, -0.00787809) -> 1 candidate(s)
I0419 20:56:56.490284 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290164896005.
I0419 20:56:56.494589 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290164939353.
I0419 20:56:56.518100 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290165175790.
I0419 20:56:56.574384 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290165221593.
I0419 20:56:56.575517 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290165451775.
I0419 20:56:56.576347 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:56.576436 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290165541344.
I0419 20:56:56.578164 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290165737640.
I0419 20:56:56.582701 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290165821116.
I0419 20:56:56.606014 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290166053904.
I0419 20:56:56.610591 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290166099346.
I0419 20:56:56.634416 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290166338074.
I0419 20:56:56.642192 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:56.642292 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:56.642315 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:56.642385 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0484583 range=0.51068 variance=0.000554182 t_weight=5413.39 r_weight=0 yaml=(13.215, -1.32) prior=(12.8872, -1.82553, 1.83072deg) obs_actual=(0.314095, 0.51019) obs_expected=(0.343767, 0.494804) delta=(-0.029672, 0.0153863) |delta|=0.033424m
I0419 20:56:56.642478 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290166416364.
I0419 20:56:56.702898 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.19089, -0.555323)
I0419 20:56:56.703070 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290166655637.
I0419 20:56:56.703943 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290166699243.
I0419 20:56:56.704977 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:56.705046 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:56.705132 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290166934540.
I0419 20:56:56.706637 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.898296, -0.733928), points=5, range=1.1584, residual=0.00686489, extent=0.0173892
I0419 20:56:56.706699 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.898296, -0.733928), tracking=(1.1968, -0.733928), map_predicted=(14.1303, -2.5224), range=1.1584, pts=5
I0419 20:56:56.706727 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0154844m maha_sq=0.0102702 (gate chi2=5.99) pose_sigma=(0.15113, 0.15113, rho=0) det_map=(14.1303, -2.5224) lm_pos=(14.115, -2.52) delta=(0.0152969, -0.00240234) -> 1 candidate(s)
I0419 20:56:56.706806 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290167016229.
I0419 20:56:56.722471 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:56.722652 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290167219222.
I0419 20:56:56.730461 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290167298723.
I0419 20:56:56.754695 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290167536981.
I0419 20:56:56.758666 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565382s, prior_pose=(12.9234, -1.82419), yaw=1.58129 deg
I0419 20:56:56.758795 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=254, threshold=230, above_threshold=29, candidates=29
I0419 20:56:56.758998 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:56.759037 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:56.759187 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290167581611.
I0419 20:56:56.782775 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290167820400.
I0419 20:56:56.858060 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290167899554.
I0419 20:56:56.859206 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290168101595.
I0419 20:56:56.860141 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290168178674.
I0419 20:56:56.861892 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.24951, -0.551972)
I0419 20:56:56.862053 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290168381698.
I0419 20:56:56.862838 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:56.862905 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00433967 range=1.1295 variance=0.000518011 t_weight=5791.38 r_weight=0 yaml=(14.115, -2.52) prior=(12.942, -1.82289, 1.35843deg) obs_actual=(1.16566, -0.72763) obs_expected=(1.1561, -0.724725) delta=(0.00956311, -0.00290474) |delta|=0.00999453m
I0419 20:56:56.862974 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290168466576.
I0419 20:56:56.870342 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290168698036.
I0419 20:56:56.878331 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290168777105.
I0419 20:56:56.902842 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.377052, 0.684867), points=15, range=0.7838, residual=0.0120909, extent=0.036474
I0419 20:56:56.902942 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.377052, 0.684867), tracking=(-0.675552, -0.684867), map_predicted=(12.2948, -2.52147), range=0.7838, pts=15
I0419 20:56:56.902976 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0202449m maha_sq=0.017753 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2948, -2.52147) lm_pos=(12.315, -2.52) delta=(-0.0201911, -0.00147396) -> 1 candidate(s)
I0419 20:56:56.903083 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290169022792.
I0419 20:56:56.906635 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290169058962.
I0419 20:56:56.961364 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290169293268.
I0419 20:56:56.962194 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:56.962324 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:56.962380 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:56.962502 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290169341029.
I0419 20:56:56.963819 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290169576688.
I0419 20:56:56.965344 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.03074 deg, rms_residual=0.015222m, sigma_yaw=0.0198923 rad, N=2
I0419 20:56:56.965449 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.9916, -1.82349, 1.03074deg) inliers=2 rms=0.015222m
I0419 20:56:56.965485 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290169623218.
I0419 20:56:56.986614 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:56.986754 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:56.986779 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290169859796.
I0419 20:56:56.995677 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(-0.0788796, 0.512232)
I0419 20:56:56.995972 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290169942221.
I0419 20:56:57.022552 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:57.022713 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290170220428.
I0419 20:56:57.026125 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290170254071.
I0419 20:56:57.046772 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0226511 range=0.800714 variance=0.000557292 t_weight=5383.17 r_weight=0 yaml=(12.315, -2.52) prior=(12.9883, -1.81954, 1.4222deg) obs_actual=(-0.713347, -0.683596) obs_expected=(-0.690494, -0.683534) delta=(-0.0228532, -6.27395e-05) |delta|=0.0228533m
I0419 20:56:57.047016 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290170459541.
I0419 20:56:57.120724 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0318656s, prior_pose=(13.0023, -1.82096), yaw=1.45213 deg
I0419 20:56:57.120877 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:56:57.121018 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:57.121044 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:57.121176 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290170539084.
I0419 20:56:57.122260 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290170741863.
I0419 20:56:57.123236 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0986638, 0.511396), points=25, range=0.52136, residual=0.0114996, extent=0.0367925
I0419 20:56:57.123329 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0986638, 0.511396), tracking=(0.199836, 0.511396), map_predicted=(13.1892, -1.30467), range=0.52136, pts=25
I0419 20:56:57.123358 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0300472m maha_sq=0.0391448 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1892, -1.30467) lm_pos=(13.215, -1.32) delta=(-0.0258413, 0.0153318) -> 1 candidate(s)
I0419 20:56:57.123433 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290170821062.
I0419 20:56:57.125371 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290171054192.
I0419 20:56:57.126277 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290171101199.
I0419 20:56:57.133731 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290171332223.
I0419 20:56:57.142208 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:57.142406 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290171416871.
I0419 20:56:57.163656 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290171630463.
I0419 20:56:57.170243 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290171696804.
I0419 20:56:57.229604 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290171944176.
I0419 20:56:57.230543 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.76845, -0.734642)
I0419 20:56:57.230707 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290171975622.
I0419 20:56:57.231918 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290172212249.
I0419 20:56:57.232924 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.0498, -1.8195), yaw=1.60264 deg backend=(13.0308, -1.82111)
I0419 20:56:57.233541 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:57.233593 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:57.233655 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:57.233706 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0248605 range=0.526826 variance=0.000548648 t_weight=5467.99 r_weight=0 yaml=(13.215, -1.32) prior=(13.0498, -1.8195, 1.60264deg) obs_actual=(0.159147, 0.508173) obs_expected=(0.179061, 0.494686) delta=(-0.0199133, 0.0134867) |delta|=0.0240506m
I0419 20:56:57.233760 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290172300030.
I0419 20:56:57.253911 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290172532489.
I0419 20:56:57.258215 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290172576757.
I0419 20:56:57.282362 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:57.282522 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:57.282554 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290172818129.
I0419 20:56:57.285748 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.742863, -0.736372), points=7, range=1.04314, residual=0.0115022, extent=0.0351049
I0419 20:56:57.286131 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.742863, -0.736372), tracking=(1.04136, -0.736372), map_predicted=(14.1218, -2.52631), range=1.04314, pts=7
I0419 20:56:57.286212 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00928163m maha_sq=0.00373188 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1218, -2.52631) lm_pos=(14.115, -2.52) delta=(0.00680599, -0.00631088) -> 1 candidate(s)
I0419 20:56:57.286378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290172852233.
I0419 20:56:57.309780 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:57.309945 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290173092439.
I0419 20:56:57.382018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290173172753.
I0419 20:56:57.383391 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290173414688.
I0419 20:56:57.384266 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641698s, prior_pose=(13.071, -1.82002), yaw=1.68186 deg
I0419 20:56:57.384366 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:56:57.384524 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:57.384550 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:57.384672 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290173459827.
I0419 20:56:57.386917 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290173699169.
I0419 20:56:57.387881 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290173734115.
I0419 20:56:57.398509 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.51013, 0.683076)
I0419 20:56:57.398702 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290173981036.
I0419 20:56:57.406059 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290174053659.
I0419 20:56:57.430734 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290174299990.
I0419 20:56:57.434090 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:57.434221 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00287033 range=1.01838 variance=0.000592568 t_weight=5062.71 r_weight=0 yaml=(14.115, -2.52) prior=(13.0933, -1.81998, 1.75478deg) obs_actual=(0.999946, -0.739117) obs_expected=(0.999779, -0.730977) delta=(0.000166967, -0.00813975) |delta|=0.00814146m
I0419 20:56:57.434334 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290174335204.
I0419 20:56:57.519932 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290174572875.
I0419 20:56:57.521180 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:57.527249 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290174618786.
I0419 20:56:57.528594 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.531651, 0.68455), points=11, range=0.868545, residual=0.00971183, extent=0.0280857
I0419 20:56:57.528677 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.531651, 0.68455), tracking=(-0.830151, -0.68455), map_predicted=(12.2951, -2.52861), range=0.868545, pts=11
I0419 20:56:57.528707 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0216834m maha_sq=0.0204082 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2951, -2.52861) lm_pos=(12.315, -2.52) delta=(-0.0199015, -0.00860792) -> 1 candidate(s)
I0419 20:56:57.528782 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290174897267.
I0419 20:56:57.530335 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290174931803.
I0419 20:56:57.531713 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290175179576.
I0419 20:56:57.532717 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:57.532780 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:57.532802 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:57.532860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290175293080.
I0419 20:56:57.546049 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290175454489.
I0419 20:56:57.554726 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.44256 deg, rms_residual=0.0149274m, sigma_yaw=0.0195148 rad, N=2
I0419 20:56:57.554839 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.1343, -1.81806, 1.44256deg) inliers=2 rms=0.0149274m
I0419 20:56:57.554878 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290175541678.
I0419 20:56:57.578433 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:57.578615 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:57.578640 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290175779524.
I0419 20:56:57.636337 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.222785, 0.506184)
I0419 20:56:57.636528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290175814394.
I0419 20:56:57.637796 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:57.637895 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290176061604.
I0419 20:56:57.638711 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290176094436.
I0419 20:56:57.640588 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0224232 range=0.892636 variance=0.000559141 t_weight=5365.37 r_weight=0 yaml=(12.315, -2.52) prior=(13.1433, -1.81713, 1.84034deg) obs_actual=(-0.872021, -0.683439) obs_expected=(-0.850422, -0.67591) delta=(-0.0215988, -0.0075297) |delta|=0.0228736m
I0419 20:56:57.640707 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290176335270.
I0419 20:56:57.641855 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566458s, prior_pose=(13.1433, -1.81713), yaw=1.84034 deg
I0419 20:56:57.641945 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:56:57.642060 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:57.642084 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:57.642163 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290176380852.
I0419 20:56:57.662261 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290176617442.
I0419 20:56:57.670454 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.24816, 0.504966), points=21, range=0.562095, residual=0.0111464, extent=0.0330426
I0419 20:56:57.670568 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.24816, 0.504966), tracking=(0.0503401, 0.504966), map_predicted=(13.1894, -1.3102), range=0.562095, pts=21
I0419 20:56:57.670606 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0274025m maha_sq=0.0321558 (gate chi2=5.99) pose_sigma=(0.150979, 0.150979, rho=0) det_map=(13.1894, -1.3102) lm_pos=(13.215, -1.32) delta=(-0.0255903, 0.00979968) -> 1 candidate(s)
I0419 20:56:57.670698 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290176699192.
I0419 20:56:57.691139 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290176904565.
I0419 20:56:57.697650 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 29 -> 19 (threshold=0.03, iters=3)
I0419 20:56:57.697857 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290176971721.
I0419 20:56:57.759825 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290177216256.
I0419 20:56:57.760891 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:57.761005 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290177292952.
I0419 20:56:57.761999 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290177505015.
I0419 20:56:57.763552 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.616268, -0.743131)
I0419 20:56:57.763661 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290177572685.
I0419 20:56:57.782475 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290177816438.
I0419 20:56:57.786633 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290177860105.
I0419 20:56:57.810266 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290178097609.
I0419 20:56:57.818200 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:57.818312 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:57.818334 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:57.818405 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0154648 range=0.579381 variance=0.000601443 t_weight=4988 r_weight=0 yaml=(13.215, -1.32) prior=(13.1988, -1.81287, 2.00011deg) obs_actual=(0.0214647, 0.506622) obs_expected=(0.0334396, 0.491998) delta=(-0.0119748, 0.0146241) |delta|=0.0189013m
I0419 20:56:57.818467 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290178177136.
I0419 20:56:57.838629 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290178381286.
I0419 20:56:57.895524 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290178458899.
I0419 20:56:57.896818 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:56:57.896931 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:57.896955 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290178695031.
I0419 20:56:57.897637 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.582198, -0.742903), points=10, range=0.9438, residual=0.00996796, extent=0.0311614
I0419 20:56:57.897711 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.582198, -0.742903), tracking=(0.880698, -0.742903), map_predicted=(14.1162, -2.5355), range=0.9438, pts=10
I0419 20:56:57.897737 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0155439m maha_sq=0.0104837 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1162, -2.5355) lm_pos=(14.115, -2.52) delta=(0.00121877, -0.0154961) -> 1 candidate(s)
I0419 20:56:57.897796 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290178741080.
I0419 20:56:57.899700 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:57.899819 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290178984839.
I0419 20:56:57.904124 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290179036044.
I0419 20:56:57.930800 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290179300904.
I0419 20:56:57.934443 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0355588s, prior_pose=(13.2221, -1.81893), yaw=2.00152 deg
I0419 20:56:57.934541 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=11, candidates=11
I0419 20:56:57.934605 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:57.934628 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:57.934737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290179340427.
I0419 20:56:57.958232 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.29161, -0.506745)
I0419 20:56:57.958491 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290179575712.
I0419 20:56:57.962631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290179621273.
I0419 20:56:58.034759 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290179853141.
I0419 20:56:58.035588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290179933380.
I0419 20:56:58.036953 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290180173754.
I0419 20:56:58.038370 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:58.038475 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290180217878.
I0419 20:56:58.046692 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290180457090.
I0419 20:56:58.050966 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0140145 range=0.914 variance=0.00053218 t_weight=5637.19 r_weight=0 yaml=(14.115, -2.52) prior=(13.2391, -1.81466, 1.96772deg) obs_actual=(0.83355, -0.738685) obs_expected=(0.851135, -0.735002) delta=(-0.0175845, -0.00368364) |delta|=0.0179662m
I0419 20:56:58.051105 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290180503993.
I0419 20:56:58.074729 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290180734228.
I0419 20:56:58.082188 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290180813124.
I0419 20:56:58.106815 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=30, centroid=(-0.273821, -0.49827)
I0419 20:56:58.107015 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.693328, 0.687254), points=10, range=0.9793, residual=0.0119116, extent=0.0358298
I0419 20:56:58.107080 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.693328, 0.687254), tracking=(-0.991828, -0.687254), map_predicted=(12.2847, -2.53434), range=0.9793, pts=10
I0419 20:56:58.107139 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0335028m maha_sq=0.0486096 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2847, -2.53434) lm_pos=(12.315, -2.52) delta=(-0.0302789, -0.0143398) -> 1 candidate(s)
I0419 20:56:58.107376 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290181057569.
I0419 20:56:58.183271 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.2699, -1.81122), yaw=2.03783 deg backend=(13.257, -1.81312)
I0419 20:56:58.183997 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:58.184067 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:58.184090 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:58.184159 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290181092263.
I0419 20:56:58.185406 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290181340294.
I0419 20:56:58.186326 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290181422586.
I0419 20:56:58.188160 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:58.188282 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:58.188313 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290181613507.
I0419 20:56:58.189118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290181695159.
I0419 20:56:58.194607 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:58.194736 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290181940263.
I0419 20:56:58.197997 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290181972147.
I0419 20:56:58.222504 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290182217934.
I0419 20:56:58.230162 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0683004s, prior_pose=(13.2971, -1.80584), yaw=2.07454 deg
I0419 20:56:58.230257 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 20:56:58.230335 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:58.230356 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:56:58.230489 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290182296511.
I0419 20:56:58.305962 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.225886, -0.495491)
I0419 20:56:58.306136 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.17833 deg, rms_residual=0.0117771m, sigma_yaw=0.01546 rad, N=2
I0419 20:56:58.306174 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0105194 range=1.0078 variance=0.000620225 t_weight=4836.95 r_weight=0 yaml=(12.315, -2.52) prior=(13.3075, -1.80537, 2.05832deg) obs_actual=(-1.02998, -0.68805) obs_expected=(-1.01753, -0.678523) delta=(-0.0124464, -0.0095267) |delta|=0.0156739m
I0419 20:56:58.306223 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.311, -1.80272, 2.17833deg) inliers=2 rms=0.0117771m
I0419 20:56:58.306252 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290182502105.
I0419 20:56:58.307125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290182580655.
I0419 20:56:58.308166 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290182813108.
I0419 20:56:58.309737 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290182858590.
I0419 20:56:58.311000 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.210432, -0.495636), points=23, range=0.539652, residual=0.0114221, extent=0.0367555
I0419 20:56:58.311054 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.210432, -0.495636), tracking=(-0.0880675, 0.495636), map_predicted=(13.2153, -1.313), range=0.539652, pts=23
I0419 20:56:58.311080 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00700961m maha_sq=0.00213048 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2153, -1.313) lm_pos=(13.215, -1.32) delta=(0.000256557, 0.00700492) -> 1 candidate(s)
I0419 20:56:58.311148 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290183092986.
I0419 20:56:58.314288 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:58.314515 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290183138268.
I0419 20:56:58.338454 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290183378564.
I0419 20:56:58.346551 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290183458962.
I0419 20:56:58.370290 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290183692741.
I0419 20:56:58.454025 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290183739319.
I0419 20:56:58.455413 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.18917, -0.494753)
I0419 20:56:58.455598 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290183973096.
I0419 20:56:58.456214 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:58.456274 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:58.456292 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:58.456354 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290184023104.
I0419 20:56:58.458261 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290184257704.
I0419 20:56:58.459121 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290184339676.
I0419 20:56:58.460314 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:58.460368 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00582552 range=0.52575 variance=0.000563856 t_weight=5320.51 r_weight=0 yaml=(13.215, -1.32) prior=(13.3484, -1.8015, 1.94788deg) obs_actual=(-0.122951, 0.495659) obs_expected=(-0.116932, 0.485753) delta=(-0.00601915, 0.009906) |delta|=0.0115913m
I0419 20:56:58.460420 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:58.460479 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290184581719.
I0419 20:56:58.462273 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290184616807.
I0419 20:56:58.486425 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:58.486703 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290184854572.
I0419 20:56:58.494863 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.426907, -0.729504), points=13, range=0.849231, residual=0.0148017, extent=0.0467796
I0419 20:56:58.495000 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.426907, -0.729504), tracking=(0.725407, -0.729504), map_predicted=(14.11, -2.50702), range=0.849231, pts=13
I0419 20:56:58.495036 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.013903m maha_sq=0.00834526 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.11, -2.50702) lm_pos=(14.115, -2.52) delta=(-0.00497548, 0.0129822) -> 1 candidate(s)
I0419 20:56:58.495191 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290184940823.
I0419 20:56:58.572796 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290185175639.
I0419 20:56:58.573480 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603749s, prior_pose=(13.3732, -1.80116), yaw=1.71463 deg
I0419 20:56:58.573572 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:56:58.573637 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:58.573660 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:58.573753 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290185220556.
I0419 20:56:58.574973 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.149609, -0.494259)
I0419 20:56:58.575141 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290185462099.
I0419 20:56:58.576577 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290185497279.
I0419 20:56:58.577837 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290185733114.
I0419 20:56:58.578764 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290185783895.
I0419 20:56:58.614480 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290186053846.
I0419 20:56:58.618322 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:58.618499 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00995162 range=1.42133 variance=0.000551412 t_weight=5440.58 r_weight=0 yaml=(15.015, -1.32) prior=(13.3899, -1.80766, 1.58149deg) obs_actual=(1.65099, 0.450342) obs_expected=(1.63796, 0.442619) delta=(0.0130289, 0.00772318) |delta|=0.0151459m
I0419 20:56:58.618667 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290186175034.
I0419 20:56:58.634627 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290186334811.
I0419 20:56:58.725117 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290186374923.
I0419 20:56:58.726240 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.829263, 0.698886), points=5, range=1.0866, residual=0.00974752, extent=0.0268309
I0419 20:56:58.726313 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.829263, 0.698886), tracking=(-1.12776, -0.698886), map_predicted=(12.2899, -2.53258), range=1.0866, pts=5
I0419 20:56:58.726341 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0280533m maha_sq=0.0341434 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2899, -2.53258) lm_pos=(12.315, -2.52) delta=(-0.0250761, -0.0125768) -> 1 candidate(s)
I0419 20:56:58.726423 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290186616522.
I0419 20:56:58.727231 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290186661917.
I0419 20:56:58.728989 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.112503, -0.493671)
I0419 20:56:58.729146 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290186934625.
I0419 20:56:58.729861 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:58.729911 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:58.729933 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:58.729987 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290186975367.
I0419 20:56:58.731083 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290187217016.
I0419 20:56:58.732512 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.97916 deg, rms_residual=0.00893773m, sigma_yaw=0.0117766 rad, N=2
I0419 20:56:58.732583 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.4161, -1.82391, 1.97916deg) inliers=2 rms=0.00893773m
I0419 20:56:58.732614 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290187282470.
I0419 20:56:58.750415 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:58.750607 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:58.750648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290187495600.
I0419 20:56:58.755041 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290187542056.
I0419 20:56:58.835965 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:58.836071 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290187814365.
I0419 20:56:58.836799 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00270149 range=0.813769 variance=0.000581166 t_weight=5162.03 r_weight=0 yaml=(14.115, -2.52) prior=(13.4343, -1.80514, 1.33884deg) obs_actual=(0.656267, -0.728087) obs_expected=(0.663765, -0.730564) delta=(-0.00749798, 0.00247665) |delta|=0.00789642m
I0419 20:56:58.836934 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290187858794.
I0419 20:56:58.838176 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188096673.
I0419 20:56:58.839457 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0328067s, prior_pose=(13.4478, -1.80302), yaw=1.29383 deg
I0419 20:56:58.839531 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:56:58.839597 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:56:58.839619 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29299, 0.457849)
I0419 20:56:58.839633 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:56:58.839650 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29869, 0.457754), points=3, range=1.37167, residual=0.0105155, extent=0.0215318
I0419 20:56:58.839664 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.29869, 0.457754), tracking=(1.59719, 0.457754), map_predicted=(15.0342, -1.30932), range=1.37167, pts=3
I0419 20:56:58.839684 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0219645m maha_sq=0.0206277 (gate chi2=5.99) pose_sigma=(0.151014, 0.151014, rho=0) det_map=(15.0342, -1.30932) lm_pos=(15.015, -1.32) delta=(0.0191939, 0.0106786) -> 1 candidate(s)
I0419 20:56:58.839758 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188142432.
I0419 20:56:58.841010 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188394191.
I0419 20:56:58.847151 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188462303.
I0419 20:56:58.866838 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188660293.
I0419 20:56:58.874763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188738773.
I0419 20:56:58.899231 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290188980324.
I0419 20:56:58.997463 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:56:58.997625 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290189056361.
I0419 20:56:58.997869 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:56:58.998878 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290189257958.
I0419 20:56:58.999763 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0085334 range=1.34633 variance=0.00062396 t_weight=4808 r_weight=0 yaml=(15.015, -1.32) prior=(13.4691, -1.80272, 1.21199deg) obs_actual=(1.55615, 0.463956) obs_expected=(1.5558, 0.449913) delta=(0.00035392, 0.0140428) |delta|=0.0140473m
I0419 20:56:58.999840 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290189340614.
I0419 20:56:59.002298 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290189577727.
I0419 20:56:59.003031 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.321549, -0.724823)
I0419 20:56:59.003178 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290189611927.
I0419 20:56:59.004447 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.913758, 0.711741), points=5, range=1.1552, residual=0.0105598, extent=0.0284767
I0419 20:56:59.004580 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.913758, 0.711741), tracking=(-1.21226, -0.711741), map_predicted=(12.2795, -2.54189), range=1.1552, pts=5
I0419 20:56:59.004645 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0417007m maha_sq=0.0753774 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2795, -2.54189) lm_pos=(12.315, -2.52) delta=(-0.0354942, -0.0218886) -> 1 candidate(s)
I0419 20:56:59.004707 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290189855470.
I0419 20:56:59.005862 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.4936, -1.80251), yaw=1.0893 deg backend=(13.4713, -1.8034)
I0419 20:56:59.006422 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:56:59.006474 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:59.006491 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:56:59.006539 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290189901140.
I0419 20:56:59.014731 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290190137753.
I0419 20:56:59.022537 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290190218203.
I0419 20:56:59.082765 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:59.082916 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:59.082942 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290190461180.
I0419 20:56:59.083616 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290190495956.
I0419 20:56:59.084873 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:59.084956 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290190737678.
I0419 20:56:59.086512 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.53522 deg, rms_residual=0.0123846m, sigma_yaw=0.0162446 rad, N=2
I0419 20:56:59.086593 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.4948, -1.82186, 1.53522deg) inliers=2 rms=0.0123846m
I0419 20:56:59.086622 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290190773468.
I0419 20:56:59.102771 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00502295, -0.49328)
I0419 20:56:59.102960 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191021881.
I0419 20:56:59.106292 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598584s, prior_pose=(13.5123, -1.80536), yaw=0.90064 deg
I0419 20:56:59.106406 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:56:59.106534 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:59.106559 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:59.106635 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00214652 range=0.7786 variance=0.000576557 t_weight=5203.3 r_weight=0 yaml=(14.115, -2.52) prior=(13.5123, -1.80536, 0.90064deg) obs_actual=(0.584449, -0.722786) obs_expected=(0.591377, -0.724022) delta=(-0.00692872, 0.00123578) |delta|=0.00703806m
I0419 20:56:59.106694 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191059764.
I0419 20:56:59.134945 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191339143.
I0419 20:56:59.138141 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22651, 0.472855), points=3, range=1.31133, residual=0.00660058, extent=0.0125732
I0419 20:56:59.138258 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22651, 0.472855), tracking=(1.52501, 0.472855), map_predicted=(15.0341, -1.31439), range=1.31133, pts=3
I0419 20:56:59.138293 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0199437m maha_sq=0.0172849 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0341, -1.31439) lm_pos=(15.015, -1.32) delta=(0.019138, 0.00561148) -> 1 candidate(s)
I0419 20:56:59.138383 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191375662.
I0419 20:56:59.162046 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191614251.
I0419 20:56:59.218871 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191654545.
I0419 20:56:59.220273 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191901669.
I0419 20:56:59.221055 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:59.221170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290191977960.
I0419 20:56:59.222949 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.96551, 0.71962)
I0419 20:56:59.223081 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290192181616.
I0419 20:56:59.230659 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290192301305.
I0419 20:56:59.250782 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290192500880.
I0419 20:56:59.253895 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.000603479 range=0.765333 variance=0.000616983 t_weight=4862.37 r_weight=0 yaml=(14.115, -2.52) prior=(13.5539, -1.80475, 0.72267deg) obs_actual=(0.548873, -0.720215) obs_expected=(0.552031, -0.722271) delta=(-0.00315767, 0.00205666) |delta|=0.00376838m
I0419 20:56:59.254134 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290192533248.
I0419 20:56:59.279853 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290192791760.
I0419 20:56:59.287627 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:59.287819 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18842, 0.478135), points=3, range=1.276, residual=0.00967515, extent=0.0194684
I0419 20:56:59.287855 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:59.287875 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:59.287884 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18842, 0.478135), tracking=(1.48692, 0.478135), map_predicted=(15.0347, -1.3079), range=1.276, pts=3
I0419 20:56:59.287906 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0230998m maha_sq=0.0231403 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0347, -1.3079) lm_pos=(15.015, -1.32) delta=(0.0196753, 0.0121029) -> 1 candidate(s)
I0419 20:56:59.288026 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290192869238.
I0419 20:56:59.344637 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290193055329.
I0419 20:56:59.345577 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290193132626.
I0419 20:56:59.346773 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.987987, 0.722179)
I0419 20:56:59.346858 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:59.346908 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:59.346928 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290193375832.
I0419 20:56:59.348328 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290193422464.
I0419 20:56:59.365989 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:56:59.366135 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290193654808.
I0419 20:56:59.374285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290193736931.
I0419 20:56:59.398813 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.864208 deg, rms_residual=0.0157306m, sigma_yaw=0.0205433 rad, N=2
I0419 20:56:59.398994 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6007, -1.79202, 0.864208deg) inliers=2 rms=0.0157306m
I0419 20:56:59.399046 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290193980520.
I0419 20:56:59.401763 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591007s, prior_pose=(13.5796, -1.81166), yaw=0.641676 deg
I0419 20:56:59.401854 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:56:59.401973 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:59.402001 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:56:59.402135 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290194013471.
I0419 20:56:59.427013 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0151236 range=0.497741 variance=0.000599926 t_weight=5000.61 r_weight=0 yaml=(13.215, -1.32) prior=(13.5796, -1.81166, 0.641676deg) obs_actual=(-0.37688, 0.490003) obs_expected=(-0.359082, 0.495711) delta=(-0.0177982, -0.00570764) |delta|=0.018691m
I0419 20:56:59.427342 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290194259813.
I0419 20:56:59.516547 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290194294575.
I0419 20:56:59.517773 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.01578, 0.726754)
I0419 20:56:59.517933 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290194534909.
I0419 20:56:59.518692 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.202409, -0.717591), points=16, range=0.747625, residual=0.0121912, extent=0.0395723
I0419 20:56:59.518754 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.202409, -0.717591), tracking=(0.500909, -0.717591), map_predicted=(14.1097, -2.51926), range=0.747625, pts=16
I0419 20:56:59.518781 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00538937m maha_sq=0.00125805 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1097, -2.51926) lm_pos=(14.115, -2.52) delta=(-0.00533838, 0.000739616) -> 1 candidate(s)
I0419 20:56:59.518854 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290194614485.
I0419 20:56:59.520785 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290194867399.
I0419 20:56:59.521510 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:59.521610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290194940186.
I0419 20:56:59.522740 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290195139014.
I0419 20:56:59.524215 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290195177352.
I0419 20:56:59.547734 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290195461909.
I0419 20:56:59.550446 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290195496155.
I0419 20:56:59.644146 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.03981, 0.729154)
I0419 20:56:59.644325 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290195741291.
I0419 20:56:59.645098 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:59.645159 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:59.645175 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:59.645219 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00650965 range=0.738118 variance=0.000618939 t_weight=4847 r_weight=0 yaml=(14.115, -2.52) prior=(13.6245, -1.80859, 0.304268deg) obs_actual=(0.474433, -0.714329) obs_expected=(0.486696, -0.714) delta=(-0.0122633, -0.000329008) |delta|=0.0122677m
I0419 20:56:59.645282 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290195776407.
I0419 20:56:59.646423 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196020998.
I0419 20:56:59.647794 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09981, 0.485817), points=4, range=1.196, residual=0.0146015, extent=0.0336506
I0419 20:56:59.647862 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09981, 0.485817), tracking=(1.39831, 0.485817), map_predicted=(15.0394, -1.31062), range=1.196, pts=4
I0419 20:56:59.647888 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0261648m maha_sq=0.028986 (gate chi2=5.99) pose_sigma=(0.151474, 0.151474, rho=0) det_map=(15.0394, -1.31062) lm_pos=(15.015, -1.32) delta=(0.0244239, 0.00938455) -> 1 candidate(s)
I0419 20:56:59.647956 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196061507.
I0419 20:56:59.649215 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:59.649288 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:59.649312 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196338001.
I0419 20:56:59.650074 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196374498.
I0419 20:56:59.663105 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:59.663357 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196620647.
I0419 20:56:59.666882 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196657814.
I0419 20:56:59.690572 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.07367, 0.735602)
I0419 20:56:59.690951 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196895803.
I0419 20:56:59.771029 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357204s, prior_pose=(13.6656, -1.8051), yaw=0.113013 deg
I0419 20:56:59.771157 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:56:59.771255 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:56:59.771281 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:56:59.771377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290196977851.
I0419 20:56:59.772464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290197222302.
I0419 20:56:59.773262 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.828382 deg, rms_residual=0.00953817m, sigma_yaw=0.0125579 rad, N=2
I0419 20:56:59.773324 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00364495 range=0.725412 variance=0.000565543 t_weight=5304.64 r_weight=0 yaml=(14.115, -2.52) prior=(13.6656, -1.8051, 0.113013deg) obs_actual=(0.440815, -0.710021) obs_expected=(0.447944, -0.715786) delta=(-0.00712928, 0.00576594) |delta|=0.00916911m
I0419 20:56:59.773377 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6582, -1.82406, 0.828382deg) inliers=2 rms=0.00953817m
I0419 20:56:59.773406 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290197262007.
I0419 20:56:59.775226 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290197502331.
I0419 20:56:59.775858 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06246, 0.493531), points=5, range=1.1664, residual=0.0136542, extent=0.0338173
I0419 20:56:59.775916 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06246, 0.493531), tracking=(1.36096, 0.493531), map_predicted=(15.0304, -1.31679), range=1.1664, pts=5
I0419 20:56:59.775941 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0157778m maha_sq=0.0107554 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0304, -1.31679) lm_pos=(15.015, -1.32) delta=(0.0154482, 0.00320824) -> 1 candidate(s)
I0419 20:56:59.776003 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290197537459.
I0419 20:56:59.786836 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290197856444.
I0419 20:56:59.787559 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:56:59.787716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290197856660.
I0419 20:56:59.806280 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.09793, 0.740545)
I0419 20:56:59.806592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290198055854.
I0419 20:56:59.815052 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290198139429.
I0419 20:56:59.906942 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290198382471.
I0419 20:56:59.907703 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290198417734.
I0419 20:56:59.908926 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290198662206.
I0419 20:56:59.909941 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.7042, -1.80383), yaw=-0.194295 deg backend=(13.6862, -1.79698)
I0419 20:56:59.910485 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:56:59.910540 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:56:59.910560 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:56:59.910604 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0231642 range=1.141 variance=0.00062078 t_weight=4832.63 r_weight=0 yaml=(15.015, -1.32) prior=(13.7042, -1.80383, -0.194295deg) obs_actual=(1.33048, 0.497747) obs_expected=(1.30912, 0.488274) delta=(0.0213614, 0.00947307) |delta|=0.0233677m
I0419 20:56:59.910660 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290198741393.
I0419 20:56:59.911798 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290198981879.
I0419 20:56:59.912497 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199017358.
I0419 20:56:59.926538 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.212799, -0.481568)
I0419 20:56:59.926676 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.210349, -0.481741), points=21, range=0.526571, residual=0.0104384, extent=0.0316422
I0419 20:56:59.926765 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.210349, -0.481741), tracking=(-0.508849, 0.481741), map_predicted=(13.2037, -1.32425), range=0.526571, pts=21
I0419 20:56:59.926811 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.012027m maha_sq=0.00623167 (gate chi2=5.99) pose_sigma=(0.150569, 0.150569, rho=0) det_map=(13.2037, -1.32425) lm_pos=(13.215, -1.32) delta=(-0.0112523, -0.00424683) -> 1 candidate(s)
I0419 20:56:59.926903 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:56:59.927004 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:56:59.927037 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199254583.
I0419 20:56:59.930270 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199294816.
I0419 20:56:59.954653 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:56:59.954860 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199537790.
I0419 20:57:00.047369 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199619344.
I0419 20:57:00.048722 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199855178.
I0419 20:57:00.049485 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0646042s, prior_pose=(13.7261, -1.80153), yaw=-0.382946 deg
I0419 20:57:00.049587 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:57:00.049674 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:00.049697 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:00.049782 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290199900625.
I0419 20:57:00.051676 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290200133095.
I0419 20:57:00.052479 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0025434 range=2.01667 variance=0.000614502 t_weight=4882 r_weight=5000 yaml=(15.915, -2.52) prior=(13.7309, -1.80625, -0.439595deg) obs_actual=(2.19661, -0.693987) obs_expected=(2.18955, -0.696971) delta=(0.00706281, 0.00298431) |delta|=0.00766743m
I0419 20:57:00.052580 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290200178033.
I0419 20:57:00.053615 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.245103, -0.478921)
I0419 20:57:00.053711 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.250523 deg, rms_residual=0.0186433m, sigma_yaw=0.0242549 rad, N=2
I0419 20:57:00.053751 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.7648, -1.78611, -0.250523deg) inliers=2 rms=0.0186433m
I0419 20:57:00.053781 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290200417620.
I0419 20:57:00.055217 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.98968, 0.505676), points=6, range=1.1065, residual=0.0156548, extent=0.0390362
I0419 20:57:00.055346 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.98968, 0.505676), tracking=(1.28818, 0.505676), map_predicted=(15.0428, -1.30655), range=1.1065, pts=6
I0419 20:57:00.055378 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0308481m maha_sq=0.0402359 (gate chi2=5.99) pose_sigma=(0.151493, 0.151493, rho=0) det_map=(15.0428, -1.30655) lm_pos=(15.015, -1.32) delta=(0.0277611, 0.0134509) -> 1 candidate(s)
I0419 20:57:00.055461 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290200495191.
I0419 20:57:00.075503 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290200743123.
I0419 20:57:00.078878 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:00.079097 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290200779465.
I0419 20:57:00.188933 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290201014256.
I0419 20:57:00.189771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201060080.
I0419 20:57:00.190984 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201339466.
I0419 20:57:00.192601 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201373197.
I0419 20:57:00.193733 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.275105, -0.477929)
I0419 20:57:00.193871 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201616630.
I0419 20:57:00.194541 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:00.194602 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:00.194618 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:00.194658 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0356446 range=1.0822 variance=0.000620214 t_weight=4837.04 r_weight=0 yaml=(15.015, -1.32) prior=(13.7756, -1.80155, -0.650625deg) obs_actual=(1.25922, 0.509029) obs_expected=(1.23386, 0.495588) delta=(0.0253664, 0.0134409) |delta|=0.0287073m
I0419 20:57:00.194700 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201661344.
I0419 20:57:00.196542 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201901660.
I0419 20:57:00.198541 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290201979687.
I0419 20:57:00.218288 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.288003, -0.476078), points=20, range=0.55785, residual=0.0114448, extent=0.0321772
I0419 20:57:00.218429 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.288003, -0.476078), tracking=(-0.586503, 0.476078), map_predicted=(13.1978, -1.32436), range=0.55785, pts=20
I0419 20:57:00.218483 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0177512m maha_sq=0.0136623 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1978, -1.32436) lm_pos=(13.215, -1.32) delta=(-0.017207, -0.00436167) -> 1 candidate(s)
I0419 20:57:00.218609 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:00.218832 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:00.218884 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290202175269.
I0419 20:57:00.307174 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290202256129.
I0419 20:57:00.308559 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:00.308688 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290202499460.
I0419 20:57:00.309687 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290202536283.
I0419 20:57:00.312005 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20659, 0.763744)
I0419 20:57:00.312170 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290202774139.
I0419 20:57:00.312865 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562679s, prior_pose=(13.7968, -1.80729), yaw=-0.859406 deg
I0419 20:57:00.312934 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:57:00.313036 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:00.313068 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:00.313189 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290202818808.
I0419 20:57:00.314651 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290203062774.
I0419 20:57:00.316330 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0147425 range=1.04583 variance=0.000586414 t_weight=5115.84 r_weight=0 yaml=(15.015, -1.32) prior=(13.8159, -1.80077, -0.934291deg) obs_actual=(1.2038, 0.513908) obs_expected=(1.19113, 0.500254) delta=(0.0126735, 0.0136542) |delta|=0.0186294m
I0419 20:57:00.316433 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290203132783.
I0419 20:57:00.338668 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290203377447.
I0419 20:57:00.343359 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290203422145.
I0419 20:57:00.439170 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22951, 0.765795), points=3, range=1.45, residual=0.00495587, extent=0.0103518
I0419 20:57:00.439291 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22951, 0.765795), tracking=(-1.52801, -0.765795), map_predicted=(12.2775, -2.54699), range=1.45, pts=3
I0419 20:57:00.439323 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0462126m maha_sq=0.092295 (gate chi2=5.99) pose_sigma=(0.150455, 0.150455, rho=0) det_map=(12.2775, -2.54699) lm_pos=(12.315, -2.52) delta=(-0.0375096, -0.0269931) -> 1 candidate(s)
I0419 20:57:00.439379 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.84999 deg, rms_residual=0.0165146m, sigma_yaw=0.0215451 rad, N=2
I0419 20:57:00.439410 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8443, -1.79017, -0.84999deg) inliers=2 rms=0.0165146m
I0419 20:57:00.439481 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290203657883.
I0419 20:57:00.439649 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:00.440246 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:00.440326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290203741451.
I0419 20:57:00.441327 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290203945275.
I0419 20:57:00.442778 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.00719794, -0.71166)
I0419 20:57:00.442890 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204016209.
I0419 20:57:00.443837 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204252611.
I0419 20:57:00.444589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204297689.
I0419 20:57:00.454232 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204536216.
I0419 20:57:00.458701 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:00.458808 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:00.458839 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:00.458928 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204581730.
I0419 20:57:00.486404 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0255553 range=0.594833 variance=0.000579953 t_weight=5172.83 r_weight=0 yaml=(13.215, -1.32) prior=(13.8411, -1.80567, -1.04043deg) obs_actual=(-0.658831, 0.4709) obs_expected=(-0.634773, 0.474221) delta=(-0.024058, -0.0033209) |delta|=0.0242861m
I0419 20:57:00.486665 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204852921.
I0419 20:57:00.557391 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290204896489.
I0419 20:57:00.558990 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2626, 0.771197), points=3, range=1.477, residual=0.00598444, extent=0.0110764
I0419 20:57:00.559113 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2626, 0.771197), tracking=(-1.5611, -0.771197), map_predicted=(12.2868, -2.53951), range=1.477, pts=3
I0419 20:57:00.559146 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0342507m maha_sq=0.0509707 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2868, -2.53951) lm_pos=(12.315, -2.52) delta=(-0.028153, -0.0195068) -> 1 candidate(s)
I0419 20:57:00.559202 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:00.559242 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:00.559260 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290205140221.
I0419 20:57:00.560055 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.77489, -0.672439)
I0419 20:57:00.560212 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290205173179.
I0419 20:57:00.561887 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:00.561975 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290205418337.
I0419 20:57:00.562747 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290205496051.
I0419 20:57:00.570039 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290205695996.
I0419 20:57:00.577726 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0355973s, prior_pose=(13.8728, -1.80954), yaw=-1.18218 deg
I0419 20:57:00.577832 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:57:00.577950 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:00.577978 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:00.578073 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290205774310.
I0419 20:57:00.598842 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290205980584.
I0419 20:57:00.606604 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290206058961.
I0419 20:57:00.671587 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290206293491.
I0419 20:57:00.672322 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.7542, -0.673377)
I0419 20:57:00.672436 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0063098 range=0.714 variance=0.000579707 t_weight=5175.02 r_weight=0 yaml=(14.115, -2.52) prior=(13.8825, -1.81196, -1.16115deg) obs_actual=(0.236438, -0.709367) obs_expected=(0.246803, -0.703187) delta=(-0.010365, -0.00618028) |delta|=0.0120677m
I0419 20:57:00.672487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290206337906.
I0419 20:57:00.673645 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290206580900.
I0419 20:57:00.675086 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.827704, 0.52218), points=7, range=0.974143, residual=0.0165348, extent=0.0452691
I0419 20:57:00.675173 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.827704, 0.52218), tracking=(1.1262, 0.52218), map_predicted=(15.0388, -1.30713), range=0.974143, pts=7
I0419 20:57:00.675205 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0270946m maha_sq=0.0309976 (gate chi2=5.99) pose_sigma=(0.151528, 0.151528, rho=0) det_map=(15.0388, -1.30713) lm_pos=(15.015, -1.32) delta=(0.0238439, 0.012868) -> 1 candidate(s)
I0419 20:57:00.675226 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:00.675279 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290206660873.
I0419 20:57:00.689886 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.966408 deg, rms_residual=0.0179567m, sigma_yaw=0.0233824 rad, N=2
I0419 20:57:00.690045 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9258, -1.78724, -0.966408deg) inliers=2 rms=0.0179567m
I0419 20:57:00.690263 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290206893565.
I0419 20:57:00.694456 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290206937778.
I0419 20:57:00.717684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290207172297.
I0419 20:57:00.722318 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290207216695.
I0419 20:57:00.750804 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290207501162.
I0419 20:57:00.762976 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:00.811882 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.9218, -1.80528), yaw=-1.30891 deg backend=(13.9016, -1.7981)
I0419 20:57:00.812515 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.7102, -0.667927)
I0419 20:57:00.812579 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:00.812608 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:00.812628 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:00.812712 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290207536758.
I0419 20:57:00.814127 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290207775980.
I0419 20:57:00.814827 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0144148 range=0.949571 variance=0.000602168 t_weight=4982 r_weight=0 yaml=(15.015, -1.32) prior=(13.9218, -1.80528, -1.30891deg) obs_actual=(1.09535, 0.522394) obs_expected=(1.08185, 0.510122) delta=(0.0135067, 0.0122713) |delta|=0.0182487m
I0419 20:57:00.814919 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290207819761.
I0419 20:57:00.816660 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:00.816761 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:00.816787 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290208052528.
I0419 20:57:00.817622 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290208100819.
I0419 20:57:00.838084 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33905, 0.775691), points=3, range=1.54233, residual=0.0101327, extent=0.020109
I0419 20:57:00.838166 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.33905, 0.775691), tracking=(-1.63755, -0.775691), map_predicted=(12.2719, -2.54571), range=1.54233, pts=3
I0419 20:57:00.838195 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.050224m maha_sq=0.109258 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2719, -2.54571) lm_pos=(12.315, -2.52) delta=(-0.0431441, -0.0257107) -> 1 candidate(s)
I0419 20:57:00.838279 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:00.838404 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290208376625.
I0419 20:57:00.843060 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290208421183.
I0419 20:57:00.871003 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290208700932.
I0419 20:57:00.871553 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0648565s, prior_pose=(13.9462, -1.80491), yaw=-1.3556 deg
I0419 20:57:00.871634 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1444, max_intensity=245, threshold=230, above_threshold=18, candidates=18
I0419 20:57:00.871737 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:00.871765 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.461906, -0.471256)
I0419 20:57:00.871785 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:57:00.871882 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290208701093.
I0419 20:57:00.954612 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290208976015.
I0419 20:57:00.955099 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290209020481.
I0419 20:57:00.956542 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290209259564.
I0419 20:57:00.957978 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290209293339.
I0419 20:57:00.959131 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290209532675.
I0419 20:57:00.959905 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:00.959964 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=2.41562e-05 range=0.725556 variance=0.00058936 t_weight=5090.27 r_weight=0 yaml=(14.115, -2.52) prior=(13.9723, -1.80613, -1.39193deg) obs_actual=(0.159328, -0.710432) obs_expected=(0.160035, -0.710189) delta=(-0.00070639, -0.000242415) |delta|=0.000746827m
I0419 20:57:00.960026 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290209579427.
I0419 20:57:00.988291 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290209864319.
I0419 20:57:00.988956 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.493964, -0.469963)
I0419 20:57:00.989184 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290209864538.
I0419 20:57:01.014792 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.506824, -0.469827), points=12, range=0.68675, residual=0.0125267, extent=0.0368878
I0419 20:57:01.014961 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.506824, -0.469827), tracking=(-0.805324, 0.469827), map_predicted=(13.1819, -1.31903), range=0.68675, pts=12
I0419 20:57:01.015015 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0331062m maha_sq=0.0474598 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1819, -1.31903) lm_pos=(13.215, -1.32) delta=(-0.0330921, 0.000965989) -> 1 candidate(s)
I0419 20:57:01.015223 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290210139434.
I0419 20:57:01.018035 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290210173557.
I0419 20:57:01.107239 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290210419405.
I0419 20:57:01.108096 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:01.108198 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:01.108222 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:01.108310 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290210501239.
I0419 20:57:01.110069 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.61834 deg, rms_residual=0.0146595m, sigma_yaw=0.0191712 rad, N=2
I0419 20:57:01.110190 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.0199, -1.79927, -1.61834deg) inliers=2 rms=0.0146595m
I0419 20:57:01.110225 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290210697425.
I0419 20:57:01.110960 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290210741876.
I0419 20:57:01.112135 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.370222, 0.649953)
I0419 20:57:01.112233 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:01.112278 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:01.112299 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290211017935.
I0419 20:57:01.113711 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290211054292.
I0419 20:57:01.130229 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:01.130395 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0960141 range=0.708167 variance=0.000603213 t_weight=4973.37 r_weight=0 yaml=(13.215, -1.32) prior=(13.9895, -1.81181, -1.58897deg) obs_actual=(-0.83492, 0.469) obs_expected=(-0.787836, 0.470149) delta=(-0.0470841, -0.00114946) |delta|=0.0470981m
I0419 20:57:01.130570 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290211293551.
I0419 20:57:01.134860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290211339621.
I0419 20:57:01.210709 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.533558, -0.466442), points=13, range=0.711692, residual=0.0137032, extent=0.0429114
I0419 20:57:01.210815 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.533558, -0.466442), tracking=(-0.832058, 0.466442), map_predicted=(13.1903, -1.31597), range=0.711692, pts=13
I0419 20:57:01.210850 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.025064m maha_sq=0.0266666 (gate chi2=5.99) pose_sigma=(0.151434, 0.151434, rho=0) det_map=(13.1903, -1.31597) lm_pos=(13.215, -1.32) delta=(-0.0247377, 0.0040313) -> 1 candidate(s)
I0419 20:57:01.210955 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290211579883.
I0419 20:57:01.211642 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605636s, prior_pose=(14.0081, -1.80695), yaw=-1.70402 deg
I0419 20:57:01.211750 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:57:01.211838 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:01.211861 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:01.211943 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290211659928.
I0419 20:57:01.213064 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.546946, -0.466993)
I0419 20:57:01.213243 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290211898300.
I0419 20:57:01.214627 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290211932964.
I0419 20:57:01.218901 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 21 -> 19 (threshold=0.03, iters=3)
I0419 20:57:01.219198 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290212178793.
I0419 20:57:01.226357 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290212258446.
I0419 20:57:01.246649 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.401525, 0.725217)
I0419 20:57:01.246865 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.044845 range=0.734923 variance=0.000642611 t_weight=4668.46 r_weight=1819.37 yaml=(13.215, -1.32) prior=(14.0285, -1.8088, -1.82466deg) obs_actual=(-0.860547, 0.467362) obs_expected=(-0.828613, 0.462651) delta=(-0.0319339, 0.00471063) |delta|=0.0322794m
I0419 20:57:01.246999 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290212458458.
I0419 20:57:01.254575 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:01.254762 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290212537839.
I0419 20:57:01.275266 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.574117, -0.466273), points=11, range=0.738091, residual=0.010519, extent=0.0352797
I0419 20:57:01.275427 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.574117, -0.466273), tracking=(-0.872617, 0.466273), map_predicted=(13.1711, -1.31498), range=0.738091, pts=11
I0419 20:57:01.275488 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0441524m maha_sq=0.0845769 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1711, -1.31498) lm_pos=(13.215, -1.32) delta=(-0.0438659, 0.00502159) -> 1 candidate(s)
I0419 20:57:01.275707 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290212741526.
I0419 20:57:01.367859 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290212821448.
I0419 20:57:01.369195 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290213055851.
I0419 20:57:01.370019 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.65487, 0.527092)
I0419 20:57:01.370147 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290213100880.
I0419 20:57:01.371922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290213332847.
I0419 20:57:01.372752 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:01.372820 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:01.372838 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:01.372882 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[17] 'ref_18' maha_sq=0.0216663 range=0.8322 variance=0.000601728 t_weight=4985.64 r_weight=5000 yaml=(15.015, -1.32) prior=(14.0706, -1.80294, -1.77424deg) obs_actual=(0.945561, 0.527026) obs_expected=(0.929034, 0.511946) delta=(0.0165261, 0.0150803) |delta|=0.0223725m
I0419 20:57:01.372936 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290213414753.
I0419 20:57:01.374152 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290213657845.
I0419 20:57:01.375605 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.96138 deg, rms_residual=0.0129785m, sigma_yaw=0.0170103 rad, N=2
I0419 20:57:01.375687 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.0705, -1.80642, -1.96138deg) inliers=2 rms=0.0129785m
I0419 20:57:01.375716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290213721977.
I0419 20:57:01.395282 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.605919, -0.463481), points=10, range=0.7597, residual=0.0117225, extent=0.0331161
I0419 20:57:01.395476 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.605919, -0.463481), tracking=(-0.904419, 0.463481), map_predicted=(13.1958, -1.31372), range=0.7597, pts=10
I0419 20:57:01.395532 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0202064m maha_sq=0.0176929 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1958, -1.31372) lm_pos=(13.215, -1.32) delta=(-0.0192048, 0.00628283) -> 1 candidate(s)
I0419 20:57:01.395640 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:01.395771 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:01.395860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290213942161.
I0419 20:57:01.398644 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.56839, -0.654984)
I0419 20:57:01.398942 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290213979283.
I0419 20:57:01.483301 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:57:01.483438 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290214213043.
I0419 20:57:01.484371 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290214292626.
I0419 20:57:01.485630 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290214539645.
I0419 20:57:01.487167 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0363237s, prior_pose=(14.0909, -1.80617), yaw=-1.96144 deg
I0419 20:57:01.487279 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:57:01.487372 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:01.487430 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:01.487522 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290214576280.
I0419 20:57:01.488659 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0226757 range=0.7908 variance=0.000627373 t_weight=4781.84 r_weight=0 yaml=(14.115, -2.52) prior=(14.0909, -1.80617, -1.96144deg) obs_actual=(0.0262393, -0.718008) obs_expected=(0.0484879, -0.712583) delta=(-0.0222485, -0.00542514) |delta|=0.0229004m
I0419 20:57:01.488752 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290214816142.
I0419 20:57:01.489596 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290214881347.
I0419 20:57:01.511348 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.634568, -0.463773)
I0419 20:57:01.511763 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290215103871.
I0419 20:57:01.518679 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.267662, -0.725494), points=14, range=0.773071, residual=0.0102037, extent=0.0297472
I0419 20:57:01.518857 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.267662, -0.725494), tracking=(0.0308378, -0.725494), map_predicted=(14.1044, -2.53261), range=0.773071, pts=14
I0419 20:57:01.518914 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0164657m maha_sq=0.0117653 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1044, -2.53261) lm_pos=(14.115, -2.52) delta=(-0.0105924, -0.0126064) -> 1 candidate(s)
I0419 20:57:01.519134 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290215178078.
I0419 20:57:01.543474 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290215423057.
I0419 20:57:01.625027 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:57:01.625203 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290215485552.
I0419 20:57:01.626341 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290215701825.
I0419 20:57:01.627139 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290215750607.
I0419 20:57:01.629367 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.297545, 0.718138)
I0419 20:57:01.629506 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290216022453.
I0419 20:57:01.630265 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00402731 range=0.781545 variance=0.000601346 t_weight=4988.81 r_weight=0 yaml=(15.015, -1.32) prior=(14.1281, -1.80741, -2.00658deg) obs_actual=(0.869547, 0.527806) obs_expected=(0.869297, 0.518163) delta=(0.000250335, 0.00964229) |delta|=0.00964554m
I0419 20:57:01.630358 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290216056442.
I0419 20:57:01.631753 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290216300475.
I0419 20:57:01.632746 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.1465, -1.80911), yaw=-2.04271 deg backend=(14.1294, -1.79996)
I0419 20:57:01.634052 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:01.634150 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.566842, 0.530075), points=12, range=0.777833, residual=0.0102636, extent=0.0301297
I0419 20:57:01.634187 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:01.634212 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:01.634228 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.566842, 0.530075), tracking=(0.865342, 0.530075), map_predicted=(15.0302, -1.31021), range=0.777833, pts=12
I0419 20:57:01.634256 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[17] 'ref_18' eucl_dist=0.0181063m maha_sq=0.0139728 (gate chi2=5.99) pose_sigma=(0.151384, 0.151384, rho=0) det_map=(15.0302, -1.31021) lm_pos=(15.015, -1.32) delta=(0.015234, 0.00978584) -> 1 candidate(s)
I0419 20:57:01.634351 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290216334925.
I0419 20:57:01.643352 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:57:01.659314 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290216582279.
I0419 20:57:01.663337 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.30921 deg, rms_residual=0.0137764m, sigma_yaw=0.0146394 rad, N=3
I0419 20:57:01.663475 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.1379, -1.80188, -2.30921deg) inliers=3 rms=0.0137764m
I0419 20:57:01.663538 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290216621693.
I0419 20:57:01.750933 1219494 pose_graph_2d.cc:160] Inserted submap (1, 16).
I0419 20:57:01.752250 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:01.752365 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:01.752437 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290216896065.
I0419 20:57:01.753325 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.50768, -0.652948)
I0419 20:57:01.753495 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290216934474.
I0419 20:57:01.754931 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:01.755025 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290217195634.
I0419 20:57:01.756606 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290217217858.
I0419 20:57:01.758415 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0163357 range=0.766312 variance=0.000641766 t_weight=4674.6 r_weight=0 yaml=(14.115, -2.52) prior=(14.1604, -1.80544, -2.17932deg) obs_actual=(-0.0376317, -0.716644) obs_expected=(-0.0182081, -0.715771) delta=(-0.0194236, -0.000872514) |delta|=0.0194432m
I0419 20:57:01.758515 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290217462230.
I0419 20:57:01.759435 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600425s, prior_pose=(14.1604, -1.80544), yaw=-2.17932 deg
I0419 20:57:01.759533 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:57:01.759708 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:01.759837 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:01.759939 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290217496490.
I0419 20:57:01.778834 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.25108, 0.715568), points=15, range=0.7606, residual=0.0121073, extent=0.0388913
I0419 20:57:01.779016 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.25108, 0.715568), tracking=(-0.0474198, -0.715568), map_predicted=(14.0868, -2.51771), range=0.7606, pts=15
I0419 20:57:01.779096 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0282671m maha_sq=0.0345575 (gate chi2=5.99) pose_sigma=(0.150119, 0.150119, rho=0) det_map=(14.0868, -2.51771) lm_pos=(14.115, -2.52) delta=(-0.0281738, 0.00229441) -> 1 candidate(s)
I0419 20:57:01.779480 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290217781915.
I0419 20:57:01.782351 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290217818470.
I0419 20:57:01.806273 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.705952, -0.461306)
I0419 20:57:01.806476 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218055794.
I0419 20:57:01.863467 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218101072.
I0419 20:57:01.863919 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:01.864765 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218339315.
I0419 20:57:01.865689 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:01.865815 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218372987.
I0419 20:57:01.867715 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218656348.
I0419 20:57:01.870568 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00493741 range=0.735083 variance=0.000538445 t_weight=5571.6 r_weight=0 yaml=(15.015, -1.32) prior=(14.1827, -1.80832, -2.11486deg) obs_actual=(0.808308, 0.527881) obs_expected=(0.813746, 0.518706) delta=(-0.00543836, 0.00917467) |delta|=0.0106654m
I0419 20:57:01.870668 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218701682.
I0419 20:57:01.894402 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.728219, -0.463876)
I0419 20:57:01.894708 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290218936479.
I0419 20:57:01.902407 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.498388, 0.526634), points=13, range=0.728846, residual=0.0134691, extent=0.0400248
I0419 20:57:01.902552 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.498388, 0.526634), tracking=(0.796888, 0.526634), map_predicted=(15.0188, -1.31252), range=0.728846, pts=13
I0419 20:57:01.902595 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[17] 'ref_18' eucl_dist=0.00837972m maha_sq=0.00297705 (gate chi2=5.99) pose_sigma=(0.15155, 0.15155, rho=0) det_map=(15.0188, -1.31252) lm_pos=(15.015, -1.32) delta=(0.00378616, 0.00747561) -> 1 candidate(s)
I0419 20:57:01.902786 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290219017137.
I0419 20:57:01.922035 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290219214939.
I0419 20:57:01.929409 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:57:01.929492 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:01.929513 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:01.929602 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290219259774.
I0419 20:57:01.986589 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290219500271.
I0419 20:57:01.988672 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.43311, -0.658119)
I0419 20:57:01.988857 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.47436 deg, rms_residual=0.0315732m, sigma_yaw=0.0330639 rad, N=3
I0419 20:57:01.988924 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.2226, -1.81378, -1.47436deg) inliers=3 rms=0.0315732m
I0419 20:57:01.988976 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290219581137.
I0419 20:57:01.990352 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:01.990468 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:01.990509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290219817841.
I0419 20:57:01.992029 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[17] 'ref_18' maha_sq=0.00238276 range=0.713857 variance=0.000578613 t_weight=5184.81 r_weight=958.977 yaml=(15.015, -1.32) prior=(14.2239, -1.81261, -1.93445deg) obs_actual=(0.777458, 0.525677) obs_expected=(0.77399, 0.519031) delta=(0.00346776, 0.00664544) |delta|=0.00749582m
I0419 20:57:01.992141 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290219860861.
I0419 20:57:02.010349 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:02.010567 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290220097272.
I0419 20:57:02.018527 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42568, -0.662278), points=3, range=1.565, residual=0.0135142, extent=0.0275461
I0419 20:57:02.018637 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.42568, -0.662278), tracking=(1.72418, -0.662278), map_predicted=(15.9248, -2.53271), range=1.565, pts=3
I0419 20:57:02.018673 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=0.0160339m maha_sq=0.0110962 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9248, -2.53271) lm_pos=(15.915, -2.52) delta=(0.00977293, -0.0127113) -> 1 candidate(s)
I0419 20:57:02.018774 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290220177791.
I0419 20:57:02.039150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290220386915.
I0419 20:57:02.045874 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594187s, prior_pose=(14.2355, -1.80949), yaw=-1.88952 deg
I0419 20:57:02.045974 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=38, candidates=38
I0419 20:57:02.046133 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:02.046187 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.314999, -0.560557)
I0419 20:57:02.046206 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 20:57:02.046325 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290220455048.
I0419 20:57:02.072388 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290220717650.
I0419 20:57:02.129611 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290220733439.
I0419 20:57:02.130980 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290220976248.
I0419 20:57:02.131716 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290221055311.
I0419 20:57:02.135425 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.65062, 0.784353)
I0419 20:57:02.135545 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0139465 range=0.729882 variance=0.000575589 t_weight=5212.05 r_weight=0 yaml=(14.115, -2.52) prior=(14.2624, -1.82464, -1.89468deg) obs_actual=(-0.138747, -0.710743) obs_expected=(-0.124287, -0.699857) delta=(-0.0144597, -0.0108866) |delta|=0.0180998m
I0419 20:57:02.135594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290221273618.
I0419 20:57:02.136269 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.444256, 0.523168), points=16, range=0.687063, residual=0.011796, extent=0.0430702
I0419 20:57:02.136312 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.444256, 0.523168), tracking=(0.742756, 0.523168), map_predicted=(15.022, -1.32631), range=0.687063, pts=16
I0419 20:57:02.136337 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00942839m maha_sq=0.00385226 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.022, -1.32631) lm_pos=(15.015, -1.32) delta=(0.00700496, -0.00631071) -> 1 candidate(s)
I0419 20:57:02.136358 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:02.136402 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290221332023.
I0419 20:57:02.158566 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290221578147.
I0419 20:57:02.162720 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290221621920.
I0419 20:57:02.187824 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290221859054.
I0419 20:57:02.195125 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290221940401.
I0419 20:57:02.287299 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290222177129.
I0419 20:57:02.288056 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.3789, -0.667566)
I0419 20:57:02.288172 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:02.288200 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:02.288215 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:02.288301 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290222222114.
I0419 20:57:02.289583 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290222456316.
I0419 20:57:02.291088 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290222501867.
I0419 20:57:02.292186 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:02.292256 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.16527 deg, rms_residual=0.00677023m, sigma_yaw=0.00894621 rad, N=2
I0419 20:57:02.292282 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00355224 range=0.721765 variance=0.000561098 t_weight=5346.66 r_weight=0 yaml=(14.115, -2.52) prior=(14.3022, -1.82206, -1.77513deg) obs_actual=(-0.172355, -0.709321) obs_expected=(-0.165503, -0.703407) delta=(-0.0068517, -0.00591378) |delta|=0.00905089m
I0419 20:57:02.292325 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3181, -1.82311, -2.16527deg) inliers=2 rms=0.00677023m
I0419 20:57:02.292353 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:02.292371 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290222738317.
I0419 20:57:02.293131 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.403292, 0.519192), points=16, range=0.66075, residual=0.0131785, extent=0.04094
I0419 20:57:02.293192 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.403292, 0.519192), tracking=(0.701792, 0.519192), map_predicted=(15.0198, -1.32485), range=0.66075, pts=16
I0419 20:57:02.293222 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00679247m maha_sq=0.00199647 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0198, -1.32485) lm_pos=(15.015, -1.32) delta=(0.00475139, -0.00485406) -> 1 candidate(s)
I0419 20:57:02.293294 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290222816336.
I0419 20:57:02.306768 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:02.306973 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223058078.
I0419 20:57:02.310251 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223092128.
I0419 20:57:02.335026 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223338356.
I0419 20:57:02.424561 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0320341s, prior_pose=(14.3187, -1.81831), yaw=-1.70436 deg
I0419 20:57:02.424669 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1336, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 20:57:02.424753 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:02.424813 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.33942, -0.670219)
I0419 20:57:02.424832 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:02.424916 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223378419.
I0419 20:57:02.426087 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223615358.
I0419 20:57:02.426968 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223694088.
I0419 20:57:02.428699 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223933826.
I0419 20:57:02.429560 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290223978211.
I0419 20:57:02.430647 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0110107 range=0.637833 variance=0.00061853 t_weight=4850.21 r_weight=0 yaml=(15.015, -1.32) prior=(14.3206, -1.81269, -1.73609deg) obs_actual=(0.664145, 0.518856) obs_expected=(0.679174, 0.513499) delta=(-0.0150286, 0.00535657) |delta|=0.0159546m
I0419 20:57:02.430742 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290224254894.
I0419 20:57:02.431126 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0884268, 0.711621), points=17, range=0.718824, residual=0.0114599, extent=0.0344981
I0419 20:57:02.431175 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0884268, 0.711621), tracking=(-0.210073, -0.711621), map_predicted=(14.089, -2.51762), range=0.718824, pts=17
I0419 20:57:02.431200 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.026064m maha_sq=0.0294475 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.089, -2.51762) lm_pos=(14.115, -2.52) delta=(-0.0259548, 0.00238336) -> 1 candidate(s)
I0419 20:57:02.431223 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:02.431279 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290224255078.
I0419 20:57:02.454697 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290224537176.
I0419 20:57:02.459223 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290224581856.
I0419 20:57:02.555684 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.875712, -0.462343)
I0419 20:57:02.555862 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290224817797.
I0419 20:57:02.556612 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290224852453.
I0419 20:57:02.557847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225100410.
I0419 20:57:02.558852 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.364, -1.81529), yaw=-1.75041 deg backend=(14.3486, -1.80985)
I0419 20:57:02.559311 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:02.559366 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:02.559382 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:02.559491 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225139648.
I0419 20:57:02.560694 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225378212.
I0419 20:57:02.561455 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225456420.
I0419 20:57:02.570171 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:02.570291 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.94876 deg, rms_residual=0.00485358m, sigma_yaw=0.00642983 rad, N=2
I0419 20:57:02.570343 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.011904 range=0.713412 variance=0.00056991 t_weight=5263.99 r_weight=0 yaml=(14.115, -2.52) prior=(14.3661, -1.81229, -1.69628deg) obs_actual=(-0.245783, -0.709424) obs_expected=(-0.230086, -0.714829) delta=(-0.0156968, 0.00540554) |delta|=0.0166015m
I0419 20:57:02.570456 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3877, -1.82323, -1.94876deg) inliers=2 rms=0.00485358m
I0419 20:57:02.570516 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:02.570554 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225692808.
I0419 20:57:02.575011 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.330369, 0.516816), points=16, range=0.61525, residual=0.0107963, extent=0.0354865
I0419 20:57:02.575140 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.330369, 0.516816), tracking=(0.628869, 0.516816), map_predicted=(15.01, -1.31432), range=0.61525, pts=16
I0419 20:57:02.575196 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00754239m maha_sq=0.0024679 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.01, -1.31432) lm_pos=(15.015, -1.32) delta=(-0.00496306, 0.00567942) -> 1 candidate(s)
I0419 20:57:02.575378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225741885.
I0419 20:57:02.598232 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.902921, -0.466674)
I0419 20:57:02.598488 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:02.598665 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290225973897.
I0419 20:57:02.689292 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226025883.
I0419 20:57:02.690707 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226298565.
I0419 20:57:02.691311 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639807s, prior_pose=(14.3877, -1.81589), yaw=-1.60855 deg
I0419 20:57:02.691392 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1332, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:57:02.691475 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:02.691504 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:02.691579 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226332615.
I0419 20:57:02.693548 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226580922.
I0419 20:57:02.694262 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226614514.
I0419 20:57:02.695475 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226859343.
I0419 20:57:02.696866 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290226895982.
I0419 20:57:02.719228 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00149486 range=0.709176 variance=0.000554079 t_weight=5414.39 r_weight=0 yaml=(14.115, -2.52) prior=(14.4084, -1.81688, -1.54099deg) obs_actual=(-0.279938, -0.708715) obs_expected=(-0.274435, -0.710759) delta=(-0.00550325, 0.00204374) |delta|=0.00587049m
I0419 20:57:02.719504 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290227172718.
I0419 20:57:02.722523 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.24782, -0.679833)
I0419 20:57:02.722657 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.293941, 0.514169), points=20, range=0.59405, residual=0.013537, extent=0.0517679
I0419 20:57:02.722697 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.293941, 0.514169), tracking=(0.592441, 0.514169), map_predicted=(15.0145, -1.31883), range=0.59405, pts=20
I0419 20:57:02.722734 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0012739m maha_sq=7.02004e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0145, -1.31883) lm_pos=(15.015, -1.32) delta=(-0.000497131, 0.0011729) -> 1 candidate(s)
I0419 20:57:02.722769 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:02.722914 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290227217917.
I0419 20:57:02.805033 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290227461091.
I0419 20:57:02.805868 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290227494809.
I0419 20:57:02.806936 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290227740263.
I0419 20:57:02.808497 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290227815584.
I0419 20:57:02.809682 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228075360.
I0419 20:57:02.810065 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:02.810111 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:02.810133 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:02.810182 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228075571.
I0419 20:57:02.834630 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228339679.
I0419 20:57:02.837675 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228372328.
I0419 20:57:02.862948 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.968831, -0.469024)
I0419 20:57:02.863276 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:02.863332 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.00749 deg, rms_residual=0.00708888m, sigma_yaw=0.00936334 rad, N=2
I0419 20:57:02.863372 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0087111 range=0.711941 variance=0.000563148 t_weight=5327.2 r_weight=0 yaml=(14.115, -2.52) prior=(14.4398, -1.82191, -1.49664deg) obs_actual=(-0.320193, -0.709905) obs_expected=(-0.306476, -0.706335) delta=(-0.013717, -0.00357067) |delta|=0.0141741m
I0419 20:57:02.863487 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4641, -1.82742, -2.00749deg) inliers=2 rms=0.00708888m
I0419 20:57:02.863544 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:02.863576 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228621624.
I0419 20:57:02.950511 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.257481, 0.51255), points=20, range=0.57585, residual=0.012225, extent=0.0417962
I0419 20:57:02.950601 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.257481, 0.51255), tracking=(0.555981, 0.51255), map_predicted=(15.0269, -1.32509), range=0.57585, pts=20
I0419 20:57:02.950630 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0129846m maha_sq=0.00717395 (gate chi2=5.99) pose_sigma=(0.15139, 0.15139, rho=0) det_map=(15.0269, -1.32509) lm_pos=(15.015, -1.32) delta=(0.0119434, -0.00509462) -> 1 candidate(s)
I0419 20:57:02.950706 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228692128.
I0419 20:57:02.951808 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:02.951887 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228942225.
I0419 20:57:02.952659 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290228976867.
I0419 20:57:02.954397 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290229220900.
I0419 20:57:02.955081 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0629722s, prior_pose=(14.4593, -1.81744), yaw=-1.42847 deg
I0419 20:57:02.955140 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1330, max_intensity=253, threshold=230, above_threshold=26, candidates=26
I0419 20:57:02.955229 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:02.955248 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:02.955313 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290229321850.
I0419 20:57:02.956333 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290229500729.
I0419 20:57:02.958803 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290229578534.
I0419 20:57:02.983064 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290229818192.
I0419 20:57:02.986192 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.228644, 0.513291)
I0419 20:57:02.986625 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290229853112.
I0419 20:57:03.048729 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290230096985.
I0419 20:57:03.049523 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:03.049613 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0166962 range=1.35675 variance=0.000551023 t_weight=5444.42 r_weight=0 yaml=(15.915, -2.52) prior=(14.4761, -1.81569, -1.47235deg) obs_actual=(1.47028, -0.681066) obs_expected=(1.4565, -0.667105) delta=(0.0137833, -0.0139601) |delta|=0.0196179m
I0419 20:57:03.049698 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290230134311.
I0419 20:57:03.050912 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01393, -0.463845), points=5, range=1.1106, residual=0.0119239, extent=0.0281147
I0419 20:57:03.050990 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01393, -0.463845), tracking=(-1.31243, 0.463845), map_predicted=(13.176, -1.31828), range=1.1106, pts=5
I0419 20:57:03.051018 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0389939m maha_sq=0.0658293 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.176, -1.31828) lm_pos=(13.215, -1.32) delta=(-0.0389558, 0.00172332) -> 1 candidate(s)
I0419 20:57:03.051103 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290230376811.
I0419 20:57:03.052488 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290230420729.
I0419 20:57:03.071166 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290230702486.
I0419 20:57:03.074393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290230737331.
I0419 20:57:03.098248 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290230976769.
I0419 20:57:03.106168 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:03.106303 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:03.106324 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:03.106500 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290231055404.
I0419 20:57:03.126189 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290231256471.
I0419 20:57:03.197356 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.188737, 0.51597)
I0419 20:57:03.197558 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290231342204.
I0419 20:57:03.198880 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:03.198983 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:03.199007 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290231577571.
I0419 20:57:03.199694 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290231613211.
I0419 20:57:03.201463 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:03.201535 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00324732 range=0.720647 variance=0.000570344 t_weight=5259.98 r_weight=0 yaml=(14.115, -2.52) prior=(14.5202, -1.81622, -1.70557deg) obs_actual=(-0.392356, -0.712791) obs_expected=(-0.384121, -0.715529) delta=(-0.00823493, 0.00273794) |delta|=0.00867816m
I0419 20:57:03.201601 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290231854039.
I0419 20:57:03.202421 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290231895843.
I0419 20:57:03.215236 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.101188, 0.712371), points=17, range=0.721588, residual=0.0115416, extent=0.0341123
I0419 20:57:03.215534 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.101188, 0.712371), tracking=(-0.399688, -0.712371), map_predicted=(14.0995, -2.51638), range=0.721588, pts=17
I0419 20:57:03.215696 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0158847m maha_sq=0.0109367 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0995, -2.51638) lm_pos=(14.115, -2.52) delta=(-0.0154669, 0.00361923) -> 1 candidate(s)
I0419 20:57:03.215924 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290232147865.
I0419 20:57:03.222646 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0368961s, prior_pose=(14.526, -1.81432), yaw=-1.80529 deg
I0419 20:57:03.222752 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1324, max_intensity=254, threshold=230, above_threshold=26, candidates=26
I0419 20:57:03.222859 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:03.222882 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:03.223001 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290232223000.
I0419 20:57:03.245944 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290232452076.
I0419 20:57:03.250063 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.02743 deg, rms_residual=0.0139794m, sigma_yaw=0.0182981 rad, N=2
I0419 20:57:03.250185 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5311, -1.80947, -2.02743deg) inliers=2 rms=0.0139794m
I0419 20:57:03.250228 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290232495919.
I0419 20:57:03.310276 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290232738664.
I0419 20:57:03.310443 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:03.311141 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.151182, 0.518404)
I0419 20:57:03.311276 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290232771889.
I0419 20:57:03.312294 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290233019069.
I0419 20:57:03.313771 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:03.313865 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290233097264.
I0419 20:57:03.333784 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290233331703.
I0419 20:57:03.338029 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290233375259.
I0419 20:57:03.362406 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290233619203.
I0419 20:57:03.366223 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0137728 range=0.533391 variance=0.000562112 t_weight=5337.01 r_weight=0 yaml=(15.015, -1.32) prior=(14.5601, -1.81074, -2.01009deg) obs_actual=(0.42472, 0.518907) obs_expected=(0.437408, 0.506391) delta=(-0.0126877, 0.0125161) |delta|=0.0178222m
I0419 20:57:03.366346 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290233656392.
I0419 20:57:03.394179 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290233936112.
I0419 20:57:03.450646 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.5608, -1.81035), yaw=-2.13767 deg backend=(14.5695, -1.81471)
I0419 20:57:03.451593 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:03.451681 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08873, -0.660651), points=5, range=1.2706, residual=0.00885983, extent=0.0210275
I0419 20:57:03.451706 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:03.451719 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:03.451730 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.08873, -0.660651), tracking=(1.38723, -0.660651), map_predicted=(15.9224, -2.52228), range=1.2706, pts=5
I0419 20:57:03.451756 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00774371m maha_sq=0.00260022 (gate chi2=5.99) pose_sigma=(0.150059, 0.150059, rho=0) det_map=(15.9224, -2.52228) lm_pos=(15.915, -2.52) delta=(0.0074, -0.00228145) -> 1 candidate(s)
I0419 20:57:03.451839 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290234058905.
I0419 20:57:03.452783 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290234217968.
I0419 20:57:03.453550 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.110336, 0.518731)
I0419 20:57:03.453657 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290234262101.
I0419 20:57:03.455293 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:03.455350 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:03.455371 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290234509574.
I0419 20:57:03.457990 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290234575429.
I0419 20:57:03.482161 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:03.482553 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290234816858.
I0419 20:57:03.486344 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290234852819.
I0419 20:57:03.510367 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290235098193.
I0419 20:57:03.515128 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637486s, prior_pose=(14.5833, -1.80905), yaw=-2.24294 deg
I0419 20:57:03.515242 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1321, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:57:03.515363 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:03.515385 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:03.515484 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290235147060.
I0419 20:57:03.573014 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290235379610.
I0419 20:57:03.573913 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290235414512.
I0419 20:57:03.575153 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290235661968.
I0419 20:57:03.576534 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.0720734, 0.522411)
I0419 20:57:03.576653 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00205888 range=1.236 variance=0.000548135 t_weight=5473.1 r_weight=0 yaml=(15.915, -2.52) prior=(14.6039, -1.80948, -2.42434deg) obs_actual=(1.34, -0.661361) obs_expected=(1.33998, -0.654425) delta=(1.69616e-05, -0.00693543) |delta|=0.00693545m
I0419 20:57:03.576794 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290235741801.
I0419 20:57:03.598176 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.186483, 0.725434), points=17, range=0.751412, residual=0.012486, extent=0.0354992
I0419 20:57:03.598276 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.186483, 0.725434), tracking=(-0.484983, -0.725434), map_predicted=(14.0887, -2.51375), range=0.751412, pts=17
I0419 20:57:03.598306 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0270688m maha_sq=0.0317263 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0887, -2.51375) lm_pos=(14.115, -2.52) delta=(-0.0263372, 0.00625061) -> 1 candidate(s)
I0419 20:57:03.598384 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290235976817.
I0419 20:57:03.601806 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:03.601938 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290236012857.
I0419 20:57:03.626398 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290236258124.
I0419 20:57:03.630635 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290236300250.
I0419 20:57:03.658427 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290236578718.
I0419 20:57:03.714071 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290236622040.
I0419 20:57:03.715317 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290236858044.
I0419 20:57:03.716094 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:03.716164 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:03.716180 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:03.716234 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290236892689.
I0419 20:57:03.718307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290237140849.
I0419 20:57:03.720623 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.0326797, 0.521037)
I0419 20:57:03.720793 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290237201661.
I0419 20:57:03.742449 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:03.742604 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:03.742631 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290237420074.
I0419 20:57:03.750362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290237497897.
I0419 20:57:03.773718 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:03.773842 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0221546 range=0.767471 variance=0.000593944 t_weight=5050.98 r_weight=0 yaml=(14.115, -2.52) prior=(14.6511, -1.80277, -2.62844deg) obs_actual=(-0.523706, -0.732838) obs_expected=(-0.502635, -0.741062) delta=(-0.0210714, 0.00822377) |delta|=0.0226194m
I0419 20:57:03.773944 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290237732016.
I0419 20:57:03.778215 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0166857, 0.520985), points=26, range=0.522346, residual=0.0119071, extent=0.0403571
I0419 20:57:03.778318 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0166857, 0.520985), tracking=(0.315186, 0.520985), map_predicted=(14.9898, -1.29678), range=0.522346, pts=26
I0419 20:57:03.778354 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0342373m maha_sq=0.0508024 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9898, -1.29678) lm_pos=(15.015, -1.32) delta=(-0.0251643, 0.0232154) -> 1 candidate(s)
I0419 20:57:03.778474 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290237776457.
I0419 20:57:03.848506 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.18421 deg, rms_residual=0.00658037m, sigma_yaw=0.00869752 rad, N=2
I0419 20:57:03.848657 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6931, -1.82624, -3.18421deg) inliers=2 rms=0.00658037m
I0419 20:57:03.848706 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290238015755.
I0419 20:57:03.849421 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561569s, prior_pose=(14.6605, -1.80508), yaw=-2.58195 deg
I0419 20:57:03.849507 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1317, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:57:03.849623 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:03.849684 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:03.849789 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290238059466.
I0419 20:57:03.851037 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290238336646.
I0419 20:57:03.852686 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290238380474.
I0419 20:57:03.862411 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290238615028.
I0419 20:57:03.866590 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290238659674.
I0419 20:57:03.890017 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.23706, -0.427965)
I0419 20:57:03.890419 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290238894854.
I0419 20:57:03.897997 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:03.898172 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290238974605.
I0419 20:57:03.918123 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290239174720.
I0419 20:57:03.974973 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290239256791.
I0419 20:57:03.976315 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0045116 range=0.784267 variance=0.000564604 t_weight=5313.46 r_weight=0 yaml=(14.115, -2.52) prior=(14.7081, -1.8127, -2.77127deg) obs_actual=(-0.568356, -0.734733) obs_expected=(-0.558164, -0.735147) delta=(-0.0101925, 0.000413837) |delta|=0.0102009m
I0419 20:57:03.976459 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290239501653.
I0419 20:57:03.977159 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.026486, 0.519903), points=24, range=0.520542, residual=0.0109611, extent=0.0347168
I0419 20:57:03.977226 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.026486, 0.519903), tracking=(0.272014, 0.519903), map_predicted=(15.0049, -1.30656), range=0.520542, pts=24
I0419 20:57:03.977257 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0168228m maha_sq=0.0122769 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0049, -1.30656) lm_pos=(15.015, -1.32) delta=(-0.0101131, 0.0134437) -> 1 candidate(s)
I0419 20:57:03.977342 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290239535913.
I0419 20:57:03.979357 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290239783122.
I0419 20:57:03.986114 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:03.986245 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:03.986274 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:03.986513 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290239852080.
I0419 20:57:04.009959 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290240093568.
I0419 20:57:04.014993 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290240140933.
I0419 20:57:04.038905 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.27061, -0.427192)
I0419 20:57:04.039109 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:04.039214 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:04.039256 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290240381736.
I0419 20:57:04.042944 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290240419514.
I0419 20:57:04.127995 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:04.128118 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290240658071.
I0419 20:57:04.128958 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290240740571.
I0419 20:57:04.130203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290240978898.
I0419 20:57:04.131466 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0354148s, prior_pose=(14.7424, -1.81116), yaw=-2.75188 deg
I0419 20:57:04.131556 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1309, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:57:04.131668 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:04.131690 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:04.131774 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290241012219.
I0419 20:57:04.133109 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290241255079.
I0419 20:57:04.133978 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0320103 range=0.524792 variance=0.000559389 t_weight=5362.99 r_weight=0 yaml=(15.015, -1.32) prior=(14.7424, -1.81116, -2.75188deg) obs_actual=(0.226296, 0.519028) obs_expected=(0.248712, 0.503677) delta=(-0.0224159, 0.0153514) |delta|=0.0271687m
I0419 20:57:04.134065 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290241300726.
I0419 20:57:04.158224 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290241576854.
I0419 20:57:04.162642 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.0815339, 0.519943)
I0419 20:57:04.162734 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.901799, -0.653154), points=7, range=1.11, residual=0.0130108, extent=0.0382255
I0419 20:57:04.162761 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.901799, -0.653154), tracking=(1.2003, -0.653154), map_predicted=(15.9183, -2.52242), range=1.11, pts=7
I0419 20:57:04.162786 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00411347m maha_sq=0.000731702 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9183, -2.52242) lm_pos=(15.915, -2.52) delta=(0.00332393, -0.00242325) -> 1 candidate(s)
I0419 20:57:04.162883 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290241621738.
I0419 20:57:04.184191 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290241836453.
I0419 20:57:04.239741 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:04.239894 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290241891983.
I0419 20:57:04.241153 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290242131497.
I0419 20:57:04.242007 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290242174940.
I0419 20:57:04.246065 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290242456242.
I0419 20:57:04.250545 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290242500254.
I0419 20:57:04.274433 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290242738725.
I0419 20:57:04.275714 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.7862, -1.81347), yaw=-2.67235 deg backend=(14.7978, -1.82524)
I0419 20:57:04.277652 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:04.277722 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:04.277745 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:04.277840 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290242771907.
I0419 20:57:04.302114 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290243016289.
I0419 20:57:04.306386 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.120281, 0.517385)
I0419 20:57:04.306559 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290243059696.
I0419 20:57:04.366183 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:04.366310 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:04.366335 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290243295047.
I0419 20:57:04.367221 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.24858 deg, rms_residual=0.0170139m, sigma_yaw=0.022182 rad, N=2
I0419 20:57:04.367285 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00287562 range=1.08071 variance=0.000561324 t_weight=5344.5 r_weight=0 yaml=(15.915, -2.52) prior=(14.7961, -1.81636, -2.75208deg) obs_actual=(1.15633, -0.655554) obs_expected=(1.15136, -0.649102) delta=(0.00496897, -0.00645175) |delta|=0.00814344m
I0419 20:57:04.367322 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.8079, -1.81358, -3.24858deg) inliers=2 rms=0.0170139m
I0419 20:57:04.367349 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290243376651.
I0419 20:57:04.368347 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.370796, 0.7383), points=15, range=0.8282, residual=0.0124463, extent=0.035232
I0419 20:57:04.368419 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.370796, 0.7383), tracking=(-0.669296, -0.7383), map_predicted=(14.0922, -2.52168), range=0.8282, pts=15
I0419 20:57:04.368489 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0229027m maha_sq=0.02271 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0922, -2.52168) lm_pos=(14.115, -2.52) delta=(-0.0228413, -0.00167664) -> 1 candidate(s)
I0419 20:57:04.368533 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:04.368569 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290243612301.
I0419 20:57:04.369966 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290243656302.
I0419 20:57:04.390264 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290243894256.
I0419 20:57:04.394619 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0647366s, prior_pose=(14.8089, -1.81598), yaw=-2.81436 deg
I0419 20:57:04.394726 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1298, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:57:04.394881 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:04.394906 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:04.395046 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290243942413.
I0419 20:57:04.423097 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290244222455.
I0419 20:57:04.426659 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290244257249.
I0419 20:57:04.452649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290244500921.
I0419 20:57:04.529628 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290244535704.
I0419 20:57:04.531029 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.405824, 0.737076)
I0419 20:57:04.531193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290244779906.
I0419 20:57:04.531919 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:04.532037 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290244814048.
I0419 20:57:04.534641 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290245062303.
I0419 20:57:04.535507 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290245150921.
I0419 20:57:04.540685 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0349413 range=0.848417 variance=0.000553717 t_weight=5417.93 r_weight=0 yaml=(14.115, -2.52) prior=(14.8359, -1.81446, -2.60025deg) obs_actual=(-0.716517, -0.736283) obs_expected=(-0.688162, -0.737523) delta=(-0.0283547, 0.00123969) |delta|=0.0283818m
I0419 20:57:04.540832 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290245399523.
I0419 20:57:04.542624 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.179815, 0.514824), points=24, range=0.545458, residual=0.0116642, extent=0.0365776
I0419 20:57:04.542703 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.179815, 0.514824), tracking=(0.118685, 0.514824), map_predicted=(14.9928, -1.30746), range=0.545458, pts=24
I0419 20:57:04.542771 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0255284m maha_sq=0.0278417 (gate chi2=5.99) pose_sigma=(0.151125, 0.151125, rho=0) det_map=(14.9928, -1.30746) lm_pos=(15.015, -1.32) delta=(-0.0222352, 0.0125417) -> 1 candidate(s)
I0419 20:57:04.542863 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290245422121.
I0419 20:57:04.566610 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290245660288.
I0419 20:57:04.570453 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:04.570539 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:04.570561 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:04.570677 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290245698937.
I0419 20:57:04.641188 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290245941867.
I0419 20:57:04.642482 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290246017211.
I0419 20:57:04.643803 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.442773, 0.73925)
I0419 20:57:04.643918 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:04.643965 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:04.643986 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290246257060.
I0419 20:57:04.645774 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290246301418.
I0419 20:57:04.653976 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:04.654114 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290246534217.
I0419 20:57:04.658537 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290246578519.
I0419 20:57:04.682818 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290246822088.
I0419 20:57:04.689937 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590977s, prior_pose=(14.8877, -1.81841), yaw=-2.56968 deg
I0419 20:57:04.690117 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1292, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:57:04.690284 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:04.690338 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:04.690472 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290246892395.
I0419 20:57:04.714744 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290247141913.
I0419 20:57:04.767802 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0223336 range=0.559083 variance=0.000587575 t_weight=5105.73 r_weight=0 yaml=(15.015, -1.32) prior=(14.9003, -1.81685, -2.49952deg) obs_actual=(0.0724984, 0.511545) obs_expected=(0.0929593, 0.50138) delta=(-0.0204609, 0.0101648) |delta|=0.0228467m
I0419 20:57:04.767993 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290247176264.
I0419 20:57:04.768155 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:04.769187 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290247422597.
I0419 20:57:04.769940 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740754, -0.658527), points=8, range=0.994875, residual=0.0122778, extent=0.0363171
I0419 20:57:04.770017 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.740754, -0.658527), tracking=(1.03925, -0.658527), map_predicted=(15.9098, -2.52007), range=0.994875, pts=8
I0419 20:57:04.770047 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00519067m maha_sq=0.00116634 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9098, -2.52007) lm_pos=(15.915, -2.52) delta=(-0.00519017, -7.22885e-05) -> 1 candidate(s)
I0419 20:57:04.770117 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290247455975.
I0419 20:57:04.775502 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.739452, -0.659921)
I0419 20:57:04.775686 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290247749467.
I0419 20:57:04.776083 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:04.776153 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290247749688.
I0419 20:57:04.802311 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290248016929.
I0419 20:57:04.806221 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290248054362.
I0419 20:57:04.831964 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290248315300.
I0419 20:57:04.834648 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290248340499.
I0419 20:57:04.894565 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290248582144.
I0419 20:57:04.895493 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:04.895572 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:04.895594 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:04.895658 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290248663172.
I0419 20:57:04.896673 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290248893939.
I0419 20:57:04.898133 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=37, centroid=(-0.282375, 0.511096)
I0419 20:57:04.898265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290248942435.
I0419 20:57:04.918649 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:04.918771 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:04.918831 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290249181258.
I0419 20:57:04.922276 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 34 -> 32 (threshold=0.03, iters=3)
I0419 20:57:04.922428 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.11411 deg, rms_residual=0.0161718m, sigma_yaw=0.0211073 rad, N=2
I0419 20:57:04.922458 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000787326 range=0.958444 variance=0.000692442 t_weight=4332.49 r_weight=0 yaml=(15.915, -2.52) prior=(14.9469, -1.81945, -2.53019deg) obs_actual=(1.00162, -0.659456) obs_expected=(0.998036, -0.657134) delta=(0.00358742, -0.00232174) |delta|=0.00427317m
I0419 20:57:04.922498 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.9604, -1.82004, -3.11411deg) inliers=2 rms=0.0161718m
I0419 20:57:04.922526 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290249217277.
I0419 20:57:04.946434 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.526746, 0.742972), points=11, range=0.911545, residual=0.0102404, extent=0.0321295
I0419 20:57:04.946585 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.526746, 0.742972), tracking=(-0.825246, -0.742972), map_predicted=(14.1002, -2.52593), range=0.911545, pts=11
I0419 20:57:04.946640 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0159008m maha_sq=0.0108587 (gate chi2=5.99) pose_sigma=(0.150776, 0.150776, rho=0) det_map=(14.1002, -2.52593) lm_pos=(14.115, -2.52) delta=(-0.0147531, -0.00593144) -> 1 candidate(s)
I0419 20:57:04.946703 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:04.946806 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290249460682.
I0419 20:57:04.954969 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290249542395.
I0419 20:57:04.978282 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290249777632.
I0419 20:57:05.034313 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0353264s, prior_pose=(14.9657, -1.82005), yaw=-2.45977 deg
I0419 20:57:05.034415 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1287, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:57:05.034521 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:05.034543 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:05.034636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290249813946.
I0419 20:57:05.035975 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290250102243.
I0419 20:57:05.036377 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290250102363.
I0419 20:57:05.038834 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290250380409.
I0419 20:57:05.042291 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(-0.294348, 0.522064)
I0419 20:57:05.042446 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290250418068.
I0419 20:57:05.067230 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290250661829.
I0419 20:57:05.074296 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:05.074441 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290250738750.
I0419 20:57:05.098696 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290250978379.
I0419 20:57:05.106930 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290251058216.
I0419 20:57:05.192950 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290251339990.
I0419 20:57:05.193463 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290251340258.
I0419 20:57:05.194775 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000634365 range=0.585316 variance=0.00058779 t_weight=5103.86 r_weight=0 yaml=(15.015, -1.32) prior=(14.9947, -1.83021, -2.41918deg) obs_actual=(-0.00461226, 0.508693) obs_expected=(-0.00129814, 0.510607) delta=(-0.00331412, -0.00191382) |delta|=0.00382702m
I0419 20:57:05.194870 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290251540518.
I0419 20:57:05.195310 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:57:05.195346 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.636621, -0.66305), points=11, range=0.918636, residual=0.0126581, extent=0.0464184
I0419 20:57:05.195365 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:05.195379 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:05.195387 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.636621, -0.66305), tracking=(0.935121, -0.66305), map_predicted=(15.901, -2.53214), range=0.918636, pts=11
I0419 20:57:05.195410 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0184952m maha_sq=0.0148043 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.901, -2.53214) lm_pos=(15.915, -2.52) delta=(-0.0139557, -0.0121372) -> 1 candidate(s)
I0419 20:57:05.195468 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290251575688.
I0419 20:57:05.196391 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.0103, -1.82685), yaw=-2.31543 deg backend=(15.02, -1.82747)
I0419 20:57:05.197444 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290251816599.
I0419 20:57:05.198259 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290251895829.
I0419 20:57:05.214661 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.282992, -0.50832)
I0419 20:57:05.214942 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:05.215091 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:05.215143 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290252136640.
I0419 20:57:05.219086 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290252181667.
I0419 20:57:05.242472 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:05.242827 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290252414224.
I0419 20:57:05.336030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290252494280.
I0419 20:57:05.337227 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290252742009.
I0419 20:57:05.337951 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639729s, prior_pose=(15.0273, -1.82141), yaw=-2.19052 deg
I0419 20:57:05.338040 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1274, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 20:57:05.338095 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:05.338119 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:57:05.338186 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290252776369.
I0419 20:57:05.339962 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290253019681.
I0419 20:57:05.340636 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290253053687.
I0419 20:57:05.341914 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290253300738.
I0419 20:57:05.343127 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00141741 range=0.886636 variance=0.00056534 t_weight=5306.54 r_weight=0 yaml=(15.915, -2.52) prior=(15.054, -1.8193, -2.28518deg) obs_actual=(0.886256, -0.660418) obs_expected=(0.888288, -0.665807) delta=(-0.00203267, 0.00538939) |delta|=0.00575997m
I0419 20:57:05.343209 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290253334445.
I0419 20:57:05.362536 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.238218, -0.502972)
I0419 20:57:05.362739 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.635312, 0.745984), points=10, range=0.9838, residual=0.0135242, extent=0.040346
I0419 20:57:05.362794 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.635312, 0.745984), tracking=(-0.933812, -0.745984), map_predicted=(14.0912, -2.52746), range=0.9838, pts=10
I0419 20:57:05.362844 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0249873m maha_sq=0.0269914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0912, -2.52746) lm_pos=(14.115, -2.52) delta=(-0.0238479, -0.00745955) -> 1 candidate(s)
I0419 20:57:05.363268 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290253616197.
I0419 20:57:05.366797 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:05.366986 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290253661190.
I0419 20:57:05.454227 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290253898704.
I0419 20:57:05.455025 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290253933713.
I0419 20:57:05.456348 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290254179328.
I0419 20:57:05.457906 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290254259216.
I0419 20:57:05.459179 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290254459224.
I0419 20:57:05.459822 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:57:05.459877 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:05.459899 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:05.459939 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290254537408.
I0419 20:57:05.478456 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290254776706.
I0419 20:57:05.481802 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290254813272.
I0419 20:57:05.506313 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.202191, -0.504528)
I0419 20:57:05.506587 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:05.506724 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:05.506760 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290255055180.
I0419 20:57:05.589429 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290255135695.
I0419 20:57:05.590587 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:05.590668 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.003569 range=0.541409 variance=0.000576387 t_weight=5204.84 r_weight=0 yaml=(15.015, -1.32) prior=(15.1001, -1.81811, -2.17381deg) obs_actual=(-0.105184, 0.503518) obs_expected=(-0.103956, 0.494526) delta=(-0.00122812, 0.00899174) |delta|=0.00907522m
I0419 20:57:05.590756 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290255342092.
I0419 20:57:05.591545 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.53292, -0.663953), points=14, range=0.853429, residual=0.012262, extent=0.037645
I0419 20:57:05.591619 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.53292, -0.663953), tracking=(0.83142, -0.663953), map_predicted=(15.9058, -2.51313), range=0.853429, pts=14
I0419 20:57:05.591645 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0115165m maha_sq=0.00574316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9058, -2.51313) lm_pos=(15.915, -2.52) delta=(-0.00923962, 0.00687455) -> 1 candidate(s)
I0419 20:57:05.591696 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.7112 deg, rms_residual=0.000540145m, sigma_yaw=0.000720712 rad, N=2
I0419 20:57:05.591733 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.1162, -1.81703, -2.7112deg) inliers=2 rms=0.000540145m
I0419 20:57:05.591759 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290255416261.
I0419 20:57:05.593549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290255654770.
I0419 20:57:05.594254 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563902s, prior_pose=(15.1113, -1.81803), yaw=-2.16315 deg
I0419 20:57:05.594352 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1265, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:57:05.594406 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:05.594425 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:57:05.594485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290255699597.
I0419 20:57:05.595542 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290255935565.
I0419 20:57:05.598865 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290255981116.
I0419 20:57:05.626545 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290256252936.
I0419 20:57:05.630162 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290256292431.
I0419 20:57:05.708499 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.167256, -0.504507)
I0419 20:57:05.708703 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290256540338.
I0419 20:57:05.709509 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:05.709612 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290256574008.
I0419 20:57:05.710960 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290256974958.
I0419 20:57:05.711458 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0369772 range=1.03475 variance=0.000588981 t_weight=5093.54 r_weight=0 yaml=(14.115, -2.52) prior=(15.1304, -1.81849, -2.1261deg) obs_actual=(-1.01786, -0.740534) obs_expected=(-0.9887, -0.738697) delta=(-0.0291615, -0.00183722) |delta|=0.0292193m
I0419 20:57:05.711537 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290256975162.
I0419 20:57:05.714346 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.726363, 0.741262), points=8, range=1.04237, residual=0.0128429, extent=0.0351541
I0419 20:57:05.714428 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.726363, 0.741262), tracking=(-1.02486, -0.741262), map_predicted=(14.0945, -2.52306), range=1.04237, pts=8
I0419 20:57:05.714459 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0206879m maha_sq=0.0182504 (gate chi2=5.99) pose_sigma=(0.151109, 0.151109, rho=0) det_map=(14.0945, -2.52306) lm_pos=(14.115, -2.52) delta=(-0.0204609, -0.00305575) -> 1 candidate(s)
I0419 20:57:05.714542 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290257138834.
I0419 20:57:05.721289 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290257202303.
I0419 20:57:05.743405 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290257421299.
I0419 20:57:05.746598 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:05.746717 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:05.746779 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:05.746917 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290257462376.
I0419 20:57:05.770884 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290257699953.
I0419 20:57:05.828759 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290257772553.
I0419 20:57:05.829874 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.467038, -0.66691)
I0419 20:57:05.830004 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:05.830070 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:05.830092 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290258038064.
I0419 20:57:05.830577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290258038197.
I0419 20:57:05.832903 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:05.833010 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290258303069.
I0419 20:57:05.834115 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290258336358.
I0419 20:57:05.858189 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00814288 range=0.518043 variance=0.000549892 t_weight=5455.62 r_weight=0 yaml=(15.015, -1.32) prior=(15.1742, -1.81848, -1.93938deg) obs_actual=(-0.18362, 0.50417) obs_expected=(-0.175971, 0.492804) delta=(-0.00764912, 0.0113659) |delta|=0.0137001m
I0419 20:57:05.858326 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290258577545.
I0419 20:57:05.866096 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0354378s, prior_pose=(15.1891, -1.81878), yaw=-1.87893 deg
I0419 20:57:05.866194 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1251, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:05.866292 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:05.866318 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:57:05.866346 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.447482, -0.667537), points=15, range=0.8054, residual=0.0120189, extent=0.038081
I0419 20:57:05.866366 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.447482, -0.667537), tracking=(0.745982, -0.667537), map_predicted=(15.9128, -2.51041), range=0.8054, pts=15
I0419 20:57:05.866392 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00982825m maha_sq=0.00412409 (gate chi2=5.99) pose_sigma=(0.151117, 0.151117, rho=0) det_map=(15.9128, -2.51041) lm_pos=(15.915, -2.52) delta=(-0.00216718, 0.00958634) -> 1 candidate(s)
I0419 20:57:05.866510 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290258657447.
I0419 20:57:05.890892 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290258899982.
I0419 20:57:05.893905 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290258934070.
I0419 20:57:05.973165 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290259173095.
I0419 20:57:05.973958 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290259221132.
I0419 20:57:05.975152 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0964264, -0.503803)
I0419 20:57:05.975247 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.42532 deg, rms_residual=0.0141147m, sigma_yaw=0.018472 rad, N=2
I0419 20:57:05.975287 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2159, -1.81769, -1.42532deg) inliers=2 rms=0.0141147m
I0419 20:57:05.975317 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290259499386.
I0419 20:57:05.976500 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:05.976581 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290259533037.
I0419 20:57:05.978477 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290259779587.
I0419 20:57:05.982292 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290259816495.
I0419 20:57:06.007416 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290260060859.
I0419 20:57:06.011019 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.02005 range=1.38725 variance=0.000636946 t_weight=4709.97 r_weight=0 yaml=(16.815, -1.32) prior=(15.2222, -1.82227, -1.65863deg) obs_actual=(1.56133, 0.562227) obs_expected=(1.57764, 0.54816) delta=(-0.0163102, 0.0140667) |delta|=0.0215382m
I0419 20:57:06.011222 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290260102275.
I0419 20:57:06.034960 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.816654, 0.739607), points=7, range=1.10171, residual=0.0090344, extent=0.0281426
I0419 20:57:06.035118 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.816654, 0.739607), tracking=(-1.11515, -0.739607), map_predicted=(14.0861, -2.52929), range=1.10171, pts=7
I0419 20:57:06.035181 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0303917m maha_sq=0.0400944 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0861, -2.52929) lm_pos=(14.115, -2.52) delta=(-0.0289383, -0.00928597) -> 1 candidate(s)
I0419 20:57:06.035388 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290260338917.
I0419 20:57:06.124467 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.2383, -1.82145), yaw=-1.66141 deg backend=(15.2262, -1.83375)
I0419 20:57:06.125208 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:57:06.125270 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:06.125293 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:06.125360 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290260415816.
I0419 20:57:06.126657 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290260660070.
I0419 20:57:06.127386 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290260694269.
I0419 20:57:06.129316 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.0602861, -0.50357)
I0419 20:57:06.129451 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:06.129495 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:06.129513 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290260935758.
I0419 20:57:06.130301 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290260980641.
I0419 20:57:06.131388 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:06.131470 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290261221698.
I0419 20:57:06.132912 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290261299955.
I0419 20:57:06.155063 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290261538883.
I0419 20:57:06.158284 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641221s, prior_pose=(15.2588, -1.82213), yaw=-1.56129 deg
I0419 20:57:06.158437 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1240, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:57:06.158615 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:06.158667 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:06.158874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290261576979.
I0419 20:57:06.254442 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290261820013.
I0419 20:57:06.254457 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:06.255317 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00141465 range=0.765933 variance=0.000561452 t_weight=5343.29 r_weight=0 yaml=(15.915, -2.52) prior=(15.2681, -1.82485, -1.47942deg) obs_actual=(0.66372, -0.672576) obs_expected=(0.664639, -0.678213) delta=(-0.000918678, 0.00563736) |delta|=0.00571173m
I0419 20:57:06.255409 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290261900945.
I0419 20:57:06.256387 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0338228, -0.504593), points=24, range=0.505958, residual=0.0106148, extent=0.0344458
I0419 20:57:06.256451 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0338228, -0.504593), tracking=(-0.264677, 0.504593), map_predicted=(15.0165, -1.31359), range=0.505958, pts=24
I0419 20:57:06.256476 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00658555m maha_sq=0.00188202 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0165, -1.31359) lm_pos=(15.015, -1.32) delta=(0.0015314, 0.00640502) -> 1 candidate(s)
I0419 20:57:06.256542 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290262134094.
I0419 20:57:06.257932 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290262179202.
I0419 20:57:06.260432 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.0249741, -0.504231)
I0419 20:57:06.260630 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290262422599.
I0419 20:57:06.262125 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:06.262264 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290262457712.
I0419 20:57:06.270581 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290262695080.
I0419 20:57:06.275233 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290262740240.
I0419 20:57:06.299255 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290262981644.
I0419 20:57:06.365177 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.52109 deg, rms_residual=0.00431725m, sigma_yaw=0.00572339 rad, N=2
I0419 20:57:06.365296 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2943, -1.83436, -1.52109deg) inliers=2 rms=0.00431725m
I0419 20:57:06.365334 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290263053854.
I0419 20:57:06.366488 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290263302621.
I0419 20:57:06.367080 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:06.367137 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:06.367158 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:06.367208 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290263336078.
I0419 20:57:06.369067 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000376795 range=0.50408 variance=0.000569858 t_weight=5264.47 r_weight=0 yaml=(15.015, -1.32) prior=(15.3037, -1.82739, -1.42643deg) obs_actual=(-0.300702, 0.502955) obs_expected=(-0.301255, 0.500044) delta=(0.000552694, 0.00291095) |delta|=0.00296296m
I0419 20:57:06.369180 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290263577004.
I0419 20:57:06.369729 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.321362, -0.673695), points=15, range=0.747667, residual=0.0107678, extent=0.032054
I0419 20:57:06.369778 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.321362, -0.673695), tracking=(0.619862, -0.673695), map_predicted=(15.9066, -2.51631), range=0.747667, pts=15
I0419 20:57:06.369804 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00916501m maha_sq=0.00364336 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9066, -2.51631) lm_pos=(15.915, -2.52) delta=(-0.00838731, 0.00369464) -> 1 candidate(s)
I0419 20:57:06.369858 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290263620717.
I0419 20:57:06.390084 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(0.0110383, -0.504835)
I0419 20:57:06.390383 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:06.390516 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:06.390636 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290263894627.
I0419 20:57:06.394524 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290263939411.
I0419 20:57:06.418138 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:06.418313 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290264172992.
I0419 20:57:06.422922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290264221110.
I0419 20:57:06.494218 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290264458953.
I0419 20:57:06.494889 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059811s, prior_pose=(15.3265, -1.82676), yaw=-1.26778 deg
I0419 20:57:06.494973 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1228, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:57:06.495050 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:06.495074 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:06.495146 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290264537521.
I0419 20:57:06.496237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290264736620.
I0419 20:57:06.497731 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290264815335.
I0419 20:57:06.506145 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0207342 range=1.19117 variance=0.000579309 t_weight=5178.58 r_weight=0 yaml=(14.115, -2.52) prior=(15.3424, -1.82303, -1.26077deg) obs_actual=(-1.23068, -0.734844) obs_expected=(-1.21179, -0.723806) delta=(-0.0188858, -0.0110388) |delta|=0.0218753m
I0419 20:57:06.506291 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265054865.
I0419 20:57:06.510512 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16217, 0.556399), points=3, range=1.28433, residual=0.00814584, extent=0.0158654
I0419 20:57:06.510633 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16217, 0.556399), tracking=(1.46067, 0.556399), map_predicted=(16.815, -1.29891), range=1.28433, pts=3
I0419 20:57:06.510666 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0210926m maha_sq=0.019316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.815, -1.29891) lm_pos=(16.815, -1.32) delta=(-1.13537e-05, 0.0210926) -> 1 candidate(s)
I0419 20:57:06.510752 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265096613.
I0419 20:57:06.534427 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.0462684, -0.503275)
I0419 20:57:06.534693 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265335493.
I0419 20:57:06.538446 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:06.538563 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265379747.
I0419 20:57:06.566566 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265659684.
I0419 20:57:06.641705 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265693553.
I0419 20:57:06.642946 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265939774.
I0419 20:57:06.643755 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290265973904.
I0419 20:57:06.645542 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.650437 deg, rms_residual=0.0167033m, sigma_yaw=0.0217858 rad, N=2
I0419 20:57:06.645633 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3885, -1.81406, -0.650437deg) inliers=2 rms=0.0167033m
I0419 20:57:06.645666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290266217078.
I0419 20:57:06.646272 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:06.646312 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:06.646329 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:06.646386 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290266260257.
I0419 20:57:06.653990 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290266533125.
I0419 20:57:06.658839 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000688599 range=0.721 variance=0.000570995 t_weight=5253.98 r_weight=0 yaml=(15.915, -2.52) prior=(15.3825, -1.83199, -1.26933deg) obs_actual=(0.543621, -0.676482) obs_expected=(0.547603, -0.676046) delta=(-0.00398108, -0.000435038) |delta|=0.00400478m
I0419 20:57:06.659025 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290266579349.
I0419 20:57:06.682876 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(0.0834245, -0.50242)
I0419 20:57:06.683065 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.981343, 0.732778), points=5, range=1.2224, residual=0.00884305, extent=0.0237343
I0419 20:57:06.683125 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.981343, 0.732778), tracking=(-1.27984, -0.732778), map_predicted=(14.0867, -2.53624), range=1.2224, pts=5
I0419 20:57:06.683182 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.032586m maha_sq=0.046086 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0867, -2.53624) lm_pos=(14.115, -2.52) delta=(-0.0282535, -0.0162354) -> 1 candidate(s)
I0419 20:57:06.683312 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:06.683446 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:06.683494 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290266817879.
I0419 20:57:06.686384 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290266853559.
I0419 20:57:06.767987 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:06.768121 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290267137867.
I0419 20:57:06.768244 1218530 collated_trajectory_builder.cc:82] imu rate: 200.08 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.53% real time)
I0419 20:57:06.768359 1218530 collated_trajectory_builder.cc:82] odom rate: 248.35 Hz 4.03e-03 s +/- 7.78e-04 s (pulsed at 100.58% real time)
I0419 20:57:06.768455 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.34e-03 s (pulsed at 99.98% real time)
I0419 20:57:06.768481 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.42e-03 s (pulsed at 100.40% real time)
I0419 20:57:06.769261 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290267173577.
I0419 20:57:06.770442 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290267422331.
I0419 20:57:06.772202 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0318758s, prior_pose=(15.4095, -1.82684), yaw=-1.27766 deg
I0419 20:57:06.772291 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1220, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:57:06.772367 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:06.772388 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:57:06.772469 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290267456625.
I0419 20:57:06.773758 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290267700075.
I0419 20:57:06.774438 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290267736618.
I0419 20:57:06.800668 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290267999273.
I0419 20:57:06.806437 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290268055858.
I0419 20:57:06.830062 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.118898, -0.501524)
I0419 20:57:06.830284 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290268295157.
I0419 20:57:06.892997 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:06.893141 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0176844 range=1.2118 variance=0.000571686 t_weight=5247.63 r_weight=0 yaml=(16.815, -1.32) prior=(15.4314, -1.82065, -1.22956deg) obs_actual=(1.37493, 0.550415) obs_expected=(1.37256, 0.53022) delta=(0.00237819, 0.0201945) |delta|=0.020334m
I0419 20:57:06.893204 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290268341035.
I0419 20:57:06.894428 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01906, 0.731347), points=5, range=1.2604, residual=0.0135806, extent=0.0286137
I0419 20:57:06.894490 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01906, 0.731347), tracking=(-1.31756, -0.731347), map_predicted=(14.0984, -2.52355), range=1.2604, pts=5
I0419 20:57:06.894515 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0169396m maha_sq=0.0123956 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0984, -2.52355) lm_pos=(14.115, -2.52) delta=(-0.0165631, -0.00355128) -> 1 candidate(s)
I0419 20:57:06.894593 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290268575041.
I0419 20:57:06.895278 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290268620858.
I0419 20:57:06.897213 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290268899460.
I0419 20:57:06.897848 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290268933820.
I0419 20:57:06.918581 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290269175617.
I0419 20:57:06.919967 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.4535, -1.82333), yaw=-1.13915 deg backend=(15.4458, -1.83456)
I0419 20:57:06.922257 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:06.922391 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:06.922426 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:06.922592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290269212991.
I0419 20:57:06.947257 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290269461624.
I0419 20:57:06.955017 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290269541278.
I0419 20:57:07.046319 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.155981, -0.504689)
I0419 20:57:07.046463 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:07.046536 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:07.046557 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290269741078.
I0419 20:57:07.047513 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290269820882.
I0419 20:57:07.048689 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:07.048738 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0458761 range=1.29233 variance=0.000600619 t_weight=4994.84 r_weight=0 yaml=(14.115, -2.52) prior=(15.4571, -1.82878, -1.11018deg) obs_actual=(-1.35809, -0.730497) obs_expected=(-1.32843, -0.717096) delta=(-0.0296678, -0.013401) |delta|=0.0325541m
I0419 20:57:07.048791 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270021642.
I0419 20:57:07.050886 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290270101000.
I0419 20:57:07.052120 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.166054, -0.5035), points=24, range=0.531917, residual=0.0123437, extent=0.0406609
I0419 20:57:07.052196 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.166054, -0.5035), tracking=(-0.464554, 0.5035), map_predicted=(15.0171, -1.3141), range=0.531917, pts=24
I0419 20:57:07.052222 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00626915m maha_sq=0.00170254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0171, -1.3141) lm_pos=(15.015, -1.32) delta=(0.00212336, 0.00589861) -> 1 candidate(s)
I0419 20:57:07.052280 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270334702.
I0419 20:57:07.053045 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637206s, prior_pose=(15.4718, -1.82652), yaw=-1.11126 deg
I0419 20:57:07.053210 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1220, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:57:07.053289 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:07.053308 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:07.053383 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.962774 deg, rms_residual=0.00424888m, sigma_yaw=0.00563325 rad, N=2
I0419 20:57:07.053411 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.4788, -1.84118, -0.962774deg) inliers=2 rms=0.00424888m
I0419 20:57:07.053436 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270378284.
I0419 20:57:07.066150 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270655675.
I0419 20:57:07.066730 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270655852.
I0419 20:57:07.095148 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270939511.
I0419 20:57:07.098652 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290270975686.
I0419 20:57:07.191074 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.191826, -0.506044)
I0419 20:57:07.191290 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290271214016.
I0419 20:57:07.192091 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:07.192212 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290271259868.
I0419 20:57:07.194223 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290271540801.
I0419 20:57:07.195060 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00510357 range=0.687722 variance=0.000577359 t_weight=5196.07 r_weight=0 yaml=(15.915, -2.52) prior=(15.501, -1.83593, -0.887554deg) obs_actual=(0.413727, -0.676334) obs_expected=(0.424508, -0.67758) delta=(-0.0107807, 0.00124653) |delta|=0.0108525m
I0419 20:57:07.195158 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290271578290.
I0419 20:57:07.196158 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.204239, -0.505398), points=24, range=0.547208, residual=0.0132604, extent=0.0417889
I0419 20:57:07.196215 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.204239, -0.505398), tracking=(-0.502739, 0.505398), map_predicted=(15.0062, -1.3228), range=0.547208, pts=24
I0419 20:57:07.196239 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00924564m maha_sq=0.00369918 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0062, -1.3228) lm_pos=(15.015, -1.32) delta=(-0.00881118, -0.00280088) -> 1 candidate(s)
I0419 20:57:07.196305 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290271813943.
I0419 20:57:07.197762 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290271860668.
I0419 20:57:07.210604 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290272092559.
I0419 20:57:07.214612 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:07.214741 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:07.214775 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:07.214931 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290272138765.
I0419 20:57:07.277045 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290272378327.
I0419 20:57:07.277879 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290272454837.
I0419 20:57:07.279103 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.227422, -0.506481)
I0419 20:57:07.279217 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:07.279268 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:07.279290 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290272698545.
I0419 20:57:07.280642 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290272733060.
I0419 20:57:07.302148 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:07.302385 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290273012856.
I0419 20:57:07.306464 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00898606 range=1.1075 variance=0.000562225 t_weight=5335.94 r_weight=0 yaml=(16.815, -1.32) prior=(15.5405, -1.82572, -0.839304deg) obs_actual=(1.26253, 0.538017) obs_expected=(1.26699, 0.524332) delta=(-0.00446705, 0.0136852) |delta|=0.0143958m
I0419 20:57:07.306598 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290273058349.
I0419 20:57:07.330850 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290273302142.
I0419 20:57:07.333871 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602747s, prior_pose=(15.5481, -1.82901), yaw=-0.768032 deg
I0419 20:57:07.333956 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1210, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:57:07.334054 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:07.334077 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:07.334100 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0714257, -0.679422), points=19, range=0.684842, residual=0.0123704, extent=0.0424264
I0419 20:57:07.334120 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0714257, -0.679422), tracking=(0.369926, -0.679422), map_predicted=(15.9089, -2.51333), range=0.684842, pts=19
I0419 20:57:07.334141 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00904761m maha_sq=0.00354527 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9089, -2.51333) lm_pos=(15.915, -2.52) delta=(-0.00611195, 0.00667109) -> 1 candidate(s)
I0419 20:57:07.334296 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290273335807.
I0419 20:57:07.358496 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290273574487.
I0419 20:57:07.448940 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290273612705.
I0419 20:57:07.450264 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.547812 deg, rms_residual=0.00289639m, sigma_yaw=0.003847 rad, N=2
I0419 20:57:07.450380 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.5649, -1.84042, -0.547812deg) inliers=2 rms=0.00289639m
I0419 20:57:07.450421 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290273921093.
I0419 20:57:07.451201 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290273921398.
I0419 20:57:07.453374 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.262127, -0.506963)
I0419 20:57:07.453560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290274138186.
I0419 20:57:07.454115 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:07.454195 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290274219609.
I0419 20:57:07.455440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290274452834.
I0419 20:57:07.458328 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290274497612.
I0419 20:57:07.474594 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0491437 range=1.395 variance=0.000539392 t_weight=5561.82 r_weight=0 yaml=(14.115, -2.52) prior=(15.5866, -1.82192, -0.616255deg) obs_actual=(-1.49663, -0.722275) obs_expected=(-1.46405, -0.713869) delta=(-0.0325819, -0.00840604) |delta|=0.0336488m
I0419 20:57:07.474846 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290274736976.
I0419 20:57:07.478883 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.926634, 0.531395), points=6, range=1.06633, residual=0.00742237, extent=0.0189683
I0419 20:57:07.479002 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.926634, 0.531395), tracking=(1.22513, 0.531395), map_predicted=(16.8174, -1.30373), range=1.06633, pts=6
I0419 20:57:07.479058 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.016448m maha_sq=0.0117581 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8174, -1.30373) lm_pos=(16.815, -1.32) delta=(0.00242019, 0.0162689) -> 1 candidate(s)
I0419 20:57:07.479243 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290274781565.
I0419 20:57:07.557034 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275058971.
I0419 20:57:07.557886 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:07.557979 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:07.557996 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:07.558123 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275091246.
I0419 20:57:07.559266 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275335582.
I0419 20:57:07.560874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275380749.
I0419 20:57:07.562016 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.298771, -0.50872)
I0419 20:57:07.562122 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:07.562182 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:07.562206 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275617036.
I0419 20:57:07.566411 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275659885.
I0419 20:57:07.594333 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:07.594487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275938130.
I0419 20:57:07.597731 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290275971552.
I0419 20:57:07.621897 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.07297 range=1.42467 variance=0.000524791 t_weight=5716.56 r_weight=0 yaml=(14.115, -2.52) prior=(15.6154, -1.82747, -0.468073deg) obs_actual=(-1.53415, -0.715794) obs_expected=(-1.49467, -0.704769) delta=(-0.0394786, -0.0110253) |delta|=0.0409893m
I0419 20:57:07.622056 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290276213538.
I0419 20:57:07.681493 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0319089s, prior_pose=(15.625, -1.82349), yaw=-0.39132 deg
I0419 20:57:07.681624 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1213, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:57:07.681733 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:07.681757 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:07.681782 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.890598, 0.528081), points=6, range=1.0335, residual=0.00760009, extent=0.0205144
I0419 20:57:07.681803 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.890598, 0.528081), tracking=(1.1891, 0.528081), map_predicted=(16.8176, -1.30354), range=1.0335, pts=6
I0419 20:57:07.681828 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0166713m maha_sq=0.0119576 (gate chi2=5.99) pose_sigma=(0.150776, 0.150776, rho=0) det_map=(16.8176, -1.30354) lm_pos=(16.815, -1.32) delta=(0.00263444, 0.0164618) -> 1 candidate(s)
I0419 20:57:07.681907 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290276257219.
I0419 20:57:07.682127 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:07.683168 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290276500916.
I0419 20:57:07.683961 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290276537393.
I0419 20:57:07.686256 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290276781303.
I0419 20:57:07.687211 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.512829 deg, rms_residual=0.00319743m, sigma_yaw=0.00424514 rad, N=2
I0419 20:57:07.687314 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6386, -1.8353, -0.512829deg) inliers=2 rms=0.00319743m
I0419 20:57:07.687352 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290276865520.
I0419 20:57:07.710255 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.333434, -0.509829)
I0419 20:57:07.710433 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277097461.
I0419 20:57:07.714607 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:07.714828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277141207.
I0419 20:57:07.738755 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277381856.
I0419 20:57:07.742539 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277420006.
I0419 20:57:07.804967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277692968.
I0419 20:57:07.806051 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00227871 range=0.687118 variance=0.000543653 t_weight=5518.23 r_weight=0 yaml=(15.915, -2.52) prior=(15.6565, -1.82646, -0.253945deg) obs_actual=(0.259599, -0.685421) obs_expected=(0.261591, -0.692388) delta=(-0.00199157, 0.00696732) |delta|=0.00724637m
I0419 20:57:07.806187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277737437.
I0419 20:57:07.807554 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351866, -0.50872), points=18, range=0.621722, residual=0.0131311, extent=0.0406239
I0419 20:57:07.807657 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.351866, -0.50872), tracking=(-0.650366, 0.50872), map_predicted=(15.0084, -1.31486), range=0.621722, pts=18
I0419 20:57:07.807683 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00838353m maha_sq=0.00304165 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0084, -1.31486) lm_pos=(15.015, -1.32) delta=(-0.00662422, 0.00513841) -> 1 candidate(s)
I0419 20:57:07.807756 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290277981341.
I0419 20:57:07.808774 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.6725, -1.82226), yaw=-0.193499 deg backend=(15.6578, -1.83299)
I0419 20:57:07.811525 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:07.811595 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:07.811614 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:07.811687 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278014547.
I0419 20:57:07.826656 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278260654.
I0419 20:57:07.829766 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278292091.
I0419 20:57:07.857856 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.368494, -0.511724)
I0419 20:57:07.858004 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:07.858076 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:07.858103 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278573986.
I0419 20:57:07.862510 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278619174.
I0419 20:57:07.886776 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:07.886914 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278862343.
I0419 20:57:07.938831 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290278899424.
I0419 20:57:07.940002 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290279131641.
I0419 20:57:07.940670 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0645164s, prior_pose=(15.6966, -1.82186), yaw=-0.079141 deg
I0419 20:57:07.940735 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1221, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:57:07.940824 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:07.940848 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:07.940896 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00223475 range=0.696111 variance=0.000563246 t_weight=5326.27 r_weight=0 yaml=(15.915, -2.52) prior=(15.6966, -1.82186, -0.079141deg) obs_actual=(0.219807, -0.690677) obs_expected=(0.219358, -0.697842) delta=(0.000448768, 0.00716514) |delta|=0.00717918m
I0419 20:57:07.940935 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290279219150.
I0419 20:57:07.946090 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.386227, -0.512492), points=15, range=0.643, residual=0.00947689, extent=0.0286477
I0419 20:57:07.946169 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.386227, -0.512492), tracking=(-0.684727, 0.512492), map_predicted=(15.0177, -1.31201), range=0.643, pts=15
I0419 20:57:07.946198 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00841681m maha_sq=0.00305811 (gate chi2=5.99) pose_sigma=(0.150467, 0.150467, rho=0) det_map=(15.0177, -1.31201) lm_pos=(15.015, -1.32) delta=(0.00265772, 0.0079862) -> 1 candidate(s)
I0419 20:57:07.946274 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290279456528.
I0419 20:57:07.950553 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290279500052.
I0419 20:57:07.970402 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:07.974216 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290279732355.
I0419 20:57:07.978585 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.146244 deg, rms_residual=0.0035084m, sigma_yaw=0.00465609 rad, N=2
I0419 20:57:07.978731 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.7107, -1.83475, -0.146244deg) inliers=2 rms=0.0035084m
I0419 20:57:07.978802 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290279776049.
I0419 20:57:08.002138 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.401876, -0.51271)
I0419 20:57:08.002370 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290280012866.
I0419 20:57:08.010619 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:08.010763 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280101201.
I0419 20:57:08.090620 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280339833.
I0419 20:57:08.091580 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280375899.
I0419 20:57:08.092733 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280616023.
I0419 20:57:08.094301 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0179945 range=0.942429 variance=0.000590259 t_weight=5082.51 r_weight=0 yaml=(16.815, -1.32) prior=(15.7391, -1.82365, 0.193352deg) obs_actual=(1.09019, 0.516266) obs_expected=(1.0776, 0.500014) delta=(0.0125938, 0.0162519) |delta|=0.0205603m
I0419 20:57:08.094430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280661439.
I0419 20:57:08.095546 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35511, 0.692942), points=3, range=1.52033, residual=0.00518727, extent=0.0097003
I0419 20:57:08.095613 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35511, 0.692942), tracking=(-1.65361, -0.692942), map_predicted=(14.0878, -2.52217), range=1.52033, pts=3
I0419 20:57:08.095638 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0272507m maha_sq=0.0322733 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0878, -2.52217) lm_pos=(14.115, -2.52) delta=(-0.0271644, -0.00216664) -> 1 candidate(s)
I0419 20:57:08.095711 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280891967.
I0419 20:57:08.098402 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:08.098533 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:08.098578 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:08.098745 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290280974548.
I0419 20:57:08.122895 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290281219385.
I0419 20:57:08.126200 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290281254227.
I0419 20:57:08.149933 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.441694, -0.517034)
I0419 20:57:08.150137 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:08.150257 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:08.150344 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290281492456.
I0419 20:57:08.242475 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290281538853.
I0419 20:57:08.243750 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:08.243854 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290281780503.
I0419 20:57:08.244704 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290281860672.
I0419 20:57:08.246564 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290282099408.
I0419 20:57:08.247174 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596623s, prior_pose=(15.764, -1.82501), yaw=0.251192 deg
I0419 20:57:08.247238 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1222, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:57:08.247323 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:08.247344 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:08.247419 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290282135476.
I0419 20:57:08.248512 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0579246 range=1.553 variance=0.000512991 t_weight=5848.06 r_weight=0 yaml=(14.115, -2.52) prior=(15.764, -1.82501, 0.251192deg) obs_actual=(-1.68845, -0.69047) obs_expected=(-1.65204, -0.687751) delta=(-0.0364092, -0.00271886) |delta|=0.0365105m
I0419 20:57:08.248589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290282377069.
I0419 20:57:08.249984 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.745353, 0.510612), points=9, range=0.901333, residual=0.0116501, extent=0.0357499
I0419 20:57:08.250046 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.745353, 0.510612), tracking=(1.04385, 0.510612), map_predicted=(16.8217, -1.30654), range=0.901333, pts=9
I0419 20:57:08.250070 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0150267m maha_sq=0.00962131 (gate chi2=5.99) pose_sigma=(0.151288, 0.151288, rho=0) det_map=(16.8217, -1.30654) lm_pos=(16.815, -1.32) delta=(0.00668856, 0.0134561) -> 1 candidate(s)
I0419 20:57:08.250144 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290282456898.
I0419 20:57:08.266938 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290282661183.
I0419 20:57:08.275439 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290282743590.
I0419 20:57:08.348035 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.475351, -0.521647)
I0419 20:57:08.348229 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290282977795.
I0419 20:57:08.348961 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:08.349040 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290283060322.
I0419 20:57:08.350100 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290283256565.
I0419 20:57:08.351450 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290283301447.
I0419 20:57:08.358439 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290283576699.
I0419 20:57:08.361943 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.164766 deg, rms_residual=0.00300495m, sigma_yaw=0.00399061 rad, N=2
I0419 20:57:08.362098 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8095, -1.82864, 0.164766deg) inliers=2 rms=0.00300495m
I0419 20:57:08.362155 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290283612300.
I0419 20:57:08.387051 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.328334, 0.572536)
I0419 20:57:08.387439 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290283858643.
I0419 20:57:08.397177 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:08.397356 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:08.397393 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:08.397534 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00257206 range=0.871 variance=0.000538802 t_weight=5567.91 r_weight=0 yaml=(16.815, -1.32) prior=(15.8064, -1.82829, 0.586172deg) obs_actual=(1.01116, 0.505185) obs_expected=(1.01378, 0.497947) delta=(-0.00262027, 0.00723819) |delta|=0.00769787m
I0419 20:57:08.397703 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290283963328.
I0419 20:57:08.414511 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44107, 0.684779), points=3, range=1.59133, residual=0.00855559, extent=0.0167799
I0419 20:57:08.414681 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44107, 0.684779), tracking=(-1.73957, -0.684779), map_predicted=(14.0739, -2.53083), range=1.59133, pts=3
I0419 20:57:08.414741 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0425162m maha_sq=0.0783828 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0739, -2.53083) lm_pos=(14.115, -2.52) delta=(-0.0411131, -0.0108322) -> 1 candidate(s)
I0419 20:57:08.414952 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290284136127.
I0419 20:57:08.508111 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290284213815.
I0419 20:57:08.509495 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 20:57:08.509605 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:08.509631 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290284452890.
I0419 20:57:08.510496 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290284499507.
I0419 20:57:08.512342 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:57:08.512454 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290284738222.
I0419 20:57:08.513273 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.224857, -0.699064)
I0419 20:57:08.513392 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290284774172.
I0419 20:57:08.514513 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285053357.
I0419 20:57:08.515895 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0362007s, prior_pose=(15.8456, -1.82198), yaw=0.736171 deg
I0419 20:57:08.515970 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1224, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:57:08.516055 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:08.516078 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:08.516147 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285100229.
I0419 20:57:08.534713 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00595779 range=0.748615 variance=0.000614784 t_weight=4879.77 r_weight=0 yaml=(15.015, -1.32) prior=(15.8456, -1.82198, 0.736171deg) obs_actual=(-0.827096, 0.523956) obs_expected=(-0.824096, 0.512611) delta=(-0.00300033, 0.0113451) |delta|=0.0117351m
I0419 20:57:08.534953 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285337597.
I0419 20:57:08.538925 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.239998, -0.700313), points=16, range=0.740875, residual=0.0103344, extent=0.0326626
I0419 20:57:08.539041 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.239998, -0.700313), tracking=(0.0585017, -0.700313), map_predicted=(15.9131, -2.52148), range=0.740875, pts=16
I0419 20:57:08.539095 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00240428m maha_sq=0.000250832 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9131, -2.52148) lm_pos=(15.915, -2.52) delta=(-0.00189136, -0.00148436) -> 1 candidate(s)
I0419 20:57:08.539252 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285382314.
I0419 20:57:08.615993 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.34358, 0.699511)
I0419 20:57:08.616189 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290285612536.
I0419 20:57:08.616914 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285657812.
I0419 20:57:08.618064 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285895679.
I0419 20:57:08.619494 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:08.619577 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290285975499.
I0419 20:57:08.622560 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290286218998.
I0419 20:57:08.626019 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290286252953.
I0419 20:57:08.650056 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.320226, 0.69718)
I0419 20:57:08.650342 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290286492766.
I0419 20:57:08.654775 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.393145 deg, rms_residual=0.00648468m, sigma_yaw=0.00857212 rad, N=2
I0419 20:57:08.654922 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00773828 range=0.817545 variance=0.000653334 t_weight=4591.83 r_weight=0 yaml=(16.815, -1.32) prior=(15.8739, -1.82261, 0.842378deg) obs_actual=(0.948594, 0.502101) obs_expected=(0.948404, 0.488717) delta=(0.000189957, 0.013384) |delta|=0.0133853m
I0419 20:57:08.655030 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8738, -1.82341, 0.393145deg) inliers=2 rms=0.00648468m
I0419 20:57:08.655088 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290286538682.
I0419 20:57:08.678509 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.50669, 0.678705), points=3, range=1.64833, residual=0.00879218, extent=0.0178007
I0419 20:57:08.678666 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.50669, 0.678705), tracking=(-1.80519, -0.678705), map_predicted=(14.0789, -2.52778), range=1.64833, pts=3
I0419 20:57:08.678725 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0369592m maha_sq=0.0592099 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0789, -2.52778) lm_pos=(14.115, -2.52) delta=(-0.0361314, -0.00777859) -> 1 candidate(s)
I0419 20:57:08.678927 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290286776688.
I0419 20:57:08.769057 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(15.8959, -1.82396), yaw=0.866497 deg backend=(15.8704, -1.83087)
I0419 20:57:08.769650 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:08.769712 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:08.769733 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:08.769814 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290286821970.
I0419 20:57:08.771198 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287095073.
I0419 20:57:08.771901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287141795.
I0419 20:57:08.773833 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:08.773916 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:08.773940 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287375874.
I0419 20:57:08.774637 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(2.39008, -2.52596)
I0419 20:57:08.774736 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287456179.
I0419 20:57:08.775846 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:08.775919 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:08.775980 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287720014.
I0419 20:57:08.776388 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287720140.
I0419 20:57:08.799307 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290287982355.
I0419 20:57:08.802537 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0642938s, prior_pose=(15.9141, -1.82394), yaw=0.915354 deg
I0419 20:57:08.802687 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1229, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:57:08.802911 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:08.802959 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:08.803012 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.613979, 0.500429), points=11, range=0.788636, residual=0.0128346, extent=0.0376988
I0419 20:57:08.803053 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.613979, 0.500429), tracking=(0.912479, 0.500429), map_predicted=(16.8185, -1.309), range=0.788636, pts=11
I0419 20:57:08.803097 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0115311m maha_sq=0.00575484 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8185, -1.309) lm_pos=(16.815, -1.32) delta=(0.00346058, 0.0109996) -> 1 candidate(s)
I0419 20:57:08.803197 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00144258 range=0.766937 variance=0.000566711 t_weight=5293.7 r_weight=0 yaml=(15.915, -2.52) prior=(15.9141, -1.82394, 0.915354deg) obs_actual=(-0.0114545, -0.701616) obs_expected=(-0.0102122, -0.695983) delta=(-0.00124233, -0.00563313) |delta|=0.00576849m
I0419 20:57:08.803331 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288018812.
I0419 20:57:08.895118 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288261080.
I0419 20:57:08.895927 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288295603.
I0419 20:57:08.896981 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.616495, -0.529532)
I0419 20:57:08.897149 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288540944.
I0419 20:57:08.898741 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288623038.
I0419 20:57:08.899931 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288860946.
I0419 20:57:08.900604 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:08.900684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290288931802.
I0419 20:57:08.915187 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290289140404.
I0419 20:57:08.918499 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290289174682.
I0419 20:57:08.946938 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.249855, 0.69903)
I0419 20:57:08.947273 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290289460261.
I0419 20:57:09.026942 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.563555, 0.50142), points=14, range=0.755429, residual=0.0154506, extent=0.0540724
I0419 20:57:09.027094 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.563555, 0.50142), tracking=(0.862055, 0.50142), map_predicted=(16.8098, -1.30967), range=0.755429, pts=14
I0419 20:57:09.027129 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0115592m maha_sq=0.00569357 (gate chi2=5.99) pose_sigma=(0.150963, 0.150963, rho=0) det_map=(16.8098, -1.30967) lm_pos=(16.815, -1.32) delta=(-0.00519232, 0.0103274) -> 1 candidate(s)
I0419 20:57:09.027194 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.173375 deg, rms_residual=0.00435565m, sigma_yaw=0.00577401 rad, N=2
I0419 20:57:09.027215 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00230552 range=0.782 variance=0.000546932 t_weight=5485.14 r_weight=0 yaml=(15.915, -2.52) prior=(15.9549, -1.82326, 0.811857deg) obs_actual=(-0.0468198, -0.702804) obs_expected=(-0.049812, -0.696107) delta=(0.00299223, -0.00669702) |delta|=0.00733509m
I0419 20:57:09.027245 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.9571, -1.82054, 0.173375deg) inliers=2 rms=0.00435565m
I0419 20:57:09.027271 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290289495189.
I0419 20:57:09.028458 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290289738572.
I0419 20:57:09.029268 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:57:09.029351 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:09.029372 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:09.029441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290289773687.
I0419 20:57:09.031279 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290290020444.
I0419 20:57:09.032015 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290054413.
I0419 20:57:09.033212 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.58964, 0.693934)
I0419 20:57:09.033305 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:09.033355 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:09.033378 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290297845.
I0419 20:57:09.038162 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290372060.
I0419 20:57:09.062793 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:09.063051 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290617651.
I0419 20:57:09.066468 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 14 -> 10 (threshold=0.03, iters=3)
I0419 20:57:09.066756 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290655090.
I0419 20:57:09.160493 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0158832 range=0.736714 variance=0.000640642 t_weight=4682.8 r_weight=0 yaml=(16.815, -1.32) prior=(15.9867, -1.82327, 0.527342deg) obs_actual=(0.822364, 0.51174) obs_expected=(0.832927, 0.49563) delta=(-0.0105627, 0.0161102) |delta|=0.0192642m
I0419 20:57:09.160557 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:09.160694 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290941830.
I0419 20:57:09.161171 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0570037s, prior_pose=(15.9867, -1.82327), yaw=0.527342 deg
I0419 20:57:09.161242 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1450, max_intensity=253, threshold=230, above_threshold=27, candidates=27
I0419 20:57:09.161326 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:09.161346 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.22123, 0.698027)
I0419 20:57:09.161360 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:09.161376 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.682473, -0.517374), points=9, range=0.856778, residual=0.00907836, extent=0.0297083
I0419 20:57:09.161394 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.682473, -0.517374), tracking=(-0.980973, 0.517374), map_predicted=(15.001, -1.31495), range=0.856778, pts=9
I0419 20:57:09.161412 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0149041m maha_sq=0.0096471 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.001, -1.31495) lm_pos=(15.015, -1.32) delta=(-0.0140227, 0.00504934) -> 1 candidate(s)
I0419 20:57:09.161473 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290290942097.
I0419 20:57:09.162899 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290291218394.
I0419 20:57:09.163473 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290291259047.
I0419 20:57:09.165671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290291494136.
I0419 20:57:09.166394 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290291541198.
I0419 20:57:09.179298 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290291782314.
I0419 20:57:09.186475 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(-0.350265, -0.650271)
I0419 20:57:09.186709 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:09.186870 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290291853678.
I0419 20:57:09.210542 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292097128.
I0419 20:57:09.272656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292137501.
I0419 20:57:09.273789 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.730587, -0.502965), points=8, range=0.88525, residual=0.0105967, extent=0.0300111
I0419 20:57:09.273861 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.730587, -0.502965), tracking=(-1.02909, 0.502965), map_predicted=(14.998, -1.3161), range=0.88525, pts=8
I0419 20:57:09.273888 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0174837m maha_sq=0.0132577 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.998, -1.3161) lm_pos=(15.015, -1.32) delta=(-0.0170431, 0.00390048) -> 1 candidate(s)
I0419 20:57:09.273981 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.000441474 range=0.72175 variance=0.000577611 t_weight=5193.81 r_weight=0 yaml=(15.915, -2.52) prior=(16.0244, -1.82436, -0.295291deg) obs_actual=(-0.106325, -0.693037) obs_expected=(-0.105852, -0.696194) delta=(-0.00047315, 0.00315663) |delta|=0.00319189m
I0419 20:57:09.274022 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292351785.
I0419 20:57:09.274786 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.752345 deg, rms_residual=0.0176345m, sigma_yaw=0.0229725 rad, N=2
I0419 20:57:09.274840 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.0326, -1.81537, -0.752345deg) inliers=2 rms=0.0176345m
I0419 20:57:09.274871 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292414380.
I0419 20:57:09.276561 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.185788, 0.69749)
I0419 20:57:09.276665 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292653398.
I0419 20:57:09.277367 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:09.277419 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:09.277438 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:09.277486 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292696981.
I0419 20:57:09.294670 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290292938839.
I0419 20:57:09.302382 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290293015121.
I0419 20:57:09.326686 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:09.326833 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:09.326864 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290293260871.
I0419 20:57:09.329865 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=17, centroid=(0.453019, 0.524022)
I0419 20:57:09.330016 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290293293821.
I0419 20:57:09.434872 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:09.435024 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290293536257.
I0419 20:57:09.435986 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290293584415.
I0419 20:57:09.437275 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.64639, 0.753188), points=3, range=1.81233, residual=0.00661196, extent=0.0138588
I0419 20:57:09.437395 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.64639, 0.753188), tracking=(-1.94489, -0.753188), map_predicted=(14.1002, -2.55397), range=1.81233, pts=3
I0419 20:57:09.437425 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0370514m maha_sq=0.0595556 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1002, -2.55397) lm_pos=(14.115, -2.52) delta=(-0.0147848, -0.0339737) -> 1 candidate(s)
I0419 20:57:09.437582 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290293853488.
I0419 20:57:09.439077 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0361214s, prior_pose=(16.0769, -1.83445), yaw=-1.12587 deg
I0419 20:57:09.439137 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1232, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 20:57:09.439211 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:09.439232 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:09.439283 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00532052 range=0.683706 variance=0.000597517 t_weight=5020.78 r_weight=0 yaml=(16.815, -1.32) prior=(16.0769, -1.83445, -1.12587deg) obs_actual=(0.738665, 0.526012) obs_expected=(0.727834, 0.528854) delta=(0.0108309, -0.00284209) |delta|=0.0111976m
I0419 20:57:09.439476 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290293897471.
I0419 20:57:09.440881 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290294140104.
I0419 20:57:09.441929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290294173144.
I0419 20:57:09.443979 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.151473, 0.698172)
I0419 20:57:09.444183 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290294419264.
I0419 20:57:09.449996 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290294495982.
I0419 20:57:09.474671 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290294741841.
I0419 20:57:09.534780 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:09.534891 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:09.534960 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290294775902.
I0419 20:57:09.536103 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290295017139.
I0419 20:57:09.536876 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290295060285.
I0419 20:57:09.538682 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290295337765.
I0419 20:57:09.539474 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290295372156.
I0419 20:57:09.561749 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.68458, 0.770666)
I0419 20:57:09.561851 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.124988, 0.696959), points=17, range=0.709706, residual=0.0116141, extent=0.0355439
I0419 20:57:09.561877 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.124988, 0.696959), tracking=(-0.173512, -0.696959), map_predicted=(15.9094, -2.52599), range=0.709706, pts=17
I0419 20:57:09.561900 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00820222m maha_sq=0.00291587 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9094, -2.52599) lm_pos=(15.915, -2.52) delta=(-0.00560768, -0.00598584) -> 1 candidate(s)
I0419 20:57:09.562068 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290295613512.
I0419 20:57:09.563156 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.1182, -1.83513), yaw=-1.83409 deg backend=(16.0927, -1.82911)
I0419 20:57:09.566231 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:09.566324 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:09.566354 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:09.566457 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290295656978.
I0419 20:57:09.592085 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00697109 range=0.957 variance=0.000538036 t_weight=5575.84 r_weight=0 yaml=(15.015, -1.32) prior=(16.1182, -1.83513, -1.83409deg) obs_actual=(-1.13125, 0.475927) obs_expected=(-1.11911, 0.479561) delta=(-0.0121409, -0.00363316) |delta|=0.0126728m
I0419 20:57:09.592602 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290295896846.
I0419 20:57:09.684417 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290296174181.
I0419 20:57:09.685249 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:09.685397 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:09.685446 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290296220086.
I0419 20:57:09.686643 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:09.686743 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290296497732.
I0419 20:57:09.688159 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.29349, -2.40278)
I0419 20:57:09.689499 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290296780438.
I0419 20:57:09.690110 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06404s, prior_pose=(16.1388, -1.83574), yaw=-2.01257 deg
I0419 20:57:09.690176 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1214, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:57:09.690250 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:09.690276 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:09.690333 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290296814581.
I0419 20:57:09.707226 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290297056991.
I0419 20:57:09.714668 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290297135902.
I0419 20:57:09.738667 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.872848, -0.46798), points=6, range=0.986333, residual=0.0135022, extent=0.035417
I0419 20:57:09.738896 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.872848, -0.46798), tracking=(-1.17135, 0.46798), map_predicted=(14.9939, -1.32627), range=0.986333, pts=6
I0419 20:57:09.738953 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0219842m maha_sq=0.0208937 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9939, -1.32627) lm_pos=(15.015, -1.32) delta=(-0.0210699, -0.00627432) -> 1 candidate(s)
I0419 20:57:09.739177 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290297377069.
I0419 20:57:09.822909 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290297418814.
I0419 20:57:09.824218 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.689046, -0.361248)
I0419 20:57:09.824365 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290297658956.
I0419 20:57:09.825059 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:09.825186 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290297738602.
I0419 20:57:09.827279 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00028154 range=0.701882 variance=0.000559676 t_weight=5360.25 r_weight=0 yaml=(15.915, -2.52) prior=(16.166, -1.83571, -2.27185deg) obs_actual=(-0.224319, -0.696154) obs_expected=(-0.223637, -0.693699) delta=(-0.000682027, -0.00245501) |delta|=0.00254798m
I0419 20:57:09.827401 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290297980778.
I0419 20:57:09.828114 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290298018098.
I0419 20:57:09.829231 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(1.74601, 0.792624)
I0419 20:57:09.829339 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290298261324.
I0419 20:57:09.830850 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290298294743.
I0419 20:57:09.862196 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290298613049.
I0419 20:57:09.866901 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:09.867041 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:09.867079 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:09.867260 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290298660650.
I0419 20:57:09.960799 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.32478 deg, rms_residual=0.00314045m, sigma_yaw=0.00420487 rad, N=2
I0419 20:57:09.960908 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.1868, -1.82876, -2.32478deg) inliers=2 rms=0.00314045m
I0419 20:57:09.960947 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290298814400.
I0419 20:57:09.961875 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.2543, -2.38941)
I0419 20:57:09.963078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290299141165.
I0419 20:57:09.964694 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290299219683.
I0419 20:57:09.965829 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:09.965885 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0436723, 0.697085), points=17, range=0.699882, residual=0.0109759, extent=0.0330559
I0419 20:57:09.965919 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0436723, 0.697085), tracking=(-0.254828, -0.697085), map_predicted=(15.9007, -2.52232), range=0.699882, pts=17
I0419 20:57:09.965945 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0144838m maha_sq=0.00909811 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9007, -2.52232) lm_pos=(15.915, -2.52) delta=(-0.0142969, -0.00231928) -> 1 candidate(s)
I0419 20:57:09.965981 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:09.966032 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290299413829.
I0419 20:57:09.974692 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:09.974861 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:09.974911 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290299737920.
I0419 20:57:09.978765 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562335s, prior_pose=(16.2003, -1.83888), yaw=-2.53652 deg
I0419 20:57:09.978868 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1213, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:57:09.979013 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:09.979040 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:10.006735 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.34074, -4.17969)
I0419 20:57:10.007077 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290300061297.
I0419 20:57:10.008020 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290300061552.
I0419 20:57:10.067763 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290300293159.
I0419 20:57:10.070655 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0374245 range=1.0594 variance=0.000535955 t_weight=5597.48 r_weight=0 yaml=(15.015, -1.32) prior=(16.2225, -1.83957, -2.58466deg) obs_actual=(-1.25794, 0.4559) obs_expected=(-1.22973, 0.46459) delta=(-0.0282052, -0.00869038) |delta|=0.0295137m
I0419 20:57:10.070838 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290300581600.
I0419 20:57:10.071627 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=20, centroid=(0.246034, 0.537646)
I0419 20:57:10.071695 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:10.091032 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00914998, 0.699106), points=17, range=0.701353, residual=0.0114737, extent=0.0338887
I0419 20:57:10.091156 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.00914998, 0.699106), tracking=(-0.28935, -0.699106), map_predicted=(15.9019, -2.52492), range=0.701353, pts=17
I0419 20:57:10.091192 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0139493m maha_sq=0.00843489 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9019, -2.52492) lm_pos=(15.915, -2.52) delta=(-0.013053, -0.00491971) -> 1 candidate(s)
I0419 20:57:10.091356 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290300905467.
I0419 20:57:10.117865 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290301172700.
I0419 20:57:10.122037 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290301215073.
I0419 20:57:10.186344 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290301501542.
I0419 20:57:10.187119 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:10.187203 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:10.187220 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:10.187295 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290301535774.
I0419 20:57:10.188740 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.986905, -0.453204)
I0419 20:57:10.188907 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290301773620.
I0419 20:57:10.206802 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290302062232.
I0419 20:57:10.210163 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290302095950.
I0419 20:57:10.239967 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:10.240137 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290302378420.
I0419 20:57:10.242012 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290302414903.
I0419 20:57:10.267549 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00725, -0.451933)
I0419 20:57:10.267656 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0316457, 0.701524), points=17, range=0.704059, residual=0.0113156, extent=0.033671
I0419 20:57:10.267681 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0316457, 0.701524), tracking=(-0.330146, -0.701524), map_predicted=(15.9091, -2.52761), range=0.704059, pts=17
I0419 20:57:10.267709 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0096546m maha_sq=0.00404117 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9091, -2.52761) lm_pos=(15.915, -2.52) delta=(-0.00594714, -0.00760545) -> 1 candidate(s)
I0419 20:57:10.267827 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290302659579.
I0419 20:57:10.325942 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0316089s, prior_pose=(16.2911, -1.84308), yaw=-2.82851 deg
I0419 20:57:10.326073 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1182, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 20:57:10.326220 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:10.326248 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:57:10.327457 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0145686 range=1.1112 variance=0.000541993 t_weight=5535.13 r_weight=0 yaml=(15.015, -1.32) prior=(16.2911, -1.84308, -2.82851deg) obs_actual=(-1.31708, 0.451712) obs_expected=(-1.30031, 0.459474) delta=(-0.0167652, -0.00776217) |delta|=0.018475m
I0419 20:57:10.327590 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290302940876.
I0419 20:57:10.328307 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:10.330628 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290303260172.
I0419 20:57:10.331396 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:10.354159 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(0.0534015, 0.704849)
I0419 20:57:10.354585 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290303536223.
I0419 20:57:10.358714 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:10.382640 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290303819982.
I0419 20:57:10.385777 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:10.385892 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:10.385919 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290303852814.
I0419 20:57:10.451413 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0696155, 0.701512), points=16, range=0.706563, residual=0.0103819, extent=0.0313608
I0419 20:57:10.451596 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0696155, 0.701512), tracking=(-0.368116, -0.701512), map_predicted=(15.9174, -2.5279), range=0.706563, pts=16
I0419 20:57:10.451649 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00826157m maha_sq=0.00294215 (gate chi2=5.99) pose_sigma=(0.15051, 0.15051, rho=0) det_map=(15.9174, -2.5279) lm_pos=(15.915, -2.52) delta=(0.00242428, -0.00789787) -> 1 candidate(s)
I0419 20:57:10.451787 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290304140297.
I0419 20:57:10.454118 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290304413423.
I0419 20:57:10.455394 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.3325, -1.84639), yaw=-2.81603 deg backend=(16.307, -1.83723)
I0419 20:57:10.455986 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.23683, -4.17749)
I0419 20:57:10.456037 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:10.456066 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:10.456084 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:10.470738 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290304701251.
I0419 20:57:10.474014 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290304734848.
I0419 20:57:10.498884 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.7746 deg, rms_residual=0.00234455m, sigma_yaw=0.00311632 rad, N=2
I0419 20:57:10.499074 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.3428, -1.84032, -2.7746deg) inliers=2 rms=0.00234455m
I0419 20:57:10.499125 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290304982538.
I0419 20:57:10.530056 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:10.530212 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290305295345.
I0419 20:57:10.607062 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.99637, -0.585038)
I0419 20:57:10.607534 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:10.608410 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.106886, 0.701166), points=16, range=0.711062, residual=0.0109709, extent=0.0318733
I0419 20:57:10.608507 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.106886, 0.701166), tracking=(-0.405386, -0.701166), map_predicted=(15.9172, -2.52981), range=0.711062, pts=16
I0419 20:57:10.608541 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0100536m maha_sq=0.00432329 (gate chi2=5.99) pose_sigma=(0.151067, 0.151067, rho=0) det_map=(15.9172, -2.52981) lm_pos=(15.915, -2.52) delta=(0.00220602, -0.00980858) -> 1 candidate(s)
I0419 20:57:10.608603 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00432329 range=0.711062 variance=0.000558002 t_weight=5376.33 r_weight=0 yaml=(15.915, -2.52) prior=(16.3538, -1.84764, -2.58516deg) obs_actual=(-0.405386, -0.701166) obs_expected=(-0.408032, -0.691466) delta=(0.00264619, -0.0096991) |delta|=0.0100536m
I0419 20:57:10.608654 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290305577401.
I0419 20:57:10.609388 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0669459s, prior_pose=(16.3538, -1.84764), yaw=-2.58516 deg
I0419 20:57:10.609479 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1158, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:57:10.609599 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:10.609622 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:10.611893 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290305896776.
I0419 20:57:10.617777 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290306171903.
I0419 20:57:10.650610 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.09583, -0.461381)
I0419 20:57:10.650807 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290306499374.
I0419 20:57:10.653944 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:10.654099 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290306532957.
I0419 20:57:10.723676 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290306815774.
I0419 20:57:10.725051 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290307057756.
I0419 20:57:10.725581 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:10.725670 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290307101244.
I0419 20:57:10.733806 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290307333254.
I0419 20:57:10.742997 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.11771, -4.20146)
I0419 20:57:10.743129 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:10.743160 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:10.743180 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:10.766628 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.162968, 0.705977), points=17, range=0.726471, residual=0.0127268, extent=0.0418577
I0419 20:57:10.766908 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.162968, 0.705977), tracking=(-0.461468, -0.705977), map_predicted=(15.8981, -2.53392), range=0.726471, pts=17
I0419 20:57:10.766954 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0219011m maha_sq=0.0206206 (gate chi2=5.99) pose_sigma=(0.150536, 0.150536, rho=0) det_map=(15.8981, -2.53392) lm_pos=(15.915, -2.52) delta=(-0.0169056, -0.0139234) -> 1 candidate(s)
I0419 20:57:10.767037 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290307658441.
I0419 20:57:10.794416 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290307934181.
I0419 20:57:10.851992 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:57:10.852401 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.1299, -0.468024)
I0419 20:57:10.852507 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290308298292.
I0419 20:57:10.854620 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290308539858.
I0419 20:57:10.857589 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568192s, prior_pose=(16.417, -1.84458), yaw=-2.19307 deg
I0419 20:57:10.857667 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1145, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:57:10.857812 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:10.857841 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:57:10.882442 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:10.882567 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:10.882589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290308819457.
I0419 20:57:10.910367 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.200713, 0.707658), points=16, range=0.737875, residual=0.011615, extent=0.0357768
I0419 20:57:10.910460 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.200713, 0.707658), tracking=(-0.499213, -0.707658), map_predicted=(15.9083, -2.532), range=0.737875, pts=16
I0419 20:57:10.910493 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0137692m maha_sq=0.00808375 (gate chi2=5.99) pose_sigma=(0.151261, 0.151261, rho=0) det_map=(15.9083, -2.532) lm_pos=(15.915, -2.52) delta=(-0.00674481, -0.0120041) -> 1 candidate(s)
I0419 20:57:10.910610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290309099616.
I0419 20:57:10.989544 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.16293, -0.471818)
I0419 20:57:10.989719 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290309421931.
I0419 20:57:10.990545 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:10.991698 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290309691796.
I0419 20:57:10.997814 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290309972897.
I0419 20:57:11.030843 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0149911 range=0.744571 variance=0.000534512 t_weight=5612.59 r_weight=0 yaml=(15.915, -2.52) prior=(16.4548, -1.84497, -1.95633deg) obs_actual=(-0.529224, -0.70658) obs_expected=(-0.516438, -0.69306) delta=(-0.0127864, -0.0135196) |delta|=0.0186084m
I0419 20:57:11.031059 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290310300197.
I0419 20:57:11.034173 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.0262, -4.2164)
I0419 20:57:11.034265 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:11.034310 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:11.034339 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:11.034386 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:11.058147 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.23598, 0.705264), points=14, range=0.745714, residual=0.0105259, extent=0.0304354
I0419 20:57:11.058252 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.23598, 0.705264), tracking=(-0.53448, -0.705264), map_predicted=(15.8966, -2.53158), range=0.745714, pts=14
I0419 20:57:11.058285 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0217819m maha_sq=0.0205838 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.8966, -2.53158) lm_pos=(15.915, -2.52) delta=(-0.0184484, -0.0115804) -> 1 candidate(s)
I0419 20:57:11.058449 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290310576856.
I0419 20:57:11.128443 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290310857094.
I0419 20:57:11.131629 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:11.131769 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290311192633.
I0419 20:57:11.132160 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.21509, -0.470492)
I0419 20:57:11.132265 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290311192768.
I0419 20:57:11.145875 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290311453764.
I0419 20:57:11.150570 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845299s, prior_pose=(16.4818, -1.84459), yaw=-1.93902 deg
I0419 20:57:11.150663 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1121, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:57:11.150840 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:11.150866 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:11.174469 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290311738272.
I0419 20:57:11.277149 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290312057742.
I0419 20:57:11.279103 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.284493, 0.706997)
I0419 20:57:11.279177 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.281838, 0.706396), points=14, range=0.762143, residual=0.0105605, extent=0.0311575
I0419 20:57:11.279201 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.281838, 0.706396), tracking=(-0.580338, -0.706396), map_predicted=(15.888, -2.52848), range=0.762143, pts=14
I0419 20:57:11.279222 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0283398m maha_sq=0.034842 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.888, -2.52848) lm_pos=(15.915, -2.52) delta=(-0.0270401, -0.0084838) -> 1 candidate(s)
I0419 20:57:11.279312 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290312333036.
I0419 20:57:11.280961 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:11.281090 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:11.282213 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290312618696.
I0419 20:57:11.294482 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290312938899.
I0419 20:57:11.326370 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.109882, -2.69676)
I0419 20:57:11.327126 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:57:11.327189 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:11.327210 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:11.327308 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290313259244.
I0419 20:57:11.394716 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.526, -1.84272), yaw=-1.78139 deg backend=(16.5256, -1.84185)
I0419 20:57:11.396162 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290313538818.
I0419 20:57:11.399058 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290313814353.
I0419 20:57:11.399916 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.100714, -2.6621)
I0419 20:57:11.399974 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 4 -> 3 (threshold=0.03, iters=3)
I0419 20:57:11.399996 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0543243, -2.4894), points=3, range=2.49967, residual=0.018589, extent=0.0369848
I0419 20:57:11.400022 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0543243, -2.4894), tracking=(0.352824, -2.4894), map_predicted=(16.8046, -4.34081), range=2.49967, pts=3
I0419 20:57:11.400043 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02653m maha_sq=175.305 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8046, -4.34081) lm_pos=(15.915, -2.52) delta=(0.889643, -1.82081) -> 0 candidate(s)
I0419 20:57:11.410338 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:11.411016 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290314098360.
I0419 20:57:11.442292 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:11.442478 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:11.442520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290314413590.
I0419 20:57:11.446122 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643299s, prior_pose=(16.5424, -1.84216), yaw=-1.73813 deg
I0419 20:57:11.446214 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1118, max_intensity=255, threshold=230, above_threshold=41, candidates=41
I0419 20:57:11.446384 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=41, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:11.446408 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=26, centroid=(-0.0920423, 0.526386)
I0419 20:57:11.446422 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:11.520931 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290314700182.
I0419 20:57:11.523028 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0677093 range=0.792786 variance=0.000593766 t_weight=5052.49 r_weight=0 yaml=(15.915, -2.52) prior=(16.5466, -1.83776, -1.69806deg) obs_actual=(-0.650054, -0.707609) obs_expected=(-0.611126, -0.700662) delta=(-0.0389282, -0.00694696) |delta|=0.0395432m
I0419 20:57:11.523169 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290314972482.
I0419 20:57:11.530016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290315294546.
I0419 20:57:11.534435 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.00728072, -2.49157)
I0419 20:57:11.534536 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00362984, -2.48748), points=5, range=2.4916, residual=0.0147995, extent=0.0383155
I0419 20:57:11.534569 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00362984, -2.48748), tracking=(0.30213, -2.48748), map_predicted=(16.8014, -4.33448), range=2.4916, pts=5
I0419 20:57:11.534600 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01943m maha_sq=175.031 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8014, -4.33448) lm_pos=(15.915, -2.52) delta=(0.886411, -1.81448) -> 0 candidate(s)
I0419 20:57:11.534621 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:11.558193 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290315576834.
I0419 20:57:11.590672 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290315894171.
I0419 20:57:11.669713 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.86967, -4.23242)
I0419 20:57:11.671177 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290316184054.
I0419 20:57:11.671900 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=4
I0419 20:57:11.672019 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:11.672040 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:11.674165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290316462890.
I0419 20:57:11.674935 1232263 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(1.71642, -0.633216)
I0419 20:57:11.675010 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.139581, 0.526883), points=26, range=0.545308, residual=0.0129378, extent=0.0402017
I0419 20:57:11.675037 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.139581, 0.526883), tracking=(0.158919, 0.526883), map_predicted=(16.7781, -1.32218), range=0.545308, pts=26
I0419 20:57:11.675060 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0369262m maha_sq=0.0590283 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7781, -1.32218) lm_pos=(16.815, -1.32) delta=(-0.036862, -0.00217569) -> 1 candidate(s)
I0419 20:57:11.675091 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:11.678257 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290316776646.
I0419 20:57:11.707373 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:11.707613 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290317060584.
I0419 20:57:11.709859 1232263 reflector_detector.cc:209] [Detect]   cluster[7]: points=2, centroid=(1.70801, -0.635769)
I0419 20:57:11.710011 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:11.827492 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290317334769.
I0419 20:57:11.828387 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561799s, prior_pose=(16.6155, -1.83703), yaw=-1.53635 deg
I0419 20:57:11.828480 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1120, max_intensity=255, threshold=230, above_threshold=43, candidates=43
I0419 20:57:11.828644 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=43, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=8
I0419 20:57:11.828671 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=8, r_post=0.015, gain=250 -> after=6
I0419 20:57:11.830006 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290317620392.
I0419 20:57:11.831722 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.69352, -0.638803), points=3, range=1.81, residual=0.00452499, extent=0.0109463
I0419 20:57:11.831821 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.69352, -0.638803), tracking=(1.99202, -0.638803), map_predicted=(18.6032, -2.5276), range=1.81, pts=3
I0419 20:57:11.831853 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.15774m maha_sq=199.667 (gate chi2=5.99) pose_sigma=(0.150966, 0.150966, rho=0) det_map=(18.6032, -2.5276) lm_pos=(16.815, -1.32) delta=(1.78817, -1.2076) -> 0 candidate(s)
I0419 20:57:11.833065 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.428203, 0.707903)
I0419 20:57:11.833222 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290317896904.
I0419 20:57:11.835979 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290318212398.
I0419 20:57:11.836898 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:11.850293 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290318497275.
I0419 20:57:11.919858 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.7949, -4.24568)
I0419 20:57:11.921264 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290318817176.
I0419 20:57:11.922072 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.77476, -4.24961), points=3, range=4.60533, residual=0.0144629, extent=0.0353071
I0419 20:57:11.922147 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.77476, -4.24961), tracking=(2.07326, -4.24961), map_predicted=(18.6185, -6.13916), range=4.60533, pts=3
I0419 20:57:11.922174 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51746m maha_sq=862.369 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6185, -6.13916) lm_pos=(15.915, -2.52) delta=(2.70354, -3.61916) -> 0 candidate(s)
I0419 20:57:11.924165 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290319094824.
I0419 20:57:11.924856 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:11.924918 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:11.924940 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:11.938050 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.470156, 0.707982)
I0419 20:57:11.938328 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290319373752.
I0419 20:57:11.971253 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290319696571.
I0419 20:57:11.974926 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.68177, -2.45463), points=3, range=2.97267, residual=0.00970031, extent=0.0199739
I0419 20:57:11.975093 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.68177, -2.45463), tracking=(1.98027, -2.45463), map_predicted=(18.5995, -4.33783), range=2.97267, pts=3
I0419 20:57:11.975152 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24206m maha_sq=452.279 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5995, -4.33783) lm_pos=(15.915, -2.52) delta=(2.68449, -1.81783) -> 0 candidate(s)
I0419 20:57:12.085762 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:12.085891 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290319974557.
I0419 20:57:12.086093 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:12.086798 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.62915, -0.64448)
I0419 20:57:12.087867 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:12.087977 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:12.088002 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290320254711.
I0419 20:57:12.089479 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0324379s, prior_pose=(16.6986, -1.84237), yaw=-1.30072 deg
I0419 20:57:12.089551 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1125, max_intensity=255, threshold=230, above_threshold=38, candidates=38
I0419 20:57:12.089720 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:12.089745 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 20:57:12.090853 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290320577762.
I0419 20:57:12.093510 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0437717 range=0.873364 variance=0.000545228 t_weight=5502.28 r_weight=0 yaml=(15.915, -2.52) prior=(16.7066, -1.84256, -1.32532deg) obs_actual=(-0.804484, -0.709337) obs_expected=(-0.775724, -0.695572) delta=(-0.02876, -0.0137651) |delta|=0.0318844m
I0419 20:57:12.093613 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290320895685.
I0419 20:57:12.094853 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.6567, -2.45616)
I0419 20:57:12.094960 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.148887, -2.49405), points=5, range=2.4956, residual=0.0135474, extent=0.0352431
I0419 20:57:12.095018 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.148887, -2.49405), tracking=(0.149613, -2.49405), map_predicted=(16.7985, -4.3394), range=2.4956, pts=5
I0419 20:57:12.095057 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02256m maha_sq=175.839 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7985, -4.3394) lm_pos=(15.915, -2.52) delta=(0.883493, -1.8194) -> 0 candidate(s)
I0419 20:57:12.114758 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290321139742.
I0419 20:57:12.206499 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:12.207612 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290321455035.
I0419 20:57:12.210253 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290321741350.
I0419 20:57:12.211076 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.11253, -4.29649)
I0419 20:57:12.211148 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.294802, 0.519105), points=31, range=0.595194, residual=0.0176666, extent=0.0511483
I0419 20:57:12.211174 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[5]: sensor=(-0.294802, 0.519105), tracking=(0.00369788, 0.519105), map_predicted=(16.7413, -1.31793), range=0.595194, pts=31
I0419 20:57:12.211199 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[5] nearest lm[19] 'ref_20' eucl_dist=0.0737471m maha_sq=0.233961 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7413, -1.31793) lm_pos=(16.815, -1.32) delta=(-0.073718, 0.00207259) -> 1 candidate(s)
I0419 20:57:12.212237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290322054029.
I0419 20:57:12.213296 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(16.7392, -1.83711), yaw=-1.26751 deg backend=(16.7435, -1.83815)
I0419 20:57:12.213794 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:12.213840 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:12.213863 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:12.234680 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290322339844.
I0419 20:57:12.237963 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:12.329183 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.552576, 0.713645)
I0419 20:57:12.329357 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290322611636.
I0419 20:57:12.331185 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:12.331280 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290322939867.
I0419 20:57:12.332710 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.149851, -4.29137)
I0419 20:57:12.332792 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:12.332809 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.60373, -2.46168), points=3, range=2.933, residual=0.0120139, extent=0.0240803
I0419 20:57:12.332831 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.60373, -2.46168), tracking=(1.90223, -2.46168), map_predicted=(18.6114, -4.34315), range=2.933, pts=3
I0419 20:57:12.332852 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25491m maha_sq=449.401 (gate chi2=5.99) pose_sigma=(0.150964, 0.150964, rho=0) det_map=(18.6114, -4.34315) lm_pos=(15.915, -2.52) delta=(2.69639, -1.82315) -> 0 candidate(s)
I0419 20:57:12.333904 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290323217248.
I0419 20:57:12.334465 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640442s, prior_pose=(16.764, -1.84002), yaw=-1.26676 deg
I0419 20:57:12.334517 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1116, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 20:57:12.334569 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:12.334591 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=4
I0419 20:57:12.349879 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.166154, 0.283961)
I0419 20:57:12.350135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290323493840.
I0419 20:57:12.384167 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290323823314.
I0419 20:57:12.513546 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290324102470.
I0419 20:57:12.514989 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.235923, -2.48833)
I0419 20:57:12.515105 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.232642, -2.49216), points=4, range=2.4995, residual=0.0122375, extent=0.0295901
I0419 20:57:12.515156 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.232642, -2.49216), tracking=(0.065858, -2.49216), map_predicted=(16.8074, -4.3326), range=2.4995, pts=4
I0419 20:57:12.515199 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02037m maha_sq=175.709 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8074, -4.3326) lm_pos=(15.915, -2.52) delta=(0.892394, -1.8126) -> 0 candidate(s)
I0419 20:57:12.521245 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290324419843.
I0419 20:57:12.523175 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290324701054.
I0419 20:57:12.524091 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.626, -4.25436)
I0419 20:57:12.524181 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:12.527551 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0194058 range=0.9427 variance=0.000534487 t_weight=5612.86 r_weight=0 yaml=(15.915, -2.52) prior=(16.827, -1.83521, -1.21627deg) obs_actual=(-0.916546, -0.713027) obs_expected=(-0.897225, -0.703997) delta=(-0.0193211, -0.0090306) |delta|=0.0213274m
I0419 20:57:12.527720 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290324976318.
I0419 20:57:12.528537 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:12.528604 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:12.528626 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:12.607918 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.259664, -0.511275), points=22, range=0.572455, residual=0.0126129, extent=0.0381863
I0419 20:57:12.608074 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.259664, -0.511275), tracking=(-0.0388365, 0.511275), map_predicted=(16.8111, -1.32332), range=0.572455, pts=22
I0419 20:57:12.608116 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00512392m maha_sq=0.00112307 (gate chi2=5.99) pose_sigma=(0.150948, 0.150948, rho=0) det_map=(16.8111, -1.32332) lm_pos=(16.815, -1.32) delta=(-0.00390105, -0.0033221) -> 1 candidate(s)
I0419 20:57:12.608227 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290325262008.
I0419 20:57:12.610118 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.24648, -0.510819)
I0419 20:57:12.610193 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:12.610266 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290325577221.
I0419 20:57:12.612888 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290325864102.
I0419 20:57:12.615433 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:12.615526 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:12.615561 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290326139350.
I0419 20:57:12.622236 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059799s, prior_pose=(16.8645, -1.83151), yaw=-1.15608 deg
I0419 20:57:12.622337 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1110, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:12.622418 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:12.622440 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.287209, -2.48895)
I0419 20:57:12.622457 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:12.622478 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.219386, -4.30591), points=3, range=4.30967, residual=0.0124207, extent=0.0257766
I0419 20:57:12.622498 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.219386, -4.30591), tracking=(0.0791139, -4.30591), map_predicted=(16.8567, -6.13814), range=4.30967, pts=3
I0419 20:57:12.622572 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7387m maha_sq=593.7 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8567, -6.13814) lm_pos=(15.915, -2.52) delta=(0.941741, -3.61814) -> 0 candidate(s)
I0419 20:57:12.642558 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290326419581.
I0419 20:57:12.713660 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290326741140.
I0419 20:57:12.714453 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.5712, -4.25891)
I0419 20:57:12.716807 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:12.716899 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.44918 deg, rms_residual=0.00505189m, sigma_yaw=0.00669079 rad, N=2
I0419 20:57:12.716954 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.8937, -1.8289, -1.44918deg) inliers=2 rms=0.00505189m
I0419 20:57:12.716993 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290327058003.
I0419 20:57:12.734375 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.201496, -0.511403), points=23, range=0.551087, residual=0.0118519, extent=0.0376056
I0419 20:57:12.734467 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.201496, -0.511403), tracking=(-0.0970044, 0.511403), map_predicted=(16.8011, -1.31642), range=0.551087, pts=23
I0419 20:57:12.734496 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0143843m maha_sq=0.00896752 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8011, -1.31642) lm_pos=(16.815, -1.32) delta=(-0.0139319, 0.00357901) -> 1 candidate(s)
I0419 20:57:12.734602 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290327338545.
I0419 20:57:12.737702 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.55163, -4.26306)
I0419 20:57:12.762172 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290327615305.
I0419 20:57:12.865867 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00215185 range=0.996857 variance=0.000525799 t_weight=5705.6 r_weight=0 yaml=(15.915, -2.52) prior=(16.9134, -1.82476, -1.1859deg) obs_actual=(-0.990853, -0.715518) obs_expected=(-0.98378, -0.715758) delta=(-0.00707363, 0.000239626) |delta|=0.00707769m
I0419 20:57:12.866039 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290327899083.
I0419 20:57:12.866863 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.47185, -2.46578)
I0419 20:57:12.866927 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:12.866953 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47689, -2.46608), points=3, range=2.87167, residual=0.00938944, extent=0.0185146
I0419 20:57:12.866976 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:12.866991 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:12.867003 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.47689, -2.46608), tracking=(1.77539, -2.46608), map_predicted=(18.6373, -4.32705), range=2.87167, pts=3
I0419 20:57:12.867023 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26751m maha_sq=459.816 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6373, -4.32705) lm_pos=(15.915, -2.52) delta=(2.72235, -1.80705) -> 0 candidate(s)
I0419 20:57:12.868201 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290328224629.
I0419 20:57:12.870783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290328497119.
I0419 20:57:12.882706 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-2.03674, 4.28619)
I0419 20:57:12.882988 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:12.883191 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290328817145.
I0419 20:57:12.913594 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.158373, -0.512579), points=25, range=0.53728, residual=0.0122455, extent=0.0396864
I0419 20:57:12.914211 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.158373, -0.512579), tracking=(-0.140127, 0.512579), map_predicted=(16.8056, -1.31305), range=0.53728, pts=25
I0419 20:57:12.914419 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.011665m maha_sq=0.00589513 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8056, -1.31305) lm_pos=(16.815, -1.32) delta=(-0.00936709, 0.00695198) -> 1 candidate(s)
I0419 20:57:12.915041 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290329098466.
I0419 20:57:13.043706 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0317084s, prior_pose=(16.9477, -1.83311), yaw=-0.951555 deg
I0419 20:57:13.043838 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1102, max_intensity=252, threshold=230, above_threshold=19, candidates=19
I0419 20:57:13.043915 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:13.043967 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:13.045687 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290329373214.
I0419 20:57:13.046388 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.49119, -4.27011)
I0419 20:57:13.049332 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290329694627.
I0419 20:57:13.050139 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42833, -2.46566), points=3, range=2.84633, residual=0.00964597, extent=0.0193378
I0419 20:57:13.050225 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.42833, -2.46566), tracking=(1.72683, -2.46566), map_predicted=(18.6405, -4.32612), range=2.84633, pts=3
I0419 20:57:13.050253 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26963m maha_sq=460.387 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6405, -4.32612) lm_pos=(15.915, -2.52) delta=(2.72551, -1.80612) -> 0 candidate(s)
I0419 20:57:13.051846 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290329975118.
I0419 20:57:13.058903 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.759072, 0.71548)
I0419 20:57:13.059108 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290330252731.
I0419 20:57:13.133880 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290330580116.
I0419 20:57:13.134801 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37626, -0.663833), points=3, range=1.524, residual=0.00816414, extent=0.0157307
I0419 20:57:13.134879 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.37626, -0.663833), tracking=(1.67476, -0.663833), map_predicted=(18.6391, -2.52077), range=1.524, pts=3
I0419 20:57:13.134910 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18385m maha_sq=206.909 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6391, -2.52077) lm_pos=(16.815, -1.32) delta=(1.8241, -1.20077) -> 0 candidate(s)
I0419 20:57:13.134933 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:13.136168 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0323843 range=1.05517 variance=0.000531167 t_weight=5647.94 r_weight=0 yaml=(15.915, -2.52) prior=(16.9763, -1.8275, -1.0107deg) obs_actual=(-1.07573, -0.716337) obs_expected=(-1.04893, -0.711116) delta=(-0.0268065, -0.00522085) |delta|=0.0273102m
I0419 20:57:13.136282 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290330862191.
I0419 20:57:13.137413 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.9914, -1.827), yaw=-0.925489 deg backend=(16.9717, -1.83946)
I0419 20:57:13.137790 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.44519, -4.25739)
I0419 20:57:13.137837 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:13.137862 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:13.137880 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:13.139087 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290331132191.
I0419 20:57:13.145870 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:13.146031 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290331452997.
I0419 20:57:13.174401 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.793359, 0.712226)
I0419 20:57:13.174499 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0959324, -0.509294), points=24, range=0.519083, residual=0.010782, extent=0.0352785
I0419 20:57:13.174531 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0959324, -0.509294), tracking=(-0.202568, 0.509294), map_predicted=(16.8042, -1.31525), range=0.519083, pts=24
I0419 20:57:13.174561 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0117898m maha_sq=0.00603091 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8042, -1.31525) lm_pos=(16.815, -1.32) delta=(-0.0107898, 0.0047519) -> 1 candidate(s)
I0419 20:57:13.174671 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290331738252.
I0419 20:57:13.245112 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:13.245263 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:13.245290 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290332014476.
I0419 20:57:13.245975 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606392s, prior_pose=(17.0162, -1.82841), yaw=-0.863531 deg
I0419 20:57:13.246093 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1084, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 20:57:13.246152 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:13.246176 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:13.248378 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290332337174.
I0419 20:57:13.249212 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.41167, -4.2602)
I0419 20:57:13.249301 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:13.262131 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290332615352.
I0419 20:57:13.266491 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.465751, -2.49285), points=5, range=2.5382, residual=0.0138278, extent=0.0362218
I0419 20:57:13.267014 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.465751, -2.49285), tracking=(-0.167251, -2.49285), map_predicted=(16.8304, -4.31939), range=2.5382, pts=5
I0419 20:57:13.267066 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01885m maha_sq=173.367 (gate chi2=5.99) pose_sigma=(0.150772, 0.150772, rho=0) det_map=(16.8304, -4.31939) lm_pos=(15.915, -2.52) delta=(0.915399, -1.79939) -> 0 candidate(s)
I0419 20:57:13.291591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290332902785.
I0419 20:57:13.406580 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.83412, 0.711327)
I0419 20:57:13.406734 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.568014 deg, rms_residual=0.00735535m, sigma_yaw=0.00971188 rad, N=2
I0419 20:57:13.406771 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.0473, -1.82583, -0.568014deg) inliers=2 rms=0.00735535m
I0419 20:57:13.406801 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290333228847.
I0419 20:57:13.408689 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290333493069.
I0419 20:57:13.410198 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32783, -2.47988), points=4, range=2.811, residual=0.0108481, extent=0.0252282
I0419 20:57:13.410280 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32783, -2.47988), tracking=(1.62633, -2.47988), map_predicted=(18.6441, -4.3294), range=2.811, pts=4
I0419 20:57:13.410310 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27444m maha_sq=455.594 (gate chi2=5.99) pose_sigma=(0.150976, 0.150976, rho=0) det_map=(18.6441, -4.3294) lm_pos=(15.915, -2.52) delta=(2.7291, -1.8094) -> 0 candidate(s)
I0419 20:57:13.411664 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290333820033.
I0419 20:57:13.412319 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.439188, -4.29895)
I0419 20:57:13.412369 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:13.412395 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:13.412411 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:13.414426 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0022172 range=0.51148 variance=0.000554361 t_weight=5411.64 r_weight=0 yaml=(16.815, -1.32) prior=(17.0586, -1.82856, -0.76741deg) obs_actual=(-0.256162, 0.509572) obs_expected=(-0.250431, 0.505255) delta=(-0.00573132, 0.0043171) |delta|=0.00717533m
I0419 20:57:13.414561 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290334096017.
I0419 20:57:13.438592 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290334373787.
I0419 20:57:13.555666 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30887, -2.47901), points=4, range=2.802, residual=0.0103612, extent=0.0247597
I0419 20:57:13.555771 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.30887, -2.47901), tracking=(1.60737, -2.47901), map_predicted=(18.6475, -4.32781), range=2.802, pts=4
I0419 20:57:13.555802 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27639m maha_sq=455.869 (gate chi2=5.99) pose_sigma=(0.15106, 0.15106, rho=0) det_map=(18.6475, -4.32781) lm_pos=(15.915, -2.52) delta=(2.7325, -1.80781) -> 0 candidate(s)
I0419 20:57:13.557040 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.03352, -0.511126)
I0419 20:57:13.557160 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:13.557224 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290334657992.
I0419 20:57:13.560091 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290334980800.
I0419 20:57:13.560637 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596791s, prior_pose=(17.0791, -1.82896), yaw=-0.731034 deg
I0419 20:57:13.560696 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:57:13.560741 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:13.560761 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:13.562150 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.2685, -0.674464)
I0419 20:57:13.563273 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.869259, 0.710198), points=5, range=1.1246, residual=0.00729114, extent=0.0191741
I0419 20:57:13.563380 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.869259, 0.710198), tracking=(-1.16776, -0.710198), map_predicted=(15.9024, -2.52421), range=1.1246, pts=5
I0419 20:57:13.563444 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0132925m maha_sq=0.00767898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9024, -2.52421) lm_pos=(15.915, -2.52) delta=(-0.0126096, -0.00420577) -> 1 candidate(s)
I0419 20:57:13.563577 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290335294234.
I0419 20:57:13.568876 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290335573112.
I0419 20:57:13.569602 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:13.651086 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:57:13.651259 1218967 pose_graph_2d.cc:160] Inserted submap (1, 17).
I0419 20:57:13.652406 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290335854619.
I0419 20:57:13.654336 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.0111333, -0.509834)
I0419 20:57:13.654474 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:13.654553 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290336141506.
I0419 20:57:13.656212 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25625, -0.672645), points=4, range=1.41975, residual=0.0124202, extent=0.0278888
I0419 20:57:13.656311 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25625, -0.672645), tracking=(1.55475, -0.672645), map_predicted=(18.6458, -2.52353), range=1.41975, pts=4
I0419 20:57:13.656340 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19099m maha_sq=206.051 (gate chi2=5.99) pose_sigma=(0.150558, 0.150558, rho=0) det_map=(18.6458, -2.52353) lm_pos=(16.815, -1.32) delta=(1.83084, -1.20353) -> 0 candidate(s)
I0419 20:57:13.658102 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:13.675036 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290336743602.
I0419 20:57:13.677973 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477726, -4.30422)
I0419 20:57:13.678054 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:13.678079 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:13.678095 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:13.702843 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290337019488.
I0419 20:57:13.770051 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24813, -0.672975), points=4, range=1.4125, residual=0.0128351, extent=0.027858
I0419 20:57:13.770177 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24813, -0.672975), tracking=(1.54663, -0.672975), map_predicted=(18.6434, -2.52504), range=1.4125, pts=4
I0419 20:57:13.770216 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18979m maha_sq=206.413 (gate chi2=5.99) pose_sigma=(0.150304, 0.150304, rho=0) det_map=(18.6434, -2.52504) lm_pos=(16.815, -1.32) delta=(1.8284, -1.20504) -> 0 candidate(s)
I0419 20:57:13.771926 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:13.772054 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00142037 range=0.511577 variance=0.000560935 t_weight=5348.21 r_weight=0 yaml=(16.815, -1.32) prior=(17.1057, -1.83183, -0.751948deg) obs_actual=(-0.292553, 0.510981) obs_expected=(-0.297433, 0.50797) delta=(0.00488036, 0.00301116) |delta|=0.00573454m
I0419 20:57:13.772128 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290337341822.
I0419 20:57:13.774375 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00519398, -0.511583)
I0419 20:57:13.774520 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290337586720.
I0419 20:57:13.789737 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290337891341.
I0419 20:57:13.793952 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0349199s, prior_pose=(17.108, -1.83033), yaw=-0.742282 deg
I0419 20:57:13.794057 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1089, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:57:13.794178 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:13.794199 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:13.794224 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25065, -0.671977), points=5, range=1.415, residual=0.0136, extent=0.0333214
I0419 20:57:13.794245 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25065, -0.671977), tracking=(1.54915, -0.671977), map_predicted=(18.6483, -2.52232), range=1.415, pts=5
I0419 20:57:13.794267 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19237m maha_sq=207.233 (gate chi2=5.99) pose_sigma=(0.150112, 0.150112, rho=0) det_map=(18.6483, -2.52232) lm_pos=(16.815, -1.32) delta=(1.83328, -1.20232) -> 0 candidate(s)
I0419 20:57:13.818593 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:13.818727 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:13.818751 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290338180371.
I0419 20:57:13.823478 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.47751, -4.30224)
I0419 20:57:13.903422 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290338499255.
I0419 20:57:13.905344 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290338802625.
I0419 20:57:13.906841 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27157, -2.47776), points=4, range=2.78175, residual=0.0119928, extent=0.0270498
I0419 20:57:13.906924 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27157, -2.47776), tracking=(1.57007, -2.47776), map_predicted=(18.6445, -4.32698), range=2.78175, pts=4
I0419 20:57:13.906950 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27345m maha_sq=459.66 (gate chi2=5.99) pose_sigma=(0.150165, 0.150165, rho=0) det_map=(18.6445, -4.32698) lm_pos=(15.915, -2.52) delta=(2.72953, -1.80698) -> 0 candidate(s)
I0419 20:57:13.907959 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00665313, -0.509912)
I0419 20:57:13.966207 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290339655758.
I0419 20:57:14.034147 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1043, -1.82507), yaw=-0.741304 deg backend=(17.0884, -1.84122)
I0419 20:57:14.034787 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477221, -4.29958)
I0419 20:57:14.034847 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:14.034875 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25218, -0.672825), points=3, range=1.41767, residual=0.00773378, extent=0.0145556
I0419 20:57:14.034893 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:14.034906 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:14.034920 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25218, -0.672825), tracking=(1.55068, -0.672825), map_predicted=(18.6462, -2.5179), range=1.41767, pts=3
I0419 20:57:14.034945 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1882m maha_sq=206.965 (gate chi2=5.99) pose_sigma=(0.150334, 0.150334, rho=0) det_map=(18.6462, -2.5179) lm_pos=(16.815, -1.32) delta=(1.83119, -1.1979) -> 0 candidate(s)
I0419 20:57:14.036165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290339944706.
I0419 20:57:14.038838 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290340251713.
I0419 20:57:14.054152 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00667336, -0.510296)
I0419 20:57:14.054536 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:14.054720 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.453316 deg, rms_residual=0.00834097m, sigma_yaw=0.010999 rad, N=2
I0419 20:57:14.054890 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1056, -1.82559, -0.453316deg) inliers=2 rms=0.00834097m
I0419 20:57:14.055068 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290340535931.
I0419 20:57:14.058686 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483804, -4.30188), points=3, range=4.32767, residual=0.0122985, extent=0.025668
I0419 20:57:14.058796 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483804, -4.30188), tracking=(-0.185304, -4.30188), map_predicted=(16.8629, -6.12524), range=4.32767, pts=3
I0419 20:57:14.058833 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72777m maha_sq=589.981 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(16.8629, -6.12524) lm_pos=(15.915, -2.52) delta=(0.947923, -3.60524) -> 0 candidate(s)
I0419 20:57:14.082403 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290340818317.
I0419 20:57:14.093590 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0680298s, prior_pose=(17.1048, -1.82617), yaw=-0.754231 deg
I0419 20:57:14.093703 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1088, max_intensity=254, threshold=230, above_threshold=20, candidates=20
I0419 20:57:14.093791 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:14.093813 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:14.163086 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00277719 range=0.511038 variance=0.000574363 t_weight=5223.18 r_weight=0 yaml=(16.815, -1.32) prior=(17.1033, -1.829, -0.674917deg) obs_actual=(-0.288093, 0.510672) obs_expected=(-0.294278, 0.50557) delta=(0.00618518, 0.00510162) |delta|=0.00801767m
I0419 20:57:14.163237 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290341135936.
I0419 20:57:14.163978 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.484011, -4.30385)
I0419 20:57:14.165153 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290341416504.
I0419 20:57:14.166666 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26498, -2.48263), points=4, range=2.788, residual=0.0121184, extent=0.0290975
I0419 20:57:14.166726 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26498, -2.48263), tracking=(1.56348, -2.48263), map_predicted=(18.6378, -4.33041), range=2.788, pts=4
I0419 20:57:14.166752 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26971m maha_sq=459.191 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(18.6378, -4.33041) lm_pos=(15.915, -2.52) delta=(2.72276, -1.81041) -> 0 candidate(s)
I0419 20:57:14.171041 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:14.171205 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290341701024.
I0419 20:57:14.201896 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00668947, -0.510988)
I0419 20:57:14.202104 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290342013452.
I0419 20:57:14.234999 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290342338568.
I0419 20:57:14.322600 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26422, -2.48114), points=4, range=2.78525, residual=0.0110859, extent=0.0262563
I0419 20:57:14.322707 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26422, -2.48114), tracking=(1.56272, -2.48114), map_predicted=(18.6407, -4.32827), range=2.78525, pts=4
I0419 20:57:14.322738 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27096m maha_sq=458.695 (gate chi2=5.99) pose_sigma=(0.150278, 0.150278, rho=0) det_map=(18.6407, -4.32827) lm_pos=(15.915, -2.52) delta=(2.72568, -1.80827) -> 0 candidate(s)
I0419 20:57:14.322762 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:14.323881 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290342613478.
I0419 20:57:14.324636 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.489879, -4.29955)
I0419 20:57:14.324687 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:14.324709 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:14.324725 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:14.326674 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290342898909.
I0419 20:57:14.328442 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:14.328527 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290343172507.
I0419 20:57:14.329979 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34064, -4.27365), points=3, range=4.47667, residual=0.0131302, extent=0.0272414
I0419 20:57:14.330034 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.34064, -4.27365), tracking=(1.63914, -4.27365), map_predicted=(18.694, -6.1223), range=4.47667, pts=3
I0419 20:57:14.330058 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54963m maha_sq=876.951 (gate chi2=5.99) pose_sigma=(0.150017, 0.150017, rho=0) det_map=(18.694, -6.1223) lm_pos=(15.915, -2.52) delta=(2.77895, -3.6023) -> 0 candidate(s)
I0419 20:57:14.350232 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00592934, -0.510453)
I0419 20:57:14.350554 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290343493924.
I0419 20:57:14.465705 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290343785428.
I0419 20:57:14.466297 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602908s, prior_pose=(17.106, -1.83033), yaw=-0.706582 deg
I0419 20:57:14.466413 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1096, max_intensity=251, threshold=230, above_threshold=16, candidates=16
I0419 20:57:14.466471 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:14.466495 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:14.467708 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24754, -0.672658)
I0419 20:57:14.468173 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00888892, -0.510082), points=25, range=0.51072, residual=0.0112571, extent=0.0361193
I0419 20:57:14.468225 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00888892, -0.510082), tracking=(-0.289611, 0.510082), map_predicted=(16.8227, -1.31672), range=0.51072, pts=25
I0419 20:57:14.468250 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00838923m maha_sq=0.00305224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8227, -1.31672) lm_pos=(16.815, -1.32) delta=(0.00772166, 0.00327951) -> 1 candidate(s)
I0419 20:57:14.468305 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00305224 range=0.51072 variance=0.000558244 t_weight=5373.99 r_weight=0 yaml=(16.815, -1.32) prior=(17.106, -1.83033, -0.706582deg) obs_actual=(-0.289611, 0.510082) obs_expected=(-0.297292, 0.506707) delta=(0.00768063, 0.00337448) |delta|=0.00838923m
I0419 20:57:14.468364 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290344101653.
I0419 20:57:14.470960 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290344382904.
I0419 20:57:14.473584 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:14.473676 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:14.473701 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290344655668.
I0419 20:57:14.498847 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.533688, -2.49315)
I0419 20:57:14.499935 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86532, 4.29), points=4, range=4.679, residual=0.0169659, extent=0.0415996
I0419 20:57:14.500041 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.86532, 4.29), tracking=(1.56682, -4.29), map_predicted=(18.619, -6.13888), range=4.679, pts=4
I0419 20:57:14.500140 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51749m maha_sq=858.905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.619, -6.13888) lm_pos=(15.915, -2.52) delta=(2.70396, -3.61888) -> 0 candidate(s)
I0419 20:57:14.605911 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290345253114.
I0419 20:57:14.608439 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290345535515.
I0419 20:57:14.609148 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.489816, -4.29895)
I0419 20:57:14.609198 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:14.609220 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:14.609233 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:14.610699 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86127, 4.29777), points=3, range=4.68033, residual=0.0141929, extent=0.0293625
I0419 20:57:14.610751 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.86127, 4.29777), tracking=(1.56277, -4.29777), map_predicted=(18.6137, -6.14414), range=4.68033, pts=3
I0419 20:57:14.610777 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51853m maha_sq=862.425 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6137, -6.14414) lm_pos=(15.915, -2.52) delta=(2.69866, -3.62414) -> 0 candidate(s)
I0419 20:57:14.615121 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290346140249.
I0419 20:57:14.692250 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00518336, -0.511352)
I0419 20:57:14.692394 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:14.692471 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290346413921.
I0419 20:57:14.694285 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:14.694427 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290346701260.
I0419 20:57:14.700508 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0321435s, prior_pose=(17.1064, -1.82869), yaw=-0.680943 deg
I0419 20:57:14.700634 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1089, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:14.700698 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:14.700724 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:14.700747 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2536, -0.671239), points=4, range=1.41925, residual=0.00750023, extent=0.0158962
I0419 20:57:14.700767 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.2536, -0.671239), tracking=(1.5521, -0.671239), map_predicted=(18.6504, -2.51833), range=1.41925, pts=4
I0419 20:57:14.700794 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19197m maha_sq=208.451 (gate chi2=5.99) pose_sigma=(0.15006, 0.15006, rho=0) det_map=(18.6504, -2.51833) lm_pos=(16.815, -1.32) delta=(1.83542, -1.19833) -> 0 candidate(s)
I0419 20:57:14.702768 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290347021643.
I0419 20:57:14.706362 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.483852, -4.30236)
I0419 20:57:14.762869 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.643785 deg, rms_residual=0.00858161m, sigma_yaw=0.0113127 rad, N=2
I0419 20:57:14.763108 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.104, -1.8271, -0.643785deg) inliers=2 rms=0.00858161m
I0419 20:57:14.763193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290347618875.
I0419 20:57:14.867264 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27884, -2.48302), points=3, range=2.78933, residual=0.0100648, extent=0.0201762
I0419 20:57:14.867359 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27884, -2.48302), tracking=(1.57734, -2.48302), map_predicted=(18.6527, -4.3296), range=2.78933, pts=3
I0419 20:57:14.867393 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.28171m maha_sq=463.465 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(18.6527, -4.3296) lm_pos=(15.915, -2.52) delta=(2.73769, -1.8096) -> 0 candidate(s)
I0419 20:57:14.868602 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00594632, -0.511133)
I0419 20:57:14.868693 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00119126 range=1.1372 variance=0.000573086 t_weight=5234.81 r_weight=0 yaml=(15.915, -2.52) prior=(17.1056, -1.82762, -0.695256deg) obs_actual=(-1.18174, -0.712007) obs_expected=(-1.18211, -0.706776) delta=(0.000371659, -0.00523139) |delta|=0.00524457m
I0419 20:57:14.868764 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290347892475.
I0419 20:57:14.871317 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290348178391.
I0419 20:57:14.871904 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:14.873152 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290348497703.
I0419 20:57:14.874229 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1039, -1.82749), yaw=-0.693465 deg backend=(17.0912, -1.84308)
I0419 20:57:14.874547 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.47791, -4.30588)
I0419 20:57:14.874583 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:14.874606 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27655, -2.47858), points=3, range=2.78633, residual=0.00843614, extent=0.016475
I0419 20:57:14.874622 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:14.874637 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:14.874645 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27655, -2.47858), tracking=(1.57505, -2.47858), map_predicted=(18.6489, -4.32495), range=2.78633, pts=3
I0419 20:57:14.874661 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27595m maha_sq=462.47 (gate chi2=5.99) pose_sigma=(0.150051, 0.150051, rho=0) det_map=(18.6489, -4.32495) lm_pos=(15.915, -2.52) delta=(2.73387, -1.80495) -> 0 candidate(s)
I0419 20:57:14.878796 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290348776931.
I0419 20:57:14.994889 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:14.995051 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290349058125.
I0419 20:57:14.995239 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:14.996841 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00667415, -0.510027)
I0419 20:57:14.997025 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290349338504.
I0419 20:57:14.998713 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27492, -2.48428), points=3, range=2.79233, residual=0.00731561, extent=0.0173104
I0419 20:57:14.998824 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27492, -2.48428), tracking=(1.57342, -2.48428), map_predicted=(18.6484, -4.33199), range=2.79233, pts=3
I0419 20:57:14.998854 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27946m maha_sq=463.82 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(18.6484, -4.33199) lm_pos=(15.915, -2.52) delta=(2.73342, -1.81199) -> 0 candidate(s)
I0419 20:57:15.000083 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290349653042.
I0419 20:57:15.000732 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.063928s, prior_pose=(17.1068, -1.82784), yaw=-0.730838 deg
I0419 20:57:15.000808 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1097, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 20:57:15.000865 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:15.000888 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:15.002928 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290349942318.
I0419 20:57:15.003698 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.489833, -4.29915)
I0419 20:57:15.026892 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290350254572.
I0419 20:57:15.121892 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477297, -4.30025), points=3, range=4.32667, residual=0.0110968, extent=0.0270814
I0419 20:57:15.122059 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477297, -4.30025), tracking=(-0.178797, -4.30025), map_predicted=(16.8701, -6.12654), range=4.32667, pts=3
I0419 20:57:15.122092 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73086m maha_sq=590.32 (gate chi2=5.99) pose_sigma=(0.15021, 0.15021, rho=0) det_map=(16.8701, -6.12654) lm_pos=(15.915, -2.52) delta=(0.955064, -3.60654) -> 0 candidate(s)
I0419 20:57:15.123339 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290350537544.
I0419 20:57:15.126314 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00593131, -0.509333)
I0419 20:57:15.126484 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290350818686.
I0419 20:57:15.128248 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00164859 range=0.509615 variance=0.000565321 t_weight=5306.72 r_weight=0 yaml=(16.815, -1.32) prior=(17.1037, -1.82989, -0.727179deg) obs_actual=(-0.289608, 0.508891) obs_expected=(-0.295148, 0.506181) delta=(0.00553906, 0.00271001) |delta|=0.00616647m
I0419 20:57:15.128319 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290351137314.
I0419 20:57:15.129966 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25086, -0.672115), points=3, range=1.41633, residual=0.00747413, extent=0.0137374
I0419 20:57:15.130026 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25086, -0.672115), tracking=(1.54936, -0.672115), map_predicted=(18.6454, -2.51957), range=1.41633, pts=3
I0419 20:57:15.130056 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18848m maha_sq=207.5 (gate chi2=5.99) pose_sigma=(0.150169, 0.150169, rho=0) det_map=(18.6454, -2.51957) lm_pos=(16.815, -1.32) delta=(1.83043, -1.19957) -> 0 candidate(s)
I0419 20:57:15.141983 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:15.142087 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:15.142112 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290351413380.
I0419 20:57:15.146096 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.48364, -4.30037)
I0419 20:57:15.146176 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:15.146209 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:15.146225 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:15.218744 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:15.219298 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290351732508.
I0419 20:57:15.220580 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25184, -0.670295), points=4, range=1.4175, residual=0.00713763, extent=0.0152764
I0419 20:57:15.220638 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25184, -0.670295), tracking=(1.55034, -0.670295), map_predicted=(18.6456, -2.51548), range=1.4175, pts=4
I0419 20:57:15.220664 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18641m maha_sq=207.606 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6456, -2.51548) lm_pos=(16.815, -1.32) delta=(1.83063, -1.19548) -> 0 candidate(s)
I0419 20:57:15.222172 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290352023155.
I0419 20:57:15.230561 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00667963, -0.510142)
I0419 20:57:15.230708 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:15.230777 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290352299174.
I0419 20:57:15.233733 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:15.258587 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290352579959.
I0419 20:57:15.266712 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637131s, prior_pose=(17.1065, -1.84247), yaw=-0.794749 deg
I0419 20:57:15.266852 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 20:57:15.266978 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:15.267022 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:15.290300 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290352892402.
I0419 20:57:15.383395 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477073, -4.29826)
I0419 20:57:15.383505 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.530854, -2.49753), points=4, range=2.55, residual=0.0123134, extent=0.0299196
I0419 20:57:15.383533 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.530854, -2.49753), tracking=(-0.232354, -2.49753), map_predicted=(16.8443, -4.33232), range=2.55, pts=4
I0419 20:57:15.383560 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03667m maha_sq=177.447 (gate chi2=5.99) pose_sigma=(0.150456, 0.150456, rho=0) det_map=(16.8443, -4.33232) lm_pos=(15.915, -2.52) delta=(0.92926, -1.81232) -> 0 candidate(s)
I0419 20:57:15.385206 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290353216539.
I0419 20:57:15.388340 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290353500489.
I0419 20:57:15.389670 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00593155, -0.510413)
I0419 20:57:15.389751 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.87056, 4.285), points=3, range=4.676, residual=0.0132089, extent=0.0274906
I0419 20:57:15.389778 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.87056, 4.285), tracking=(1.57206, -4.285), map_predicted=(18.6218, -6.14092), range=4.676, pts=3
I0419 20:57:15.389798 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52084m maha_sq=864.328 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6218, -6.14092) lm_pos=(15.915, -2.52) delta=(2.70683, -3.62092) -> 0 candidate(s)
I0419 20:57:15.389843 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.633397 deg, rms_residual=0.00816646m, sigma_yaw=0.0107713 rad, N=2
I0419 20:57:15.389887 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1038, -1.82677, -0.633397deg) inliers=2 rms=0.00816646m
I0419 20:57:15.389917 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290353772280.
I0419 20:57:15.410912 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:15.520210 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24754, -0.672654)
I0419 20:57:15.520723 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:15.520776 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85889, 4.29226), points=3, range=4.67667, residual=0.0131595, extent=0.0272193
I0419 20:57:15.520798 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:15.520812 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:15.520825 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85889, 4.29226), tracking=(1.56039, -4.29226), map_predicted=(18.5999, -6.14379), range=4.67667, pts=3
I0419 20:57:15.520846 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51005m maha_sq=852.55 (gate chi2=5.99) pose_sigma=(0.15071, 0.15071, rho=0) det_map=(18.5999, -6.14379) lm_pos=(15.915, -2.52) delta=(2.68489, -3.62379) -> 0 candidate(s)
I0419 20:57:15.520900 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00117376 range=0.510038 variance=0.000570567 t_weight=5257.93 r_weight=0 yaml=(16.815, -1.32) prior=(17.1011, -1.82963, -0.820404deg) obs_actual=(-0.295541, 0.510246) obs_expected=(-0.293393, 0.505479) delta=(-0.00214784, 0.0047662) |delta|=0.0052278m
I0419 20:57:15.520967 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290354379340.
I0419 20:57:15.522773 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290354659202.
I0419 20:57:15.525391 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:15.525512 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290354938571.
I0419 20:57:15.528097 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00665122, -0.510258)
I0419 20:57:15.555126 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00887604, -0.508748), points=26, range=0.509269, residual=0.0115382, extent=0.0376674
I0419 20:57:15.555298 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00887604, -0.508748), tracking=(-0.289624, 0.508748), map_predicted=(16.8207, -1.31599), range=0.509269, pts=26
I0419 20:57:15.555352 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00699489m maha_sq=0.00211993 (gate chi2=5.99) pose_sigma=(0.150052, 0.150052, rho=0) det_map=(16.8207, -1.31599) lm_pos=(16.815, -1.32) delta=(0.00573344, 0.00400702) -> 1 candidate(s)
I0419 20:57:15.555514 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290355542052.
I0419 20:57:15.663986 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.035598s, prior_pose=(17.1049, -1.82986), yaw=-0.793125 deg
I0419 20:57:15.664110 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1085, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:57:15.664175 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:15.664196 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:15.665416 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290355817057.
I0419 20:57:15.666169 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477148, -4.29892)
I0419 20:57:15.668504 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.889796, 0.711989), points=6, range=1.13733, residual=0.00877233, extent=0.0236907
I0419 20:57:15.668571 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.889796, 0.711989), tracking=(-1.1883, -0.711989), map_predicted=(15.9058, -2.52478), range=1.13733, pts=6
I0419 20:57:15.668596 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0104048m maha_sq=0.00469419 (gate chi2=5.99) pose_sigma=(0.150093, 0.150093, rho=0) det_map=(15.9058, -2.52478) lm_pos=(15.915, -2.52) delta=(-0.00924296, -0.00477772) -> 1 candidate(s)
I0419 20:57:15.668678 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290356136484.
I0419 20:57:15.670140 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290356416612.
I0419 20:57:15.672650 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00592875, -0.510693)
I0419 20:57:15.672771 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290356695080.
I0419 20:57:15.780413 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290357018931.
I0419 20:57:15.781306 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32821, -4.27753), points=3, range=4.47833, residual=0.0126325, extent=0.0263629
I0419 20:57:15.781404 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32821, -4.27753), tracking=(1.62671, -4.27753), map_predicted=(18.6745, -6.12924), range=4.47833, pts=3
I0419 20:57:15.781442 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54331m maha_sq=875.167 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6745, -6.12924) lm_pos=(15.915, -2.52) delta=(2.75953, -3.60924) -> 0 candidate(s)
I0419 20:57:15.782769 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290357304531.
I0419 20:57:15.783959 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1056, -1.83106), yaw=-0.771515 deg backend=(17.102, -1.83422)
I0419 20:57:15.784474 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.490363, -4.30392)
I0419 20:57:15.784543 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:15.784569 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:15.784583 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:15.785929 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00498014 range=1.13825 variance=0.000518183 t_weight=5789.46 r_weight=0 yaml=(15.915, -2.52) prior=(17.1056, -1.83106, -0.771515deg) obs_actual=(-1.19025, -0.710721) obs_expected=(-1.18125, -0.704914) delta=(-0.00900082, -0.00580674) |delta|=0.0107113m
I0419 20:57:15.786069 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290357572112.
I0419 20:57:15.790699 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.889175, 0.711486), points=6, range=1.1355, residual=0.0114397, extent=0.032654
I0419 20:57:15.790814 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.889175, 0.711486), tracking=(-1.18767, -0.711486), map_predicted=(15.9083, -2.52476), range=1.1355, pts=6
I0419 20:57:15.790848 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00824985m maha_sq=0.00294286 (gate chi2=5.99) pose_sigma=(0.15013, 0.15013, rho=0) det_map=(15.9083, -2.52476) lm_pos=(15.915, -2.52) delta=(-0.00673813, -0.00476001) -> 1 candidate(s)
I0419 20:57:15.790953 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:15.791040 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:15.791064 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290357901832.
I0419 20:57:15.818326 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.00594124, -0.511686)
I0419 20:57:15.818459 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:15.818559 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290358178785.
I0419 20:57:15.897162 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290358457862.
I0419 20:57:15.897876 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591096s, prior_pose=(17.1058, -1.82642), yaw=-0.787345 deg
I0419 20:57:15.897979 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=252, threshold=230, above_threshold=18, candidates=18
I0419 20:57:15.898038 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:15.898063 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:15.900130 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00370497, -0.511809), points=27, range=0.512667, residual=0.0123946, extent=0.0421876
I0419 20:57:15.900229 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00370497, -0.511809), tracking=(-0.294795, 0.511809), map_predicted=(16.8168, -1.31154), range=0.512667, pts=27
I0419 20:57:15.900257 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0086568m maha_sq=0.00324132 (gate chi2=5.99) pose_sigma=(0.150117, 0.150117, rho=0) det_map=(16.8168, -1.31154) lm_pos=(16.815, -1.32) delta=(0.00181703, 0.00846396) -> 1 candidate(s)
I0419 20:57:15.900377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290358776015.
I0419 20:57:15.901058 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534428, -2.49657)
I0419 20:57:15.906292 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290359057984.
I0419 20:57:15.934170 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290359334782.
I0419 20:57:15.938274 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.2491, -0.671151)
I0419 20:57:15.938375 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:15.938403 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25184, -0.670284), points=4, range=1.418, residual=0.00809425, extent=0.0172373
I0419 20:57:15.938432 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25184, -0.670284), tracking=(1.55034, -0.670284), map_predicted=(18.6462, -2.51827), range=1.418, pts=4
I0419 20:57:15.938465 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18843m maha_sq=207.858 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6462, -2.51827) lm_pos=(16.815, -1.32) delta=(1.83121, -1.19827) -> 0 candidate(s)
I0419 20:57:16.016139 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290359658754.
I0419 20:57:16.018173 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290359934362.
I0419 20:57:16.019850 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:16.022019 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290360213506.
I0419 20:57:16.025856 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.53422, -2.4956)
I0419 20:57:16.025947 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:16.025978 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2513, -0.672351), points=3, range=1.417, residual=0.00724332, extent=0.013741
I0419 20:57:16.025997 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:16.026015 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:16.026028 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.2513, -0.672351), tracking=(1.5498, -0.672351), map_predicted=(18.6446, -2.52345), range=1.417, pts=3
I0419 20:57:16.026054 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18993m maha_sq=208.263 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6446, -2.52345) lm_pos=(16.815, -1.32) delta=(1.82962, -1.20345) -> 0 candidate(s)
I0419 20:57:16.054989 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290360532989.
I0419 20:57:16.083148 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:16.083370 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.571369 deg, rms_residual=0.00986361m, sigma_yaw=0.0129808 rad, N=2
I0419 20:57:16.083425 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0037946 range=0.512423 variance=0.000564736 t_weight=5312.22 r_weight=0 yaml=(16.815, -1.32) prior=(17.1036, -1.82907, -0.799441deg) obs_actual=(-0.289571, 0.512081) obs_expected=(-0.295675, 0.504992) delta=(0.00610437, 0.0070893) |delta|=0.00935529m
I0419 20:57:16.083616 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1054, -1.82705, -0.571369deg) inliers=2 rms=0.00986361m
I0419 20:57:16.083683 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290360822465.
I0419 20:57:16.181094 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25042, -0.671867)
I0419 20:57:16.182396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290361103017.
I0419 20:57:16.183049 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33581, -4.28004), points=4, range=4.482, residual=0.01633, extent=0.0399139
I0419 20:57:16.183116 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33581, -4.28004), tracking=(1.63431, -4.28004), map_predicted=(18.6777, -6.1299), range=4.482, pts=4
I0419 20:57:16.183144 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54574m maha_sq=872.113 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6777, -6.1299) lm_pos=(15.915, -2.52) delta=(2.76267, -3.6099) -> 0 candidate(s)
I0419 20:57:16.185438 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564531s, prior_pose=(17.1033, -1.82697), yaw=-0.80121 deg
I0419 20:57:16.185554 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=253, threshold=230, above_threshold=32, candidates=32
I0419 20:57:16.185668 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:16.185690 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:16.185792 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290361423316.
I0419 20:57:16.187273 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290361699548.
I0419 20:57:16.187719 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530979, -2.49817)
I0419 20:57:16.202544 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290362013452.
I0419 20:57:16.206907 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490137, -4.30182), points=4, range=4.32775, residual=0.0159687, extent=0.0388135
I0419 20:57:16.207053 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490137, -4.30182), tracking=(-0.191637, -4.30182), map_predicted=(16.8518, -6.12737), range=4.32775, pts=4
I0419 20:57:16.207108 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72702m maha_sq=587.387 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8518, -6.12737) lm_pos=(15.915, -2.52) delta=(0.936771, -3.60737) -> 0 candidate(s)
I0419 20:57:16.315320 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290362295338.
I0419 20:57:16.315997 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.2493, -0.673604)
I0419 20:57:16.317297 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290362577984.
I0419 20:57:16.319862 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290362858978.
I0419 20:57:16.320524 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33482, -4.27686), points=4, range=4.4795, residual=0.0160637, extent=0.0391289
I0419 20:57:16.320627 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33482, -4.27686), tracking=(1.63332, -4.27686), map_predicted=(18.677, -6.12663), range=4.4795, pts=4
I0419 20:57:16.320657 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54275m maha_sq=871.305 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.677, -6.12663) lm_pos=(15.915, -2.52) delta=(2.76204, -3.60663) -> 0 candidate(s)
I0419 20:57:16.322726 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290363178395.
I0419 20:57:16.323414 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534473, -2.49674)
I0419 20:57:16.323493 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:16.323544 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:16.323575 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:16.346927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290363458047.
I0419 20:57:16.456741 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:16.457530 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:16.457628 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00137616 range=0.51136 variance=0.000556816 t_weight=5387.77 r_weight=0 yaml=(16.815, -1.32) prior=(17.1041, -1.82974, -0.78653deg) obs_actual=(-0.295525, 0.511341) obs_expected=(-0.29603, 0.505724) delta=(0.000504761, 0.00561701) |delta|=0.00563964m
I0419 20:57:16.457685 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:16.457708 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290363733951.
I0419 20:57:16.458426 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24901, -0.673448)
I0419 20:57:16.458495 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.471397, -4.30426), points=3, range=4.32967, residual=0.0120986, extent=0.025185
I0419 20:57:16.458521 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.471397, -4.30426), tracking=(-0.172897, -4.30426), map_predicted=(16.8721, -6.13122), range=4.32967, pts=3
I0419 20:57:16.458545 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7359m maha_sq=592.902 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8721, -6.13122) lm_pos=(15.915, -2.52) delta=(0.957094, -3.61122) -> 0 candidate(s)
I0419 20:57:16.460633 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:57:16.460744 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290364063352.
I0419 20:57:16.462419 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:16.462539 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290364340777.
I0419 20:57:16.463990 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0312119s, prior_pose=(17.1057, -1.82962), yaw=-0.78419 deg
I0419 20:57:16.464079 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1089, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 20:57:16.464130 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:16.464180 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:16.465375 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290364616381.
I0419 20:57:16.466275 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537105, -2.49134)
I0419 20:57:16.466343 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24539, -0.67384), points=3, range=1.41933, residual=0.00854104, extent=0.0180015
I0419 20:57:16.466368 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.24539, -0.67384), tracking=(1.54389, -0.67384), map_predicted=(18.6402, -2.52452), range=1.41933, pts=3
I0419 20:57:16.466389 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18687m maha_sq=207.494 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6402, -2.52452) lm_pos=(16.815, -1.32) delta=(1.82524, -1.20452) -> 0 candidate(s)
I0419 20:57:16.535521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290364935769.
I0419 20:57:16.537424 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290365217121.
I0419 20:57:16.538959 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24872, -0.673281)
I0419 20:57:16.550649 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290365501287.
I0419 20:57:16.558336 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.471235, -4.30277), points=3, range=4.329, residual=0.0121487, extent=0.0253602
I0419 20:57:16.558442 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.471235, -4.30277), tracking=(-0.172735, -4.30277), map_predicted=(16.8751, -6.12664), range=4.329, pts=3
I0419 20:57:16.558475 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73224m maha_sq=591.716 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8751, -6.12664) lm_pos=(15.915, -2.52) delta=(0.960117, -3.60664) -> 0 candidate(s)
I0419 20:57:16.578613 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290365780197.
I0419 20:57:16.587325 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:16.679422 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.103, -1.82761), yaw=-0.809553 deg backend=(17.1003, -1.82997)
I0419 20:57:16.680099 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531093, -2.49876)
I0419 20:57:16.680150 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:16.680176 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:16.680193 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:16.681386 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290366382254.
I0419 20:57:16.682078 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24842, -0.673132), points=4, range=1.413, residual=0.0126179, extent=0.0278619
I0419 20:57:16.682130 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24842, -0.673132), tracking=(1.54692, -0.673132), map_predicted=(18.6402, -2.52254), range=1.413, pts=4
I0419 20:57:16.682156 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18574m maha_sq=206.512 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6402, -2.52254) lm_pos=(16.815, -1.32) delta=(1.82521, -1.20254) -> 0 candidate(s)
I0419 20:57:16.685177 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:16.685300 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290366702728.
I0419 20:57:16.685918 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25018, -0.674077)
I0419 20:57:16.699051 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00258394 range=1.1378 variance=0.000500818 t_weight=5990.2 r_weight=0 yaml=(15.915, -2.52) prior=(17.105, -1.82771, -0.80876deg) obs_actual=(-1.18679, -0.712911) obs_expected=(-1.18014, -0.709018) delta=(-0.00665431, -0.00389266) |delta|=0.00770926m
I0419 20:57:16.699182 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290366985163.
I0419 20:57:16.726212 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.929179 deg, rms_residual=0.00554205m, sigma_yaw=0.0073352 rad, N=2
I0419 20:57:16.726347 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1056, -1.83075, -0.929179deg) inliers=2 rms=0.00554205m
I0419 20:57:16.726389 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290367256991.
I0419 20:57:16.730391 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598341s, prior_pose=(17.1048, -1.82746), yaw=-0.809436 deg
I0419 20:57:16.730472 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 20:57:16.730542 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:16.730562 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:16.730584 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33482, -4.27686), points=4, range=4.478, residual=0.0166994, extent=0.0408703
I0419 20:57:16.730604 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33482, -4.27686), tracking=(1.63332, -4.27686), map_predicted=(18.6775, -6.12697), range=4.478, pts=4
I0419 20:57:16.730624 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54333m maha_sq=870.772 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6775, -6.12697) lm_pos=(15.915, -2.52) delta=(2.76253, -3.60697) -> 0 candidate(s)
I0419 20:57:16.805352 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290367575158.
I0419 20:57:16.806042 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534149, -2.4952)
I0419 20:57:16.814085 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290368133774.
I0419 20:57:16.822129 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25531, -0.673687)
I0419 20:57:16.822279 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26934, -2.48228), points=3, range=2.79, residual=0.0094348, extent=0.0196004
I0419 20:57:16.822320 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26934, -2.48228), tracking=(1.56784, -2.48228), map_predicted=(18.6423, -4.32989), range=2.79, pts=3
I0419 20:57:16.822355 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27316m maha_sq=461.621 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6423, -4.32989) lm_pos=(15.915, -2.52) delta=(2.72725, -1.80989) -> 0 candidate(s)
I0419 20:57:16.846143 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290368454920.
I0419 20:57:16.879920 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290368780890.
I0419 20:57:16.977201 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290369055413.
I0419 20:57:16.977762 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537529, -2.49329)
I0419 20:57:16.977830 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:16.977854 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24891, -0.675743), points=3, range=1.42333, residual=0.00854615, extent=0.0180121
I0419 20:57:16.977870 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:16.977886 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:16.977896 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24891, -0.675743), tracking=(1.54741, -0.675743), map_predicted=(18.6423, -2.5234), range=1.42333, pts=3
I0419 20:57:16.977916 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18799m maha_sq=207.704 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6423, -2.5234) lm_pos=(16.815, -1.32) delta=(1.82733, -1.2034) -> 0 candidate(s)
I0419 20:57:16.980266 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290369340635.
I0419 20:57:16.982208 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290369615480.
I0419 20:57:16.983852 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.24319, -0.672628)
I0419 20:57:16.994048 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:16.994163 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:16.994262 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290369935214.
I0419 20:57:16.999019 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27631, -2.47814), points=3, range=2.78767, residual=0.0082757, extent=0.0166946
I0419 20:57:16.999123 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27631, -2.47814), tracking=(1.57481, -2.47814), map_predicted=(18.6442, -4.32798), range=2.78767, pts=3
I0419 20:57:16.999154 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27376m maha_sq=462.206 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6442, -4.32798) lm_pos=(15.915, -2.52) delta=(2.72924, -1.80798) -> 0 candidate(s)
I0419 20:57:17.073518 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:17.073644 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:17.073670 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290370221424.
I0419 20:57:17.074268 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598228s, prior_pose=(17.1045, -1.82891), yaw=-0.779331 deg
I0419 20:57:17.074337 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1080, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 20:57:17.074407 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:17.074476 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:17.075767 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00484558 range=1.138 variance=0.000519634 t_weight=5773.3 r_weight=0 yaml=(15.915, -2.52) prior=(17.1045, -1.82891, -0.779331deg) obs_actual=(-1.18999, -0.710512) obs_expected=(-1.17996, -0.707205) delta=(-0.0100302, -0.00330722) |delta|=0.0105614m
I0419 20:57:17.075892 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290370502422.
I0419 20:57:17.077512 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534359, -2.49618)
I0419 20:57:17.079890 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290370793641.
I0419 20:57:17.086468 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26664, -2.4859), points=4, range=2.79125, residual=0.0112507, extent=0.027136
I0419 20:57:17.086580 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.26664, -2.4859), tracking=(1.56514, -2.4859), map_predicted=(18.6366, -4.33546), range=2.79125, pts=4
I0419 20:57:17.086617 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27158m maha_sq=460.425 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6366, -4.33546) lm_pos=(15.915, -2.52) delta=(2.72164, -1.81546) -> 0 candidate(s)
I0419 20:57:17.110584 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290371100116.
I0419 20:57:17.113871 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24959, -0.673764)
I0419 20:57:17.214627 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:17.215293 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88421, 0.712795), points=5, range=1.138, residual=0.00984959, extent=0.0259508
I0419 20:57:17.215365 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.88421, 0.712795), tracking=(-1.18271, -0.712795), map_predicted=(15.9118, -2.52418), range=1.138, pts=5
I0419 20:57:17.215394 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00525271m maha_sq=0.00119483 (gate chi2=5.99) pose_sigma=(0.150125, 0.150125, rho=0) det_map=(15.9118, -2.52418) lm_pos=(15.915, -2.52) delta=(-0.00318117, -0.00417985) -> 1 candidate(s)
I0419 20:57:17.215503 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290371732712.
I0419 20:57:17.218163 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290371975791.
I0419 20:57:17.218591 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537992, -2.49544)
I0419 20:57:17.218641 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:17.218664 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:17.218680 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:17.226740 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290372261396.
I0419 20:57:17.258144 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:17.258306 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290372576088.
I0419 20:57:17.262539 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25065, -0.671974)
I0419 20:57:17.262676 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25507, -0.672018), points=4, range=1.41975, residual=0.00977551, extent=0.0226718
I0419 20:57:17.262714 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25507, -0.672018), tracking=(1.55357, -0.672018), map_predicted=(18.6491, -2.52131), range=1.41975, pts=4
I0419 20:57:17.262748 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19254m maha_sq=208.367 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6491, -2.52131) lm_pos=(16.815, -1.32) delta=(1.83415, -1.20131) -> 0 candidate(s)
I0419 20:57:17.348285 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290372853247.
I0419 20:57:17.352018 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0319811s, prior_pose=(17.1072, -1.82822), yaw=-0.775589 deg
I0419 20:57:17.352159 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 20:57:17.352216 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:17.352233 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:17.353569 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290373462042.
I0419 20:57:17.354215 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.53064, -2.49661)
I0419 20:57:17.373934 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888206, 0.713549), points=4, range=1.138, residual=0.0076827, extent=0.0193501
I0419 20:57:17.374032 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.888206, 0.713549), tracking=(-1.18671, -0.713549), map_predicted=(15.9108, -2.52629), range=1.138, pts=4
I0419 20:57:17.374061 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00756987m maha_sq=0.00248798 (gate chi2=5.99) pose_sigma=(0.150052, 0.150052, rho=0) det_map=(15.9108, -2.52629) lm_pos=(15.915, -2.52) delta=(-0.00420889, -0.00629191) -> 1 candidate(s)
I0419 20:57:17.374171 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290373734733.
I0419 20:57:17.401996 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290374013453.
I0419 20:57:17.490011 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24871, -0.67329)
I0419 20:57:17.492000 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:17.494140 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0027883 range=0.512731 variance=0.000572429 t_weight=5240.83 r_weight=0 yaml=(16.815, -1.32) prior=(17.1073, -1.82943, -0.770966deg) obs_actual=(-0.295529, 0.512626) obs_expected=(-0.299127, 0.505454) delta=(0.0035978, 0.00717159) |delta|=0.00802346m
I0419 20:57:17.494283 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290374613880.
I0419 20:57:17.495015 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.527973, -2.50188), points=5, range=2.5546, residual=0.0133497, extent=0.0352764
I0419 20:57:17.495097 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.527973, -2.50188), tracking=(-0.229473, -2.50188), map_predicted=(16.8442, -4.328), range=2.5546, pts=5
I0419 20:57:17.495126 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0328m maha_sq=177.606 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8442, -4.328) lm_pos=(15.915, -2.52) delta=(0.929182, -1.808) -> 0 candidate(s)
I0419 20:57:17.496315 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290374897427.
I0419 20:57:17.497457 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1067, -1.82875), yaw=-0.769439 deg backend=(17.1048, -1.83039)
I0419 20:57:17.497799 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.53383, -2.49374)
I0419 20:57:17.497840 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:17.497864 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:17.497884 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:17.634600 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290375499516.
I0419 20:57:17.635416 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.2491, -0.671161)
I0419 20:57:17.635505 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483861, -4.30237), points=3, range=4.32667, residual=0.0130668, extent=0.0270814
I0419 20:57:17.635536 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483861, -4.30237), tracking=(-0.185361, -4.30237), map_predicted=(16.862, -6.12877), range=4.32667, pts=3
I0419 20:57:17.635563 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73096m maha_sq=590.739 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.862, -6.12877) lm_pos=(15.915, -2.52) delta=(0.94699, -3.60877) -> 0 candidate(s)
I0419 20:57:17.636893 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:17.636974 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.606519 deg, rms_residual=0.00894267m, sigma_yaw=0.0117831 rad, N=2
I0419 20:57:17.637023 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.103, -1.82682, -0.606519deg) inliers=2 rms=0.00894267m
I0419 20:57:17.637059 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290375813948.
I0419 20:57:17.640283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290376098603.
I0419 20:57:17.640902 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634194s, prior_pose=(17.1044, -1.82853), yaw=-0.764282 deg
I0419 20:57:17.640971 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1088, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 20:57:17.641027 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:17.641049 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:17.643393 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290376379578.
I0419 20:57:17.644057 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531141, -2.49896)
I0419 20:57:17.644106 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.471181, -4.30227), points=3, range=4.32867, residual=0.0122194, extent=0.0254949
I0419 20:57:17.644134 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.471181, -4.30227), tracking=(-0.172681, -4.30227), map_predicted=(16.8749, -6.12912), range=4.32867, pts=3
I0419 20:57:17.644193 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73459m maha_sq=592.418 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8749, -6.12912) lm_pos=(15.915, -2.52) delta=(0.959906, -3.60912) -> 0 candidate(s)
I0419 20:57:17.665947 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290376652061.
I0419 20:57:17.731549 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290377009243.
I0419 20:57:17.732355 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673129)
I0419 20:57:17.734699 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.84423, 4.29259), points=3, range=4.67233, residual=0.0131262, extent=0.0273427
I0419 20:57:17.734807 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.84423, 4.29259), tracking=(1.54573, -4.29259), map_predicted=(18.5927, -6.14285), range=4.67233, pts=3
I0419 20:57:17.734838 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50501m maha_sq=857.938 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(18.5927, -6.14285) lm_pos=(15.915, -2.52) delta=(2.67771, -3.62285) -> 0 candidate(s)
I0419 20:57:17.734889 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:17.734951 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:17.734969 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290377254895.
I0419 20:57:17.762200 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:17.788650 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290377871509.
I0419 20:57:17.790257 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534044, -2.49472)
I0419 20:57:17.790351 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:17.790378 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:17.790400 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:17.911307 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537314, -2.49232), points=6, range=2.55183, residual=0.015589, extent=0.042175
I0419 20:57:17.911331 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:17.911441 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537314, -2.49232), tracking=(-0.238814, -2.49232), map_predicted=(16.8318, -4.31914), range=2.55183, pts=6
I0419 20:57:17.911507 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01927m maha_sq=174.621 (gate chi2=5.99) pose_sigma=(0.150065, 0.150065, rho=0) det_map=(16.8318, -4.31914) lm_pos=(15.915, -2.52) delta=(0.91681, -1.79914) -> 0 candidate(s)
I0419 20:57:17.913384 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:17.913491 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00537484 range=1.138 variance=0.000547694 t_weight=5477.51 r_weight=0 yaml=(15.915, -2.52) prior=(17.1043, -1.83028, -0.774862deg) obs_actual=(-1.18881, -0.712386) obs_expected=(-1.17987, -0.705744) delta=(-0.00893671, -0.00664207) |delta|=0.0111347m
I0419 20:57:17.913615 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290378458017.
I0419 20:57:17.914153 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25018, -0.674079)
I0419 20:57:17.916581 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290378734200.
I0419 20:57:17.918197 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25042, -0.671868), points=5, range=1.4154, residual=0.0117577, extent=0.0269741
I0419 20:57:17.918282 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25042, -0.671868), tracking=(1.54892, -0.671868), map_predicted=(18.645, -2.52269), range=1.4154, pts=5
I0419 20:57:17.918311 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18983m maha_sq=207.471 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.645, -2.52269) lm_pos=(16.815, -1.32) delta=(1.83, -1.20269) -> 0 candidate(s)
I0419 20:57:17.920666 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567817s, prior_pose=(17.1052, -1.83057), yaw=-0.774098 deg
I0419 20:57:17.920761 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1321, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:57:17.920885 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:17.920907 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:17.921142 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290379059446.
I0419 20:57:17.934520 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290379339372.
I0419 20:57:17.938359 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537905, -2.49505)
I0419 20:57:18.030071 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290379619579.
I0419 20:57:18.032771 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00888629, -0.509605), points=26, range=0.510462, residual=0.0119947, extent=0.0374969
I0419 20:57:18.032891 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00888629, -0.509605), tracking=(-0.289614, 0.509605), map_predicted=(16.8225, -1.31784), range=0.510462, pts=26
I0419 20:57:18.032922 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00777495m maha_sq=0.00261726 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(16.8225, -1.31784) lm_pos=(16.815, -1.32) delta=(0.00747027, 0.00215521) -> 1 candidate(s)
I0419 20:57:18.033066 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290379902135.
I0419 20:57:18.033929 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.24429, -0.673221)
I0419 20:57:18.035029 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:18.035121 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290380179597.
I0419 20:57:18.053303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290380527713.
I0419 20:57:18.125459 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290380778881.
I0419 20:57:18.125913 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534782, -2.4982)
I0419 20:57:18.125967 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:18.125991 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.538041, -2.49564), points=6, range=2.55483, residual=0.0145198, extent=0.0400938
I0419 20:57:18.126050 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:18.126066 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:18.126078 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.538041, -2.49564), tracking=(-0.239541, -2.49564), map_predicted=(16.8305, -4.31954), range=2.55483, pts=6
I0419 20:57:18.126101 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01901m maha_sq=174.96 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8305, -4.31954) lm_pos=(15.915, -2.52) delta=(0.915451, -1.79954) -> 0 candidate(s)
I0419 20:57:18.127530 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290381097895.
I0419 20:57:18.138072 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290381375547.
I0419 20:57:18.142277 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24872, -0.673285)
I0419 20:57:18.170403 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27264, -2.47983), points=4, range=2.783, residual=0.0133565, extent=0.0290464
I0419 20:57:18.170513 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27264, -2.47983), tracking=(1.57114, -2.47983), map_predicted=(18.6428, -4.32942), range=2.783, pts=4
I0419 20:57:18.170548 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27335m maha_sq=459.515 (gate chi2=5.99) pose_sigma=(0.150069, 0.150069, rho=0) det_map=(18.6428, -4.32942) lm_pos=(15.915, -2.52) delta=(2.72778, -1.80942) -> 0 candidate(s)
I0419 20:57:18.173974 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:18.174059 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00246991 range=0.512464 variance=0.000594958 t_weight=5042.37 r_weight=0 yaml=(16.815, -1.32) prior=(17.1056, -1.8284, -0.781204deg) obs_actual=(-0.294039, 0.511103) obs_expected=(-0.297507, 0.50439) delta=(0.00346842, 0.00671293) |delta|=0.00755602m
I0419 20:57:18.174249 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290381732898.
I0419 20:57:18.198786 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290381981419.
I0419 20:57:18.201759 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872761s, prior_pose=(17.1056, -1.8284), yaw=-0.781204 deg
I0419 20:57:18.201829 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 20:57:18.201905 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:18.201926 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:18.272715 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290382260703.
I0419 20:57:18.273662 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530646, -2.49661)
I0419 20:57:18.276299 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00296489, -0.512483), points=26, range=0.512423, residual=0.011949, extent=0.0375659
I0419 20:57:18.276402 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00296489, -0.512483), tracking=(-0.295535, 0.512483), map_predicted=(16.8197, -1.31267), range=0.512423, pts=26
I0419 20:57:18.276487 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00869461m maha_sq=0.00327565 (gate chi2=5.99) pose_sigma=(0.150013, 0.150013, rho=0) det_map=(16.8197, -1.31267) lm_pos=(16.815, -1.32) delta=(0.00468239, 0.00732608) -> 1 candidate(s)
I0419 20:57:18.276585 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290382577143.
I0419 20:57:18.286626 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.878389 deg, rms_residual=0.00766072m, sigma_yaw=0.010111 rad, N=2
I0419 20:57:18.286957 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.102, -1.82984, -0.878389deg) inliers=2 rms=0.00766072m
I0419 20:57:18.287014 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290382860331.
I0419 20:57:18.290388 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24959, -0.673762)
I0419 20:57:18.396565 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290383418509.
I0419 20:57:18.397452 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33502, -4.2775), points=4, range=4.47925, residual=0.0163811, extent=0.040105
I0419 20:57:18.397536 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33502, -4.2775), tracking=(1.63352, -4.2775), map_predicted=(18.6831, -6.13002), range=4.47925, pts=4
I0419 20:57:18.397567 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54912m maha_sq=873.371 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6831, -6.13002) lm_pos=(15.915, -2.52) delta=(2.76807, -3.61002) -> 0 candidate(s)
I0419 20:57:18.397588 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:18.398762 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290383732302.
I0419 20:57:18.399886 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1062, -1.82982), yaw=-0.756689 deg backend=(17.1043, -1.83206)
I0419 20:57:18.400363 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.5342, -2.49545)
I0419 20:57:18.400405 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:18.400431 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:18.400447 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:18.402068 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:18.402182 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:18.402207 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290384015854.
I0419 20:57:18.406303 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:18.434124 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:18.434350 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290384334317.
I0419 20:57:18.438333 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24901, -0.67345)
I0419 20:57:18.438424 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27569, -2.48576), points=4, range=2.78925, residual=0.0142253, extent=0.0327883
I0419 20:57:18.438488 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27569, -2.48576), tracking=(1.57419, -2.48576), map_predicted=(18.6464, -4.33554), range=2.78925, pts=4
I0419 20:57:18.438514 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27974m maha_sq=461.227 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6464, -4.33554) lm_pos=(15.915, -2.52) delta=(2.73139, -1.81554) -> 0 candidate(s)
I0419 20:57:18.461911 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290384612422.
I0419 20:57:18.541491 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00379711 range=1.1378 variance=0.000536374 t_weight=5593.11 r_weight=0 yaml=(15.915, -2.52) prior=(17.1045, -1.82757, -0.756329deg) obs_actual=(-1.18861, -0.712235) obs_expected=(-1.18022, -0.708072) delta=(-0.0083842, -0.00416291) |delta|=0.00936081m
I0419 20:57:18.541674 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290384913508.
I0419 20:57:18.542263 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601759s, prior_pose=(17.1045, -1.82757), yaw=-0.756329 deg
I0419 20:57:18.542390 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1082, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:57:18.542459 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:18.542482 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:18.544817 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290385180004.
I0419 20:57:18.545641 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537785, -2.49447)
I0419 20:57:18.545719 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32041, -4.27435), points=4, range=4.47575, residual=0.0168029, extent=0.0405837
I0419 20:57:18.545845 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32041, -4.27435), tracking=(1.61891, -4.27435), map_predicted=(18.6669, -6.12236), range=4.47575, pts=4
I0419 20:57:18.545869 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5332m maha_sq=866.788 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6669, -6.12236) lm_pos=(15.915, -2.52) delta=(2.7519, -3.60236) -> 0 candidate(s)
I0419 20:57:18.578191 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290385776254.
I0419 20:57:18.582516 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673131)
I0419 20:57:18.653975 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290386059485.
I0419 20:57:18.654762 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33522, -4.27813), points=3, range=4.48167, residual=0.0108093, extent=0.0263744
I0419 20:57:18.654874 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33522, -4.27813), tracking=(1.63372, -4.27813), map_predicted=(18.6822, -6.12874), range=4.48167, pts=3
I0419 20:57:18.654913 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5476m maha_sq=878.385 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6822, -6.12874) lm_pos=(15.915, -2.52) delta=(2.76725, -3.60874) -> 0 candidate(s)
I0419 20:57:18.656265 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290386379980.
I0419 20:57:18.666606 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290386657864.
I0419 20:57:18.670550 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531014, -2.49837)
I0419 20:57:18.670624 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:18.670656 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:18.670675 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:18.694104 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290386934740.
I0419 20:57:18.698083 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483579, -4.29989), points=3, range=4.32533, residual=0.0123856, extent=0.0256509
I0419 20:57:18.698187 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483579, -4.29989), tracking=(-0.185079, -4.29989), map_predicted=(16.8646, -6.12635), range=4.32533, pts=3
I0419 20:57:18.698221 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72929m maha_sq=590.653 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8646, -6.12635) lm_pos=(15.915, -2.52) delta=(0.94964, -3.60635) -> 0 candidate(s)
I0419 20:57:18.726330 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290387257006.
I0419 20:57:18.793705 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673131)
I0419 20:57:18.795071 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:57:18.795159 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:18.798646 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601626s, prior_pose=(17.1056, -1.83016), yaw=-0.746364 deg
I0419 20:57:18.798763 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:57:18.798815 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:18.798836 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:18.798853 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.528179, -2.50286), points=5, range=2.5558, residual=0.0131812, extent=0.0347631
I0419 20:57:18.798875 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.528179, -2.50286), tracking=(-0.229679, -2.50286), map_predicted=(16.8434, -4.32982), range=2.5558, pts=5
I0419 20:57:18.798895 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03405m maha_sq=177.391 (gate chi2=5.99) pose_sigma=(0.150204, 0.150204, rho=0) det_map=(16.8434, -4.32982) lm_pos=(15.915, -2.52) delta=(0.928388, -1.80982) -> 0 candidate(s)
I0419 20:57:18.814709 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290388141081.
I0419 20:57:18.817834 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534257, -2.49569)
I0419 20:57:18.851150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290388495086.
I0419 20:57:18.957500 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85968, 4.2941), points=3, range=4.68167, residual=0.0138651, extent=0.0290108
I0419 20:57:18.957604 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85968, 4.2941), tracking=(1.56118, -4.2941), map_predicted=(18.6134, -6.14143), range=4.68167, pts=3
I0419 20:57:18.957674 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51623m maha_sq=859.232 (gate chi2=5.99) pose_sigma=(0.150242, 0.150242, rho=0) det_map=(18.6134, -6.14143) lm_pos=(15.915, -2.52) delta=(2.69845, -3.62143) -> 0 candidate(s)
I0419 20:57:18.957755 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290388738545.
I0419 20:57:18.958228 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25175, -0.672565)
I0419 20:57:18.959549 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00342496 range=1.1405 variance=0.000519216 t_weight=5777.94 r_weight=0 yaml=(15.915, -2.52) prior=(17.1089, -1.82716, -0.75387deg) obs_actual=(-1.19302, -0.711524) obs_expected=(-1.18468, -0.708487) delta=(-0.00834367, -0.00303696) |delta|=0.00887919m
I0419 20:57:18.959633 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290389017248.
I0419 20:57:18.962824 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:18.964766 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290389614638.
I0419 20:57:18.966763 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534106, -2.49511)
I0419 20:57:18.966873 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:18.966926 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490285, -4.30315), points=4, range=4.33, residual=0.0155533, extent=0.0379886
I0419 20:57:18.966964 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:18.966992 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:18.967016 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490285, -4.30315), tracking=(-0.191785, -4.30315), map_predicted=(16.8612, -6.12771), range=4.33, pts=4
I0419 20:57:18.967056 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72973m maha_sq=588.557 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8612, -6.12771) lm_pos=(15.915, -2.52) delta=(0.946231, -3.60771) -> 0 candidate(s)
I0419 20:57:19.107489 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85966, 4.29408)
I0419 20:57:19.107631 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:19.107726 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290390220525.
I0419 20:57:19.109907 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:19.110061 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290390496218.
I0419 20:57:19.110461 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477216, -4.29959), points=3, range=4.326, residual=0.0103709, extent=0.0253429
I0419 20:57:19.110525 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477216, -4.29959), tracking=(-0.178716, -4.29959), map_predicted=(16.8716, -6.12402), range=4.326, pts=3
I0419 20:57:19.110553 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72882m maha_sq=591.654 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8716, -6.12402) lm_pos=(15.915, -2.52) delta=(0.956635, -3.60402) -> 0 candidate(s)
I0419 20:57:19.112010 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290390777326.
I0419 20:57:19.113574 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0325053s, prior_pose=(17.1074, -1.82693), yaw=-0.766061 deg
I0419 20:57:19.113657 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1093, max_intensity=252, threshold=230, above_threshold=15, candidates=15
I0419 20:57:19.113706 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:19.113729 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:19.114890 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26831, -2.48027)
I0419 20:57:19.115381 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290391132312.
I0419 20:57:19.183177 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:19.183275 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.986113 deg, rms_residual=0.00469544m, sigma_yaw=0.00622163 rad, N=2
I0419 20:57:19.183319 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1038, -1.83073, -0.986113deg) inliers=2 rms=0.00469544m
I0419 20:57:19.183350 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:19.183368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290391376674.
I0419 20:57:19.183717 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477329, -4.30058), points=3, range=4.327, residual=0.010501, extent=0.0256623
I0419 20:57:19.183760 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477329, -4.30058), tracking=(-0.178829, -4.30058), map_predicted=(16.8689, -6.1261), range=4.327, pts=3
I0419 20:57:19.183785 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73013m maha_sq=591.996 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8689, -6.1261) lm_pos=(15.915, -2.52) delta=(0.953913, -3.6061) -> 0 candidate(s)
I0419 20:57:19.185246 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290391655895.
I0419 20:57:19.186756 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24614, -0.670324)
I0419 20:57:19.198974 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290391979904.
I0419 20:57:19.227505 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477833, -4.30522), points=3, range=4.33167, residual=0.0106168, extent=0.0259012
I0419 20:57:19.227680 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477833, -4.30522), tracking=(-0.179333, -4.30522), map_predicted=(16.8673, -6.13194), range=4.33167, pts=3
I0419 20:57:19.227735 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73537m maha_sq=592.88 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(16.8673, -6.13194) lm_pos=(15.915, -2.52) delta=(0.952322, -3.61194) -> 0 candidate(s)
I0419 20:57:19.254544 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290392533449.
I0419 20:57:19.361124 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1071, -1.82871), yaw=-0.771048 deg backend=(17.1051, -1.83254)
I0419 20:57:19.361796 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534313, -2.49594)
I0419 20:57:19.361858 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:19.361918 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:19.361935 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:19.362067 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:19.363188 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290392854413.
I0419 20:57:19.365972 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00417491 range=0.510259 variance=0.000588997 t_weight=5093.4 r_weight=0 yaml=(16.815, -1.32) prior=(17.1068, -1.82917, -0.771325deg) obs_actual=(-0.289622, 0.509219) obs_expected=(-0.298581, 0.505196) delta=(0.00895919, 0.00402264) |delta|=0.00982083m
I0419 20:57:19.366127 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290393136510.
I0419 20:57:19.366855 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673132)
I0419 20:57:19.366914 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.527458, -2.49944), points=5, range=2.5524, residual=0.0129406, extent=0.0342207
I0419 20:57:19.366941 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.527458, -2.49944), tracking=(-0.228958, -2.49944), map_predicted=(16.8442, -4.3253), range=2.5524, pts=5
I0419 20:57:19.366966 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03038m maha_sq=177.27 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8442, -4.3253) lm_pos=(15.915, -2.52) delta=(0.929169, -1.8053) -> 0 candidate(s)
I0419 20:57:19.368471 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:19.368563 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290393459645.
I0419 20:57:19.370787 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290393696575.
I0419 20:57:19.374790 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602108s, prior_pose=(17.1052, -1.82867), yaw=-0.77107 deg
I0419 20:57:19.375000 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:19.375134 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:19.375177 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:19.461498 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290394026922.
I0419 20:57:19.462359 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533835, -2.49374)
I0419 20:57:19.462453 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.536927, -2.49044), points=4, range=2.55025, residual=0.0110424, extent=0.0268399
I0419 20:57:19.462478 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.536927, -2.49044), tracking=(-0.238427, -2.49044), map_predicted=(16.8302, -4.31563), range=2.55025, pts=4
I0419 20:57:19.462500 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0154m maha_sq=175.008 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8302, -4.31563) lm_pos=(15.915, -2.52) delta=(0.915189, -1.79563) -> 0 candidate(s)
I0419 20:57:19.463647 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290394297100.
I0419 20:57:19.466238 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290394575282.
I0419 20:57:19.466915 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25175, -0.672565)
I0419 20:57:19.494094 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490058, -4.30116), points=5, range=4.3276, residual=0.0179639, extent=0.0504185
I0419 20:57:19.494206 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490058, -4.30116), tracking=(-0.191558, -4.30116), map_predicted=(16.8541, -6.12786), range=4.3276, pts=5
I0419 20:57:19.494236 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72808m maha_sq=585.236 (gate chi2=5.99) pose_sigma=(0.150109, 0.150109, rho=0) det_map=(16.8541, -6.12786) lm_pos=(15.915, -2.52) delta=(0.939113, -3.60786) -> 0 candidate(s)
I0419 20:57:19.588459 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:19.589912 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290395493695.
I0419 20:57:19.590508 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533888, -2.49398)
I0419 20:57:19.590566 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:19.590591 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:19.590606 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:19.590619 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:19.592597 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290395779655.
I0419 20:57:19.593220 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25262, -0.673062), points=3, range=1.41767, residual=0.00847863, extent=0.0153888
I0419 20:57:19.593276 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25262, -0.673062), tracking=(1.55112, -0.673062), map_predicted=(18.6456, -2.523), range=1.41767, pts=3
I0419 20:57:19.593302 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19053m maha_sq=208.201 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6456, -2.523) lm_pos=(16.815, -1.32) delta=(1.83063, -1.203) -> 0 candidate(s)
I0419 20:57:19.610473 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.8502, 4.28929)
I0419 20:57:19.610595 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:19.610677 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290396095842.
I0419 20:57:19.638430 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290396377733.
I0419 20:57:19.722185 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00420122 range=1.137 variance=0.000499732 t_weight=6003.22 r_weight=0 yaml=(15.915, -2.52) prior=(17.1042, -1.83042, -0.728966deg) obs_actual=(-1.18082, -0.714482) obs_expected=(-1.18036, -0.704655) delta=(-0.000463616, -0.00982704) |delta|=0.00983797m
I0419 20:57:19.722329 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290396655555.
I0419 20:57:19.722944 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602825s, prior_pose=(17.1042, -1.83042), yaw=-0.728966 deg
I0419 20:57:19.723011 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 20:57:19.723098 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:19.723119 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:19.723140 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27632, -2.47814), points=3, range=2.78533, residual=0.00870099, extent=0.0169481
I0419 20:57:19.723158 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27632, -2.47814), tracking=(1.57482, -2.47814), map_predicted=(18.6474, -4.32839), range=2.78533, pts=3
I0419 20:57:19.723176 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27662m maha_sq=462.875 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6474, -4.32839) lm_pos=(15.915, -2.52) delta=(2.73239, -1.80839) -> 0 candidate(s)
I0419 20:57:19.724313 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290396941103.
I0419 20:57:19.725899 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.536771, -2.48977)
I0419 20:57:19.727272 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290397260052.
I0419 20:57:19.755069 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290397533861.
I0419 20:57:19.758831 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24872, -0.673284)
I0419 20:57:19.758971 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2682, -2.48005), points=3, range=2.78833, residual=0.0102242, extent=0.0214218
I0419 20:57:19.759035 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.2682, -2.48005), tracking=(1.5667, -2.48005), map_predicted=(18.6393, -4.33), range=2.78833, pts=3
I0419 20:57:19.759086 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27078m maha_sq=460.646 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6393, -4.33) lm_pos=(15.915, -2.52) delta=(2.72431, -1.81) -> 0 candidate(s)
I0419 20:57:19.782455 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290397812511.
I0419 20:57:19.909147 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:57:19.909281 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:19.909307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290398140756.
I0419 20:57:19.912177 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290398419684.
I0419 20:57:19.912899 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533737, -2.49325)
I0419 20:57:19.912961 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:19.912985 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:19.913002 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:19.914196 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00444441, -0.51014), points=27, range=0.511185, residual=0.012034, extent=0.039549
I0419 20:57:19.914256 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00444441, -0.51014), tracking=(-0.294056, 0.51014), map_predicted=(16.8181, -1.31508), range=0.511185, pts=27
I0419 20:57:19.914321 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00581103m maha_sq=0.00146332 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8181, -1.31508) lm_pos=(16.815, -1.32) delta=(0.00309692, 0.00491702) -> 1 candidate(s)
I0419 20:57:19.914369 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.796152 deg, rms_residual=0.00556708m, sigma_yaw=0.00736808 rad, N=2
I0419 20:57:19.914405 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1053, -1.82972, -0.796152deg) inliers=2 rms=0.00556708m
I0419 20:57:19.914435 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290398700984.
I0419 20:57:19.917009 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290399073541.
I0419 20:57:19.917676 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24813, -0.672973)
I0419 20:57:19.986482 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:19.986629 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290399298557.
I0419 20:57:19.987258 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25174, -0.672589), points=3, range=1.417, residual=0.0079713, extent=0.0145522
I0419 20:57:19.987339 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25174, -0.672589), tracking=(1.55024, -0.672589), map_predicted=(18.6477, -2.52257), range=1.417, pts=3
I0419 20:57:19.987368 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.192m maha_sq=208.556 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6477, -2.52257) lm_pos=(16.815, -1.32) delta=(1.83268, -1.20257) -> 0 candidate(s)
I0419 20:57:19.988827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290399619146.
I0419 20:57:19.990264 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0320778s, prior_pose=(17.1059, -1.82801), yaw=-0.759164 deg
I0419 20:57:19.990352 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:57:19.990411 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:19.990435 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:19.993985 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27188, -2.47835)
I0419 20:57:19.995182 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00180294 range=0.510385 variance=0.000568378 t_weight=5278.18 r_weight=0 yaml=(16.815, -1.32) prior=(17.1059, -1.82801, -0.759164deg) obs_actual=(-0.294806, 0.5099) obs_expected=(-0.29765, 0.504106) delta=(0.00284457, 0.00579349) |delta|=0.00645415m
I0419 20:57:19.995349 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290399933627.
I0419 20:57:20.018887 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290400180157.
I0419 20:57:20.021858 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32061, -4.27499), points=4, range=4.47625, residual=0.0166502, extent=0.0403284
I0419 20:57:20.021946 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32061, -4.27499), tracking=(1.61911, -4.27499), map_predicted=(18.6691, -6.1238), range=4.47625, pts=4
I0419 20:57:20.022020 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53571m maha_sq=867.929 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6691, -6.1238) lm_pos=(15.915, -2.52) delta=(2.75414, -3.6038) -> 0 candidate(s)
I0419 20:57:20.047073 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290400459932.
I0419 20:57:20.146144 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25042, -0.671866)
I0419 20:57:20.146255 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:20.147645 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290400772736.
I0419 20:57:20.150704 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27233, -2.47924), points=3, range=2.78667, residual=0.00711928, extent=0.0172832
I0419 20:57:20.150776 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27233, -2.47924), tracking=(1.57083, -2.47924), map_predicted=(18.6446, -4.32892), range=2.78667, pts=3
I0419 20:57:20.150801 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27455m maha_sq=462.059 (gate chi2=5.99) pose_sigma=(0.150121, 0.150121, rho=0) det_map=(18.6446, -4.32892) lm_pos=(15.915, -2.52) delta=(2.72955, -1.80892) -> 0 candidate(s)
I0419 20:57:20.150822 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:20.151921 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290401342400.
I0419 20:57:20.152998 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.107, -1.8297), yaw=-0.775157 deg backend=(17.1068, -1.83142)
I0419 20:57:20.153522 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530353, -2.49524)
I0419 20:57:20.153578 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:20.153606 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:20.153625 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:20.162982 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290401621228.
I0419 20:57:20.276217 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:20.276369 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290401941801.
I0419 20:57:20.277174 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673129)
I0419 20:57:20.278312 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477441, -4.30157), points=4, range=4.32725, residual=0.0156931, extent=0.0377515
I0419 20:57:20.278383 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477441, -4.30157), tracking=(-0.178941, -4.30157), map_predicted=(16.8674, -6.12768), range=4.32725, pts=4
I0419 20:57:20.278409 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73128m maha_sq=588.95 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8674, -6.12768) lm_pos=(15.915, -2.52) delta=(0.952393, -3.60768) -> 0 candidate(s)
I0419 20:57:20.278918 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290402257345.
I0419 20:57:20.281126 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290402540051.
I0419 20:57:20.281674 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0633091s, prior_pose=(17.1064, -1.82941), yaw=-0.798771 deg
I0419 20:57:20.281740 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=251, threshold=230, above_threshold=17, candidates=17
I0419 20:57:20.281785 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:20.281805 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:20.283972 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290402819720.
I0419 20:57:20.290727 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531444, -2.50032)
I0419 20:57:20.315145 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88051, 0.71301), points=4, range=1.13575, residual=0.00817554, extent=0.0199965
I0419 20:57:20.315305 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.88051, 0.71301), tracking=(-1.17901, -0.71301), map_predicted=(15.9161, -2.52596), range=1.13575, pts=4
I0419 20:57:20.315367 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00605746m maha_sq=0.00159367 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9161, -2.52596) lm_pos=(15.915, -2.52) delta=(0.00107671, -0.005961) -> 1 candidate(s)
I0419 20:57:20.315490 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00159367 range=1.13575 variance=0.000524088 t_weight=5724.23 r_weight=0 yaml=(15.915, -2.52) prior=(17.1049, -1.82945, -0.798563deg) obs_actual=(-1.17901, -0.71301) obs_expected=(-1.18017, -0.707065) delta=(0.00115968, -0.00594542) |delta|=0.00605746m
I0419 20:57:20.315629 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290403142736.
I0419 20:57:20.418387 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290403420744.
I0419 20:57:20.419064 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673132)
I0419 20:57:20.421811 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2559, -0.670122), points=3, range=1.41867, residual=0.0104137, extent=0.0186732
I0419 20:57:20.421929 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.2559, -0.670122), tracking=(1.5544, -0.670122), map_predicted=(18.6485, -2.51962), range=1.41867, pts=3
I0419 20:57:20.421962 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19108m maha_sq=207.412 (gate chi2=5.99) pose_sigma=(0.150208, 0.150208, rho=0) det_map=(18.6485, -2.51962) lm_pos=(16.815, -1.32) delta=(1.8335, -1.19962) -> 0 candidate(s)
I0419 20:57:20.431056 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290404298798.
I0419 20:57:20.434609 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534355, -2.49618)
I0419 20:57:20.434715 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:20.434752 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:20.434779 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:20.531709 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.489682, -4.29785), points=4, range=4.32475, residual=0.01552, extent=0.0379453
I0419 20:57:20.531845 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.489682, -4.29785), tracking=(-0.191182, -4.29785), map_predicted=(16.858, -6.12361), range=4.32475, pts=4
I0419 20:57:20.531922 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72495m maha_sq=585.96 (gate chi2=5.99) pose_sigma=(0.150154, 0.150154, rho=0) det_map=(16.858, -6.12361) lm_pos=(15.915, -2.52) delta=(0.943017, -3.60361) -> 0 candidate(s)
I0419 20:57:20.532325 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85575, 4.30214)
I0419 20:57:20.532445 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290404896988.
I0419 20:57:20.534888 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:20.534960 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:20.535024 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:20.535046 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290405173304.
I0419 20:57:20.547281 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290405461590.
I0419 20:57:20.550567 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603676s, prior_pose=(17.1044, -1.82939), yaw=-0.771397 deg
I0419 20:57:20.550679 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1093, max_intensity=249, threshold=230, above_threshold=17, candidates=17
I0419 20:57:20.550758 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:20.550786 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:20.578514 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00889224, -0.509653), points=26, range=0.510346, residual=0.0118918, extent=0.0374243
I0419 20:57:20.578680 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:20.578722 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00889224, -0.509653), tracking=(-0.289608, 0.509653), map_predicted=(16.8217, -1.31589), range=0.510346, pts=26
I0419 20:57:20.578770 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00783995m maha_sq=0.00266394 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8217, -1.31589) lm_pos=(16.815, -1.32) delta=(0.00667494, 0.00411218) -> 1 candidate(s)
I0419 20:57:20.578991 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290405774872.
I0419 20:57:20.685300 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531142, -2.49896)
I0419 20:57:20.692669 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290406059594.
I0419 20:57:20.698714 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.65308 deg, rms_residual=0.0056474m, sigma_yaw=0.00747359 rad, N=2
I0419 20:57:20.698904 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1074, -1.82798, -0.65308deg) inliers=2 rms=0.0056474m
I0419 20:57:20.698952 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290406338676.
I0419 20:57:20.699736 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24666, -0.67218)
I0419 20:57:20.700909 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.887922, 0.710491), points=6, range=1.13533, residual=0.00803343, extent=0.0229785
I0419 20:57:20.701040 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.887922, 0.710491), tracking=(-1.18642, -0.710491), map_predicted=(15.9077, -2.52341), range=1.13533, pts=6
I0419 20:57:20.701067 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00804738m maha_sq=0.00281301 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9077, -2.52341) lm_pos=(15.915, -2.52) delta=(-0.00729011, -0.00340803) -> 1 candidate(s)
I0419 20:57:20.701175 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290406651891.
I0419 20:57:20.703917 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290406926632.
I0419 20:57:20.704732 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:20.773139 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:20.773139 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00189236 range=0.510556 variance=0.000578802 t_weight=5183.12 r_weight=0 yaml=(16.815, -1.32) prior=(17.1053, -1.82748, -0.772118deg) obs_actual=(-0.294796, 0.509718) obs_expected=(-0.29712, 0.503525) delta=(0.0023245, 0.0061923) |delta|=0.00661422m
I0419 20:57:20.773336 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290407217870.
I0419 20:57:20.774354 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530355, -2.49524)
I0419 20:57:20.774434 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:20.774464 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25351, -0.673534), points=3, range=1.41833, residual=0.0090317, extent=0.0171146
I0419 20:57:20.774487 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:20.774505 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:20.774518 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25351, -0.673534), tracking=(1.55201, -0.673534), map_predicted=(18.6481, -2.52187), range=1.41833, pts=3
I0419 20:57:20.774540 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19197m maha_sq=208.386 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6481, -2.52187) lm_pos=(16.815, -1.32) delta=(1.8331, -1.20187) -> 0 candidate(s)
I0419 20:57:20.775934 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290407533495.
I0419 20:57:20.782599 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:20.782742 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290407820332.
I0419 20:57:20.785938 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.2452, -0.671386)
I0419 20:57:20.810410 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290408096893.
I0419 20:57:20.814579 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.531273, -2.49949), points=4, range=2.55375, residual=0.010392, extent=0.0253206
I0419 20:57:20.814687 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.531273, -2.49949), tracking=(-0.232773, -2.49949), map_predicted=(16.8382, -4.32347), range=2.55375, pts=4
I0419 20:57:20.814723 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02601m maha_sq=176.957 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8382, -4.32347) lm_pos=(15.915, -2.52) delta=(0.923155, -1.80347) -> 0 candidate(s)
I0419 20:57:20.842888 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084294s, prior_pose=(17.1046, -1.82734), yaw=-0.77226 deg
I0419 20:57:20.843024 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1332, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:57:20.843180 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:20.843207 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:20.843305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290408419517.
I0419 20:57:20.930511 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290408696289.
I0419 20:57:20.930977 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534305, -2.49594)
I0419 20:57:20.933705 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.887168, 0.712713), points=4, range=1.1355, residual=0.00794347, extent=0.0199888
I0419 20:57:20.933792 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.887168, 0.712713), tracking=(-1.18567, -0.712713), map_predicted=(15.9089, -2.52497), range=1.1355, pts=4
I0419 20:57:20.933848 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00786427m maha_sq=0.00267981 (gate chi2=5.99) pose_sigma=(0.150195, 0.150195, rho=0) det_map=(15.9089, -2.52497) lm_pos=(15.915, -2.52) delta=(-0.00609362, -0.00497136) -> 1 candidate(s)
I0419 20:57:20.933928 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290408975663.
I0419 20:57:20.935716 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290409298098.
I0419 20:57:20.937312 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25064, -0.671986)
I0419 20:57:20.958659 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290409580413.
I0419 20:57:20.961822 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25448, -0.67171), points=4, range=1.42, residual=0.00784425, extent=0.0172309
I0419 20:57:20.961925 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25448, -0.67171), tracking=(1.55298, -0.67171), map_predicted=(18.6471, -2.52042), range=1.42, pts=4
I0419 20:57:20.962051 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19035m maha_sq=208.258 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6471, -2.52042) lm_pos=(16.815, -1.32) delta=(1.83211, -1.20042) -> 0 candidate(s)
I0419 20:57:21.040078 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290409860769.
I0419 20:57:21.043020 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1058, -1.82737), yaw=-0.780704 deg backend=(17.1048, -1.83142)
I0419 20:57:21.043462 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537318, -2.49232)
I0419 20:57:21.043519 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:21.043546 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:21.043568 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:21.050628 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0103537, -0.50853), points=26, range=0.509231, residual=0.0118286, extent=0.0377053
I0419 20:57:21.050753 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0103537, -0.50853), tracking=(-0.288146, 0.50853), map_predicted=(16.8246, -1.31497), range=0.509231, pts=26
I0419 20:57:21.050779 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0108707m maha_sq=0.00511718 (gate chi2=5.99) pose_sigma=(0.150073, 0.150073, rho=0) det_map=(16.8246, -1.31497) lm_pos=(16.815, -1.32) delta=(0.00963479, 0.0050342) -> 1 candidate(s)
I0419 20:57:21.050843 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00511718 range=0.509231 variance=0.000571399 t_weight=5250.27 r_weight=0 yaml=(16.815, -1.32) prior=(17.1058, -1.82737, -0.780704deg) obs_actual=(-0.288146, 0.50853) obs_expected=(-0.297712, 0.503365) delta=(0.0095653, 0.00516501) |delta|=0.0108707m
I0419 20:57:21.050907 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290410498322.
I0419 20:57:21.075045 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290410741054.
I0419 20:57:21.078001 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24901, -0.673448)
I0419 20:57:21.106608 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:21.106881 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290411057916.
I0419 20:57:21.207701 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:21.207849 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:21.207875 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290411342459.
I0419 20:57:21.208535 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635355s, prior_pose=(17.1056, -1.82787), yaw=-0.767222 deg
I0419 20:57:21.208604 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=251, threshold=230, above_threshold=17, candidates=17
I0419 20:57:21.208657 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:21.208678 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:21.208696 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.472103, -4.31072), points=3, range=4.33467, residual=0.0124881, extent=0.0259182
I0419 20:57:21.208719 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.472103, -4.31072), tracking=(-0.173603, -4.31072), map_predicted=(16.8743, -6.13588), range=4.33467, pts=3
I0419 20:57:21.208739 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.74096m maha_sq=594.241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8743, -6.13588) lm_pos=(15.915, -2.52) delta=(0.959281, -3.61588) -> 0 candidate(s)
I0419 20:57:21.210762 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.274, -2.48251)
I0419 20:57:21.211328 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290411662461.
I0419 20:57:21.212759 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290411940067.
I0419 20:57:21.226934 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32836, -4.27801), points=3, range=4.47833, residual=0.0129555, extent=0.0269843
I0419 20:57:21.227149 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32836, -4.27801), tracking=(1.62686, -4.27801), map_predicted=(18.6757, -6.1286), range=4.47833, pts=3
I0419 20:57:21.227208 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54351m maha_sq=874.539 (gate chi2=5.99) pose_sigma=(0.150036, 0.150036, rho=0) det_map=(18.6757, -6.1286) lm_pos=(15.915, -2.52) delta=(2.76072, -3.6086) -> 0 candidate(s)
I0419 20:57:21.228056 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86638, 4.29245)
I0419 20:57:21.228267 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290412257334.
I0419 20:57:21.350888 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.414984 deg, rms_residual=0.00979194m, sigma_yaw=0.0128877 rad, N=2
I0419 20:57:21.351056 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1067, -1.82538, -0.414984deg) inliers=2 rms=0.00979194m
I0419 20:57:21.351095 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290412533771.
I0419 20:57:21.352480 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290412819362.
I0419 20:57:21.352911 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27584, -2.48606), points=4, range=2.79075, residual=0.0127004, extent=0.0302715
I0419 20:57:21.352964 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27584, -2.48606), tracking=(1.57434, -2.48606), map_predicted=(18.646, -4.33579), range=2.79075, pts=4
I0419 20:57:21.353052 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27953m maha_sq=461.979 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.646, -4.33579) lm_pos=(15.915, -2.52) delta=(2.73097, -1.81579) -> 0 candidate(s)
I0419 20:57:21.353108 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:21.355744 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290413095488.
I0419 20:57:21.356578 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537783, -2.49447)
I0419 20:57:21.356644 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:21.356667 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:21.356684 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:21.360229 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00297488 range=0.510889 variance=0.000575088 t_weight=5216.59 r_weight=0 yaml=(16.815, -1.32) prior=(17.1045, -1.82839, -0.768687deg) obs_actual=(-0.290333, 0.510211) obs_expected=(-0.296297, 0.504459) delta=(0.00596416, 0.00575233) |delta|=0.00828616m
I0419 20:57:21.360370 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290413419072.
I0419 20:57:21.369890 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:21.370047 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290413693261.
I0419 20:57:21.374365 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24959, -0.673762)
I0419 20:57:21.374500 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24583, -0.674079), points=3, range=1.41967, residual=0.00811632, extent=0.0171202
I0419 20:57:21.374537 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24583, -0.674079), tracking=(1.54433, -0.674079), map_predicted=(18.6396, -2.52312), range=1.41967, pts=3
I0419 20:57:21.374629 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1856m maha_sq=207.317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6396, -2.52312) lm_pos=(16.815, -1.32) delta=(1.82465, -1.20312) -> 0 candidate(s)
I0419 20:57:21.446920 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:21.447496 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290414006942.
I0419 20:57:21.450217 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562153s, prior_pose=(17.1059, -1.8284), yaw=-0.769455 deg
I0419 20:57:21.450338 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 20:57:21.450475 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:21.450503 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:21.450610 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290414299695.
I0419 20:57:21.457784 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290414572157.
I0419 20:57:21.462483 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534705, -2.49788)
I0419 20:57:21.462575 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27998, -2.48525), points=3, range=2.79233, residual=0.00952219, extent=0.0185623
I0419 20:57:21.462610 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27998, -2.48525), tracking=(1.57848, -2.48525), map_predicted=(18.6509, -4.33462), range=2.79233, pts=3
I0419 20:57:21.462638 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.283m maha_sq=464.36 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6509, -4.33462) lm_pos=(15.915, -2.52) delta=(2.73591, -1.81462) -> 0 candidate(s)
I0419 20:57:21.564661 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290415176732.
I0419 20:57:21.565322 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25018, -0.674083)
I0419 20:57:21.567986 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27071, -2.48495), points=3, range=2.793, residual=0.00944168, extent=0.0196149
I0419 20:57:21.568075 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27071, -2.48495), tracking=(1.56921, -2.48495), map_predicted=(18.6403, -4.33264), range=2.793, pts=3
I0419 20:57:21.568104 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27307m maha_sq=461.307 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(18.6403, -4.33264) lm_pos=(15.915, -2.52) delta=(2.72532, -1.81264) -> 0 candidate(s)
I0419 20:57:21.574733 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290415740800.
I0419 20:57:21.606462 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290416052618.
I0419 20:57:21.610626 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534305, -2.49594)
I0419 20:57:21.610744 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:21.610790 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:21.610869 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:21.635353 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290416342577.
I0419 20:57:21.742293 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483748, -4.30138), points=3, range=4.32667, residual=0.0124666, extent=0.0258729
I0419 20:57:21.742414 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483748, -4.30138), tracking=(-0.185248, -4.30138), map_predicted=(16.8597, -6.12613), range=4.32667, pts=3
I0419 20:57:21.742445 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72781m maha_sq=589.81 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(16.8597, -6.12613) lm_pos=(15.915, -2.52) delta=(0.944691, -3.60613) -> 0 candidate(s)
I0419 20:57:21.743628 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290416621914.
I0419 20:57:21.744320 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24754, -0.672657)
I0419 20:57:21.746387 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:21.746476 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00214611 range=1.1385 variance=0.000498606 t_weight=6016.77 r_weight=0 yaml=(15.915, -2.52) prior=(17.1054, -1.82773, -0.790761deg) obs_actual=(-1.18212, -0.71553) obs_expected=(-1.18075, -0.708634) delta=(-0.0013657, -0.00689531) |delta|=0.00702925m
I0419 20:57:21.746551 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290416939086.
I0419 20:57:21.748335 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290417213131.
I0419 20:57:21.749758 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.031862s, prior_pose=(17.1052, -1.82685), yaw=-0.790063 deg
I0419 20:57:21.749823 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=253, threshold=230, above_threshold=19, candidates=19
I0419 20:57:21.749874 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:21.749894 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:21.749912 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537423, -2.49272), points=4, range=2.55175, residual=0.00992103, extent=0.0240241
I0419 20:57:21.749931 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537423, -2.49272), tracking=(-0.238923, -2.49272), map_predicted=(16.832, -4.31603), range=2.55175, pts=4
I0419 20:57:21.749950 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01657m maha_sq=175.233 (gate chi2=5.99) pose_sigma=(0.150067, 0.150067, rho=0) det_map=(16.832, -4.31603) lm_pos=(15.915, -2.52) delta=(0.916957, -1.79603) -> 0 candidate(s)
I0419 20:57:21.751147 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290417503486.
I0419 20:57:21.758921 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533885, -2.49398)
I0419 20:57:21.863588 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:21.863734 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:21.868860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290417820044.
I0419 20:57:21.869262 1218970 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.47% real time)
I0419 20:57:21.869482 1218970 collated_trajectory_builder.cc:82] odom rate: 249.13 Hz 4.01e-03 s +/- 6.47e-04 s (pulsed at 99.81% real time)
I0419 20:57:21.869660 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.18e-03 s (pulsed at 100.38% real time)
I0419 20:57:21.869721 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.37e-03 s (pulsed at 100.31% real time)
I0419 20:57:21.873574 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86227, 4.30006), points=3, range=4.685, residual=0.0131859, extent=0.0273236
I0419 20:57:21.873680 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86227, 4.30006), tracking=(1.56377, -4.30006), map_predicted=(18.6107, -6.14751), range=4.685, pts=3
I0419 20:57:21.873713 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51948m maha_sq=863.753 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6107, -6.14751) lm_pos=(15.915, -2.52) delta=(2.69571, -3.62751) -> 0 candidate(s)
I0419 20:57:21.873826 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290418096099.
I0419 20:57:21.875342 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24607, -0.671867)
I0419 20:57:21.876714 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290418379837.
I0419 20:57:21.879508 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290418693039.
I0419 20:57:21.880191 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:21.899641 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290418982567.
I0419 20:57:22.006956 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.106, -1.82839), yaw=-0.746142 deg backend=(17.1044, -1.83159)
I0419 20:57:22.007642 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534036, -2.49478)
I0419 20:57:22.007704 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:22.007730 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537146, -2.49153), points=6, range=2.55133, residual=0.0158373, extent=0.0431592
I0419 20:57:22.007746 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:22.007761 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:22.007771 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537146, -2.49153), tracking=(-0.238646, -2.49153), map_predicted=(16.8349, -4.31661), range=2.55133, pts=6
I0419 20:57:22.007791 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01842m maha_sq=174.386 (gate chi2=5.99) pose_sigma=(0.150078, 0.150078, rho=0) det_map=(16.8349, -4.31661) lm_pos=(15.915, -2.52) delta=(0.919889, -1.79661) -> 0 candidate(s)
I0419 20:57:22.009338 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.754122 deg, rms_residual=0.00730566m, sigma_yaw=0.00964691 rad, N=2
I0419 20:57:22.009459 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1007, -1.8291, -0.754122deg) inliers=2 rms=0.00730566m
I0419 20:57:22.009500 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290419297011.
I0419 20:57:22.011890 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:22.012022 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290419581924.
I0419 20:57:22.012458 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24871, -0.673289)
I0419 20:57:22.013825 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.84739, 4.29994), points=3, range=4.683, residual=0.0146201, extent=0.0306259
I0419 20:57:22.013916 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.84739, 4.29994), tracking=(1.54889, -4.29994), map_predicted=(18.5971, -6.14838), range=4.683, pts=3
I0419 20:57:22.013947 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51206m maha_sq=859.487 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5971, -6.14838) lm_pos=(15.915, -2.52) delta=(2.68208, -3.62838) -> 0 candidate(s)
I0419 20:57:22.014039 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290419854344.
I0419 20:57:22.015611 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:22.016723 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00187671 range=0.5115 variance=0.00057353 t_weight=5230.77 r_weight=0 yaml=(16.815, -1.32) prior=(17.105, -1.82869, -0.747948deg) obs_actual=(-0.295535, 0.511341) obs_expected=(-0.296665, 0.504856) delta=(0.00112972, 0.00648493) |delta|=0.00658259m
I0419 20:57:22.016809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290420139143.
I0419 20:57:22.017616 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591753s, prior_pose=(17.105, -1.82869), yaw=-0.747948 deg
I0419 20:57:22.017680 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 20:57:22.017730 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:22.017747 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:22.085672 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290420457400.
I0419 20:57:22.086433 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534051, -2.49471)
I0419 20:57:22.087707 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290420736875.
I0419 20:57:22.089371 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26979, -2.48317), points=3, range=2.79133, residual=0.00966501, extent=0.0201857
I0419 20:57:22.089470 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26979, -2.48317), tracking=(1.56829, -2.48317), map_predicted=(18.6427, -4.33252), range=2.79133, pts=3
I0419 20:57:22.089502 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27497m maha_sq=461.744 (gate chi2=5.99) pose_sigma=(0.150049, 0.150049, rho=0) det_map=(18.6427, -4.33252) lm_pos=(15.915, -2.52) delta=(2.72767, -1.81252) -> 0 candidate(s)
I0419 20:57:22.103088 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290421014799.
I0419 20:57:22.106835 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.24407, -0.673125)
I0419 20:57:22.139909 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290421379318.
I0419 20:57:22.166605 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25351, -0.673533), points=3, range=1.41833, residual=0.00914205, extent=0.0179987
I0419 20:57:22.166785 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25351, -0.673533), tracking=(1.55201, -0.673533), map_predicted=(18.6483, -2.52321), range=1.41833, pts=3
I0419 20:57:22.166843 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19292m maha_sq=208.548 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6483, -2.52321) lm_pos=(16.815, -1.32) delta=(1.83335, -1.20321) -> 0 candidate(s)
I0419 20:57:22.282092 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27279, -2.48013)
I0419 20:57:22.282155 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:22.282624 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:22.282684 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:22.282703 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:22.282781 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290421942242.
I0419 20:57:22.285378 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290422216022.
I0419 20:57:22.287346 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290422493266.
I0419 20:57:22.289057 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.2491, -0.671156)
I0419 20:57:22.289182 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25272, -0.670768), points=4, range=1.418, residual=0.00796532, extent=0.0162438
I0419 20:57:22.289206 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.25272, -0.670768), tracking=(1.55122, -0.670768), map_predicted=(18.6464, -2.51993), range=1.418, pts=4
I0419 20:57:22.289228 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.1895m maha_sq=207.885 (gate chi2=5.99) pose_sigma=(0.150072, 0.150072, rho=0) det_map=(18.6464, -2.51993) lm_pos=(16.815, -1.32) delta=(1.83141, -1.19993) -> 0 candidate(s)
I0419 20:57:22.290707 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:22.290792 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290422775628.
I0419 20:57:22.367933 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594349s, prior_pose=(17.1059, -1.82874), yaw=-0.768269 deg
I0419 20:57:22.368047 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 20:57:22.368106 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:22.368126 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:22.369781 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290423378230.
I0419 20:57:22.371299 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537784, -2.49447)
I0419 20:57:22.371374 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26316, -2.47906), points=4, range=2.784, residual=0.0124722, extent=0.0296269
I0419 20:57:22.371405 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26316, -2.47906), tracking=(1.56166, -2.47906), map_predicted=(18.6325, -4.32877), range=2.784, pts=4
I0419 20:57:22.371465 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2644m maha_sq=457.152 (gate chi2=5.99) pose_sigma=(0.15012, 0.15012, rho=0) det_map=(18.6325, -4.32877) lm_pos=(15.915, -2.52) delta=(2.71748, -1.80877) -> 0 candidate(s)
I0419 20:57:22.401772 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24959, -0.673763)
I0419 20:57:22.426224 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290424253615.
I0419 20:57:22.498474 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25439, -0.674009), points=3, range=1.42, residual=0.00797549, extent=0.0145621
I0419 20:57:22.498603 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25439, -0.674009), tracking=(1.55289, -0.674009), map_predicted=(18.6449, -2.52454), range=1.42, pts=3
I0419 20:57:22.498639 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19074m maha_sq=207.92 (gate chi2=5.99) pose_sigma=(0.150146, 0.150146, rho=0) det_map=(18.6449, -2.52454) lm_pos=(16.815, -1.32) delta=(1.82988, -1.20454) -> 0 candidate(s)
I0419 20:57:22.499972 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00202654 range=0.512115 variance=0.000575948 t_weight=5208.8 r_weight=0 yaml=(16.815, -1.32) prior=(17.1013, -1.82952, -0.777556deg) obs_actual=(-0.295536, 0.512007) obs_expected=(-0.293168, 0.505585) delta=(-0.00236821, 0.00642219) |delta|=0.00684492m
I0419 20:57:22.500087 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290424572508.
I0419 20:57:22.500685 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:22.502777 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:22.502876 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:22.502904 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290424858768.
I0419 20:57:22.503527 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534206, -2.49545)
I0419 20:57:22.503574 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:22.503598 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:22.503615 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:22.518401 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25262, -0.673062), points=3, range=1.418, residual=0.00797273, extent=0.0145556
I0419 20:57:22.518519 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25262, -0.673062), tracking=(1.55112, -0.673062), map_predicted=(18.6458, -2.52246), range=1.418, pts=3
I0419 20:57:22.518548 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19038m maha_sq=207.868 (gate chi2=5.99) pose_sigma=(0.15014, 0.15014, rho=0) det_map=(18.6458, -2.52246) lm_pos=(16.815, -1.32) delta=(1.83081, -1.20246) -> 0 candidate(s)
I0419 20:57:22.546380 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:22.546496 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:22.546588 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290425458434.
I0419 20:57:22.549558 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673131)
I0419 20:57:22.634809 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290426014805.
I0419 20:57:22.636260 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0322883s, prior_pose=(17.1049, -1.82779), yaw=-0.77158 deg
I0419 20:57:22.636341 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=252, threshold=230, above_threshold=18, candidates=18
I0419 20:57:22.636392 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:22.636413 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:22.637523 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00595588, -0.511553), points=26, range=0.511962, residual=0.011245, extent=0.0373479
I0419 20:57:22.637574 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00595588, -0.511553), tracking=(-0.292544, 0.511553), map_predicted=(16.8193, -1.31234), range=0.511962, pts=26
I0419 20:57:22.637601 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00879011m maha_sq=0.00334729 (gate chi2=5.99) pose_sigma=(0.150084, 0.150084, rho=0) det_map=(16.8193, -1.31234) lm_pos=(16.815, -1.32) delta=(0.00431542, 0.00765789) -> 1 candidate(s)
I0419 20:57:22.637635 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:22.638850 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534385, -2.49641)
I0419 20:57:22.663137 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290426618850.
I0419 20:57:22.666036 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:22.691218 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290426901260.
I0419 20:57:22.799736 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.24254, -0.672268)
I0419 20:57:22.801049 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888712, 0.709708), points=4, range=1.1335, residual=0.0118453, extent=0.0267137
I0419 20:57:22.801119 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.888712, 0.709708), tracking=(-1.18721, -0.709708), map_predicted=(15.9096, -2.52141), range=1.1335, pts=4
I0419 20:57:22.801146 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0055833m maha_sq=0.00134904 (gate chi2=5.99) pose_sigma=(0.150034, 0.150034, rho=0) det_map=(15.9096, -2.52141) lm_pos=(15.915, -2.52) delta=(-0.00540115, -0.0014145) -> 1 candidate(s)
I0419 20:57:22.801242 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290427179615.
I0419 20:57:22.804010 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290427500545.
I0419 20:57:22.805863 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27402, -2.4825)
I0419 20:57:22.806332 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:22.806384 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:22.806401 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:22.806476 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290427858798.
I0419 20:57:22.807544 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.106, -1.82874), yaw=-0.756301 deg backend=(17.1048, -1.83183)
I0419 20:57:22.810472 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881029, 0.713429), points=4, range=1.136, residual=0.00777976, extent=0.0192538
I0419 20:57:22.810555 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881029, 0.713429), tracking=(-1.17953, -0.713429), map_predicted=(15.9171, -2.52654), range=1.136, pts=4
I0419 20:57:22.810583 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00688144m maha_sq=0.00205526 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(15.9171, -2.52654) lm_pos=(15.915, -2.52) delta=(0.00213291, -0.00654254) -> 1 candidate(s)
I0419 20:57:22.810686 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290428100247.
I0419 20:57:22.884989 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290428373150.
I0419 20:57:22.885671 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24754, -0.672655)
I0419 20:57:22.887328 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:57:22.887449 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00139024 range=0.510308 variance=0.000572713 t_weight=5238.22 r_weight=0 yaml=(16.815, -1.32) prior=(17.1052, -1.82827, -0.784434deg) obs_actual=(-0.295533, 0.509674) obs_expected=(-0.297147, 0.504245) delta=(0.00161418, 0.00542873) |delta|=0.00566363m
I0419 20:57:22.887521 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290428692499.
I0419 20:57:22.897857 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.02912 deg, rms_residual=0.00418766m, sigma_yaw=0.00555255 rad, N=2
I0419 20:57:22.898012 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1039, -1.83184, -1.02912deg) inliers=2 rms=0.00418766m
I0419 20:57:22.898056 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290428972159.
I0419 20:57:22.902066 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643224s, prior_pose=(17.1048, -1.82923), yaw=-0.7835 deg
I0419 20:57:22.902160 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=251, threshold=230, above_threshold=15, candidates=15
I0419 20:57:22.902231 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:22.902256 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:22.902281 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27609, -2.47769), points=3, range=2.78733, residual=0.00795255, extent=0.0164864
I0419 20:57:22.902305 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27609, -2.47769), tracking=(1.57459, -2.47769), map_predicted=(18.6454, -4.32822), range=2.78733, pts=3
I0419 20:57:22.902328 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27483m maha_sq=462.613 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6454, -4.32822) lm_pos=(15.915, -2.52) delta=(2.73036, -1.80822) -> 0 candidate(s)
I0419 20:57:22.930603 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534355, -2.49618)
I0419 20:57:22.954903 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290429537535.
I0419 20:57:23.052850 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290429863717.
I0419 20:57:23.053534 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24901, -0.673446)
I0419 20:57:23.053591 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32925, -4.28087), points=3, range=4.48333, residual=0.012733, extent=0.0265531
I0419 20:57:23.053617 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32925, -4.28087), tracking=(1.62775, -4.28087), map_predicted=(18.6737, -6.13172), range=4.48333, pts=3
I0419 20:57:23.053639 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54477m maha_sq=875.595 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6737, -6.13172) lm_pos=(15.915, -2.52) delta=(2.75871, -3.61172) -> 0 candidate(s)
I0419 20:57:23.055581 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:23.055723 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290430140768.
I0419 20:57:23.057689 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290430454751.
I0419 20:57:23.059188 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:23.075282 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290430738915.
I0419 20:57:23.078042 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534608, -2.49739)
I0419 20:57:23.078147 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:23.078195 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33442, -4.27559), points=4, range=4.478, residual=0.0160764, extent=0.0392733
I0419 20:57:23.078231 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:23.078269 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:23.078294 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33442, -4.27559), tracking=(1.63292, -4.27559), map_predicted=(18.6799, -6.12626), range=4.478, pts=4
I0419 20:57:23.078334 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54418m maha_sq=871.851 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6799, -6.12626) lm_pos=(15.915, -2.52) delta=(2.76486, -3.60626) -> 0 candidate(s)
I0419 20:57:23.197360 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86624, 4.29215)
I0419 20:57:23.197479 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:23.197576 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290431337493.
I0419 20:57:23.200289 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85929, 4.29318), points=3, range=4.677, residual=0.0132874, extent=0.0276624
I0419 20:57:23.200390 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85929, 4.29318), tracking=(1.56079, -4.29318), map_predicted=(18.6098, -6.14321), range=4.677, pts=3
I0419 20:57:23.200518 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51552m maha_sq=861.925 (gate chi2=5.99) pose_sigma=(0.150026, 0.150026, rho=0) det_map=(18.6098, -6.14321) lm_pos=(15.915, -2.52) delta=(2.69485, -3.62321) -> 0 candidate(s)
I0419 20:57:23.200623 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290431616240.
I0419 20:57:23.204165 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597475s, prior_pose=(17.1064, -1.82958), yaw=-0.770633 deg
I0419 20:57:23.204284 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1097, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:57:23.204339 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:23.204360 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:23.222816 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26934, -2.48227)
I0419 20:57:23.224186 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290432220288.
I0419 20:57:23.333066 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534681, -2.49765), points=5, range=2.5522, residual=0.0123892, extent=0.0323987
I0419 20:57:23.333196 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534681, -2.49765), tracking=(-0.236181, -2.49765), map_predicted=(16.8341, -4.32255), range=2.5522, pts=5
I0419 20:57:23.333220 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02332m maha_sq=175.538 (gate chi2=5.99) pose_sigma=(0.150267, 0.150267, rho=0) det_map=(16.8341, -4.32255) lm_pos=(15.915, -2.52) delta=(0.919051, -1.80255) -> 0 candidate(s)
I0419 20:57:23.335986 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.24976, -0.671512)
I0419 20:57:23.342131 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.540189, -2.48802), points=5, range=2.5486, residual=0.0132949, extent=0.0342004
I0419 20:57:23.342221 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.540189, -2.48802), tracking=(-0.241689, -2.48802), map_predicted=(16.8277, -4.3124), range=2.5486, pts=5
I0419 20:57:23.342263 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0114m maha_sq=173.134 (gate chi2=5.99) pose_sigma=(0.150345, 0.150345, rho=0) det_map=(16.8277, -4.3124) lm_pos=(15.915, -2.52) delta=(0.91272, -1.7924) -> 0 candidate(s)
I0419 20:57:23.416826 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:23.416945 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00779943 range=1.13875 variance=0.000509555 t_weight=5887.49 r_weight=0 yaml=(15.915, -2.52) prior=(17.1015, -1.82708, -0.75505deg) obs_actual=(-1.19051, -0.710933) obs_expected=(-1.1773, -0.708495) delta=(-0.0132094, -0.00243839) |delta|=0.0134326m
I0419 20:57:23.416994 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:23.417012 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290433660235.
I0419 20:57:23.417661 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534005, -2.49462)
I0419 20:57:23.417716 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:23.417742 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:23.417758 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:23.419396 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290433981109.
I0419 20:57:23.430810 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28044, -2.48613), points=3, range=2.79367, residual=0.00920576, extent=0.0185723
I0419 20:57:23.430958 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.28044, -2.48613), tracking=(1.57894, -2.48613), map_predicted=(18.648, -4.33418), range=2.79367, pts=3
I0419 20:57:23.431061 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.28037m maha_sq=463.466 (gate chi2=5.99) pose_sigma=(0.150044, 0.150044, rho=0) det_map=(18.648, -4.33418) lm_pos=(15.915, -2.52) delta=(2.73305, -1.81418) -> 0 candidate(s)
I0419 20:57:23.432534 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86612, 4.29184)
I0419 20:57:23.432745 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290434301539.
I0419 20:57:23.459945 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:23.460146 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290434580192.
I0419 20:57:23.487113 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290434855520.
I0419 20:57:23.490736 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0919398s, prior_pose=(17.1023, -1.82772), yaw=-0.754601 deg
I0419 20:57:23.490972 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:23.491144 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:23.491192 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:23.599489 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.879473, 0.712172), points=4, range=1.1345, residual=0.00817391, extent=0.0192538
I0419 20:57:23.599601 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.879473, 0.712172), tracking=(-1.17797, -0.712172), map_predicted=(15.9148, -2.52533), range=1.1345, pts=4
I0419 20:57:23.599633 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00533277m maha_sq=0.00123357 (gate chi2=5.99) pose_sigma=(0.150099, 0.150099, rho=0) det_map=(15.9148, -2.52533) lm_pos=(15.915, -2.52) delta=(-0.000195128, -0.0053292) -> 1 candidate(s)
I0419 20:57:23.599735 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290435135082.
I0419 20:57:23.600497 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534676, -2.49771)
I0419 20:57:23.603019 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290435458452.
I0419 20:57:23.604460 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290435740023.
I0419 20:57:23.604929 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24696, -0.672335)
I0419 20:57:23.607101 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00222238, -0.511181), points=27, range=0.511481, residual=0.0124212, extent=0.0392184
I0419 20:57:23.607170 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00222238, -0.511181), tracking=(-0.296278, 0.511181), map_predicted=(16.8128, -1.3136), range=0.511481, pts=27
I0419 20:57:23.607196 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00675534m maha_sq=0.00197514 (gate chi2=5.99) pose_sigma=(0.150062, 0.150062, rho=0) det_map=(16.8128, -1.3136) lm_pos=(16.815, -1.32) delta=(-0.00217389, 0.006396) -> 1 candidate(s)
I0419 20:57:23.607268 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290436020226.
I0419 20:57:23.674899 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:23.674911 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290436299949.
I0419 20:57:23.675637 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:23.676699 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26868, -2.48092)
I0419 20:57:23.676760 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:23.677222 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:23.677277 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:23.677305 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:23.677349 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00384665 range=1.13725 variance=0.000494219 t_weight=6070.19 r_weight=0 yaml=(15.915, -2.52) prior=(17.1044, -1.83024, -0.765181deg) obs_actual=(-1.18134, -0.714902) obs_expected=(-1.18009, -0.70558) delta=(-0.00124706, -0.00932178) |delta|=0.00940482m
I0419 20:57:23.677397 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290436620320.
I0419 20:57:23.678465 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1039, -1.82979), yaw=-0.765219 deg backend=(17.1044, -1.83196)
I0419 20:57:23.690339 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0104275, -0.511291), points=26, range=0.511577, residual=0.0119018, extent=0.0374206
I0419 20:57:23.690507 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0104275, -0.511291), tracking=(-0.288073, 0.511291), map_predicted=(16.8227, -1.3147), range=0.511577, pts=26
I0419 20:57:23.690552 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00932307m maha_sq=0.00376459 (gate chi2=5.99) pose_sigma=(0.150052, 0.150052, rho=0) det_map=(16.8227, -1.3147) lm_pos=(16.815, -1.32) delta=(0.00766811, 0.0053028) -> 1 candidate(s)
I0419 20:57:23.690637 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.429092 deg, rms_residual=0.00964021m, sigma_yaw=0.0126905 rad, N=2
I0419 20:57:23.690689 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.105, -1.82572, -0.429092deg) inliers=2 rms=0.00964021m
I0419 20:57:23.690735 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290436894460.
I0419 20:57:23.719113 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:23.719379 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290437180993.
I0419 20:57:23.722229 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24989, -0.673919)
I0419 20:57:23.748198 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290437466419.
I0419 20:57:23.838364 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27998, -2.48525), points=3, range=2.792, residual=0.00986561, extent=0.01961
I0419 20:57:23.838680 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27998, -2.48525), tracking=(1.57848, -2.48525), map_predicted=(18.6485, -4.33475), range=2.792, pts=3
I0419 20:57:23.838838 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.28109m maha_sq=463.225 (gate chi2=5.99) pose_sigma=(0.150078, 0.150078, rho=0) det_map=(18.6485, -4.33475) lm_pos=(15.915, -2.52) delta=(2.73354, -1.81475) -> 0 candidate(s)
I0419 20:57:23.840380 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290437775664.
I0419 20:57:23.841200 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641316s, prior_pose=(17.1032, -1.82876), yaw=-0.761082 deg
I0419 20:57:23.841396 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1089, max_intensity=252, threshold=230, above_threshold=18, candidates=18
I0419 20:57:23.841569 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:23.841831 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:23.843962 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290438068381.
I0419 20:57:23.844713 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533885, -2.49398)
I0419 20:57:23.846529 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86399, 4.28695), points=4, range=4.677, residual=0.0176112, extent=0.0425502
I0419 20:57:23.846752 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.86399, 4.28695), tracking=(1.56549, -4.28695), map_predicted=(18.6109, -6.13661), range=4.677, pts=4
I0419 20:57:23.846899 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51087m maha_sq=855.603 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6109, -6.13661) lm_pos=(15.915, -2.52) delta=(2.69594, -3.61661) -> 0 candidate(s)
I0419 20:57:23.869213 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85809, 4.29043)
I0419 20:57:23.869382 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290438687669.
I0419 20:57:23.950652 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290438981853.
I0419 20:57:23.952626 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290439268025.
I0419 20:57:23.954149 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25389, -0.671396), points=4, range=1.4195, residual=0.00766725, extent=0.0158962
I0419 20:57:23.954236 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25389, -0.671396), tracking=(1.55239, -0.671396), map_predicted=(18.647, -2.52196), range=1.4195, pts=4
I0419 20:57:23.954267 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19108m maha_sq=208.032 (gate chi2=5.99) pose_sigma=(0.150144, 0.150144, rho=0) det_map=(18.647, -2.52196) lm_pos=(16.815, -1.32) delta=(1.83197, -1.20196) -> 0 candidate(s)
I0419 20:57:23.955428 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290439545333.
I0419 20:57:23.958271 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534331, -2.49608)
I0419 20:57:23.958351 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:23.958379 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:23.958396 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:23.982208 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:23.982295 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00267299 range=1.13625 variance=0.000509639 t_weight=5886.52 r_weight=0 yaml=(15.915, -2.52) prior=(17.1051, -1.8299, -0.762038deg) obs_actual=(-1.17979, -0.713642) obs_expected=(-1.18085, -0.705866) delta=(0.00106615, -0.00777543) |delta|=0.00784819m
I0419 20:57:23.982398 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:23.982417 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290439815593.
I0419 20:57:24.014232 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290440135564.
I0419 20:57:24.084767 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24871, -0.673287)
I0419 20:57:24.084887 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477583, -4.3029), points=4, range=4.32925, residual=0.0154448, extent=0.0377864
I0419 20:57:24.084916 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477583, -4.3029), tracking=(-0.179083, -4.3029), map_predicted=(16.87, -6.13139), range=4.32925, pts=4
I0419 20:57:24.084945 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73552m maha_sq=589.419 (gate chi2=5.99) pose_sigma=(0.150141, 0.150141, rho=0) det_map=(16.87, -6.13139) lm_pos=(15.915, -2.52) delta=(0.954993, -3.61139) -> 0 candidate(s)
I0419 20:57:24.086194 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:24.086328 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290440417367.
I0419 20:57:24.089128 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290440696691.
I0419 20:57:24.089793 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563071s, prior_pose=(17.1048, -1.83057), yaw=-0.765129 deg
I0419 20:57:24.089870 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1100, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 20:57:24.089924 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:24.089946 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:24.102422 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290441018432.
I0419 20:57:24.105580 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531062, -2.49856)
I0419 20:57:24.105826 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32954, -4.28183), points=3, range=4.48533, residual=0.0132013, extent=0.0275983
I0419 20:57:24.105981 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32954, -4.28183), tracking=(1.62804, -4.28183), map_predicted=(18.6744, -6.13312), range=4.48533, pts=3
I0419 20:57:24.106120 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54632m maha_sq=874.623 (gate chi2=5.99) pose_sigma=(0.150099, 0.150099, rho=0) det_map=(18.6744, -6.13312) lm_pos=(15.915, -2.52) delta=(2.75942, -3.61312) -> 0 candidate(s)
I0419 20:57:24.208702 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86545, 4.29031)
I0419 20:57:24.208957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290441618961.
I0419 20:57:24.210834 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.5274, -2.49919), points=5, range=2.5512, residual=0.0145098, extent=0.0381707
I0419 20:57:24.210953 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.5274, -2.49919), tracking=(-0.2289, -2.49919), map_predicted=(16.8406, -4.324), range=2.5512, pts=5
I0419 20:57:24.211040 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02761m maha_sq=176.46 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8406, -4.324) lm_pos=(15.915, -2.52) delta=(0.925628, -1.804) -> 0 candidate(s)
I0419 20:57:24.217898 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290442172790.
I0419 20:57:24.222893 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:24.250408 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:24.250686 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290442499219.
I0419 20:57:24.253984 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537618, -2.49368)
I0419 20:57:24.254067 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:24.254099 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:24.254122 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:24.278470 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290442778478.
I0419 20:57:24.345361 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477514, -4.30224), points=4, range=4.32775, residual=0.0156878, extent=0.0377426
I0419 20:57:24.345486 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477514, -4.30224), tracking=(-0.179014, -4.30224), map_predicted=(16.8688, -6.12767), range=4.32775, pts=4
I0419 20:57:24.345520 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73163m maha_sq=588.643 (gate chi2=5.99) pose_sigma=(0.150056, 0.150056, rho=0) det_map=(16.8688, -6.12767) lm_pos=(15.915, -2.52) delta=(0.953804, -3.60767) -> 0 candidate(s)
I0419 20:57:24.346773 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:24.346910 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290443052105.
I0419 20:57:24.347522 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.24637, -0.672016)
I0419 20:57:24.350103 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.000630269 range=1.136 variance=0.000573655 t_weight=5229.62 r_weight=0 yaml=(15.915, -2.52) prior=(17.1046, -1.82771, -0.756089deg) obs_actual=(-1.18092, -0.711691) obs_expected=(-1.18032, -0.707924) delta=(-0.000600903, -0.0037667) |delta|=0.00381433m
I0419 20:57:24.350265 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290443379158.
I0419 20:57:24.366446 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.794302 deg, rms_residual=0.00538384m, sigma_yaw=0.00712729 rad, N=2
I0419 20:57:24.366573 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1067, -1.82851, -0.794302deg) inliers=2 rms=0.00538384m
I0419 20:57:24.366611 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290443658525.
I0419 20:57:24.369681 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0857358s, prior_pose=(17.1046, -1.82771), yaw=-0.756089 deg
I0419 20:57:24.369765 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:57:24.369890 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:24.369917 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:24.369946 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33413, -4.27463), points=4, range=4.4765, residual=0.0166996, extent=0.0405921
I0419 20:57:24.369971 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33413, -4.27463), tracking=(1.63263, -4.27463), map_predicted=(18.6806, -6.12351), range=4.4765, pts=4
I0419 20:57:24.369994 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54248m maha_sq=870.459 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6806, -6.12351) lm_pos=(15.915, -2.52) delta=(2.76564, -3.60351) -> 0 candidate(s)
I0419 20:57:24.395025 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290443942312.
I0419 20:57:24.397930 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530807, -2.49739)
I0419 20:57:24.482705 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290444255584.
I0419 20:57:24.486128 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24783, -0.672814)
I0419 20:57:24.486229 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26588, -2.48441), points=4, range=2.78975, residual=0.0118907, extent=0.0285709
I0419 20:57:24.486256 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.26588, -2.48441), tracking=(1.56438, -2.48441), map_predicted=(18.634, -4.33418), range=2.78975, pts=4
I0419 20:57:24.486281 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.26869m maha_sq=458.676 (gate chi2=5.99) pose_sigma=(0.150109, 0.150109, rho=0) det_map=(18.634, -4.33418) lm_pos=(15.915, -2.52) delta=(2.71902, -1.81418) -> 0 candidate(s)
I0419 20:57:24.487874 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290444817437.
I0419 20:57:24.514991 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290445139722.
I0419 20:57:24.546481 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534091, -2.49496)
I0419 20:57:24.546669 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:24.546732 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33403, -4.27431), points=3, range=4.47767, residual=0.0114297, extent=0.0278997
I0419 20:57:24.546772 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:24.546804 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:24.546828 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33403, -4.27431), tracking=(1.63253, -4.27431), map_predicted=(18.678, -6.12528), range=4.47767, pts=3
I0419 20:57:24.546871 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54227m maha_sq=875.846 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.678, -6.12528) lm_pos=(15.915, -2.52) delta=(2.763, -3.60528) -> 0 candidate(s)
I0419 20:57:24.653551 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1017, -1.82816), yaw=-0.75952 deg backend=(17.102, -1.8299)
I0419 20:57:24.654966 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290445693784.
I0419 20:57:24.657837 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290446014402.
I0419 20:57:24.658603 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.2496, -0.673759)
I0419 20:57:24.659945 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888703, 0.711115), points=6, range=1.13617, residual=0.00841446, extent=0.0222884
I0419 20:57:24.660051 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.888703, 0.711115), tracking=(-1.1872, -0.711115), map_predicted=(15.9063, -2.52304), range=1.13617, pts=6
I0419 20:57:24.660082 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00923426m maha_sq=0.00370294 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9063, -2.52304) lm_pos=(15.915, -2.52) delta=(-0.00871801, -0.0030443) -> 1 candidate(s)
I0419 20:57:24.660120 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:24.660194 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290446324882.
I0419 20:57:24.662905 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290446592693.
I0419 20:57:24.663506 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602353s, prior_pose=(17.103, -1.82758), yaw=-0.759143 deg
I0419 20:57:24.663563 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:57:24.663614 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:24.663635 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:24.734547 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27325, -2.48102)
I0419 20:57:24.735131 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.885868, 0.711671), points=4, range=1.1375, residual=0.00680746, extent=0.0154602
I0419 20:57:24.735188 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.885868, 0.711671), tracking=(-1.18437, -0.711671), map_predicted=(15.9111, -2.52542), range=1.1375, pts=4
I0419 20:57:24.735215 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00665651m maha_sq=0.00192068 (gate chi2=5.99) pose_sigma=(0.150219, 0.150219, rho=0) det_map=(15.9111, -2.52542) lm_pos=(15.915, -2.52) delta=(-0.00387101, -0.0054152) -> 1 candidate(s)
I0419 20:57:24.735270 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:24.735296 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00192068 range=1.1375 variance=0.000503689 t_weight=5956.05 r_weight=0 yaml=(15.915, -2.52) prior=(17.105, -1.82977, -0.772002deg) obs_actual=(-1.18437, -0.711671) obs_expected=(-1.18057, -0.706204) delta=(-0.0037977, -0.00546686) |delta|=0.00665651m
I0419 20:57:24.735357 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:24.735378 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290446898625.
I0419 20:57:24.736871 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290447180139.
I0419 20:57:24.746248 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290447454797.
I0419 20:57:24.750229 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25048, -0.674235)
I0419 20:57:24.778518 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25262, -0.673062), points=3, range=1.418, residual=0.00797273, extent=0.0145556
I0419 20:57:24.778621 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25262, -0.673062), tracking=(1.55112, -0.673062), map_predicted=(18.6461, -2.52407), range=1.418, pts=3
I0419 20:57:24.778661 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1915m maha_sq=208.175 (gate chi2=5.99) pose_sigma=(0.150105, 0.150105, rho=0) det_map=(18.6461, -2.52407) lm_pos=(16.815, -1.32) delta=(1.83109, -1.20407) -> 0 candidate(s)
I0419 20:57:24.779376 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290447780711.
I0419 20:57:24.806183 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290448052173.
I0419 20:57:24.810143 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:24.880429 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290448336196.
I0419 20:57:24.881302 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537021, -2.49095)
I0419 20:57:24.881376 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:24.881400 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:24.881417 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:24.883491 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290448618154.
I0419 20:57:24.884259 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.531149, -2.49895), points=6, range=2.55317, residual=0.0146569, extent=0.0412772
I0419 20:57:24.884330 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.531149, -2.49895), tracking=(-0.232649, -2.49895), map_predicted=(16.8373, -4.32348), range=2.55317, pts=6
I0419 20:57:24.884356 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02562m maha_sq=176.08 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8373, -4.32348) lm_pos=(15.915, -2.52) delta=(0.922288, -1.80348) -> 0 candidate(s)
I0419 20:57:24.894083 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:24.894246 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290448934399.
I0419 20:57:24.898265 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.2432, -0.672626)
I0419 20:57:24.921941 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290449213280.
I0419 20:57:24.926270 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:25.003896 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290449533869.
I0419 20:57:25.004928 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600514s, prior_pose=(17.104, -1.82821), yaw=-0.776201 deg
I0419 20:57:25.005131 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 20:57:25.005213 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:25.005235 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:25.005299 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32835, -4.27801), points=3, range=4.479, residual=0.0125647, extent=0.0262327
I0419 20:57:25.005326 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32835, -4.27801), tracking=(1.62685, -4.27801), map_predicted=(18.6727, -6.12787), range=4.479, pts=3
I0419 20:57:25.005352 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54113m maha_sq=874.384 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6727, -6.12787) lm_pos=(15.915, -2.52) delta=(2.75774, -3.60787) -> 0 candidate(s)
I0419 20:57:25.006554 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86227, 4.30006)
I0419 20:57:25.006711 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290449811734.
I0419 20:57:25.009941 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00192464 range=1.13675 variance=0.000505477 t_weight=5934.99 r_weight=0 yaml=(15.915, -2.52) prior=(17.1049, -1.82865, -0.776056deg) obs_actual=(-1.1803, -0.714063) obs_expected=(-1.18045, -0.707407) delta=(0.000150628, -0.00665577) |delta|=0.00665747m
I0419 20:57:25.010066 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290450094896.
I0419 20:57:25.042131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290450414398.
I0419 20:57:25.046625 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27447, -2.48339)
I0419 20:57:25.046711 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33353, -4.27272), points=4, range=4.47575, residual=0.0159685, extent=0.0390687
I0419 20:57:25.046751 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33353, -4.27272), tracking=(1.63203, -4.27272), map_predicted=(18.6776, -6.12311), range=4.47575, pts=4
I0419 20:57:25.046782 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54031m maha_sq=870.51 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6776, -6.12311) lm_pos=(15.915, -2.52) delta=(2.7626, -3.60311) -> 0 candidate(s)
I0419 20:57:25.070748 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.631624 deg, rms_residual=0.00818547m, sigma_yaw=0.0107961 rad, N=2
I0419 20:57:25.070931 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1023, -1.82865, -0.631624deg) inliers=2 rms=0.00818547m
I0419 20:57:25.071045 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290450698590.
I0419 20:57:25.153403 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:25.154345 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290450979513.
I0419 20:57:25.157099 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86319, 4.28511)
I0419 20:57:25.157256 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290451293051.
I0419 20:57:25.157858 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:25.157907 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32924, -4.28087), points=3, range=4.482, residual=0.012573, extent=0.0262501
I0419 20:57:25.157930 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:25.157945 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:25.157955 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32924, -4.28087), tracking=(1.62774, -4.28087), map_predicted=(18.6757, -6.13131), range=4.482, pts=3
I0419 20:57:25.158020 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54564m maha_sq=876.091 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6757, -6.13131) lm_pos=(15.915, -2.52) delta=(2.76067, -3.61131) -> 0 candidate(s)
I0419 20:57:25.187139 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290451860928.
I0419 20:57:25.191465 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27294, -2.48043)
I0419 20:57:25.270823 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00964825, -0.510322), points=27, range=0.511074, residual=0.0123721, extent=0.0405284
I0419 20:57:25.270982 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00964825, -0.510322), tracking=(-0.288852, 0.510322), map_predicted=(16.8243, -1.31572), range=0.511074, pts=27
I0419 20:57:25.271010 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0102146m maha_sq=0.00451643 (gate chi2=5.99) pose_sigma=(0.150057, 0.150057, rho=0) det_map=(16.8243, -1.31572) lm_pos=(16.815, -1.32) delta=(0.0092765, 0.00427594) -> 1 candidate(s)
I0419 20:57:25.271051 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:25.271111 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290452200802.
I0419 20:57:25.272485 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290452492549.
I0419 20:57:25.272929 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0917124s, prior_pose=(17.1062, -1.82989), yaw=-0.772209 deg
I0419 20:57:25.272980 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1097, max_intensity=249, threshold=230, above_threshold=16, candidates=16
I0419 20:57:25.273025 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:25.273046 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:25.279151 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.33314, -4.27145)
I0419 20:57:25.279767 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290452787488.
I0419 20:57:25.307292 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24627, -0.674316), points=3, range=1.42067, residual=0.00894319, extent=0.0188996
I0419 20:57:25.307404 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24627, -0.674316), tracking=(1.54477, -0.674316), map_predicted=(18.6412, -2.52481), range=1.42067, pts=3
I0419 20:57:25.307437 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18783m maha_sq=207.385 (gate chi2=5.99) pose_sigma=(0.150085, 0.150085, rho=0) det_map=(18.6412, -2.52481) lm_pos=(16.815, -1.32) delta=(1.82621, -1.20481) -> 0 candidate(s)
I0419 20:57:25.308266 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:25.308341 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:25.308365 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290453066061.
I0419 20:57:25.334074 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00231522 range=1.1355 variance=0.000514227 t_weight=5834 r_weight=0 yaml=(15.915, -2.52) prior=(17.1057, -1.82977, -0.771178deg) obs_actual=(-1.17927, -0.713219) obs_expected=(-1.18126, -0.706197) delta=(0.00199125, -0.00702267) |delta|=0.00729952m
I0419 20:57:25.334307 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290453333672.
I0419 20:57:25.338456 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26833, -2.48025)
I0419 20:57:25.416589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290453656407.
I0419 20:57:25.418989 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290453938823.
I0419 20:57:25.419495 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.536998, -2.49076), points=4, range=2.5505, residual=0.0108672, extent=0.0262979
I0419 20:57:25.419565 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.536998, -2.49076), tracking=(-0.238498, -2.49076), map_predicted=(16.8328, -4.31673), range=2.5505, pts=4
I0419 20:57:25.419592 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01755m maha_sq=175.409 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8328, -4.31673) lm_pos=(15.915, -2.52) delta=(0.917757, -1.79673) -> 0 candidate(s)
I0419 20:57:25.419616 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:25.422552 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85948, 4.29364)
I0419 20:57:25.422720 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290454220152.
I0419 20:57:25.423871 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1041, -1.83029), yaw=-0.76236 deg backend=(17.1016, -1.83084)
I0419 20:57:25.425976 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:25.426069 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:25.426088 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:25.426107 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:25.451122 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290454504973.
I0419 20:57:25.533131 1218978 pose_graph_2d.cc:160] Inserted submap (1, 18).
I0419 20:57:25.534541 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:25.534669 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290454824370.
I0419 20:57:25.535348 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.2698, -2.48315)
I0419 20:57:25.535420 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.471236, -4.30277), points=3, range=4.33, residual=0.0125033, extent=0.0261425
I0419 20:57:25.535450 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.471236, -4.30277), tracking=(-0.172736, -4.30277), map_predicted=(16.8722, -6.13038), range=4.33, pts=3
I0419 20:57:25.535473 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73512m maha_sq=592.402 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8722, -6.13038) lm_pos=(15.915, -2.52) delta=(0.957224, -3.61038) -> 0 candidate(s)
I0419 20:57:25.536687 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290455096716.
I0419 20:57:25.542496 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059293s, prior_pose=(17.103, -1.82937), yaw=-0.779285 deg
I0419 20:57:25.542613 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1337, max_intensity=253, threshold=230, above_threshold=32, candidates=32
I0419 20:57:25.542742 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:25.542765 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:25.542867 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290455417300.
I0419 20:57:25.570732 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85988, 4.29455)
I0419 20:57:25.570945 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290455702080.
I0419 20:57:25.585602 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:57:25.600899 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00741579, -0.509724), points=26, range=0.509962, residual=0.0116448, extent=0.0396997
I0419 20:57:25.601033 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00741579, -0.509724), tracking=(-0.291084, 0.509724), map_predicted=(16.8186, -1.31505), range=0.509962, pts=26
I0419 20:57:25.602800 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00613819m maha_sq=0.00163338 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8186, -1.31505) lm_pos=(16.815, -1.32) delta=(0.00362369, 0.00495442) -> 1 candidate(s)
I0419 20:57:25.603026 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290455978589.
I0419 20:57:25.679338 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290456255256.
I0419 20:57:25.680529 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27218, -2.47895)
I0419 20:57:25.683877 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290456615428.
I0419 20:57:25.690675 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26512, -2.48293), points=4, range=2.7855, residual=0.0107686, extent=0.0242937
I0419 20:57:25.690869 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.26512, -2.48293), tracking=(1.56362, -2.48293), map_predicted=(18.6366, -4.33146), range=2.7855, pts=4
I0419 20:57:25.690951 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.26932m maha_sq=460.015 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6366, -4.33146) lm_pos=(15.915, -2.52) delta=(2.72159, -1.81146) -> 0 candidate(s)
I0419 20:57:25.692619 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00202175 range=0.510115 variance=0.000565008 t_weight=5309.66 r_weight=0 yaml=(16.815, -1.32) prior=(17.1051, -1.82784, -0.750515deg) obs_actual=(-0.29405, 0.510282) obs_expected=(-0.296719, 0.503994) delta=(0.00266922, 0.00628793) |delta|=0.00683101m
I0419 20:57:25.692899 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290456901830.
I0419 20:57:25.714398 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86187, 4.29914)
I0419 20:57:25.714623 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290457138181.
I0419 20:57:25.722529 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:25.722702 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:25.722725 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:25.793149 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290457457864.
I0419 20:57:25.795290 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290457760580.
I0419 20:57:25.797096 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26958, -2.4827)
I0419 20:57:25.797255 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.536984, -2.49075), points=6, range=2.55, residual=0.0148542, extent=0.041238
I0419 20:57:25.797313 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.536984, -2.49075), tracking=(-0.238484, -2.49075), map_predicted=(16.8318, -4.31522), range=2.55, pts=6
I0419 20:57:25.797358 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01579m maha_sq=174.228 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(16.8318, -4.31522) lm_pos=(15.915, -2.52) delta=(0.916839, -1.79522) -> 0 candidate(s)
I0419 20:57:25.802532 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:25.803074 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.05113 deg, rms_residual=0.00549501m, sigma_yaw=0.00727339 rad, N=2
I0419 20:57:25.803169 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1044, -1.83252, -1.05113deg) inliers=2 rms=0.00549501m
I0419 20:57:25.803232 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290458019952.
I0419 20:57:25.838755 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0569749s, prior_pose=(17.1037, -1.82926), yaw=-0.76233 deg
I0419 20:57:25.838873 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1337, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:57:25.839501 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:25.839542 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:25.839651 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290458362485.
I0419 20:57:25.867645 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32865, -4.27896)
I0419 20:57:25.867794 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27339, -2.48132), points=5, range=2.7858, residual=0.0125888, extent=0.0324199
I0419 20:57:25.867833 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27339, -2.48132), tracking=(1.57189, -2.48132), map_predicted=(18.6425, -4.33127), range=2.7858, pts=5
I0419 20:57:25.867859 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27412m maha_sq=460.524 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6425, -4.33127) lm_pos=(15.915, -2.52) delta=(2.72748, -1.81127) -> 0 candidate(s)
I0419 20:57:25.936527 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.65629 rad/s > flush threshold 3.
I0419 20:57:25.936672 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290458668243.
I0419 20:57:25.937834 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:25.938486 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:25.938601 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:25.938627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290458944349.
I0419 20:57:25.940696 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290459218447.
I0419 20:57:25.941188 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27158, -2.47776)
I0419 20:57:25.950562 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.883436, 0.71215), points=5, range=1.1372, residual=0.0114104, extent=0.0311184
I0419 20:57:25.950640 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.883436, 0.71215), tracking=(-1.18194, -0.71215), map_predicted=(15.9121, -2.52799), range=1.1372, pts=5
I0419 20:57:25.950676 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0085064m maha_sq=0.00313411 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9121, -2.52799) lm_pos=(15.915, -2.52) delta=(-0.00293162, -0.00798527) -> 1 candidate(s)
I0419 20:57:25.950770 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290459500839.
I0419 20:57:25.982252 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290459814905.
I0419 20:57:25.986598 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:26.092906 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86008, 4.29501)
I0419 20:57:26.093109 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00394246 range=0.511 variance=0.000572304 t_weight=5241.97 r_weight=0 yaml=(16.815, -1.32) prior=(17.1053, -1.83102, -0.750435deg) obs_actual=(-0.288099, 0.510624) obs_expected=(-0.296998, 0.507172) delta=(0.00889909, 0.00345221) |delta|=0.00954524m
I0419 20:57:26.093192 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290460100565.
I0419 20:57:26.093835 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:26.093884 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:26.093906 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:26.095386 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.887167, 0.712714), points=4, range=1.13725, residual=0.00628231, extent=0.0154801
I0419 20:57:26.095463 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.887167, 0.712714), tracking=(-1.18567, -0.712714), map_predicted=(15.9104, -2.52814), range=1.13725, pts=4
I0419 20:57:26.095494 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00933705m maha_sq=0.00379099 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9104, -2.52814) lm_pos=(15.915, -2.52) delta=(-0.00456968, -0.0081424) -> 1 candidate(s)
I0419 20:57:26.095592 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290460416128.
I0419 20:57:26.098575 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:26.098698 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290460692802.
I0419 20:57:26.099311 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27416, -2.4828)
I0419 20:57:26.101697 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290460981015.
I0419 20:57:26.131078 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.489599, -4.29719), points=4, range=4.32425, residual=0.0157774, extent=0.0377607
I0419 20:57:26.131244 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.489599, -4.29719), tracking=(-0.191099, -4.29719), map_predicted=(16.8568, -6.12383), range=4.32425, pts=4
I0419 20:57:26.131305 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72485m maha_sq=586.874 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8568, -6.12383) lm_pos=(15.915, -2.52) delta=(0.941756, -3.60383) -> 0 candidate(s)
I0419 20:57:26.132563 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0886572s, prior_pose=(17.1042, -1.82952), yaw=-0.751883 deg
I0419 20:57:26.132652 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1331, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:57:26.133554 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:26.133638 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:26.133947 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290461302892.
I0419 20:57:26.244514 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86088, 4.29685)
I0419 20:57:26.244707 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290461574683.
I0419 20:57:26.248277 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290461853297.
I0419 20:57:26.250512 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537657, -2.49388), points=6, range=2.5535, residual=0.0152215, extent=0.0422006
I0419 20:57:26.250613 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537657, -2.49388), tracking=(-0.239157, -2.49388), map_predicted=(16.8343, -4.31909), range=2.5535, pts=6
I0419 20:57:26.250648 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02033m maha_sq=175.034 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8343, -4.31909) lm_pos=(15.915, -2.52) delta=(0.919254, -1.79909) -> 0 candidate(s)
I0419 20:57:26.251094 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.886611, 0.711533)
I0419 20:57:26.251247 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290462177125.
I0419 20:57:26.253772 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290462452623.
I0419 20:57:26.328464 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290462733034.
I0419 20:57:26.330399 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32791, -4.27657)
I0419 20:57:26.330590 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.527556, -2.49993), points=5, range=2.5518, residual=0.014557, extent=0.0381707
I0419 20:57:26.330626 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.527556, -2.49993), tracking=(-0.229056, -2.49993), map_predicted=(16.8426, -4.32481), range=2.5518, pts=5
I0419 20:57:26.330650 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02924m maha_sq=176.732 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8426, -4.32481) lm_pos=(15.915, -2.52) delta=(0.927623, -1.80481) -> 0 candidate(s)
I0419 20:57:26.331262 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:26.331315 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:26.331336 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:26.331384 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00194187 range=0.510815 variance=0.000575227 t_weight=5215.34 r_weight=0 yaml=(16.815, -1.32) prior=(17.1049, -1.82814, -0.762114deg) obs_actual=(-0.294076, 0.510425) obs_expected=(-0.296644, 0.504244) delta=(0.00256827, 0.00618168) |delta|=0.00669396m
I0419 20:57:26.331483 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290463052584.
I0419 20:57:26.332643 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1044, -1.8291), yaw=-0.761157 deg backend=(17.1035, -1.8299)
I0419 20:57:26.334741 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290463342176.
I0419 20:57:26.366242 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:26.367347 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.882118, 0.710726)
I0419 20:57:26.367622 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290463653992.
I0419 20:57:26.394441 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881028, 0.71343), points=4, range=1.136, residual=0.00761786, extent=0.0185435
I0419 20:57:26.394619 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881028, 0.71343), tracking=(-1.17953, -0.71343), map_predicted=(15.9142, -2.52747), range=1.136, pts=4
I0419 20:57:26.394677 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0075132m maha_sq=0.00245264 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9142, -2.52747) lm_pos=(15.915, -2.52) delta=(-0.000836815, -0.00746645) -> 1 candidate(s)
I0419 20:57:26.394753 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:26.394913 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290463933545.
I0419 20:57:26.503237 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684162s, prior_pose=(17.1025, -1.8305), yaw=-0.754379 deg
I0419 20:57:26.503348 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1333, max_intensity=252, threshold=230, above_threshold=33, candidates=33
I0419 20:57:26.503476 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:26.503501 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:26.503567 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.02827 deg, rms_residual=0.0055025m, sigma_yaw=0.00728323 rad, N=2
I0419 20:57:26.503611 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1046, -1.83164, -1.02827deg) inliers=2 rms=0.0055025m
I0419 20:57:26.503643 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290464337974.
I0419 20:57:26.505733 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.3216, -4.27817)
I0419 20:57:26.506487 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290464539483.
I0419 20:57:26.507757 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.887123, 0.711973), points=5, range=1.1394, residual=0.00730656, extent=0.0192857
I0419 20:57:26.507825 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.887123, 0.711973), tracking=(-1.18562, -0.711973), map_predicted=(15.9083, -2.52714), range=1.1394, pts=5
I0419 20:57:26.507853 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00981894m maha_sq=0.00418983 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9083, -2.52714) lm_pos=(15.915, -2.52) delta=(-0.00673958, -0.0071407) -> 1 candidate(s)
I0419 20:57:26.507898 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:26.507936 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:26.507953 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290464818146.
I0419 20:57:26.510635 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290465092378.
I0419 20:57:26.514511 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26867, -2.48092)
I0419 20:57:26.605545 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:26.605739 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290465379204.
I0419 20:57:26.607555 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25389, -0.671398), points=4, range=1.4195, residual=0.00773166, extent=0.015395
I0419 20:57:26.607681 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25389, -0.671398), tracking=(1.55239, -0.671398), map_predicted=(18.6486, -2.52199), range=1.4195, pts=4
I0419 20:57:26.607718 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19247m maha_sq=208.677 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6486, -2.52199) lm_pos=(16.815, -1.32) delta=(1.83361, -1.20199) -> 0 candidate(s)
I0419 20:57:26.608873 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:26.609521 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290465695510.
I0419 20:57:26.611766 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86028, 4.29547)
I0419 20:57:26.611934 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00321093 range=0.511462 variance=0.000566231 t_weight=5298.19 r_weight=0 yaml=(16.815, -1.32) prior=(17.1043, -1.8292, -0.777212deg) obs_actual=(-0.289582, 0.510748) obs_expected=(-0.296189, 0.505225) delta=(0.00660696, 0.00552277) |delta|=0.0086112m
I0419 20:57:26.611987 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290465979494.
I0419 20:57:26.612362 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:26.612401 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:26.612422 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:26.626852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290466259667.
I0419 20:57:26.630215 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25351, -0.673534), points=3, range=1.41867, residual=0.00851953, extent=0.0162468
I0419 20:57:26.630414 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25351, -0.673534), tracking=(1.55201, -0.673534), map_predicted=(18.6462, -2.52348), range=1.41867, pts=3
I0419 20:57:26.630465 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19127m maha_sq=208.335 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6462, -2.52348) lm_pos=(16.815, -1.32) delta=(1.8312, -1.20348) -> 0 candidate(s)
I0419 20:57:26.659765 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.886346, 0.714527)
I0419 20:57:26.659956 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:26.660115 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290466582102.
I0419 20:57:26.741647 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290466856089.
I0419 20:57:26.744285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290467141847.
I0419 20:57:26.745150 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592926s, prior_pose=(17.1038, -1.82938), yaw=-0.759091 deg
I0419 20:57:26.745234 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1100, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 20:57:26.745296 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:26.745317 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:26.745342 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24363, -0.672893), points=3, range=1.413, residual=0.00459706, extent=0.00827241
I0419 20:57:26.745364 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.24363, -0.672893), tracking=(1.54213, -0.672893), map_predicted=(18.6369, -2.52264), range=1.413, pts=3
I0419 20:57:26.745388 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18303m maha_sq=207.236 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6369, -2.52264) lm_pos=(16.815, -1.32) delta=(1.82189, -1.20264) -> 0 candidate(s)
I0419 20:57:26.746891 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85522, 4.30092)
I0419 20:57:26.746999 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290467459994.
I0419 20:57:26.774482 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290467735123.
I0419 20:57:26.863593 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290468012466.
I0419 20:57:26.864411 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27401, -2.4825)
I0419 20:57:26.865594 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86585, 4.29123), points=3, range=4.67933, residual=0.0117637, extent=0.0286678
I0419 20:57:26.865679 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.86585, 4.29123), tracking=(1.56735, -4.29123), map_predicted=(18.6119, -6.14026), range=4.67933, pts=3
I0419 20:57:26.865706 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51435m maha_sq=863.138 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6119, -6.14026) lm_pos=(15.915, -2.52) delta=(2.69687, -3.62026) -> 0 candidate(s)
I0419 20:57:26.868476 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290468617860.
I0419 20:57:26.869262 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:26.890264 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85415, 4.29847)
I0419 20:57:26.890444 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290468897595.
I0419 20:57:26.894548 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:26.895563 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:26.895622 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:26.923051 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.887625, 0.712769), points=6, range=1.13533, residual=0.0122146, extent=0.0318689
I0419 20:57:26.923197 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.887625, 0.712769), tracking=(-1.18612, -0.712769), map_predicted=(15.9073, -2.52487), range=1.13533, pts=6
I0419 20:57:26.923229 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00907481m maha_sq=0.00356404 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9073, -2.52487) lm_pos=(15.915, -2.52) delta=(-0.00765681, -0.00487087) -> 1 candidate(s)
I0419 20:57:26.923344 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290469220557.
I0419 20:57:26.999756 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27309, -2.48072)
I0419 20:57:27.005115 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:27.005352 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00492631 range=1.137 variance=0.000515014 t_weight=5825.08 r_weight=0 yaml=(15.915, -2.52) prior=(17.1037, -1.83067, -0.783018deg) obs_actual=(-1.18645, -0.713338) obs_expected=(-1.17918, -0.705514) delta=(-0.00726441, -0.00782435) |delta|=0.0106767m
I0419 20:57:27.005474 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290469775198.
I0419 20:57:27.006126 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25136, -0.67471), points=4, range=1.41575, residual=0.0141975, extent=0.032435
I0419 20:57:27.006186 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25136, -0.67471), tracking=(1.54986, -0.67471), map_predicted=(18.6442, -2.52649), range=1.41575, pts=4
I0419 20:57:27.006211 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19126m maha_sq=207.175 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6442, -2.52649) lm_pos=(16.815, -1.32) delta=(1.82921, -1.20649) -> 0 candidate(s)
I0419 20:57:27.010339 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290470098279.
I0419 20:57:27.014096 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.036271s, prior_pose=(17.1047, -1.82922), yaw=-0.782266 deg
I0419 20:57:27.014179 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1098, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:57:27.014246 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:27.014271 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:27.038532 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85768, 4.28949)
I0419 20:57:27.113902 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.883196, 0.712322), points=4, range=1.1365, residual=0.00998014, extent=0.0222992
I0419 20:57:27.114024 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.883196, 0.712322), tracking=(-1.1817, -0.712322), map_predicted=(15.9119, -2.52464), range=1.1365, pts=4
I0419 20:57:27.114050 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00556225m maha_sq=0.00133719 (gate chi2=5.99) pose_sigma=(0.150267, 0.150267, rho=0) det_map=(15.9119, -2.52464) lm_pos=(15.915, -2.52) delta=(-0.00307366, -0.00463587) -> 1 candidate(s)
I0419 20:57:27.114141 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290470694449.
I0419 20:57:27.115609 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290470974211.
I0419 20:57:27.115976 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27584, -2.48606)
I0419 20:57:27.126859 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290471262168.
I0419 20:57:27.158020 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:27.158205 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:27.158248 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290471573451.
I0419 20:57:27.162451 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27172, -2.47806), points=4, range=2.78125, residual=0.0130327, extent=0.0279794
I0419 20:57:27.162573 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27172, -2.47806), tracking=(1.57022, -2.47806), map_predicted=(18.6408, -4.3275), range=2.78125, pts=4
I0419 20:57:27.162621 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27063m maha_sq=459.332 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6408, -4.3275) lm_pos=(15.915, -2.52) delta=(2.7258, -1.8075) -> 0 candidate(s)
I0419 20:57:27.162662 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:27.186407 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86048, 4.29593)
I0419 20:57:27.186846 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.899784 deg, rms_residual=0.00476026m, sigma_yaw=0.00630698 rad, N=2
I0419 20:57:27.187094 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1046, -1.83034, -0.899784deg) inliers=2 rms=0.00476026m
I0419 20:57:27.187254 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290471852160.
I0419 20:57:27.276526 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1054, -1.82876), yaw=-0.766129 deg backend=(17.1018, -1.83071)
I0419 20:57:27.277186 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:27.277251 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:27.277271 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:27.278887 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290472180607.
I0419 20:57:27.281023 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:27.281158 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290472451668.
I0419 20:57:27.281643 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27202, -2.47865)
I0419 20:57:27.281690 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2535, -0.673537), points=3, range=1.42033, residual=0.00613354, extent=0.0108215
I0419 20:57:27.281714 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.2535, -0.673537), tracking=(1.552, -0.673537), map_predicted=(18.6472, -2.52319), range=1.42033, pts=3
I0419 20:57:27.281735 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19194m maha_sq=208.778 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6472, -2.52319) lm_pos=(16.815, -1.32) delta=(1.8322, -1.20319) -> 0 candidate(s)
I0419 20:57:27.282949 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290472732346.
I0419 20:57:27.302978 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00474078 range=1.13875 variance=0.000512429 t_weight=5854.48 r_weight=0 yaml=(15.915, -2.52) prior=(17.1051, -1.82949, -0.766056deg) obs_actual=(-1.19025, -0.71072) obs_expected=(-1.18075, -0.706359) delta=(-0.009496, -0.00436137) |delta|=0.0104497m
I0419 20:57:27.303170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290473021736.
I0419 20:57:27.305734 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602856s, prior_pose=(17.1051, -1.82949), yaw=-0.766056 deg
I0419 20:57:27.305807 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=248, threshold=230, above_threshold=17, candidates=17
I0419 20:57:27.305871 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:27.305920 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:27.393455 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.3288, -4.27944)
I0419 20:57:27.394161 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00223539, -0.510673), points=25, range=0.51052, residual=0.0114142, extent=0.0357929
I0419 20:57:27.394246 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00223539, -0.510673), tracking=(-0.296265, 0.510673), map_predicted=(16.817, -1.31607), range=0.51052, pts=25
I0419 20:57:27.394275 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00442212m maha_sq=0.000846465 (gate chi2=5.99) pose_sigma=(0.150134, 0.150134, rho=0) det_map=(16.817, -1.31607) lm_pos=(16.815, -1.32) delta=(0.00203434, 0.00392639) -> 1 candidate(s)
I0419 20:57:27.394369 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290473336221.
I0419 20:57:27.395972 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290473616050.
I0419 20:57:27.399433 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.88767, 0.708877)
I0419 20:57:27.399706 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290473940839.
I0419 20:57:27.422170 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290474212013.
I0419 20:57:27.426617 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483358, -4.29788), points=5, range=4.3248, residual=0.0190511, extent=0.0503836
I0419 20:57:27.426728 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483358, -4.29788), tracking=(-0.184858, -4.29788), map_predicted=(16.8651, -6.12473), range=4.3248, pts=5
I0419 20:57:27.426820 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72785m maha_sq=584.995 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8651, -6.12473) lm_pos=(15.915, -2.52) delta=(0.950135, -3.60473) -> 0 candidate(s)
I0419 20:57:27.451035 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290474498020.
I0419 20:57:27.556783 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85258, 4.2948)
I0419 20:57:27.556974 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290474781535.
I0419 20:57:27.557612 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:27.557667 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:27.557688 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:27.560469 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537211, -2.49174), points=4, range=2.5515, residual=0.0106852, extent=0.0257907
I0419 20:57:27.560570 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537211, -2.49174), tracking=(-0.238711, -2.49174), map_predicted=(16.8335, -4.31756), range=2.5515, pts=4
I0419 20:57:27.560611 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01862m maha_sq=175.374 (gate chi2=5.99) pose_sigma=(0.150111, 0.150111, rho=0) det_map=(16.8335, -4.31756) lm_pos=(15.915, -2.52) delta=(0.918484, -1.79756) -> 0 candidate(s)
I0419 20:57:27.562417 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:27.562543 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290475373992.
I0419 20:57:27.564586 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26742, -2.47847)
I0419 20:57:27.566725 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:27.566836 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290475661473.
I0419 20:57:27.671820 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290475976000.
I0419 20:57:27.672456 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598649s, prior_pose=(17.1056, -1.82956), yaw=-0.768657 deg
I0419 20:57:27.672519 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:57:27.672569 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:27.672590 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:27.672607 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.53058, -2.49623), points=4, range=2.54975, residual=0.0108746, extent=0.0262904
I0419 20:57:27.672631 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.53058, -2.49623), tracking=(-0.23208, -2.49623), map_predicted=(16.84, -4.32244), range=2.54975, pts=4
I0419 20:57:27.672652 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02594m maha_sq=176.871 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.84, -4.32244) lm_pos=(15.915, -2.52) delta=(0.925004, -1.80244) -> 0 candidate(s)
I0419 20:57:27.673833 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86624, 4.29215)
I0419 20:57:27.676447 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290476541727.
I0419 20:57:27.687410 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00428112 range=1.13975 variance=0.000514304 t_weight=5833.13 r_weight=0 yaml=(15.915, -2.52) prior=(17.1052, -1.82999, -0.769337deg) obs_actual=(-1.18238, -0.715739) obs_expected=(-1.18085, -0.705925) delta=(-0.00153116, -0.00981376) |delta|=0.00993249m
I0419 20:57:27.687743 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290476858376.
I0419 20:57:27.690750 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26844, -2.48048)
I0419 20:57:27.690889 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27401, -2.4825), points=4, range=2.786, residual=0.0134407, extent=0.0308318
I0419 20:57:27.690930 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27401, -2.4825), tracking=(1.57251, -2.4825), map_predicted=(18.6443, -4.33339), range=2.786, pts=4
I0419 20:57:27.690969 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27677m maha_sq=460.83 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6443, -4.33339) lm_pos=(15.915, -2.52) delta=(2.72925, -1.81339) -> 0 candidate(s)
I0419 20:57:27.714709 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290477137867.
I0419 20:57:27.816030 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:27.816582 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290477459468.
I0419 20:57:27.818697 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86267, 4.30098)
I0419 20:57:27.818820 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290477742937.
I0419 20:57:27.819258 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:27.819296 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24583, -0.674079), points=3, range=1.41933, residual=0.00773721, extent=0.0162497
I0419 20:57:27.819317 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:27.819331 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:27.819341 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24583, -0.674079), tracking=(1.54433, -0.674079), map_predicted=(18.6413, -2.5245), range=1.41933, pts=3
I0419 20:57:27.819360 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18774m maha_sq=207.777 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6413, -2.5245) lm_pos=(16.815, -1.32) delta=(1.8263, -1.2045) -> 0 candidate(s)
I0419 20:57:27.820611 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:27.820670 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:27.820693 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290478017288.
I0419 20:57:27.835044 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.889485, 0.711738)
I0419 20:57:27.835157 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:27.835250 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290478341665.
I0419 20:57:27.936980 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290478619141.
I0419 20:57:27.937541 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26957, -2.48272), points=3, range=2.78967, residual=0.00882674, extent=0.0180855
I0419 20:57:27.937613 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.26957, -2.48272), tracking=(1.56807, -2.48272), map_predicted=(18.6406, -4.33403), range=2.78967, pts=3
I0419 20:57:27.937640 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27406m maha_sq=462.096 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6406, -4.33403) lm_pos=(15.915, -2.52) delta=(2.72557, -1.81403) -> 0 candidate(s)
I0419 20:57:27.939019 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.795815 deg, rms_residual=0.00847396m, sigma_yaw=0.0111724 rad, N=2
I0419 20:57:27.939116 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1033, -1.82873, -0.795815deg) inliers=2 rms=0.00847396m
I0419 20:57:27.939154 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290478902577.
I0419 20:57:27.940618 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0318132s, prior_pose=(17.1059, -1.8295), yaw=-0.793114 deg
I0419 20:57:27.940706 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:57:27.940758 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:27.940779 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:27.941965 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.33463, -4.27622)
I0419 20:57:27.942492 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290479216192.
I0419 20:57:27.950464 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290479493615.
I0419 20:57:27.954540 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.530925, -2.49786), points=4, range=2.551, residual=0.0114979, extent=0.0280137
I0419 20:57:27.954698 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.530925, -2.49786), tracking=(-0.232425, -2.49786), map_predicted=(16.8395, -4.32285), range=2.551, pts=4
I0419 20:57:27.954757 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02606m maha_sq=176.785 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8395, -4.32285) lm_pos=(15.915, -2.52) delta=(0.924487, -1.80285) -> 0 candidate(s)
I0419 20:57:27.978757 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00346932 range=1.13475 variance=0.000554583 t_weight=5409.47 r_weight=0 yaml=(15.915, -2.52) prior=(17.1064, -1.82844, -0.792678deg) obs_actual=(-1.1759, -0.714725) obs_expected=(-1.18176, -0.707973) delta=(0.00586509, -0.00675162) |delta|=0.00894336m
I0419 20:57:27.979023 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290479777837.
I0419 20:57:28.081476 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27263, -2.47984)
I0419 20:57:28.081903 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:28.082820 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290480061706.
I0419 20:57:28.085407 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290480380805.
I0419 20:57:28.086107 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537614, -2.49368), points=6, range=2.55333, residual=0.0153227, extent=0.0426773
I0419 20:57:28.086187 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537614, -2.49368), tracking=(-0.239114, -2.49368), map_predicted=(16.8317, -4.3203), range=2.55333, pts=6
I0419 20:57:28.086215 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02026m maha_sq=174.999 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8317, -4.3203) lm_pos=(15.915, -2.52) delta=(0.916726, -1.8003) -> 0 candidate(s)
I0419 20:57:28.087356 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86571, 4.29092)
I0419 20:57:28.087497 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290480654659.
I0419 20:57:28.088634 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1049, -1.82981), yaw=-0.771227 deg backend=(17.1027, -1.83143)
I0419 20:57:28.089151 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:28.089206 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:28.089223 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:28.104342 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:28.104629 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290481030995.
I0419 20:57:28.191977 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290481260544.
I0419 20:57:28.192750 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26865, -2.48093)
I0419 20:57:28.192839 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534152, -2.4952), points=5, range=2.5542, residual=0.0131315, extent=0.0342509
I0419 20:57:28.192885 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534152, -2.4952), tracking=(-0.235652, -2.4952), map_predicted=(16.8333, -4.32134), range=2.5542, pts=5
I0419 20:57:28.192922 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02189m maha_sq=175.75 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8333, -4.32134) lm_pos=(15.915, -2.52) delta=(0.918282, -1.80134) -> 0 candidate(s)
I0419 20:57:28.194013 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:28.194123 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290481537860.
I0419 20:57:28.196906 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598008s, prior_pose=(17.1053, -1.82935), yaw=-0.788499 deg
I0419 20:57:28.197039 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1339, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:57:28.197202 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:28.197245 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:28.197333 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290481858552.
I0419 20:57:28.214812 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85151, 4.29235)
I0419 20:57:28.214960 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88648, 0.713561), points=5, range=1.1352, residual=0.0102871, extent=0.0267066
I0419 20:57:28.215000 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.88648, 0.713561), tracking=(-1.18498, -0.713561), map_predicted=(15.9112, -2.52646), range=1.1352, pts=5
I0419 20:57:28.215034 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00751406m maha_sq=0.00244671 (gate chi2=5.99) pose_sigma=(0.150044, 0.150044, rho=0) det_map=(15.9112, -2.52646) lm_pos=(15.915, -2.52) delta=(-0.00383563, -0.00646135) -> 1 candidate(s)
I0419 20:57:28.215135 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290482140650.
I0419 20:57:28.243417 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290482424531.
I0419 20:57:28.338035 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290482737859.
I0419 20:57:28.338788 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26741, -2.47848)
I0419 20:57:28.338850 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25395, -0.673771), points=3, range=1.419, residual=0.00874653, extent=0.0162468
I0419 20:57:28.338877 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25395, -0.673771), tracking=(1.55245, -0.673771), map_predicted=(18.6501, -2.52169), range=1.419, pts=3
I0419 20:57:28.338899 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19359m maha_sq=208.739 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6501, -2.52169) lm_pos=(16.815, -1.32) delta=(1.83515, -1.20169) -> 0 candidate(s)
I0419 20:57:28.340806 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00438086 range=0.511963 variance=0.000584835 t_weight=5129.65 r_weight=0 yaml=(16.815, -1.32) prior=(17.1059, -1.82694, -0.755951deg) obs_actual=(-0.291076, 0.51072) obs_expected=(-0.297599, 0.503061) delta=(0.00652388, 0.00765934) |delta|=0.0100611m
I0419 20:57:28.340888 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290483017892.
I0419 20:57:28.342576 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290483297763.
I0419 20:57:28.343904 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:28.362022 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.8543, 4.29877)
I0419 20:57:28.362249 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290483614322.
I0419 20:57:28.366539 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:28.366683 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25483, -0.674243), points=3, range=1.42, residual=0.00882397, extent=0.0171202
I0419 20:57:28.366737 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:28.366771 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:28.366796 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25483, -0.674243), tracking=(1.55333, -0.674243), map_predicted=(18.6494, -2.52273), range=1.42, pts=3
I0419 20:57:28.366837 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19356m maha_sq=208.722 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6494, -2.52273) lm_pos=(16.815, -1.32) delta=(1.83444, -1.20273) -> 0 candidate(s)
I0419 20:57:28.472173 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:28.472295 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:28.472317 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290483898619.
I0419 20:57:28.474058 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:28.474157 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290484174501.
I0419 20:57:28.475545 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27218, -2.47895)
I0419 20:57:28.477049 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85889, 4.29226), points=3, range=4.676, residual=0.0132839, extent=0.0274906
I0419 20:57:28.477135 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85889, 4.29226), tracking=(1.56039, -4.29226), map_predicted=(18.6041, -6.1421), range=4.676, pts=3
I0419 20:57:28.477157 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51118m maha_sq=859.86 (gate chi2=5.99) pose_sigma=(0.150065, 0.150065, rho=0) det_map=(18.6041, -6.1421) lm_pos=(15.915, -2.52) delta=(2.68908, -3.6221) -> 0 candidate(s)
I0419 20:57:28.477227 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290484500643.
I0419 20:57:28.479547 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290484776936.
I0419 20:57:28.482750 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602321s, prior_pose=(17.1041, -1.82938), yaw=-0.798442 deg
I0419 20:57:28.482890 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 20:57:28.483013 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:28.483059 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:28.510589 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.32178, -4.27881)
I0419 20:57:28.511857 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.685139 deg, rms_residual=0.00627008m, sigma_yaw=0.0082908 rad, N=2
I0419 20:57:28.512014 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.103, -1.82838, -0.685139deg) inliers=2 rms=0.00627008m
I0419 20:57:28.512094 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290485097135.
I0419 20:57:28.613111 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290485376341.
I0419 20:57:28.613507 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483303, -4.2974), points=3, range=4.32167, residual=0.0131565, extent=0.0274425
I0419 20:57:28.613559 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483303, -4.2974), tracking=(-0.184803, -4.2974), map_predicted=(16.8607, -6.12363), range=4.32167, pts=3
I0419 20:57:28.613586 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72566m maha_sq=589.031 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8607, -6.12363) lm_pos=(15.915, -2.52) delta=(0.945692, -3.60363) -> 0 candidate(s)
I0419 20:57:28.615813 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290485662095.
I0419 20:57:28.616456 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27202, -2.47865)
I0419 20:57:28.617596 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00171526 range=0.509538 variance=0.000575194 t_weight=5215.63 r_weight=0 yaml=(16.815, -1.32) prior=(17.1041, -1.82993, -0.776597deg) obs_actual=(-0.290362, 0.508757) obs_expected=(-0.296, 0.505966) delta=(0.005638, 0.00279159) |delta|=0.00629126m
I0419 20:57:28.617702 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290485937845.
I0419 20:57:28.626021 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290486254928.
I0419 20:57:28.630455 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477148, -4.29892), points=4, range=4.32525, residual=0.0156694, extent=0.0379366
I0419 20:57:28.630522 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:28.630545 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477148, -4.29892), tracking=(-0.178648, -4.29892), map_predicted=(16.8667, -6.12527), range=4.32525, pts=4
I0419 20:57:28.630570 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72877m maha_sq=588.188 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8667, -6.12527) lm_pos=(15.915, -2.52) delta=(0.951721, -3.60527) -> 0 candidate(s)
I0419 20:57:28.713857 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85336, 4.29664)
I0419 20:57:28.714615 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:28.714679 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:28.714697 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:28.715785 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290486818259.
I0419 20:57:28.718489 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290487133169.
I0419 20:57:28.719224 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27463, -2.48368)
I0419 20:57:28.719281 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28021, -2.48569), points=3, range=2.79167, residual=0.0108348, extent=0.021435
I0419 20:57:28.719306 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.28021, -2.48569), tracking=(1.57871, -2.48569), map_predicted=(18.6499, -4.33601), range=2.79167, pts=3
I0419 20:57:28.719326 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.28291m maha_sq=463.804 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6499, -4.33601) lm_pos=(15.915, -2.52) delta=(2.73489, -1.81601) -> 0 candidate(s)
I0419 20:57:28.742584 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:28.742758 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290487415548.
I0419 20:57:28.774389 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290487731970.
I0419 20:57:28.878898 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0362712s, prior_pose=(17.1031, -1.82909), yaw=-0.793667 deg
I0419 20:57:28.879004 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1091, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:57:28.879099 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:28.879118 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:28.880240 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86558, 4.29062)
I0419 20:57:28.880384 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290488015289.
I0419 20:57:28.883101 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00965259, -0.510437), points=25, range=0.51072, residual=0.0114381, extent=0.0357929
I0419 20:57:28.883215 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00965259, -0.510437), tracking=(-0.288847, 0.510437), map_predicted=(16.8224, -1.31342), range=0.51072, pts=25
I0419 20:57:28.883248 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0098887m maha_sq=0.00423323 (gate chi2=5.99) pose_sigma=(0.150124, 0.150124, rho=0) det_map=(16.8224, -1.31342) lm_pos=(16.815, -1.32) delta=(0.0073793, 0.00658274) -> 1 candidate(s)
I0419 20:57:28.883347 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290488297643.
I0419 20:57:28.885505 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.886163, 0.713321)
I0419 20:57:28.885658 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290488613941.
I0419 20:57:28.890882 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:29.003127 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0104066, -0.511101), points=26, range=0.511654, residual=0.011871, extent=0.0373479
I0419 20:57:29.003283 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0104066, -0.511101), tracking=(-0.288093, 0.511101), map_predicted=(16.825, -1.31372), range=0.511654, pts=26
I0419 20:57:29.003319 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0118107m maha_sq=0.00603097 (gate chi2=5.99) pose_sigma=(0.15019, 0.15019, rho=0) det_map=(16.825, -1.31372) lm_pos=(16.815, -1.32) delta=(0.0100022, 0.00628088) -> 1 candidate(s)
I0419 20:57:29.003423 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290489180517.
I0419 20:57:29.004122 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:29.005340 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86287, 4.30143)
I0419 20:57:29.005482 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290489459483.
I0419 20:57:29.006611 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1048, -1.83069), yaw=-0.773338 deg backend=(17.1036, -1.83042)
I0419 20:57:29.007125 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:29.007174 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:29.007194 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:29.008428 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00265981 range=0.512259 variance=0.000578058 t_weight=5189.79 r_weight=0 yaml=(16.815, -1.32) prior=(17.1048, -1.83069, -0.773338deg) obs_actual=(-0.290324, 0.511302) obs_expected=(-0.296698, 0.50673) delta=(0.00637351, 0.0045724) |delta|=0.00784401m
I0419 20:57:29.008523 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290489774588.
I0419 20:57:29.011104 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0081726, -0.510848), points=27, range=0.512, residual=0.0124255, extent=0.0417595
I0419 20:57:29.011179 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0081726, -0.510848), tracking=(-0.290327, 0.510848), map_predicted=(16.8207, -1.31556), range=0.512, pts=27
I0419 20:57:29.011206 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00719953m maha_sq=0.00224334 (gate chi2=5.99) pose_sigma=(0.150065, 0.150065, rho=0) det_map=(16.8207, -1.31556) lm_pos=(16.815, -1.32) delta=(0.00566683, 0.00444075) -> 1 candidate(s)
I0419 20:57:29.011229 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:29.011286 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290490061179.
I0419 20:57:29.011924 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.2674, -2.47848)
I0419 20:57:29.037885 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:29.038059 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:29.038101 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290490372236.
I0419 20:57:29.127776 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290490658197.
I0419 20:57:29.128369 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0631142s, prior_pose=(17.105, -1.8309), yaw=-0.773755 deg
I0419 20:57:29.128445 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:57:29.128501 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:29.128521 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:29.131261 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32835, -4.27801)
I0419 20:57:29.131364 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483916, -4.30287), points=3, range=4.328, residual=0.0125669, extent=0.0261313
I0419 20:57:29.131390 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:29.131413 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483916, -4.30287), tracking=(-0.185416, -4.30287), map_predicted=(16.8625, -6.13048), range=4.328, pts=3
I0419 20:57:29.131439 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73273m maha_sq=591.036 (gate chi2=5.99) pose_sigma=(0.150077, 0.150077, rho=0) det_map=(16.8625, -6.13048) lm_pos=(15.915, -2.52) delta=(0.947484, -3.61048) -> 0 candidate(s)
I0419 20:57:29.133831 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290491253154.
I0419 20:57:29.158197 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27296, -2.48042)
I0419 20:57:29.230151 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0104347, -0.511909), points=26, range=0.512577, residual=0.0120025, extent=0.037589
I0419 20:57:29.230289 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0104347, -0.511909), tracking=(-0.288065, 0.511909), map_predicted=(16.8228, -1.31491), range=0.512577, pts=26
I0419 20:57:29.230326 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00932395m maha_sq=0.00375831 (gate chi2=5.99) pose_sigma=(0.150187, 0.150187, rho=0) det_map=(16.8228, -1.31491) lm_pos=(16.815, -1.32) delta=(0.00781077, 0.00509194) -> 1 candidate(s)
I0419 20:57:29.230459 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290491819592.
I0419 20:57:29.232405 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290492137017.
I0419 20:57:29.242971 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85404, 4.29816)
I0419 20:57:29.243362 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290492420337.
I0419 20:57:29.245867 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:29.245950 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:29.245975 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:29.278141 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534308, -2.49594), points=5, range=2.5512, residual=0.0123206, extent=0.03242
I0419 20:57:29.278316 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534308, -2.49594), tracking=(-0.235808, -2.49594), map_predicted=(16.8345, -4.3213), range=2.5512, pts=5
I0419 20:57:29.278368 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02242m maha_sq=175.849 (gate chi2=5.99) pose_sigma=(0.150067, 0.150067, rho=0) det_map=(16.8345, -4.3213) lm_pos=(15.915, -2.52) delta=(0.91951, -1.8013) -> 0 candidate(s)
I0419 20:57:29.303022 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290493017263.
I0419 20:57:29.305894 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26752, -2.4787)
I0419 20:57:29.392707 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=1, buffered=6).
I0419 20:57:29.392828 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290493298350.
I0419 20:57:29.395509 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490474, -4.3048), points=4, range=4.33125, residual=0.0156914, extent=0.0382596
I0419 20:57:29.395615 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490474, -4.3048), tracking=(-0.191974, -4.3048), map_predicted=(16.8554, -6.12815), range=4.33125, pts=4
I0419 20:57:29.395643 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72868m maha_sq=587.798 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(16.8554, -6.12815) lm_pos=(15.915, -2.52) delta=(0.940397, -3.60815) -> 0 candidate(s)
I0419 20:57:29.395954 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566119s, prior_pose=(17.1052, -1.82632), yaw=-0.770568 deg
I0419 20:57:29.396001 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1336, max_intensity=252, threshold=230, above_threshold=32, candidates=32
I0419 20:57:29.396116 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:29.396136 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:29.396194 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.00947 deg, rms_residual=0.00626992m, sigma_yaw=0.00829059 rad, N=2
I0419 20:57:29.396237 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1053, -1.83083, -1.00947deg) inliers=2 rms=0.00626992m
I0419 20:57:29.396304 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290493619200.
I0419 20:57:29.397743 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86479, 4.28878)
I0419 20:57:29.397853 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00655261 range=0.511231 variance=0.000572541 t_weight=5239.8 r_weight=0 yaml=(16.815, -1.32) prior=(17.1052, -1.82632, -0.770568deg) obs_actual=(-0.288096, 0.510815) obs_expected=(-0.29703, 0.502366) delta=(0.00893363, 0.00844841) |delta|=0.0122957m
I0419 20:57:29.397921 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290493894368.
I0419 20:57:29.541860 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.528277, -2.50335), points=5, range=2.556, residual=0.0140229, extent=0.0370022
I0419 20:57:29.541972 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.528277, -2.50335), tracking=(-0.229777, -2.50335), map_predicted=(16.8429, -4.32659), range=2.556, pts=5
I0419 20:57:29.542003 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03095m maha_sq=176.841 (gate chi2=5.99) pose_sigma=(0.150132, 0.150132, rho=0) det_map=(16.8429, -4.32659) lm_pos=(15.915, -2.52) delta=(0.927883, -1.80659) -> 0 candidate(s)
I0419 20:57:29.542161 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:29.542490 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.886998, 0.712271)
I0419 20:57:29.542598 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290494499095.
I0419 20:57:29.546700 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290495055037.
I0419 20:57:29.547307 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2734, -2.48132), points=3, range=2.789, residual=0.00706084, extent=0.0164921
I0419 20:57:29.547369 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.2734, -2.48132), tracking=(1.5719, -2.48132), map_predicted=(18.6441, -4.32915), range=2.789, pts=3
I0419 20:57:29.547394 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27428m maha_sq=462.72 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6441, -4.32915) lm_pos=(15.915, -2.52) delta=(2.72908, -1.80915) -> 0 candidate(s)
I0419 20:57:29.547416 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:29.549259 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85739, 4.2888)
I0419 20:57:29.549938 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:29.549981 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:29.550002 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:29.568925 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290495661260.
I0419 20:57:29.649890 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:29.650043 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290495935118.
I0419 20:57:29.650533 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27431, -2.4831)
I0419 20:57:29.650601 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27884, -2.48302), points=3, range=2.791, residual=0.00854655, extent=0.0169814
I0419 20:57:29.650674 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27884, -2.48302), tracking=(1.57734, -2.48302), map_predicted=(18.6468, -4.33115), range=2.791, pts=3
I0419 20:57:29.650704 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27766m maha_sq=463.207 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6468, -4.33115) lm_pos=(15.915, -2.52) delta=(2.73181, -1.81115) -> 0 candidate(s)
I0419 20:57:29.653411 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290496254498.
I0419 20:57:29.654845 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290496501772.
I0419 20:57:29.657544 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0910743s, prior_pose=(17.1043, -1.82808), yaw=-0.768962 deg
I0419 20:57:29.657636 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1084, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:57:29.657701 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:29.657721 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:29.681986 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86107, 4.29731)
I0419 20:57:29.682235 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290496814607.
I0419 20:57:29.686545 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477256, -4.29992), points=3, range=4.32633, residual=0.0105735, extent=0.0258729
I0419 20:57:29.686710 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477256, -4.29992), tracking=(-0.178756, -4.29992), map_predicted=(16.8692, -6.12515), range=4.32633, pts=3
I0419 20:57:29.686760 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72929m maha_sq=591.694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8692, -6.12515) lm_pos=(15.915, -2.52) delta=(0.954197, -3.60515) -> 0 candidate(s)
I0419 20:57:29.757639 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290497103063.
I0419 20:57:29.759539 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290497415663.
I0419 20:57:29.761289 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27339, -2.48132)
I0419 20:57:29.764358 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:29.769944 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:29.770099 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00351094 range=0.510077 variance=0.000565462 t_weight=5305.4 r_weight=0 yaml=(16.815, -1.32) prior=(17.1057, -1.82881, -0.76789deg) obs_actual=(-0.289616, 0.509224) obs_expected=(-0.297502, 0.504873) delta=(0.00788606, 0.00435146) |delta|=0.00900695m
I0419 20:57:29.770184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290497693714.
I0419 20:57:29.774272 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2734, -2.48132), points=4, range=2.78525, residual=0.012572, extent=0.0280173
I0419 20:57:29.774359 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.2734, -2.48132), tracking=(1.5719, -2.48132), map_predicted=(18.6442, -4.33098), range=2.78525, pts=4
I0419 20:57:29.774389 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.2754m maha_sq=460.894 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6442, -4.33098) lm_pos=(15.915, -2.52) delta=(2.72921, -1.81098) -> 0 candidate(s)
I0419 20:57:29.798062 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:29.798213 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:29.798240 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290497974248.
I0419 20:57:29.829875 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85297, 4.29572)
I0419 20:57:29.830143 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290498293536.
I0419 20:57:29.910073 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1065, -1.82761), yaw=-0.787953 deg backend=(17.1045, -1.82958)
I0419 20:57:29.910641 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:29.910697 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:29.910718 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:29.911960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290498577517.
I0419 20:57:29.912604 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27203, -2.47865), points=4, range=2.782, residual=0.0128666, extent=0.027987
I0419 20:57:29.912670 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27203, -2.47865), tracking=(1.57053, -2.47865), map_predicted=(18.6428, -4.32762), range=2.782, pts=4
I0419 20:57:29.912698 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27238m maha_sq=459.905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6428, -4.32762) lm_pos=(15.915, -2.52) delta=(2.72781, -1.80762) -> 0 candidate(s)
I0419 20:57:29.914837 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290498894782.
I0419 20:57:29.915452 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27218, -2.47894)
I0419 20:57:29.918936 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=1, buffered=6).
I0419 20:57:29.919116 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290499180833.
I0419 20:57:29.947160 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290499458527.
I0419 20:57:29.949622 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597724s, prior_pose=(17.1039, -1.82773), yaw=-0.789353 deg
I0419 20:57:29.949743 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:57:29.949836 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:29.949865 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:30.069916 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86267, 4.30098)
I0419 20:57:30.070065 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00888837, -0.509034), points=26, range=0.509692, residual=0.0118587, extent=0.0380743
I0419 20:57:30.070151 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00888837, -0.509034), tracking=(-0.289612, 0.509034), map_predicted=(16.8216, -1.31759), range=0.509692, pts=26
I0419 20:57:30.070186 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00701804m maha_sq=0.00212893 (gate chi2=5.99) pose_sigma=(0.15021, 0.15021, rho=0) det_map=(16.8216, -1.31759) lm_pos=(16.815, -1.32) delta=(0.00659172, 0.00240877) -> 1 candidate(s)
I0419 20:57:30.070288 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290499740206.
I0419 20:57:30.072387 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290500053913.
I0419 20:57:30.075163 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290500340407.
I0419 20:57:30.075860 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.2731, -2.48072)
I0419 20:57:30.077955 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33452, -4.27591), points=4, range=4.47925, residual=0.0159942, extent=0.0390949
I0419 20:57:30.078022 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33452, -4.27591), tracking=(1.63302, -4.27591), map_predicted=(18.6815, -6.12659), range=4.47925, pts=4
I0419 20:57:30.078048 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54545m maha_sq=871.203 (gate chi2=5.99) pose_sigma=(0.150111, 0.150111, rho=0) det_map=(18.6815, -6.12659) lm_pos=(15.915, -2.52) delta=(2.76653, -3.60659) -> 0 candidate(s)
I0419 20:57:30.078518 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290500662754.
I0419 20:57:30.094244 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.85233 deg, rms_residual=0.00714532m, sigma_yaw=0.00943718 rad, N=2
I0419 20:57:30.094388 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00587222 range=0.512037 variance=0.00058436 t_weight=5133.82 r_weight=0 yaml=(16.815, -1.32) prior=(17.1065, -1.82897, -0.775539deg) obs_actual=(-0.288816, 0.511594) obs_expected=(-0.298394, 0.504975) delta=(0.00957852, 0.00661879) |delta|=0.0116429m
I0419 20:57:30.094513 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1005, -1.83012, -0.85233deg) inliers=2 rms=0.00714532m
I0419 20:57:30.094576 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290500931895.
I0419 20:57:30.098534 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:30.204767 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86147, 4.29823)
I0419 20:57:30.204982 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290501215869.
I0419 20:57:30.205705 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:30.205760 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:30.205785 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:30.207671 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483748, -4.30138), points=3, range=4.327, residual=0.0123334, extent=0.0256623
I0419 20:57:30.207733 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483748, -4.30138), tracking=(-0.185248, -4.30138), map_predicted=(16.857, -6.12652), range=4.327, pts=3
I0419 20:57:30.207758 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72753m maha_sq=589.34 (gate chi2=5.99) pose_sigma=(0.150104, 0.150104, rho=0) det_map=(16.857, -6.12652) lm_pos=(15.915, -2.52) delta=(0.94205, -3.60652) -> 0 candidate(s)
I0419 20:57:30.209626 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:30.211145 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.892105, 0.712404)
I0419 20:57:30.211203 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:30.211282 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290501824881.
I0419 20:57:30.212550 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290502094195.
I0419 20:57:30.318339 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290502412908.
I0419 20:57:30.319056 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0632999s, prior_pose=(17.1022, -1.82922), yaw=-0.752952 deg
I0419 20:57:30.319133 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 20:57:30.319186 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:30.319208 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:30.319229 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483855, -4.30237), points=3, range=4.33067, residual=0.0123977, extent=0.0258956
I0419 20:57:30.319250 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483855, -4.30237), tracking=(-0.185355, -4.30237), map_predicted=(16.8603, -6.12878), range=4.33067, pts=3
I0419 20:57:30.319269 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73054m maha_sq=591.013 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8603, -6.12878) lm_pos=(15.915, -2.52) delta=(0.945312, -3.60878) -> 0 candidate(s)
I0419 20:57:30.320353 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86008, 4.29501)
I0419 20:57:30.320500 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290502702525.
I0419 20:57:30.323755 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290503057785.
I0419 20:57:30.326112 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290503256235.
I0419 20:57:30.334578 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26672, -2.47715)
I0419 20:57:30.334939 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.496216, -4.29969), points=5, range=4.3278, residual=0.0191307, extent=0.0503391
I0419 20:57:30.335016 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.496216, -4.29969), tracking=(-0.197716, -4.29969), map_predicted=(16.8508, -6.12603), range=4.3278, pts=5
I0419 20:57:30.335063 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72547m maha_sq=584.157 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8508, -6.12603) lm_pos=(15.915, -2.52) delta=(0.935779, -3.60603) -> 0 candidate(s)
I0419 20:57:30.358850 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290503578584.
I0419 20:57:30.455255 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290503901518.
I0419 20:57:30.457624 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86678, 4.29337)
I0419 20:57:30.457734 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:30.457763 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00397555 range=1.13725 variance=0.000492252 t_weight=6094.44 r_weight=0 yaml=(15.915, -2.52) prior=(17.1044, -1.82927, -0.770344deg) obs_actual=(-1.18937, -0.708624) obs_expected=(-1.18001, -0.70666) delta=(-0.00936241, -0.00196374) |delta|=0.00956614m
I0419 20:57:30.457816 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:30.457839 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290504182022.
I0419 20:57:30.458199 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:30.458241 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477185, -4.29925), points=4, range=4.3265, residual=0.0157787, extent=0.0385811
I0419 20:57:30.458262 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:30.458277 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:30.458288 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477185, -4.29925), tracking=(-0.178685, -4.29925), map_predicted=(16.8679, -6.12573), range=4.3265, pts=4
I0419 20:57:30.458303 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72953m maha_sq=588.335 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8679, -6.12573) lm_pos=(15.915, -2.52) delta=(0.95293, -3.60573) -> 0 candidate(s)
I0419 20:57:30.459672 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290504456316.
I0419 20:57:30.474771 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290504735974.
I0419 20:57:30.478715 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.27363, -2.48175)
I0419 20:57:30.561723 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.84561, 4.29581), points=3, range=4.676, residual=0.0132089, extent=0.0274906
I0419 20:57:30.561812 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.84561, 4.29581), tracking=(1.54711, -4.29581), map_predicted=(18.5931, -6.14634), range=4.676, pts=3
I0419 20:57:30.561842 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50806m maha_sq=857.765 (gate chi2=5.99) pose_sigma=(0.150155, 0.150155, rho=0) det_map=(18.5931, -6.14634) lm_pos=(15.915, -2.52) delta=(2.67811, -3.62634) -> 0 candidate(s)
I0419 20:57:30.561882 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:30.561934 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290505058353.
I0419 20:57:30.564105 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872852s, prior_pose=(17.1035, -1.83025), yaw=-0.765421 deg
I0419 20:57:30.564201 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1334, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:57:30.564322 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:30.564348 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:30.564492 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290505374560.
I0419 20:57:30.566817 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.33492, -4.27718)
I0419 20:57:30.567543 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290505653724.
I0419 20:57:30.594540 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00295976, -0.510341), points=26, range=0.510538, residual=0.0119521, extent=0.0375996
I0419 20:57:30.594696 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00295976, -0.510341), tracking=(-0.29554, 0.510341), map_predicted=(16.8148, -1.31563), range=0.510538, pts=26
I0419 20:57:30.594760 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00437398m maha_sq=0.000828175 (gate chi2=5.99) pose_sigma=(0.150089, 0.150089, rho=0) det_map=(16.8148, -1.31563) lm_pos=(16.815, -1.32) delta=(-0.000191618, 0.00436978) -> 1 candidate(s)
I0419 20:57:30.622578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290506215932.
I0419 20:57:30.726293 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26843, -2.48048)
I0419 20:57:30.727883 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290506537077.
I0419 20:57:30.730101 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.884794, 0.713266), points=5, range=1.1384, residual=0.00937084, extent=0.0244428
I0419 20:57:30.730175 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.884794, 0.713266), tracking=(-1.18329, -0.713266), map_predicted=(15.9112, -2.52734), range=1.1384, pts=5
I0419 20:57:30.730201 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00827795m maha_sq=0.00297087 (gate chi2=5.99) pose_sigma=(0.150067, 0.150067, rho=0) det_map=(15.9112, -2.52734) lm_pos=(15.915, -2.52) delta=(-0.00383221, -0.00733748) -> 1 candidate(s)
I0419 20:57:30.730265 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290506814599.
I0419 20:57:30.730751 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:30.731935 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86246, 4.30052)
I0419 20:57:30.732018 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290507101324.
I0419 20:57:30.733057 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1028, -1.82997), yaw=-0.775521 deg backend=(17.1027, -1.83031)
I0419 20:57:30.733423 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:30.733460 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:30.733477 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:30.742190 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:30.742452 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00226436 range=1.1332 variance=0.000535561 t_weight=5601.61 r_weight=0 yaml=(15.915, -2.52) prior=(17.1028, -1.82997, -0.775521deg) obs_actual=(-1.17927, -0.71322) obs_expected=(-1.17838, -0.706048) delta=(-0.000888859, -0.00717162) |delta|=0.0072265m
I0419 20:57:30.742604 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290507412362.
I0419 20:57:30.833886 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0103999, -0.510053), points=26, range=0.510423, residual=0.0119077, extent=0.0375272
I0419 20:57:30.834012 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0103999, -0.510053), tracking=(-0.2881, 0.510053), map_predicted=(16.8224, -1.31602), range=0.510423, pts=26
I0419 20:57:30.834046 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00838838m maha_sq=0.00304711 (gate chi2=5.99) pose_sigma=(0.150063, 0.150063, rho=0) det_map=(16.8224, -1.31602) lm_pos=(16.815, -1.32) delta=(0.00738628, 0.00397589) -> 1 candidate(s)
I0419 20:57:30.834071 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:30.834682 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27417, -2.4828)
I0419 20:57:30.835919 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.831663 deg, rms_residual=0.00605574m, sigma_yaw=0.00800965 rad, N=2
I0419 20:57:30.836019 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1067, -1.82983, -0.831663deg) inliers=2 rms=0.00605574m
I0419 20:57:30.836055 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290507977138.
I0419 20:57:30.838943 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290508257180.
I0419 20:57:30.839679 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599303s, prior_pose=(17.1046, -1.82986), yaw=-0.76513 deg
I0419 20:57:30.839751 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:57:30.839804 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:30.839823 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:30.839841 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25351, -0.673535), points=3, range=1.41933, residual=0.0074786, extent=0.013748
I0419 20:57:30.839859 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25351, -0.673535), tracking=(1.55201, -0.673535), map_predicted=(18.6475, -2.52406), range=1.41933, pts=3
I0419 20:57:30.839879 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19264m maha_sq=208.745 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6475, -2.52406) lm_pos=(16.815, -1.32) delta=(1.83246, -1.20406) -> 0 candidate(s)
I0419 20:57:30.858193 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.87116, 4.28638)
I0419 20:57:30.858390 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290508577139.
I0419 20:57:30.890884 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290508894520.
I0419 20:57:30.968212 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:30.969233 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.884599, 0.713109)
I0419 20:57:30.969350 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.84719, 4.29949), points=3, range=4.68, residual=0.0131194, extent=0.027389
I0419 20:57:30.969379 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.84719, 4.29949), tracking=(1.54869, -4.29949), map_predicted=(18.5955, -6.14889), range=4.68, pts=3
I0419 20:57:30.969406 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51155m maha_sq=860.364 (gate chi2=5.99) pose_sigma=(0.150043, 0.150043, rho=0) det_map=(18.5955, -6.14889) lm_pos=(15.915, -2.52) delta=(2.68053, -3.62889) -> 0 candidate(s)
I0419 20:57:30.969523 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290509186452.
I0419 20:57:30.971597 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290509455450.
I0419 20:57:30.973851 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290509733482.
I0419 20:57:31.002272 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86326, 4.30235)
I0419 20:57:31.002555 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290510018173.
I0419 20:57:31.005900 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:31.005975 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26286, -2.47847), points=4, range=2.78175, residual=0.0113261, extent=0.0258551
I0419 20:57:31.006000 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:31.006019 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:31.006031 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.26286, -2.47847), tracking=(1.56136, -2.47847), map_predicted=(18.6332, -4.32749), range=2.78175, pts=4
I0419 20:57:31.006050 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.2643m maha_sq=458.373 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6332, -4.32749) lm_pos=(15.915, -2.52) delta=(2.71821, -1.80749) -> 0 candidate(s)
I0419 20:57:31.077486 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290510338706.
I0419 20:57:31.079779 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.889645, 0.711858)
I0419 20:57:31.079916 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:31.079967 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:31.079985 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290510753553.
I0419 20:57:31.091001 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:31.091118 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00221319 range=0.512407 variance=0.000576021 t_weight=5208.14 r_weight=0 yaml=(16.815, -1.32) prior=(17.1044, -1.82882, -0.789336deg) obs_actual=(-0.294782, 0.511763) obs_expected=(-0.296373, 0.504789) delta=(0.00159131, 0.00697362) |delta|=0.00715288m
I0419 20:57:31.091197 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290510904570.
I0419 20:57:31.094185 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33423, -4.27495), points=3, range=4.47833, residual=0.0116046, extent=0.0282762
I0419 20:57:31.094271 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33423, -4.27495), tracking=(1.63273, -4.27495), map_predicted=(18.6781, -6.12586), range=4.47833, pts=3
I0419 20:57:31.094302 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54278m maha_sq=875.887 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6781, -6.12586) lm_pos=(15.915, -2.52) delta=(2.76308, -3.60586) -> 0 candidate(s)
I0419 20:57:31.122184 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290511214505.
I0419 20:57:31.126127 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0504299s, prior_pose=(17.1052, -1.82908), yaw=-0.788508 deg
I0419 20:57:31.126237 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:31.126319 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:31.126340 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:31.149886 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86425, 4.30465)
I0419 20:57:31.150144 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290511492738.
I0419 20:57:31.225417 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00298774, -0.51215), points=26, range=0.512192, residual=0.01186, extent=0.0379842
I0419 20:57:31.225554 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00298774, -0.51215), tracking=(-0.295512, 0.51215), map_predicted=(16.8172, -1.31188), range=0.512192, pts=26
I0419 20:57:31.225582 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00841947m maha_sq=0.00306905 (gate chi2=5.99) pose_sigma=(0.150085, 0.150085, rho=0) det_map=(16.8172, -1.31188) lm_pos=(16.815, -1.32) delta=(0.00222668, 0.00811969) -> 1 candidate(s)
I0419 20:57:31.225683 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290511833425.
I0419 20:57:31.228003 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290512095173.
I0419 20:57:31.228422 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27508, -2.48457)
I0419 20:57:31.242702 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290512415288.
I0419 20:57:31.270478 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.87077, 4.28546), points=3, range=4.67533, residual=0.0130961, extent=0.0272135
I0419 20:57:31.270555 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.87077, 4.28546), tracking=(1.57227, -4.28546), map_predicted=(18.6187, -6.13527), range=4.67533, pts=3
I0419 20:57:31.270584 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51444m maha_sq=861.325 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(18.6187, -6.13527) lm_pos=(15.915, -2.52) delta=(2.70371, -3.61527) -> 0 candidate(s)
I0419 20:57:31.270680 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290512699669.
I0419 20:57:31.273710 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:31.342661 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85809, 4.29043)
I0419 20:57:31.342850 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290512978781.
I0419 20:57:31.343430 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:31.343477 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:31.343497 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:31.344652 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:31.344772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290513261018.
I0419 20:57:31.358000 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85389, 4.29786), points=4, range=4.67825, residual=0.0173691, extent=0.0422665
I0419 20:57:31.358101 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85389, 4.29786), tracking=(1.55539, -4.29786), map_predicted=(18.6011, -6.14822), range=4.67825, pts=4
I0419 20:57:31.358136 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51432m maha_sq=856.333 (gate chi2=5.99) pose_sigma=(0.150081, 0.150081, rho=0) det_map=(18.6011, -6.14822) lm_pos=(15.915, -2.52) delta=(2.68609, -3.62822) -> 0 candidate(s)
I0419 20:57:31.358163 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:31.358268 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290513574227.
I0419 20:57:31.362675 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.2706, -2.48471)
I0419 20:57:31.386749 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00118085 range=0.511667 variance=0.000583177 t_weight=5144.24 r_weight=0 yaml=(16.815, -1.32) prior=(17.1046, -1.83022, -0.789021deg) obs_actual=(-0.294781, 0.511081) obs_expected=(-0.296605, 0.506187) delta=(0.00182382, 0.00489453) |delta|=0.00522329m
I0419 20:57:31.386916 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290513860611.
I0419 20:57:31.418745 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0870206s, prior_pose=(17.1046, -1.83022), yaw=-0.789021 deg
I0419 20:57:31.418920 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1334, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:57:31.419117 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:31.419157 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:31.511445 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86127, 4.29777)
I0419 20:57:31.511574 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881804, 0.714061), points=4, range=1.137, residual=0.0073554, extent=0.0172186
I0419 20:57:31.511605 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881804, 0.714061), tracking=(-1.1803, -0.714061), map_predicted=(15.9178, -2.52747), range=1.137, pts=4
I0419 20:57:31.511631 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00798701m maha_sq=0.0027635 (gate chi2=5.99) pose_sigma=(0.150241, 0.150241, rho=0) det_map=(15.9178, -2.52747) lm_pos=(15.915, -2.52) delta=(0.00283903, -0.00746541) -> 1 candidate(s)
I0419 20:57:31.511685 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.857633 deg, rms_residual=0.00747399m, sigma_yaw=0.009867 rad, N=2
I0419 20:57:31.511731 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1014, -1.82966, -0.857633deg) inliers=2 rms=0.00747399m
I0419 20:57:31.511761 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290514455212.
I0419 20:57:31.514585 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290514736334.
I0419 20:57:31.516737 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.89063, 0.711586)
I0419 20:57:31.516860 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290515059878.
I0419 20:57:31.534440 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.471181, -4.30227), points=3, range=4.32933, residual=0.0123844, extent=0.0258898
I0419 20:57:31.534539 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.471181, -4.30227), tracking=(-0.172681, -4.30227), map_predicted=(16.8758, -6.12822), range=4.32933, pts=3
I0419 20:57:31.534571 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73396m maha_sq=591.356 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(16.8758, -6.12822) lm_pos=(15.915, -2.52) delta=(0.960833, -3.60822) -> 0 candidate(s)
I0419 20:57:31.535444 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290515338214.
I0419 20:57:31.625711 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290515620791.
I0419 20:57:31.627506 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.890805, 0.711362)
I0419 20:57:31.628684 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1062, -1.8289), yaw=-0.773884 deg backend=(17.1036, -1.82993)
I0419 20:57:31.629045 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:31.629105 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:31.629127 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:31.630296 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86306, 4.28481), points=3, range=4.67233, residual=0.0115787, extent=0.0280759
I0419 20:57:31.630344 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.86306, 4.28481), tracking=(1.56456, -4.28481), map_predicted=(18.6128, -6.13445), range=4.67233, pts=3
I0419 20:57:31.630369 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51025m maha_sq=861.501 (gate chi2=5.99) pose_sigma=(0.150026, 0.150026, rho=0) det_map=(18.6128, -6.13445) lm_pos=(15.915, -2.52) delta=(2.69779, -3.61445) -> 0 candidate(s)
I0419 20:57:31.650261 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290516495960.
I0419 20:57:31.655048 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32954, -4.28183)
I0419 20:57:31.679337 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:31.679553 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290516782922.
I0419 20:57:31.765329 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290517095097.
I0419 20:57:31.766060 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643648s, prior_pose=(17.1042, -1.82818), yaw=-0.779145 deg
I0419 20:57:31.766139 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1085, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:57:31.766201 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:31.766222 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:31.766242 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.53749, -2.4931), points=6, range=2.55233, residual=0.0147506, extent=0.0412642
I0419 20:57:31.766265 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.53749, -2.4931), tracking=(-0.23899, -2.4931), map_predicted=(16.8313, -4.3178), range=2.55233, pts=6
I0419 20:57:31.766332 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01784m maha_sq=174.709 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8313, -4.3178) lm_pos=(15.915, -2.52) delta=(0.9163, -1.7978) -> 0 candidate(s)
I0419 20:57:31.768525 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.88874, 0.711144)
I0419 20:57:31.768639 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:31.768704 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:31.768728 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290517372049.
I0419 20:57:31.770573 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00394795 range=1.13875 variance=0.000503759 t_weight=5955.23 r_weight=0 yaml=(15.915, -2.52) prior=(17.1047, -1.82755, -0.778859deg) obs_actual=(-1.18887, -0.712457) obs_expected=(-1.18017, -0.708562) delta=(-0.0086972, -0.00389569) |delta|=0.00952983m
I0419 20:57:31.770675 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290517655726.
I0419 20:57:31.798919 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86008, 4.29501), points=3, range=4.67833, residual=0.0135627, extent=0.0278633
I0419 20:57:31.799046 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86008, 4.29501), tracking=(1.56158, -4.29501), map_predicted=(18.6078, -6.14291), range=4.67833, pts=3
I0419 20:57:31.799108 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51405m maha_sq=860.983 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(18.6078, -6.14291) lm_pos=(15.915, -2.52) delta=(2.69279, -3.62291) -> 0 candidate(s)
I0419 20:57:31.799292 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290517980086.
I0419 20:57:31.802317 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.3288, -4.27944)
I0419 20:57:31.895426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290518257731.
I0419 20:57:31.897318 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:31.897899 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290518576721.
I0419 20:57:31.900259 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.884789, 0.713272)
I0419 20:57:31.900347 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:31.900432 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290518861080.
I0419 20:57:31.900856 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:31.900899 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.533781, -2.49349), points=5, range=2.5486, residual=0.012788, extent=0.0337197
I0419 20:57:31.900923 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:31.900938 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:31.900952 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.533781, -2.49349), tracking=(-0.235281, -2.49349), map_predicted=(16.8341, -4.31757), range=2.5486, pts=5
I0419 20:57:31.901013 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0189m maha_sq=175.304 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8341, -4.31757) lm_pos=(15.915, -2.52) delta=(0.919079, -1.79757) -> 0 candidate(s)
I0419 20:57:31.914544 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290519139360.
I0419 20:57:31.946386 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.00587533, -0.511499)
I0419 20:57:31.946542 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:31.946661 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290519453864.
I0419 20:57:32.016390 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.84561, 4.29581), points=3, range=4.67633, residual=0.0132605, extent=0.0276566
I0419 20:57:32.016525 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.84561, 4.29581), tracking=(1.54711, -4.29581), map_predicted=(18.5931, -6.14592), range=4.67633, pts=3
I0419 20:57:32.016556 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50773m maha_sq=857.67 (gate chi2=5.99) pose_sigma=(0.150147, 0.150147, rho=0) det_map=(18.5931, -6.14592) lm_pos=(15.915, -2.52) delta=(2.67813, -3.62592) -> 0 candidate(s)
I0419 20:57:32.016647 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290519732253.
I0419 20:57:32.019447 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290520016370.
I0419 20:57:32.020197 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607s, prior_pose=(17.1048, -1.82849), yaw=-0.792037 deg
I0419 20:57:32.020267 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 20:57:32.020319 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:32.020342 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:32.034350 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.483809, -4.30186)
I0419 20:57:32.034972 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290520339939.
I0419 20:57:32.062515 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2698, -2.48317), points=3, range=2.791, residual=0.00981739, extent=0.020181
I0419 20:57:32.062634 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.2698, -2.48317), tracking=(1.5683, -2.48317), map_predicted=(18.6376, -4.33333), range=2.791, pts=3
I0419 20:57:32.062669 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27118m maha_sq=460.446 (gate chi2=5.99) pose_sigma=(0.150078, 0.150078, rho=0) det_map=(18.6376, -4.33333) lm_pos=(15.915, -2.52) delta=(2.72258, -1.81333) -> 0 candidate(s)
I0419 20:57:32.063457 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00196049 range=1.13275 variance=0.000491417 t_weight=6104.8 r_weight=0 yaml=(15.915, -2.52) prior=(17.1037, -1.82874, -0.79147deg) obs_actual=(-1.18545, -0.705516) obs_expected=(-1.17907, -0.707618) delta=(-0.00637963, 0.00210257) |delta|=0.00671718m
I0419 20:57:32.063592 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290520621181.
I0419 20:57:32.135115 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290520898286.
I0419 20:57:32.135564 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.33483, -4.27686)
I0419 20:57:32.137143 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.898146 deg, rms_residual=0.00626847m, sigma_yaw=0.00828868 rad, N=2
I0419 20:57:32.137226 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1018, -1.83016, -0.898146deg) inliers=2 rms=0.00626847m
I0419 20:57:32.137267 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290521212975.
I0419 20:57:32.150403 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290521498641.
I0419 20:57:32.154012 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537772, -2.49435), points=4, range=2.55375, residual=0.0104078, extent=0.0253128
I0419 20:57:32.154101 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537772, -2.49435), tracking=(-0.239272, -2.49435), map_predicted=(16.8302, -4.31948), range=2.55375, pts=4
I0419 20:57:32.154127 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01886m maha_sq=175.709 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8302, -4.31948) lm_pos=(15.915, -2.52) delta=(0.91525, -1.79948) -> 0 candidate(s)
I0419 20:57:32.182507 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.483775, -4.30161)
I0419 20:57:32.183068 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:32.183115 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:32.183135 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:32.183236 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290521821500.
I0419 20:57:32.206990 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290522059404.
I0419 20:57:32.312559 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86167, 4.29868), points=3, range=4.68367, residual=0.0131289, extent=0.0273178
I0419 20:57:32.312709 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86167, 4.29868), tracking=(1.56317, -4.29868), map_predicted=(18.6086, -6.14666), range=4.68367, pts=3
I0419 20:57:32.312748 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51752m maha_sq=861.516 (gate chi2=5.99) pose_sigma=(0.150142, 0.150142, rho=0) det_map=(18.6086, -6.14666) lm_pos=(15.915, -2.52) delta=(2.69358, -3.62666) -> 0 candidate(s)
I0419 20:57:32.312844 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290522374814.
I0419 20:57:32.313484 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.3285, -4.27848)
I0419 20:57:32.316164 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:32.316310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290522701845.
I0419 20:57:32.319152 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0286727s, prior_pose=(17.1056, -1.82852), yaw=-0.78083 deg
I0419 20:57:32.319283 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1334, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:57:32.319413 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:32.319499 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:32.319610 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290522988431.
I0419 20:57:32.326504 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.887718, 0.712406)
I0419 20:57:32.326658 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:32.326740 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:32.326766 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290523259865.
I0419 20:57:32.330145 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490058, -4.30116), points=4, range=4.328, residual=0.0155463, extent=0.0379713
I0419 20:57:32.330219 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:32.330245 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490058, -4.30116), tracking=(-0.191558, -4.30116), map_predicted=(16.8555, -6.12668), range=4.328, pts=4
I0419 20:57:32.330305 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72727m maha_sq=587.796 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8555, -6.12668) lm_pos=(15.915, -2.52) delta=(0.940452, -3.60668) -> 0 candidate(s)
I0419 20:57:32.417490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290523533569.
I0419 20:57:32.418375 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:32.419775 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.00592746, -0.512242)
I0419 20:57:32.419886 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0022088 range=1.13775 variance=0.000514084 t_weight=5835.62 r_weight=0 yaml=(15.915, -2.52) prior=(17.1063, -1.82885, -0.784669deg) obs_actual=(-1.18082, -0.71448) obs_expected=(-1.18168, -0.707402) delta=(0.000856894, -0.00707808) |delta|=0.00712976m
I0419 20:57:32.419941 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290523882183.
I0419 20:57:32.422143 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290524134867.
I0419 20:57:32.422715 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26679, -2.4862), points=4, range=2.79025, residual=0.0104608, extent=0.0248339
I0419 20:57:32.422770 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26679, -2.4862), tracking=(1.56529, -2.4862), map_predicted=(18.6369, -4.33724), range=2.79025, pts=4
I0419 20:57:32.422797 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27277m maha_sq=461.104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6369, -4.33724) lm_pos=(15.915, -2.52) delta=(2.72188, -1.81724) -> 0 candidate(s)
I0419 20:57:32.442771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290524420935.
I0419 20:57:32.445825 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:32.474139 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.890877, 0.710305)
I0419 20:57:32.474563 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290524735895.
I0419 20:57:32.544535 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1069, -1.82701), yaw=-0.786011 deg backend=(17.1049, -1.83013)
I0419 20:57:32.545516 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:32.545598 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:32.545617 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:32.546837 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290525013566.
I0419 20:57:32.547521 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27517, -2.47591), points=3, range=2.786, residual=0.00831771, extent=0.0172777
I0419 20:57:32.547574 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27517, -2.47591), tracking=(1.57367, -2.47591), map_predicted=(18.6464, -4.32428), range=2.786, pts=3
I0419 20:57:32.547600 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27355m maha_sq=462.138 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6464, -4.32428) lm_pos=(15.915, -2.52) delta=(2.73143, -1.80428) -> 0 candidate(s)
I0419 20:57:32.549922 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00667392, -0.509604)
I0419 20:57:32.550005 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:32.550073 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290525338981.
I0419 20:57:32.563752 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290525616107.
I0419 20:57:32.590142 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290525893018.
I0419 20:57:32.593879 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596406s, prior_pose=(17.1064, -1.82797), yaw=-0.783706 deg
I0419 20:57:32.593976 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=251, threshold=230, above_threshold=16, candidates=16
I0419 20:57:32.594058 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:32.594080 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:32.594106 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25395, -0.673773), points=3, range=1.41933, residual=0.00823643, extent=0.0145588
I0419 20:57:32.594130 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25395, -0.673773), tracking=(1.55245, -0.673773), map_predicted=(18.6495, -2.52291), range=1.41933, pts=3
I0419 20:57:32.594157 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19371m maha_sq=208.841 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6495, -2.52291) lm_pos=(16.815, -1.32) delta=(1.8345, -1.20291) -> 0 candidate(s)
I0419 20:57:32.660704 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534253, -2.49569)
I0419 20:57:32.661345 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290526248564.
I0419 20:57:32.662848 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290526493834.
I0419 20:57:32.678030 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290526773624.
I0419 20:57:32.682320 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534043, -2.49472)
I0419 20:57:32.682471 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477654, -4.30356), points=3, range=4.33, residual=0.0103159, extent=0.0252078
I0419 20:57:32.682511 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477654, -4.30356), tracking=(-0.179154, -4.30356), map_predicted=(16.8669, -6.12893), range=4.33, pts=3
I0419 20:57:32.682541 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73236m maha_sq=592.785 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8669, -6.12893) lm_pos=(15.915, -2.52) delta=(0.951922, -3.60893) -> 0 candidate(s)
I0419 20:57:32.710476 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00474074 range=0.510038 variance=0.000572063 t_weight=5244.18 r_weight=0 yaml=(16.815, -1.32) prior=(17.1046, -1.82755, -0.779286deg) obs_actual=(-0.288099, 0.509815) obs_expected=(-0.296487, 0.503561) delta=(0.00838747, 0.00625385) |delta|=0.0104623m
I0419 20:57:32.710646 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290527095181.
I0419 20:57:32.818466 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85798, 4.29018)
I0419 20:57:32.818651 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290527375371.
I0419 20:57:32.819977 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290527661990.
I0419 20:57:32.820322 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:32.820370 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.537657, -2.49388), points=6, range=2.553, residual=0.0147833, extent=0.0417036
I0419 20:57:32.820399 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:32.820416 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:32.820427 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.537657, -2.49388), tracking=(-0.239157, -2.49388), map_predicted=(16.83, -4.31689), range=2.553, pts=6
I0419 20:57:32.820447 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01643m maha_sq=174.457 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.83, -4.31689) lm_pos=(15.915, -2.52) delta=(0.91496, -1.79689) -> 0 candidate(s)
I0419 20:57:32.822669 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290527939620.
I0419 20:57:32.826231 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290528255527.
I0419 20:57:32.830322 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534413, -2.49643)
I0419 20:57:32.858176 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25197, -0.67269), points=5, range=1.4158, residual=0.0148411, extent=0.0350703
I0419 20:57:32.858364 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25197, -0.67269), tracking=(1.55047, -0.67269), map_predicted=(18.6443, -2.52305), range=1.4158, pts=5
I0419 20:57:32.858424 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18945m maha_sq=206.433 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(18.6443, -2.52305) lm_pos=(16.815, -1.32) delta=(1.8293, -1.20305) -> 0 candidate(s)
I0419 20:57:32.859633 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:32.859757 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:32.859833 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.62086 deg, rms_residual=0.00700251m, sigma_yaw=0.00925031 rad, N=2
I0419 20:57:32.860030 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1085, -1.82728, -0.62086deg) inliers=2 rms=0.00700251m
I0419 20:57:32.860132 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290528572555.
I0419 20:57:32.966326 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558924s, prior_pose=(17.1058, -1.8296), yaw=-0.759208 deg
I0419 20:57:32.966449 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1334, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:57:32.966567 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:32.966589 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85749, 4.28905)
I0419 20:57:32.966603 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:32.966711 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290528858079.
I0419 20:57:32.967873 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:32.967978 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:32.968003 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290529139661.
I0419 20:57:32.970714 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290529415131.
I0419 20:57:32.971520 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25218, -0.672825), points=3, range=1.417, residual=0.00874401, extent=0.0162409
I0419 20:57:32.971587 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25218, -0.672825), tracking=(1.55068, -0.672825), map_predicted=(18.6471, -2.52372), range=1.417, pts=3
I0419 20:57:32.971616 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19217m maha_sq=208.471 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6471, -2.52372) lm_pos=(16.815, -1.32) delta=(1.83212, -1.20372) -> 0 candidate(s)
I0419 20:57:32.974654 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26935, -2.48226)
I0419 20:57:32.976351 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290529740102.
I0419 20:57:33.002449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290530012935.
I0419 20:57:33.104378 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00302935 range=0.512074 variance=0.000575553 t_weight=5212.38 r_weight=0 yaml=(16.815, -1.32) prior=(17.1054, -1.82779, -0.775858deg) obs_actual=(-0.293303, 0.511205) obs_expected=(-0.297224, 0.503808) delta=(0.0039206, 0.0073963) |delta|=0.00837116m
I0419 20:57:33.104521 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290530297761.
I0419 20:57:33.105173 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24871, -0.67329)
I0419 20:57:33.105250 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:33.107204 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534252, -2.49569), points=5, range=2.5546, residual=0.0135057, extent=0.0358201
I0419 20:57:33.107290 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534252, -2.49569), tracking=(-0.235752, -2.49569), map_predicted=(16.8355, -4.31997), range=2.5546, pts=5
I0419 20:57:33.107357 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02167m maha_sq=175.568 (gate chi2=5.99) pose_sigma=(0.15003, 0.15003, rho=0) det_map=(16.8355, -4.31997) lm_pos=(15.915, -2.52) delta=(0.920455, -1.79997) -> 0 candidate(s)
I0419 20:57:33.107805 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:33.107851 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:33.107869 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:33.107944 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290530617555.
I0419 20:57:33.109378 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290530902391.
I0419 20:57:33.118871 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:33.119067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290531180664.
I0419 20:57:33.122089 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531181, -2.49915)
I0419 20:57:33.199018 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.530719, -2.49688), points=4, range=2.55025, residual=0.011003, extent=0.0268399
I0419 20:57:33.199131 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.530719, -2.49688), tracking=(-0.232219, -2.49688), map_predicted=(16.8387, -4.32244), range=2.55025, pts=4
I0419 20:57:33.199162 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02536m maha_sq=176.466 (gate chi2=5.99) pose_sigma=(0.150124, 0.150124, rho=0) det_map=(16.8387, -4.32244) lm_pos=(15.915, -2.52) delta=(0.923744, -1.80244) -> 0 candidate(s)
I0419 20:57:33.199692 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290531497300.
I0419 20:57:33.201264 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290531773137.
I0419 20:57:33.201610 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885026s, prior_pose=(17.1047, -1.82893), yaw=-0.774182 deg
I0419 20:57:33.201678 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 20:57:33.201730 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:33.201751 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24754, -0.672655)
I0419 20:57:33.201763 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:33.207645 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290532067478.
I0419 20:57:33.210022 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25742, -0.673276), points=4, range=1.422, residual=0.0105776, extent=0.0243811
I0419 20:57:33.210112 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25742, -0.673276), tracking=(1.55592, -0.673276), map_predicted=(18.6501, -2.52299), range=1.422, pts=4
I0419 20:57:33.210148 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19427m maha_sq=208.547 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6501, -2.52299) lm_pos=(16.815, -1.32) delta=(1.83511, -1.20299) -> 0 candidate(s)
I0419 20:57:33.243427 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290532422423.
I0419 20:57:33.267196 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:33.267504 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290532661269.
I0419 20:57:33.361430 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.53191, -2.50247)
I0419 20:57:33.363276 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290532977096.
I0419 20:57:33.365394 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27553, -2.48547), points=3, range=2.79367, residual=0.0074092, extent=0.0176899
I0419 20:57:33.365463 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27553, -2.48547), tracking=(1.57403, -2.48547), map_predicted=(18.6448, -4.33393), range=2.79367, pts=3
I0419 20:57:33.365487 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.2775m maha_sq=462.779 (gate chi2=5.99) pose_sigma=(0.150123, 0.150123, rho=0) det_map=(18.6448, -4.33393) lm_pos=(15.915, -2.52) delta=(2.72977, -1.81393) -> 0 candidate(s)
I0419 20:57:33.366135 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85947, 4.29362)
I0419 20:57:33.367269 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290533533680.
I0419 20:57:33.367744 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:33.367784 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:33.367805 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:33.368880 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1052, -1.82829), yaw=-0.769813 deg backend=(17.1057, -1.82961)
I0419 20:57:33.383155 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00236814 range=0.51076 variance=0.000548293 t_weight=5471.53 r_weight=0 yaml=(16.815, -1.32) prior=(17.1052, -1.82829, -0.769813deg) obs_actual=(-0.292561, 0.510269) obs_expected=(-0.296977, 0.504341) delta=(0.004416, 0.00592808) |delta|=0.0073921m
I0419 20:57:33.383392 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290533822541.
I0419 20:57:33.492784 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85258, 4.2948), points=3, range=4.67733, residual=0.0115302, extent=0.0280928
I0419 20:57:33.492901 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85258, 4.2948), tracking=(1.55408, -4.2948), map_predicted=(18.6014, -6.14361), range=4.67733, pts=3
I0419 20:57:33.492940 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51078m maha_sq=861.954 (gate chi2=5.99) pose_sigma=(0.150003, 0.150003, rho=0) det_map=(18.6014, -6.14361) lm_pos=(15.915, -2.52) delta=(2.68636, -3.62361) -> 0 candidate(s)
I0419 20:57:33.493033 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290534139872.
I0419 20:57:33.493860 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.538333, -2.49701)
I0419 20:57:33.495116 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:57:33.498210 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597741s, prior_pose=(17.1039, -1.82819), yaw=-0.768857 deg
I0419 20:57:33.498394 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1332, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:57:33.498523 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:33.498553 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86956, 4.28271)
I0419 20:57:33.498569 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:33.498670 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290534737613.
I0419 20:57:33.502817 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.471072, -4.30128), points=3, range=4.32833, residual=0.0123818, extent=0.0258842
I0419 20:57:33.502935 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.471072, -4.30128), tracking=(-0.172572, -4.30128), map_predicted=(16.8746, -6.12703), range=4.32833, pts=3
I0419 20:57:33.502972 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73249m maha_sq=591.065 (gate chi2=5.99) pose_sigma=(0.150078, 0.150078, rho=0) det_map=(16.8746, -6.12703) lm_pos=(15.915, -2.52) delta=(0.959574, -3.60703) -> 0 candidate(s)
I0419 20:57:33.503984 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290535022604.
I0419 20:57:33.530913 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290535293085.
I0419 20:57:33.625218 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:33.625334 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.722769 deg, rms_residual=0.00585961m, sigma_yaw=0.00775224 rad, N=2
I0419 20:57:33.625388 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1076, -1.82858, -0.722769deg) inliers=2 rms=0.00585961m
I0419 20:57:33.625437 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:33.625461 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290535580681.
I0419 20:57:33.626299 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533988, -2.49447)
I0419 20:57:33.629053 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.530926, -2.49786), points=4, range=2.551, residual=0.0113882, extent=0.0274149
I0419 20:57:33.629189 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.530926, -2.49786), tracking=(-0.232426, -2.49786), map_predicted=(16.8391, -4.32193), range=2.551, pts=4
I0419 20:57:33.629225 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02506m maha_sq=176.491 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(16.8391, -4.32193) lm_pos=(15.915, -2.52) delta=(0.924094, -1.80193) -> 0 candidate(s)
I0419 20:57:33.631729 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290536173661.
I0419 20:57:33.632316 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25018, -0.674082)
I0419 20:57:33.632407 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:33.645946 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290536453863.
I0419 20:57:33.650166 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:33.650293 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:33.650316 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:33.758678 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00667084, -0.510233), points=27, range=0.511667, residual=0.0123001, extent=0.0417595
I0419 20:57:33.758773 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00667084, -0.510233), tracking=(-0.291829, 0.510233), map_predicted=(16.8192, -1.3147), range=0.511667, pts=27
I0419 20:57:33.758803 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00673461m maha_sq=0.00196039 (gate chi2=5.99) pose_sigma=(0.150176, 0.150176, rho=0) det_map=(16.8192, -1.3147) lm_pos=(16.815, -1.32) delta=(0.00415414, 0.00530077) -> 1 candidate(s)
I0419 20:57:33.758882 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290536779438.
I0419 20:57:33.761520 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:33.761723 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290537055835.
I0419 20:57:33.764796 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534392, -2.49641)
I0419 20:57:33.768319 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00296143, -0.511198), points=26, range=0.511115, residual=0.0118695, extent=0.0374206
I0419 20:57:33.768432 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00296143, -0.511198), tracking=(-0.295539, 0.511198), map_predicted=(16.8172, -1.31331), range=0.511115, pts=26
I0419 20:57:33.768492 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00705507m maha_sq=0.00215345 (gate chi2=5.99) pose_sigma=(0.150137, 0.150137, rho=0) det_map=(16.8172, -1.31331) lm_pos=(16.815, -1.32) delta=(0.00224161, 0.00668949) -> 1 candidate(s)
I0419 20:57:33.768591 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00215345 range=0.511115 variance=0.000572417 t_weight=5240.94 r_weight=0 yaml=(16.815, -1.32) prior=(17.1057, -1.82855, -0.792342deg) obs_actual=(-0.295539, 0.511198) obs_expected=(-0.297687, 0.504478) delta=(0.00214889, 0.00671984) |delta|=0.00705507m
I0419 20:57:33.768708 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290537382016.
I0419 20:57:33.771684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290537657390.
I0419 20:57:33.772110 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059295s, prior_pose=(17.106, -1.82907), yaw=-0.791605 deg
I0419 20:57:33.772162 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1086, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 20:57:33.772213 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:33.772235 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.2524, -0.672933)
I0419 20:57:33.772249 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:33.885092 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290538312468.
I0419 20:57:33.885058 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 1
I0419 20:57:33.885541 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27047, -2.48451), points=3, range=2.78933, residual=0.00803651, extent=0.0167115
I0419 20:57:33.885667 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27047, -2.48451), tracking=(1.56897, -2.48451), map_predicted=(18.6429, -4.33405), range=2.78933, pts=3
I0419 20:57:33.885697 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.276m maha_sq=462.912 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6429, -4.33405) lm_pos=(15.915, -2.52) delta=(2.7279, -1.81405) -> 0 candidate(s)
I0419 20:57:33.887972 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:33.888149 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290538538928.
I0419 20:57:33.888814 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.53419, -2.49543)
I0419 20:57:33.889958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290538815235.
I0419 20:57:33.914932 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25218, -0.672825), points=3, range=1.41733, residual=0.00823412, extent=0.0153888
I0419 20:57:33.915082 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25218, -0.672825), tracking=(1.55068, -0.672825), map_predicted=(18.6477, -2.5224), range=1.41733, pts=3
I0419 20:57:33.915127 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1919m maha_sq=208.388 (gate chi2=5.99) pose_sigma=(0.150041, 0.150041, rho=0) det_map=(18.6477, -2.5224) lm_pos=(16.815, -1.32) delta=(1.83267, -1.2024) -> 0 candidate(s)
I0419 20:57:33.915843 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86479, 4.28878)
I0419 20:57:33.916033 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290539142249.
I0419 20:57:33.993528 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290539412119.
I0419 20:57:33.994156 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:33.994218 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:33.994239 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:33.995527 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290539699705.
I0419 20:57:34.002030 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86997, 4.28363), points=3, range=4.672, residual=0.0134629, extent=0.0278291
I0419 20:57:34.002110 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86997, 4.28363), tracking=(1.57147, -4.28363), map_predicted=(18.6176, -6.13409), range=4.672, pts=3
I0419 20:57:34.002138 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51284m maha_sq=859.814 (gate chi2=5.99) pose_sigma=(0.150114, 0.150114, rho=0) det_map=(18.6176, -6.13409) lm_pos=(15.915, -2.52) delta=(2.7026, -3.61409) -> 0 candidate(s)
I0419 20:57:34.002218 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290540015189.
I0419 20:57:34.006410 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.533975, -2.49446)
I0419 20:57:34.030668 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:34.030838 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290540299978.
I0419 20:57:34.058324 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0010503 range=0.509538 variance=0.000569448 t_weight=5268.26 r_weight=0 yaml=(16.815, -1.32) prior=(17.1045, -1.82841, -0.786579deg) obs_actual=(-0.294808, 0.509036) obs_expected=(-0.296428, 0.504388) delta=(0.00161978, 0.00464824) |delta|=0.00492238m
I0419 20:57:34.058508 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290540576969.
I0419 20:57:34.127277 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0321593s, prior_pose=(17.1044, -1.82927), yaw=-0.77324 deg
I0419 20:57:34.127398 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 20:57:34.127465 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:34.127487 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24959, -0.673763)
I0419 20:57:34.127503 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:34.128863 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881288, 0.713639), points=4, range=1.13675, residual=0.00826979, extent=0.0200041
I0419 20:57:34.128952 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881288, 0.713639), tracking=(-1.17979, -0.713639), map_predicted=(15.9151, -2.52692), range=1.13675, pts=4
I0419 20:57:34.128980 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0069179m maha_sq=0.00207669 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(15.9151, -2.52692) lm_pos=(15.915, -2.52) delta=(7.59868e-05, -0.00691748) -> 1 candidate(s)
I0419 20:57:34.129098 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290540874241.
I0419 20:57:34.131964 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290541178423.
I0419 20:57:34.150138 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.2734, -2.48132)
I0419 20:57:34.150750 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290541498028.
I0419 20:57:34.179056 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490174, -4.30215), points=5, range=4.328, residual=0.0181587, extent=0.0504821
I0419 20:57:34.179212 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490174, -4.30215), tracking=(-0.191674, -4.30215), map_predicted=(16.8558, -6.12903), range=4.328, pts=5
I0419 20:57:34.179272 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72964m maha_sq=585.718 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(16.8558, -6.12903) lm_pos=(15.915, -2.52) delta=(0.940829, -3.60903) -> 0 candidate(s)
I0419 20:57:34.180833 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290541782636.
I0419 20:57:34.296846 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:34.297132 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:34.297186 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290542061220.
I0419 20:57:34.297617 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24813, -0.672973)
I0419 20:57:34.297676 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:34.299254 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.846038 deg, rms_residual=0.00589081m, sigma_yaw=0.0077932 rad, N=2
I0419 20:57:34.299468 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1073, -1.82979, -0.846038deg) inliers=2 rms=0.00589081m
I0419 20:57:34.299521 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290542334246.
I0419 20:57:34.300928 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1063, -1.82934), yaw=-0.796656 deg backend=(17.1047, -1.83048)
I0419 20:57:34.301677 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:34.301745 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:34.301764 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:34.304018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290542652162.
I0419 20:57:34.304716 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25174, -0.672589), points=3, range=1.41733, residual=0.00747566, extent=0.013741
I0419 20:57:34.304778 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25174, -0.672589), tracking=(1.55024, -0.672589), map_predicted=(18.647, -2.52342), range=1.41733, pts=3
I0419 20:57:34.304807 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19192m maha_sq=208.609 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.647, -2.52342) lm_pos=(16.815, -1.32) delta=(1.83201, -1.20342) -> 0 candidate(s)
I0419 20:57:34.307400 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:34.307528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290542931880.
I0419 20:57:34.308472 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534435, -2.49657)
I0419 20:57:34.322712 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:34.323369 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290543216510.
I0419 20:57:34.423246 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290543535489.
I0419 20:57:34.423938 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06494s, prior_pose=(17.1038, -1.82799), yaw=-0.793996 deg
I0419 20:57:34.424002 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1093, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:57:34.424057 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:34.424077 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24725, -0.672498)
I0419 20:57:34.424089 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:34.425979 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.892532, 0.711344), points=4, range=1.1395, residual=0.00754678, extent=0.0172275
I0419 20:57:34.426054 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.892532, 0.711344), tracking=(-1.19103, -0.711344), map_predicted=(15.9021, -2.52272), range=1.1395, pts=4
I0419 20:57:34.426079 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0131416m maha_sq=0.00749781 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(15.9021, -2.52272) lm_pos=(15.915, -2.52) delta=(-0.0128568, -0.00272119) -> 1 candidate(s)
I0419 20:57:34.426169 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00749781 range=1.1395 variance=0.000514415 t_weight=5831.86 r_weight=0 yaml=(15.915, -2.52) prior=(17.1029, -1.82793, -0.793188deg) obs_actual=(-1.19103, -0.711344) obs_expected=(-1.17821, -0.708445) delta=(-0.0128179, -0.00289891) |delta|=0.0131416m
I0419 20:57:34.426224 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290543814871.
I0419 20:57:34.428299 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290544141875.
I0419 20:57:34.446749 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290544454617.
I0419 20:57:34.447667 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533777, -2.49349)
I0419 20:57:34.561020 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.883356, 0.715322), points=4, range=1.1385, residual=0.00662119, extent=0.0154901
I0419 20:57:34.561146 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.883356, 0.715322), tracking=(-1.18186, -0.715322), map_predicted=(15.9159, -2.52739), range=1.1385, pts=4
I0419 20:57:34.561183 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00744098m maha_sq=0.00240115 (gate chi2=5.99) pose_sigma=(0.150192, 0.150192, rho=0) det_map=(15.9159, -2.52739) lm_pos=(15.915, -2.52) delta=(0.000885075, -0.00738815) -> 1 candidate(s)
I0419 20:57:34.561276 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290544693920.
I0419 20:57:34.563407 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290545019960.
I0419 20:57:34.565114 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25109, -0.672212)
I0419 20:57:34.566471 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290545303042.
I0419 20:57:34.567140 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:34.567209 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:34.567231 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:34.569393 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888466, 0.713758), points=4, range=1.13725, residual=0.00769444, extent=0.0192617
I0419 20:57:34.569481 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.888466, 0.713758), tracking=(-1.18697, -0.713758), map_predicted=(15.9082, -2.52689), range=1.13725, pts=4
I0419 20:57:34.569512 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00967831m maha_sq=0.00406503 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(15.9082, -2.52689) lm_pos=(15.915, -2.52) delta=(-0.00680093, -0.006886) -> 1 candidate(s)
I0419 20:57:34.569592 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290545582402.
I0419 20:57:34.591398 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290545899340.
I0419 20:57:34.676662 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530928, -2.49798)
I0419 20:57:34.677982 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:34.678094 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290546174877.
I0419 20:57:34.680689 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290546454000.
I0419 20:57:34.681339 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564253s, prior_pose=(17.1063, -1.83018), yaw=-0.779979 deg
I0419 20:57:34.681411 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1089, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 20:57:34.681459 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:34.681478 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24842, -0.673129)
I0419 20:57:34.681491 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:34.681506 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534465, -2.49667), points=5, range=2.552, residual=0.012345, extent=0.0324306
I0419 20:57:34.681526 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534465, -2.49667), tracking=(-0.235965, -2.49667), map_predicted=(16.8364, -4.32341), range=2.552, pts=5
I0419 20:57:34.681545 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02515m maha_sq=176.471 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8364, -4.32341) lm_pos=(15.915, -2.52) delta=(0.921388, -1.80341) -> 0 candidate(s)
I0419 20:57:34.682742 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290546772598.
I0419 20:57:34.706254 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00599049 range=0.512482 variance=0.00058642 t_weight=5115.79 r_weight=0 yaml=(16.815, -1.32) prior=(17.107, -1.82969, -0.779648deg) obs_actual=(-0.288817, 0.51173) obs_expected=(-0.2989, 0.505668) delta=(0.010083, 0.00606177) |delta|=0.0117648m
I0419 20:57:34.706423 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290547056378.
I0419 20:57:34.801337 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.884137, 0.711702), points=4, range=1.13725, residual=0.0063394, extent=0.0148225
I0419 20:57:34.801486 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.884137, 0.711702), tracking=(-1.18264, -0.711702), map_predicted=(15.9138, -2.52425), range=1.13725, pts=4
I0419 20:57:34.801523 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00441836m maha_sq=0.000847584 (gate chi2=5.99) pose_sigma=(0.150116, 0.150116, rho=0) det_map=(15.9138, -2.52425) lm_pos=(15.915, -2.52) delta=(-0.0012165, -0.00424759) -> 1 candidate(s)
I0419 20:57:34.801625 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290547336622.
I0419 20:57:34.802476 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530806, -2.49739)
I0419 20:57:34.803711 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:34.803881 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290547656715.
I0419 20:57:34.807181 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25131, -0.67233)
I0419 20:57:34.807266 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:34.826620 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32012, -4.2734), points=4, range=4.4745, residual=0.0166052, extent=0.0408454
I0419 20:57:34.826754 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32012, -4.2734), tracking=(1.61862, -4.2734), map_predicted=(18.6649, -6.12311), range=4.4745, pts=4
I0419 20:57:34.826790 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53259m maha_sq=865.358 (gate chi2=5.99) pose_sigma=(0.150132, 0.150132, rho=0) det_map=(18.6649, -6.12311) lm_pos=(15.915, -2.52) delta=(2.7499, -3.60311) -> 0 candidate(s)
I0419 20:57:34.827307 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:34.827355 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:34.827376 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:34.827426 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:34.827492 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:34.827517 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290548261943.
I0419 20:57:34.854238 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290548533022.
I0419 20:57:34.963488 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:34.963649 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290548819089.
I0419 20:57:34.964389 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530802, -2.49739)
I0419 20:57:34.966478 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.886649, 0.712295), points=4, range=1.139, residual=0.00752302, extent=0.0172186
I0419 20:57:34.966606 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.886649, 0.712295), tracking=(-1.18515, -0.712295), map_predicted=(15.9101, -2.52487), range=1.139, pts=4
I0419 20:57:34.966640 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00691008m maha_sq=0.0020724 (gate chi2=5.99) pose_sigma=(0.150088, 0.150088, rho=0) det_map=(15.9101, -2.52487) lm_pos=(15.915, -2.52) delta=(-0.00489905, -0.00487325) -> 1 candidate(s)
I0419 20:57:34.966715 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290549093056.
I0419 20:57:34.968706 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0837106s, prior_pose=(17.1048, -1.82874), yaw=-0.778184 deg
I0419 20:57:34.968809 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1336, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:57:34.968938 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:34.968969 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86187, 4.29914)
I0419 20:57:34.968986 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:34.969046 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.724616 deg, rms_residual=0.007436m, sigma_yaw=0.00981733 rad, N=2
I0419 20:57:34.969095 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1018, -1.82735, -0.724616deg) inliers=2 rms=0.007436m
I0419 20:57:34.969128 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290549419050.
I0419 20:57:34.972041 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290549709651.
I0419 20:57:35.075577 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27248, -2.47954), points=4, range=2.7825, residual=0.0136039, extent=0.0290392
I0419 20:57:35.075687 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27248, -2.47954), tracking=(1.57098, -2.47954), map_predicted=(18.6415, -4.33039), range=2.7825, pts=4
I0419 20:57:35.075716 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27285m maha_sq=458.962 (gate chi2=5.99) pose_sigma=(0.150117, 0.150117, rho=0) det_map=(18.6415, -4.33039) lm_pos=(15.915, -2.52) delta=(2.72654, -1.81039) -> 0 candidate(s)
I0419 20:57:35.076447 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290550059666.
I0419 20:57:35.077634 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00150119 range=0.511692 variance=0.000563611 t_weight=5322.82 r_weight=0 yaml=(16.815, -1.32) prior=(17.1042, -1.82985, -0.774145deg) obs_actual=(-0.294041, 0.511425) obs_expected=(-0.296063, 0.505899) delta=(0.00202176, 0.00552589) |delta|=0.00588413m
I0419 20:57:35.077718 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290550297371.
I0419 20:57:35.078083 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.537913, -2.49505)
I0419 20:57:35.080818 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290550692068.
I0419 20:57:35.090574 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.48397, -4.30337), points=3, range=4.33, residual=0.0120963, extent=0.0252078
I0419 20:57:35.090741 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.48397, -4.30337), tracking=(-0.18547, -4.30337), map_predicted=(16.8599, -6.13061), range=4.33, pts=3
I0419 20:57:35.090797 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73221m maha_sq=591.321 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(16.8599, -6.13061) lm_pos=(15.915, -2.52) delta=(0.944901, -3.61061) -> 0 candidate(s)
I0419 20:57:35.092685 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86247, 4.30052)
I0419 20:57:35.093312 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290550899992.
I0419 20:57:35.118599 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290551173460.
I0419 20:57:35.122114 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:35.122268 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:35.122319 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:35.218345 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1031, -1.83072), yaw=-0.75791 deg backend=(17.1013, -1.83199)
I0419 20:57:35.222345 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88933, 0.711608), points=5, range=1.1362, residual=0.00989301, extent=0.0244133
I0419 20:57:35.222507 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.88933, 0.711608), tracking=(-1.18783, -0.711608), map_predicted=(15.907, -2.5265), range=1.1362, pts=5
I0419 20:57:35.222544 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0103176m maha_sq=0.0046096 (gate chi2=5.99) pose_sigma=(0.150129, 0.150129, rho=0) det_map=(15.907, -2.5265) lm_pos=(15.915, -2.52) delta=(-0.00801398, -0.00649839) -> 1 candidate(s)
I0419 20:57:35.222671 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290551738959.
I0419 20:57:35.223482 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533574, -2.49251)
I0419 20:57:35.225226 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:35.225358 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290552058648.
I0419 20:57:35.233916 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290552333927.
I0419 20:57:35.238257 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640524s, prior_pose=(17.1053, -1.83024), yaw=-0.759542 deg
I0419 20:57:35.238322 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1088, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 20:57:35.238379 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:35.238399 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.24954, -0.671392)
I0419 20:57:35.238415 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:35.306155 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:35.306155 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:35.306304 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290552621136.
I0419 20:57:35.307039 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.531273, -2.49954), points=6, range=2.55333, residual=0.0149821, extent=0.042175
I0419 20:57:35.307101 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.531273, -2.49954), tracking=(-0.232773, -2.49954), map_predicted=(16.8402, -4.32697), range=2.55333, pts=6
I0419 20:57:35.307130 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03004m maha_sq=176.776 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8402, -4.32697) lm_pos=(15.915, -2.52) delta=(0.925175, -1.80697) -> 0 candidate(s)
I0419 20:57:35.308238 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290552938640.
I0419 20:57:35.322121 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290553215120.
I0419 20:57:35.326433 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.53431, -2.49594)
I0419 20:57:35.354113 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477691, -4.30389), points=4, range=4.3285, residual=0.0158839, extent=0.0383991
I0419 20:57:35.354211 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477691, -4.30389), tracking=(-0.179191, -4.30389), map_predicted=(16.8666, -6.13108), range=4.3285, pts=4
I0419 20:57:35.354282 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73435m maha_sq=589.059 (gate chi2=5.99) pose_sigma=(0.150094, 0.150094, rho=0) det_map=(16.8666, -6.13108) lm_pos=(15.915, -2.52) delta=(0.951552, -3.61108) -> 0 candidate(s)
I0419 20:57:35.354959 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0013483 range=1.13625 variance=0.000577983 t_weight=5190.46 r_weight=0 yaml=(15.915, -2.52) prior=(17.104, -1.83001, -0.77535deg) obs_actual=(-1.18066, -0.711484) obs_expected=(-1.17952, -0.70602) delta=(-0.00113768, -0.00546441) |delta|=0.00558159m
I0419 20:57:35.355034 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290553536770.
I0419 20:57:35.382543 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:35.452198 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86068, 4.29639)
I0419 20:57:35.452332 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.43419 rad/s > flush threshold 3.
I0419 20:57:35.452404 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290553820566.
I0419 20:57:35.454150 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:35.454211 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:35.454232 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:35.456425 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00296143, -0.511579), points=26, range=0.511692, residual=0.0120313, extent=0.0377147
I0419 20:57:35.456481 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00296143, -0.511579), tracking=(-0.295539, 0.511579), map_predicted=(16.8147, -1.31277), range=0.511692, pts=26
I0419 20:57:35.456508 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00723906m maha_sq=0.00226972 (gate chi2=5.99) pose_sigma=(0.15004, 0.15004, rho=0) det_map=(16.8147, -1.31277) lm_pos=(16.815, -1.32) delta=(-0.000260056, 0.00723439) -> 1 candidate(s)
I0419 20:57:35.456564 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290554381309.
I0419 20:57:35.470492 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27386, -2.4822)
I0419 20:57:35.471238 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:35.471305 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:35.471356 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:35.471380 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290554701228.
I0419 20:57:35.498118 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:35.573153 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85257, 4.2948), points=4, range=4.6765, residual=0.0168676, extent=0.0411152
I0419 20:57:35.573298 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.85257, 4.2948), tracking=(1.55407, -4.2948), map_predicted=(18.5975, -6.14413), range=4.6765, pts=4
I0419 20:57:35.573328 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.50889m maha_sq=854.715 (gate chi2=5.99) pose_sigma=(0.150099, 0.150099, rho=0) det_map=(18.5975, -6.14413) lm_pos=(15.915, -2.52) delta=(2.68251, -3.62413) -> 0 candidate(s)
I0419 20:57:35.573911 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059176s, prior_pose=(17.102, -1.82858), yaw=-0.779408 deg
I0419 20:57:35.573966 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1088, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:57:35.574023 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:35.574043 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24783, -0.672813)
I0419 20:57:35.574101 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:35.575503 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290555577643.
I0419 20:57:35.618636 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88654, 0.711501), points=5, range=1.1386, residual=0.00755989, extent=0.0200118
I0419 20:57:35.618832 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.88654, 0.711501), tracking=(-1.18504, -0.711501), map_predicted=(15.907, -2.52355), range=1.1386, pts=5
I0419 20:57:35.618952 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00871014m maha_sq=0.00329472 (gate chi2=5.99) pose_sigma=(0.15004, 0.15004, rho=0) det_map=(15.907, -2.52355) lm_pos=(15.915, -2.52) delta=(-0.00795214, -0.00355387) -> 1 candidate(s)
I0419 20:57:35.619203 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290556176274.
I0419 20:57:35.622874 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530638, -2.49661)
I0419 20:57:35.647478 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290556457180.
I0419 20:57:35.756181 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86207, 4.2996)
I0419 20:57:35.756387 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290556772995.
I0419 20:57:35.758648 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881026, 0.713432), points=4, range=1.13575, residual=0.00704334, extent=0.0165836
I0419 20:57:35.758709 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881026, 0.713432), tracking=(-1.17953, -0.713432), map_predicted=(15.9137, -2.52814), range=1.13575, pts=4
I0419 20:57:35.758738 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00823217m maha_sq=0.00294325 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(15.9137, -2.52814) lm_pos=(15.915, -2.52) delta=(-0.00125273, -0.0081363) -> 1 candidate(s)
I0419 20:57:35.758791 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.828592 deg, rms_residual=0.00691465m, sigma_yaw=0.00913531 rad, N=2
I0419 20:57:35.758829 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1006, -1.82923, -0.828592deg) inliers=2 rms=0.00691465m
I0419 20:57:35.758857 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290557053385.
I0419 20:57:35.759249 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:35.759289 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:35.759308 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:35.760557 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290557340720.
I0419 20:57:35.763285 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0030237 range=1.1378 variance=0.000494679 t_weight=6064.54 r_weight=0 yaml=(15.915, -2.52) prior=(17.1028, -1.82989, -0.765791deg) obs_actual=(-1.18484, -0.71135) obs_expected=(-1.17851, -0.705923) delta=(-0.00633433, -0.00542684) |delta|=0.00834112m
I0419 20:57:35.763388 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290557617777.
I0419 20:57:35.766661 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533941, -2.49423)
I0419 20:57:35.766786 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:35.863531 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25218, -0.672825), points=3, range=1.41767, residual=0.00773378, extent=0.0145556
I0419 20:57:35.863633 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25218, -0.672825), tracking=(1.55068, -0.672825), map_predicted=(18.6467, -2.52256), range=1.41767, pts=3
I0419 20:57:35.863667 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19115m maha_sq=207.899 (gate chi2=5.99) pose_sigma=(0.150195, 0.150195, rho=0) det_map=(18.6467, -2.52256) lm_pos=(16.815, -1.32) delta=(1.83166, -1.20256) -> 0 candidate(s)
I0419 20:57:35.864128 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:57:35.865893 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290558221893.
I0419 20:57:35.866400 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881876s, prior_pose=(17.1052, -1.82884), yaw=-0.774586 deg
I0419 20:57:35.866468 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1094, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:57:35.866525 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:35.866549 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25373, -0.673627)
I0419 20:57:35.866564 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:35.868906 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290558497936.
I0419 20:57:35.882031 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290558812763.
I0419 20:57:35.886180 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.531133, -2.49884), points=4, range=2.55225, residual=0.0112787, extent=0.027429
I0419 20:57:35.886401 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.531133, -2.49884), tracking=(-0.232633, -2.49884), map_predicted=(16.84, -4.32456), range=2.55225, pts=4
I0419 20:57:35.886484 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02784m maha_sq=177.132 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.84, -4.32456) lm_pos=(15.915, -2.52) delta=(0.925025, -1.80456) -> 0 candidate(s)
I0419 20:57:35.910688 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290559093552.
I0419 20:57:36.009336 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.534359, -2.49625)
I0419 20:57:36.011163 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290559413924.
I0419 20:57:36.013352 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477074, -4.29826), points=3, range=4.32467, residual=0.0108186, extent=0.0263973
I0419 20:57:36.013418 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477074, -4.29826), tracking=(-0.178574, -4.29826), map_predicted=(16.8711, -6.12479), range=4.32467, pts=3
I0419 20:57:36.013445 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72943m maha_sq=591.01 (gate chi2=5.99) pose_sigma=(0.150081, 0.150081, rho=0) det_map=(16.8711, -6.12479) lm_pos=(15.915, -2.52) delta=(0.956134, -3.60479) -> 0 candidate(s)
I0419 20:57:36.013468 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:36.014075 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86366, 4.30327)
I0419 20:57:36.014168 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290559702862.
I0419 20:57:36.015350 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290559973500.
I0419 20:57:36.015724 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:36.015770 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:36.015792 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:36.016855 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1049, -1.82912), yaw=-0.720815 deg backend=(17.1023, -1.83177)
I0419 20:57:36.030349 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290560292819.
I0419 20:57:36.124732 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:36.124871 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290560573362.
I0419 20:57:36.125300 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533883, -2.49398)
I0419 20:57:36.125362 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483692, -4.30088), points=3, range=4.326, residual=0.0125615, extent=0.0261201
I0419 20:57:36.125392 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483692, -4.30088), tracking=(-0.185192, -4.30088), map_predicted=(16.8646, -6.12664), range=4.326, pts=3
I0419 20:57:36.125415 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72956m maha_sq=590.627 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8646, -6.12664) lm_pos=(15.915, -2.52) delta=(0.949624, -3.60664) -> 0 candidate(s)
I0419 20:57:36.126873 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290560856448.
I0419 20:57:36.129663 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.064039s, prior_pose=(17.1054, -1.82905), yaw=-0.759387 deg
I0419 20:57:36.129755 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1336, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 20:57:36.129870 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:36.129889 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86088, 4.29685)
I0419 20:57:36.129904 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:36.129959 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00189372 range=1.1405 variance=0.000558462 t_weight=5371.9 r_weight=0 yaml=(15.915, -2.52) prior=(17.1054, -1.82905, -0.759387deg) obs_actual=(-1.18489, -0.712083) obs_expected=(-1.18111, -0.706661) delta=(-0.00378606, -0.00542183) |delta|=0.00661291m
I0419 20:57:36.130018 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290561213752.
I0419 20:57:36.147094 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27632, -2.47814), points=3, range=2.78533, residual=0.00870099, extent=0.0169481
I0419 20:57:36.147287 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27632, -2.47814), tracking=(1.57482, -2.47814), map_predicted=(18.6466, -4.32728), range=2.78533, pts=3
I0419 20:57:36.147428 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27536m maha_sq=462.154 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(18.6466, -4.32728) lm_pos=(15.915, -2.52) delta=(2.73162, -1.80728) -> 0 candidate(s)
I0419 20:57:36.149317 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290561462670.
I0419 20:57:36.175370 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:36.175611 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:36.175663 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290561742422.
I0419 20:57:36.281855 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27294, -2.48043)
I0419 20:57:36.282480 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290562055180.
I0419 20:57:36.284698 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.530719, -2.49688), points=4, range=2.5505, residual=0.0107939, extent=0.0262979
I0419 20:57:36.284818 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.530719, -2.49688), tracking=(-0.232219, -2.49688), map_predicted=(16.8382, -4.32178), range=2.5505, pts=4
I0419 20:57:36.284857 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02454m maha_sq=176.411 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(16.8382, -4.32178) lm_pos=(15.915, -2.52) delta=(0.92322, -1.80178) -> 0 candidate(s)
I0419 20:57:36.287137 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290562621826.
I0419 20:57:36.287681 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25064, -0.671984)
I0419 20:57:36.290108 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290562896037.
I0419 20:57:36.294989 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:36.295151 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:36.295202 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:36.398794 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:36.398958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290563215032.
I0419 20:57:36.399704 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.540669, -2.49022), points=5, range=2.5504, residual=0.0126641, extent=0.0328284
I0419 20:57:36.399786 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.540669, -2.49022), tracking=(-0.242169, -2.49022), map_predicted=(16.829, -4.31572), range=2.5504, pts=5
I0419 20:57:36.399816 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01493m maha_sq=174.636 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.829, -4.31572) lm_pos=(15.915, -2.52) delta=(0.913974, -1.79572) -> 0 candidate(s)
I0419 20:57:36.401001 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290563496337.
I0419 20:57:36.402552 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.53408, -2.49494)
I0419 20:57:36.404135 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:36.404287 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290563822022.
I0419 20:57:36.411113 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27157, -2.47776), points=3, range=2.785, residual=0.00723856, extent=0.0169481
I0419 20:57:36.411243 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27157, -2.47776), tracking=(1.57007, -2.47776), map_predicted=(18.6412, -4.3269), range=2.785, pts=3
I0419 20:57:36.411302 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27061m maha_sq=461.276 (gate chi2=5.99) pose_sigma=(0.150062, 0.150062, rho=0) det_map=(18.6412, -4.3269) lm_pos=(15.915, -2.52) delta=(2.72618, -1.8069) -> 0 candidate(s)
I0419 20:57:36.412488 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561308s, prior_pose=(17.1053, -1.82779), yaw=-0.78773 deg
I0419 20:57:36.412585 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1330, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:57:36.412875 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:36.412919 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86346, 4.30281)
I0419 20:57:36.412948 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:36.413136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290564103178.
I0419 20:57:36.439210 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.614992 deg, rms_residual=0.00801071m, sigma_yaw=0.0105681 rad, N=2
I0419 20:57:36.439431 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1032, -1.82667, -0.614992deg) inliers=2 rms=0.00801071m
I0419 20:57:36.439522 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290564376020.
I0419 20:57:36.535466 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00280404 range=0.510111 variance=0.000574077 t_weight=5225.78 r_weight=0 yaml=(16.815, -1.32) prior=(17.1048, -1.82714, -0.775935deg) obs_actual=(-0.291093, 0.50901) obs_expected=(-0.29663, 0.503171) delta=(0.00553702, 0.00583907) |delta|=0.00804695m
I0419 20:57:36.535624 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290564700103.
I0419 20:57:36.537961 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86087, 4.29685), points=3, range=4.679, residual=0.0144222, extent=0.0297436
I0419 20:57:36.538053 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86087, 4.29685), tracking=(1.56237, -4.29685), map_predicted=(18.6093, -6.14426), range=4.679, pts=3
I0419 20:57:36.538082 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51604m maha_sq=860.661 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(18.6093, -6.14426) lm_pos=(15.915, -2.52) delta=(2.69433, -3.62426) -> 0 candidate(s)
I0419 20:57:36.538170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290564979023.
I0419 20:57:36.538591 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534098, -2.49496)
I0419 20:57:36.540050 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290565258959.
I0419 20:57:36.558506 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:36.559265 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85349, 4.29695)
I0419 20:57:36.559404 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85849, 4.29134), points=3, range=4.67967, residual=0.0146095, extent=0.0306103
I0419 20:57:36.559440 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85849, 4.29134), tracking=(1.55999, -4.29134), map_predicted=(18.6061, -6.13924), range=4.67967, pts=3
I0419 20:57:36.559473 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51007m maha_sq=857.822 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(18.6061, -6.13924) lm_pos=(15.915, -2.52) delta=(2.69106, -3.61924) -> 0 candidate(s)
I0419 20:57:36.559599 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290565579662.
I0419 20:57:36.667030 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290565856089.
I0419 20:57:36.667455 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:36.667512 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:36.667533 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:36.669320 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290566179116.
I0419 20:57:36.671576 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26684, -2.47737)
I0419 20:57:36.672235 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00296087, -0.510769), points=26, range=0.511, residual=0.0119417, extent=0.0377286
I0419 20:57:36.672299 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00296087, -0.510769), tracking=(-0.295539, 0.510769), map_predicted=(16.8157, -1.31123), range=0.511, pts=26
I0419 20:57:36.672327 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00879709m maha_sq=0.00335081 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(16.8157, -1.31123) lm_pos=(16.815, -1.32) delta=(0.000712494, 0.00876819) -> 1 candidate(s)
I0419 20:57:36.672351 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:36.672410 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290566461080.
I0419 20:57:36.674471 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290566733927.
I0419 20:57:36.703356 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290567020515.
I0419 20:57:36.807354 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0322627s, prior_pose=(17.1032, -1.82778), yaw=-0.775622 deg
I0419 20:57:36.807473 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:57:36.807544 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:36.807565 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24666, -0.672181)
I0419 20:57:36.807579 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:36.807777 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:36.808740 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27478, -2.48398), points=4, range=2.7865, residual=0.0156179, extent=0.0363182
I0419 20:57:36.808804 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27478, -2.48398), tracking=(1.57328, -2.48398), map_predicted=(18.6427, -4.33283), range=2.7865, pts=4
I0419 20:57:36.808866 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27518m maha_sq=458.472 (gate chi2=5.99) pose_sigma=(0.150113, 0.150113, rho=0) det_map=(18.6427, -4.33283) lm_pos=(15.915, -2.52) delta=(2.72772, -1.81283) -> 0 candidate(s)
I0419 20:57:36.809378 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290567341019.
I0419 20:57:36.811666 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00151517 range=0.510423 variance=0.000572165 t_weight=5243.24 r_weight=0 yaml=(16.815, -1.32) prior=(17.1045, -1.8284, -0.775844deg) obs_actual=(-0.295533, 0.510293) obs_expected=(-0.296381, 0.504437) delta=(0.000847484, 0.00585574) |delta|=0.00591675m
I0419 20:57:36.811792 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290567613407.
I0419 20:57:36.813503 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:36.813591 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:36.813616 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290567894339.
I0419 20:57:36.814983 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531781, -2.50189)
I0419 20:57:36.822170 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290568213762.
I0419 20:57:36.827142 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.48353, -4.29937), points=5, range=4.3266, residual=0.0190506, extent=0.0505653
I0419 20:57:36.827328 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.48353, -4.29937), tracking=(-0.18503, -4.29937), map_predicted=(16.8609, -6.12598), range=4.3266, pts=5
I0419 20:57:36.827369 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72797m maha_sq=585.023 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8609, -6.12598) lm_pos=(15.915, -2.52) delta=(0.945879, -3.60598) -> 0 candidate(s)
I0419 20:57:36.906962 1218970 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.28e-03 s (pulsed at 100.69% real time)
I0419 20:57:36.907155 1218970 collated_trajectory_builder.cc:82] odom rate: 248.93 Hz 4.02e-03 s +/- 7.35e-04 s (pulsed at 100.30% real time)
I0419 20:57:36.907271 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.18e-03 s (pulsed at 100.56% real time)
I0419 20:57:36.907302 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.62e-03 s (pulsed at 100.56% real time)
I0419 20:57:36.907895 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.2493, -0.673606)
I0419 20:57:36.909178 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290568780472.
I0419 20:57:36.910321 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1059, -1.82931), yaw=-0.778298 deg backend=(17.105, -1.83034)
I0419 20:57:36.910737 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:36.910785 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:36.910807 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:36.911931 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477437, -4.30157), points=3, range=4.328, residual=0.0103756, extent=0.0253544
I0419 20:57:36.912036 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477437, -4.30157), tracking=(-0.178937, -4.30157), map_predicted=(16.8686, -6.12805), range=4.328, pts=3
I0419 20:57:36.912066 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73193m maha_sq=591.723 (gate chi2=5.99) pose_sigma=(0.15012, 0.15012, rho=0) det_map=(16.8686, -6.12805) lm_pos=(15.915, -2.52) delta=(0.953565, -3.60805) -> 0 candidate(s)
I0419 20:57:36.912544 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290569099798.
I0419 20:57:36.938984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290569380178.
I0419 20:57:36.942543 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.533934, -2.49423)
I0419 20:57:36.967780 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:36.967970 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290569668482.
I0419 20:57:37.070509 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:37.071813 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290569939922.
I0419 20:57:37.072526 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0642911s, prior_pose=(17.1028, -1.82961), yaw=-0.780427 deg
I0419 20:57:37.072593 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 20:57:37.072643 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:37.072664 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24783, -0.672817)
I0419 20:57:37.072676 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:37.072692 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.53753, -2.49329), points=6, range=2.55267, residual=0.0150389, extent=0.0412772
I0419 20:57:37.072711 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.53753, -2.49329), tracking=(-0.23903, -2.49329), map_predicted=(16.8298, -4.31942), range=2.55267, pts=6
I0419 20:57:37.072729 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01862m maha_sq=174.779 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8298, -4.31942) lm_pos=(15.915, -2.52) delta=(0.914828, -1.79942) -> 0 candidate(s)
I0419 20:57:37.076057 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:37.077018 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290570257149.
I0419 20:57:37.078799 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290570540505.
I0419 20:57:37.087054 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27051, -2.47568)
I0419 20:57:37.087212 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32208, -4.27977), points=4, range=4.48, residual=0.0162364, extent=0.039704
I0419 20:57:37.087266 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32208, -4.27977), tracking=(1.62058, -4.27977), map_predicted=(18.6674, -6.13078), range=4.48, pts=4
I0419 20:57:37.087312 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54021m maha_sq=868.273 (gate chi2=5.99) pose_sigma=(0.150168, 0.150168, rho=0) det_map=(18.6674, -6.13078) lm_pos=(15.915, -2.52) delta=(2.75241, -3.61078) -> 0 candidate(s)
I0419 20:57:37.088158 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.702844 deg, rms_residual=0.00727892m, sigma_yaw=0.00961194 rad, N=2
I0419 20:57:37.088219 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00258172 range=1.13975 variance=0.000505488 t_weight=5934.86 r_weight=0 yaml=(15.915, -2.52) prior=(17.1051, -1.8294, -0.77826deg) obs_actual=(-1.18636, -0.711854) obs_expected=(-1.18061, -0.706704) delta=(-0.00574448, -0.00515022) |delta|=0.00771517m
I0419 20:57:37.088289 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1056, -1.82858, -0.702844deg) inliers=2 rms=0.00727892m
I0419 20:57:37.088330 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290570862342.
I0419 20:57:37.177376 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290571140078.
I0419 20:57:37.179327 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:37.179816 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86366, 4.30327)
I0419 20:57:37.179940 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290571461922.
I0419 20:57:37.182343 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290571735657.
I0419 20:57:37.182901 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:37.182950 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.528232, -2.50311), points=5, range=2.557, residual=0.0124458, extent=0.0329021
I0419 20:57:37.182974 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:37.182989 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:37.182999 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.528232, -2.50311), tracking=(-0.229732, -2.50311), map_predicted=(16.8424, -4.32889), range=2.557, pts=5
I0419 20:57:37.183017 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03277m maha_sq=177.777 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8424, -4.32889) lm_pos=(15.915, -2.52) delta=(0.927392, -1.80889) -> 0 candidate(s)
I0419 20:57:37.202683 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290572015839.
I0419 20:57:37.234359 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.3285, -4.27849)
I0419 20:57:37.235631 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:37.235877 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290572336080.
I0419 20:57:37.342546 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477329, -4.30058), points=3, range=4.327, residual=0.010501, extent=0.0256623
I0419 20:57:37.342658 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477329, -4.30058), tracking=(-0.178829, -4.30058), map_predicted=(16.8691, -6.12768), range=4.327, pts=3
I0419 20:57:37.342692 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73171m maha_sq=592.315 (gate chi2=5.99) pose_sigma=(0.150024, 0.150024, rho=0) det_map=(16.8691, -6.12768) lm_pos=(15.915, -2.52) delta=(0.95409, -3.60768) -> 0 candidate(s)
I0419 20:57:37.343416 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290572696458.
I0419 20:57:37.345408 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290572901463.
I0419 20:57:37.345769 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600091s, prior_pose=(17.1047, -1.83085), yaw=-0.759615 deg
I0419 20:57:37.345830 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 20:57:37.345883 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:37.345908 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.484134, -4.30484)
I0419 20:57:37.345921 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:37.347740 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290573222512.
I0419 20:57:37.350132 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.891143, 0.71095), points=5, range=1.1392, residual=0.00592564, extent=0.0149929
I0419 20:57:37.350200 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.891143, 0.71095), tracking=(-1.18964, -0.71095), map_predicted=(15.9071, -2.52531), range=1.1392, pts=5
I0419 20:57:37.350229 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00954831m maha_sq=0.00395936 (gate chi2=5.99) pose_sigma=(0.150113, 0.150113, rho=0) det_map=(15.9071, -2.52531) lm_pos=(15.915, -2.52) delta=(-0.00793586, -0.00530965) -> 1 candidate(s)
I0419 20:57:37.350286 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290573493885.
I0419 20:57:37.430114 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:57:37.435190 1232263 pose_graph_2d.cc:160] Inserted submap (1, 19).
I0419 20:57:37.436269 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.00593769, -0.510797)
I0419 20:57:37.436425 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290573781392.
I0419 20:57:37.438573 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:37.438688 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:37.438724 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0017797 range=0.509885 variance=0.000571848 t_weight=5246.15 r_weight=0 yaml=(16.815, -1.32) prior=(17.1072, -1.82903, -0.78546deg) obs_actual=(-0.295541, 0.510246) obs_expected=(-0.299183, 0.504973) delta=(0.00364122, 0.00527282) |delta|=0.00640789m
I0419 20:57:37.438772 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:37.438789 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290574099785.
I0419 20:57:37.441123 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290574372656.
I0419 20:57:37.441923 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477366, -4.30091)
I0419 20:57:37.441996 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483804, -4.30188), points=3, range=4.32733, residual=0.0124187, extent=0.0258786
I0419 20:57:37.442020 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483804, -4.30188), tracking=(-0.185304, -4.30188), map_predicted=(16.8621, -6.12888), range=4.32733, pts=3
I0419 20:57:37.442080 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73108m maha_sq=591.191 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8621, -6.12888) lm_pos=(15.915, -2.52) delta=(0.947106, -3.60888) -> 0 candidate(s)
I0419 20:57:37.466854 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290574661606.
I0419 20:57:37.470182 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:37.470292 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:37.470322 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:37.498564 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290574973634.
I0419 20:57:37.566608 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00591084, -0.510613)
I0419 20:57:37.567086 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32198, -4.27945), points=4, range=4.4795, residual=0.0160979, extent=0.0394007
I0419 20:57:37.567137 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32198, -4.27945), tracking=(1.62048, -4.27945), map_predicted=(18.669, -6.12863), range=4.4795, pts=4
I0419 20:57:37.567165 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53944m maha_sq=869.267 (gate chi2=5.99) pose_sigma=(0.150066, 0.150066, rho=0) det_map=(18.669, -6.12863) lm_pos=(15.915, -2.52) delta=(2.75396, -3.60863) -> 0 candidate(s)
I0419 20:57:37.569327 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:37.569442 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290575541299.
I0419 20:57:37.587077 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.25047, -0.674238)
I0419 20:57:37.588109 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885513s, prior_pose=(17.1063, -1.82681), yaw=-0.765825 deg
I0419 20:57:37.588769 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1331, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 20:57:37.589008 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:37.589090 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:37.589241 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290575859147.
I0419 20:57:37.614025 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290576133549.
I0419 20:57:37.618430 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27553, -2.48547), points=3, range=2.79367, residual=0.00689719, extent=0.0167341
I0419 20:57:37.618544 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27553, -2.48547), tracking=(1.57403, -2.48547), map_predicted=(18.6467, -4.33446), range=2.79367, pts=3
I0419 20:57:37.618574 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27937m maha_sq=464.193 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6467, -4.33446) lm_pos=(15.915, -2.52) delta=(2.73167, -1.81446) -> 0 candidate(s)
I0419 20:57:37.693848 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290576418231.
I0419 20:57:37.695948 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(-0.00515496, -0.512118)
I0419 20:57:37.696084 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290576734965.
I0419 20:57:37.702414 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290577019273.
I0419 20:57:37.730099 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00963278, -0.51014), points=26, range=0.510923, residual=0.0116893, extent=0.0377053
I0419 20:57:37.730201 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00963278, -0.51014), tracking=(-0.288867, 0.51014), map_predicted=(16.8233, -1.3146), range=0.510923, pts=26
I0419 20:57:37.730232 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00990922m maha_sq=0.00424872 (gate chi2=5.99) pose_sigma=(0.150143, 0.150143, rho=0) det_map=(16.8233, -1.3146) lm_pos=(16.815, -1.32) delta=(0.00831106, 0.0053962) -> 1 candidate(s)
I0419 20:57:37.730345 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290577295767.
I0419 20:57:37.738320 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.483862, -4.30235)
I0419 20:57:37.738446 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:37.762880 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:37.762970 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:37.762990 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:37.763042 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00151933 range=0.510769 variance=0.000565968 t_weight=5300.65 r_weight=0 yaml=(16.815, -1.32) prior=(17.1053, -1.8286, -0.774164deg) obs_actual=(-0.295536, 0.510341) obs_expected=(-0.297105, 0.504632) delta=(0.00156839, 0.00570831) |delta|=0.00591986m
I0419 20:57:37.763118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290577620631.
I0419 20:57:37.839911 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1028, -1.8294), yaw=-0.765956 deg backend=(17.1023, -1.83125)
I0419 20:57:37.841524 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290577897973.
I0419 20:57:37.842038 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.24813, -0.67297)
I0419 20:57:37.844409 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:37.844547 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290578179541.
I0419 20:57:37.845144 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.528382, -2.50384), points=5, range=2.556, residual=0.0143572, extent=0.0375914
I0419 20:57:37.845221 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.528382, -2.50384), tracking=(-0.229882, -2.50384), map_predicted=(16.8389, -4.32965), range=2.556, pts=5
I0419 20:57:37.845247 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03183m maha_sq=177.224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8389, -4.32965) lm_pos=(15.915, -2.52) delta=(0.923855, -1.80965) -> 0 candidate(s)
I0419 20:57:37.849745 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:37.850320 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.672843 deg, rms_residual=0.00736077m, sigma_yaw=0.00971897 rad, N=2
I0419 20:57:37.850449 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1045, -1.82789, -0.672843deg) inliers=2 rms=0.00736077m
I0419 20:57:37.850487 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290578493104.
I0419 20:57:37.879642 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.322406, 0.0319776)
I0419 20:57:37.880026 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290578788977.
I0419 20:57:37.882479 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641645s, prior_pose=(17.1029, -1.82874), yaw=-0.766153 deg
I0419 20:57:37.882592 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 20:57:37.882684 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:37.882709 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:37.954949 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34169, -4.27699), points=3, range=4.48067, residual=0.0128815, extent=0.0267451
I0419 20:57:37.955087 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.34169, -4.27699), tracking=(1.64019, -4.27699), map_predicted=(18.6887, -6.12574), range=4.48067, pts=3
I0419 20:57:37.955123 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54915m maha_sq=873.936 (gate chi2=5.99) pose_sigma=(0.15029, 0.15029, rho=0) det_map=(18.6887, -6.12574) lm_pos=(15.915, -2.52) delta=(2.77369, -3.60574) -> 0 candidate(s)
I0419 20:57:37.955675 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290579102208.
I0419 20:57:37.957063 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27248, -2.47954)
I0419 20:57:37.958889 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290579382682.
I0419 20:57:37.966559 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290579659271.
I0419 20:57:37.998857 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.478096, -4.30754), points=4, range=4.33325, residual=0.015509, extent=0.0379269
I0419 20:57:37.998975 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.478096, -4.30754), tracking=(-0.179596, -4.30754), map_predicted=(16.8687, -6.13209), range=4.33325, pts=4
I0419 20:57:37.999011 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73586m maha_sq=589.959 (gate chi2=5.99) pose_sigma=(0.150074, 0.150074, rho=0) det_map=(16.8687, -6.13209) lm_pos=(15.915, -2.52) delta=(0.953679, -3.61209) -> 0 candidate(s)
I0419 20:57:37.999483 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00669573, -0.511334)
I0419 20:57:37.999620 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290579981987.
I0419 20:57:38.095054 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:38.095184 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:38.095209 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290580254612.
I0419 20:57:38.096721 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290580540921.
I0419 20:57:38.097208 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27324, -2.48102)
I0419 20:57:38.097265 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:38.097292 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:38.097306 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:38.099452 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00889322, -0.509939), points=25, range=0.5102, residual=0.0111639, extent=0.036099
I0419 20:57:38.099552 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00889322, -0.509939), tracking=(-0.289607, 0.509939), map_predicted=(16.8228, -1.31568), range=0.5102, pts=25
I0419 20:57:38.099586 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00888295m maha_sq=0.00341915 (gate chi2=5.99) pose_sigma=(0.150073, 0.150073, rho=0) det_map=(16.8228, -1.31568) lm_pos=(16.815, -1.32) delta=(0.00776019, 0.00432276) -> 1 candidate(s)
I0419 20:57:38.099648 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00137218 range=1.13625 variance=0.000505742 t_weight=5931.88 r_weight=0 yaml=(15.915, -2.52) prior=(17.1055, -1.82948, -0.773325deg) obs_actual=(-1.18143, -0.712133) obs_expected=(-1.18103, -0.706526) delta=(-0.000397787, -0.0056071) |delta|=0.00562119m
I0419 20:57:38.099718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290580816925.
I0419 20:57:38.114756 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290581138054.
I0419 20:57:38.142601 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86611, 4.29184)
I0419 20:57:38.142747 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:38.142853 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290581420578.
I0419 20:57:38.213776 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00817379, -0.510348), points=27, range=0.511444, residual=0.0123524, extent=0.0413457
I0419 20:57:38.213907 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00817379, -0.510348), tracking=(-0.290326, 0.510348), map_predicted=(16.8218, -1.31516), range=0.511444, pts=27
I0419 20:57:38.213940 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00838815m maha_sq=0.00304524 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(16.8218, -1.31516) lm_pos=(16.815, -1.32) delta=(0.00684843, 0.00484356) -> 1 candidate(s)
I0419 20:57:38.214022 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290581701005.
I0419 20:57:38.214637 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596469s, prior_pose=(17.1053, -1.82937), yaw=-0.771131 deg
I0419 20:57:38.214704 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1093, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 20:57:38.214767 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:38.214789 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:38.214013 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:38.216109 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290582014377.
I0419 20:57:38.218127 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.2743, -2.4831)
I0419 20:57:38.230070 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290582294864.
I0419 20:57:38.234579 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26694, -2.48649), points=4, range=2.7915, residual=0.0107142, extent=0.0259532
I0419 20:57:38.234683 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.26694, -2.48649), tracking=(1.56544, -2.48649), map_predicted=(18.6367, -4.33578), range=2.7915, pts=4
I0419 20:57:38.234724 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27178m maha_sq=460.714 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6367, -4.33578) lm_pos=(15.915, -2.52) delta=(2.72166, -1.81578) -> 0 candidate(s)
I0419 20:57:38.259125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290582584142.
I0419 20:57:38.290937 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85483, 4.3)
I0419 20:57:38.291129 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290582903478.
I0419 20:57:38.370069 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477734, -4.30422), points=3, range=4.33067, residual=0.0106145, extent=0.0258956
I0419 20:57:38.370210 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477734, -4.30422), tracking=(-0.179234, -4.30422), map_predicted=(16.868, -6.13052), range=4.33067, pts=3
I0419 20:57:38.370239 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73417m maha_sq=592.565 (gate chi2=5.99) pose_sigma=(0.150084, 0.150084, rho=0) det_map=(16.868, -6.13052) lm_pos=(15.915, -2.52) delta=(0.953004, -3.61052) -> 0 candidate(s)
I0419 20:57:38.370260 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:38.372330 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290583470016.
I0419 20:57:38.372954 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477975, -4.30654)
I0419 20:57:38.373138 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:38.373164 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:38.373181 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:38.381063 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290583800090.
I0419 20:57:38.410499 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25306, -0.673298), points=3, range=1.419, residual=0.00724638, extent=0.013748
I0419 20:57:38.410616 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25306, -0.673298), tracking=(1.55156, -0.673298), map_predicted=(18.6459, -2.52327), range=1.419, pts=3
I0419 20:57:38.410652 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1909m maha_sq=208.29 (gate chi2=5.99) pose_sigma=(0.150057, 0.150057, rho=0) det_map=(18.6459, -2.52327) lm_pos=(16.815, -1.32) delta=(1.83089, -1.20327) -> 0 candidate(s)
I0419 20:57:38.411500 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:38.411613 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290584100771.
I0419 20:57:38.484344 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.53418, -2.49543)
I0419 20:57:38.485227 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00254775 range=1.13725 variance=0.000518865 t_weight=5781.85 r_weight=0 yaml=(15.915, -2.52) prior=(17.1031, -1.82944, -0.775845deg) obs_actual=(-1.1803, -0.71406) obs_expected=(-1.17865, -0.70658) delta=(-0.00165054, -0.00747949) |delta|=0.00765944m
I0419 20:57:38.485366 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290584378656.
I0419 20:57:38.486821 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290584657881.
I0419 20:57:38.487282 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0898943s, prior_pose=(17.1031, -1.82944), yaw=-0.775845 deg
I0419 20:57:38.487360 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 20:57:38.487406 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:38.487422 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:38.498755 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25174, -0.672575)
I0419 20:57:38.498857 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:38.498872 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25536, -0.672183), points=4, range=1.421, residual=0.00787793, extent=0.0165534
I0419 20:57:38.498893 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25536, -0.672183), tracking=(1.55386, -0.672183), map_predicted=(18.648, -2.52152), range=1.421, pts=4
I0419 20:57:38.498919 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19168m maha_sq=208.283 (gate chi2=5.99) pose_sigma=(0.150082, 0.150082, rho=0) det_map=(18.648, -2.52152) lm_pos=(16.815, -1.32) delta=(1.83298, -1.20152) -> 0 candidate(s)
I0419 20:57:38.499509 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290584982188.
I0419 20:57:38.526722 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290585255283.
I0419 20:57:38.554154 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.775223 deg, rms_residual=0.00699992m, sigma_yaw=0.00924692 rad, N=2
I0419 20:57:38.554291 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1004, -1.82778, -0.775223deg) inliers=2 rms=0.00699992m
I0419 20:57:38.554329 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290585536356.
I0419 20:57:38.626782 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00668086, -0.510681)
I0419 20:57:38.627655 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32835, -4.27801), points=3, range=4.479, residual=0.0125647, extent=0.0262327
I0419 20:57:38.627738 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32835, -4.27801), tracking=(1.62685, -4.27801), map_predicted=(18.6723, -6.12781), range=4.479, pts=3
I0419 20:57:38.627766 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54081m maha_sq=873.294 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(18.6723, -6.12781) lm_pos=(15.915, -2.52) delta=(2.75729, -3.60781) -> 0 candidate(s)
I0419 20:57:38.629789 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290586093608.
I0419 20:57:38.642704 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290586421017.
I0419 20:57:38.643997 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1035, -1.82699), yaw=-0.780617 deg backend=(17.1042, -1.83029)
I0419 20:57:38.646806 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.489677, -4.29776)
I0419 20:57:38.646981 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:38.647039 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:38.647073 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:38.670637 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:38.670771 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:38.670794 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290586700840.
I0419 20:57:38.674207 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534729, -2.49789), points=5, range=2.5568, residual=0.0128985, extent=0.0337914
I0419 20:57:38.674317 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534729, -2.49789), tracking=(-0.236229, -2.49789), map_predicted=(16.8333, -4.32143), range=2.5568, pts=5
I0419 20:57:38.674358 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02197m maha_sq=175.807 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8333, -4.32143) lm_pos=(15.915, -2.52) delta=(0.918265, -1.80143) -> 0 candidate(s)
I0419 20:57:38.773274 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290587019505.
I0419 20:57:38.774814 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(-0.0051855, -0.512189)
I0419 20:57:38.774948 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:38.775002 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290587301154.
I0419 20:57:38.777736 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00299419 range=1.14025 variance=0.000498422 t_weight=6018.99 r_weight=0 yaml=(15.915, -2.52) prior=(17.1048, -1.82794, -0.80098deg) obs_actual=(-1.1867, -0.713552) obs_expected=(-1.18002, -0.708625) delta=(-0.00668257, -0.00492659) |delta|=0.00830229m
I0419 20:57:38.777880 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290587575457.
I0419 20:57:38.778461 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602071s, prior_pose=(17.1048, -1.82794), yaw=-0.80098 deg
I0419 20:57:38.778522 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:57:38.778584 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:38.778607 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:38.778627 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.490013, -4.30083), points=4, range=4.32875, residual=0.0156977, extent=0.0380853
I0419 20:57:38.778647 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.490013, -4.30083), tracking=(-0.191513, -4.30083), map_predicted=(16.8532, -6.12567), range=4.32875, pts=4
I0419 20:57:38.778699 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72573m maha_sq=587.19 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8532, -6.12567) lm_pos=(15.915, -2.52) delta=(0.938196, -3.60567) -> 0 candidate(s)
I0419 20:57:38.790848 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.483747, -4.30136)
I0419 20:57:38.818480 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290588172460.
I0419 20:57:38.928340 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.893789, 0.708828), points=5, range=1.1394, residual=0.00703275, extent=0.0172692
I0419 20:57:38.928491 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.893789, 0.708828), tracking=(-1.19229, -0.708828), map_predicted=(15.9025, -2.52026), range=1.1394, pts=5
I0419 20:57:38.928519 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0125414m maha_sq=0.00682901 (gate chi2=5.99) pose_sigma=(0.150084, 0.150084, rho=0) det_map=(15.9025, -2.52026) lm_pos=(15.915, -2.52) delta=(-0.0125387, -0.000260585) -> 1 candidate(s)
I0419 20:57:38.928619 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290588500683.
I0419 20:57:38.931198 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.530978, -2.49817)
I0419 20:57:38.932121 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290588776798.
I0419 20:57:38.934325 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290589053171.
I0419 20:57:38.935081 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:38.937728 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32613, -4.27085)
I0419 20:57:38.937822 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25419, -0.671553), points=4, range=1.4195, residual=0.00814158, extent=0.0172247
I0419 20:57:38.937886 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25419, -0.671553), tracking=(1.55269, -0.671553), map_predicted=(18.6487, -2.52083), range=1.4195, pts=4
I0419 20:57:38.937916 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19193m maha_sq=208.323 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(18.6487, -2.52083) lm_pos=(16.815, -1.32) delta=(1.83373, -1.20083) -> 0 candidate(s)
I0419 20:57:38.938566 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:38.938637 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:38.938656 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:39.011590 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290589659513.
I0419 20:57:39.012837 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:39.013136 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290589931533.
I0419 20:57:39.013691 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.484194, -4.30534)
I0419 20:57:39.025818 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27614, -2.48665), points=4, range=2.791, residual=0.0132958, extent=0.0315017
I0419 20:57:39.025952 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.27614, -2.48665), tracking=(1.57464, -2.48665), map_predicted=(18.6447, -4.33824), range=2.791, pts=4
I0419 20:57:39.025986 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27986m maha_sq=460.874 (gate chi2=5.99) pose_sigma=(0.15015, 0.15015, rho=0) det_map=(18.6447, -4.33824) lm_pos=(15.915, -2.52) delta=(2.72973, -1.81824) -> 0 candidate(s)
I0419 20:57:39.026521 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:39.026641 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290590254282.
I0419 20:57:39.055546 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566592s, prior_pose=(17.1029, -1.82999), yaw=-0.766347 deg
I0419 20:57:39.055650 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1329, max_intensity=253, threshold=230, above_threshold=33, candidates=33
I0419 20:57:39.055796 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:39.055819 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-1.86532, 4.29001)
I0419 20:57:39.055833 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 20:57:39.082883 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290590820074.
I0419 20:57:39.179757 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34139, -4.27603), points=3, range=4.47933, residual=0.013032, extent=0.0269787
I0419 20:57:39.179883 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.34139, -4.27603), tracking=(1.63989, -4.27603), map_predicted=(18.6855, -6.12508), range=4.47933, pts=3
I0419 20:57:39.179911 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54669m maha_sq=874.005 (gate chi2=5.99) pose_sigma=(0.150187, 0.150187, rho=0) det_map=(18.6855, -6.12508) lm_pos=(15.915, -2.52) delta=(2.77052, -3.60508) -> 0 candidate(s)
I0419 20:57:39.180441 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290591142488.
I0419 20:57:39.182664 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32717, -4.27419)
I0419 20:57:39.183399 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.002298 range=1.138 variance=0.000499344 t_weight=6007.88 r_weight=0 yaml=(15.915, -2.52) prior=(17.1031, -1.82738, -0.765859deg) obs_actual=(-1.1816, -0.715112) obs_expected=(-1.1787, -0.708443) delta=(-0.00289649, -0.00666868) |delta|=0.00727055m
I0419 20:57:39.183487 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290591421640.
I0419 20:57:39.184736 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290591698240.
I0419 20:57:39.201891 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483749, -4.30138), points=3, range=4.32633, residual=0.0126782, extent=0.0264084
I0419 20:57:39.202016 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483749, -4.30138), tracking=(-0.185249, -4.30138), map_predicted=(16.861, -6.12711), range=4.32633, pts=3
I0419 20:57:39.202062 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7291m maha_sq=589.576 (gate chi2=5.99) pose_sigma=(0.15011, 0.15011, rho=0) det_map=(16.861, -6.12711) lm_pos=(15.915, -2.52) delta=(0.946016, -3.60711) -> 0 candidate(s)
I0419 20:57:39.202714 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.885765, 0.710846)
I0419 20:57:39.202982 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290592013991.
I0419 20:57:39.278873 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:39.278992 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:39.279012 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:39.279109 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290592300851.
I0419 20:57:39.280447 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.846098 deg, rms_residual=0.00635701m, sigma_yaw=0.00840478 rad, N=2
I0419 20:57:39.280551 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1009, -1.82935, -0.846098deg) inliers=2 rms=0.00635701m
I0419 20:57:39.280591 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290592580947.
I0419 20:57:39.290341 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32614, -4.27084)
I0419 20:57:39.290462 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.527924, -2.50164), points=5, range=2.555, residual=0.0125755, extent=0.0333035
I0419 20:57:39.290503 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.527924, -2.50164), tracking=(-0.229424, -2.50164), map_predicted=(16.8401, -4.32674), range=2.555, pts=5
I0419 20:57:39.290536 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02981m maha_sq=177.104 (gate chi2=5.99) pose_sigma=(0.150058, 0.150058, rho=0) det_map=(16.8401, -4.32674) lm_pos=(15.915, -2.52) delta=(0.925107, -1.80674) -> 0 candidate(s)
I0419 20:57:39.291399 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290592897729.
I0419 20:57:39.318694 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:39.318920 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290593174528.
I0419 20:57:39.346237 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:39.346570 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:39.346717 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290593457155.
I0419 20:57:39.414263 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0321494s, prior_pose=(17.1073, -1.82809), yaw=-0.801882 deg
I0419 20:57:39.414390 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1086, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:57:39.414464 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:39.414481 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477441, -4.30157)
I0419 20:57:39.414495 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:39.414518 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25483, -0.674245), points=3, range=1.42033, residual=0.00823815, extent=0.0153981
I0419 20:57:39.414536 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25483, -0.674245), tracking=(1.55333, -0.674245), map_predicted=(18.6511, -2.524), range=1.42033, pts=3
I0419 20:57:39.414595 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19563m maha_sq=208.415 (gate chi2=5.99) pose_sigma=(0.150291, 0.150291, rho=0) det_map=(18.6511, -2.524) lm_pos=(16.815, -1.32) delta=(1.83608, -1.204) -> 0 candidate(s)
I0419 20:57:39.416427 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290593823523.
I0419 20:57:39.418941 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290594053719.
I0419 20:57:39.437767 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.531141, -2.49896)
I0419 20:57:39.438344 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.891144, 0.710949), points=5, range=1.1388, residual=0.00641057, extent=0.0172275
I0419 20:57:39.438395 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.891144, 0.710949), tracking=(-1.18964, -0.710949), map_predicted=(15.9072, -2.52354), range=1.1388, pts=5
I0419 20:57:39.438421 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00852618m maha_sq=0.00316088 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9072, -2.52354) lm_pos=(15.915, -2.52) delta=(-0.00775879, -0.00353508) -> 1 candidate(s)
I0419 20:57:39.438484 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00316088 range=1.1388 variance=0.000498517 t_weight=6017.85 r_weight=0 yaml=(15.915, -2.52) prior=(17.1067, -1.82931, -0.80229deg) obs_actual=(-1.18964, -0.710949) obs_expected=(-1.18194, -0.707305) delta=(-0.00770853, -0.00364338) |delta|=0.00852618m
I0419 20:57:39.438560 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290594373670.
I0419 20:57:39.466456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290594657765.
I0419 20:57:39.591032 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290594937863.
I0419 20:57:39.592036 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477184, -4.29925)
I0419 20:57:39.592160 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:39.593781 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290595217039.
I0419 20:57:39.595175 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1042, -1.82941), yaw=-0.758721 deg backend=(17.1049, -1.8319)
I0419 20:57:39.595734 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:39.595788 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2793, -2.48391), points=3, range=2.79133, residual=0.0090402, extent=0.0180959
I0419 20:57:39.595809 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:39.595826 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:39.595839 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.2793, -2.48391), tracking=(1.5778, -2.48391), map_predicted=(18.649, -4.33399), range=2.79133, pts=3
I0419 20:57:39.595903 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.28105m maha_sq=463.414 (gate chi2=5.99) pose_sigma=(0.150096, 0.150096, rho=0) det_map=(18.649, -4.33399) lm_pos=(15.915, -2.52) delta=(2.73399, -1.81399) -> 0 candidate(s)
I0419 20:57:39.597527 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.890537, 0.711163)
I0419 20:57:39.597764 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290595538718.
I0419 20:57:39.600364 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:39.600467 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290595814667.
I0419 20:57:39.601186 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:39.610821 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290596101184.
I0419 20:57:39.712399 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:39.712666 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534147, -2.4952)
I0419 20:57:39.712766 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.470802, -4.29879), points=3, range=4.32667, residual=0.0129398, extent=0.0270814
I0419 20:57:39.712795 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.470802, -4.29879), tracking=(-0.172302, -4.29879), map_predicted=(16.8719, -6.12563), range=4.32667, pts=3
I0419 20:57:39.712819 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.73045m maha_sq=590.538 (gate chi2=5.99) pose_sigma=(0.150016, 0.150016, rho=0) det_map=(16.8719, -6.12563) lm_pos=(15.915, -2.52) delta=(0.956913, -3.60563) -> 0 candidate(s)
I0419 20:57:39.713152 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600889s, prior_pose=(17.1035, -1.82962), yaw=-0.789922 deg
I0419 20:57:39.713220 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1340, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 20:57:39.713359 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:39.713382 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:57:39.713465 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290596415556.
I0419 20:57:39.715873 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290596699591.
I0419 20:57:39.717648 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.3291, -4.2804)
I0419 20:57:39.718199 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290597016025.
I0419 20:57:39.730733 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33423, -4.27495), points=4, range=4.476, residual=0.0166927, extent=0.0408537
I0419 20:57:39.730902 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33423, -4.27495), tracking=(1.63273, -4.27495), map_predicted=(18.6778, -6.12604), range=4.476, pts=4
I0419 20:57:39.730947 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54274m maha_sq=869.189 (gate chi2=5.99) pose_sigma=(0.150126, 0.150126, rho=0) det_map=(18.6778, -6.12604) lm_pos=(15.915, -2.52) delta=(2.76279, -3.60604) -> 0 candidate(s)
I0419 20:57:39.732093 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290597299994.
I0419 20:57:39.824237 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290597580964.
I0419 20:57:39.824765 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27492, -2.48428)
I0419 20:57:39.826774 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00162212 range=1.1382 variance=0.000502322 t_weight=5972.27 r_weight=0 yaml=(15.915, -2.52) prior=(17.1051, -1.82793, -0.782082deg) obs_actual=(-1.18277, -0.713924) obs_expected=(-1.1805, -0.708252) delta=(-0.0022671, -0.00567211) |delta|=0.0061084m
I0419 20:57:39.826934 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290597897771.
I0419 20:57:39.829057 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31576, -4.28138), points=3, range=4.479, residual=0.0124742, extent=0.0260577
I0419 20:57:39.829133 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.31576, -4.28138), tracking=(1.61426, -4.28138), map_predicted=(18.6611, -6.13191), range=4.479, pts=3
I0419 20:57:39.829159 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53727m maha_sq=872.115 (gate chi2=5.99) pose_sigma=(0.150078, 0.150078, rho=0) det_map=(18.6611, -6.13191) lm_pos=(15.915, -2.52) delta=(2.74607, -3.61191) -> 0 candidate(s)
I0419 20:57:39.829784 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:39.829839 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:39.829859 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:39.829911 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290598177562.
I0419 20:57:39.846405 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.86452, 4.28817)
I0419 20:57:39.846594 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290598458645.
I0419 20:57:39.878641 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290598773667.
I0419 20:57:39.965188 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881285, 0.713642), points=4, range=1.136, residual=0.00693464, extent=0.0165836
I0419 20:57:39.965324 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881285, 0.713642), tracking=(-1.17979, -0.713642), map_predicted=(15.9115, -2.52906), range=1.136, pts=4
I0419 20:57:39.965368 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00969866m maha_sq=0.00407424 (gate chi2=5.99) pose_sigma=(0.150274, 0.150274, rho=0) det_map=(15.9115, -2.52906) lm_pos=(15.915, -2.52) delta=(-0.0034592, -0.00906079) -> 1 candidate(s)
I0419 20:57:39.965417 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:39.965485 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290599060599.
I0419 20:57:39.965984 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27355, -2.48162)
I0419 20:57:39.968230 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:39.968336 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:39.968362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290599337134.
I0419 20:57:39.968997 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607871s, prior_pose=(17.1011, -1.83079), yaw=-0.766598 deg
I0419 20:57:39.969048 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1102, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:57:39.969120 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:39.969183 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:39.970579 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86333, 4.28542), points=4, range=4.6745, residual=0.0170991, extent=0.0415738
I0419 20:57:39.970631 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86333, 4.28542), tracking=(1.56483, -4.28542), map_predicted=(18.6085, -6.13676), range=4.6745, pts=4
I0419 20:57:39.970654 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50952m maha_sq=855.751 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6085, -6.13676) lm_pos=(15.915, -2.52) delta=(2.69347, -3.61676) -> 0 candidate(s)
I0419 20:57:39.970707 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.403827 deg, rms_residual=0.008277m, sigma_yaw=0.0109155 rad, N=2
I0419 20:57:39.970736 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1045, -1.82493, -0.403827deg) inliers=2 rms=0.008277m
I0419 20:57:39.970760 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290599655565.
I0419 20:57:39.994153 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.3285, -4.27849)
I0419 20:57:39.995438 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290599935955.
I0419 20:57:40.092845 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290600222003.
I0419 20:57:40.095036 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.884597, 0.713112)
I0419 20:57:40.095129 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85928, 4.29318), points=3, range=4.67867, residual=0.0130899, extent=0.0272888
I0419 20:57:40.095157 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85928, 4.29318), tracking=(1.56078, -4.29318), map_predicted=(18.6062, -6.13917), range=4.67867, pts=3
I0419 20:57:40.095180 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51011m maha_sq=860.323 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6062, -6.13917) lm_pos=(15.915, -2.52) delta=(2.69124, -3.61917) -> 0 candidate(s)
I0419 20:57:40.095265 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290600535112.
I0419 20:57:40.097561 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:40.110868 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:40.111114 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00111274 range=1.136 variance=0.000573655 t_weight=5229.62 r_weight=0 yaml=(15.915, -2.52) prior=(17.1042, -1.82917, -0.769776deg) obs_actual=(-1.18092, -0.711691) obs_expected=(-1.17976, -0.706747) delta=(-0.00115532, -0.00494334) |delta|=0.00507655m
I0419 20:57:40.111275 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290601098848.
I0419 20:57:40.113920 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:40.114058 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:40.114097 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:40.143162 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32717, -4.27419)
I0419 20:57:40.144487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290601422311.
I0419 20:57:40.242167 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.884598, 0.713111), points=5, range=1.1376, residual=0.00850673, extent=0.021029
I0419 20:57:40.242285 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.884598, 0.713111), tracking=(-1.1831, -0.713111), map_predicted=(15.9122, -2.52849), range=1.1376, pts=5
I0419 20:57:40.242317 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00894017m maha_sq=0.00346409 (gate chi2=5.99) pose_sigma=(0.150144, 0.150144, rho=0) det_map=(15.9122, -2.52849) lm_pos=(15.915, -2.52) delta=(-0.00281036, -0.00848696) -> 1 candidate(s)
I0419 20:57:40.242341 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:40.242413 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290601694132.
I0419 20:57:40.244998 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290601980000.
I0419 20:57:40.245711 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27203, -2.47865)
I0419 20:57:40.247223 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0870678s, prior_pose=(17.104, -1.83009), yaw=-0.753796 deg
I0419 20:57:40.247299 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1329, max_intensity=252, threshold=230, above_threshold=33, candidates=33
I0419 20:57:40.247432 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:40.247453 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:40.247540 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290602292989.
I0419 20:57:40.258721 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2707, -2.48495), points=3, range=2.789, residual=0.00854285, extent=0.0176686
I0419 20:57:40.258826 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.2707, -2.48495), tracking=(1.5692, -2.48495), map_predicted=(18.6399, -4.33484), range=2.789, pts=3
I0419 20:57:40.258862 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27394m maha_sq=461.811 (gate chi2=5.99) pose_sigma=(0.150059, 0.150059, rho=0) det_map=(18.6399, -4.33484) lm_pos=(15.915, -2.52) delta=(2.72489, -1.81484) -> 0 candidate(s)
I0419 20:57:40.259820 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290602582997.
I0419 20:57:40.365165 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86008, 4.29501)
I0419 20:57:40.365350 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290602854830.
I0419 20:57:40.367486 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290603181310.
I0419 20:57:40.369820 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290603457304.
I0419 20:57:40.370218 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27202, -2.47865)
I0419 20:57:40.370268 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32717, -4.27419), points=3, range=4.47767, residual=0.0131821, extent=0.0275599
I0419 20:57:40.370297 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32717, -4.27419), tracking=(1.62567, -4.27419), map_predicted=(18.6725, -6.12494), range=4.47767, pts=3
I0419 20:57:40.370358 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53864m maha_sq=872.849 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6725, -6.12494) lm_pos=(15.915, -2.52) delta=(2.75747, -3.60494) -> 0 candidate(s)
I0419 20:57:40.374890 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290603738010.
I0419 20:57:40.407594 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:40.407779 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:40.407826 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:40.408051 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290604055835.
I0419 20:57:40.512866 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1055, -1.82944), yaw=-0.753376 deg backend=(17.1049, -1.83022)
I0419 20:57:40.514165 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85867, 4.29179)
I0419 20:57:40.514343 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290604336998.
I0419 20:57:40.514875 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.528333, -2.5036), points=5, range=2.556, residual=0.0138092, extent=0.0364021
I0419 20:57:40.514937 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.528333, -2.5036), tracking=(-0.229833, -2.5036), map_predicted=(16.8427, -4.3298), range=2.556, pts=5
I0419 20:57:40.514968 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.03373m maha_sq=177.673 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8427, -4.3298) lm_pos=(15.915, -2.52) delta=(0.927726, -1.8098) -> 0 candidate(s)
I0419 20:57:40.517261 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.000769311 range=0.509185 variance=0.000582135 t_weight=5153.44 r_weight=0 yaml=(16.815, -1.32) prior=(17.1062, -1.8293, -0.754012deg) obs_actual=(-0.294816, 0.508355) obs_expected=(-0.297851, 0.505429) delta=(0.00303507, 0.00292547) |delta|=0.00421544m
I0419 20:57:40.517405 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290604622731.
I0419 20:57:40.519399 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:40.519522 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290604939680.
I0419 20:57:40.521050 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.2734, -2.48132)
I0419 20:57:40.521142 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25395, -0.673769), points=3, range=1.419, residual=0.00897294, extent=0.0180015
I0419 20:57:40.521173 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25395, -0.673769), tracking=(1.55245, -0.673769), map_predicted=(18.6489, -2.52252), range=1.419, pts=3
I0419 20:57:40.521194 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.193m maha_sq=208.355 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(18.6489, -2.52252) lm_pos=(16.815, -1.32) delta=(1.8339, -1.20252) -> 0 candidate(s)
I0419 20:57:40.523155 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290605219622.
I0419 20:57:40.526618 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0636344s, prior_pose=(17.1054, -1.82841), yaw=-0.752931 deg
I0419 20:57:40.526820 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=248, threshold=230, above_threshold=19, candidates=19
I0419 20:57:40.526950 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:40.526996 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:40.634991 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:40.635159 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:40.635187 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290605581707.
I0419 20:57:40.636456 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32821, -4.27753)
I0419 20:57:40.638055 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00742005, -0.509634), points=28, range=0.511, residual=0.0128681, extent=0.0421114
I0419 20:57:40.638137 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00742005, -0.509634), tracking=(-0.29108, 0.509634), map_predicted=(16.819, -1.31468), range=0.511, pts=28
I0419 20:57:40.638165 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00667146m maha_sq=0.00192453 (gate chi2=5.99) pose_sigma=(0.150099, 0.150099, rho=0) det_map=(16.819, -1.31468) lm_pos=(16.815, -1.32) delta=(0.00402991, 0.00531679) -> 1 candidate(s)
I0419 20:57:40.638260 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290605820372.
I0419 20:57:40.640091 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290606101827.
I0419 20:57:40.642336 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290606385581.
I0419 20:57:40.642773 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27584, -2.48606)
I0419 20:57:40.670598 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26256, -2.47788), points=4, range=2.782, residual=0.0122721, extent=0.0285042
I0419 20:57:40.670763 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26256, -2.47788), tracking=(1.56106, -2.47788), map_predicted=(18.6313, -4.32726), range=2.782, pts=4
I0419 20:57:40.670814 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26262m maha_sq=457.462 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6313, -4.32726) lm_pos=(15.915, -2.52) delta=(2.71634, -1.80726) -> 0 candidate(s)
I0419 20:57:40.670854 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:40.671711 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.757702 deg, rms_residual=0.00668229m, sigma_yaw=0.00883104 rad, N=2
I0419 20:57:40.671838 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1011, -1.8298, -0.757702deg) inliers=2 rms=0.00668229m
I0419 20:57:40.671911 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290606699707.
I0419 20:57:40.766330 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290606972977.
I0419 20:57:40.766743 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:40.766796 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:40.766849 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:40.769217 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85909, 4.29272)
I0419 20:57:40.769318 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:40.769459 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290607259362.
I0419 20:57:40.771365 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33502, -4.2775), points=4, range=4.48025, residual=0.0160303, extent=0.0392058
I0419 20:57:40.771447 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33502, -4.2775), tracking=(1.63352, -4.2775), map_predicted=(18.6782, -6.12891), range=4.48025, pts=4
I0419 20:57:40.771476 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54527m maha_sq=872.305 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6782, -6.12891) lm_pos=(15.915, -2.52) delta=(2.7632, -3.60891) -> 0 candidate(s)
I0419 20:57:40.771881 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:40.771943 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00185133 range=0.509731 variance=0.0005636 t_weight=5322.92 r_weight=0 yaml=(16.815, -1.32) prior=(17.1032, -1.82952, -0.781902deg) obs_actual=(-0.28961, 0.509034) obs_expected=(-0.295131, 0.505538) delta=(0.00552094, 0.00349536) |delta|=0.00653439m
I0419 20:57:40.772012 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290607577384.
I0419 20:57:40.786726 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290607857847.
I0419 20:57:40.790141 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27554, -2.48546)
I0419 20:57:40.873972 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595981s, prior_pose=(17.1048, -1.83077), yaw=-0.784631 deg
I0419 20:57:40.874090 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1330, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:57:40.874219 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:40.874244 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:40.874358 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290608173365.
I0419 20:57:40.875895 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25483, -0.674246), points=3, range=1.42033, residual=0.00823779, extent=0.0145621
I0419 20:57:40.875986 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25483, -0.674246), tracking=(1.55333, -0.674246), map_predicted=(18.6488, -2.52623), range=1.42033, pts=3
I0419 20:57:40.876016 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19492m maha_sq=209.071 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6488, -2.52623) lm_pos=(16.815, -1.32) delta=(1.83377, -1.20623) -> 0 candidate(s)
I0419 20:57:40.877671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290608461574.
I0419 20:57:40.878937 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.85988, 4.29455)
I0419 20:57:40.879060 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290608738521.
I0419 20:57:40.907533 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290609059605.
I0419 20:57:41.019865 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.882455, 0.711387)
I0419 20:57:41.019966 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00960251, -0.508414), points=27, range=0.509074, residual=0.0123322, extent=0.040656
I0419 20:57:41.020001 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00960251, -0.508414), tracking=(-0.288897, 0.508414), map_predicted=(16.8227, -1.31445), range=0.509074, pts=27
I0419 20:57:41.020031 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00946858m maha_sq=0.00387504 (gate chi2=5.99) pose_sigma=(0.150176, 0.150176, rho=0) det_map=(16.8227, -1.31445) lm_pos=(16.815, -1.32) delta=(0.00767212, 0.00554912) -> 1 candidate(s)
I0419 20:57:41.020056 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.2979 rad/s > flush threshold 3.
I0419 20:57:41.020119 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290609336360.
I0419 20:57:41.024132 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290609902637.
I0419 20:57:41.024838 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:41.024904 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:41.024925 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:41.026151 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86128, 4.29776)
I0419 20:57:41.026274 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290610212339.
I0419 20:57:41.027885 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25419, -0.671556), points=4, range=1.41975, residual=0.00788668, extent=0.015395
I0419 20:57:41.027956 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25419, -0.671556), tracking=(1.55269, -0.671556), map_predicted=(18.6475, -2.52037), range=1.41975, pts=4
I0419 20:57:41.027984 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19063m maha_sq=208.055 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(18.6475, -2.52037) lm_pos=(16.815, -1.32) delta=(1.83248, -1.20037) -> 0 candidate(s)
I0419 20:57:41.056077 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290610540889.
I0419 20:57:41.158357 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:41.158581 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.892627, 0.712819)
I0419 20:57:41.158696 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:57:41.158749 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290610814886.
I0419 20:57:41.159940 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00268272 range=0.509615 variance=0.000573992 t_weight=5226.55 r_weight=0 yaml=(16.815, -1.32) prior=(17.1029, -1.8282, -0.758758deg) obs_actual=(-0.288134, 0.508815) obs_expected=(-0.294604, 0.504339) delta=(0.00647001, 0.0044766) |delta|=0.00786772m
I0419 20:57:41.160033 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290611100548.
I0419 20:57:41.160388 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877799s, prior_pose=(17.1029, -1.8282), yaw=-0.758758 deg
I0419 20:57:41.160482 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:57:41.160532 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:41.160550 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:41.160570 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25086, -0.672115), points=3, range=1.41633, residual=0.00747413, extent=0.0137374
I0419 20:57:41.160588 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25086, -0.672115), tracking=(1.54936, -0.672115), map_predicted=(18.6432, -2.52077), range=1.41633, pts=3
I0419 20:57:41.160606 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18729m maha_sq=207.731 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6432, -2.52077) lm_pos=(16.815, -1.32) delta=(1.82823, -1.20077) -> 0 candidate(s)
I0419 20:57:41.162739 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:41.162842 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290611378499.
I0419 20:57:41.170917 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32821, -4.27753)
I0419 20:57:41.172106 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:41.172219 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:41.172272 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290611700213.
I0419 20:57:41.198570 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290611976684.
I0419 20:57:41.300107 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00297029, -0.510579), points=25, range=0.5106, residual=0.0112143, extent=0.0358069
I0419 20:57:41.300220 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00297029, -0.510579), tracking=(-0.29553, 0.510579), map_predicted=(16.8164, -1.31343), range=0.5106, pts=25
I0419 20:57:41.300252 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00671651m maha_sq=0.00195286 (gate chi2=5.99) pose_sigma=(0.150143, 0.150143, rho=0) det_map=(16.8164, -1.31343) lm_pos=(16.815, -1.32) delta=(0.00139942, 0.0065691) -> 1 candidate(s)
I0419 20:57:41.300338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290612261836.
I0419 20:57:41.300894 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26876, -2.48116)
I0419 20:57:41.302919 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:41.303404 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290612574390.
I0419 20:57:41.305805 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1067, -1.82799), yaw=-0.764242 deg backend=(17.1027, -1.82966)
I0419 20:57:41.306209 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:41.306249 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.886129, 0.711878), points=4, range=1.13825, residual=0.00731259, extent=0.0165929
I0419 20:57:41.306269 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:41.306324 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:41.306337 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.886129, 0.711878), tracking=(-1.18463, -0.711878), map_predicted=(15.9127, -2.524), range=1.13825, pts=4
I0419 20:57:41.306357 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0046061m maha_sq=0.000921333 (gate chi2=5.99) pose_sigma=(0.150056, 0.150056, rho=0) det_map=(15.9127, -2.524) lm_pos=(15.915, -2.52) delta=(-0.0022851, -0.0039993) -> 1 candidate(s)
I0419 20:57:41.306416 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290612859386.
I0419 20:57:41.314106 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85706, 4.30521)
I0419 20:57:41.314469 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290613136776.
I0419 20:57:41.397755 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:41.397891 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290613452056.
I0419 20:57:41.399652 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27416, -2.4828)
I0419 20:57:41.399727 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24813, -0.672969), points=4, range=1.42075, residual=0.00961004, extent=0.023523
I0419 20:57:41.399752 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.24813, -0.672969), tracking=(1.54663, -0.672969), map_predicted=(18.6443, -2.52313), range=1.42075, pts=4
I0419 20:57:41.399776 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18953m maha_sq=207.824 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6443, -2.52313) lm_pos=(16.815, -1.32) delta=(1.82935, -1.20313) -> 0 candidate(s)
I0419 20:57:41.402122 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.02493 deg, rms_residual=0.00496357m, sigma_yaw=0.00657458 rad, N=2
I0419 20:57:41.402200 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1036, -1.83217, -1.02493deg) inliers=2 rms=0.00496357m
I0419 20:57:41.402235 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290614015223.
I0419 20:57:41.406311 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607901s, prior_pose=(17.1065, -1.83037), yaw=-0.760295 deg
I0419 20:57:41.406399 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1086, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:57:41.406464 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:41.406487 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:41.462723 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86028, 4.29547)
I0419 20:57:41.462968 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00465349 range=1.13767 variance=0.000533631 t_weight=5621.86 r_weight=0 yaml=(15.915, -2.52) prior=(17.1056, -1.83091, -0.759978deg) obs_actual=(-1.18861, -0.71224) obs_expected=(-1.18138, -0.70482) delta=(-0.00722684, -0.00742069) |delta|=0.0103583m
I0419 20:57:41.463076 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290614621192.
I0419 20:57:41.547981 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00296835, -0.511579), points=26, range=0.511808, residual=0.0118985, extent=0.0375272
I0419 20:57:41.548147 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00296835, -0.511579), tracking=(-0.295532, 0.511579), map_predicted=(16.8176, -1.31656), range=0.511808, pts=26
I0419 20:57:41.548178 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0042956m maha_sq=0.000798717 (gate chi2=5.99) pose_sigma=(0.150097, 0.150097, rho=0) det_map=(16.8176, -1.31656) lm_pos=(16.815, -1.32) delta=(0.00257914, 0.00343515) -> 1 candidate(s)
I0419 20:57:41.548264 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290614899570.
I0419 20:57:41.551498 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.888377, 0.712254)
I0419 20:57:41.551714 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290615221400.
I0419 20:57:41.579495 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290615782601.
I0419 20:57:41.582620 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:41.582768 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.53058, -2.49623), points=4, range=2.55, residual=0.0106786, extent=0.0257756
I0419 20:57:41.582815 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:41.582854 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:41.582876 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.53058, -2.49623), tracking=(-0.23208, -2.49623), map_predicted=(16.8399, -4.32194), range=2.55, pts=4
I0419 20:57:41.582922 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02546m maha_sq=176.82 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8399, -4.32194) lm_pos=(15.915, -2.52) delta=(0.924934, -1.80194) -> 0 candidate(s)
I0419 20:57:41.689044 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.31884, -4.26926)
I0419 20:57:41.691130 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290616374587.
I0419 20:57:41.691567 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:41.693727 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32732, -4.27466), points=3, range=4.47767, residual=0.0130319, extent=0.0272469
I0419 20:57:41.693799 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.32732, -4.27466), tracking=(1.62582, -4.27466), map_predicted=(18.6709, -6.12578), range=4.47767, pts=3
I0419 20:57:41.693825 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53835m maha_sq=871.388 (gate chi2=5.99) pose_sigma=(0.150135, 0.150135, rho=0) det_map=(18.6709, -6.12578) lm_pos=(15.915, -2.52) delta=(2.7559, -3.60578) -> 0 candidate(s)
I0419 20:57:41.694253 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.887947, 0.71334)
I0419 20:57:41.694315 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:57:41.694366 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290616698404.
I0419 20:57:41.699949 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560956s, prior_pose=(17.1031, -1.82955), yaw=-0.790566 deg
I0419 20:57:41.700110 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=254, threshold=230, above_threshold=33, candidates=33
I0419 20:57:41.700394 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:41.700604 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:41.700881 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290616979851.
I0419 20:57:41.727141 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290617258243.
I0419 20:57:41.824582 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32836, -4.27801)
I0419 20:57:41.824703 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25659, -0.675191), points=3, range=1.42167, residual=0.00926777, extent=0.0171231
I0419 20:57:41.824739 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25659, -0.675191), tracking=(1.55509, -0.675191), map_predicted=(18.6496, -2.52453), range=1.42167, pts=3
I0419 20:57:41.824766 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19467m maha_sq=208.595 (gate chi2=5.99) pose_sigma=(0.150097, 0.150097, rho=0) det_map=(18.6496, -2.52453) lm_pos=(16.815, -1.32) delta=(1.83458, -1.20453) -> 0 candidate(s)
I0419 20:57:41.825318 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290617577749.
I0419 20:57:41.828243 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290617862132.
I0419 20:57:41.829442 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290618141181.
I0419 20:57:41.830092 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27493, -2.48428)
I0419 20:57:41.846748 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25571, -0.674718), points=3, range=1.421, residual=0.00874904, extent=0.0162527
I0419 20:57:41.846884 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25571, -0.674718), tracking=(1.55421, -0.674718), map_predicted=(18.6481, -2.52406), range=1.421, pts=3
I0419 20:57:41.846956 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19321m maha_sq=208.629 (gate chi2=5.99) pose_sigma=(0.150013, 0.150013, rho=0) det_map=(18.6481, -2.52406) lm_pos=(16.815, -1.32) delta=(1.83314, -1.20406) -> 0 candidate(s)
I0419 20:57:41.846994 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:41.847949 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00244878 range=1.137 variance=0.000490537 t_weight=6115.75 r_weight=0 yaml=(15.915, -2.52) prior=(17.1031, -1.8285, -0.77051deg) obs_actual=(-1.18532, -0.711022) obs_expected=(-1.17874, -0.70741) delta=(-0.00657763, -0.00361157) |delta|=0.00750391m
I0419 20:57:41.848130 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290618462335.
I0419 20:57:41.957931 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:41.958057 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:41.958081 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290618734199.
I0419 20:57:41.958609 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:41.958659 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:41.958679 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:41.959962 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86147, 4.29822)
I0419 20:57:41.960067 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290619024179.
I0419 20:57:41.962643 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.887513, 0.712286), points=5, range=1.137, residual=0.00623083, extent=0.0165929
I0419 20:57:41.962720 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.887513, 0.712286), tracking=(-1.18601, -0.712286), map_predicted=(15.9059, -2.5248), range=1.137, pts=5
I0419 20:57:41.962751 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0102803m maha_sq=0.00459339 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(15.9059, -2.5248) lm_pos=(15.915, -2.52) delta=(-0.00909287, -0.00479618) -> 1 candidate(s)
I0419 20:57:41.962774 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:41.962832 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290619295301.
I0419 20:57:41.965729 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.887783, 0.712891)
I0419 20:57:41.965857 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290619616884.
I0419 20:57:42.096526 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.03172s, prior_pose=(17.1059, -1.82771), yaw=-0.782804 deg
I0419 20:57:42.096625 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1339, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:57:42.096781 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:42.096815 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:42.096915 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290619933857.
I0419 20:57:42.098199 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33462, -4.27622), points=4, range=4.4785, residual=0.0161281, extent=0.039392
I0419 20:57:42.098274 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33462, -4.27622), tracking=(1.63312, -4.27622), map_predicted=(18.6805, -6.12585), range=4.4785, pts=4
I0419 20:57:42.098301 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54422m maha_sq=871.801 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6805, -6.12585) lm_pos=(15.915, -2.52) delta=(2.76547, -3.60585) -> 0 candidate(s)
I0419 20:57:42.101048 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85482, 4.3)
I0419 20:57:42.101280 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290620498265.
I0419 20:57:42.103026 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290620780977.
I0419 20:57:42.110273 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85829, 4.29088), points=3, range=4.67633, residual=0.0131373, extent=0.0273659
I0419 20:57:42.110414 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.85829, 4.29088), tracking=(1.55979, -4.29088), map_predicted=(18.604, -6.1406), range=4.67633, pts=3
I0419 20:57:42.110471 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.50991m maha_sq=859.179 (gate chi2=5.99) pose_sigma=(0.150095, 0.150095, rho=0) det_map=(18.604, -6.1406) lm_pos=(15.915, -2.52) delta=(2.68896, -3.6206) -> 0 candidate(s)
I0419 20:57:42.114686 1218972 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26774, -2.47915)
I0419 20:57:42.218796 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290621375742.
I0419 20:57:42.220850 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290621659850.
I0419 20:57:42.222131 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1023, -1.82849), yaw=-0.782248 deg backend=(17.1028, -1.82882)
I0419 20:57:42.222573 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:42.222617 1218972 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:42.222637 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:42.223819 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.32188, -4.27913)
I0419 20:57:42.223875 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.53399, -2.49447), points=5, range=2.5494, residual=0.0129841, extent=0.0337197
I0419 20:57:42.223904 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.53399, -2.49447), tracking=(-0.23549, -2.49447), map_predicted=(16.8328, -4.31952), range=2.5494, pts=5
I0419 20:57:42.223927 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02006m maha_sq=175.388 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(16.8328, -4.31952) lm_pos=(15.915, -2.52) delta=(0.917822, -1.79952) -> 0 candidate(s)
I0419 20:57:42.224383 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.904066 deg, rms_residual=0.00703806m, sigma_yaw=0.00929683 rad, N=2
I0419 20:57:42.224427 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00158055 range=1.136 variance=0.000512304 t_weight=5855.9 r_weight=0 yaml=(15.915, -2.52) prior=(17.1023, -1.82849, -0.782248deg) obs_actual=(-1.17953, -0.713431) obs_expected=(-1.17779, -0.707653) delta=(-0.00173322, -0.00577793) |delta|=0.00603229m
I0419 20:57:42.224479 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1014, -1.8309, -0.904066deg) inliers=2 rms=0.00703806m
I0419 20:57:42.224510 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290621981860.
I0419 20:57:42.226879 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:42.227607 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:42.255333 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:42.255611 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290622539306.
I0419 20:57:42.258183 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27156, -2.47776)
I0419 20:57:42.258351 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25218, -0.672825), points=3, range=1.417, residual=0.00874401, extent=0.0162409
I0419 20:57:42.258414 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25218, -0.672825), tracking=(1.55068, -0.672825), map_predicted=(18.6434, -2.52314), range=1.417, pts=3
I0419 20:57:42.258466 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18876m maha_sq=207.824 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6434, -2.52314) lm_pos=(16.815, -1.32) delta=(1.82842, -1.20314) -> 0 candidate(s)
I0419 20:57:42.364930 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0638878s, prior_pose=(17.1026, -1.83016), yaw=-0.769046 deg
I0419 20:57:42.365058 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:57:42.365132 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:42.365156 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:42.367233 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290623136946.
I0419 20:57:42.368978 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85218, 4.29388)
I0419 20:57:42.370684 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25448, -0.671706), points=4, range=1.41975, residual=0.00844307, extent=0.0194425
I0419 20:57:42.370779 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25448, -0.671706), tracking=(1.55298, -0.671706), map_predicted=(18.6464, -2.52159), range=1.41975, pts=4
I0419 20:57:42.370805 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19039m maha_sq=208.034 (gate chi2=5.99) pose_sigma=(0.150053, 0.150053, rho=0) det_map=(18.6464, -2.52159) lm_pos=(16.815, -1.32) delta=(1.83139, -1.20159) -> 0 candidate(s)
I0419 20:57:42.375337 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290623736051.
I0419 20:57:42.480855 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290624017741.
I0419 20:57:42.481441 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27309, -2.48073)
I0419 20:57:42.482905 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290624298858.
I0419 20:57:42.484443 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27998, -2.48525), points=3, range=2.79233, residual=0.00952281, extent=0.0190696
I0419 20:57:42.484544 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27998, -2.48525), tracking=(1.57848, -2.48525), map_predicted=(18.6484, -4.3348), range=2.79233, pts=3
I0419 20:57:42.484577 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.28104m maha_sq=463.281 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(18.6484, -4.3348) lm_pos=(15.915, -2.52) delta=(2.73344, -1.8148) -> 0 candidate(s)
I0419 20:57:42.484599 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:42.486251 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:42.486347 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:42.486368 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:42.486460 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290624616481.
I0419 20:57:42.494102 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32732, -4.27466)
I0419 20:57:42.495584 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290624935094.
I0419 20:57:42.616354 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:42.616427 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.63934 rad/s > flush threshold 3.
I0419 20:57:42.616765 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:42.617715 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534471, -2.49667), points=5, range=2.5518, residual=0.011993, extent=0.0320267
I0419 20:57:42.617772 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534471, -2.49667), tracking=(-0.235971, -2.49667), map_predicted=(16.8361, -4.32081), range=2.5518, pts=5
I0419 20:57:42.617800 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02271m maha_sq=175.777 (gate chi2=5.99) pose_sigma=(0.150148, 0.150148, rho=0) det_map=(16.8361, -4.32081) lm_pos=(15.915, -2.52) delta=(0.921125, -1.80081) -> 0 candidate(s)
I0419 20:57:42.618402 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.880314, 0.711963)
I0419 20:57:42.618494 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290625502170.
I0419 20:57:42.620857 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0627073s, prior_pose=(17.1056, -1.82829), yaw=-0.778501 deg
I0419 20:57:42.620915 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1330, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:57:42.621024 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:42.621048 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:42.621114 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290625847665.
I0419 20:57:42.623591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290626092817.
I0419 20:57:42.638553 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86267, 4.30098)
I0419 20:57:42.638639 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.879664, 0.714446), points=5, range=1.1354, residual=0.00806255, extent=0.0210404
I0419 20:57:42.638669 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.879664, 0.714446), tracking=(-1.17816, -0.714446), map_predicted=(15.9175, -2.52713), range=1.1354, pts=5
I0419 20:57:42.638696 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00755248m maha_sq=0.0024776 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9175, -2.52713) lm_pos=(15.915, -2.52) delta=(0.00248243, -0.00713285) -> 1 candidate(s)
I0419 20:57:42.638751 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:42.638774 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00167299 range=0.510889 variance=0.000578111 t_weight=5189.32 r_weight=0 yaml=(16.815, -1.32) prior=(17.1053, -1.82878, -0.779621deg) obs_actual=(-0.294796, 0.510536) obs_expected=(-0.297155, 0.504787) delta=(0.00235836, 0.0057487) |delta|=0.00621364m
I0419 20:57:42.638824 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:42.638844 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290626380212.
I0419 20:57:42.732636 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290626662092.
I0419 20:57:42.734745 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.891063, 0.711572)
I0419 20:57:42.734819 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:42.734899 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290626977618.
I0419 20:57:42.736984 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24998, -0.671626), points=5, range=1.4142, residual=0.0134436, extent=0.0315842
I0419 20:57:42.737043 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24998, -0.671626), tracking=(1.54848, -0.671626), map_predicted=(18.6424, -2.52085), range=1.4142, pts=5
I0419 20:57:42.737088 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18668m maha_sq=206.305 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(18.6424, -2.52085) lm_pos=(16.815, -1.32) delta=(1.82744, -1.20085) -> 0 candidate(s)
I0419 20:57:42.737717 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290627256756.
I0419 20:57:42.754865 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290627541463.
I0419 20:57:42.757953 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:42.758033 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:42.758055 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:42.782470 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.86088, 4.29685)
I0419 20:57:42.782713 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290627814215.
I0419 20:57:42.869920 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24998, -0.671642), points=3, range=1.41567, residual=0.00698937, extent=0.0129488
I0419 20:57:42.870026 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.24998, -0.671642), tracking=(1.54848, -0.671642), map_predicted=(18.6429, -2.52078), range=1.41567, pts=3
I0419 20:57:42.870057 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.187m maha_sq=207.607 (gate chi2=5.99) pose_sigma=(0.150049, 0.150049, rho=0) det_map=(18.6429, -2.52078) lm_pos=(16.815, -1.32) delta=(1.82787, -1.20078) -> 0 candidate(s)
I0419 20:57:42.870682 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290628133743.
I0419 20:57:42.873988 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.889502, 0.710322)
I0419 20:57:42.874161 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290628422343.
I0419 20:57:42.875618 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=1, buffered=6).
I0419 20:57:42.876125 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872458s, prior_pose=(17.1036, -1.82959), yaw=-0.772199 deg
I0419 20:57:42.876201 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1096, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 20:57:42.876250 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:42.876271 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:42.902149 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290629015061.
I0419 20:57:42.906275 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27907, -2.48347), points=3, range=2.78867, residual=0.0114823, extent=0.0227793
I0419 20:57:42.906345 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27907, -2.48347), tracking=(1.57757, -2.48347), map_predicted=(18.6475, -4.33498), range=2.78867, pts=3
I0419 20:57:42.906410 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.28035m maha_sq=462.802 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6475, -4.33498) lm_pos=(15.915, -2.52) delta=(2.7325, -1.81498) -> 0 candidate(s)
I0419 20:57:42.989995 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.85349, 4.29694)
I0419 20:57:42.990163 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290629297441.
I0419 20:57:42.995048 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.885692, 0.711096)
I0419 20:57:42.995127 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00295395, -0.509674), points=26, range=0.509615, residual=0.0117857, extent=0.0372255
I0419 20:57:42.995155 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00295395, -0.509674), tracking=(-0.295546, 0.509674), map_predicted=(16.8161, -1.31591), range=0.509615, pts=26
I0419 20:57:42.995178 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0042392m maha_sq=0.00077866 (gate chi2=5.99) pose_sigma=(0.150029, 0.150029, rho=0) det_map=(16.8161, -1.31591) lm_pos=(16.815, -1.32) delta=(0.00109808, 0.00409451) -> 1 candidate(s)
I0419 20:57:42.995251 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290629902568.
I0419 20:57:43.023224 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:43.024989 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00312909 range=0.510192 variance=0.000570996 t_weight=5253.98 r_weight=0 yaml=(16.815, -1.32) prior=(17.1058, -1.82916, -0.769578deg) obs_actual=(-0.290352, 0.509621) obs_expected=(-0.297618, 0.505208) delta=(0.00726585, 0.00441316) |delta|=0.00850109m
I0419 20:57:43.025192 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290630222082.
I0419 20:57:43.154000 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.103, -1.83023), yaw=-0.77203 deg backend=(17.1021, -1.83056)
I0419 20:57:43.154567 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:43.154634 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:43.154657 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:43.154714 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.61928 deg, rms_residual=0.00525666m, sigma_yaw=0.00696009 rad, N=2
I0419 20:57:43.154744 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.103, -1.82717, -0.61928deg) inliers=2 rms=0.00525666m
I0419 20:57:43.154774 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290630503020.
I0419 20:57:43.156044 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.85947, 4.29362)
I0419 20:57:43.156181 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290630774360.
I0419 20:57:43.156582 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.489908, -4.29984), points=4, range=4.32675, residual=0.0155271, extent=0.0379627
I0419 20:57:43.156632 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.489908, -4.29984), tracking=(-0.191408, -4.29984), map_predicted=(16.8536, -6.12709), range=4.32675, pts=4
I0419 20:57:43.156701 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72722m maha_sq=587.801 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8536, -6.12709) lm_pos=(15.915, -2.52) delta=(0.938629, -3.60709) -> 0 candidate(s)
I0419 20:57:43.158996 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:43.159130 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290631060303.
I0419 20:57:43.161125 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.88738, 0.710044)
I0419 20:57:43.161284 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290631373550.
I0419 20:57:43.166536 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290631651921.
I0419 20:57:43.170305 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637126s, prior_pose=(17.1044, -1.82871), yaw=-0.772209 deg
I0419 20:57:43.170439 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1091, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 20:57:43.170562 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:43.170607 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:43.170647 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534361, -2.49618), points=5, range=2.551, residual=0.0126404, extent=0.0337299
I0419 20:57:43.170696 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534361, -2.49618), tracking=(-0.235861, -2.49618), map_predicted=(16.8349, -4.32149), range=2.551, pts=5
I0419 20:57:43.170737 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02278m maha_sq=176.003 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8349, -4.32149) lm_pos=(15.915, -2.52) delta=(0.919926, -1.80149) -> 0 candidate(s)
I0419 20:57:43.279632 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290631939300.
I0419 20:57:43.281647 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.8531, 4.29602)
I0419 20:57:43.281806 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290632220299.
I0419 20:57:43.284600 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.483694, -4.30088), points=3, range=4.325, residual=0.0132182, extent=0.0274585
I0419 20:57:43.284695 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:43.284719 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.483694, -4.30088), tracking=(-0.185194, -4.30088), map_predicted=(16.8619, -6.12691), range=4.325, pts=3
I0419 20:57:43.284746 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72913m maha_sq=589.052 (gate chi2=5.99) pose_sigma=(0.150136, 0.150136, rho=0) det_map=(16.8619, -6.12691) lm_pos=(15.915, -2.52) delta=(0.946893, -3.60691) -> 0 candidate(s)
I0419 20:57:43.285252 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290632542627.
I0419 20:57:43.288110 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:43.288252 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:43.288283 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290632819865.
I0419 20:57:43.288972 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.26944, -2.48249)
I0419 20:57:43.316247 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00308701 range=1.135 variance=0.000525893 t_weight=5704.59 r_weight=0 yaml=(15.915, -2.52) prior=(17.1047, -1.83015, -0.770265deg) obs_actual=(-1.18541, -0.712504) obs_expected=(-1.18032, -0.705778) delta=(-0.00508454, -0.00672522) |delta|=0.00843096m
I0419 20:57:43.316561 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290633141316.
I0419 20:57:43.432348 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.884209, 0.712797), points=5, range=1.1378, residual=0.00922596, extent=0.0230203
I0419 20:57:43.432452 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.884209, 0.712797), tracking=(-1.18271, -0.712797), map_predicted=(15.9152, -2.52684), range=1.1378, pts=5
I0419 20:57:43.432483 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00683971m maha_sq=0.00202467 (gate chi2=5.99) pose_sigma=(0.150211, 0.150211, rho=0) det_map=(15.9152, -2.52684) lm_pos=(15.915, -2.52) delta=(0.000249849, -0.00683515) -> 1 candidate(s)
I0419 20:57:43.432575 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290633420838.
I0419 20:57:43.433236 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:43.433283 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:43.433305 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:43.435400 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32717, -4.27419)
I0419 20:57:43.435942 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290633740620.
I0419 20:57:43.437445 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290634016833.
I0419 20:57:43.439981 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00370894, -0.511265), points=25, range=0.51132, residual=0.0110569, extent=0.0360293
I0419 20:57:43.440094 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00370894, -0.511265), tracking=(-0.294791, 0.511265), map_predicted=(16.8178, -1.3144), range=0.51132, pts=25
I0419 20:57:43.440124 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00627696m maha_sq=0.00170674 (gate chi2=5.99) pose_sigma=(0.150104, 0.150104, rho=0) det_map=(16.8178, -1.3144) lm_pos=(16.815, -1.32) delta=(0.00283964, 0.00559791) -> 1 candidate(s)
I0419 20:57:43.440193 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290634291869.
I0419 20:57:43.440773 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27523, -2.48487)
I0419 20:57:43.515355 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:43.515509 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290634579371.
I0419 20:57:43.516170 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562856s, prior_pose=(17.1023, -1.83029), yaw=-0.771115 deg
I0419 20:57:43.516253 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1081, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 20:57:43.516381 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:43.516418 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:43.518378 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290634891787.
I0419 20:57:43.520011 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25527, -0.674481), points=3, range=1.421, residual=0.00801889, extent=0.0154012
I0419 20:57:43.520085 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.25527, -0.674481), tracking=(1.55377, -0.674481), map_predicted=(18.649, -2.52528), range=1.421, pts=3
I0419 20:57:43.520112 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19464m maha_sq=208.603 (gate chi2=5.99) pose_sigma=(0.150164, 0.150164, rho=0) det_map=(18.649, -2.52528) lm_pos=(16.815, -1.32) delta=(1.83405, -1.20528) -> 0 candidate(s)
I0419 20:57:43.521585 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-1.85324, 4.29634)
I0419 20:57:43.521718 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290635176489.
I0419 20:57:43.546476 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290635458938.
I0419 20:57:43.579824 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.886352, 0.711313)
I0419 20:57:43.580121 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290635781151.
I0419 20:57:43.661164 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0104197, -0.511005), points=26, range=0.511231, residual=0.0118604, extent=0.037584
I0419 20:57:43.661285 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0104197, -0.511005), tracking=(-0.28808, 0.511005), map_predicted=(16.8263, -1.31405), range=0.511231, pts=26
I0419 20:57:43.661316 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0127987m maha_sq=0.00707351 (gate chi2=5.99) pose_sigma=(0.150285, 0.150285, rho=0) det_map=(16.8263, -1.31405) lm_pos=(16.815, -1.32) delta=(0.0113322, 0.00594886) -> 1 candidate(s)
I0419 20:57:43.661413 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290636054209.
I0419 20:57:43.661906 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:43.664633 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:43.664719 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:43.664737 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:43.664788 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.000983122 range=0.510385 variance=0.000570873 t_weight=5255.11 r_weight=0 yaml=(16.815, -1.32) prior=(17.1046, -1.8296, -0.763158deg) obs_actual=(-0.295532, 0.510388) obs_expected=(-0.296379, 0.505694) delta=(0.000846706, 0.00469385) |delta|=0.0047696m
I0419 20:57:43.664866 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290636377739.
I0419 20:57:43.666405 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32806, -4.27705)
I0419 20:57:43.667958 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888477, 0.709875), points=5, range=1.1348, residual=0.00897537, extent=0.0222777
I0419 20:57:43.668061 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.888477, 0.709875), tracking=(-1.18698, -0.709875), map_predicted=(15.9087, -2.52383), range=1.1348, pts=5
I0419 20:57:43.668088 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00733675m maha_sq=0.00233546 (gate chi2=5.99) pose_sigma=(0.150034, 0.150034, rho=0) det_map=(15.9087, -2.52383) lm_pos=(15.915, -2.52) delta=(-0.00625898, -0.00382793) -> 1 candidate(s)
I0419 20:57:43.668114 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.39674 rad/s > flush threshold 3.
I0419 20:57:43.668180 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290636657329.
I0419 20:57:43.693782 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:43.693889 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.78721 deg, rms_residual=0.00552444m, sigma_yaw=0.00731206 rad, N=2
I0419 20:57:43.693962 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1068, -1.83103, -0.78721deg) inliers=2 rms=0.00552444m
I0419 20:57:43.694000 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290636932597.
I0419 20:57:43.782295 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290637213033.
I0419 20:57:43.783111 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.27233, -2.47924)
I0419 20:57:43.785180 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0883619s, prior_pose=(17.1019, -1.82985), yaw=-0.769784 deg
I0419 20:57:43.785315 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1233, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 20:57:43.785470 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:43.785494 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:43.785519 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00742764, -0.510981), points=27, range=0.512, residual=0.012355, extent=0.0407171
I0419 20:57:43.785539 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00742764, -0.510981), tracking=(-0.291072, 0.510981), map_predicted=(16.8177, -1.315), range=0.512, pts=27
I0419 20:57:43.785563 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00568572m maha_sq=0.00140041 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8177, -1.315) lm_pos=(16.815, -1.32) delta=(0.00271128, 0.00499764) -> 1 candidate(s)
I0419 20:57:43.785679 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290637540948.
I0419 20:57:43.788492 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290637814061.
I0419 20:57:43.814769 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.32227, -4.28041)
I0419 20:57:43.816109 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290638140433.
I0419 20:57:43.843990 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26866, -2.48094), points=3, range=2.78767, residual=0.00882178, extent=0.018075
I0419 20:57:43.844117 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.26866, -2.48094), tracking=(1.56716, -2.48094), map_predicted=(18.6373, -4.33016), range=2.78767, pts=3
I0419 20:57:43.844154 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26915m maha_sq=460.719 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6373, -4.33016) lm_pos=(15.915, -2.52) delta=(2.72225, -1.81016) -> 0 candidate(s)
I0419 20:57:43.917732 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:43.917829 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.4229 rad/s > flush threshold 3.
I0419 20:57:43.917912 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290638420939.
I0419 20:57:43.919268 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:43.919340 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:43.919363 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290638701381.
I0419 20:57:43.919737 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.2734, -2.48132)
I0419 20:57:43.930625 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290639294300.
I0419 20:57:43.934700 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:43.934799 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.534199, -2.49545), points=5, range=2.5504, residual=0.0130651, extent=0.0342207
I0419 20:57:43.934828 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:43.934849 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:43.934867 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.534199, -2.49545), tracking=(-0.235699, -2.49545), map_predicted=(16.8358, -4.32041), range=2.5504, pts=5
I0419 20:57:43.934891 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02222m maha_sq=175.824 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8358, -4.32041) lm_pos=(15.915, -2.52) delta=(0.920823, -1.80041) -> 0 candidate(s)
I0419 20:57:43.936316 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1064, -1.82851), yaw=-0.782971 deg backend=(17.1061, -1.82888)
I0419 20:57:43.958889 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.885568, 0.713899)
I0419 20:57:43.959120 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00612874 range=0.511038 variance=0.000572507 t_weight=5240.11 r_weight=0 yaml=(16.815, -1.32) prior=(17.1064, -1.82851, -0.782971deg) obs_actual=(-0.288096, 0.510577) obs_expected=(-0.298311, 0.504481) delta=(0.0102155, 0.00609574) |delta|=0.011896m
I0419 20:57:43.959285 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290639579832.
I0419 20:57:44.047420 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290639861793.
I0419 20:57:44.048290 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:44.049249 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33394, -4.27399), points=4, range=4.47575, residual=0.0168076, extent=0.0408703
I0419 20:57:44.049342 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33394, -4.27399), tracking=(1.63244, -4.27399), map_predicted=(18.681, -6.12342), range=4.47575, pts=4
I0419 20:57:44.049367 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.54264m maha_sq=870.394 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.681, -6.12342) lm_pos=(15.915, -2.52) delta=(2.76603, -3.60342) -> 0 candidate(s)
I0419 20:57:44.049815 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00668108, -0.510835)
I0419 20:57:44.049929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290640180893.
I0419 20:57:44.052295 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:44.052423 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290640455418.
I0419 20:57:44.052768 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639723s, prior_pose=(17.1062, -1.82833), yaw=-0.764826 deg
I0419 20:57:44.052820 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1088, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 20:57:44.052870 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:44.052886 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:44.079805 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.85829, 4.29088), points=3, range=4.67733, residual=0.0134536, extent=0.0280928
I0419 20:57:44.079972 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.85829, 4.29088), tracking=(1.55979, -4.29088), map_predicted=(18.6079, -6.13974), range=4.67733, pts=3
I0419 20:57:44.080027 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51158m maha_sq=860.118 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(18.6079, -6.13974) lm_pos=(15.915, -2.52) delta=(2.69292, -3.61974) -> 0 candidate(s)
I0419 20:57:44.080168 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290640781265.
I0419 20:57:44.106069 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.886647, 0.712297)
I0419 20:57:44.106259 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290641055065.
I0419 20:57:44.202430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290641341848.
I0419 20:57:44.204995 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290641620676.
I0419 20:57:44.205731 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.33562, -4.2794)
I0419 20:57:44.205803 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25439, -0.674007), points=3, range=1.419, residual=0.00955246, extent=0.0179987
I0419 20:57:44.205832 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.25439, -0.674007), tracking=(1.55289, -0.674007), map_predicted=(18.6504, -2.5245), range=1.419, pts=3
I0419 20:57:44.205854 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19532m maha_sq=208.936 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6504, -2.5245) lm_pos=(16.815, -1.32) delta=(1.83538, -1.2045) -> 0 candidate(s)
I0419 20:57:44.206823 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:44.207267 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290641939302.
I0419 20:57:44.222424 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290642217608.
I0419 20:57:44.226509 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:44.226626 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:44.226649 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:44.297250 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:44.298164 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.483436, -4.29863)
I0419 20:57:44.298715 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00370233, -0.509991), points=27, range=0.510778, residual=0.0123154, extent=0.0420351
I0419 20:57:44.298779 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00370233, -0.509991), tracking=(-0.294798, 0.509991), map_predicted=(16.8154, -1.3151), range=0.510778, pts=27
I0419 20:57:44.298808 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00491305m maha_sq=0.00104345 (gate chi2=5.99) pose_sigma=(0.150166, 0.150166, rho=0) det_map=(16.8154, -1.3151) lm_pos=(16.815, -1.32) delta=(0.000395788, 0.00489708) -> 1 candidate(s)
I0419 20:57:44.298869 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00136559 range=1.13525 variance=0.000493846 t_weight=6074.77 r_weight=0 yaml=(15.915, -2.52) prior=(17.1033, -1.82904, -0.77543deg) obs_actual=(-1.18307, -0.710631) obs_expected=(-1.1788, -0.706982) delta=(-0.00426044, -0.0036492) |delta|=0.00560964m
I0419 20:57:44.298915 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290642537588.
I0419 20:57:44.300398 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:44.300525 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290642818603.
I0419 20:57:44.310498 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290643093535.
I0419 20:57:44.314414 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32672, -4.27276)
I0419 20:57:44.343467 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567576s, prior_pose=(17.105, -1.82777), yaw=-0.777668 deg
I0419 20:57:44.343629 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1302, max_intensity=254, threshold=230, above_threshold=34, candidates=34
I0419 20:57:44.343942 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:44.343990 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:44.344038 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00593136, -0.510088), points=27, range=0.511481, residual=0.012266, extent=0.0410386
I0419 20:57:44.344084 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00593136, -0.510088), tracking=(-0.292569, 0.510088), map_predicted=(16.8194, -1.31376), range=0.511481, pts=27
I0419 20:57:44.344122 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00761716m maha_sq=0.00251189 (gate chi2=5.99) pose_sigma=(0.150055, 0.150055, rho=0) det_map=(16.8194, -1.31376) lm_pos=(16.815, -1.32) delta=(0.00436343, 0.00624352) -> 1 candidate(s)
I0419 20:57:44.344235 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.70691 deg, rms_residual=0.00807674m, sigma_yaw=0.0106542 rad, N=2
I0419 20:57:44.344336 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1061, -1.8272, -0.70691deg) inliers=2 rms=0.00807674m
I0419 20:57:44.344406 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290643420067.
I0419 20:57:44.371388 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290643702323.
I0419 20:57:44.479429 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.885858, 0.710497)
I0419 20:57:44.479624 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290643985448.
I0419 20:57:44.482642 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00891159, -0.51061), points=27, range=0.511519, residual=0.0125384, extent=0.0425545
I0419 20:57:44.482725 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:44.482746 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00891159, -0.51061), tracking=(-0.289588, 0.51061), map_predicted=(16.8213, -1.31222), range=0.511519, pts=27
I0419 20:57:44.482769 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0100158m maha_sq=0.00434343 (gate chi2=5.99) pose_sigma=(0.150024, 0.150024, rho=0) det_map=(16.8213, -1.31222) lm_pos=(16.815, -1.32) delta=(0.00630377, 0.00778322) -> 1 candidate(s)
I0419 20:57:44.482851 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290644303127.
I0419 20:57:44.485110 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290644580601.
I0419 20:57:44.485882 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.32865, -4.27896)
I0419 20:57:44.495289 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:44.495460 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:44.495491 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290644942449.
I0419 20:57:44.578323 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:44.578411 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00146928, -0.512537), points=26, range=0.512154, residual=0.0119145, extent=0.0378488
I0419 20:57:44.578429 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:44.578441 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:44.578450 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00146928, -0.512537), tracking=(-0.297031, 0.512537), map_predicted=(16.8143, -1.31225), range=0.512154, pts=26
I0419 20:57:44.578470 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00777918m maha_sq=0.0026179 (gate chi2=5.99) pose_sigma=(0.150142, 0.150142, rho=0) det_map=(16.8143, -1.31225) lm_pos=(16.815, -1.32) delta=(-0.000702329, 0.00774741) -> 1 candidate(s)
I0419 20:57:44.578553 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290645181610.
I0419 20:57:44.579743 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.890111, 0.712232)
I0419 20:57:44.579842 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290645457892.
I0419 20:57:44.582928 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00609623 range=0.511808 variance=0.000572572 t_weight=5239.51 r_weight=0 yaml=(16.815, -1.32) prior=(17.106, -1.82864, -0.76702deg) obs_actual=(-0.288068, 0.511528) obs_expected=(-0.297775, 0.504699) delta=(0.0097073, 0.00682918) |delta|=0.0118688m
I0419 20:57:44.583065 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290645782421.
I0419 20:57:44.607542 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00668746, -0.510565)
I0419 20:57:44.607664 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.879848, 0.711585), points=6, range=1.13533, residual=0.0142925, extent=0.0403156
I0419 20:57:44.607699 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.879848, 0.711585), tracking=(-1.17835, -0.711585), map_predicted=(15.9183, -2.5232), range=1.13533, pts=6
I0419 20:57:44.607728 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00461696m maha_sq=0.000919264 (gate chi2=5.99) pose_sigma=(0.15009, 0.15009, rho=0) det_map=(15.9183, -2.5232) lm_pos=(15.915, -2.52) delta=(0.00332409, -0.00320417) -> 1 candidate(s)
I0419 20:57:44.607849 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290646061086.
I0419 20:57:44.635381 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:44.635969 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290646338777.
I0419 20:57:44.637964 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881829s, prior_pose=(17.1061, -1.82745), yaw=-0.76653 deg
I0419 20:57:44.638113 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 20:57:44.638245 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:44.638290 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:44.732981 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290646655451.
I0419 20:57:44.735399 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477652, -4.30356)
I0419 20:57:44.736181 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.86306, 4.28481), points=4, range=4.67225, residual=0.0166652, extent=0.0407786
I0419 20:57:44.736261 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.86306, 4.28481), tracking=(1.56456, -4.28481), map_predicted=(18.6104, -6.13193), range=4.67225, pts=4
I0419 20:57:44.736290 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50682m maha_sq=854.875 (gate chi2=5.99) pose_sigma=(0.150037, 0.150037, rho=0) det_map=(18.6104, -6.13193) lm_pos=(15.915, -2.52) delta=(2.69544, -3.61193) -> 0 candidate(s)
I0419 20:57:44.736388 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290646943031.
I0419 20:57:44.738960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290647222280.
I0419 20:57:44.755357 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.0051432, -0.508776)
I0419 20:57:44.755548 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290647542209.
I0419 20:57:44.833957 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:44.834746 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00964679, -0.510231), points=27, range=0.510889, residual=0.0123769, extent=0.0394742
I0419 20:57:44.834853 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00964679, -0.510231), tracking=(-0.288853, 0.510231), map_predicted=(16.8213, -1.31445), range=0.510889, pts=27
I0419 20:57:44.834884 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00837069m maha_sq=0.00303016 (gate chi2=5.99) pose_sigma=(0.15013, 0.15013, rho=0) det_map=(16.8213, -1.31445) lm_pos=(16.815, -1.32) delta=(0.00626896, 0.00554694) -> 1 candidate(s)
I0419 20:57:44.837182 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1028, -1.82825), yaw=-0.769121 deg backend=(17.1034, -1.82981)
I0419 20:57:44.837589 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:44.837633 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:44.837654 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:44.837738 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290648106304.
I0419 20:57:44.841872 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.477218, -4.29959)
I0419 20:57:44.842818 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290648414793.
I0419 20:57:44.871902 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00221432, -0.511045), points=28, range=0.510929, residual=0.012804, extent=0.043752
I0419 20:57:44.872073 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00221432, -0.511045), tracking=(-0.296286, 0.511045), map_predicted=(16.8141, -1.31259), range=0.510929, pts=28
I0419 20:57:44.872118 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00745795m maha_sq=0.00240597 (gate chi2=5.99) pose_sigma=(0.150075, 0.150075, rho=0) det_map=(16.8141, -1.31259) lm_pos=(16.815, -1.32) delta=(-0.00086851, 0.0074072) -> 1 candidate(s)
I0419 20:57:44.872156 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:44.872326 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290648700236.
I0419 20:57:44.971865 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.0059369, -0.510293)
I0419 20:57:44.972009 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.80565 rad/s > flush threshold 3.
I0419 20:57:44.972079 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290649019063.
I0419 20:57:44.973407 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00130024 range=0.51063 variance=0.000584168 t_weight=5135.51 r_weight=0 yaml=(16.815, -1.32) prior=(17.1049, -1.82859, -0.773322deg) obs_actual=(-0.294801, 0.509763) obs_expected=(-0.29673, 0.504636) delta=(0.00192945, 0.0051276) |delta|=0.0054786m
I0419 20:57:44.973520 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290649266068.
I0419 20:57:44.973837 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599285s, prior_pose=(17.1049, -1.82859), yaw=-0.773322 deg
I0419 20:57:44.973887 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1086, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 20:57:44.973942 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:44.973963 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:44.976522 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290649572148.
I0419 20:57:44.977257 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.477295, -4.30025), points=4, range=4.3275, residual=0.0157822, extent=0.0385896
I0419 20:57:44.977345 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.477295, -4.30025), tracking=(-0.178795, -4.30025), map_predicted=(16.8691, -6.12584), range=4.3275, pts=4
I0419 20:57:44.977376 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72992m maha_sq=588.45 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8691, -6.12584) lm_pos=(15.915, -2.52) delta=(0.95406, -3.60584) -> 0 candidate(s)
I0419 20:57:44.985929 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.887426, 0.712925)
I0419 20:57:45.014639 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290650139892.
I0419 20:57:45.087858 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27161, -2.48673), points=3, range=2.78933, residual=0.0100311, extent=0.0195956
I0419 20:57:45.087996 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27161, -2.48673), tracking=(1.57011, -2.48673), map_predicted=(18.6448, -4.33378), range=2.78933, pts=3
I0419 20:57:45.088028 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27743m maha_sq=461.603 (gate chi2=5.99) pose_sigma=(0.150167, 0.150167, rho=0) det_map=(18.6448, -4.33378) lm_pos=(15.915, -2.52) delta=(2.72979, -1.81378) -> 0 candidate(s)
I0419 20:57:45.088459 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.00444714, -0.511108)
I0419 20:57:45.089838 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:45.089954 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290650738852.
I0419 20:57:45.106489 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:45.106594 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:45.106616 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:45.106712 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290651056269.
I0419 20:57:45.133879 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.502596, -4.30009)
I0419 20:57:45.134817 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.749311 deg, rms_residual=0.00681216m, sigma_yaw=0.00900113 rad, N=2
I0419 20:57:45.134943 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1153, -1.82999, -0.749311deg) inliers=2 rms=0.00681216m
I0419 20:57:45.135000 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290651334221.
I0419 20:57:45.166841 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.553716, -2.49774), points=6, range=2.56067, residual=0.0151038, extent=0.0427659
I0419 20:57:45.166955 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.553716, -2.49774), tracking=(-0.255216, -2.49774), map_predicted=(16.8275, -4.3219), range=2.56067, pts=6
I0419 20:57:45.166988 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01979m maha_sq=174.961 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8275, -4.3219) lm_pos=(15.915, -2.52) delta=(0.912538, -1.8019) -> 0 candidate(s)
I0419 20:57:45.237591 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.1898 rad/s > flush threshold 3.
I0419 20:57:45.237766 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:45.237813 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:45.237833 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290651663738.
I0419 20:57:45.239548 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.00594718, -0.510813)
I0419 20:57:45.239706 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290651943068.
I0419 20:57:45.241858 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 20:57:45.241979 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290652219081.
I0419 20:57:45.242408 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0588299s, prior_pose=(17.118, -1.82809), yaw=-0.631601 deg
I0419 20:57:45.242470 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1090, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:57:45.242524 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:45.242545 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:45.242563 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24517, -2.48834), points=3, range=2.78433, residual=0.00950508, extent=0.0195717
I0419 20:57:45.242584 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.24517, -2.48834), tracking=(1.54367, -2.48834), map_predicted=(18.6342, -4.33329), range=2.78433, pts=3
I0419 20:57:45.242602 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.26832m maha_sq=460.246 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6342, -4.33329) lm_pos=(15.915, -2.52) delta=(2.71917, -1.81329) -> 0 candidate(s)
I0419 20:57:45.251155 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290652501528.
I0419 20:57:45.278872 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.907676, 0.71018)
I0419 20:57:45.279093 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00201912 range=1.1525 variance=0.000538447 t_weight=5571.58 r_weight=0 yaml=(15.915, -2.52) prior=(17.1212, -1.82803, -0.600866deg) obs_actual=(-1.20239, -0.710425) obs_expected=(-1.19886, -0.704581) delta=(-0.00353733, -0.00584363) |delta|=0.00683087m
I0419 20:57:45.279232 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290652780519.
I0419 20:57:45.384552 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0104512, -0.512433), points=25, range=0.51312, residual=0.0113235, extent=0.0365181
I0419 20:57:45.384704 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0104512, -0.512433), tracking=(-0.308951, 0.512433), map_predicted=(16.8221, -1.31449), range=0.51312, pts=25
I0419 20:57:45.384737 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00894814m maha_sq=0.00345547 (gate chi2=5.99) pose_sigma=(0.150373, 0.150373, rho=0) det_map=(16.8221, -1.31449) lm_pos=(16.815, -1.32) delta=(0.00705324, 0.00550644) -> 1 candidate(s)
I0419 20:57:45.384850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290653100888.
I0419 20:57:45.388027 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(0.0157211, -0.513253)
I0419 20:57:45.388181 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.7543 rad/s > flush threshold 3.
I0419 20:57:45.389460 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:45.390187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290653696889.
I0419 20:57:45.398710 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290653972296.
I0419 20:57:45.402387 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:45.402521 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:45.402567 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:45.426607 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.922172, 0.709708)
I0419 20:57:45.426990 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.92426, 0.709186), points=6, range=1.16367, residual=0.00774145, extent=0.0207391
I0419 20:57:45.427045 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.92426, 0.709186), tracking=(-1.22276, -0.709186), map_predicted=(15.9003, -2.52626), range=1.16367, pts=6
I0419 20:57:45.427094 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0159375m maha_sq=0.0110346 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9003, -2.52626) lm_pos=(15.915, -2.52) delta=(-0.0146555, -0.00626248) -> 1 candidate(s)
I0419 20:57:45.427307 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290654258171.
I0419 20:57:45.530674 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:45.531694 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:45.531852 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290654579766.
I0419 20:57:45.534225 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.22692, -2.4879)
I0419 20:57:45.535076 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290654860946.
I0419 20:57:45.536229 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.577073, -2.49958), points=4, range=2.56475, residual=0.00921982, extent=0.0225796
I0419 20:57:45.536316 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.577073, -2.49958), tracking=(-0.278573, -2.49958), map_predicted=(16.8317, -4.32546), range=2.56475, pts=4
I0419 20:57:45.536345 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02483m maha_sq=176.917 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8317, -4.32546) lm_pos=(15.915, -2.52) delta=(0.916654, -1.80546) -> 0 candidate(s)
I0419 20:57:45.537743 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0313518s, prior_pose=(17.1362, -1.828), yaw=-0.515927 deg
I0419 20:57:45.537810 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1309, max_intensity=254, threshold=230, above_threshold=35, candidates=35
I0419 20:57:45.537941 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:45.537966 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=3
I0419 20:57:45.538043 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.2681 rad/s > flush threshold 3.
I0419 20:57:45.538102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290655174180.
I0419 20:57:45.546057 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.22746, -2.48903)
I0419 20:57:45.547049 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:45.547161 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290655456402.
I0419 20:57:45.627017 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290655734343.
I0419 20:57:45.629053 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.546716, -4.29759)
I0419 20:57:45.629230 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.584568, -2.49886), points=4, range=2.56525, residual=0.0095056, extent=0.0229311
I0419 20:57:45.629272 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.584568, -2.49886), tracking=(-0.286068, -2.49886), map_predicted=(16.8302, -4.32393), range=2.56525, pts=4
I0419 20:57:45.629310 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02281m maha_sq=176.522 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8302, -4.32393) lm_pos=(15.915, -2.52) delta=(0.915194, -1.80393) -> 0 candidate(s)
I0419 20:57:45.635075 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.931553, 0.706215)
I0419 20:57:45.635262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290656339494.
I0419 20:57:45.662480 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290656617504.
I0419 20:57:45.695207 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.21834, -2.48878)
I0419 20:57:45.695322 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22254, -2.48821), points=4, range=2.771, residual=0.0106121, extent=0.0241716
I0419 20:57:45.695354 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.22254, -2.48821), tracking=(1.52104, -2.48821), map_predicted=(18.6433, -4.33019), range=2.771, pts=4
I0419 20:57:45.695381 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.27421m maha_sq=461.5 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6433, -4.33019) lm_pos=(15.915, -2.52) delta=(2.7283, -1.81019) -> 0 candidate(s)
I0419 20:57:45.695856 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:45.695909 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:45.695931 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:45.695989 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00260813 range=0.515 variance=0.000571446 t_weight=5249.84 r_weight=0 yaml=(16.815, -1.32) prior=(17.1437, -1.829, -0.492595deg) obs_actual=(-0.329926, 0.513245) obs_expected=(-0.333076, 0.506156) delta=(0.0031495, 0.007089) |delta|=0.00775714m
I0419 20:57:45.696043 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290656938033.
I0419 20:57:45.768494 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1462, -1.82809), yaw=-0.523798 deg backend=(17.1438, -1.8272)
I0419 20:57:45.770606 1219494 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(9.34334e-06, 2.574)
I0419 20:57:45.770793 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290657220194.
I0419 20:57:45.772878 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290657498511.
I0419 20:57:45.779750 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.78353, 4.30589), points=4, range=4.65925, residual=0.0172265, extent=0.0418774
I0419 20:57:45.779887 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.78353, 4.30589), tracking=(1.48503, -4.30589), map_predicted=(18.5931, -6.14773), range=4.65925, pts=4
I0419 20:57:45.779919 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5092m maha_sq=855.599 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5931, -6.14773) lm_pos=(15.915, -2.52) delta=(2.67813, -3.62773) -> 0 candidate(s)
I0419 20:57:45.780004 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290657791418.
I0419 20:57:45.782334 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.26331, -4.28776)
I0419 20:57:45.811066 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602708s, prior_pose=(17.1508, -1.82888), yaw=-0.525926 deg
I0419 20:57:45.811173 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1319, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 20:57:45.811301 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 20:57:45.811326 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=3
I0419 20:57:45.811385 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:45.811426 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:45.811443 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290658101219.
I0419 20:57:45.884500 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-1.79696, 4.30283)
I0419 20:57:45.884649 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:45.884727 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290658381058.
I0419 20:57:45.886507 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22035, -2.48371), points=4, range=2.7695, residual=0.0115881, extent=0.0284374
I0419 20:57:45.886651 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.22035, -2.48371), tracking=(1.51885, -2.48371), map_predicted=(18.6444, -4.3238), range=2.7695, pts=4
I0419 20:57:45.886706 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.27159m maha_sq=460.335 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6444, -4.3238) lm_pos=(15.915, -2.52) delta=(2.72939, -1.8038) -> 0 candidate(s)
I0419 20:57:45.887267 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290658704141.
I0419 20:57:45.898056 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.22792, -2.47179)
I0419 20:57:45.926324 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290659257032.
I0419 20:57:45.930418 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:45.958354 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.550979, -2.50255)
I0419 20:57:45.958524 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:45.959102 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.930058, 0.735384), points=4, range=1.18775, residual=0.00620086, extent=0.0151185
I0419 20:57:45.959160 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.930058, 0.735384), tracking=(-1.22856, -0.735384), map_predicted=(15.9156, -2.54296), range=1.18775, pts=4
I0419 20:57:45.959189 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0229724m maha_sq=0.022946 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9156, -2.54296) lm_pos=(15.915, -2.52) delta=(0.000635893, -0.0229636) -> 1 candidate(s)
I0419 20:57:45.959306 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290659579401.
I0419 20:57:46.030007 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.0554761, 2.54189)
I0419 20:57:46.030133 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:46.030165 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:46.030181 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:46.030260 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290659861987.
I0419 20:57:46.032480 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.40416 deg, rms_residual=0.00651677m, sigma_yaw=0.00861418 rad, N=2
I0419 20:57:46.032603 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1577, -1.83141, -2.40416deg) inliers=2 rms=0.00651677m
I0419 20:57:46.032647 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290660133723.
I0419 20:57:46.046176 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.923243, 0.753172)
I0419 20:57:46.046265 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0636178, -0.500048), points=25, range=0.50468, residual=0.0114245, extent=0.0355496
I0419 20:57:46.046296 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0636178, -0.500048), tracking=(-0.362118, 0.500048), map_predicted=(16.8153, -1.31864), range=0.50468, pts=25
I0419 20:57:46.046319 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00138482m maha_sq=8.31556e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8153, -1.31864) lm_pos=(16.815, -1.32) delta=(0.000256809, 0.0013608) -> 1 candidate(s)
I0419 20:57:46.046341 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:46.046425 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290660453721.
I0419 20:57:46.074417 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.000231467 range=0.503296 variance=0.000584853 t_weight=5129.5 r_weight=0 yaml=(16.815, -1.32) prior=(17.1643, -1.82889, -2.21789deg) obs_actual=(-0.368409, 0.497277) obs_expected=(-0.368734, 0.494987) delta=(0.000325287, 0.00229047) |delta|=0.00231346m
I0419 20:57:46.074582 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290660738450.
I0419 20:57:46.160526 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-2.00334, 4.23174)
I0419 20:57:46.160737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290661015561.
I0419 20:57:46.162191 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606145s, prior_pose=(17.1651, -1.82948), yaw=-2.54347 deg
I0419 20:57:46.162285 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1086, max_intensity=249, threshold=230, above_threshold=16, candidates=16
I0419 20:57:46.162349 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:46.162372 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:46.163645 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22463, -0.599499), points=3, range=1.35833, residual=0.00992649, extent=0.0196551
I0419 20:57:46.163722 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.22463, -0.599499), tracking=(1.52313, -0.599499), map_predicted=(18.6602, -2.49598), range=1.35833, pts=3
I0419 20:57:46.163753 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18805m maha_sq=207.526 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6602, -2.49598) lm_pos=(16.815, -1.32) delta=(1.84517, -1.17598) -> 0 candidate(s)
I0419 20:57:46.164354 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290661341879.
I0419 20:57:46.170166 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.22012, -0.584141)
I0419 20:57:46.171094 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290661626247.
I0419 20:57:46.253582 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.55921, -4.15187)
I0419 20:57:46.253686 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38873, -2.36547), points=3, range=2.742, residual=0.00799656, extent=0.0159749
I0419 20:57:46.253721 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.38873, -2.36547), tracking=(1.68723, -2.36547), map_predicted=(18.7007, -4.29668), range=2.742, pts=3
I0419 20:57:46.253752 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.30403m maha_sq=470.584 (gate chi2=5.99) pose_sigma=(0.15007, 0.15007, rho=0) det_map=(18.7007, -4.29668) lm_pos=(15.915, -2.52) delta=(2.78568, -1.77668) -> 0 candidate(s)
I0419 20:57:46.254426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290662217674.
I0419 20:57:46.257798 1219452 reflector_detector.cc:209] [Detect]   cluster[7]: points=1, centroid=(-0.136848, 0.229263)
I0419 20:57:46.257891 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 6 -> 3 (threshold=0.03, iters=3)
I0419 20:57:46.338848 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:46.339013 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:46.339040 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:46.340778 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23363, -0.525759), points=3, range=1.345, residual=0.0103186, extent=0.0214838
I0419 20:57:46.340881 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.23363, -0.525759), tracking=(1.53213, -0.525759), map_predicted=(18.6512, -2.48656), range=1.345, pts=3
I0419 20:57:46.340912 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.17545m maha_sq=204.267 (gate chi2=5.99) pose_sigma=(0.150306, 0.150306, rho=0) det_map=(18.6512, -2.48656) lm_pos=(16.815, -1.32) delta=(1.83622, -1.16656) -> 0 candidate(s)
I0419 20:57:46.341528 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.876576, 0.83505)
I0419 20:57:46.344432 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:46.345455 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290663440808.
I0419 20:57:46.415750 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290663661671.
I0419 20:57:46.416196 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.24604, -0.49289)
I0419 20:57:46.417954 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872492s, prior_pose=(17.1766, -1.83241), yaw=-6.47495 deg
I0419 20:57:46.418027 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1323, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 20:57:46.418170 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:46.418193 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:57:46.418215 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.133705, -0.46109), points=29, range=0.480793, residual=0.0125429, extent=0.0415835
I0419 20:57:46.418238 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.133705, -0.46109), tracking=(-0.432205, 0.46109), map_predicted=(16.7991, -1.32552), range=0.480793, pts=29
I0419 20:57:46.418258 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0167871m maha_sq=0.0122056 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7991, -1.32552) lm_pos=(16.815, -1.32) delta=(-0.0158521, -0.00552407) -> 1 candidate(s)
I0419 20:57:46.418344 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290663973103.
I0419 20:57:46.488400 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:57:46.488581 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290664269568.
I0419 20:57:46.490819 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.25281, -0.437462)
I0419 20:57:46.563441 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.826231, 0.912242), points=6, range=1.23317, residual=0.00946231, extent=0.0276289
I0419 20:57:46.563582 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.826231, 0.912242), tracking=(-1.12473, -0.912242), map_predicted=(15.9206, -2.54123), range=1.23317, pts=6
I0419 20:57:46.563618 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0219625m maha_sq=0.0208159 (gate chi2=5.99) pose_sigma=(0.150398, 0.150398, rho=0) det_map=(15.9206, -2.54123) lm_pos=(15.915, -2.52) delta=(0.00563217, -0.021228) -> 1 candidate(s)
I0419 20:57:46.563640 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=1702.6 rad/s > flush threshold 3.
I0419 20:57:46.563709 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290664857165.
I0419 20:57:46.564935 1218530 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(-0.486095, 2.66605)
I0419 20:57:46.565068 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00649361 range=0.468793 variance=0.000578248 t_weight=5188.08 r_weight=0 yaml=(16.815, -1.32) prior=(17.1825, -1.83063, -9.65883deg) obs_actual=(-0.460007, 0.439665) obs_expected=(-0.447941, 0.441733) delta=(-0.012066, -0.00206715) |delta|=0.0122418m
I0419 20:57:46.565169 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290665132349.
I0419 20:57:46.567974 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:46.568605 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290665461653.
I0419 20:57:46.578651 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.113294, -2.51118)
I0419 20:57:46.578738 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:46.578765 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.66104, -2.12605), points=4, range=2.69475, residual=0.0117794, extent=0.0255158
I0419 20:57:46.578779 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:46.578792 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:46.578804 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.66104, -2.12605), tracking=(1.95954, -2.12605), map_predicted=(18.7318, -4.2743), range=2.69475, pts=4
I0419 20:57:46.578826 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.31842m maha_sq=473.727 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.7318, -4.2743) lm_pos=(15.915, -2.52) delta=(2.8168, -1.7543) -> 0 candidate(s)
I0419 20:57:46.651306 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1921, -1.83479), yaw=-11.7632 deg backend=(17.1898, -1.83202)
I0419 20:57:46.652376 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:46.655313 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:46.655431 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:46.655490 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:46.655514 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290666298945.
I0419 20:57:46.655885 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(2.15396, -3.82008)
I0419 20:57:46.662549 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772246, 0.985456), points=5, range=1.2528, residual=0.0061216, extent=0.0166196
I0419 20:57:46.662650 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.772246, 0.985456), tracking=(-1.07075, -0.985456), map_predicted=(15.9337, -2.56464), range=1.2528, pts=5
I0419 20:57:46.662678 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0483891m maha_sq=0.101797 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9337, -2.56464) lm_pos=(15.915, -2.52) delta=(0.0186831, -0.0446368) -> 1 candidate(s)
I0419 20:57:46.662757 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290666616700.
I0419 20:57:46.732092 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290666898674.
I0419 20:57:46.732580 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634787s, prior_pose=(17.1964, -1.83769), yaw=-13.6438 deg
I0419 20:57:46.732653 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 20:57:46.732712 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:46.732733 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.72407, -2.05467)
I0419 20:57:46.732789 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:46.735191 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290667181736.
I0419 20:57:46.750124 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.73738, -2.04625), points=4, range=2.6825, residual=0.0106211, extent=0.023566
I0419 20:57:46.750231 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.73738, -2.04625), tracking=(2.03588, -2.04625), map_predicted=(18.6715, -4.31973), range=2.6825, pts=4
I0419 20:57:46.750262 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.29198m maha_sq=466.76 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6715, -4.31973) lm_pos=(15.915, -2.52) delta=(2.75646, -1.79973) -> 0 candidate(s)
I0419 20:57:46.750726 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.618271, 2.60874)
I0419 20:57:46.750838 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290667496643.
I0419 20:57:46.778990 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290667779143.
I0419 20:57:46.860291 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-14.9959 deg, rms_residual=0.00686974m, sigma_yaw=0.00907652 rad, N=2
I0419 20:57:46.860458 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.2059, -1.84171, -14.9959deg) inliers=2 rms=0.00686974m
I0419 20:57:46.860496 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290668062418.
I0419 20:57:46.861099 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.72476, -2.04337)
I0419 20:57:46.862388 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.215462, -0.409375), points=30, range=0.462167, residual=0.0128436, extent=0.042099
I0419 20:57:46.862453 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.215462, -0.409375), tracking=(-0.513962, 0.409375), map_predicted=(16.8039, -1.31317), range=0.462167, pts=30
I0419 20:57:46.862478 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0130227m maha_sq=0.00734308 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8039, -1.31317) lm_pos=(16.815, -1.32) delta=(-0.0110853, 0.00683428) -> 1 candidate(s)
I0419 20:57:46.862537 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290668380808.
I0419 20:57:46.870385 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:46.870465 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 7 -> 3 (threshold=0.03, iters=3)
I0419 20:57:46.870487 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:46.870503 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:46.870548 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00131507 range=0.462167 variance=0.000601122 t_weight=4990.67 r_weight=0 yaml=(16.815, -1.32) prior=(17.2053, -1.8405, -14.6774deg) obs_actual=(-0.508208, 0.410015) obs_expected=(-0.509449, 0.404623) delta=(0.00124135, 0.00539151) |delta|=0.00553257m
I0419 20:57:46.870594 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290668696348.
I0419 20:57:46.894366 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.789365, 0.996788)
I0419 20:57:46.894596 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290668938585.
I0419 20:57:46.926040 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290669254473.
I0419 20:57:47.003000 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0363939, -2.50271), points=6, range=2.50367, residual=0.0133021, extent=0.0372729
I0419 20:57:47.003114 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0363939, -2.50271), tracking=(0.262106, -2.50271), map_predicted=(16.8305, -4.32692), range=2.50367, pts=6
I0419 20:57:47.003145 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0256m maha_sq=175.021 (gate chi2=5.99) pose_sigma=(0.150614, 0.150614, rho=0) det_map=(16.8305, -4.32692) lm_pos=(15.915, -2.52) delta=(0.915468, -1.80692) -> 0 candidate(s)
I0419 20:57:47.004747 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=30, centroid=(0.229754, -0.409997)
I0419 20:57:47.004904 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290669578036.
I0419 20:57:47.007822 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560245s, prior_pose=(17.2224, -1.84279), yaw=-14.8646 deg
I0419 20:57:47.007938 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=41, candidates=41
I0419 20:57:47.008071 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=41, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=8
I0419 20:57:47.008095 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=8, r_post=0.015, gain=250 -> after=3
I0419 20:57:47.008188 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290669860716.
I0419 20:57:47.022913 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.24371, -0.289657)
I0419 20:57:47.027336 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.535599, 2.5018), points=5, range=2.5572, residual=0.0144683, extent=0.0370582
I0419 20:57:47.027467 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.535599, 2.5018), tracking=(0.237099, -2.5018), map_predicted=(16.8124, -4.32397), range=2.5572, pts=5
I0419 20:57:47.027520 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01483m maha_sq=172.926 (gate chi2=5.99) pose_sigma=(0.150592, 0.150592, rho=0) det_map=(16.8124, -4.32397) lm_pos=(15.915, -2.52) delta=(0.897357, -1.80397) -> 0 candidate(s)
I0419 20:57:47.027572 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=98.9163 rad/s > flush threshold 3.
I0419 20:57:47.027614 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:57:47.027777 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290670219384.
I0419 20:57:47.043555 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290670422984.
I0419 20:57:47.130007 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=29, centroid=(0.251431, -0.407456)
I0419 20:57:47.130235 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290670733411.
I0419 20:57:47.131755 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290671013463.
I0419 20:57:47.134434 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.604073, 2.72484)
I0419 20:57:47.134543 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.828221, 0.99877), points=3, range=1.297, residual=0.00542094, extent=0.0114938
I0419 20:57:47.134570 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.828221, 0.99877), tracking=(-1.12672, -0.99877), map_predicted=(15.8984, -2.52351), range=1.297, pts=3
I0419 20:57:47.134593 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0169392m maha_sq=0.0123652 (gate chi2=5.99) pose_sigma=(0.150695, 0.150695, rho=0) det_map=(15.8984, -2.52351) lm_pos=(15.915, -2.52) delta=(-0.0165706, -0.00351469) -> 1 candidate(s)
I0419 20:57:47.134661 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290671303939.
I0419 20:57:47.135345 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:47.162869 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:57:47.162976 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:47.163019 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:47.163079 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0029619 range=0.488786 variance=0.000618858 t_weight=4847.64 r_weight=0 yaml=(16.815, -1.32) prior=(17.2526, -1.85238, -14.8963deg) obs_actual=(-0.55995, 0.410297) obs_expected=(-0.559746, 0.401992) delta=(-0.000204601, 0.00830504) |delta|=0.00830756m
I0419 20:57:47.163172 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290671617681.
I0419 20:57:47.195551 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:47.320499 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.834343, 0.998223)
I0419 20:57:47.320626 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=52.173 rad/s > flush threshold 3.
I0419 20:57:47.320696 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290671940056.
I0419 20:57:47.322427 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21622, -0.295733), points=4, range=1.24875, residual=0.00751302, extent=0.0169506
I0419 20:57:47.322522 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.21622, -0.295733), tracking=(1.51472, -0.295733), map_predicted=(18.649, -2.52765), range=1.24875, pts=4
I0419 20:57:47.322551 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19588m maha_sq=209.462 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.649, -2.52765) lm_pos=(16.815, -1.32) delta=(1.83398, -1.20765) -> 0 candidate(s)
I0419 20:57:47.323374 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:47.323475 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:47.323536 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:47.323559 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290672216334.
I0419 20:57:47.325903 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.20045, -0.297432)
I0419 20:57:47.326758 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290672496658.
I0419 20:57:47.328261 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:47.328666 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872928s, prior_pose=(17.2676, -1.85718), yaw=-14.7758 deg
I0419 20:57:47.328719 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1074, max_intensity=247, threshold=230, above_threshold=18, candidates=18
I0419 20:57:47.328770 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:47.328799 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:47.331496 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.863085, 0.995756)
I0419 20:57:47.331633 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290673061264.
I0419 20:57:47.332315 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.105855, -2.50825), points=5, range=2.5122, residual=0.0117519, extent=0.0306103
I0419 20:57:47.332365 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.105855, -2.50825), tracking=(0.192645, -2.50825), map_predicted=(16.8242, -4.33347), range=2.5122, pts=5
I0419 20:57:47.332391 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02863m maha_sq=177.225 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8242, -4.33347) lm_pos=(15.915, -2.52) delta=(0.909205, -1.81347) -> 0 candidate(s)
I0419 20:57:47.411499 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290673378411.
I0419 20:57:47.413844 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.873825, 0.997338)
I0419 20:57:47.414057 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290673658149.
I0419 20:57:47.416894 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290673938869.
I0419 20:57:47.417899 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.127589, -2.50449), points=5, range=2.5094, residual=0.0122814, extent=0.0328163
I0419 20:57:47.418026 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.127589, -2.50449), tracking=(0.170911, -2.50449), map_predicted=(16.8288, -4.33057), range=2.5094, pts=5
I0419 20:57:47.418054 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0281m maha_sq=177.039 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8288, -4.33057) lm_pos=(15.915, -2.52) delta=(0.913804, -1.81057) -> 0 candidate(s)
I0419 20:57:47.426124 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.352725, -4.2451)
I0419 20:57:47.426689 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-14.7005 deg, rms_residual=0.00729911m, sigma_yaw=0.00963835 rad, N=2
I0419 20:57:47.426765 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3049, -1.86769, -14.7005deg) inliers=2 rms=0.00729911m
I0419 20:57:47.426800 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290674257004.
I0419 20:57:47.454659 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290674535718.
I0419 20:57:47.458763 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:47.458918 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:47.458964 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:47.564677 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3161, -1.86631), yaw=-14.615 deg backend=(17.3053, -1.86054)
I0419 20:57:47.566031 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.418932, 2.50357)
I0419 20:57:47.566124 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.326122, -0.409927), points=25, range=0.52388, residual=0.0119341, extent=0.0391098
I0419 20:57:47.566154 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.326122, -0.409927), tracking=(-0.624622, 0.409927), map_predicted=(16.8151, -1.31204), range=0.52388, pts=25
I0419 20:57:47.566190 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00796423m maha_sq=0.00270733 (gate chi2=5.99) pose_sigma=(0.151176, 0.151176, rho=0) det_map=(16.8151, -1.31204) lm_pos=(16.815, -1.32) delta=(9.19505e-05, 0.00796369) -> 1 candidate(s)
I0419 20:57:47.566246 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00270733 range=0.52388 variance=0.000574285 t_weight=5223.89 r_weight=0 yaml=(16.815, -1.32) prior=(17.3161, -1.86631, -14.615deg) obs_actual=(-0.624622, 0.409927) obs_expected=(-0.622702, 0.402198) delta=(-0.00192045, 0.00772921) |delta|=0.00796423m
I0419 20:57:47.566306 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290674907032.
I0419 20:57:47.569231 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290675141807.
I0419 20:57:47.570721 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:47.570854 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290675421002.
I0419 20:57:47.571307 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.156813, -2.50433)
I0419 20:57:47.571362 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.6048, -2.06023), points=3, range=2.60867, residual=0.00877421, extent=0.0171475
I0419 20:57:47.571385 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.6048, -2.06023), tracking=(1.9033, -2.06023), map_predicted=(18.6434, -4.34152), range=2.60867, pts=3
I0419 20:57:47.571406 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.28056m maha_sq=464.441 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6434, -4.34152) lm_pos=(15.915, -2.52) delta=(2.7284, -1.82152) -> 0 candidate(s)
I0419 20:57:47.574539 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592726s, prior_pose=(17.3305, -1.86931), yaw=-14.6063 deg
I0419 20:57:47.574682 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 20:57:47.574921 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:47.574965 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:47.575114 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290675734338.
I0419 20:57:47.693921 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:57:47.694113 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290676014260.
I0419 20:57:47.694711 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.07107, -3.78813)
I0419 20:57:47.696483 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.922136, 0.994633), points=4, range=1.3575, residual=0.00670638, extent=0.016153
I0419 20:57:47.696625 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.922136, 0.994633), tracking=(-1.22064, -0.994633), map_predicted=(15.905, -2.52745), range=1.3575, pts=4
I0419 20:57:47.696657 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.012457m maha_sq=0.00674209 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.905, -2.52745) lm_pos=(15.915, -2.52) delta=(-0.00998579, -0.00744717) -> 1 candidate(s)
I0419 20:57:47.696753 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290676300456.
I0419 20:57:47.700501 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-0.839444, 4.25259)
I0419 20:57:47.703675 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290676859149.
I0419 20:57:47.704260 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57152, -2.06041), points=4, range=2.5865, residual=0.0139065, extent=0.0314974
I0419 20:57:47.704314 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.57152, -2.06041), tracking=(1.87002, -2.06041), map_predicted=(18.645, -4.34014), range=2.5865, pts=4
I0419 20:57:47.704337 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.28111m maha_sq=462.33 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.645, -4.34014) lm_pos=(15.915, -2.52) delta=(2.72997, -1.82014) -> 0 candidate(s)
I0419 20:57:47.722489 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:47.723373 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290677219205.
I0419 20:57:47.797897 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.284819, -4.25079)
I0419 20:57:47.798681 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:47.798782 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:47.798805 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:47.800951 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.0226, -3.79064), points=3, range=4.298, residual=0.0127863, extent=0.026567
I0419 20:57:47.801111 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(2.0226, -3.79064), tracking=(2.3211, -3.79064), map_predicted=(18.6647, -6.12968), range=4.298, pts=3
I0419 20:57:47.801154 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53768m maha_sq=860.046 (gate chi2=5.99) pose_sigma=(0.151297, 0.151297, rho=0) det_map=(18.6647, -6.12968) lm_pos=(15.915, -2.52) delta=(2.74967, -3.60968) -> 0 candidate(s)
I0419 20:57:47.801874 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290677778187.
I0419 20:57:47.806955 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-0.808211, 4.25719)
I0419 20:57:47.807127 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:47.807292 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290678061191.
I0419 20:57:47.839532 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.388046, -0.411217), points=23, range=0.568174, residual=0.0140198, extent=0.0415887
I0419 20:57:47.839672 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.388046, -0.411217), tracking=(-0.686546, 0.411217), map_predicted=(16.8155, -1.31041), range=0.568174, pts=23
I0419 20:57:47.839769 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00960054m maha_sq=0.0039463 (gate chi2=5.99) pose_sigma=(0.150753, 0.150753, rho=0) det_map=(16.8155, -1.31041) lm_pos=(16.815, -1.32) delta=(0.000506695, 0.00958716) -> 1 candidate(s)
I0419 20:57:47.839864 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0039463 range=0.568174 variance=0.000629625 t_weight=4764.74 r_weight=0 yaml=(16.815, -1.32) prior=(17.3772, -1.8805, -14.5069deg) obs_actual=(-0.686546, 0.411217) obs_expected=(-0.684635, 0.401809) delta=(-0.00191101, 0.00940842) |delta|=0.00960054m
I0419 20:57:47.839989 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290678383476.
I0419 20:57:47.941195 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560646s, prior_pose=(17.3863, -1.88034), yaw=-14.5278 deg
I0419 20:57:47.941308 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1337, max_intensity=252, threshold=230, above_threshold=33, candidates=33
I0419 20:57:47.941417 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:47.941439 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.396753, -0.409496)
I0419 20:57:47.941457 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:47.941558 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290678655607.
I0419 20:57:47.942694 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:47.942771 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:47.942795 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290678934037.
I0419 20:57:47.943292 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07052, -0.306962), points=4, range=1.11575, residual=0.0064294, extent=0.0154545
I0419 20:57:47.943341 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.07052, -0.306962), tracking=(1.36902, -0.306962), map_predicted=(18.6345, -2.52091), range=1.11575, pts=4
I0419 20:57:47.943365 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18009m maha_sq=206.665 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6345, -2.52091) lm_pos=(16.815, -1.32) delta=(1.8195, -1.20091) -> 0 candidate(s)
I0419 20:57:47.945860 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-0.326342, 2.50709)
I0419 20:57:47.945992 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290679255131.
I0419 20:57:47.954991 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290679540720.
I0419 20:57:47.990551 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.299904, 2.50275), points=4, range=2.52175, residual=0.00930671, extent=0.0223777
I0419 20:57:47.991269 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.299904, 2.50275), tracking=(0.00140379, -2.50275), map_predicted=(16.7795, -4.30838), range=2.52175, pts=4
I0419 20:57:47.991745 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.98635m maha_sq=170.284 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7795, -4.30838) lm_pos=(15.915, -2.52) delta=(0.86446, -1.78838) -> 0 candidate(s)
I0419 20:57:47.992460 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290679894510.
I0419 20:57:48.100095 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:48.100250 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.274489, -2.5065)
I0419 20:57:48.101933 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290680137117.
I0419 20:57:48.106781 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290680414944.
I0419 20:57:48.107852 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:48.107957 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.148534, -4.2534), points=4, range=4.255, residual=0.0154805, extent=0.0371055
I0419 20:57:48.108000 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:48.108033 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:48.108057 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.148534, -4.2534), tracking=(0.447034, -4.2534), map_predicted=(16.8358, -6.12594), range=4.255, pts=4
I0419 20:57:48.108095 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72166m maha_sq=586.467 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8358, -6.12594) lm_pos=(15.915, -2.52) delta=(0.92084, -3.60594) -> 0 candidate(s)
I0419 20:57:48.110648 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.88329, -3.83297)
I0419 20:57:48.111222 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-13.0541 deg, rms_residual=0.0108561m, sigma_yaw=0.0142682 rad, N=2
I0419 20:57:48.111279 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4299, -1.88956, -13.0541deg) inliers=2 rms=0.0108561m
I0419 20:57:48.111327 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290680736838.
I0419 20:57:48.114306 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290681047742.
I0419 20:57:48.184829 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.430074, -0.432505), points=20, range=0.6128, residual=0.0138016, extent=0.0469619
I0419 20:57:48.184965 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.430074, -0.432505), tracking=(-0.728574, 0.432505), map_predicted=(16.8225, -1.30377), range=0.6128, pts=20
I0419 20:57:48.184998 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0178788m maha_sq=0.0137529 (gate chi2=5.99) pose_sigma=(0.150391, 0.150391, rho=0) det_map=(16.8225, -1.30377) lm_pos=(16.815, -1.32) delta=(0.00750338, 0.0162281) -> 1 candidate(s)
I0419 20:57:48.185057 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0137529 range=0.6128 variance=0.000624871 t_weight=4800.99 r_weight=0 yaml=(16.815, -1.32) prior=(17.4331, -1.8912, -13.1979deg) obs_actual=(-0.728574, 0.432505) obs_expected=(-0.732174, 0.414992) delta=(0.00360009, 0.0175126) |delta|=0.0178788m
I0419 20:57:48.185127 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290681292053.
I0419 20:57:48.185535 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.347865, -2.50167)
I0419 20:57:48.187217 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878995s, prior_pose=(17.4331, -1.8912), yaw=-13.1979 deg
I0419 20:57:48.187309 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1285, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:57:48.187445 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:48.187470 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:48.187558 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290681615833.
I0419 20:57:48.190016 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00494, -0.371274), points=4, range=1.068, residual=0.00969776, extent=0.024404
I0419 20:57:48.190097 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.00494, -0.371274), tracking=(1.30344, -0.371274), map_predicted=(18.6362, -2.5406), range=1.068, pts=4
I0419 20:57:48.190126 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1924m maha_sq=206.07 (gate chi2=5.99) pose_sigma=(0.150923, 0.150923, rho=0) det_map=(18.6362, -2.5406) lm_pos=(16.815, -1.32) delta=(1.8212, -1.2206) -> 0 candidate(s)
I0419 20:57:48.190721 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.08029, 0.928054)
I0419 20:57:48.190800 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:48.190856 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290681892997.
I0419 20:57:48.271472 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290682220602.
I0419 20:57:48.272994 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.68089, -3.92813)
I0419 20:57:48.273092 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.987468, -0.393958), points=7, range=1.062, residual=0.00745162, extent=0.0194156
I0419 20:57:48.273123 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.987468, -0.393958), tracking=(1.28597, -0.393958), map_predicted=(18.6235, -2.5506), range=1.062, pts=7
I0419 20:57:48.273149 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18749m maha_sq=207.969 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6235, -2.5506) lm_pos=(16.815, -1.32) delta=(1.80851, -1.2306) -> 0 candidate(s)
I0419 20:57:48.347025 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290682780089.
I0419 20:57:48.349316 1218970 reflector_detector.cc:209] [Detect]   cluster[7]: points=1, centroid=(-0.176759, 0.302086)
I0419 20:57:48.349488 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290683056571.
I0419 20:57:48.349917 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:48.351187 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16531, 0.854439), points=3, range=1.44233, residual=0.00617315, extent=0.0109193
I0419 20:57:48.351241 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16531, 0.854439), tracking=(-1.46381, -0.854439), map_predicted=(15.8722, -2.4666), range=1.44233, pts=3
I0419 20:57:48.351266 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0684281m maha_sq=0.203449 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.8722, -2.4666) lm_pos=(15.915, -2.52) delta=(-0.0427848, 0.0534029) -> 1 candidate(s)
I0419 20:57:48.351325 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290683337581.
I0419 20:57:48.420897 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4776, -1.89827), yaw=-9.332 deg backend=(17.4636, -1.89832)
I0419 20:57:48.421641 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:48.421725 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:48.421748 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:48.422889 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.47566, -4.01791)
I0419 20:57:48.423424 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290683654591.
I0419 20:57:48.428571 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16071, -2.25364), points=5, range=2.5334, residual=0.0118205, extent=0.0311118
I0419 20:57:48.428691 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.16071, -2.25364), tracking=(1.45921, -2.25364), map_predicted=(18.588, -4.34343), range=2.5334, pts=5
I0419 20:57:48.428722 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23573m maha_sq=448.923 (gate chi2=5.99) pose_sigma=(0.150324, 0.150324, rho=0) det_map=(18.588, -4.34343) lm_pos=(15.915, -2.52) delta=(2.67302, -1.82343) -> 0 candidate(s)
I0419 20:57:48.429360 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:48.429493 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290683977484.
I0419 20:57:48.430696 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.43607, -4.26844)
I0419 20:57:48.499397 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=2418.32 rad/s > flush threshold 3.
I0419 20:57:48.499544 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290684241566.
I0419 20:57:48.501294 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560441s, prior_pose=(17.4911, -1.89834), yaw=-7.02309 deg
I0419 20:57:48.501384 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1273, max_intensity=253, threshold=230, above_threshold=31, candidates=31
I0419 20:57:48.501477 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:48.501494 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:48.501511 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.421341, -0.521792), points=18, range=0.675389, residual=0.0155261, extent=0.04297
I0419 20:57:48.501530 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.421341, -0.521792), tracking=(-0.719841, 0.521792), map_predicted=(16.8405, -1.29245), range=0.675389, pts=18
I0419 20:57:48.501545 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0375233m maha_sq=0.0607487 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8405, -1.29245) lm_pos=(16.815, -1.32) delta=(0.0254788, 0.0275469) -> 1 candidate(s)
I0419 20:57:48.501590 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0607487 range=0.675389 variance=0.000677463 t_weight=4428.29 r_weight=0 yaml=(16.815, -1.32) prior=(17.4911, -1.89834, -7.02309deg) obs_actual=(-0.719841, 0.521792) obs_expected=(-0.741761, 0.491337) delta=(0.0219194, 0.0304555) |delta|=0.0375233m
I0419 20:57:48.501648 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290684537755.
I0419 20:57:48.503731 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.586831, -4.26548)
I0419 20:57:48.504447 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290684856386.
I0419 20:57:48.510330 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:48.510486 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:48.510532 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290685097018.
I0419 20:57:48.514559 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.674331, -4.25758), points=4, range=4.3095, residual=0.0157846, extent=0.0375768
I0419 20:57:48.514645 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.674331, -4.25758), tracking=(-0.375831, -4.25758), map_predicted=(16.6608, -6.08844), range=4.3095, pts=4
I0419 20:57:48.514690 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.64555m maha_sq=562.22 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.6608, -6.08844) lm_pos=(15.915, -2.52) delta=(0.745841, -3.56844) -> 0 candidate(s)
I0419 20:57:48.622982 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.2774, 0.683974)
I0419 20:57:48.625892 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290685698493.
I0419 20:57:48.626566 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852102, -0.588357), points=5, range=1.0334, residual=0.00854803, extent=0.0192177
I0419 20:57:48.626621 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.852102, -0.588357), tracking=(1.1506, -0.588357), map_predicted=(18.6195, -2.54868), range=1.0334, pts=5
I0419 20:57:48.626649 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18307m maha_sq=206.986 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6195, -2.54868) lm_pos=(16.815, -1.32) delta=(1.80448, -1.22868) -> 0 candidate(s)
I0419 20:57:48.628077 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.898546, -4.22732)
I0419 20:57:48.628539 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290686022723.
I0419 20:57:48.706090 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:57:48.707614 1232263 pose_graph_2d.cc:160] Inserted submap (1, 20).
I0419 20:57:48.709586 1232263 reflector_detector.cc:209] [Detect]   cluster[6]: points=3, centroid=(-0.776436, 1.4104)
I0419 20:57:48.709663 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:48.709692 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.33851, 4.24531), points=4, range=4.45325, residual=0.0166452, extent=0.0409723
I0419 20:57:48.709707 1232263 reflector_detector.cc:337] [Detect] RESULT: 6 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:48.709721 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 20:57:48.709735 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.33851, 4.24531), tracking=(1.04001, -4.24531), map_predicted=(18.4496, -6.16654), range=4.45325, pts=4
I0419 20:57:48.709758 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.4409m maha_sq=821.782 (gate chi2=5.99) pose_sigma=(0.150999, 0.150999, rho=0) det_map=(18.4496, -6.16654) lm_pos=(15.915, -2.52) delta=(2.53463, -3.64654) -> 0 candidate(s)
I0419 20:57:48.709837 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290686298373.
I0419 20:57:48.779167 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290686617358.
I0419 20:57:48.780355 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.716946, -2.45961)
I0419 20:57:48.850589 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.618655, 4.18097), points=3, range=4.222, residual=0.0143922, extent=0.0298694
I0419 20:57:48.850739 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.618655, 4.18097), tracking=(-0.917155, -4.18097), map_predicted=(16.7288, -6.09827), range=4.222, pts=3
I0419 20:57:48.850773 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.66966m maha_sq=566.263 (gate chi2=5.99) pose_sigma=(0.150676, 0.150676, rho=0) det_map=(16.7288, -6.09827) lm_pos=(15.915, -2.52) delta=(0.813835, -3.57827) -> 0 candidate(s)
I0419 20:57:48.850797 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=1750.24 rad/s > flush threshold 3.
I0419 20:57:48.850867 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290686895082.
I0419 20:57:48.852641 1232263 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-0.0971471, 0.158027)
I0419 20:57:48.854933 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=4.92857 deg, rms_residual=0.0090187m, sigma_yaw=0.0118821 rad, N=2
I0419 20:57:48.855046 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5386, -1.88969, 4.92857deg) inliers=2 rms=0.0090187m
I0419 20:57:48.855086 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290687457878.
I0419 20:57:48.855453 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599607s, prior_pose=(17.5306, -1.89482), yaw=2.46726 deg
I0419 20:57:48.855508 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:57:48.855566 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:48.855588 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 20:57:48.855607 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.545235, -4.28595), points=3, range=4.321, residual=0.0122354, extent=0.025449
I0419 20:57:48.855629 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.545235, -4.28595), tracking=(0.843735, -4.28595), map_predicted=(18.5581, -6.14048), range=4.321, pts=3
I0419 20:57:48.855650 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.48261m maha_sq=853.548 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5581, -6.14048) lm_pos=(15.915, -2.52) delta=(2.64309, -3.62048) -> 0 candidate(s)
I0419 20:57:48.857028 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:57:48.857143 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290687741316.
I0419 20:57:48.926435 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.124352, -0.205268)
I0419 20:57:48.928211 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881625, 4.11818), points=3, range=4.21067, residual=0.0118212, extent=0.0245742
I0419 20:57:48.928308 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:48.928328 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.881625, 4.11818), tracking=(-1.18012, -4.11818), map_predicted=(16.6683, -6.08938), range=4.21067, pts=3
I0419 20:57:48.928395 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.64801m maha_sq=561.017 (gate chi2=5.99) pose_sigma=(0.150709, 0.150709, rho=0) det_map=(16.6683, -6.08938) lm_pos=(15.915, -2.52) delta=(0.753343, -3.56938) -> 0 candidate(s)
I0419 20:57:48.928454 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0578434 range=0.749077 variance=0.000558105 t_weight=5375.33 r_weight=0 yaml=(16.815, -1.32) prior=(17.5401, -1.89508, 4.24892deg) obs_actual=(-0.656725, 0.655156) obs_expected=(-0.680509, 0.62722) delta=(0.0237844, 0.0279356) |delta|=0.0366891m
I0419 20:57:48.928501 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290688058376.
I0419 20:57:48.930677 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.40774, 0.424415)
I0419 20:57:48.930830 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290688340753.
I0419 20:57:48.932941 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.0168, 2.54864)
I0419 20:57:48.933045 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.02063, 2.54748), points=4, range=2.744, residual=0.00996022, extent=0.0242862
I0419 20:57:48.933089 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.02063, 2.54748), tracking=(0.722131, -2.54748), map_predicted=(18.4943, -4.36514), range=2.744, pts=4
I0419 20:57:48.933112 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.17132m maha_sq=433.27 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.4943, -4.36514) lm_pos=(15.915, -2.52) delta=(2.57928, -1.84514) -> 0 candidate(s)
I0419 20:57:49.001791 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:49.003320 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 14
I0419 20:57:49.005144 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-0.946625, 2.56594)
I0419 20:57:49.005249 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:49.005275 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:49.005293 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:49.006438 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.094804, -4.34496), points=3, range=4.34433, residual=0.0124371, extent=0.0257593
I0419 20:57:49.006513 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.094804, -4.34496), tracking=(0.393304, -4.34496), map_predicted=(18.5082, -6.14862), range=4.34433, pts=3
I0419 20:57:49.006544 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.45999m maha_sq=839.897 (gate chi2=5.99) pose_sigma=(0.150438, 0.150438, rho=0) det_map=(18.5082, -6.14862) lm_pos=(15.915, -2.52) delta=(2.59318, -3.62862) -> 0 candidate(s)
I0419 20:57:49.076362 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=1506.95 rad/s > flush threshold 3.
I0419 20:57:49.077581 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:49.080061 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-1.80909, -4.01607)
I0419 20:57:49.080124 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.609276, -0.810943), points=8, range=1.01787, residual=0.0122895, extent=0.0344159
I0419 20:57:49.080149 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.609276, -0.810943), tracking=(0.907776, -0.810943), map_predicted=(18.5893, -2.53646), range=1.01787, pts=8
I0419 20:57:49.080209 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.15123m maha_sq=198.037 (gate chi2=5.99) pose_sigma=(0.150885, 0.150885, rho=0) det_map=(18.5893, -2.53646) lm_pos=(16.815, -1.32) delta=(1.77426, -1.21646) -> 0 candidate(s)
I0419 20:57:49.082093 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0875376s, prior_pose=(17.5571, -1.8912), yaw=9.76293 deg
I0419 20:57:49.082173 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1037, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 20:57:49.082226 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:49.082247 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:49.151614 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.090051, -0.142713)
I0419 20:57:49.152150 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.4044, 3.94762), points=3, range=4.18933, residual=0.0117514, extent=0.0243882
I0419 20:57:49.152215 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.4044, 3.94762), tracking=(-1.7029, -3.94762), map_predicted=(16.6643, -6.09445), range=4.18933, pts=3
I0419 20:57:49.152242 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.65214m maha_sq=554.544 (gate chi2=5.99) pose_sigma=(0.151824, 0.151824, rho=0) det_map=(16.6643, -6.09445) lm_pos=(15.915, -2.52) delta=(0.749283, -3.57445) -> 0 candidate(s)
I0419 20:57:49.155310 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=5, centroid=(-0.71467, 2.60637)
I0419 20:57:49.224043 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57169, 3.8738), points=3, range=4.176, residual=0.0141464, extent=0.0290855
I0419 20:57:49.224166 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.57169, 3.8738), tracking=(-1.87019, -3.8738), map_predicted=(16.6632, -6.08795), range=4.176, pts=3
I0419 20:57:49.224200 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.64556m maha_sq=542.523 (gate chi2=5.99) pose_sigma=(0.153087, 0.153087, rho=0) det_map=(16.6632, -6.08795) lm_pos=(15.915, -2.52) delta=(0.748218, -3.56795) -> 0 candidate(s)
I0419 20:57:49.224879 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.225435, -0.418096)
I0419 20:57:49.229202 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.50768, 0.114242)
I0419 20:57:49.229327 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:49.229349 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.025361, 4.36191), points=4, range=4.3605, residual=0.0158189, extent=0.0385096
I0419 20:57:49.229365 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:49.229378 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:49.229388 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.025361, 4.36191), tracking=(-0.273139, -4.36191), map_predicted=(18.3988, -6.18042), range=4.3605, pts=4
I0419 20:57:49.229408 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.42356m maha_sq=792.408 (gate chi2=5.99) pose_sigma=(0.153439, 0.153439, rho=0) det_map=(18.3988, -6.18042) lm_pos=(15.915, -2.52) delta=(2.48379, -3.66042) -> 0 candidate(s)
I0419 20:57:49.298902 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.6006, -1.88408), yaw=15.7298 deg backend=(17.6052, -1.89428)
I0419 20:57:49.303304 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.120075, 4.34332)
I0419 20:57:49.303481 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:49.306375 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.441777, -0.926157), points=9, range=1.02889, residual=0.0110166, extent=0.0283241
I0419 20:57:49.306658 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.441777, -0.926157), tracking=(0.740277, -0.926157), map_predicted=(18.5797, -2.55813), range=1.02889, pts=9
I0419 20:57:49.306823 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.15569m maha_sq=190.067 (gate chi2=5.99) pose_sigma=(0.15452, 0.15452, rho=0) det_map=(18.5797, -2.55813) lm_pos=(16.815, -1.32) delta=(1.76467, -1.23813) -> 0 candidate(s)
I0419 20:57:49.379346 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591787s, prior_pose=(17.6131, -1.88247), yaw=18.4555 deg
I0419 20:57:49.379492 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1077, max_intensity=252, threshold=230, above_threshold=18, candidates=18
I0419 20:57:49.379550 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:49.379570 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:49.381750 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.404602, -0.949231)
I0419 20:57:49.382193 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.307102, 2.62744), points=4, range=2.647, residual=0.0105932, extent=0.025171
I0419 20:57:49.382244 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.307102, 2.62744), tracking=(0.00860243, -2.62744), map_predicted=(18.4945, -4.35772), range=2.647, pts=4
I0419 20:57:49.382268 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.16715m maha_sq=403.429 (gate chi2=5.99) pose_sigma=(0.155408, 0.155408, rho=0) det_map=(18.4945, -4.35772) lm_pos=(15.915, -2.52) delta=(2.57946, -1.83772) -> 0 candidate(s)
I0419 20:57:49.474198 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-0.210915, 2.63105)
I0419 20:57:49.477193 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.46654, 1.8827), points=5, range=2.386, residual=0.0108577, extent=0.0289141
I0419 20:57:49.477275 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.46654, 1.8827), tracking=(-1.76504, -1.8827), map_predicted=(16.7028, -4.28553), range=2.386, pts=5
I0419 20:57:49.477298 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.93332m maha_sq=148.839 (gate chi2=5.99) pose_sigma=(0.156292, 0.156292, rho=0) det_map=(16.7028, -4.28553) lm_pos=(15.915, -2.52) delta=(0.787814, -1.76553) -> 0 candidate(s)
I0419 20:57:49.482503 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:49.554806 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.650327, 4.26637)
I0419 20:57:49.556489 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:49.556591 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:49.556609 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:49.559356 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.195499, -0.875672), points=10, range=0.8964, residual=0.00918242, extent=0.0259666
I0419 20:57:49.559484 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.195499, -0.875672), tracking=(-0.493999, 0.875672), map_predicted=(16.8266, -1.28635), range=0.8964, pts=10
I0419 20:57:49.559515 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0356043m maha_sq=0.0500391 (gate chi2=5.99) pose_sigma=(0.157493, 0.157493, rho=0) det_map=(16.8266, -1.28635) lm_pos=(16.815, -1.32) delta=(0.0116313, 0.0336509) -> 1 candidate(s)
I0419 20:57:49.570345 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-1.36342, -4.23808)
I0419 20:57:49.662022 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:49.663664 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.234958, -1.02438), points=9, range=1.053, residual=0.0111739, extent=0.0330165
I0419 20:57:49.663725 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.234958, -1.02438), tracking=(0.533458, -1.02438), map_predicted=(18.5931, -2.53977), range=1.053, pts=9
I0419 20:57:49.663753 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.15626m maha_sq=181.589 (gate chi2=5.99) pose_sigma=(0.158198, 0.158198, rho=0) det_map=(18.5931, -2.53977) lm_pos=(16.815, -1.32) delta=(1.77809, -1.21977) -> 0 candidate(s)
I0419 20:57:49.666007 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.215369, -1.03509)
I0419 20:57:49.666368 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599064s, prior_pose=(17.6574, -1.86586), yaw=27.8233 deg
I0419 20:57:49.666419 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1294, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:57:49.666487 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:49.666505 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:49.736213 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(0.218481, 2.58377)
I0419 20:57:49.736330 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18807, 4.12064), points=3, range=4.28833, residual=0.0121178, extent=0.0250208
I0419 20:57:49.736361 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.18807, 4.12064), tracking=(-1.48657, -4.12064), map_predicted=(18.4282, -6.17792), range=4.28833, pts=3
I0419 20:57:49.736388 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.43806m maha_sq=744.508 (gate chi2=5.99) pose_sigma=(0.159449, 0.159449, rho=0) det_map=(18.4282, -6.17792) lm_pos=(15.915, -2.52) delta=(2.51317, -3.65792) -> 0 candidate(s)
I0419 20:57:49.875324 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.32207, 4.06893)
I0419 20:57:49.876196 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:49.876570 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.83179, 1.51899), points=4, range=2.38225, residual=0.0114614, extent=0.0281521
I0419 20:57:49.876646 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.83179, 1.51899), tracking=(-2.13029, -1.51899), map_predicted=(16.7103, -4.28592), range=2.38225, pts=4
I0419 20:57:49.876680 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.93676m maha_sq=141.972 (gate chi2=5.99) pose_sigma=(0.160383, 0.160383, rho=0) det_map=(16.7103, -4.28592) lm_pos=(15.915, -2.52) delta=(0.79534, -1.76592) -> 0 candidate(s)
I0419 20:57:49.879604 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=5, centroid=(0.410871, 2.54624)
I0419 20:57:49.879698 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:49.879724 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:49.879740 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:49.952697 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.92007, 1.41645), points=3, range=2.387, residual=0.0068708, extent=0.0142102
I0419 20:57:49.952855 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.92007, 1.41645), tracking=(-2.21857, -1.41645), map_predicted=(16.7171, -4.29379), range=2.387, pts=3
I0419 20:57:49.952888 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.94671m maha_sq=142.054 (gate chi2=5.99) pose_sigma=(0.161441, 0.161441, rho=0) det_map=(16.7171, -4.29379) lm_pos=(15.915, -2.52) delta=(0.802081, -1.77379) -> 0 candidate(s)
I0419 20:57:49.952915 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:49.953384 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-1.05096, -2.5269)
I0419 20:57:49.957770 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0917704s, prior_pose=(17.6983, -1.8474), yaw=36.5933 deg
I0419 20:57:49.957886 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1208, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:57:49.957935 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:49.957957 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(-0.0110621, -1.09521)
I0419 20:57:49.957970 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:57:50.027570 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.63988, 2.47426), points=4, range=2.55175, residual=0.0131201, extent=0.0320119
I0419 20:57:50.027705 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.63988, 2.47426), tracking=(-0.93838, -2.47426), map_predicted=(18.5198, -4.35746), range=2.55175, pts=4
I0419 20:57:50.027743 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.18764m maha_sq=373.311 (gate chi2=5.99) pose_sigma=(0.162662, 0.162662, rho=0) det_map=(18.5198, -4.35746) lm_pos=(15.915, -2.52) delta=(2.60477, -1.83746) -> 0 candidate(s)
I0419 20:57:50.100524 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.0982298, -0.160296)
I0419 20:57:50.174842 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:50.177973 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.771842, 2.42338), points=4, range=2.5405, residual=0.011627, extent=0.0285603
I0419 20:57:50.178121 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.771842, 2.42338), tracking=(-1.07034, -2.42338), map_predicted=(18.52, -4.35574), range=2.5405, pts=4
I0419 20:57:50.178158 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.18682m maha_sq=369.442 (gate chi2=5.99) pose_sigma=(0.163609, 0.163609, rho=0) det_map=(18.52, -4.35574) lm_pos=(15.915, -2.52) delta=(2.60497, -1.83574) -> 0 candidate(s)
I0419 20:57:50.178522 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.250031, -0.4605)
I0419 20:57:50.180929 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:50.254868 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.7183, -1.82377), yaw=44.1836 deg backend=(17.7232, -1.83332)
I0419 20:57:50.255385 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:50.255438 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:50.255461 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:50.255482 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:50.256739 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.0338945, -1.01354)
I0419 20:57:50.259779 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0472713, -1.0156), points=8, range=1.01587, residual=0.00904858, extent=0.024996
I0419 20:57:50.259914 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0472713, -1.0156), tracking=(-0.251229, 1.0156), map_predicted=(16.824, -1.28233), range=1.01587, pts=8
I0419 20:57:50.259944 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0387275m maha_sq=0.0544152 (gate chi2=5.99) pose_sigma=(0.164408, 0.164408, rho=0) det_map=(16.824, -1.28233) lm_pos=(16.815, -1.32) delta=(0.00900791, 0.0376653) -> 1 candidate(s)
I0419 20:57:50.259966 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:50.329977 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.977886, 2.33201)
I0419 20:57:50.331744 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566748s, prior_pose=(17.7368, -1.81826), yaw=46.9271 deg
I0419 20:57:50.331835 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1188, max_intensity=248, threshold=230, above_threshold=25, candidates=25
I0419 20:57:50.331905 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 20:57:50.331928 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=6
I0419 20:57:50.334548 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05605, 2.29079), points=5, range=2.5188, residual=0.0154586, extent=0.040526
I0419 20:57:50.334632 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.05605, 2.29079), tracking=(-1.35455, -2.29079), map_predicted=(18.5228, -4.35951), range=2.5188, pts=5
I0419 20:57:50.334661 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.19128m maha_sq=360.112 (gate chi2=5.99) pose_sigma=(0.165706, 0.165706, rho=0) det_map=(18.5228, -4.35951) lm_pos=(15.915, -2.52) delta=(2.60778, -1.83951) -> 0 candidate(s)
I0419 20:57:50.404659 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(3.63666, 1.99513)
I0419 20:57:50.475696 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.447383, 1.05398)
I0419 20:57:50.476150 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.152729, -1.04286), points=8, range=1.0525, residual=0.010051, extent=0.0322615
I0419 20:57:50.476204 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.152729, -1.04286), tracking=(-0.145771, 1.04286), map_predicted=(16.8464, -1.26076), range=1.0525, pts=8
I0419 20:57:50.476230 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0670544m maha_sq=0.158386 (gate chi2=5.99) pose_sigma=(0.166837, 0.166837, rho=0) det_map=(16.8464, -1.26076) lm_pos=(16.815, -1.32) delta=(0.0314232, 0.0592358) -> 1 candidate(s)
I0419 20:57:50.546672 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:50.546794 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:50.546815 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:50.617275 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.33761, 2.10642)
I0419 20:57:50.619076 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:50.688997 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:50.689602 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.446872, -1.1108), points=8, range=1.19763, residual=0.0154369, extent=0.0511891
I0419 20:57:50.689728 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.446872, -1.1108), tracking=(-0.148372, -1.1108), map_predicted=(18.5925, -2.53653), range=1.19763, pts=8
I0419 20:57:50.689764 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=2.15397m maha_sq=160.46 (gate chi2=5.99) pose_sigma=(0.167974, 0.167974, rho=0) det_map=(18.5925, -2.53653) lm_pos=(16.815, -1.32) delta=(1.77754, -1.21653) -> 0 candidate(s)
I0419 20:57:50.754905 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-0.101143, 1.137)
I0419 20:57:50.755350 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602581s, prior_pose=(17.7543, -1.79952), yaw=57.5071 deg
I0419 20:57:50.755414 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1195, max_intensity=255, threshold=230, above_threshold=8, candidates=8
I0419 20:57:50.755461 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:57:50.755481 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:57:50.826081 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5647, 1.93224), points=4, range=2.4855, residual=0.00926624, extent=0.0225088
I0419 20:57:50.826216 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.5647, 1.93224), tracking=(-1.8632, -1.93224), map_predicted=(18.4845, -4.37468), range=2.4855, pts=4
I0419 20:57:50.826246 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.16894m maha_sq=344.467 (gate chi2=5.99) pose_sigma=(0.168783, 0.168783, rho=0) det_map=(18.4845, -4.37468) lm_pos=(15.915, -2.52) delta=(2.5695, -1.85468) -> 0 candidate(s)
I0419 20:57:50.885422 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(4.00665, 1.07357)
I0419 20:57:50.942444 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.40536, 0.164691)
I0419 20:57:51.013458 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:51.015509 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.378704, -1.05003), points=5, range=1.1184, residual=0.00896068, extent=0.0221382
I0419 20:57:51.015645 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.378704, -1.05003), tracking=(0.0802045, 1.05003), map_predicted=(16.8483, -1.26006), range=1.1184, pts=5
I0419 20:57:51.015678 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0685531m maha_sq=0.159868 (gate chi2=5.99) pose_sigma=(0.169881, 0.169881, rho=0) det_map=(16.8483, -1.26006) lm_pos=(16.815, -1.32) delta=(0.0332716, 0.0599377) -> 1 candidate(s)
I0419 20:57:51.085361 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.42573, 0.00351513)
I0419 20:57:51.085492 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:51.158167 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:51.158295 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:51.158324 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:51.159857 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0870792s, prior_pose=(17.768, -1.77369), yaw=68.0473 deg
I0419 20:57:51.159989 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1148, max_intensity=218, threshold=230, above_threshold=0, candidates=0
I0419 20:57:51.231943 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(2.42453, -0.158911)
I0419 20:57:51.304875 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.466425, -1.04765), points=6, range=1.1455, residual=0.00796421, extent=0.021767
I0419 20:57:51.304972 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.466425, -1.04765), tracking=(0.167925, 1.04765), map_predicted=(16.8276, -1.27539), range=1.1455, pts=6
I0419 20:57:51.305006 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0463681m maha_sq=0.0720524 (gate chi2=5.99) pose_sigma=(0.171226, 0.171226, rho=0) det_map=(16.8276, -1.27539) lm_pos=(16.815, -1.32) delta=(0.0126433, 0.0446111) -> 1 candidate(s)
I0419 20:57:51.305514 1218530 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:57:51.366362 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:51.366500 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.505164, -1.04088)
I0419 20:57:51.366525 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=4
I0419 20:57:51.424712 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:51.482335 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.7716, -1.75512), yaw=77.1258 deg backend=(17.7766, -1.76473)
I0419 20:57:51.543794 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.583808, -1.03426)
I0419 20:57:51.543928 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:51.545938 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.39155, -0.588901), points=4, range=2.46025, residual=0.0105105, extent=0.0236585
I0419 20:57:51.546008 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.39155, -0.588901), tracking=(-2.69005, 0.588901), map_predicted=(16.6521, -4.26945), range=2.46025, pts=4
I0419 20:57:51.546036 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.89838m maha_sq=118.582 (gate chi2=5.99) pose_sigma=(0.17235, 0.17235, rho=0) det_map=(16.6521, -4.26945) lm_pos=(15.915, -2.52) delta=(0.737073, -1.74945) -> 0 candidate(s)
I0419 20:57:51.606869 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597038s, prior_pose=(17.7762, -1.74894), yaw=80.543 deg
I0419 20:57:51.606971 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1199, max_intensity=251, threshold=230, above_threshold=12, candidates=12
I0419 20:57:51.607040 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:51.723606 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.36002, -0.755467)
I0419 20:57:51.916054 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.387171, -1.90301)
I0419 20:57:51.916262 1218530 collated_trajectory_builder.cc:82] imu rate: 199.46 Hz 5.01e-03 s +/- 4.36e-03 s (pulsed at 96.68% real time)
I0419 20:57:51.916391 1218530 collated_trajectory_builder.cc:82] odom rate: 248.48 Hz 4.02e-03 s +/- 8.24e-04 s (pulsed at 95.95% real time)
I0419 20:57:51.916498 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.36e-03 s (pulsed at 96.70% real time)
I0419 20:57:51.916530 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 33.96 Hz 2.94e-02 s +/- 2.79e-03 s (pulsed at 96.54% real time)
I0419 20:57:51.918008 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.0163, -1.31145), points=3, range=4.22333, residual=0.0121096, extent=0.0250692
I0419 20:57:51.918141 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(4.0163, -1.31145), tracking=(-4.3148, 1.31145), map_predicted=(16.4525, -6.04117), range=4.22333, pts=3
I0419 20:57:51.918195 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.56196m maha_sq=401.376 (gate chi2=5.99) pose_sigma=(0.174907, 0.174907, rho=0) det_map=(16.4525, -6.04117) lm_pos=(15.915, -2.52) delta=(0.537472, -3.52117) -> 0 candidate(s)
I0419 20:57:51.918617 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:57:51.918677 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:51.918709 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:51.918741 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:52.044580 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0884647s, prior_pose=(17.7693, -1.71839), yaw=94.5098 deg
I0419 20:57:52.044741 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1133, max_intensity=242, threshold=230, above_threshold=2, candidates=2
I0419 20:57:52.046236 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:57:52.046367 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.79078, 1.97381)
I0419 20:57:52.046420 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:57:52.122386 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:52.202582 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.602913, 2.02463), points=3, range=2.105, residual=0.0147164, extent=0.029644
I0419 20:57:52.202692 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.602913, 2.02463), tracking=(-0.304413, 2.02463), map_predicted=(15.8234, -2.32781), range=2.105, pts=3
I0419 20:57:52.202725 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.212886m maha_sq=1.41868 (gate chi2=5.99) pose_sigma=(0.176616, 0.176616, rho=0) det_map=(15.8234, -2.32781) lm_pos=(15.915, -2.52) delta=(-0.0915587, 0.192191) -> 1 candidate(s)
I0419 20:57:52.360029 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.414315, 2.03661)
I0419 20:57:52.435592 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:52.435704 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:52.510097 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:52.510202 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:52.510699 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:52.518054 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.140812s, prior_pose=(17.7708, -1.67861), yaw=111.928 deg
I0419 20:57:52.518442 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1049, max_intensity=255, threshold=230, above_threshold=11, candidates=11
I0419 20:57:52.591604 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:57:52.591740 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:57:52.592124 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.442791, -2.02516)
I0419 20:57:52.669950 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.43844, -2.22918), points=4, range=2.65275, residual=0.00948997, extent=0.0231689
I0419 20:57:52.670076 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.43844, -2.22918), tracking=(-1.73694, 2.22918), map_predicted=(16.5903, -4.23608), range=2.65275, pts=4
I0419 20:57:52.670141 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.84417m maha_sq=103.255 (gate chi2=5.99) pose_sigma=(0.179574, 0.179574, rho=0) det_map=(16.5903, -4.23608) lm_pos=(15.915, -2.52) delta=(0.675314, -1.71608) -> 0 candidate(s)
I0419 20:57:52.743253 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:52.816918 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(3.7587, -2.09063)
I0419 20:57:52.891130 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.7607, -1.6435), yaw=127.804 deg backend=(17.7657, -1.65317)
I0419 20:57:52.893748 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:52.894155 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.36327, -3.72153), points=3, range=4.40633, residual=0.0128375, extent=0.0265688
I0419 20:57:52.894219 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.36327, -3.72153), tracking=(-2.66177, 3.72153), map_predicted=(16.4519, -6.02776), range=4.40633, pts=3
I0419 20:57:52.894245 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.5486m maha_sq=369.086 (gate chi2=5.99) pose_sigma=(0.181777, 0.181777, rho=0) det_map=(16.4519, -6.02776) lm_pos=(15.915, -2.52) delta=(0.536851, -3.50776) -> 0 candidate(s)
I0419 20:57:52.975096 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.891864, -0.0155695)
I0419 20:57:52.975216 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:52.975247 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:52.975507 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:52.975751 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:53.050120 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.156311s, prior_pose=(17.7566, -1.6424), yaw=132.364 deg
I0419 20:57:53.050273 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:57:53.050657 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:53.050741 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:53.126365 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(3.24074, -2.9351)
I0419 20:57:53.126472 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.96083, -0.135011), points=9, range=0.969889, residual=0.00949625, extent=0.0294769
I0419 20:57:53.126500 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.96083, -0.135011), tracking=(-1.25933, 0.135011), map_predicted=(18.5787, -2.59257), range=0.969889, pts=9
I0419 20:57:53.126526 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1749m maha_sq=139.331 (gate chi2=5.99) pose_sigma=(0.182785, 0.182785, rho=0) det_map=(18.5787, -2.59257) lm_pos=(16.815, -1.32) delta=(1.76374, -1.27257) -> 0 candidate(s)
I0419 20:57:53.270149 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.0591, 2.74715)
I0419 20:57:53.271373 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.947494, -0.261256), points=10, range=0.9854, residual=0.011108, extent=0.031511
I0419 20:57:53.271428 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.947494, -0.261256), tracking=(-1.24599, 0.261256), map_predicted=(18.5729, -2.58521), range=0.9854, pts=10
I0419 20:57:53.271492 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.16589m maha_sq=136.386 (gate chi2=5.99) pose_sigma=(0.18391, 0.18391, rho=0) det_map=(18.5729, -2.58521) lm_pos=(16.815, -1.32) delta=(1.75794, -1.26521) -> 0 candidate(s)
I0419 20:57:53.343034 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20381, -4.34082)
I0419 20:57:53.413693 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:53.415580 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.76193, 2.81089), points=4, range=2.913, residual=0.0106829, extent=0.0261106
I0419 20:57:53.415707 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.76193, 2.81089), tracking=(-0.46343, 2.81089), map_predicted=(16.6397, -4.25194), range=2.913, pts=4
I0419 20:57:53.415735 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.87746m maha_sq=101.252 (gate chi2=5.99) pose_sigma=(0.184558, 0.184558, rho=0) det_map=(16.6397, -4.25194) lm_pos=(15.915, -2.52) delta=(0.724731, -1.73194) -> 0 candidate(s)
I0419 20:57:53.484738 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:53.484884 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:53.485387 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.51144, -3.65416)
I0419 20:57:53.485472 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:53.556720 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601275s, prior_pose=(17.7204, -1.61654), yaw=153.506 deg
I0419 20:57:53.556865 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1172, max_intensity=250, threshold=230, above_threshold=26, candidates=26
I0419 20:57:53.556969 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.906438, -0.461821), points=10, range=1.0188, residual=0.01073, extent=0.0317315
I0419 20:57:53.557006 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.906438, -0.461821), tracking=(-1.20494, 0.461821), map_predicted=(18.5928, -2.56739), range=1.0188, pts=10
I0419 20:57:53.557031 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17176m maha_sq=134.938 (gate chi2=5.99) pose_sigma=(0.185438, 0.185438, rho=0) det_map=(18.5928, -2.56739) lm_pos=(16.815, -1.32) delta=(1.7778, -1.24739) -> 0 candidate(s)
I0419 20:57:53.558872 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:53.558979 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:53.559469 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.518798, 2.84547)
I0419 20:57:53.633427 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:53.705726 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.05127, -3.98279), points=3, range=4.47867, residual=0.0127094, extent=0.0262212
I0419 20:57:53.705834 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(2.05127, -3.98279), tracking=(-2.34977, 3.98279), map_predicted=(18.3145, -6.19142), range=4.47867, pts=3
I0419 20:57:53.705864 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.386m maha_sq=538.046 (gate chi2=5.99) pose_sigma=(0.186187, 0.186187, rho=0) det_map=(18.3145, -6.19142) lm_pos=(15.915, -2.52) delta=(2.39952, -3.67142) -> 0 candidate(s)
I0419 20:57:53.706885 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-0.819996, 4.57271)
I0419 20:57:53.779729 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:53.780614 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:53.854332 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.635268, -0.0855079)
I0419 20:57:53.854430 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0413737, 2.84536), points=4, range=2.84725, residual=0.010683, extent=0.0261092
I0419 20:57:53.854452 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:53.854468 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0413737, 2.84536), tracking=(0.257126, 2.84536), map_predicted=(16.659, -4.26078), range=2.84725, pts=4
I0419 20:57:53.854490 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.89312m maha_sq=100.2 (gate chi2=5.99) pose_sigma=(0.187151, 0.187151, rho=0) det_map=(16.659, -4.26078) lm_pos=(15.915, -2.52) delta=(0.744028, -1.74078) -> 0 candidate(s)
I0419 20:57:53.930891 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-0.27442, 4.59704)
I0419 20:57:53.932426 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:53.932514 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:53.932915 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777913, -0.738184), points=9, range=1.07611, residual=0.0123158, extent=0.0340755
I0419 20:57:53.932974 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:53.932992 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.777913, -0.738184), tracking=(-1.07641, 0.738184), map_predicted=(18.5556, -2.58249), range=1.07611, pts=9
I0419 20:57:53.933017 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.15025m maha_sq=128.671 (gate chi2=5.99) pose_sigma=(0.187956, 0.187956, rho=0) det_map=(18.5556, -2.58249) lm_pos=(16.815, -1.32) delta=(1.7406, -1.26249) -> 0 candidate(s)
I0419 20:57:53.957818 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:57:54.006481 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.188403, 2.81187)
I0419 20:57:54.079632 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.116663s, prior_pose=(17.693, -1.60192), yaw=169.748 deg
I0419 20:57:54.079736 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1218, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:57:54.079885 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290735064481.
I0419 20:57:54.080263 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:54.080299 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:54.081728 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.321631, 2.78674), points=5, range=2.8068, residual=0.0128606, extent=0.0344688
I0419 20:57:54.081786 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.321631, 2.78674), tracking=(0.620131, 2.78674), map_predicted=(16.5868, -4.23378), range=2.8068, pts=5
I0419 20:57:54.081813 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.84074m maha_sq=145.501 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.5868, -4.23378) lm_pos=(15.915, -2.52) delta=(0.671774, -1.71378) -> 0 candidate(s)
I0419 20:57:54.081884 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290735381767.
I0419 20:57:54.156260 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.40392, 1.01998)
I0419 20:57:54.156441 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290735941145.
I0419 20:57:54.158627 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.397598, 4.54429)
I0419 20:57:54.158720 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.34023, 2.7078), points=4, range=3.02375, residual=0.011943, extent=0.0289974
I0419 20:57:54.158751 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.34023, 2.7078), tracking=(-1.04173, 2.7078), map_predicted=(18.42, -4.40363), range=3.02375, pts=4
I0419 20:57:54.158775 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.13418m maha_sq=421.66 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.42, -4.40363) lm_pos=(15.915, -2.52) delta=(2.505, -1.88363) -> 0 candidate(s)
I0419 20:57:54.158859 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290736257619.
I0419 20:57:54.228845 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:54.228983 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290736547436.
I0419 20:57:54.231628 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.44409, 0.940778)
I0419 20:57:54.232312 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.663487, -0.907613), points=8, range=1.12625, residual=0.0103676, extent=0.0292286
I0419 20:57:54.232378 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.663487, -0.907613), tracking=(-0.961987, 0.907613), map_predicted=(18.5963, -2.5551), range=1.12625, pts=8
I0419 20:57:54.232410 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1676m maha_sq=202.337 (gate chi2=5.99) pose_sigma=(0.150522, 0.150522, rho=0) det_map=(18.5963, -2.5551) lm_pos=(16.815, -1.32) delta=(1.7813, -1.2351) -> 0 candidate(s)
I0419 20:57:54.233716 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290737140294.
I0419 20:57:54.302501 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.6696, -1.61305), yaw=179.204 deg backend=(17.6773, -1.60865)
I0419 20:57:54.303393 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.12319, 4.5614)
I0419 20:57:54.303556 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290737421739.
I0419 20:57:54.305665 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.48518, 0.854583), points=3, range=1.709, residual=0.00935651, extent=0.0188344
I0419 20:57:54.305728 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.48518, 0.854583), tracking=(1.78368, 0.854583), map_predicted=(15.8742, -2.44275), range=1.709, pts=3
I0419 20:57:54.305754 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0873687m maha_sq=0.330652 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.8742, -2.44275) lm_pos=(15.915, -2.52) delta=(-0.0408203, 0.0772464) -> 1 candidate(s)
I0419 20:57:54.305830 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290737735967.
I0419 20:57:54.377447 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.427235, -4.57642)
I0419 20:57:54.377538 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:54.377561 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:54.378094 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:54.378173 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0538043 range=0.634636 variance=0.00064183 t_weight=4674.13 r_weight=0 yaml=(16.815, -1.32) prior=(17.6645, -1.61113, -178.933deg) obs_actual=(0.838717, -0.341892) obs_expected=(0.84391, -0.306895) delta=(-0.00519348, -0.0349963) |delta|=0.0353796m
I0419 20:57:54.378227 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290738012966.
I0419 20:57:54.380612 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:54.380731 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290738300706.
I0419 20:57:54.381141 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.597503, -0.9814), points=9, range=1.15356, residual=0.0142034, extent=0.0370101
I0419 20:57:54.381196 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.597503, -0.9814), tracking=(-0.896003, 0.9814), map_predicted=(18.5949, -2.5635), range=1.15356, pts=9
I0419 20:57:54.381223 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.17124m maha_sq=203.552 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5949, -2.5635) lm_pos=(16.815, -1.32) delta=(1.77988, -1.2435) -> 0 candidate(s)
I0419 20:57:54.382458 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839865s, prior_pose=(17.6642, -1.61494), yaw=-177.94 deg
I0419 20:57:54.382521 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1198, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:57:54.382586 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.125644, -0.202601)
I0419 20:57:54.383018 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:54.383060 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=6
I0419 20:57:54.383117 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:54.383164 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:54.383185 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290738621239.
I0419 20:57:54.452668 1218530 reflector_detector.cc:209] [Detect]   cluster[7]: points=8, centroid=(0.576443, -1.00848)
I0419 20:57:54.453478 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290738892298.
I0419 20:57:54.455472 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.502694, -0.389177), points=10, range=0.6386, residual=0.0101637, extent=0.030057
I0419 20:57:54.455530 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.502694, -0.389177), tracking=(0.801194, -0.389177), map_predicted=(16.8234, -1.3002), range=0.6386, pts=10
I0419 20:57:54.455562 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0215146m maha_sq=0.0200447 (gate chi2=5.99) pose_sigma=(0.150179, 0.150179, rho=0) det_map=(16.8234, -1.3002) lm_pos=(16.815, -1.32) delta=(0.00842507, 0.0197964) -> 1 candidate(s)
I0419 20:57:54.455629 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290739180906.
I0419 20:57:54.455967 1218530 reflector_detector.cc:209] [Detect]   cluster[7]: points=3, centroid=(0.161173, -4.61517)
I0419 20:57:54.457697 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:57:54.457778 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290739501388.
I0419 20:57:54.532557 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.293528, -2.83232), points=5, range=2.849, residual=0.0130868, extent=0.0343662
I0419 20:57:54.532671 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.293528, -2.83232), tracking=(-0.592028, 2.83232), map_predicted=(18.5454, -4.37191), range=2.849, pts=5
I0419 20:57:54.532709 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.21692m maha_sq=441.532 (gate chi2=5.99) pose_sigma=(0.150462, 0.150462, rho=0) det_map=(18.5454, -4.37191) lm_pos=(15.915, -2.52) delta=(2.6304, -1.85191) -> 0 candidate(s)
I0419 20:57:54.532733 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:54.533437 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.490459, -0.40905)
I0419 20:57:54.533561 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290739773842.
I0419 20:57:54.537278 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.21611, 4.33601)
I0419 20:57:54.537366 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.84959, 2.85292), points=5, range=2.9756, residual=0.013747, extent=0.0366584
I0419 20:57:54.537397 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.84959, 2.85292), tracking=(-0.55109, 2.85292), map_predicted=(18.5431, -4.38797), range=2.9756, pts=5
I0419 20:57:54.537420 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.2243m maha_sq=444.263 (gate chi2=5.99) pose_sigma=(0.150218, 0.150218, rho=0) det_map=(18.5431, -4.38797) lm_pos=(15.915, -2.52) delta=(2.62808, -1.86797) -> 0 candidate(s)
I0419 20:57:54.607136 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:54.607800 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290740657728.
I0419 20:57:54.610422 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.25407, 4.32588)
I0419 20:57:54.610504 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:54.610538 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:54.610591 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-171.555 deg, rms_residual=0.00469827m, sigma_yaw=0.00622537 rad, N=2
I0419 20:57:54.610625 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.6452, -1.62641, -171.555deg) inliers=2 rms=0.00469827m
I0419 20:57:54.610653 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290740944623.
I0419 20:57:54.611202 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:54.612401 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.461628, -0.429127), points=12, range=0.632583, residual=0.0116887, extent=0.0329158
I0419 20:57:54.612460 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.461628, -0.429127), tracking=(0.760128, -0.429127), map_predicted=(16.8287, -1.31698), range=0.632583, pts=12
I0419 20:57:54.612488 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0139996m maha_sq=0.00849476 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8287, -1.31698) lm_pos=(16.815, -1.32) delta=(0.0136706, 0.00301714) -> 1 candidate(s)
I0419 20:57:54.612583 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290741297268.
I0419 20:57:54.614976 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0588457s, prior_pose=(17.6385, -1.62763), yaw=-171.04 deg
I0419 20:57:54.615069 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1198, max_intensity=249, threshold=230, above_threshold=25, candidates=25
I0419 20:57:54.615139 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.26627, 4.32093)
I0419 20:57:54.615685 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:54.615723 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:54.684824 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.000829375 range=0.633833 variance=0.000597787 t_weight=5018.51 r_weight=0 yaml=(16.815, -1.32) prior=(17.6385, -1.62373, -170.838deg) obs_actual=(0.765366, -0.435295) obs_expected=(0.764587, -0.430968) delta=(0.000779628, -0.00432731) |delta|=0.00439698m
I0419 20:57:54.684998 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290741819559.
I0419 20:57:54.685633 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:54.685686 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0877271, -4.63917), points=3, range=4.64067, residual=0.0130774, extent=0.0272891
I0419 20:57:54.685726 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0877271, -4.63917), tracking=(-0.210773, 4.63917), map_predicted=(18.5852, -6.17016), range=4.64067, pts=3
I0419 20:57:54.685748 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.52256m maha_sq=865.414 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5852, -6.17016) lm_pos=(15.915, -2.52) delta=(2.67019, -3.65016) -> 0 candidate(s)
I0419 20:57:54.687189 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.27218, 4.31771)
I0419 20:57:54.687333 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290742140323.
I0419 20:57:54.689913 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:54.690021 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290742421093.
I0419 20:57:54.690554 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.522752, -1.07171), points=8, range=1.19525, residual=0.0132019, extent=0.0394643
I0419 20:57:54.690611 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.522752, -1.07171), tracking=(-0.821252, 1.07171), map_predicted=(18.6196, -2.54989), range=1.19525, pts=8
I0419 20:57:54.690640 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18387m maha_sq=206.151 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6196, -2.54989) lm_pos=(16.815, -1.32) delta=(1.80462, -1.22989) -> 0 candidate(s)
I0419 20:57:54.692998 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.450708, -0.436434)
I0419 20:57:54.693120 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290742734172.
I0419 20:57:54.767835 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.444033, -0.438804)
I0419 20:57:54.767982 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.981213, 2.53404), points=6, range=2.71667, residual=0.0143239, extent=0.0401248
I0419 20:57:54.768060 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.981213, 2.53404), tracking=(1.27971, 2.53404), map_predicted=(16.7891, -4.34174), range=2.71667, pts=6
I0419 20:57:54.768092 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.02058m maha_sq=174.194 (gate chi2=5.99) pose_sigma=(0.15041, 0.15041, rho=0) det_map=(16.7891, -4.34174) lm_pos=(15.915, -2.52) delta=(0.874072, -1.82174) -> 0 candidate(s)
I0419 20:57:54.768174 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290743336422.
I0419 20:57:54.772493 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290743577120.
I0419 20:57:54.774329 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-0.797259, 2.85864)
I0419 20:57:54.774435 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 20:57:54.774468 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:54.774557 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290743898050.
I0419 20:57:54.776075 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:54.777403 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.436244, -0.441315), points=11, range=0.618545, residual=0.00847363, extent=0.0268898
I0419 20:57:54.777503 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.436244, -0.441315), tracking=(0.734744, -0.441315), map_predicted=(16.8204, -1.32478), range=0.618545, pts=11
I0419 20:57:54.777539 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00718992m maha_sq=0.00223678 (gate chi2=5.99) pose_sigma=(0.150349, 0.150349, rho=0) det_map=(16.8204, -1.32478) lm_pos=(16.815, -1.32) delta=(0.00536861, -0.00478257) -> 1 candidate(s)
I0419 20:57:54.777632 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290744175441.
I0419 20:57:54.847972 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557071s, prior_pose=(17.6209, -1.633), yaw=-170.019 deg
I0419 20:57:54.848102 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1182, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 20:57:54.848572 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:54.848619 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.52496, 0.600669)
I0419 20:57:54.848639 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=6
I0419 20:57:54.848744 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290744499487.
I0419 20:57:54.851792 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.53269, 0.596026), points=3, range=1.64167, residual=0.00671745, extent=0.0124512
I0419 20:57:54.851915 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.53269, 0.596026), tracking=(1.83119, 0.596026), map_predicted=(15.9158, -2.54212), range=1.64167, pts=3
I0419 20:57:54.851946 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0221288m maha_sq=0.0211177 (gate chi2=5.99) pose_sigma=(0.150502, 0.150502, rho=0) det_map=(15.9158, -2.54212) lm_pos=(15.915, -2.52) delta=(0.000772282, -0.0221153) -> 1 candidate(s)
I0419 20:57:54.852047 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290744779279.
I0419 20:57:54.853413 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00469375 range=0.612583 variance=0.000509484 t_weight=5888.31 r_weight=0 yaml=(16.815, -1.32) prior=(17.6145, -1.635, -169.927deg) obs_actual=(0.724727, -0.442622) obs_expected=(0.73207, -0.449976) delta=(-0.0073431, 0.00735388) |delta|=0.0103923m
I0419 20:57:54.853521 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290745057431.
I0419 20:57:54.853901 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-1.89741, -4.29523)
I0419 20:57:54.856628 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 20:57:54.857847 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.128155, -4.63622), points=3, range=4.63633, residual=0.0132295, extent=0.0274278
I0419 20:57:54.857919 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.128155, -4.63622), tracking=(-0.170345, 4.63622), map_predicted=(18.5933, -6.16658), range=4.63633, pts=3
I0419 20:57:54.857945 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.52448m maha_sq=862.07 (gate chi2=5.99) pose_sigma=(0.150362, 0.150362, rho=0) det_map=(18.5933, -6.16658) lm_pos=(15.915, -2.52) delta=(2.67832, -3.64658) -> 0 candidate(s)
I0419 20:57:54.857969 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:54.928551 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.968455, 2.52288)
I0419 20:57:54.928676 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:54.928771 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290745654025.
I0419 20:57:54.930011 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:54.930132 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:54.930166 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290745941005.
I0419 20:57:54.932207 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5957, -1.62863), yaw=-169.702 deg backend=(17.5965, -1.61718)
I0419 20:57:54.933620 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.29929, 4.2944)
I0419 20:57:54.933715 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.49758, 0.592414), points=3, range=1.61467, residual=0.0118003, extent=0.0244566
I0419 20:57:54.933750 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.49758, 0.592414), tracking=(1.79608, 0.592414), map_predicted=(15.9344, -2.53259), range=1.61467, pts=3
I0419 20:57:54.933780 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0231557m maha_sq=0.0230123 (gate chi2=5.99) pose_sigma=(0.150568, 0.150568, rho=0) det_map=(15.9344, -2.53259) lm_pos=(15.915, -2.52) delta=(0.0194339, -0.0125902) -> 1 candidate(s)
I0419 20:57:54.933880 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290746255987.
I0419 20:57:54.936672 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290746534124.
I0419 20:57:54.937927 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:54.937984 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:54.938580 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.487503, 4.63845)
I0419 20:57:54.938633 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:54.938699 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290746824194.
I0419 20:57:55.011312 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.229584, -2.8638), points=5, range=2.8716, residual=0.0131903, extent=0.0355063
I0419 20:57:55.011412 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.229584, -2.8638), tracking=(-0.528084, 2.8638), map_predicted=(18.6143, -4.34724), range=2.8716, pts=5
I0419 20:57:55.011446 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25962m maha_sq=452.386 (gate chi2=5.99) pose_sigma=(0.150605, 0.150605, rho=0) det_map=(18.6143, -4.34724) lm_pos=(15.915, -2.52) delta=(2.69932, -1.82724) -> 0 candidate(s)
I0419 20:57:55.012185 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290747136079.
I0419 20:57:55.013370 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0851629s, prior_pose=(17.5835, -1.62372), yaw=-169.716 deg
I0419 20:57:55.013444 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1207, max_intensity=251, threshold=230, above_threshold=26, candidates=26
I0419 20:57:55.013864 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:55.013912 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:55.016251 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.37201, -0.440568)
I0419 20:57:55.016398 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290747699156.
I0419 20:57:55.016918 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0945014, -4.64102), points=3, range=4.642, residual=0.0130464, extent=0.0319088
I0419 20:57:55.016971 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0945014, -4.64102), tracking=(-0.203999, 4.64102), map_predicted=(18.5965, -6.1533), range=4.642, pts=3
I0419 20:57:55.016999 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.51569m maha_sq=862.805 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5965, -6.1533) lm_pos=(15.915, -2.52) delta=(2.68152, -3.6333) -> 0 candidate(s)
I0419 20:57:55.019157 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-169.348 deg, rms_residual=0.0106369m, sigma_yaw=0.0139843 rad, N=2
I0419 20:57:55.019241 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5457, -1.615, -169.348deg) inliers=2 rms=0.0106369m
I0419 20:57:55.019279 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290747976527.
I0419 20:57:55.020990 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.36581, -0.443572)
I0419 20:57:55.021059 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:55.021140 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290748292502.
I0419 20:57:55.089525 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.250253, -2.8604), points=4, range=2.87275, residual=0.0106759, extent=0.0260347
I0419 20:57:55.089629 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.250253, -2.8604), tracking=(-0.548753, 2.8604), map_predicted=(18.5893, -4.34663), range=2.87275, pts=4
I0419 20:57:55.089702 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.23858m maha_sq=442.286 (gate chi2=5.99) pose_sigma=(0.151555, 0.151555, rho=0) det_map=(18.5893, -4.34663) lm_pos=(15.915, -2.52) delta=(2.6743, -1.82663) -> 0 candidate(s)
I0419 20:57:55.091063 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00639579 range=0.568187 variance=0.000579499 t_weight=5176.89 r_weight=0 yaml=(16.815, -1.32) prior=(17.5426, -1.62865, -169.798deg) obs_actual=(0.652902, -0.441488) obs_expected=(0.661408, -0.432642) delta=(-0.00850608, -0.00884628) |delta|=0.0122723m
I0419 20:57:55.091156 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290748583410.
I0419 20:57:55.093842 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-1.8346, -4.28728)
I0419 20:57:55.095754 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21835, 4.2959), points=4, range=4.47125, residual=0.0206423, extent=0.0504742
I0419 20:57:55.095839 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.21835, 4.2959), tracking=(1.51685, 4.2959), map_predicted=(16.8043, -6.12736), range=4.47125, pts=4
I0419 20:57:55.095867 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.71536m maha_sq=575.69 (gate chi2=5.99) pose_sigma=(0.150423, 0.150423, rho=0) det_map=(16.8043, -6.12736) lm_pos=(15.915, -2.52) delta=(0.889328, -3.60736) -> 0 candidate(s)
I0419 20:57:55.098584 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.334888, -0.441547)
I0419 20:57:55.098732 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290749455343.
I0419 20:57:55.168226 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:55.168344 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:55.168901 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-0.562669, 4.63849)
I0419 20:57:55.168962 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22669, 4.3015), points=3, range=4.465, residual=0.0192496, extent=0.0396796
I0419 20:57:55.168982 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:55.168999 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:55.169009 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.22669, 4.3015), tracking=(1.52519, 4.3015), map_predicted=(16.7888, -6.13679), range=4.465, pts=3
I0419 20:57:55.169028 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.72084m maha_sq=581.384 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(16.7888, -6.13679) lm_pos=(15.915, -2.52) delta=(0.873757, -3.61679) -> 0 candidate(s)
I0419 20:57:55.169135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290749781296.
I0419 20:57:55.172942 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595792s, prior_pose=(17.516, -1.63184), yaw=-169.839 deg
I0419 20:57:55.173046 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1202, max_intensity=253, threshold=230, above_threshold=34, candidates=34
I0419 20:57:55.173156 1218530 reflector_detector.cc:209] [Detect]   cluster[6]: points=4, centroid=(-0.899234, 2.8665)
I0419 20:57:55.173267 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290750331976.
I0419 20:57:55.173830 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:55.173928 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=4
I0419 20:57:55.176493 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42382, 0.594608), points=4, range=1.53725, residual=0.0136625, extent=0.0310352
I0419 20:57:55.176570 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.42382, 0.594608), tracking=(1.72232, 0.594608), map_predicted=(15.9149, -2.52), range=1.53725, pts=4
I0419 20:57:55.176595 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.000145077m maha_sq=8.99056e-07 (gate chi2=5.99) pose_sigma=(0.150797, 0.150797, rho=0) det_map=(15.9149, -2.52) lm_pos=(15.915, -2.52) delta=(-0.000145074, 9.18333e-07) -> 1 candidate(s)
I0419 20:57:55.176673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290750659753.
I0419 20:57:55.177968 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.861155, 2.52475)
I0419 20:57:55.178082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290750938527.
I0419 20:57:55.259029 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:55.259167 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290751219896.
I0419 20:57:55.259723 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.305264, -2.86426)
I0419 20:57:55.262168 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.659188, -1.09702), points=8, range=1.28175, residual=0.0114061, extent=0.0335413
I0419 20:57:55.262267 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.659188, -1.09702), tracking=(-0.957688, 1.09702), map_predicted=(18.6201, -2.54438), range=1.28175, pts=8
I0419 20:57:55.262298 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.18121m maha_sq=204.967 (gate chi2=5.99) pose_sigma=(0.150385, 0.150385, rho=0) det_map=(18.6201, -2.54438) lm_pos=(16.815, -1.32) delta=(1.80515, -1.22438) -> 0 candidate(s)
I0419 20:57:55.262321 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:55.262858 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290751536191.
I0419 20:57:55.264510 1218530 reflector_detector.cc:209] [Detect]   cluster[7]: points=3, centroid=(-0.930749, 2.86458)
I0419 20:57:55.264631 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290751825740.
I0419 20:57:55.267454 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:55.267551 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290752100565.
I0419 20:57:55.268083 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.674322, -1.09677), points=7, range=1.28957, residual=0.0104137, extent=0.0294931
I0419 20:57:55.268132 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.674322, -1.09677), tracking=(-0.972822, 1.09677), map_predicted=(18.6215, -2.54314), range=1.28957, pts=7
I0419 20:57:55.268159 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18163m maha_sq=206.263 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6215, -2.54314) lm_pos=(16.815, -1.32) delta=(1.8065, -1.22314) -> 0 candidate(s)
I0419 20:57:55.330327 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:57:55.348254 1218530 pose_graph_2d.cc:160] Inserted submap (1, 21).
I0419 20:57:55.349437 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.270128, -0.443515)
I0419 20:57:55.349581 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0153535 range=0.519368 variance=0.000549277 t_weight=5461.73 r_weight=0 yaml=(16.815, -1.32) prior=(17.4692, -1.64593, -169.729deg) obs_actual=(0.567772, -0.443627) obs_expected=(0.585577, -0.43735) delta=(-0.0178049, -0.00627672) |delta|=0.0188789m
I0419 20:57:55.349642 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290752414814.
I0419 20:57:55.351573 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=7, merge_r=0.1 -> after=7
I0419 20:57:55.351665 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:55.351747 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290752696102.
I0419 20:57:55.353279 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.0135014, -4.64197)
I0419 20:57:55.353351 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:55.354574 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.828313, 2.52423), points=4, range=2.655, residual=0.0102583, extent=0.025235
I0419 20:57:55.354647 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.828313, 2.52423), tracking=(1.12681, 2.52423), map_predicted=(16.7959, -4.33154), range=2.655, pts=4
I0419 20:57:55.354677 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01435m maha_sq=172.604 (gate chi2=5.99) pose_sigma=(0.151002, 0.151002, rho=0) det_map=(16.7959, -4.33154) lm_pos=(15.915, -2.52) delta=(0.880865, -1.81154) -> 0 candidate(s)
I0419 20:57:55.354724 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:55.354758 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:55.354777 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290752982248.
I0419 20:57:55.357367 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602891s, prior_pose=(17.4487, -1.64807), yaw=-169.727 deg
I0419 20:57:55.357450 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1204, max_intensity=255, threshold=230, above_threshold=39, candidates=39
I0419 20:57:55.357571 1218530 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-0.61673, 4.63262)
I0419 20:57:55.357673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290753299191.
I0419 20:57:55.358242 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:55.358294 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:55.362368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290753618481.
I0419 20:57:55.431998 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.703438, -1.10415), points=6, range=1.3085, residual=0.00783114, extent=0.0220065
I0419 20:57:55.432152 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.703438, -1.10415), tracking=(-1.00194, 1.10415), map_predicted=(18.6261, -2.5539), range=1.3085, pts=6
I0419 20:57:55.432186 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.19146m maha_sq=206.616 (gate chi2=5.99) pose_sigma=(0.150713, 0.150713, rho=0) det_map=(18.6261, -2.5539) lm_pos=(16.815, -1.32) delta=(1.81108, -1.2339) -> 0 candidate(s)
I0419 20:57:55.433507 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.35392, 0.579345)
I0419 20:57:55.433719 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290753859356.
I0419 20:57:55.436983 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.789966, 2.84849)
I0419 20:57:55.437108 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:55.446691 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290754460602.
I0419 20:57:55.447183 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.344532, -2.87509), points=4, range=2.8935, residual=0.0113207, extent=0.0275343
I0419 20:57:55.447248 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.344532, -2.87509), tracking=(-0.643032, 2.87509), map_predicted=(18.5936, -4.35795), range=2.8935, pts=4
I0419 20:57:55.447279 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.24851m maha_sq=453.641 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5936, -4.35795) lm_pos=(15.915, -2.52) delta=(2.67857, -1.83795) -> 0 candidate(s)
I0419 20:57:55.474664 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.802569, 2.86158)
I0419 20:57:55.562461 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4019, -1.65101), yaw=-168.985 deg backend=(17.4261, -1.64559)
I0419 20:57:55.564379 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290755054561.
I0419 20:57:55.566391 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.195439, -0.450773)
I0419 20:57:55.566694 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:55.566835 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.932887, 2.88544), points=3, range=3.02967, residual=0.00976748, extent=0.0197846
I0419 20:57:55.566989 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.932887, 2.88544), tracking=(-0.634387, 2.88544), map_predicted=(18.5759, -4.36208), range=3.02967, pts=3
I0419 20:57:55.567138 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2363m maha_sq=450.482 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5759, -4.36208) lm_pos=(15.915, -2.52) delta=(2.6609, -1.84208) -> 0 candidate(s)
I0419 20:57:55.567391 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-168.268 deg, rms_residual=0.00941444m, sigma_yaw=0.012397 rad, N=2
I0419 20:57:55.567550 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3939, -1.65308, -168.268deg) inliers=2 rms=0.00941444m
I0419 20:57:55.567700 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290755333647.
I0419 20:57:55.570729 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.808178, 2.81842)
I0419 20:57:55.570992 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:55.571159 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:55.572110 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:55.594835 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290755940048.
I0419 20:57:55.621876 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881554s, prior_pose=(17.3879, -1.65407), yaw=-168.286 deg
I0419 20:57:55.621986 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1205, max_intensity=255, threshold=230, above_threshold=38, candidates=38
I0419 20:57:55.622134 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.171033, -0.459075)
I0419 20:57:55.622174 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.169204, -0.4584), points=24, range=0.49, residual=0.0124706, extent=0.0459389
I0419 20:57:55.622208 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.169204, -0.4584), tracking=(0.467704, -0.4584), map_predicted=(16.8369, -1.30018), range=0.49, pts=24
I0419 20:57:55.622233 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0295247m maha_sq=0.0377584 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8369, -1.30018) lm_pos=(16.815, -1.32) delta=(0.0218847, 0.0198185) -> 1 candidate(s)
I0419 20:57:55.622293 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0377584 range=0.49 variance=0.000586519 t_weight=5114.92 r_weight=0 yaml=(16.815, -1.32) prior=(17.3879, -1.65407, -168.286deg) obs_actual=(0.467704, -0.4584) obs_expected=(0.493156, -0.443438) delta=(-0.0254527, -0.0149623) |delta|=0.0295247m
I0419 20:57:55.622349 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290756215314.
I0419 20:57:55.622799 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:55.622855 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 20:57:55.695780 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290756533151.
I0419 20:57:55.696750 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.121782, -4.65106)
I0419 20:57:55.699276 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.153366, -0.462544), points=24, range=0.487167, residual=0.012949, extent=0.0479142
I0419 20:57:55.699445 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.153366, -0.462544), tracking=(0.451866, -0.462544), map_predicted=(16.8299, -1.30427), range=0.487167, pts=24
I0419 20:57:55.699499 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0216816m maha_sq=0.0202182 (gate chi2=5.99) pose_sigma=(0.150507, 0.150507, rho=0) det_map=(16.8299, -1.30427) lm_pos=(16.815, -1.32) delta=(0.0149195, 0.0157321) -> 1 candidate(s)
I0419 20:57:55.710029 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:55.710153 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290757094155.
I0419 20:57:55.710615 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.270397, -2.8964)
I0419 20:57:55.723315 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 112
I0419 20:57:55.737828 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:55.742312 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.871777, 2.91196), points=3, range=3.03967, residual=0.00768047, extent=0.0183707
I0419 20:57:55.742415 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.871777, 2.91196), tracking=(-0.573277, 2.91196), map_predicted=(18.5808, -4.36439), range=3.03967, pts=3
I0419 20:57:55.742450 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.24163m maha_sq=447.399 (gate chi2=5.99) pose_sigma=(0.150905, 0.150905, rho=0) det_map=(18.5808, -4.36439) lm_pos=(15.915, -2.52) delta=(2.66579, -1.84439) -> 0 candidate(s)
I0419 20:57:55.742570 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290757418233.
I0419 20:57:55.816419 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.407436, 4.65721)
I0419 20:57:55.816603 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290757699848.
I0419 20:57:55.817874 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290757997228.
I0419 20:57:55.825806 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.233057, -2.90716), points=5, range=2.919, residual=0.0140365, extent=0.0367683
I0419 20:57:55.825910 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.233057, -2.90716), tracking=(-0.531557, 2.90716), map_predicted=(18.5607, -4.35793), range=2.919, pts=5
I0419 20:57:55.825944 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.22144m maha_sq=440.865 (gate chi2=5.99) pose_sigma=(0.15068, 0.15068, rho=0) det_map=(18.5607, -4.35793) lm_pos=(15.915, -2.52) delta=(2.6457, -1.83793) -> 0 candidate(s)
I0419 20:57:55.830351 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.857507, 2.66546)
I0419 20:57:55.830513 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290758298623.
I0419 20:57:55.858309 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:55.858419 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:55.858513 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290758577187.
I0419 20:57:55.858935 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:55.886556 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290758857284.
I0419 20:57:55.961706 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.719816, -1.18616)
I0419 20:57:55.961854 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-2.00257, -4.15177), points=3, range=4.61067, residual=0.013506, extent=0.0279819
I0419 20:57:55.961886 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-2.00257, -4.15177), tracking=(1.70407, 4.15177), map_predicted=(16.7373, -6.11753), range=4.61067, pts=3
I0419 20:57:55.961913 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.69032m maha_sq=569.974 (gate chi2=5.99) pose_sigma=(0.150845, 0.150845, rho=0) det_map=(16.7373, -6.11753) lm_pos=(15.915, -2.52) delta=(0.82234, -3.59753) -> 0 candidate(s)
I0419 20:57:55.962978 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555466s, prior_pose=(17.3241, -1.66819), yaw=-165.198 deg
I0419 20:57:55.963045 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1203, max_intensity=255, threshold=230, above_threshold=41, candidates=41
I0419 20:57:55.963217 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:55.963723 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:55.963759 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:55.966001 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290759453690.
I0419 20:57:55.974440 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27368, 0.452427)
I0419 20:57:55.974524 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.90693, 2.42566), points=4, range=2.58825, residual=0.00980832, extent=0.0239595
I0419 20:57:55.974555 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.90693, 2.42566), tracking=(1.20543, 2.42566), map_predicted=(16.7846, -4.32484), range=2.58825, pts=4
I0419 20:57:55.974581 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00342m maha_sq=173.088 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7846, -4.32484) lm_pos=(15.915, -2.52) delta=(0.869618, -1.80484) -> 0 candidate(s)
I0419 20:57:55.974637 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0339055 range=0.485769 variance=0.00060242 t_weight=4979.91 r_weight=0 yaml=(16.815, -1.32) prior=(17.3211, -1.66984, -164.999deg) obs_actual=(0.372393, -0.479471) obs_expected=(0.398313, -0.468915) delta=(-0.0259203, -0.0105565) |delta|=0.0279875m
I0419 20:57:55.974686 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290759739328.
I0419 20:57:56.006559 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:56.105221 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.746782, -1.19504)
I0419 20:57:56.106362 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.894197, 2.4238), points=5, range=2.5838, residual=0.011304, extent=0.0300884
I0419 20:57:56.106496 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.894197, 2.4238), tracking=(1.1927, 2.4238), map_predicted=(16.7988, -4.33552), range=2.5838, pts=5
I0419 20:57:56.106536 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01921m maha_sq=171.956 (gate chi2=5.99) pose_sigma=(0.151628, 0.151628, rho=0) det_map=(16.7988, -4.33552) lm_pos=(15.915, -2.52) delta=(0.883797, -1.81552) -> 0 candidate(s)
I0419 20:57:56.106673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290760341702.
I0419 20:57:56.111477 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.25117, 0.453993)
I0419 20:57:56.111649 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:56.111706 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:56.111732 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290760940943.
I0419 20:57:56.122359 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0411999, -0.478055), points=27, range=0.481148, residual=0.0126991, extent=0.0448198
I0419 20:57:56.122493 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0411999, -0.478055), tracking=(0.3397, -0.478055), map_predicted=(16.8332, -1.3149), range=0.481148, pts=27
I0419 20:57:56.122546 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.018883m maha_sq=0.015305 (gate chi2=5.99) pose_sigma=(0.150683, 0.150683, rho=0) det_map=(16.8332, -1.3149) lm_pos=(16.815, -1.32) delta=(0.0181801, 0.00510419) -> 1 candidate(s)
I0419 20:57:56.122699 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290761214376.
I0419 20:57:56.150770 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:56.150935 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:56.151235 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290761497586.
I0419 20:57:56.252990 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(-1.96916, -4.14392)
I0419 20:57:56.253149 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:56.255046 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0258368, -0.478084), points=27, range=0.481, residual=0.0132027, extent=0.0435653
I0419 20:57:56.255162 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0258368, -0.478084), tracking=(0.324337, -0.478084), map_predicted=(16.8381, -1.30889), range=0.481, pts=27
I0419 20:57:56.255196 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0256432m maha_sq=0.0281834 (gate chi2=5.99) pose_sigma=(0.150754, 0.150754, rho=0) det_map=(16.8381, -1.30889) lm_pos=(16.815, -1.32) delta=(0.023111, 0.011111) -> 1 candidate(s)
I0419 20:57:56.255295 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290761817045.
I0419 20:57:56.257766 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060206s, prior_pose=(17.2674, -1.68665), yaw=-164.663 deg
I0419 20:57:56.257890 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1218, max_intensity=255, threshold=230, above_threshold=44, candidates=44
I0419 20:57:56.258050 1219452 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(0.812884, 2.68672)
I0419 20:57:56.258173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290762099959.
I0419 20:57:56.258587 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:57:56.258638 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:57:56.266659 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.804199, -1.19601)
I0419 20:57:56.266783 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.196643, -4.65935), points=3, range=4.661, residual=0.0137376, extent=0.0285683
I0419 20:57:56.266829 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.196643, -4.65935), tracking=(-0.101857, 4.65935), map_predicted=(18.5858, -6.15626), range=4.661, pts=3
I0419 20:57:56.266865 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.51172m maha_sq=849.614 (gate chi2=5.99) pose_sigma=(0.151003, 0.151003, rho=0) det_map=(18.5858, -6.15626) lm_pos=(15.915, -2.52) delta=(2.6708, -3.63626) -> 0 candidate(s)
I0419 20:57:56.355984 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:56.356117 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290762974689.
I0419 20:57:56.357904 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.792782, 2.48913)
I0419 20:57:56.359401 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.19628, -4.65086), points=3, range=4.65767, residual=0.014361, extent=0.0300481
I0419 20:57:56.359476 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.19628, -4.65086), tracking=(-0.10222, 4.65086), map_predicted=(18.564, -6.15393), range=4.65767, pts=3
I0419 20:57:56.359505 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.49694m maha_sq=844.374 (gate chi2=5.99) pose_sigma=(0.150918, 0.150918, rho=0) det_map=(18.564, -6.15393) lm_pos=(15.915, -2.52) delta=(2.64897, -3.63393) -> 0 candidate(s)
I0419 20:57:56.359562 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:56.361227 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:56.361335 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-164.536 deg, rms_residual=0.0107918m, sigma_yaw=0.014185 rad, N=2
I0419 20:57:56.361400 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.2227, -1.69668, -164.536deg) inliers=2 rms=0.0107918m
I0419 20:57:56.361435 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290763579378.
I0419 20:57:56.362820 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.2263, -1.69745), yaw=-164.656 deg backend=(17.2234, -1.69572)
I0419 20:57:56.386382 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.0193943, -0.478039)
I0419 20:57:56.386677 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290763857400.
I0419 20:57:56.414592 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.324073, -2.91973), points=4, range=2.93425, residual=0.013569, extent=0.0331175
I0419 20:57:56.414762 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.324073, -2.91973), tracking=(-0.622573, 2.91973), map_predicted=(18.5993, -4.34835), range=2.93425, pts=4
I0419 20:57:56.414827 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24785m maha_sq=452.253 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5993, -4.34835) lm_pos=(15.915, -2.52) delta=(2.68433, -1.82835) -> 0 candidate(s)
I0419 20:57:56.419335 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.17164, 0.449714)
I0419 20:57:56.545336 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:56.545459 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:56.546458 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:56.548774 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.90166, -4.14087)
I0419 20:57:56.549693 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.94065, 2.93862), points=3, range=3.086, residual=0.0088747, extent=0.0183881
I0419 20:57:56.549765 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.94065, 2.93862), tracking=(-0.64215, 2.93862), map_predicted=(18.6116, -4.36391), range=3.086, pts=3
I0419 20:57:56.549793 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26674m maha_sq=452.347 (gate chi2=5.99) pose_sigma=(0.151161, 0.151161, rho=0) det_map=(18.6116, -4.36391) lm_pos=(15.915, -2.52) delta=(2.69659, -1.84391) -> 0 candidate(s)
I0419 20:57:56.549852 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0280741 range=0.479286 variance=0.000601086 t_weight=4990.97 r_weight=0 yaml=(16.815, -1.32) prior=(17.2115, -1.70168, -164.586deg) obs_actual=(0.255403, -0.477317) obs_expected=(0.280749, -0.473326) delta=(-0.0253463, -0.0039908) |delta|=0.0256586m
I0419 20:57:56.549952 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290764736305.
I0419 20:57:56.551213 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838753s, prior_pose=(17.2115, -1.70168), yaw=-164.586 deg
I0419 20:57:56.551397 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1266, max_intensity=251, threshold=230, above_threshold=13, candidates=13
I0419 20:57:56.553530 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=45, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 20:57:56.553607 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.767345, 2.50998)
I0419 20:57:56.553627 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=4
I0419 20:57:56.555666 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290765342512.
I0419 20:57:56.634582 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290765617934.
I0419 20:57:56.635183 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-1.36875, -2.43577)
I0419 20:57:56.637178 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0712934, -0.477311), points=28, range=0.483357, residual=0.0121595, extent=0.0424467
I0419 20:57:56.637295 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0712934, -0.477311), tracking=(0.227207, -0.477311), map_predicted=(16.8428, -1.30679), range=0.483357, pts=28
I0419 20:57:56.637333 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0308072m maha_sq=0.0411237 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8428, -1.30679) lm_pos=(16.815, -1.32) delta=(0.0278314, 0.0132096) -> 1 candidate(s)
I0419 20:57:56.637358 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:56.637432 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290765896233.
I0419 20:57:56.640841 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(-0.0763956, -0.478412)
I0419 20:57:56.650868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290766497400.
I0419 20:57:56.651723 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.84644, -4.14718), points=3, range=4.53967, residual=0.0115669, extent=0.0282369
I0419 20:57:56.651823 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.84644, -4.14718), tracking=(1.54794, 4.14718), map_predicted=(16.7897, -6.12422), range=4.53967, pts=3
I0419 20:57:56.651875 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70883m maha_sq=583.501 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7897, -6.12422) lm_pos=(15.915, -2.52) delta=(0.87468, -3.60422) -> 0 candidate(s)
I0419 20:57:56.678350 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.0910871, -0.476356)
I0419 20:57:56.678546 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290766777561.
I0419 20:57:56.749150 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.82796, -4.15435)
I0419 20:57:56.749802 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290767099514.
I0419 20:57:56.752370 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:56.752470 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10474, 0.453831), points=4, range=1.1905, residual=0.00978684, extent=0.0219066
I0419 20:57:56.752491 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:56.752507 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10474, 0.453831), tracking=(1.40324, 0.453831), map_predicted=(15.9131, -2.52839), range=1.1905, pts=4
I0419 20:57:56.752529 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00861446m maha_sq=0.00319625 (gate chi2=5.99) pose_sigma=(0.150536, 0.150536, rho=0) det_map=(15.9131, -2.52839) lm_pos=(15.915, -2.52) delta=(-0.00193642, -0.00839399) -> 1 candidate(s)
I0419 20:57:56.752652 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290767377011.
I0419 20:57:56.753001 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-1.81437, -4.15623)
I0419 20:57:56.753050 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 20:57:56.771458 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290767701463.
I0419 20:57:56.798200 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597823s, prior_pose=(17.1298, -1.72235), yaw=-164.754 deg
I0419 20:57:56.798774 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1209, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 20:57:56.799376 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290767974834.
I0419 20:57:56.800259 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=8
I0419 20:57:56.800343 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.225855, -0.383425)
I0419 20:57:56.800388 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=8, r_post=0.015, gain=250 -> after=5
I0419 20:57:56.891908 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08162, 0.461571), points=4, range=1.16975, residual=0.0157728, extent=0.0346029
I0419 20:57:56.892027 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.08162, 0.461571), tracking=(1.38012, 0.461571), map_predicted=(15.9122, -2.52931), range=1.16975, pts=4
I0419 20:57:56.892060 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00972401m maha_sq=0.00404814 (gate chi2=5.99) pose_sigma=(0.150499, 0.150499, rho=0) det_map=(15.9122, -2.52931) lm_pos=(15.915, -2.52) delta=(-0.00280152, -0.0093117) -> 1 candidate(s)
I0419 20:57:56.892119 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0122322 range=0.492107 variance=0.000572362 t_weight=5241.43 r_weight=0 yaml=(16.815, -1.32) prior=(17.1232, -1.72225, -164.81deg) obs_actual=(0.177317, -0.477225) obs_expected=(0.191994, -0.46894) delta=(-0.0146773, -0.00828472) |delta|=0.0168541m
I0419 20:57:56.892171 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290768255159.
I0419 20:57:56.893916 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.06001, 2.92562)
I0419 20:57:56.896667 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:57:56.896771 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290768855818.
I0419 20:57:56.914397 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05582, 0.466387), points=5, range=1.1508, residual=0.010533, extent=0.0252792
I0419 20:57:56.914812 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.05582, 0.466387), tracking=(1.35432, 0.466387), map_predicted=(15.9173, -2.52766), range=1.1508, pts=5
I0419 20:57:56.914866 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00798277m maha_sq=0.00274133 (gate chi2=5.99) pose_sigma=(0.150588, 0.150588, rho=0) det_map=(15.9173, -2.52766) lm_pos=(15.915, -2.52) delta=(0.00225302, -0.00765823) -> 1 candidate(s)
I0419 20:57:56.914958 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:56.915145 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:56.915180 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290769134105.
I0419 20:57:56.916227 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.151758, -0.24902)
I0419 20:57:56.916316 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:56.943411 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290769423205.
I0419 20:57:57.038858 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:57.039350 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290769740271.
I0419 20:57:57.039966 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.72041, -4.17058)
I0419 20:57:57.040040 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.491881, -2.91325), points=5, range=2.9514, residual=0.0153738, extent=0.0397162
I0419 20:57:57.040068 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.491881, -2.91325), tracking=(-0.790381, 2.91325), map_predicted=(18.5985, -4.34686), range=2.9514, pts=5
I0419 20:57:57.040091 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24631m maha_sq=450.766 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5985, -4.34686) lm_pos=(15.915, -2.52) delta=(2.68349, -1.82686) -> 0 candidate(s)
I0419 20:57:57.042294 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290770018945.
I0419 20:57:57.044045 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:57.044137 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:57.044150 1218972 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:57.044543 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.02042, 0.476384)
I0419 20:57:57.044595 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:57.044657 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290770331833.
I0419 20:57:57.062597 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290770614674.
I0419 20:57:57.063519 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.21722, -2.44138), points=4, range=2.7275, residual=0.00994707, extent=0.0243298
I0419 20:57:57.063624 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.21722, -2.44138), tracking=(0.918722, 2.44138), map_predicted=(16.7941, -4.33152), range=2.7275, pts=4
I0419 20:57:57.063678 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01357m maha_sq=174.687 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7941, -4.33152) lm_pos=(15.915, -2.52) delta=(0.879121, -1.81152) -> 0 candidate(s)
I0419 20:57:57.169121 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637701s, prior_pose=(17.065, -1.73724), yaw=-165.464 deg
I0419 20:57:57.169271 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1238, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:57:57.169991 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:57.170080 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:57.171070 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.65662, -4.16997)
I0419 20:57:57.171535 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-165.821 deg, rms_residual=0.00664216m, sigma_yaw=0.00877847 rad, N=2
I0419 20:57:57.171583 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.045, -1.74655, -165.821deg) inliers=2 rms=0.00664216m
I0419 20:57:57.171618 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290771221309.
I0419 20:57:57.173831 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290771501931.
I0419 20:57:57.174185 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.64523, -4.17663), points=3, range=4.489, residual=0.0115029, extent=0.0279596
I0419 20:57:57.174237 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.64523, -4.17663), tracking=(1.34673, 4.17663), map_predicted=(16.781, -6.12302), range=4.489, pts=3
I0419 20:57:57.174263 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70562m maha_sq=582.81 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.781, -6.12302) lm_pos=(15.915, -2.52) delta=(0.865979, -3.60302) -> 0 candidate(s)
I0419 20:57:57.178007 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:57.178117 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0197103 range=0.513769 variance=0.000573752 t_weight=5228.74 r_weight=0 yaml=(16.815, -1.32) prior=(17.0401, -1.74331, -165.666deg) obs_actual=(0.0923379, -0.470392) obs_expected=(0.113263, -0.465854) delta=(-0.020925, -0.00453786) |delta|=0.0214114m
I0419 20:57:57.178185 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290771774111.
I0419 20:57:57.178916 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.108524, -4.66272)
I0419 20:57:57.207753 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290772064655.
I0419 20:57:57.291735 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.19584, 2.91093), points=3, range=3.147, residual=0.0102237, extent=0.0249818
I0419 20:57:57.291857 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.19584, 2.91093), tracking=(-0.897343, 2.91093), map_predicted=(18.6128, -4.34594), range=3.147, pts=3
I0419 20:57:57.291889 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25763m maha_sq=449.977 (gate chi2=5.99) pose_sigma=(0.151019, 0.151019, rho=0) det_map=(18.6128, -4.34594) lm_pos=(15.915, -2.52) delta=(2.69779, -1.82594) -> 0 candidate(s)
I0419 20:57:57.291966 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290772378640.
I0419 20:57:57.293789 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.0186, -1.74643), yaw=-165.799 deg backend=(17.0318, -1.74592)
I0419 20:57:57.294620 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.222913, -0.47088)
I0419 20:57:57.294714 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290772658066.
I0419 20:57:57.298501 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290772979555.
I0419 20:57:57.326730 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-1.22853, 2.90597)
I0419 20:57:57.326838 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:57.326865 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.240429, -0.468471), points=23, range=0.526391, residual=0.0108675, extent=0.0336298
I0419 20:57:57.326884 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:57.326900 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.240429, -0.468471), tracking=(0.0580715, -0.468471), map_predicted=(16.8332, -1.30935), range=0.526391, pts=23
I0419 20:57:57.326925 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0210608m maha_sq=0.0189582 (gate chi2=5.99) pose_sigma=(0.151151, 0.151151, rho=0) det_map=(16.8332, -1.30935) lm_pos=(16.815, -1.32) delta=(0.0181683, 0.0106522) -> 1 candidate(s)
I0419 20:57:57.327009 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290773259097.
I0419 20:57:57.327606 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:57.407495 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290773535652.
I0419 20:57:57.409385 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088186s, prior_pose=(16.9922, -1.74754), yaw=-165.97 deg
I0419 20:57:57.409473 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=52, candidates=52
I0419 20:57:57.409662 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 38 -> 36 (threshold=0.03, iters=3)
I0419 20:57:57.409749 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290773861546.
I0419 20:57:57.411078 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:57.411126 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-1.10235, -2.43766)
I0419 20:57:57.411149 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:57.411170 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.642907, -2.89991), points=4, range=2.966, residual=0.0146924, extent=0.0352912
I0419 20:57:57.411192 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.642907, -2.89991), tracking=(-0.941407, 2.89991), map_predicted=(18.5835, -4.34291), range=2.966, pts=4
I0419 20:57:57.411213 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23168m maha_sq=440.109 (gate chi2=5.99) pose_sigma=(0.151226, 0.151226, rho=0) det_map=(18.5835, -4.34291) lm_pos=(15.915, -2.52) delta=(2.66848, -1.82291) -> 0 candidate(s)
I0419 20:57:57.414575 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290774140835.
I0419 20:57:57.445866 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(-0.267859, -0.471671)
I0419 20:57:57.446079 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290774453053.
I0419 20:57:57.470045 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14114, -1.16461), points=3, range=1.62433, residual=0.0121664, extent=0.0248637
I0419 20:57:57.470182 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.14114, -1.16461), tracking=(-1.43964, 1.16461), map_predicted=(18.6419, -2.54511), range=1.62433, pts=3
I0419 20:57:57.470235 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19965m maha_sq=209.104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6419, -2.54511) lm_pos=(16.815, -1.32) delta=(1.8269, -1.22511) -> 0 candidate(s)
I0419 20:57:57.540359 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:57:57.540479 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00983267 range=0.544833 variance=0.000591141 t_weight=5074.93 r_weight=0 yaml=(16.815, -1.32) prior=(16.9557, -1.75903, -166.361deg) obs_actual=(0.0333509, -0.474988) obs_expected=(0.0332483, -0.459833) delta=(0.000102576, -0.0151547) |delta|=0.015155m
I0419 20:57:57.540555 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290774740279.
I0419 20:57:57.541970 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290775020454.
I0419 20:57:57.542351 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.250923, -4.65824)
I0419 20:57:57.542413 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:57:57.544682 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:57.544802 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:57.544831 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290775295270.
I0419 20:57:57.563645 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.17041, -1.15687)
I0419 20:57:57.563757 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.04013, -2.45038), points=4, range=2.663, residual=0.00972414, extent=0.0234448
I0419 20:57:57.563786 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.04013, -2.45038), tracking=(0.741625, 2.45038), map_predicted=(16.7858, -4.32448), range=2.663, pts=4
I0419 20:57:57.563807 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00361m maha_sq=171.367 (gate chi2=5.99) pose_sigma=(0.150762, 0.150762, rho=0) det_map=(16.7858, -4.32448) lm_pos=(15.915, -2.52) delta=(0.870811, -1.80448) -> 0 candidate(s)
I0419 20:57:57.675652 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:57.675757 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:57.676132 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 20:57:57.677709 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.36415, 2.89245)
I0419 20:57:57.677865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290776495432.
I0419 20:57:57.679281 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.00247, -2.45037), points=3, range=2.64933, residual=0.0081263, extent=0.0169292
I0419 20:57:57.679361 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.00247, -2.45037), tracking=(0.70397, 2.45037), map_predicted=(16.7988, -4.32156), range=2.64933, pts=3
I0419 20:57:57.679387 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00666m maha_sq=172.931 (gate chi2=5.99) pose_sigma=(0.150394, 0.150394, rho=0) det_map=(16.7988, -4.32156) lm_pos=(15.915, -2.52) delta=(0.88377, -1.80156) -> 0 candidate(s)
I0419 20:57:57.680516 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060232s, prior_pose=(16.9306, -1.77549), yaw=-166.936 deg
I0419 20:57:57.680586 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1313, max_intensity=252, threshold=230, above_threshold=14, candidates=14
I0419 20:57:57.680740 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290776780224.
I0419 20:57:57.681332 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:57.681385 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 20:57:57.681409 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:57.710536 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.42473, -0.867389)
I0419 20:57:57.833642 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.819374, 0.520286), points=10, range=0.9689, residual=0.0103018, extent=0.0317036
I0419 20:57:57.833760 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.819374, 0.520286), tracking=(1.11787, 0.520286), map_predicted=(15.9383, -2.53447), range=0.9689, pts=10
I0419 20:57:57.833786 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0274465m maha_sq=0.0320433 (gate chi2=5.99) pose_sigma=(0.151507, 0.151507, rho=0) det_map=(15.9383, -2.53447) lm_pos=(15.915, -2.52) delta=(0.0233245, -0.0144665) -> 1 candidate(s)
I0419 20:57:57.833807 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:57.834200 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.799426, -2.88258)
I0419 20:57:57.836697 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290777978090.
I0419 20:57:57.837985 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.253241, 0.472893), points=16, range=0.539438, residual=0.0116717, extent=0.0278254
I0419 20:57:57.838050 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[5]: sensor=(-0.253241, 0.472893), tracking=(-0.0452587, -0.472893), map_predicted=(16.8443, -1.30923), range=0.539438, pts=16
I0419 20:57:57.838074 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[5] nearest lm[19] 'ref_20' eucl_dist=0.0312107m maha_sq=0.0422267 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8443, -1.30923) lm_pos=(16.815, -1.32) delta=(0.0292925, 0.0107728) -> 1 candidate(s)
I0419 20:57:57.838105 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:57.839586 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.41103, -0.856234)
I0419 20:57:57.854839 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290778538651.
I0419 20:57:57.938681 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.460648, -4.64252)
I0419 20:57:57.940646 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:57:57.940721 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776228, 0.530132), points=9, range=0.939667, residual=0.00968963, extent=0.0302969
I0419 20:57:57.940743 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:57.940758 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.776228, 0.530132), tracking=(1.07473, 0.530132), map_predicted=(15.9493, -2.52891), range=0.939667, pts=9
I0419 20:57:57.940783 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0354459m maha_sq=0.0541591 (gate chi2=5.99) pose_sigma=(0.150524, 0.150524, rho=0) det_map=(15.9493, -2.52891) lm_pos=(15.915, -2.52) delta=(0.0343069, -0.00891329) -> 1 candidate(s)
I0419 20:57:57.940815 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:57:57.941294 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 20:57:57.944335 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.38934, -0.848599)
I0419 20:57:57.970903 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0569375s, prior_pose=(16.8634, -1.77908), yaw=-167.832 deg
I0419 20:57:57.971035 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:57:57.972434 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 20:57:57.972512 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=21, centroid=(-0.221831, 0.468376)
I0419 20:57:57.972553 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=6
I0419 20:57:57.972595 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88674, -2.87048), points=4, range=3.0005, residual=0.0137526, extent=0.0329381
I0419 20:57:57.972643 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.88674, -2.87048), tracking=(-1.18524, 2.87048), map_predicted=(18.627, -4.33525), range=3.0005, pts=4
I0419 20:57:57.972687 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26348m maha_sq=444.172 (gate chi2=5.99) pose_sigma=(0.152114, 0.152114, rho=0) det_map=(18.627, -4.33525) lm_pos=(15.915, -2.52) delta=(2.71204, -1.81525) -> 0 candidate(s)
I0419 20:57:58.107978 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=149.838 rad/s > flush threshold 3.
I0419 20:57:58.109755 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.31318, -1.11495)
I0419 20:57:58.111982 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:58.112675 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.21547, -4.23883), points=4, range=4.409, residual=0.0157986, extent=0.0384755
I0419 20:57:58.112764 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.21547, -4.23883), tracking=(0.916969, 4.23883), map_predicted=(16.8177, -6.11867), range=4.409, pts=4
I0419 20:57:58.112794 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71017m maha_sq=557.779 (gate chi2=5.99) pose_sigma=(0.153357, 0.153357, rho=0) det_map=(16.8177, -6.11867) lm_pos=(15.915, -2.52) delta=(0.902719, -3.59867) -> 0 candidate(s)
I0419 20:57:58.115587 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.20104, -4.23497)
I0419 20:57:58.121246 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:58.227245 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(16.8161, -1.78166), yaw=-168.401 deg backend=(16.8037, -1.79054)
I0419 20:57:58.228686 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.34752, -0.82306)
I0419 20:57:58.230129 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.698949, 0.549315), points=11, range=0.887364, residual=0.010338, extent=0.032029
I0419 20:57:58.230219 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.698949, 0.549315), tracking=(0.997449, 0.549315), map_predicted=(15.9495, -2.52031), range=0.887364, pts=11
I0419 20:57:58.230247 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0345065m maha_sq=0.0480691 (gate chi2=5.99) pose_sigma=(0.155625, 0.155625, rho=0) det_map=(15.9495, -2.52031) lm_pos=(15.915, -2.52) delta=(0.0345051, -0.000311357) -> 1 candidate(s)
I0419 20:57:58.232928 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:57:58.233052 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:58.233675 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=23, centroid=(-0.17285, 0.47046)
I0419 20:57:58.233744 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 20:57:58.262976 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844599s, prior_pose=(16.7942, -1.78607), yaw=-168.861 deg
I0419 20:57:58.263163 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1264, max_intensity=249, threshold=230, above_threshold=40, candidates=40
I0419 20:57:58.263476 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04173, -2.83641), points=4, range=3.0185, residual=0.0132053, extent=0.0319002
I0419 20:57:58.263545 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04173, -2.83641), tracking=(-1.34023, 2.83641), map_predicted=(18.6571, -4.31013), range=3.0185, pts=4
I0419 20:57:58.263595 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.2747m maha_sq=419.701 (gate chi2=5.99) pose_sigma=(0.157237, 0.157237, rho=0) det_map=(18.6571, -4.31013) lm_pos=(15.915, -2.52) delta=(2.74209, -1.79013) -> 0 candidate(s)
I0419 20:57:58.371508 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:58.371596 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:58.371711 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290782662534.
I0419 20:57:58.372875 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.0697, -2.82339)
I0419 20:57:58.373828 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290782979528.
I0419 20:57:58.376598 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290783256107.
I0419 20:57:58.377816 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:58.377945 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290783542280.
I0419 20:57:58.378373 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=25, centroid=(-0.154383, 0.474738)
I0419 20:57:58.378437 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.652053, -2.49141), points=4, range=2.57375, residual=0.0102117, extent=0.0250149
I0419 20:57:58.378469 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.652053, -2.49141), tracking=(0.353553, 2.49141), map_predicted=(16.8627, -4.30811), range=2.57375, pts=4
I0419 20:57:58.378492 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02374m maha_sq=176.569 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8627, -4.30811) lm_pos=(15.915, -2.52) delta=(0.947709, -1.78811) -> 0 candidate(s)
I0419 20:57:58.444556 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:58.444809 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290783813197.
I0419 20:57:58.447351 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0466302 range=0.847 variance=0.000533403 t_weight=5624.26 r_weight=0 yaml=(15.915, -2.52) prior=(16.7477, -1.80029, -171.229deg) obs_actual=(0.901253, 0.594022) obs_expected=(0.932756, 0.584307) delta=(-0.0315032, 0.00971544) |delta|=0.0329673m
I0419 20:57:58.447448 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290784132085.
I0419 20:57:58.449218 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290784412832.
I0419 20:57:58.516538 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.845586, -4.28366)
I0419 20:57:58.516667 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.845586, -4.28366), points=3, range=4.36633, residual=0.0120459, extent=0.0295011
I0419 20:57:58.516697 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.845586, -4.28366), tracking=(0.547086, 4.28366), map_predicted=(16.7869, -6.11957), range=4.36633, pts=3
I0419 20:57:58.516724 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70365m maha_sq=570.494 (gate chi2=5.99) pose_sigma=(0.151649, 0.151649, rho=0) det_map=(16.7869, -6.11957) lm_pos=(15.915, -2.52) delta=(0.871859, -3.59957) -> 0 candidate(s)
I0419 20:57:58.516745 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=462.682 rad/s > flush threshold 3.
I0419 20:57:58.517959 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-172.376 deg, rms_residual=0.00870724m, sigma_yaw=0.0114764 rad, N=2
I0419 20:57:58.518023 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.712, -1.81213, -172.376deg) inliers=2 rms=0.00870724m
I0419 20:57:58.518064 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290784696643.
I0419 20:57:58.518698 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=1, buffered=1).
I0419 20:57:58.520713 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 20:57:58.520774 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:58.521134 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.573284, 0.609332)
I0419 20:57:58.521178 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:58.521230 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290785014302.
I0419 20:57:58.529882 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290785293140.
I0419 20:57:58.530510 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:57:58.558441 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596261s, prior_pose=(16.7027, -1.80893), yaw=-172.761 deg
I0419 20:57:58.558615 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1274, max_intensity=251, threshold=230, above_threshold=39, candidates=39
I0419 20:57:58.558969 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.504455, -2.49807), points=3, range=2.55033, residual=0.00787672, extent=0.0164064
I0419 20:57:58.559031 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.504455, -2.49807), tracking=(0.205955, 2.49807), map_predicted=(16.8132, -4.31304), range=2.55033, pts=3
I0419 20:57:58.559108 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00542m maha_sq=171.341 (gate chi2=5.99) pose_sigma=(0.151071, 0.151071, rho=0) det_map=(16.8132, -4.31304) lm_pos=(15.915, -2.52) delta=(0.898183, -1.79304) -> 0 candidate(s)
I0419 20:57:58.563446 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:58.563526 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:58.563715 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290785625752.
I0419 20:57:58.666671 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290785901252.
I0419 20:57:58.667296 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.693202, -4.1424)
I0419 20:57:58.667392 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:58.669340 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290786178902.
I0419 20:57:58.671015 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=741.898 rad/s > flush threshold 3.
I0419 20:57:58.673440 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.519272, 0.627996), points=14, range=0.814429, residual=0.0109076, extent=0.0350784
I0419 20:57:58.673554 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.519272, 0.627996), tracking=(0.817772, 0.627996), map_predicted=(15.9234, -2.52942), range=0.814429, pts=14
I0419 20:57:58.673588 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0126401m maha_sq=0.00684377 (gate chi2=5.99) pose_sigma=(0.150947, 0.150947, rho=0) det_map=(15.9234, -2.52942) lm_pos=(15.915, -2.52) delta=(0.00842797, -0.00942024) -> 1 candidate(s)
I0419 20:57:58.673610 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:58.673671 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290786457604.
I0419 20:57:58.674479 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.14917, -4.52485)
I0419 20:57:58.678524 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290786779520.
I0419 20:57:58.710070 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:58.710229 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:58.710255 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290787095719.
I0419 20:57:58.780167 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-0.59969, -4.3125)
I0419 20:57:58.780308 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=561.408 rad/s > flush threshold 3.
I0419 20:57:58.781620 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290787341029.
I0419 20:57:58.784448 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.481929, 0.631774), points=13, range=0.797615, residual=0.0128656, extent=0.0396151
I0419 20:57:58.784585 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.481929, 0.631774), tracking=(0.780429, 0.631774), map_predicted=(15.9299, -2.52518), range=0.797615, pts=13
I0419 20:57:58.784615 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0158212m maha_sq=0.0107347 (gate chi2=5.99) pose_sigma=(0.150703, 0.150703, rho=0) det_map=(15.9299, -2.52518) lm_pos=(15.915, -2.52) delta=(0.0149496, -0.00517875) -> 1 candidate(s)
I0419 20:57:58.784672 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00163945 range=1.43267 variance=0.000509221 t_weight=5891.35 r_weight=0 yaml=(15.015, -1.32) prior=(16.6438, -1.819, -174.299deg) obs_actual=(1.57039, -0.66446) obs_expected=(1.57113, -0.658334) delta=(-0.000737057, -0.00612583) |delta|=0.00617001m
I0419 20:57:58.784793 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290787660910.
I0419 20:57:58.786681 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.580468, -4.31211)
I0419 20:57:58.794543 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:58.794647 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:58.794765 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290787941161.
I0419 20:57:58.796291 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:58.796358 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=159.508 rad/s > flush threshold 3.
I0419 20:57:58.822309 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:57:58.822489 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290788217814.
I0419 20:57:58.823221 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.24185, -4.50341)
I0419 20:57:58.900480 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560788s, prior_pose=(16.6265, -1.82191), yaw=-174.511 deg
I0419 20:57:58.900599 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1266, max_intensity=255, threshold=230, above_threshold=41, candidates=41
I0419 20:57:58.901190 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:58.901240 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:58.901341 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290788535634.
I0419 20:57:58.903009 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.45019, 0.631063), points=15, range=0.777467, residual=0.0125306, extent=0.0387356
I0419 20:57:58.903097 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.45019, 0.631063), tracking=(0.74869, 0.631063), map_predicted=(15.9416, -2.5217), range=0.777467, pts=15
I0419 20:57:58.903127 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0266874m maha_sq=0.0308357 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9416, -2.5217) lm_pos=(15.915, -2.52) delta=(0.0266331, -0.00170185) -> 1 candidate(s)
I0419 20:57:58.903221 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290788811945.
I0419 20:57:58.903676 1218530 reflector_detector.cc:209] [Detect]   cluster[6]: points=28, centroid=(-0.0412588, 0.480344)
I0419 20:57:58.903726 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:58.914039 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290789135225.
I0419 20:57:58.942422 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:58.942608 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290789419560.
I0419 20:57:58.969863 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.432087, 0.630524)
I0419 20:57:58.970075 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290789693856.
I0419 20:57:59.042893 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0146226, 0.477804), points=29, range=0.479276, residual=0.0127067, extent=0.0398468
I0419 20:57:59.043026 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.0146226, 0.477804), tracking=(-0.283877, -0.477804), map_predicted=(16.8201, -1.32646), range=0.479276, pts=29
I0419 20:57:59.043064 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=0.00824308m maha_sq=0.00289473 (gate chi2=5.99) pose_sigma=(0.151264, 0.151264, rho=0) det_map=(16.8201, -1.32646) lm_pos=(16.815, -1.32) delta=(0.00512277, -0.00645799) -> 1 candidate(s)
I0419 20:57:59.043090 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=201.641 rad/s > flush threshold 3.
I0419 20:57:59.044919 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290790014241.
I0419 20:57:59.046586 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.5793, -1.83157), yaw=-174.26 deg backend=(16.5928, -1.81826)
I0419 20:57:59.047456 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290790295778.
I0419 20:57:59.047904 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.308989, -2.57888)
I0419 20:57:59.057745 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00770383 range=1.3655 variance=0.000614152 t_weight=4884.78 r_weight=0 yaml=(15.015, -1.32) prior=(16.5793, -1.83157, -174.26deg) obs_actual=(1.49343, -0.671468) obs_expected=(1.50534, -0.665462) delta=(-0.011916, -0.00600639) |delta|=0.0133442m
I0419 20:57:59.057904 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290790572286.
I0419 20:57:59.059450 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=102.045 rad/s > flush threshold 3.
I0419 20:57:59.086395 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:57:59.086561 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.01453, 0.47639), points=28, range=0.477679, residual=0.0120263, extent=0.0383184
I0419 20:57:59.086623 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:59.086678 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.01453, 0.47639), tracking=(-0.31303, -0.47639), map_predicted=(16.8267, -1.32706), range=0.477679, pts=28
I0419 20:57:59.086735 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0136542m maha_sq=0.00795568 (gate chi2=5.99) pose_sigma=(0.151192, 0.151192, rho=0) det_map=(16.8267, -1.32706) lm_pos=(16.815, -1.32) delta=(0.0116856, -0.00706278) -> 1 candidate(s)
I0419 20:57:59.090194 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17945, -0.669538)
I0419 20:57:59.090324 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:59.090471 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290790895061.
I0419 20:57:59.185338 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-174.112 deg, rms_residual=0.0090963m, sigma_yaw=0.0119831 rad, N=2
I0419 20:57:59.185493 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.5492, -1.82966, -174.112deg) inliers=2 rms=0.0090963m
I0419 20:57:59.185535 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290791178473.
I0419 20:57:59.186583 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882905s, prior_pose=(16.5605, -1.83176), yaw=-174.214 deg
I0419 20:57:59.186698 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:57:59.186823 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290791455299.
I0419 20:57:59.187269 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:57:59.187320 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=3
I0419 20:57:59.189594 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=27, centroid=(0.0360311, 0.475923)
I0419 20:57:59.189710 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:57:59.189733 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:59.190291 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290791771864.
I0419 20:57:59.207340 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.372576, 0.62825), points=16, range=0.732875, residual=0.0123479, extent=0.0400859
I0419 20:57:59.207496 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.372576, 0.62825), tracking=(0.671076, 0.62825), map_predicted=(15.9339, -2.52861), range=0.732875, pts=16
I0419 20:57:59.207530 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0207328m maha_sq=0.0184754 (gate chi2=5.99) pose_sigma=(0.150582, 0.150582, rho=0) det_map=(15.9339, -2.52861) lm_pos=(15.915, -2.52) delta=(0.0188604, -0.00861) -> 1 candidate(s)
I0419 20:57:59.207659 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290792069149.
I0419 20:57:59.234771 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:59.235082 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290792340081.
I0419 20:57:59.318078 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.362619, 0.630033)
I0419 20:57:59.318295 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290792658273.
I0419 20:57:59.320782 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:59.320928 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:59.320957 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290792939980.
I0419 20:57:59.323129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290793217852.
I0419 20:57:59.324622 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=66.8788 rad/s > flush threshold 3.
I0419 20:57:59.354023 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12346, -0.675035), points=4, range=1.305, residual=0.0129092, extent=0.0283705
I0419 20:57:59.354153 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.12346, -0.675035), tracking=(1.42196, -0.675035), map_predicted=(15.0069, -1.31603), range=1.305, pts=4
I0419 20:57:59.354198 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00900785m maha_sq=0.00346913 (gate chi2=5.99) pose_sigma=(0.150849, 0.150849, rho=0) det_map=(15.0069, -1.31603) lm_pos=(15.015, -1.32) delta=(-0.00808379, 0.00397413) -> 1 candidate(s)
I0419 20:57:59.354311 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00346913 range=1.305 variance=0.000634224 t_weight=4730.19 r_weight=0 yaml=(15.015, -1.32) prior=(16.4919, -1.83806, -173.974deg) obs_actual=(1.42196, -0.675035) obs_expected=(1.41434, -0.670234) delta=(0.00762192, -0.00480079) |delta|=0.00900785m
I0419 20:57:59.354417 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290793533886.
I0419 20:57:59.434374 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.330774, 0.630819)
I0419 20:57:59.434470 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:59.434497 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:59.434595 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290793820283.
I0419 20:57:59.435286 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:57:59.436555 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290794098400.
I0419 20:57:59.438105 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=109.392 rad/s > flush threshold 3.
I0419 20:57:59.439584 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555154s, prior_pose=(16.4759, -1.84174), yaw=-174.023 deg
I0419 20:57:59.439668 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1267, max_intensity=253, threshold=230, above_threshold=36, candidates=36
I0419 20:57:59.442509 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:57:59.442600 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:57:59.442732 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290794419639.
I0419 20:57:59.470320 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290794696298.
I0419 20:57:59.471050 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.56667, -2.72266)
I0419 20:57:59.471124 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57249, -2.72364), points=4, range=3.14125, residual=0.0136319, extent=0.0312193
I0419 20:57:59.471163 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.57249, -2.72364), tracking=(-1.87099, 2.72364), map_predicted=(18.6114, -4.35733), range=3.14125, pts=4
I0419 20:57:59.471196 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.26284m maha_sq=455.789 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6114, -4.35733) lm_pos=(15.915, -2.52) delta=(2.69635, -1.83733) -> 0 candidate(s)
I0419 20:57:59.502635 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290795017784.
I0419 20:57:59.590565 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=146.033 rad/s > flush threshold 3.
I0419 20:57:59.591954 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:57:59.592032 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:57:59.592097 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290795293848.
I0419 20:57:59.592787 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:57:59.592881 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290795294049.
I0419 20:57:59.594991 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290795581848.
I0419 20:57:59.595655 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.80605, -0.91032)
I0419 20:57:59.596944 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290795855762.
I0419 20:57:59.598433 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=603.65 rad/s > flush threshold 3.
I0419 20:57:59.618523 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0282821 range=0.695611 variance=0.000580134 t_weight=5171.22 r_weight=0 yaml=(15.915, -2.52) prior=(16.4338, -1.84172, -174.951deg) obs_actual=(0.556154, 0.645732) obs_expected=(0.57651, 0.629989) delta=(-0.0203555, 0.0157433) |delta|=0.0257332m
I0419 20:57:59.618676 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290796180426.
I0419 20:57:59.619359 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.50074, -4.48524), points=3, range=4.72967, residual=0.0117067, extent=0.0283859
I0419 20:57:59.619408 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.50074, -4.48524), tracking=(-1.79924, 4.48524), map_predicted=(18.6208, -6.15119), range=4.72967, pts=3
I0419 20:57:59.619432 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.52848m maha_sq=868.165 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6208, -6.15119) lm_pos=(15.915, -2.52) delta=(2.70584, -3.63119) -> 0 candidate(s)
I0419 20:57:59.680589 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290796470185.
I0419 20:57:59.681569 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.83586, -0.875663)
I0419 20:57:59.683337 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:59.683449 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:59.683581 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290796781718.
I0419 20:57:59.685364 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:57:59.685441 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=90.1682 rad/s > flush threshold 3.
I0419 20:57:59.706176 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290797051568.
I0419 20:57:59.707571 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290797053745.
I0419 20:57:59.734061 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553466s, prior_pose=(16.4064, -1.84138), yaw=-175.948 deg
I0419 20:57:59.734166 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:57:59.734328 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.743 deg, rms_residual=0.0150602m, sigma_yaw=0.019685 rad, N=2
I0419 20:57:59.734395 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.3958, -1.84709, -176.743deg) inliers=2 rms=0.0150602m
I0419 20:57:59.734463 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290797336093.
I0419 20:57:59.735203 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:57:59.735262 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:57:59.761893 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.02879, 0.549937)
I0419 20:57:59.762276 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290797613825.
I0419 20:57:59.811447 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.75514, -2.64337), points=3, range=3.174, residual=0.00933371, extent=0.0194103
I0419 20:57:59.811753 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.75514, -2.64337), tracking=(-2.05364, 2.64337), map_predicted=(18.6053, -4.36064), range=3.174, pts=3
I0419 20:57:59.811906 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.25968m maha_sq=450.963 (gate chi2=5.99) pose_sigma=(0.15099, 0.15099, rho=0) det_map=(18.6053, -4.36064) lm_pos=(15.915, -2.52) delta=(2.69027, -1.84064) -> 0 candidate(s)
I0419 20:57:59.812050 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=844.906 rad/s > flush threshold 3.
I0419 20:57:59.813562 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290797931907.
I0419 20:57:59.817564 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:57:59.822212 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:57:59.822299 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:57:59.826128 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:57:59.826272 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:57:59.826298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290798256570.
I0419 20:57:59.855072 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (4 entries) on yaw_rate=8.19554 rad/s > flush threshold 3.
I0419 20:57:59.855175 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:57:59.855240 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290798538826.
I0419 20:57:59.882519 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.03005, -0.590678)
I0419 20:57:59.882707 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290798818747.
I0419 20:57:59.883332 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290798818906.
I0419 20:57:59.941776 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.3514, -1.84969), yaw=-177.504 deg backend=(16.3619, -1.83405)
I0419 20:57:59.942852 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00523863 range=1.1766 variance=0.000677662 t_weight=4426.99 r_weight=0 yaml=(15.015, -1.32) prior=(16.3514, -1.84969, -177.504deg) obs_actual=(1.32301, -0.589489) obs_expected=(1.31207, -0.587379) delta=(0.0109312, -0.00210977) |delta|=0.0111329m
I0419 20:57:59.942967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290799110423.
I0419 20:57:59.943663 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.83552, -2.61329), points=3, range=3.19467, residual=0.00955954, extent=0.0198539
I0419 20:57:59.943725 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.83552, -2.61329), tracking=(-2.13402, 2.61329), map_predicted=(18.5972, -4.36758), range=3.19467, pts=3
I0419 20:57:59.943753 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.25695m maha_sq=455.824 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5972, -4.36758) lm_pos=(15.915, -2.52) delta=(2.68219, -1.84758) -> 0 candidate(s)
I0419 20:57:59.945437 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290799420641.
I0419 20:57:59.970080 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.00984, -0.590855)
I0419 20:57:59.970180 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:57:59.970208 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:57:59.970307 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290799696103.
I0419 20:57:59.970762 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:57:59.970826 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290799696313.
I0419 20:57:59.998144 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290799975676.
I0419 20:57:59.998960 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290799975885.
I0419 20:58:00.029368 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0868824s, prior_pose=(16.3334, -1.85195), yaw=-177.594 deg
I0419 20:58:00.029464 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:58:00.029680 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290800289465.
I0419 20:58:00.087849 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:00.087954 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:58:00.087982 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:58:00.088016 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=39.2909 rad/s > flush threshold 3.
I0419 20:58:00.089880 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290800587435.
I0419 20:58:00.090559 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.79274, -4.41867)
I0419 20:58:00.090631 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.225704, 0.497081), points=24, range=0.546833, residual=0.0120861, extent=0.0386959
I0419 20:58:00.090660 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.225704, 0.497081), tracking=(-0.524204, -0.497081), map_predicted=(16.8321, -1.3316), range=0.546833, pts=24
I0419 20:58:00.090690 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0207043m maha_sq=0.0185743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8321, -1.3316) lm_pos=(16.815, -1.32) delta=(0.0171489, -0.011601) -> 1 candidate(s)
I0419 20:58:00.092797 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290800871996.
I0419 20:58:00.103677 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:00.114941 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:00.115126 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290801143593.
I0419 20:58:00.118443 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290801178950.
I0419 20:58:00.146153 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0225582 range=0.667278 variance=0.000553515 t_weight=5419.91 r_weight=0 yaml=(15.915, -2.52) prior=(16.3014, -1.85243, -177.446deg) obs_actual=(0.395098, 0.659376) obs_expected=(0.415746, 0.649695) delta=(-0.0206479, 0.00968048) |delta|=0.0228045m
I0419 20:58:00.146319 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290801456569.
I0419 20:58:00.147033 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(0.252721, 0.495712)
I0419 20:58:00.205942 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:00.206100 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290801732718.
I0419 20:58:00.208248 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290802058641.
I0419 20:58:00.209851 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=155.041 rad/s > flush threshold 3.
I0419 20:58:00.234059 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.936989, -0.598803), points=7, range=1.10771, residual=0.0152381, extent=0.0425809
I0419 20:58:00.234149 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.936989, -0.598803), tracking=(1.23549, -0.598803), map_predicted=(15.0147, -1.31573), range=1.10771, pts=7
I0419 20:58:00.234208 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00428652m maha_sq=0.000782417 (gate chi2=5.99) pose_sigma=(0.150984, 0.150984, rho=0) det_map=(15.0147, -1.31573) lm_pos=(15.015, -1.32) delta=(-0.000320594, 0.00427451) -> 1 candidate(s)
I0419 20:58:00.234311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290802335756.
I0419 20:58:00.262080 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.87732, 0.564995)
I0419 20:58:00.262181 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:00.262207 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:00.262328 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290802615740.
I0419 20:58:00.263032 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:00.294445 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:00.294596 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:00.294621 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290802939942.
I0419 20:58:00.343207 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=55.3885 rad/s > flush threshold 3.
I0419 20:58:00.344435 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601768s, prior_pose=(16.2553, -1.85455), yaw=-177.263 deg
I0419 20:58:00.344530 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:00.344671 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.8 deg, rms_residual=0.0146906m, sigma_yaw=0.0192112 rad, N=2
I0419 20:58:00.344730 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.2486, -1.85961, -177.8deg) inliers=2 rms=0.0146906m
I0419 20:58:00.344763 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290803217508.
I0419 20:58:00.345405 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:00.345461 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:58:00.349857 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290803494070.
I0419 20:58:00.350533 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.83949, -4.42271)
I0419 20:58:00.350589 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307893, 0.494203), points=22, range=0.582227, residual=0.0121473, extent=0.0396475
I0419 20:58:00.350611 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.307893, 0.494203), tracking=(-0.606393, -0.494203), map_predicted=(16.8301, -1.33427), range=0.582227, pts=22
I0419 20:58:00.350636 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.020762m maha_sq=0.018676 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8301, -1.33427) lm_pos=(16.815, -1.32) delta=(0.0150849, -0.0142656) -> 1 candidate(s)
I0419 20:58:00.382367 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290803817522.
I0419 20:58:00.383994 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=19.4366 rad/s > flush threshold 3.
I0419 20:58:00.409808 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:00.409987 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290804092898.
I0419 20:58:00.410784 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:58:00.410892 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290804093145.
I0419 20:58:00.468164 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0185447 range=0.5933 variance=0.000563942 t_weight=5319.69 r_weight=0 yaml=(16.815, -1.32) prior=(16.2238, -1.85607, -177.203deg) obs_actual=(-0.631667, -0.492307) obs_expected=(-0.616608, -0.506584) delta=(-0.0150589, 0.0142768) |delta|=0.0207509m
I0419 20:58:00.468307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290804375053.
I0419 20:58:00.468708 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0247795, 0.654236)
I0419 20:58:00.468822 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290804419242.
I0419 20:58:00.470774 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290804702819.
I0419 20:58:00.497857 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290804972669.
I0419 20:58:00.499045 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:58:00.527179 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290805261244.
I0419 20:58:00.530153 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(4.08123e-05, 0.65739)
I0419 20:58:00.530228 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.862121, -0.596198), points=6, range=1.04533, residual=0.00983076, extent=0.0267142
I0419 20:58:00.530256 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.862121, -0.596198), tracking=(1.16062, -0.596198), map_predicted=(15.0108, -1.32024), range=1.04533, pts=6
I0419 20:58:00.530278 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00417898m maha_sq=0.000757685 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0108, -1.32024) lm_pos=(15.015, -1.32) delta=(-0.00417207, -0.000240223) -> 1 candidate(s)
I0419 20:58:00.530376 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290805297571.
I0419 20:58:00.558192 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:00.558318 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:00.558485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290805574831.
I0419 20:58:00.559307 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:00.641191 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290805855127.
I0419 20:58:00.643857 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0570705s, prior_pose=(16.1745, -1.85796), yaw=-177.205 deg
I0419 20:58:00.643983 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:00.644160 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290806145747.
I0419 20:58:00.644747 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:00.644797 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:00.644863 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290806145970.
I0419 20:58:00.646299 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290806459245.
I0419 20:58:00.647601 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.386545, 0.493115)
I0419 20:58:00.647675 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.0409 rad/s > flush threshold 3.
I0419 20:58:00.647697 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:00.674336 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.015417 range=0.663526 variance=0.000561193 t_weight=5345.75 r_weight=0 yaml=(15.915, -2.52) prior=(16.1605, -1.85854, -177.177deg) obs_actual=(0.263851, 0.661441) obs_expected=(0.277801, 0.648566) delta=(-0.0139507, 0.0128752) |delta|=0.018984m
I0419 20:58:00.674575 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290806734929.
I0419 20:58:00.752712 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.400331, 0.489905), points=18, range=0.6335, residual=0.0112376, extent=0.0362749
I0419 20:58:00.752820 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.400331, 0.489905), tracking=(-0.698831, -0.489905), map_predicted=(16.8313, -1.33528), range=0.6335, pts=18
I0419 20:58:00.752857 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0223397m maha_sq=0.02158 (gate chi2=5.99) pose_sigma=(0.150216, 0.150216, rho=0) det_map=(16.8313, -1.33528) lm_pos=(16.815, -1.32) delta=(0.0162947, -0.0152822) -> 1 candidate(s)
I0419 20:58:00.752880 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:00.752951 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290807059784.
I0419 20:58:00.753443 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290807060048.
I0419 20:58:00.754809 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:00.754916 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:00.754941 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290807373043.
I0419 20:58:00.756496 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290807417433.
I0419 20:58:00.762766 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290807621719.
I0419 20:58:00.763298 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.415439, 0.490456)
I0419 20:58:00.766824 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.1332, -1.85934), yaw=-177.141 deg backend=(16.1435, -1.84386)
I0419 20:58:00.794824 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290807935932.
I0419 20:58:00.822412 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:00.822592 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290808216995.
I0419 20:58:00.906622 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:00.906728 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:00.906829 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290808540400.
I0419 20:58:00.907480 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.435569, 0.489386), points=18, range=0.657444, residual=0.0121812, extent=0.0369479
I0419 20:58:00.907559 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:00.907580 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.435569, 0.489386), tracking=(-0.734069, -0.489386), map_predicted=(16.8253, -1.33182), range=0.657444, pts=18
I0419 20:58:00.907608 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0156499m maha_sq=0.0106099 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8253, -1.33182) lm_pos=(16.815, -1.32) delta=(0.0102521, -0.0118244) -> 1 candidate(s)
I0419 20:58:00.907675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290808540600.
I0419 20:58:00.909593 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290808771780.
I0419 20:58:00.910094 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.089013, 0.661267)
I0419 20:58:00.910207 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290808817028.
I0419 20:58:00.911612 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0855906s, prior_pose=(16.1088, -1.85786), yaw=-177.181 deg
I0419 20:58:00.911688 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1303, max_intensity=247, threshold=230, above_threshold=17, candidates=17
I0419 20:58:00.911803 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290809073293.
I0419 20:58:00.913159 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:00.913214 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:00.913275 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.163 deg, rms_residual=0.00742341m, sigma_yaw=0.00980087 rad, N=2
I0419 20:58:00.913295 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000636878 range=0.958556 variance=0.000648921 t_weight=4623.06 r_weight=0 yaml=(15.015, -1.32) prior=(16.0963, -1.85877, -177.183deg) obs_actual=(1.0535, -0.595122) obs_expected=(1.05355, -0.591259) delta=(-4.5204e-05, -0.00386272) |delta|=0.00386298m
I0419 20:58:00.913324 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.0922, -1.85631, -177.163deg) inliers=2 rms=0.00742341m
I0419 20:58:00.913350 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290809073539.
I0419 20:58:00.939016 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290809379347.
I0419 20:58:00.939934 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290809379704.
I0419 20:58:01.018134 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290809693004.
I0419 20:58:01.020015 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:01.020133 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290809973301.
I0419 20:58:01.021369 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.482927, 0.489851)
I0419 20:58:01.021445 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=52.9457 rad/s > flush threshold 3.
I0419 20:58:01.030021 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290810292855.
I0419 20:58:01.058581 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.710795, -0.596373), points=9, range=0.932333, residual=0.0138512, extent=0.0394934
I0419 20:58:01.058877 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.710795, -0.596373), tracking=(1.00929, -0.596373), map_predicted=(15.0261, -1.31306), range=0.932333, pts=9
I0419 20:58:01.059003 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0130859m maha_sq=0.00733509 (gate chi2=5.99) pose_sigma=(0.150688, 0.150688, rho=0) det_map=(15.0261, -1.31306) lm_pos=(15.015, -1.32) delta=(0.0110925, 0.00694243) -> 1 candidate(s)
I0419 20:58:01.059330 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290810576774.
I0419 20:58:01.060402 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290810577167.
I0419 20:58:01.087096 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290810860057.
I0419 20:58:01.176502 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:58:01.176599 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=50.4525 rad/s > flush threshold 3.
I0419 20:58:01.178031 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290811160062.
I0419 20:58:01.178632 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.513211, 0.48827)
I0419 20:58:01.178702 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:01.178746 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:01.178767 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290811160273.
I0419 20:58:01.180712 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:01.180765 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:01.180805 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00388455 range=0.916111 variance=0.000619188 t_weight=4845.06 r_weight=0 yaml=(15.015, -1.32) prior=(16.037, -1.85722, -176.972deg) obs_actual=(0.996029, -0.599197) obs_expected=(0.99224, -0.590467) delta=(0.00378913, -0.00873) |delta|=0.00951685m
I0419 20:58:01.180858 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290811460550.
I0419 20:58:01.181421 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:01.181478 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:01.181525 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290811460764.
I0419 20:58:01.182708 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290811734478.
I0419 20:58:01.184002 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=95.7837 rad/s > flush threshold 3.
I0419 20:58:01.206248 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595453s, prior_pose=(16.0215, -1.85753), yaw=-176.89 deg
I0419 20:58:01.206830 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:01.207610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290812056003.
I0419 20:58:01.209566 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:01.209682 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:01.278148 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.674281, -0.594757), points=10, range=0.8961, residual=0.0118394, extent=0.0335027
I0419 20:58:01.278259 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.674281, -0.594757), tracking=(0.972781, -0.594757), map_predicted=(15.0059, -1.31907), range=0.8961, pts=10
I0419 20:58:01.278329 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00918778m maha_sq=0.00361284 (gate chi2=5.99) pose_sigma=(0.150931, 0.150931, rho=0) det_map=(15.0059, -1.31907) lm_pos=(15.015, -1.32) delta=(-0.00914085, 0.000927411) -> 1 candidate(s)
I0419 20:58:01.278365 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:01.278407 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290812339575.
I0419 20:58:01.278995 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.544549, 0.488777)
I0419 20:58:01.280153 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290812621208.
I0419 20:58:01.281488 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=111.589 rad/s > flush threshold 3.
I0419 20:58:01.291050 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:01.295423 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290812942136.
I0419 20:58:01.322499 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290813214563.
I0419 20:58:01.349792 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290813493022.
I0419 20:58:01.411324 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(2.1888, -2.63953)
I0419 20:58:01.411458 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=50.1032 rad/s > flush threshold 3.
I0419 20:58:01.412664 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.625045, -0.593082), points=11, range=0.865818, residual=0.0143185, extent=0.046448
I0419 20:58:01.412726 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.625045, -0.593082), tracking=(0.923545, -0.593082), map_predicted=(15.0287, -1.31064), range=0.865818, pts=11
I0419 20:58:01.412755 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.016583m maha_sq=0.0117901 (gate chi2=5.99) pose_sigma=(0.150584, 0.150584, rho=0) det_map=(15.0287, -1.31064) lm_pos=(15.015, -1.32) delta=(0.0136893, 0.00935945) -> 1 candidate(s)
I0419 20:58:01.412824 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290813778466.
I0419 20:58:01.413414 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.012369 range=0.769833 variance=0.000505175 t_weight=5938.53 r_weight=0 yaml=(15.915, -2.52) prior=(15.9811, -1.85615, -177.095deg) obs_actual=(0.0857168, 0.669126) obs_expected=(0.0996695, 0.659645) delta=(-0.0139527, 0.00948022) |delta|=0.0168686m
I0419 20:58:01.413482 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290813778622.
I0419 20:58:01.415326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814057856.
I0419 20:58:01.415815 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814094960.
I0419 20:58:01.438256 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:01.438567 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:01.438674 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.012 deg, rms_residual=0.00930105m, sigma_yaw=0.0122495 rad, N=2
I0419 20:58:01.438761 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.9464, -1.85414, -177.012deg) inliers=2 rms=0.00930105m
I0419 20:58:01.438807 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814375311.
I0419 20:58:01.439471 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=12, centroid=(0.599084, 0.492249)
I0419 20:58:01.439528 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:01.439600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814375696.
I0419 20:58:01.466200 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814656523.
I0419 20:58:01.466689 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814656729.
I0419 20:58:01.537014 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563692s, prior_pose=(15.9413, -1.8531), yaw=-177.264 deg
I0419 20:58:01.537163 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1324, max_intensity=250, threshold=230, above_threshold=42, candidates=42
I0419 20:58:01.537413 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814939388.
I0419 20:58:01.538195 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:01.538242 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:01.538270 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.255174, 0.670495), points=18, range=0.717944, residual=0.0119093, extent=0.0359747
I0419 20:58:01.538292 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.255174, 0.670495), tracking=(0.0433262, 0.670495), map_predicted=(15.93, -2.5249), range=0.717944, pts=18
I0419 20:58:01.538316 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0157955m maha_sq=0.0108102 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.93, -2.5249) lm_pos=(15.915, -2.52) delta=(0.0150172, -0.00489695) -> 1 candidate(s)
I0419 20:58:01.538352 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:58:01.538391 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290814972808.
I0419 20:58:01.539546 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:01.539608 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:01.539633 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290815253139.
I0419 20:58:01.540023 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=11, centroid=(0.619563, 0.492724)
I0419 20:58:01.540097 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000315784 range=0.756636 variance=0.000535188 t_weight=5605.51 r_weight=0 yaml=(15.915, -2.52) prior=(15.9413, -1.8531, -177.264deg) obs_actual=(0.0555966, 0.665909) obs_expected=(0.0580926, 0.664887) delta=(-0.00249596, 0.00102192) |delta|=0.00269706m
I0419 20:58:01.540141 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290815253302.
I0419 20:58:01.555022 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290815536532.
I0419 20:58:01.562170 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290815614693.
I0419 20:58:01.585673 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:58:01.585855 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290815851837.
I0419 20:58:01.586367 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290815851944.
I0419 20:58:01.614715 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290816141318.
I0419 20:58:01.676889 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.646535, 0.493057), points=11, range=0.810273, residual=0.0119552, extent=0.0343411
I0419 20:58:01.676986 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.646535, 0.493057), tracking=(-0.945035, -0.493057), map_predicted=(16.8325, -1.31995), range=0.810273, pts=11
I0419 20:58:01.677016 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0175458m maha_sq=0.0131766 (gate chi2=5.99) pose_sigma=(0.150928, 0.150928, rho=0) det_map=(16.8325, -1.31995) lm_pos=(16.815, -1.32) delta=(0.0175457, 5.31532e-05) -> 1 candidate(s)
I0419 20:58:01.677037 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.83972 rad/s > flush threshold 3.
I0419 20:58:01.677111 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290816141450.
I0419 20:58:01.678371 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.562904, -0.58782)
I0419 20:58:01.678526 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290816498558.
I0419 20:58:01.679186 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290816498830.
I0419 20:58:01.680389 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.9014, -1.85741), yaw=-177.39 deg backend=(15.922, -1.85004)
I0419 20:58:01.681098 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00125887 range=0.732824 variance=0.000592091 t_weight=5066.79 r_weight=0 yaml=(15.915, -2.52) prior=(15.9014, -1.85741, -177.39deg) obs_actual=(0.0112179, 0.661616) obs_expected=(0.0165587, 0.662524) delta=(-0.00534077, -0.000908314) |delta|=0.00541746m
I0419 20:58:01.681192 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290816705307.
I0419 20:58:01.681711 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290816732492.
I0419 20:58:01.702337 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817014175.
I0419 20:58:01.706405 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817058742.
I0419 20:58:01.730782 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(2.30638, -2.62994)
I0419 20:58:01.731225 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:01.731554 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:01.731704 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.733 deg, rms_residual=0.00445205m, sigma_yaw=0.00590103 rad, N=2
I0419 20:58:01.731851 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.872, -1.86288, -176.733deg) inliers=2 rms=0.00445205m
I0419 20:58:01.731911 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817299167.
I0419 20:58:01.734320 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:01.734576 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290817334868.
I0419 20:58:01.819021 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.528402, -0.586796), points=11, range=0.793273, residual=0.012432, extent=0.0386984
I0419 20:58:01.819125 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.528402, -0.586796), tracking=(0.826902, -0.586796), map_predicted=(15.0312, -1.30741), range=0.793273, pts=11
I0419 20:58:01.819160 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0205448m maha_sq=0.0182207 (gate chi2=5.99) pose_sigma=(0.150233, 0.150233, rho=0) det_map=(15.0312, -1.30741) lm_pos=(15.015, -1.32) delta=(0.0162383, 0.012586) -> 1 candidate(s)
I0419 20:58:01.819239 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817612801.
I0419 20:58:01.819695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817613052.
I0419 20:58:01.820993 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843779s, prior_pose=(15.8841, -1.85583), yaw=-177.382 deg
I0419 20:58:01.821101 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 20:58:01.821269 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817902521.
I0419 20:58:01.822528 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:01.822578 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:01.822611 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.6527 rad/s > flush threshold 3.
I0419 20:58:01.822636 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:01.822660 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000401332 range=0.721 variance=0.000601705 t_weight=4985.83 r_weight=0 yaml=(15.915, -2.52) prior=(15.8662, -1.85679, -177.366deg) obs_actual=(-0.0175592, 0.661779) obs_expected=(-0.0183143, 0.664756) delta=(0.000755141, -0.00297713) |delta|=0.00307141m
I0419 20:58:01.822697 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290817902733.
I0419 20:58:01.823850 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.51674, -0.587306)
I0419 20:58:01.823963 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 20:58:01.824007 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:01.824030 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290818217527.
I0419 20:58:01.824641 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290818217738.
I0419 20:58:01.851075 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290818500820.
I0419 20:58:01.852283 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290818501030.
I0419 20:58:01.878398 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:58:01.878666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290818774319.
I0419 20:58:01.964286 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.711923, 0.489168)
I0419 20:58:01.964386 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.257376, -0.661809), points=18, range=0.712611, residual=0.012378, extent=0.0361216
I0419 20:58:01.964412 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.257376, -0.661809), tracking=(-0.0411242, 0.661809), map_predicted=(15.9088, -2.5139), range=0.712611, pts=18
I0419 20:58:01.964438 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0087313m maha_sq=0.00324241 (gate chi2=5.99) pose_sigma=(0.151397, 0.151397, rho=0) det_map=(15.9088, -2.5139) lm_pos=(15.915, -2.52) delta=(-0.00624898, 0.00609802) -> 1 candidate(s)
I0419 20:58:01.964459 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.2801 rad/s > flush threshold 3.
I0419 20:58:01.964522 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290818774528.
I0419 20:58:01.966224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290819054646.
I0419 20:58:01.966745 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[18] 'ref_19' maha_sq=0.0105918 range=0.767294 variance=0.0006868 t_weight=4368.09 r_weight=4331.8 yaml=(15.915, -2.52) prior=(15.8374, -1.85466, -177.38deg) obs_actual=(-0.0608126, 0.675751) obs_expected=(-0.0470879, 0.668186) delta=(-0.0137247, 0.00756458) |delta|=0.0156713m
I0419 20:58:01.966837 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290819100276.
I0419 20:58:01.968957 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290819343474.
I0419 20:58:01.969734 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290819379151.
I0419 20:58:01.970975 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290819659732.
I0419 20:58:01.971370 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.236897, -0.659732)
I0419 20:58:01.971459 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290819659893.
I0419 20:58:01.998198 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290819974489.
I0419 20:58:01.999116 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.7375, 0.489619), points=9, range=0.887111, residual=0.0118601, extent=0.0371574
I0419 20:58:01.999182 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.7375, 0.489619), tracking=(-1.036, -0.489619), map_predicted=(16.8306, -1.3238), range=0.887111, pts=9
I0419 20:58:01.999214 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0160239m maha_sq=0.0111225 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8306, -1.3238) lm_pos=(16.815, -1.32) delta=(0.0155671, -0.00379893) -> 1 candidate(s)
I0419 20:58:01.999313 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290819974763.
I0419 20:58:02.092027 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:02.092124 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:02.092190 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.682 deg, rms_residual=0.00201105m, sigma_yaw=0.0026886 rad, N=2
I0419 20:58:02.092224 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8042, -1.86491, -176.682deg) inliers=2 rms=0.00201105m
I0419 20:58:02.092257 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290820256853.
I0419 20:58:02.092866 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:02.092962 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290820257081.
I0419 20:58:02.094379 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0195066 range=1.541 variance=0.000643009 t_weight=4665.57 r_weight=0 yaml=(14.115, -2.52) prior=(15.7974, -1.86025, -177.334deg) obs_actual=(1.73247, 0.58178) obs_expected=(1.71125, 0.58079) delta=(0.0212241, 0.000989313) |delta|=0.0212471m
I0419 20:58:02.094486 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290820582244.
I0419 20:58:02.095711 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.8501 rad/s > flush threshold 3.
I0419 20:58:02.095794 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290820582481.
I0419 20:58:02.096944 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060542s, prior_pose=(15.7882, -1.85825), yaw=-177.287 deg
I0419 20:58:02.096998 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=252, threshold=230, above_threshold=18, candidates=18
I0419 20:58:02.097144 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290820862273.
I0419 20:58:02.097738 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:02.097779 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.206128, -0.660513)
I0419 20:58:02.097797 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:02.097836 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 20:58:02.097880 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290820862434.
I0419 20:58:02.114511 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:02.114805 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:02.114859 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290821133956.
I0419 20:58:02.116505 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290821134225.
I0419 20:58:02.142973 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290821420011.
I0419 20:58:02.232326 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=48.7091 rad/s > flush threshold 3.
I0419 20:58:02.232520 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290821420263.
I0419 20:58:02.233776 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40068, 0.582566), points=3, range=1.51567, residual=0.00487859, extent=0.00930771
I0419 20:58:02.233866 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40068, 0.582566), tracking=(1.69918, 0.582566), map_predicted=(14.1081, -2.52967), range=1.51567, pts=3
I0419 20:58:02.233894 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0118966m maha_sq=0.00615173 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1081, -2.52967) lm_pos=(14.115, -2.52) delta=(-0.00692563, -0.00967284) -> 1 candidate(s)
I0419 20:58:02.233915 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:02.233981 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290821735368.
I0419 20:58:02.234644 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290821735646.
I0419 20:58:02.236668 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290822018436.
I0419 20:58:02.237325 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0142033 range=0.933286 variance=0.000522109 t_weight=5745.92 r_weight=0 yaml=(16.815, -1.32) prior=(15.7668, -1.86625, -177.215deg) obs_actual=(-1.09103, -0.490401) obs_expected=(-1.07346, -0.49468) delta=(-0.0175694, 0.00427854) |delta|=0.0180829m
I0419 20:58:02.237416 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290822018712.
I0419 20:58:02.238669 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290822297334.
I0419 20:58:02.239912 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.167255, -0.658628)
I0419 20:58:02.239985 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.8483 rad/s > flush threshold 3.
I0419 20:58:02.240044 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290822297472.
I0419 20:58:02.262601 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290822615224.
I0419 20:58:02.264246 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290822615465.
I0419 20:58:02.354279 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290822902312.
I0419 20:58:02.355306 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290822902644.
I0419 20:58:02.356731 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:02.356830 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:02.356911 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290823219153.
I0419 20:58:02.358292 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832757, 0.483998), points=7, range=0.959, residual=0.0111577, extent=0.0276319
I0419 20:58:02.358371 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:02.358434 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.832757, 0.483998), tracking=(-1.13126, -0.483998), map_predicted=(16.8305, -1.32144), range=0.959, pts=7
I0419 20:58:02.358458 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0155835m maha_sq=0.010389 (gate chi2=5.99) pose_sigma=(0.151005, 0.151005, rho=0) det_map=(16.8305, -1.32144) lm_pos=(16.815, -1.32) delta=(0.0155167, -0.00144101) -> 1 candidate(s)
I0419 20:58:02.358479 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=80.2835 rad/s > flush threshold 3.
I0419 20:58:02.358523 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290823219375.
I0419 20:58:02.359745 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290823498556.
I0419 20:58:02.360405 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290823498776.
I0419 20:58:02.377883 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554421s, prior_pose=(15.7168, -1.86557), yaw=-177.116 deg
I0419 20:58:02.378046 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:02.378279 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.552 deg, rms_residual=0.0124523m, sigma_yaw=0.0163319 rad, N=2
I0419 20:58:02.378334 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0109687 range=1.462 variance=0.000608983 t_weight=4926.25 r_weight=0 yaml=(14.115, -2.52) prior=(15.7168, -1.86557, -177.116deg) obs_actual=(1.64729, 0.579476) obs_expected=(1.63267, 0.572997) delta=(0.0146203, 0.00647859) |delta|=0.0159914m
I0419 20:58:02.378433 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.717, -1.85247, -176.552deg) inliers=2 rms=0.0124523m
I0419 20:58:02.378492 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290823773796.
I0419 20:58:02.379617 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:02.379690 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.133093, -0.659761)
I0419 20:58:02.379725 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:02.379797 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:02.379904 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290823774064.
I0419 20:58:02.408370 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:02.408656 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:02.408707 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824063422.
I0419 20:58:02.499297 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.6204 rad/s > flush threshold 3.
I0419 20:58:02.499442 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824063672.
I0419 20:58:02.500771 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824382556.
I0419 20:58:02.501319 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824416507.
I0419 20:58:02.503548 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:02.503675 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824654704.
I0419 20:58:02.504060 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.863427, 0.481875), points=6, range=0.9905, residual=0.00731139, extent=0.0208073
I0419 20:58:02.504122 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.863427, 0.481875), tracking=(-1.16193, -0.481875), map_predicted=(16.836, -1.31706), range=0.9905, pts=6
I0419 20:58:02.504153 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0212416m maha_sq=0.0196151 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.836, -1.31706) lm_pos=(16.815, -1.32) delta=(0.0210372, 0.00293976) -> 1 candidate(s)
I0419 20:58:02.504218 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824654895.
I0419 20:58:02.505695 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824934519.
I0419 20:58:02.506278 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290824978078.
I0419 20:58:02.525892 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0018593 range=1.43733 variance=0.000536911 t_weight=5587.51 r_weight=0 yaml=(14.115, -2.52) prior=(15.6856, -1.8557, -176.991deg) obs_actual=(1.60983, 0.581546) obs_expected=(1.60327, 0.580954) delta=(0.00656639, 0.000592074) |delta|=0.00659303m
I0419 20:58:02.526041 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290825253816.
I0419 20:58:02.526602 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0954157, -0.659031)
I0419 20:58:02.526719 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290825254043.
I0419 20:58:02.594189 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.6807, -1.86328), yaw=-177.042 deg backend=(15.6965, -1.856)
I0419 20:58:02.595063 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290825537549.
I0419 20:58:02.595777 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290825537813.
I0419 20:58:02.597011 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290825816328.
I0419 20:58:02.597649 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290825861211.
I0419 20:58:02.614696 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:02.614842 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:02.615022 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290826135710.
I0419 20:58:02.615918 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904893, 0.481961), points=5, range=1.0272, residual=0.00825104, extent=0.0218883
I0419 20:58:02.616005 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:02.616041 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.904893, 0.481961), tracking=(-1.20339, -0.481961), map_predicted=(16.8412, -1.3168), range=1.0272, pts=5
I0419 20:58:02.616127 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0264096m maha_sq=0.0302991 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8412, -1.3168) lm_pos=(16.815, -1.32) delta=(0.0262145, 0.0032041) -> 1 candidate(s)
I0419 20:58:02.616273 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290826135897.
I0419 20:58:02.642277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290826415152.
I0419 20:58:02.643460 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290826415421.
I0419 20:58:02.674177 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0873932s, prior_pose=(15.653, -1.86664), yaw=-177.05 deg
I0419 20:58:02.674345 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:02.674671 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.464 deg, rms_residual=0.0117161m, sigma_yaw=0.0153812 rad, N=2
I0419 20:58:02.674741 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00132576 range=1.3935 variance=0.000547146 t_weight=5483 r_weight=0 yaml=(14.115, -2.52) prior=(15.653, -1.86664, -177.05deg) obs_actual=(1.56851, 0.578755) obs_expected=(1.56964, 0.573344) delta=(-0.00112949, 0.00541104) |delta|=0.00552767m
I0419 20:58:02.674875 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6378, -1.85498, -176.464deg) inliers=2 rms=0.0117161m
I0419 20:58:02.674942 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290826735143.
I0419 20:58:02.749658 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:02.749766 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0573432, -0.65847)
I0419 20:58:02.749785 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:02.749825 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.11469 rad/s > flush threshold 3.
I0419 20:58:02.749848 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:02.749899 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290826735413.
I0419 20:58:02.750280 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:02.751322 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:02.751385 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:02.751408 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827023002.
I0419 20:58:02.752027 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827023226.
I0419 20:58:02.753993 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827295734.
I0419 20:58:02.754631 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827295958.
I0419 20:58:02.758419 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:02.758628 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827576194.
I0419 20:58:02.762933 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25041, 0.583053), points=4, range=1.373, residual=0.0154205, extent=0.0350971
I0419 20:58:02.763044 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25041, 0.583053), tracking=(1.54891, 0.583053), map_predicted=(14.1114, -2.53255), range=1.373, pts=4
I0419 20:58:02.763106 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.013059m maha_sq=0.0073476 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1114, -2.53255) lm_pos=(14.115, -2.52) delta=(-0.00361524, -0.0125486) -> 1 candidate(s)
I0419 20:58:02.763238 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827621587.
I0419 20:58:02.791553 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827897753.
I0419 20:58:02.792523 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290827898083.
I0419 20:58:02.866755 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0178416 range=1.3625 variance=0.000516356 t_weight=5809.94 r_weight=0 yaml=(14.115, -2.52) prior=(15.5986, -1.86953, -177.03deg) obs_actual=(1.5353, 0.576732) obs_expected=(1.51528, 0.572727) delta=(0.020027, 0.00400432) |delta|=0.0204234m
I0419 20:58:02.866925 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290828178589.
I0419 20:58:02.867545 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0199364, -0.6606)
I0419 20:58:02.867594 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 20:58:02.867653 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290828178843.
I0419 20:58:02.868793 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290828457844.
I0419 20:58:02.869274 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290828492762.
I0419 20:58:02.878715 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290828780503.
I0419 20:58:02.879468 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290828780712.
I0419 20:58:02.909034 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:02.909157 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:02.909265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829082748.
I0419 20:58:02.910048 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.990375, 0.479463), points=4, range=1.09675, residual=0.00890328, extent=0.0212694
I0419 20:58:02.910104 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:02.910125 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.990375, 0.479463), tracking=(-1.28887, -0.479463), map_predicted=(16.8393, -1.32668), range=1.09675, pts=4
I0419 20:58:02.910154 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0252071m maha_sq=0.0275849 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8393, -1.32668) lm_pos=(16.815, -1.32) delta=(0.024307, -0.00667602) -> 1 candidate(s)
I0419 20:58:02.910260 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829082872.
I0419 20:58:02.938282 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829378101.
I0419 20:58:02.993465 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=70.5921 rad/s > flush threshold 3.
I0419 20:58:02.993628 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829378219.
I0419 20:58:02.994871 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0576457s, prior_pose=(15.568, -1.8705), yaw=-176.926 deg
I0419 20:58:02.994956 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:02.995081 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.57 deg, rms_residual=0.0125635m, sigma_yaw=0.0164753 rad, N=2
I0419 20:58:02.995113 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00444346 range=1.328 variance=0.000598256 t_weight=5014.58 r_weight=0 yaml=(14.115, -2.52) prior=(15.568, -1.8705, -176.926deg) obs_actual=(1.48851, 0.580388) obs_expected=(1.48577, 0.570635) delta=(0.00274089, 0.00975314) |delta|=0.010131m
I0419 20:58:02.995149 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.5586, -1.86166, -176.57deg) inliers=2 rms=0.0125635m
I0419 20:58:02.995177 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829659205.
I0419 20:58:02.995787 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:02.995829 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0163696, -0.661166)
I0419 20:58:02.995848 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:02.995887 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 20:58:02.995923 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829659358.
I0419 20:58:02.997803 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:02.997872 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:02.997895 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829934282.
I0419 20:58:02.998504 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290829934372.
I0419 20:58:03.026476 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290830260314.
I0419 20:58:03.027868 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=85.1065 rad/s > flush threshold 3.
I0419 20:58:03.027964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290830260453.
I0419 20:58:03.054838 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:03.055011 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290830540648.
I0419 20:58:03.055747 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03247, 0.477785), points=4, range=1.13425, residual=0.00855353, extent=0.0205366
I0419 20:58:03.055806 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.03247, 0.477785), tracking=(-1.33097, -0.477785), map_predicted=(16.8475, -1.32025), range=1.13425, pts=4
I0419 20:58:03.055832 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0325414m maha_sq=0.0459804 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8475, -1.32025) lm_pos=(16.815, -1.32) delta=(0.0325405, -0.00025016) -> 1 candidate(s)
I0419 20:58:03.055899 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290830540816.
I0419 20:58:03.125722 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290830835658.
I0419 20:58:03.126507 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290830835838.
I0419 20:58:03.127856 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00444579 range=1.298 variance=0.00057662 t_weight=5202.73 r_weight=0 yaml=(14.115, -2.52) prior=(15.5344, -1.85917, -176.723deg) obs_actual=(1.4629, 0.584772) obs_expected=(1.45486, 0.578613) delta=(0.0080409, 0.00615937) |delta|=0.0101289m
I0419 20:58:03.127987 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831137398.
I0419 20:58:03.129290 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.0540373, -0.661871)
I0419 20:58:03.129385 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=75.2885 rad/s > flush threshold 3.
I0419 20:58:03.129452 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831137571.
I0419 20:58:03.142159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831416329.
I0419 20:58:03.142886 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831416475.
I0419 20:58:03.170289 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831696684.
I0419 20:58:03.171317 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290831696920.
I0419 20:58:03.199736 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:03.199901 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:03.200155 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831988480.
I0419 20:58:03.274271 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:03.274358 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.6905 rad/s > flush threshold 3.
I0419 20:58:03.274434 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290831988707.
I0419 20:58:03.275722 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.13339, -0.581468), points=19, range=0.597632, residual=0.010816, extent=0.0352499
I0419 20:58:03.275823 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.13339, -0.581468), tracking=(0.43189, -0.581468), map_predicted=(15.0287, -1.3085), range=0.597632, pts=19
I0419 20:58:03.275894 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0178637m maha_sq=0.0138438 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0287, -1.3085) lm_pos=(15.015, -1.32) delta=(0.0136712, 0.0114983) -> 1 candidate(s)
I0419 20:58:03.275974 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290832295377.
I0419 20:58:03.276654 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290832295641.
I0419 20:58:03.278679 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0630608s, prior_pose=(15.4837, -1.8739), yaw=-176.864 deg
I0419 20:58:03.278770 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:03.278914 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290832619315.
I0419 20:58:03.279521 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:03.279572 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0940572, -0.661997)
I0419 20:58:03.279595 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:03.279641 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:58:03.279672 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0295382 range=1.18475 variance=0.000495245 t_weight=6057.61 r_weight=0 yaml=(16.815, -1.32) prior=(15.4837, -1.8739, -176.864deg) obs_actual=(-1.38536, -0.476338) obs_expected=(-1.3596, -0.480252) delta=(-0.0257666, 0.00391405) |delta|=0.0260622m
I0419 20:58:03.279708 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290832619493.
I0419 20:58:03.291215 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:03.291455 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:03.291484 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290832901522.
I0419 20:58:03.293056 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=51.574 rad/s > flush threshold 3.
I0419 20:58:03.318877 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.353 deg, rms_residual=0.0147083m, sigma_yaw=0.0192339 rad, N=2
I0419 20:58:03.319094 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.4696, -1.85823, -176.353deg) inliers=2 rms=0.0147083m
I0419 20:58:03.319156 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290833181374.
I0419 20:58:03.320133 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290833181686.
I0419 20:58:03.397002 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:03.397159 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290833454754.
I0419 20:58:03.397857 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290833454956.
I0419 20:58:03.399180 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290833777611.
I0419 20:58:03.400523 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1141, 0.48057), points=4, range=1.2105, residual=0.00726864, extent=0.0159726
I0419 20:58:03.400622 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1141, 0.48057), tracking=(-1.4126, -0.48057), map_predicted=(16.8385, -1.32415), range=1.2105, pts=4
I0419 20:58:03.400650 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0238837m maha_sq=0.0244158 (gate chi2=5.99) pose_sigma=(0.151158, 0.151158, rho=0) det_map=(16.8385, -1.32415) lm_pos=(16.815, -1.32) delta=(0.0235208, -0.00414776) -> 1 candidate(s)
I0419 20:58:03.400679 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=45.6557 rad/s > flush threshold 3.
I0419 20:58:03.400740 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290833777773.
I0419 20:58:03.406527 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290834056667.
I0419 20:58:03.407864 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.135398, -0.665593)
I0419 20:58:03.408058 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290834056950.
I0419 20:58:03.415596 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.4433, -1.88121), yaw=-177.102 deg backend=(15.4598, -1.86557)
I0419 20:58:03.434959 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290834341979.
I0419 20:58:03.435925 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290834342192.
I0419 20:58:03.466725 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0301399 range=0.5821 variance=0.000543341 t_weight=5521.4 r_weight=0 yaml=(15.015, -1.32) prior=(15.4433, -1.88121, -177.102deg) obs_actual=(0.373576, -0.576581) obs_expected=(0.399336, -0.582142) delta=(-0.0257604, 0.00556127) |delta|=0.0263538m
I0419 20:58:03.467093 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290834659032.
I0419 20:58:03.542237 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.9828 rad/s > flush threshold 3.
I0419 20:58:03.542387 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290834659266.
I0419 20:58:03.543712 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:03.543828 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:03.543913 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290834937465.
I0419 20:58:03.544543 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:03.544646 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290834937789.
I0419 20:58:03.546650 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290835213404.
I0419 20:58:03.547711 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290835257983.
I0419 20:58:03.554646 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880753s, prior_pose=(15.4168, -1.88004), yaw=-177.239 deg
I0419 20:58:03.554803 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:03.555097 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02905, 0.600093), points=5, range=1.1934, residual=0.00991706, extent=0.0260005
I0419 20:58:03.555150 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02905, 0.600093), tracking=(1.32755, 0.600093), map_predicted=(14.1197, -2.54339), range=1.1934, pts=5
I0419 20:58:03.555194 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.023862m maha_sq=0.0246931 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1197, -2.54339) lm_pos=(14.115, -2.52) delta=(0.00473658, -0.0233872) -> 1 candidate(s)
I0419 20:58:03.555351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290835540019.
I0419 20:58:03.556180 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:03.556262 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.179848, -0.666697)
I0419 20:58:03.556300 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:03.556437 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290835540207.
I0419 20:58:03.582649 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:03.582866 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290835817651.
I0419 20:58:03.586848 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:03.587117 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:03.587167 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290835852629.
I0419 20:58:03.681991 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0132845 range=1.1754 variance=0.000712688 t_weight=4209.42 r_weight=0 yaml=(14.115, -2.52) prior=(15.3983, -1.87604, -177.535deg) obs_actual=(1.30247, 0.604172) obs_expected=(1.30978, 0.588163) delta=(-0.00731007, 0.0160092) |delta|=0.0175992m
I0419 20:58:03.682121 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290836132243.
I0419 20:58:03.682538 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290836132477.
I0419 20:58:03.683909 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:03.683995 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290836387311.
I0419 20:58:03.684389 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.15 deg, rms_residual=0.0164843m, sigma_yaw=0.0215064 rad, N=2
I0419 20:58:03.684445 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3848, -1.86208, -177.15deg) inliers=2 rms=0.0164843m
I0419 20:58:03.684478 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290836420458.
I0419 20:58:03.687897 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290836696125.
I0419 20:58:03.688454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290836696282.
I0419 20:58:03.703284 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837019740.
I0419 20:58:03.704859 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.224891, -0.66511)
I0419 20:58:03.704985 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.221819, -0.662908), points=16, range=0.700375, residual=0.0105543, extent=0.0311476
I0419 20:58:03.705037 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.221819, -0.662908), tracking=(-0.520319, 0.662908), map_predicted=(15.9168, -2.52062), range=0.700375, pts=16
I0419 20:58:03.705127 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00187836m maha_sq=0.000153077 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9168, -2.52062) lm_pos=(15.915, -2.52) delta=(0.00177214, -0.000622695) -> 1 candidate(s)
I0419 20:58:03.705286 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290837019871.
I0419 20:58:03.731007 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837301520.
I0419 20:58:03.816689 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=90.8783 rad/s > flush threshold 3.
I0419 20:58:03.816839 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837301826.
I0419 20:58:03.818290 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837572808.
I0419 20:58:03.818773 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0306319 range=0.571238 variance=0.000550161 t_weight=5452.95 r_weight=0 yaml=(15.015, -1.32) prior=(15.3634, -1.87159, -178.013deg) obs_actual=(0.30349, -0.570626) obs_expected=(0.329043, -0.563339) delta=(-0.0255534, -0.00728675) |delta|=0.026572m
I0419 20:58:03.818853 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837618163.
I0419 20:58:03.820930 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:03.821003 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:03.821101 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837955269.
I0419 20:58:03.821493 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:03.821568 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290837955570.
I0419 20:58:03.823082 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290838173879.
I0419 20:58:03.824342 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=398.273 rad/s > flush threshold 3.
I0419 20:58:03.845917 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0497572s, prior_pose=(15.3363, -1.86962), yaw=-178.489 deg
I0419 20:58:03.846065 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1308, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:03.846215 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.270061, -0.657318)
I0419 20:58:03.846398 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290838452841.
I0419 20:58:03.850718 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:03.850906 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:03.851100 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290838498414.
I0419 20:58:03.937211 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.278538, -0.656129), points=16, range=0.714063, residual=0.0107945, extent=0.0317102
I0419 20:58:03.937310 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.278538, -0.656129), tracking=(-0.577038, 0.656129), map_predicted=(15.9302, -2.50729), range=0.714063, pts=16
I0419 20:58:03.937342 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0198078m maha_sq=0.0169568 (gate chi2=5.99) pose_sigma=(0.150279, 0.150279, rho=0) det_map=(15.9302, -2.50729) lm_pos=(15.915, -2.52) delta=(0.0151962, 0.0127053) -> 1 candidate(s)
I0419 20:58:03.937419 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290838740840.
I0419 20:58:03.938226 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:03.938328 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290838775504.
I0419 20:58:03.939735 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:03.939837 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:03.939862 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290839061867.
I0419 20:58:03.940279 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290839062134.
I0419 20:58:03.942407 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:03.942513 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00176713 range=1.113 variance=0.000564475 t_weight=5314.68 r_weight=0 yaml=(14.115, -2.52) prior=(15.3183, -1.86637, -178.802deg) obs_actual=(1.21638, 0.634766) obs_expected=(1.21669, 0.628331) delta=(-0.000310816, 0.00643407) |delta|=0.00644157m
I0419 20:58:03.942580 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290839341374.
I0419 20:58:03.943213 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290839341565.
I0419 20:58:03.962733 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.24421, 0.530268)
I0419 20:58:03.963040 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290839618568.
I0419 20:58:03.966174 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290839652401.
I0419 20:58:03.994639 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290839934009.
I0419 20:58:03.995782 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290839934340.
I0419 20:58:04.090574 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290840260298.
I0419 20:58:04.091346 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.781 deg, rms_residual=0.00507389m, sigma_yaw=0.00671972 rad, N=2
I0419 20:58:04.091513 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2722, -1.88996, -178.781deg) inliers=2 rms=0.00507389m
I0419 20:58:04.091567 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290840260584.
I0419 20:58:04.093508 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.059882, -0.561753), points=22, range=0.565136, residual=0.0110365, extent=0.0347493
I0419 20:58:04.093609 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.059882, -0.561753), tracking=(0.238618, -0.561753), map_predicted=(15.0416, -1.31558), range=0.565136, pts=22
I0419 20:58:04.093642 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.026951m maha_sq=0.0310466 (gate chi2=5.99) pose_sigma=(0.151132, 0.151132, rho=0) det_map=(15.0416, -1.31558) lm_pos=(15.015, -1.32) delta=(0.0265858, 0.00442213) -> 1 candidate(s)
I0419 20:58:04.093720 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290840538222.
I0419 20:58:04.094383 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290840538429.
I0419 20:58:04.095679 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.863823, 0.654849)
I0419 20:58:04.095754 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:04.095781 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:04.095875 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290840817468.
I0419 20:58:04.097224 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:04.097308 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=315.08 rad/s > flush threshold 3.
I0419 20:58:04.114751 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290841134924.
I0419 20:58:04.208057 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599757s, prior_pose=(15.2588, -1.86967), yaw=-179.969 deg
I0419 20:58:04.208175 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:58:04.208357 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00628013 range=1.07389 variance=0.000604778 t_weight=4960.49 r_weight=0 yaml=(14.115, -2.52) prior=(15.2588, -1.86967, -179.969deg) obs_actual=(1.14757, 0.661325) obs_expected=(1.14416, 0.649719) delta=(0.00340247, 0.0116054) |delta|=0.0120939m
I0419 20:58:04.208410 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290841417407.
I0419 20:58:04.208752 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:04.208786 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:04.208838 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290841417655.
I0419 20:58:04.209859 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:04.210214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290841694981.
I0419 20:58:04.211408 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=226.833 rad/s > flush threshold 3.
I0419 20:58:04.211510 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:04.212677 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290842019401.
I0419 20:58:04.213249 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.388073, -0.64149)
I0419 20:58:04.213331 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290842019584.
I0419 20:58:04.229867 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.092108, -0.560423), points=21, range=0.567714, residual=0.0107016, extent=0.0341072
I0419 20:58:04.230019 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.092108, -0.560423), tracking=(0.206392, -0.560423), map_predicted=(15.0292, -1.31288), range=0.567714, pts=21
I0419 20:58:04.230060 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0158881m maha_sq=0.0108224 (gate chi2=5.99) pose_sigma=(0.150921, 0.150921, rho=0) det_map=(15.0292, -1.31288) lm_pos=(15.015, -1.32) delta=(0.0142049, 0.00711703) -> 1 candidate(s)
I0419 20:58:04.230425 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:04.230468 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 20:58:04.230571 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290842292703.
I0419 20:58:04.231784 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:04.231875 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:04.231906 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290842292906.
I0419 20:58:04.258558 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290842576488.
I0419 20:58:04.336272 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=255.001 rad/s > flush threshold 3.
I0419 20:58:04.337824 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290842859154.
I0419 20:58:04.338507 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290842859444.
I0419 20:58:04.339722 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.1979, -1.87038), yaw=179.142 deg backend=(15.2387, -1.86934)
I0419 20:58:04.340538 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290843142069.
I0419 20:58:04.341033 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71465, -0.524226)
I0419 20:58:04.341171 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290843177160.
I0419 20:58:04.346632 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0167149 range=0.569809 variance=0.000548683 t_weight=5467.64 r_weight=0 yaml=(15.015, -1.32) prior=(15.1979, -1.87038, 179.142deg) obs_actual=(0.173488, -0.556123) obs_expected=(0.191158, -0.547578) delta=(-0.0176702, -0.00854523) |delta|=0.019628m
I0419 20:58:04.346828 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290843457673.
I0419 20:58:04.347517 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290843457870.
I0419 20:58:04.374347 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:04.374454 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:04.374565 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290843735588.
I0419 20:58:04.375543 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:04.375636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290843735828.
I0419 20:58:04.448828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290844056184.
I0419 20:58:04.449563 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.45421, -0.632837), points=14, range=0.780286, residual=0.0101862, extent=0.0303576
I0419 20:58:04.449644 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.45421, -0.632837), tracking=(-0.75271, 0.632837), map_predicted=(15.9129, -2.51896), range=0.780286, pts=14
I0419 20:58:04.449673 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00238401m maha_sq=0.000246638 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9129, -2.51896) lm_pos=(15.915, -2.52) delta=(-0.00214689, 0.00103652) -> 1 candidate(s)
I0419 20:58:04.449738 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290844056370.
I0419 20:58:04.450914 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879153s, prior_pose=(15.1742, -1.8698), yaw=178.745 deg
I0419 20:58:04.450986 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 20:58:04.451166 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290844337023.
I0419 20:58:04.452423 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:04.452467 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.46304, -0.633358)
I0419 20:58:04.452487 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:04.452513 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=222.046 rad/s > flush threshold 3.
I0419 20:58:04.452558 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290844337188.
I0419 20:58:04.461968 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290844613868.
I0419 20:58:04.466325 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290844657992.
I0419 20:58:04.494637 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290844940348.
I0419 20:58:04.495117 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290844940504.
I0419 20:58:04.522574 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:04.522682 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.695 deg, rms_residual=0.0170786m, sigma_yaw=0.0222645 rad, N=2
I0419 20:58:04.522715 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.05798 range=0.582421 variance=0.000524614 t_weight=5718.49 r_weight=0 yaml=(15.015, -1.32) prior=(15.1661, -1.86958, 178.459deg) obs_actual=(0.131492, -0.557754) obs_expected=(0.165848, -0.545316) delta=(-0.0343551, -0.0124376) |delta|=0.0365372m
I0419 20:58:04.522792 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.144, -1.86694, 178.695deg) inliers=2 rms=0.0170786m
I0419 20:58:04.522823 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290845219745.
I0419 20:58:04.585171 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=115.572 rad/s > flush threshold 3.
I0419 20:58:04.585305 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:04.585362 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290845219924.
I0419 20:58:04.586843 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:04.587126 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:04.587157 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290845494824.
I0419 20:58:04.587852 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.64937, -0.50688)
I0419 20:58:04.588035 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290845533663.
I0419 20:58:04.590795 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.705179, 0.688915), points=9, range=0.988444, residual=0.0106097, extent=0.0318203
I0419 20:58:04.590950 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.705179, 0.688915), tracking=(1.00368, 0.688915), map_predicted=(14.1292, -2.5289), range=0.988444, pts=9
I0419 20:58:04.590981 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0167492m maha_sq=0.0119646 (gate chi2=5.99) pose_sigma=(0.151279, 0.151279, rho=0) det_map=(14.1292, -2.5289) lm_pos=(14.115, -2.52) delta=(0.0141883, -0.00890106) -> 1 candidate(s)
I0419 20:58:04.591058 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290845814957.
I0419 20:58:04.591674 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290845815121.
I0419 20:58:04.610689 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290846101347.
I0419 20:58:04.612207 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=76.5455 rad/s > flush threshold 3.
I0419 20:58:04.638525 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290846378955.
I0419 20:58:04.639375 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290846379142.
I0419 20:58:04.722609 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:04.722821 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:04.722934 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290846661704.
I0419 20:58:04.723424 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.62132, -0.511203)
I0419 20:58:04.723500 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:04.723584 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290846694991.
I0419 20:58:04.725528 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290847003779.
I0419 20:58:04.726006 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0217356 range=0.834923 variance=0.000558649 t_weight=5370.1 r_weight=0 yaml=(15.915, -2.52) prior=(15.1207, -1.8545, 178.578deg) obs_actual=(-0.832195, 0.639768) obs_expected=(-0.810576, 0.645584) delta=(-0.0216188, -0.00581584) |delta|=0.0223874m
I0419 20:58:04.726097 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290847003965.
I0419 20:58:04.728379 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598439s, prior_pose=(15.1008, -1.85775), yaw=178.62 deg
I0419 20:58:04.728449 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1307, max_intensity=252, threshold=230, above_threshold=14, candidates=14
I0419 20:58:04.728580 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290847260143.
I0419 20:58:04.729830 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:04.729888 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:04.729993 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290847293666.
I0419 20:58:04.758627 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290847575128.
I0419 20:58:04.759434 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.43844, 0.578734), points=3, range=1.54967, residual=0.00471096, extent=0.00906412
I0419 20:58:04.759527 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.43844, 0.578734), tracking=(-1.73694, -0.578734), map_predicted=(16.8392, -1.32313), range=1.54967, pts=3
I0419 20:58:04.759570 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0243882m maha_sq=0.025852 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8392, -1.32313) lm_pos=(16.815, -1.32) delta=(0.0241867, -0.00312814) -> 1 candidate(s)
I0419 20:58:04.759711 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290847575481.
I0419 20:58:04.786891 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290847857241.
I0419 20:58:04.863988 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.56003, -0.644205)
I0419 20:58:04.864110 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.7868 rad/s > flush threshold 3.
I0419 20:58:04.865438 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:04.865569 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290848178035.
I0419 20:58:04.866175 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290848178287.
I0419 20:58:04.868147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290848452025.
I0419 20:58:04.868744 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:04.868809 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290848452227.
I0419 20:58:04.873883 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:04.873994 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:04.874020 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290848733934.
I0419 20:58:04.875379 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.9758 rad/s > flush threshold 3.
I0419 20:58:04.906260 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=10, centroid=(0.617963, 0.684212)
I0419 20:58:04.906627 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849053243.
I0419 20:58:04.908048 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00410875 range=0.879182 variance=0.000569908 t_weight=5264.01 r_weight=0 yaml=(15.915, -2.52) prior=(15.0441, -1.86163, 178.81deg) obs_actual=(-0.892205, 0.645981) obs_expected=(-0.884423, 0.64013) delta=(-0.00778156, 0.00585114) |delta|=0.00973594m
I0419 20:58:04.908233 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290849053540.
I0419 20:58:05.009702 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849336772.
I0419 20:58:05.010550 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849337026.
I0419 20:58:05.011914 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:05.012022 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.316611, -0.549925), points=27, range=0.631148, residual=0.0234105, extent=0.0547545
I0419 20:58:05.012041 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:05.012058 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.316611, -0.549925), tracking=(-0.0181106, -0.549925), map_predicted=(15.0715, -1.31215), range=0.631148, pts=27
I0419 20:58:05.012084 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0570706m maha_sq=0.138698 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0715, -1.31215) lm_pos=(15.015, -1.32) delta=(0.0565285, 0.00784712) -> 1 candidate(s)
I0419 20:58:05.012178 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849619258.
I0419 20:58:05.013711 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:05.013788 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=38.749 rad/s > flush threshold 3.
I0419 20:58:05.013885 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849619489.
I0419 20:58:05.015244 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.477 deg, rms_residual=0.0164141m, sigma_yaw=0.0214168 rad, N=2
I0419 20:58:05.015303 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.0097, -1.85545, 179.477deg) inliers=2 rms=0.0164141m
I0419 20:58:05.015333 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849935041.
I0419 20:58:05.015951 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.619167, -0.648601)
I0419 20:58:05.016054 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290849935246.
I0419 20:58:05.021757 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592779s, prior_pose=(15.0136, -1.86092), yaw=178.85 deg
I0419 20:58:05.021885 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1368, max_intensity=253, threshold=230, above_threshold=38, candidates=38
I0419 20:58:05.022212 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290850212268.
I0419 20:58:05.023221 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:05.023276 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:05.023406 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290850212464.
I0419 20:58:05.055256 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290850539631.
I0419 20:58:05.145387 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=40.3183 rad/s > flush threshold 3.
I0419 20:58:05.145596 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00264184 range=0.619895 variance=0.000615676 t_weight=4872.7 r_weight=0 yaml=(15.015, -1.32) prior=(14.983, -1.86311, 178.786deg) obs_actual=(-0.0160385, -0.550263) obs_expected=(-0.0204388, -0.543665) delta=(0.00440029, -0.00659732) |delta|=0.00793015m
I0419 20:58:05.145673 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290850539910.
I0419 20:58:05.147226 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290850820779.
I0419 20:58:05.148187 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 27 -> 20 (threshold=0.03, iters=3)
I0419 20:58:05.148401 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290850821013.
I0419 20:58:05.155727 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.319149, -0.556586)
I0419 20:58:05.155889 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.559561, 0.684818), points=11, range=0.885727, residual=0.0114787, extent=0.0380528
I0419 20:58:05.155934 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.559561, 0.684818), tracking=(0.858061, 0.684818), map_predicted=(14.103, -2.52975), range=0.885727, pts=11
I0419 20:58:05.155977 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0154545m maha_sq=0.0102738 (gate chi2=5.99) pose_sigma=(0.15057, 0.15057, rho=0) det_map=(14.103, -2.52975) lm_pos=(14.115, -2.52) delta=(-0.0119868, -0.00975486) -> 1 candidate(s)
I0419 20:58:05.156013 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:05.156092 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290851101755.
I0419 20:58:05.157318 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290851102011.
I0419 20:58:05.159409 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290851378216.
I0419 20:58:05.161849 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.886 rad/s > flush threshold 3.
I0419 20:58:05.162065 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290851378479.
I0419 20:58:05.170789 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:05.170997 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290851700634.
I0419 20:58:05.172173 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:05.172297 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:05.172334 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290851700969.
I0419 20:58:05.241321 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.9628, -1.86526), yaw=178.79 deg backend=(15.0128, -1.86431)
I0419 20:58:05.242427 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290851973771.
I0419 20:58:05.243114 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.243916, 0.547697)
I0419 20:58:05.243266 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290851973995.
I0419 20:58:05.244542 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290852258267.
I0419 20:58:05.245899 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.0384 rad/s > flush threshold 3.
I0419 20:58:05.246016 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290852258531.
I0419 20:58:05.258152 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:05.258280 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:05.258433 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00421971 range=0.856769 variance=0.000571562 t_weight=5248.77 r_weight=0 yaml=(14.115, -2.52) prior=(14.949, -1.86422, 178.816deg) obs_actual=(0.814987, 0.681211) obs_expected=(0.820271, 0.672878) delta=(-0.0052836, 0.008333) |delta|=0.00986688m
I0419 20:58:05.258597 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290852573365.
I0419 20:58:05.260104 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:05.260278 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290852573573.
I0419 20:58:05.286329 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290852853944.
I0419 20:58:05.287581 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.217389, 0.547108), points=22, range=0.590636, residual=0.0125896, extent=0.0396951
I0419 20:58:05.287731 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.217389, 0.547108), tracking=(-0.0811113, -0.547108), map_predicted=(15.0309, -1.31871), range=0.590636, pts=22
I0419 20:58:05.287781 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0159598m maha_sq=0.0110304 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0309, -1.31871) lm_pos=(15.015, -1.32) delta=(0.0159076, 0.00128979) -> 1 candidate(s)
I0419 20:58:05.287928 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290852854414.
I0419 20:58:05.314325 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0875504s, prior_pose=(14.9387, -1.86406), yaw=178.838 deg
I0419 20:58:05.314581 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1316, max_intensity=254, threshold=230, above_threshold=29, candidates=29
I0419 20:58:05.314898 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.547804, -0.504911)
I0419 20:58:05.315572 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290853134035.
I0419 20:58:05.318825 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:05.318953 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:05.319181 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290853179462.
I0419 20:58:05.408231 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290853455238.
I0419 20:58:05.408831 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290853455465.
I0419 20:58:05.411142 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290853734040.
I0419 20:58:05.411795 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.510814, -0.46535)
I0419 20:58:05.411901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290853734222.
I0419 20:58:05.413226 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:05.413306 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290854061617.
I0419 20:58:05.414563 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.1447 rad/s > flush threshold 3.
I0419 20:58:05.435793 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(1.62147, 0.56624)
I0419 20:58:05.436116 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290854337582.
I0419 20:58:05.524511 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290854619870.
I0419 20:58:05.525591 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290854620169.
I0419 20:58:05.527091 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:58:05.527170 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0226497 range=0.995167 variance=0.000487562 t_weight=6153.06 r_weight=0 yaml=(15.915, -2.52) prior=(14.888, -1.86395, 178.811deg) obs_actual=(-1.04858, 0.655878) obs_expected=(-1.04035, 0.634595) delta=(-0.00822911, 0.0212825) |delta|=0.022818m
I0419 20:58:05.527261 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290854897094.
I0419 20:58:05.527803 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:05.527872 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:05.527897 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290854941285.
I0419 20:58:05.531118 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.447614, 0.678334)
I0419 20:58:05.531250 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.448554, 0.677635), points=12, range=0.81275, residual=0.00943659, extent=0.0283163
I0419 20:58:05.531358 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.448554, 0.677635), tracking=(0.747054, 0.677635), map_predicted=(14.1121, -2.5256), range=0.81275, pts=12
I0419 20:58:05.531405 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00632168m maha_sq=0.0017094 (gate chi2=5.99) pose_sigma=(0.151156, 0.151156, rho=0) det_map=(14.1121, -2.5256) lm_pos=(14.115, -2.52) delta=(-0.00292737, -0.00560305) -> 1 candidate(s)
I0419 20:58:05.531545 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290855214674.
I0419 20:58:05.532481 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.628 deg, rms_residual=0.00596651m, sigma_yaw=0.00789256 rad, N=2
I0419 20:58:05.532594 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.8634, -1.86035, 179.628deg) inliers=2 rms=0.00596651m
I0419 20:58:05.532656 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290855214904.
I0419 20:58:05.551397 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:05.551527 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:05.551688 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290855503150.
I0419 20:58:05.553108 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:05.553308 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290855503502.
I0419 20:58:05.582916 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290855817736.
I0419 20:58:05.653659 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.70226 rad/s > flush threshold 3.
I0419 20:58:05.653827 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290855817970.
I0419 20:58:05.654251 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:05.655082 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0629934s, prior_pose=(14.8677, -1.86247), yaw=178.865 deg
I0419 20:58:05.655157 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1324, max_intensity=254, threshold=230, above_threshold=28, candidates=28
I0419 20:58:05.655328 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290856133084.
I0419 20:58:05.655877 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:05.655925 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:05.655988 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290856180840.
I0419 20:58:05.657773 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.35141, -0.516479)
I0419 20:58:05.657882 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290856373712.
I0419 20:58:05.658317 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290856373854.
I0419 20:58:05.666531 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0641764 range=1.04271 variance=0.000527892 t_weight=5682.98 r_weight=0 yaml=(15.915, -2.52) prior=(14.8525, -1.86023, 178.866deg) obs_actual=(-1.10697, 0.660523) obs_expected=(-1.07539, 0.638602) delta=(-0.0315806, 0.0219206) |delta|=0.0384428m
I0419 20:58:05.666700 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290856658205.
I0419 20:58:05.670758 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290856701899.
I0419 20:58:05.697616 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.399236, 0.677717), points=15, range=0.7876, residual=0.0111058, extent=0.0347152
I0419 20:58:05.697757 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.399236, 0.677717), tracking=(0.697736, 0.677717), map_predicted=(14.122, -2.52282), range=0.7876, pts=15
I0419 20:58:05.697795 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00753561m maha_sq=0.00241392 (gate chi2=5.99) pose_sigma=(0.151527, 0.151527, rho=0) det_map=(14.122, -2.52282) lm_pos=(14.115, -2.52) delta=(0.00698906, -0.00281753) -> 1 candidate(s)
I0419 20:58:05.697822 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:05.697902 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290856971617.
I0419 20:58:05.698431 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290856971768.
I0419 20:58:05.761466 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290857261215.
I0419 20:58:05.762423 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290857261325.
I0419 20:58:05.763876 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.385544, 0.676755)
I0419 20:58:05.764046 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290857556372.
I0419 20:58:05.765573 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=72.3005 rad/s > flush threshold 3.
I0419 20:58:05.765672 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290857556527.
I0419 20:58:05.786553 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:05.786715 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290857860738.
I0419 20:58:05.787453 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:05.787559 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:05.787585 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290857860871.
I0419 20:58:05.815091 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290858143940.
I0419 20:58:05.815953 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00619042 range=0.549391 variance=0.000562283 t_weight=5335.39 r_weight=0 yaml=(15.015, -1.32) prior=(14.7982, -1.85386, 179.148deg) obs_actual=(-0.218852, -0.543547) obs_expected=(-0.20884, -0.537027) delta=(-0.0100128, -0.00651997) |delta|=0.0119484m
I0419 20:58:05.816071 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290858144104.
I0419 20:58:05.841842 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:05.841982 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:05.842077 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290858413015.
I0419 20:58:05.845894 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361166, 0.676828), points=16, range=0.768687, residual=0.0118039, extent=0.0382651
I0419 20:58:05.845990 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:05.846009 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.361166, 0.676828), tracking=(0.659666, 0.676828), map_predicted=(14.1285, -2.5208), range=0.768687, pts=16
I0419 20:58:05.846035 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0135628m maha_sq=0.00797036 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1285, -2.5208) lm_pos=(14.115, -2.52) delta=(0.0135389, -0.000804684) -> 1 candidate(s)
I0419 20:58:05.846117 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290858454856.
I0419 20:58:05.893357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290858736840.
I0419 20:58:05.893889 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290858737049.
I0419 20:58:05.906549 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606905s, prior_pose=(14.7684, -1.85275), yaw=179.137 deg
I0419 20:58:05.906668 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:58:05.906761 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.349502, 0.676077)
I0419 20:58:05.906867 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290859061761.
I0419 20:58:05.907594 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:05.907650 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:05.907724 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290859061931.
I0419 20:58:05.936884 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290859358390.
I0419 20:58:05.938673 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=136.688 rad/s > flush threshold 3.
I0419 20:58:05.938777 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.689 deg, rms_residual=0.00879424m, sigma_yaw=0.0115898 rad, N=2
I0419 20:58:05.938813 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.7501, -1.85312, 179.689deg) inliers=2 rms=0.00879424m
I0419 20:58:05.938844 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290859358508.
I0419 20:58:05.962635 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290859620535.
I0419 20:58:05.963521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290859620904.
I0419 20:58:06.010907 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:06.011067 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290859898153.
I0419 20:58:06.011843 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00496167 range=0.541087 variance=0.000558008 t_weight=5376.27 r_weight=0 yaml=(15.015, -1.32) prior=(14.7438, -1.85871, 179.157deg) obs_actual=(-0.273373, -0.539346) obs_expected=(-0.263198, -0.542644) delta=(-0.010175, 0.00329781) |delta|=0.0106961m
I0419 20:58:06.011935 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290859899150.
I0419 20:58:06.021528 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290860207400.
I0419 20:58:06.023234 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.891308, -0.667573), points=7, range=1.11671, residual=0.0100056, extent=0.0265208
I0419 20:58:06.023306 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.891308, -0.667573), tracking=(-1.18981, 0.667573), map_predicted=(15.915, -2.54599), range=1.11671, pts=7
I0419 20:58:06.023334 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0259896m maha_sq=0.0290362 (gate chi2=5.99) pose_sigma=(0.150687, 0.150687, rho=0) det_map=(15.915, -2.54599) lm_pos=(15.915, -2.52) delta=(-8.17028e-06, -0.0259896) -> 1 candidate(s)
I0419 20:58:06.023360 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.26476 rad/s > flush threshold 3.
I0419 20:58:06.023416 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290860207936.
I0419 20:58:06.050592 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.309596, 0.676658)
I0419 20:58:06.050783 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290860500664.
I0419 20:58:06.051541 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290860500794.
I0419 20:58:06.054597 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.7242, -1.85776), yaw=179.164 deg backend=(14.7772, -1.85797)
I0419 20:58:06.078739 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:06.078864 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290860781678.
I0419 20:58:06.079555 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:06.079617 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:06.079638 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290860781862.
I0419 20:58:06.110747 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861102225.
I0419 20:58:06.152789 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861109978.
I0419 20:58:06.154265 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:06.154387 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:06.154507 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861381766.
I0419 20:58:06.155004 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:06.155150 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00278482 range=0.734937 variance=0.000567593 t_weight=5285.48 r_weight=0 yaml=(14.115, -2.52) prior=(14.717, -1.85146, 179.238deg) obs_actual=(0.585159, 0.675244) obs_expected=(0.593077, 0.676485) delta=(-0.00791822, -0.00124131) |delta|=0.00801492m
I0419 20:58:06.155210 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861415577.
I0419 20:58:06.165724 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861651402.
I0419 20:58:06.166224 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.940917, -0.671114), points=5, range=1.1514, residual=0.0137178, extent=0.032813
I0419 20:58:06.166278 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.940917, -0.671114), tracking=(-1.23942, 0.671114), map_predicted=(15.9428, -2.5433), range=1.1514, pts=5
I0419 20:58:06.166309 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0362499m maha_sq=0.0567715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9428, -2.5433) lm_pos=(15.915, -2.52) delta=(0.0277682, -0.0233019) -> 1 candidate(s)
I0419 20:58:06.166385 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861651511.
I0419 20:58:06.194730 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0832205s, prior_pose=(14.7122, -1.85614), yaw=179.255 deg
I0419 20:58:06.194839 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:06.194962 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.0282202, 0.538511)
I0419 20:58:06.195111 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861942183.
I0419 20:58:06.198913 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:06.199012 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:06.199162 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290861984436.
I0419 20:58:06.225987 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290862254209.
I0419 20:58:06.226733 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290862254390.
I0419 20:58:06.285917 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.952 deg, rms_residual=0.0118016m, sigma_yaw=0.0154917 rad, N=2
I0419 20:58:06.286244 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6887, -1.86438, 178.952deg) inliers=2 rms=0.0118016m
I0419 20:58:06.286412 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290862573786.
I0419 20:58:06.287362 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290862573928.
I0419 20:58:06.288861 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:06.289139 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290862858637.
I0419 20:58:06.290607 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=29.1356 rad/s > flush threshold 3.
I0419 20:58:06.290844 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290862858742.
I0419 20:58:06.314481 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0115789 range=1.28425 variance=0.000632835 t_weight=4740.57 r_weight=0 yaml=(13.215, -1.32) prior=(14.6726, -1.8538, 179.324deg) obs_actual=(1.47544, -0.528109) obs_expected=(1.46384, -0.516566) delta=(0.0116021, -0.0115431) |delta|=0.0163662m
I0419 20:58:06.314666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290863138378.
I0419 20:58:06.315562 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0580972, 0.537696), points=23, range=0.541826, residual=0.0113904, extent=0.0355128
I0419 20:58:06.315621 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0580972, 0.537696), tracking=(-0.356597, -0.537696), map_predicted=(15.0356, -1.32035), range=0.541826, pts=23
I0419 20:58:06.315659 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0205624m maha_sq=0.0183336 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0356, -1.32035) lm_pos=(15.015, -1.32) delta=(0.0205594, -0.000350705) -> 1 candidate(s)
I0419 20:58:06.315737 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290863138506.
I0419 20:58:06.342826 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.231621, 0.67583)
I0419 20:58:06.343199 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290863419578.
I0419 20:58:06.346323 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290863455056.
I0419 20:58:06.370460 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:06.370628 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290863698658.
I0419 20:58:06.374090 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:06.374272 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:06.374312 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290863733370.
I0419 20:58:06.450831 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864019550.
I0419 20:58:06.451483 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864019729.
I0419 20:58:06.454216 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:06.454321 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:06.454413 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864341306.
I0419 20:58:06.455109 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:06.455199 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864341456.
I0419 20:58:06.462822 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0145025 range=0.705947 variance=0.000598766 t_weight=5010.31 r_weight=0 yaml=(14.115, -2.52) prior=(14.6368, -1.85283, 179.463deg) obs_actual=(0.497561, 0.675596) obs_expected=(0.515513, 0.672029) delta=(-0.0179519, 0.00356661) |delta|=0.0183027m
I0419 20:58:06.463076 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290864618731.
I0419 20:58:06.466058 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=45.6626 rad/s > flush threshold 3.
I0419 20:58:06.466250 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864619029.
I0419 20:58:06.490782 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559184s, prior_pose=(14.6179, -1.8507), yaw=179.541 deg
I0419 20:58:06.490952 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:06.491142 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.194893, 0.675416)
I0419 20:58:06.491207 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12983, -0.530856), points=4, range=1.24525, residual=0.00763719, extent=0.0169282
I0419 20:58:06.491258 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.12983, -0.530856), tracking=(1.42833, -0.530856), map_predicted=(13.1938, -1.30842), range=1.24525, pts=4
I0419 20:58:06.491302 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0241359m maha_sq=0.0253036 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1938, -1.30842) lm_pos=(13.215, -1.32) delta=(-0.0211786, 0.0115763) -> 1 candidate(s)
I0419 20:58:06.491466 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864900490.
I0419 20:58:06.492847 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:06.492940 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:06.493150 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290864900659.
I0419 20:58:06.561060 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290865220321.
I0419 20:58:06.562212 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290865220574.
I0419 20:58:06.563988 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290865494307.
I0419 20:58:06.565835 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.4824 rad/s > flush threshold 3.
I0419 20:58:06.565992 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290865494512.
I0419 20:58:06.578334 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:06.578550 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290865775390.
I0419 20:58:06.579903 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290865775889.
I0419 20:58:06.610106 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290866095425.
I0419 20:58:06.610934 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.761 deg, rms_residual=0.0127564m, sigma_yaw=0.0167241 rad, N=2
I0419 20:58:06.611008 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.57, -1.84736, -179.761deg) inliers=2 rms=0.0127564m
I0419 20:58:06.611043 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866095631.
I0419 20:58:06.638765 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.15319, 0.672366)
I0419 20:58:06.638931 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00996579 range=1.2072 variance=0.000581311 t_weight=5160.75 r_weight=0 yaml=(13.215, -1.32) prior=(14.588, -1.85059, 179.693deg) obs_actual=(1.38461, -0.535598) obs_expected=(1.37584, -0.523227) delta=(0.00877415, -0.0123708) |delta|=0.0151665m
I0419 20:58:06.639025 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866381824.
I0419 20:58:06.680959 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.149727, 0.536779), points=21, range=0.558571, residual=0.0110607, extent=0.0353143
I0419 20:58:06.681154 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.149727, 0.536779), tracking=(-0.448227, -0.536779), map_predicted=(15.0167, -1.31948), range=0.558571, pts=21
I0419 20:58:06.681196 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0017675m maha_sq=0.00013261 (gate chi2=5.99) pose_sigma=(0.151668, 0.151668, rho=0) det_map=(15.0167, -1.31948) lm_pos=(15.015, -1.32) delta=(0.00168809, 0.000523843) -> 1 candidate(s)
I0419 20:58:06.681219 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.4429 rad/s > flush threshold 3.
I0419 20:58:06.681289 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866382030.
I0419 20:58:06.682621 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:06.682724 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866656208.
I0419 20:58:06.683393 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:06.683491 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:06.683517 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866656325.
I0419 20:58:06.698323 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866977650.
I0419 20:58:06.699174 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290866977868.
I0419 20:58:06.726405 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:06.726513 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:06.726661 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290867259216.
I0419 20:58:06.728420 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:06.728472 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=107.884 rad/s > flush threshold 3.
I0419 20:58:06.728564 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290867259346.
I0419 20:58:06.754217 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290867536912.
I0419 20:58:06.755012 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290867537055.
I0419 20:58:06.797317 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557566s, prior_pose=(14.5397, -1.8526), yaw=179.648 deg
I0419 20:58:06.797457 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:06.797559 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.114817, 0.673028)
I0419 20:58:06.797652 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0215299 range=1.1745 variance=0.000517728 t_weight=5794.54 r_weight=0 yaml=(13.215, -1.32) prior=(14.5397, -1.8526, 179.648deg) obs_actual=(1.34781, -0.534648) obs_expected=(1.32795, -0.524445) delta=(0.0198556, -0.010203) |delta|=0.0223236m
I0419 20:58:06.797713 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290867816912.
I0419 20:58:06.798722 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:06.798841 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:06.798874 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.189326, 0.53704), points=21, range=0.570667, residual=0.0112069, extent=0.0351106
I0419 20:58:06.798897 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.189326, 0.53704), tracking=(-0.487826, -0.53704), map_predicted=(15.0308, -1.31857), range=0.570667, pts=21
I0419 20:58:06.798919 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0158837m maha_sq=0.0109413 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0308, -1.31857) lm_pos=(15.015, -1.32) delta=(0.0158189, 0.00143377) -> 1 candidate(s)
I0419 20:58:06.799028 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290867861729.
I0419 20:58:06.811110 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290868102234.
I0419 20:58:06.814545 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290868138445.
I0419 20:58:06.842051 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290868414874.
I0419 20:58:06.842648 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290868415051.
I0419 20:58:06.870322 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:06.870517 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290868697385.
I0419 20:58:06.874670 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290868741234.
I0419 20:58:06.902531 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290869019702.
I0419 20:58:06.952435 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.7948 rad/s > flush threshold 3.
I0419 20:58:06.952646 1237626 collated_trajectory_builder.cc:82] imu rate: 184.09 Hz 5.43e-03 s +/- 6.11e-03 s (pulsed at 104.03% real time)
I0419 20:58:06.952754 1237626 collated_trajectory_builder.cc:82] odom rate: 229.30 Hz 4.36e-03 s +/- 3.80e-03 s (pulsed at 103.60% real time)
I0419 20:58:06.952858 1237626 collated_trajectory_builder.cc:82] scan_1 rate: 32.32 Hz 3.09e-02 s +/- 7.68e-03 s (pulsed at 104.05% real time)
I0419 20:58:06.952890 1237626 collated_trajectory_builder.cc:82] scan_2 rate: 31.65 Hz 3.16e-02 s +/- 9.89e-03 s (pulsed at 103.53% real time)
I0419 20:58:06.954360 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.8963, 0.690192)
I0419 20:58:06.954480 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.352 deg, rms_residual=0.0124369m, sigma_yaw=0.0163121 rad, N=2
I0419 20:58:06.954515 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4976, -1.85885, 179.352deg) inliers=2 rms=0.0124369m
I0419 20:58:06.954547 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290869300771.
I0419 20:58:06.955173 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00803001 range=0.586905 variance=0.000579849 t_weight=5173.76 r_weight=0 yaml=(15.015, -1.32) prior=(14.4957, -1.85616, 179.647deg) obs_actual=(-0.529413, -0.537426) obs_expected=(-0.515936, -0.539351) delta=(-0.0134767, 0.00192585) |delta|=0.0136136m
I0419 20:58:06.955287 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290869300934.
I0419 20:58:06.956525 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4902, -1.85693), yaw=179.63 deg backend=(14.5426, -1.84768)
I0419 20:58:06.962078 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.06488, 0.673696), points=18, range=0.678111, residual=0.0108469, extent=0.0339788
I0419 20:58:06.962173 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.06488, 0.673696), tracking=(0.36338, 0.673696), map_predicted=(14.1225, -2.52827), range=0.678111, pts=18
I0419 20:58:06.962212 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0111494m maha_sq=0.00536271 (gate chi2=5.99) pose_sigma=(0.150419, 0.150419, rho=0) det_map=(14.1225, -2.52827) lm_pos=(14.115, -2.52) delta=(0.00748125, -0.00826677) -> 1 candidate(s)
I0419 20:58:06.962302 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290869614819.
I0419 20:58:06.963096 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:58:06.963169 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290869614965.
I0419 20:58:06.990729 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:06.990923 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:06.990971 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290869901981.
I0419 20:58:06.992379 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.1914 rad/s > flush threshold 3.
I0419 20:58:06.992513 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290869902196.
I0419 20:58:07.022379 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:07.022497 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:07.022621 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290870218152.
I0419 20:58:07.023312 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:07.023432 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290870218308.
I0419 20:58:07.031724 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:07.080118 1218978 pose_graph_2d.cc:160] Inserted submap (1, 22).
I0419 20:58:07.081213 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290870463604.
I0419 20:58:07.081704 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.0402936, 0.67511)
I0419 20:58:07.081826 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290870499383.
I0419 20:58:07.083159 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877233s, prior_pose=(14.4776, -1.86037), yaw=179.637 deg
I0419 20:58:07.083230 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:07.083384 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290870779429.
I0419 20:58:07.083751 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:07.083792 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:07.083853 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290870779608.
I0419 20:58:07.107131 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290871063658.
I0419 20:58:07.108033 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.050326 range=0.606263 variance=0.000547942 t_weight=5475.03 r_weight=0 yaml=(15.015, -1.32) prior=(14.4632, -1.86133, 179.658deg) obs_actual=(-0.581391, -0.535714) obs_expected=(-0.548517, -0.544615) delta=(-0.0328738, 0.00890094) |delta|=0.0340575m
I0419 20:58:07.108146 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290871063823.
I0419 20:58:07.135197 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0137404, 0.674407), points=19, range=0.675211, residual=0.0111853, extent=0.035709
I0419 20:58:07.135334 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0137404, 0.674407), tracking=(0.31224, 0.674407), map_predicted=(14.1397, -2.53436), range=0.675211, pts=19
I0419 20:58:07.135368 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0285648m maha_sq=0.0351299 (gate chi2=5.99) pose_sigma=(0.150549, 0.150549, rho=0) det_map=(14.1397, -2.53436) lm_pos=(14.115, -2.52) delta=(0.0246923, -0.014361) -> 1 candidate(s)
I0419 20:58:07.135464 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290871343878.
I0419 20:58:07.136298 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290871344104.
I0419 20:58:07.170718 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:58:07.170918 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290871702088.
I0419 20:58:07.230334 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=30.5566 rad/s > flush threshold 3.
I0419 20:58:07.231798 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290872044897.
I0419 20:58:07.232573 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.305935, 0.534895)
I0419 20:58:07.232708 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290872045028.
I0419 20:58:07.235190 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290872253663.
I0419 20:58:07.235917 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290872253803.
I0419 20:58:07.258975 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290872583237.
I0419 20:58:07.260970 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=24.9407 rad/s > flush threshold 3.
I0419 20:58:07.289418 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290872888625.
I0419 20:58:07.290262 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:07.290380 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290872894935.
I0419 20:58:07.382505 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:07.382653 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:07.382722 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:07.382776 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:07.382802 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290873141943.
I0419 20:58:07.384346 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.335236, 0.5347), points=17, range=0.633059, residual=0.0109144, extent=0.0337258
I0419 20:58:07.384459 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:07.384479 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.335236, 0.5347), tracking=(-0.633736, -0.5347), map_predicted=(15.0463, -1.33209), range=0.633059, pts=17
I0419 20:58:07.384503 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0335731m maha_sq=0.0488917 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0463, -1.33209) lm_pos=(15.015, -1.32) delta=(0.0313206, -0.0120904) -> 1 candidate(s)
I0419 20:58:07.384646 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0488917 range=0.633059 variance=0.000554143 t_weight=5413.77 r_weight=0 yaml=(15.015, -1.32) prior=(14.409, -1.86255, 179.618deg) obs_actual=(-0.633736, -0.5347) obs_expected=(-0.602335, -0.546581) delta=(-0.0314004, 0.0118814) |delta|=0.0335731m
I0419 20:58:07.384714 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290873142058.
I0419 20:58:07.386126 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290873434998.
I0419 20:58:07.387835 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.347349, 0.534728)
I0419 20:58:07.388010 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.6261 rad/s > flush threshold 3.
I0419 20:58:07.389314 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555776s, prior_pose=(14.3936, -1.86104), yaw=179.628 deg
I0419 20:58:07.389427 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:07.389534 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:58:07.389660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290873697719.
I0419 20:58:07.390421 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:07.390504 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:07.390578 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290873735873.
I0419 20:58:07.410499 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290874033565.
I0419 20:58:07.415139 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290874033678.
I0419 20:58:07.431175 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290874305559.
I0419 20:58:07.484970 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=63.9994 rad/s > flush threshold 3.
I0419 20:58:07.486483 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:07.486598 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.373 deg, rms_residual=0.012938m, sigma_yaw=0.0169582 rad, N=2
I0419 20:58:07.486677 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3597, -1.85784, 179.373deg) inliers=2 rms=0.012938m
I0419 20:58:07.486733 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290874590110.
I0419 20:58:07.487417 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290874590286.
I0419 20:58:07.488811 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 204
I0419 20:58:07.491268 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290874903981.
I0419 20:58:07.494009 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.389425, 0.534265)
I0419 20:58:07.494205 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290874935332.
I0419 20:58:07.518911 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0850201, 0.676021), points=19, range=0.683105, residual=0.0118896, extent=0.036284
I0419 20:58:07.519014 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0850201, 0.676021), tracking=(0.21348, 0.676021), map_predicted=(14.1397, -2.53319), range=0.683105, pts=19
I0419 20:58:07.519047 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.027979m maha_sq=0.0339208 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1397, -2.53319) lm_pos=(14.115, -2.52) delta=(0.0246731, -0.0131934) -> 1 candidate(s)
I0419 20:58:07.519136 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290875184313.
I0419 20:58:07.520480 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=50.7689 rad/s > flush threshold 3.
I0419 20:58:07.546044 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0227505 range=0.68545 variance=0.000609243 t_weight=4924.14 r_weight=0 yaml=(14.115, -2.52) prior=(14.3415, -1.85775, 179.76deg) obs_actual=(0.205309, 0.677196) obs_expected=(0.223675, 0.663188) delta=(-0.018366, 0.014008) |delta|=0.0230984m
I0419 20:58:07.546183 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290875455775.
I0419 20:58:07.550863 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290875500449.
I0419 20:58:07.605890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290875781905.
I0419 20:58:07.606631 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290875782045.
I0419 20:58:07.607975 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:07.608054 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:07.608132 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290876053229.
I0419 20:58:07.609459 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:07.609520 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=81.3294 rad/s > flush threshold 3.
I0419 20:58:07.638994 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.119141, 0.675593)
I0419 20:58:07.639179 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290876385903.
I0419 20:58:07.662434 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566181s, prior_pose=(14.3057, -1.85636), yaw=179.667 deg
I0419 20:58:07.662556 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1379, max_intensity=247, threshold=230, above_threshold=15, candidates=15
I0419 20:58:07.662678 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:07.662742 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290876619520.
I0419 20:58:07.666428 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:07.666553 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:07.666625 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:07.666671 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:07.666687 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290876657221.
I0419 20:58:07.694381 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290876936674.
I0419 20:58:07.695050 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290876936871.
I0419 20:58:07.760494 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.7914, -0.53379), points=6, range=0.952333, residual=0.00878344, extent=0.0237402
I0419 20:58:07.760608 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.7914, -0.53379), tracking=(1.0899, -0.53379), map_predicted=(13.1879, -1.31573), range=0.952333, pts=6
I0419 20:58:07.760641 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0274693m maha_sq=0.0318066 (gate chi2=5.99) pose_sigma=(0.152311, 0.152311, rho=0) det_map=(13.1879, -1.31573) lm_pos=(13.215, -1.32) delta=(-0.0271358, 0.00426726) -> 1 candidate(s)
I0419 20:58:07.760721 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290877254705.
I0419 20:58:07.761453 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290877254819.
I0419 20:58:07.763464 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:07.763628 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290877537992.
I0419 20:58:07.764281 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0226108 range=0.709267 variance=0.000559518 t_weight=5361.76 r_weight=0 yaml=(15.015, -1.32) prior=(14.273, -1.85677, 179.684deg) obs_actual=(-0.761188, -0.535331) obs_expected=(-0.739033, -0.540856) delta=(-0.0221556, 0.00552475) |delta|=0.0228341m
I0419 20:58:07.764348 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290877538137.
I0419 20:58:07.782523 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290877816112.
I0419 20:58:07.784679 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.476169, 0.536559)
I0419 20:58:07.784801 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.5001 rad/s > flush threshold 3.
I0419 20:58:07.819118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290878180830.
I0419 20:58:07.820597 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290878181029.
I0419 20:58:07.873955 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:07.899163 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.2654, -1.81376), yaw=179.977 deg backend=(14.243, -1.84821)
I0419 20:58:07.900275 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290878418297.
I0419 20:58:07.900899 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290878418464.
I0419 20:58:07.902136 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290878699187.
I0419 20:58:07.903442 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.7292 rad/s > flush threshold 3.
I0419 20:58:07.904652 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:07.904717 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:07.904783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290878995903.
I0419 20:58:07.905339 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.500048, 0.536224), points=12, range=0.73525, residual=0.00941481, extent=0.0260056
I0419 20:58:07.905387 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:07.905405 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.500048, 0.536224), tracking=(-0.798548, -0.536224), map_predicted=(15.0472, -1.28962), range=0.73525, pts=12
I0419 20:58:07.905426 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0442499m maha_sq=0.0850326 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0472, -1.28962) lm_pos=(15.015, -1.32) delta=(0.0321709, 0.0303824) -> 1 candidate(s)
I0419 20:58:07.905471 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290878996009.
I0419 20:58:07.930393 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290879294788.
I0419 20:58:07.931262 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.513277, 0.535752)
I0419 20:58:07.931372 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290879294915.
I0419 20:58:07.958124 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877822s, prior_pose=(14.2398, -1.83343), yaw=179.975 deg
I0419 20:58:07.958220 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:07.958460 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290879577154.
I0419 20:58:08.018106 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:08.018195 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:08.018234 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.3836 rad/s > flush threshold 3.
I0419 20:58:08.019462 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0627174 range=0.750417 variance=0.000530863 t_weight=5651.17 r_weight=0 yaml=(15.015, -1.32) prior=(14.2255, -1.83691, 179.987deg) obs_actual=(-0.824116, -0.533283) obs_expected=(-0.789433, -0.517085) delta=(-0.0346826, -0.0161974) |delta|=0.0382784m
I0419 20:58:08.019557 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290879857491.
I0419 20:58:08.019979 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:08.020043 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290879896841.
I0419 20:58:08.022390 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:08.022464 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.484 deg, rms_residual=0.0143162m, sigma_yaw=0.0187307 rad, N=2
I0419 20:58:08.022511 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.2097, -1.84952, 179.484deg) inliers=2 rms=0.0143162m
I0419 20:58:08.022547 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:08.022567 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290880178956.
I0419 20:58:08.023101 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290880179249.
I0419 20:58:08.046663 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:08.046932 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290880458911.
I0419 20:58:08.048722 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.342589, -0.5816)
I0419 20:58:08.048895 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290880459278.
I0419 20:58:08.074790 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.239813, 0.68341), points=16, range=0.722687, residual=0.0115469, extent=0.0350551
I0419 20:58:08.074930 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.239813, 0.68341), tracking=(0.0586867, 0.68341), map_predicted=(14.1412, -2.52596), range=0.722687, pts=16
I0419 20:58:08.075021 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0268877m maha_sq=0.0313352 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1412, -2.52596) lm_pos=(14.115, -2.52) delta=(0.0262194, -0.00595743) -> 1 candidate(s)
I0419 20:58:08.075207 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290880742201.
I0419 20:58:08.078708 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290880779446.
I0419 20:58:08.133409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881060877.
I0419 20:58:08.133960 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881094416.
I0419 20:58:08.135475 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0318054 range=0.727889 variance=0.000594028 t_weight=5050.27 r_weight=0 yaml=(14.115, -2.52) prior=(14.1846, -1.84446, 179.965deg) obs_actual=(0.0431418, 0.682894) obs_expected=(0.0692387, 0.675581) delta=(-0.0260969, 0.00731212) |delta|=0.0271019m
I0419 20:58:08.135581 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881336970.
I0419 20:58:08.136075 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881337120.
I0419 20:58:08.166350 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.258019, 0.68387)
I0419 20:58:08.166591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881657660.
I0419 20:58:08.167588 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881657816.
I0419 20:58:08.194082 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:08.194243 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:08.194453 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881934322.
I0419 20:58:08.195482 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:08.195623 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290881934576.
I0419 20:58:08.225844 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.266128, 0.681367), points=16, range=0.734187, residual=0.012522, extent=0.0361165
I0419 20:58:08.225991 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.266128, 0.681367), tracking=(0.032372, 0.681367), map_predicted=(14.1287, -2.52944), range=0.734187, pts=16
I0419 20:58:08.226030 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0165956m maha_sq=0.0119251 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1287, -2.52944) lm_pos=(14.115, -2.52) delta=(0.0136515, -0.00943667) -> 1 candidate(s)
I0419 20:58:08.226197 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290882252243.
I0419 20:58:08.302045 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=65.4431 rad/s > flush threshold 3.
I0419 20:58:08.302201 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290882252515.
I0419 20:58:08.303246 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0570364s, prior_pose=(14.1599, -1.84731), yaw=-179.806 deg
I0419 20:58:08.303340 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:58:08.303514 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290882504686.
I0419 20:58:08.304100 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:08.304149 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:08.304234 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290882504925.
I0419 20:58:08.306200 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.630735, -0.537003)
I0419 20:58:08.306314 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0163056 range=0.740125 variance=0.000600631 t_weight=4994.75 r_weight=0 yaml=(14.115, -2.52) prior=(14.1453, -1.84919, -179.786deg) obs_actual=(0.0163141, 0.681207) obs_expected=(0.0327919, 0.670693) delta=(-0.0164778, 0.0105141) |delta|=0.0195464m
I0419 20:58:08.306373 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290882871289.
I0419 20:58:08.306959 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:08.307020 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290882871450.
I0419 20:58:08.314026 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:08.314132 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.911 deg, rms_residual=0.0132027m, sigma_yaw=0.017299 rad, N=2
I0419 20:58:08.314217 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.1233, -1.84814, 179.911deg) inliers=2 rms=0.0132027m
I0419 20:58:08.314277 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:08.314309 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290883132216.
I0419 20:58:08.316692 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.8239 rad/s > flush threshold 3.
I0419 20:58:08.316835 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290883132403.
I0419 20:58:08.342206 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:08.342469 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290883413056.
I0419 20:58:08.343784 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290883413316.
I0419 20:58:08.416940 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.305824, 0.681493), points=14, range=0.748357, residual=0.0114494, extent=0.0384713
I0419 20:58:08.417059 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.305824, 0.681493), tracking=(-0.00732428, 0.681493), map_predicted=(14.1279, -2.53351), range=0.748357, pts=14
I0419 20:58:08.417116 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0186581m maha_sq=0.0149349 (gate chi2=5.99) pose_sigma=(0.150796, 0.150796, rho=0) det_map=(14.1279, -2.53351) lm_pos=(14.115, -2.52) delta=(0.0128645, -0.013514) -> 1 candidate(s)
I0419 20:58:08.417236 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290883695035.
I0419 20:58:08.417941 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290883695297.
I0419 20:58:08.419240 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.598222, -0.540112)
I0419 20:58:08.419392 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884015097.
I0419 20:58:08.420701 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=94.0959 rad/s > flush threshold 3.
I0419 20:58:08.420814 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884015352.
I0419 20:58:08.430532 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0158938 range=0.755813 variance=0.000613129 t_weight=4892.93 r_weight=0 yaml=(14.115, -2.52) prior=(14.1043, -1.85086, -179.573deg) obs_actual=(-0.0196945, 0.682333) obs_expected=(-0.00573599, 0.669198) delta=(-0.0139585, 0.0131345) |delta|=0.0191665m
I0419 20:58:08.430709 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884298086.
I0419 20:58:08.431715 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884298280.
I0419 20:58:08.459041 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884581657.
I0419 20:58:08.459995 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884581917.
I0419 20:58:08.486572 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:08.487215 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:08.487811 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290884854689.
I0419 20:58:08.490811 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.48718, 0.677734)
I0419 20:58:08.490988 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:08.491202 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290884899058.
I0419 20:58:08.577023 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:08.577266 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.568877, -0.539767), points=11, range=0.780909, residual=0.0129854, extent=0.0408882
I0419 20:58:08.577354 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.568877, -0.539767), tracking=(0.867377, -0.539767), map_predicted=(13.215, -1.31059), range=0.780909, pts=11
I0419 20:58:08.577390 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00940906m maha_sq=0.0037947 (gate chi2=5.99) pose_sigma=(0.150735, 0.150735, rho=0) det_map=(13.215, -1.31059) lm_pos=(13.215, -1.32) delta=(4.4466e-05, 0.00940896) -> 1 candidate(s)
I0419 20:58:08.577473 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290885181861.
I0419 20:58:08.577924 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290885182086.
I0419 20:58:08.579945 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560767s, prior_pose=(14.074, -1.84657), yaw=-179.494 deg
I0419 20:58:08.580103 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=46, candidates=46
I0419 20:58:08.580304 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290885459825.
I0419 20:58:08.580890 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:08.580933 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:08.580991 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0343017 range=0.85725 variance=0.000644355 t_weight=4655.82 r_weight=0 yaml=(15.015, -1.32) prior=(14.074, -1.84657, -179.494deg) obs_actual=(-0.973721, -0.520655) obs_expected=(-0.945648, -0.518246) delta=(-0.0280729, -0.00240946) |delta|=0.0281761m
I0419 20:58:08.581039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290885460031.
I0419 20:58:08.582252 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-0.306507, 0.529136)
I0419 20:58:08.582374 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290885779275.
I0419 20:58:08.583662 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=92.0796 rad/s > flush threshold 3.
I0419 20:58:08.583717 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:08.583753 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290885779448.
I0419 20:58:08.605856 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 20:58:08.605950 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.65 deg, rms_residual=0.0149984m, sigma_yaw=0.0159377 rad, N=3
I0419 20:58:08.605988 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.0575, -1.84454, -179.65deg) inliers=3 rms=0.0149984m
I0419 20:58:08.606020 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:08.606040 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290886052971.
I0419 20:58:08.606794 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886053139.
I0419 20:58:08.668251 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:08.668393 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886339137.
I0419 20:58:08.669005 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.235582, -0.674569), points=17, range=0.715882, residual=0.0113398, extent=0.0341316
I0419 20:58:08.669063 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.235582, -0.674569), tracking=(-0.0629178, 0.674569), map_predicted=(14.1189, -2.52422), range=0.715882, pts=17
I0419 20:58:08.669108 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00576961m maha_sq=0.00144315 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1189, -2.52422) lm_pos=(14.115, -2.52) delta=(0.00393531, -0.00421921) -> 1 candidate(s)
I0419 20:58:08.669171 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886339246.
I0419 20:58:08.670383 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.348445, 0.611721)
I0419 20:58:08.670475 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886621217.
I0419 20:58:08.671695 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=81.0739 rad/s > flush threshold 3.
I0419 20:58:08.671765 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886621345.
I0419 20:58:08.690341 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886897654.
I0419 20:58:08.693835 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00222854 range=0.749077 variance=0.00062457 t_weight=4803.3 r_weight=0 yaml=(13.215, -1.32) prior=(14.0347, -1.84806, -179.326deg) obs_actual=(0.819093, -0.542119) obs_expected=(0.813469, -0.537657) delta=(0.00562395, -0.00446151) |delta|=0.00717871m
I0419 20:58:08.693989 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290886932937.
I0419 20:58:08.695622 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.03, -1.84805), yaw=-179.314 deg backend=(14.0362, -1.84572)
I0419 20:58:08.721843 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290887212818.
I0419 20:58:08.722368 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290887212966.
I0419 20:58:08.750669 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290887500531.
I0419 20:58:08.754109 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.42135, 0.670342)
I0419 20:58:08.754271 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290887537302.
I0419 20:58:08.806738 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:08.806838 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:08.806926 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290887854427.
I0419 20:58:08.807448 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.198308, -0.67306), points=17, range=0.703118, residual=0.0110496, extent=0.0339961
I0419 20:58:08.807497 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:08.807519 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.198308, -0.67306), tracking=(-0.100192, 0.67306), map_predicted=(14.1186, -2.52104), range=0.703118, pts=17
I0419 20:58:08.807545 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0037594m maha_sq=0.000612898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1186, -2.52104) lm_pos=(14.115, -2.52) delta=(0.00361224, -0.00104153) -> 1 candidate(s)
I0419 20:58:08.807603 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290887896218.
I0419 20:58:08.810007 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290888094495.
I0419 20:58:08.810705 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290888094684.
I0419 20:58:08.838495 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843148s, prior_pose=(13.9975, -1.85199), yaw=-179.181 deg
I0419 20:58:08.838637 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 20:58:08.838814 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290888380450.
I0419 20:58:08.840132 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:08.840186 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:08.840221 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=96.74 rad/s > flush threshold 3.
I0419 20:58:08.840260 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0425794 range=0.922375 variance=0.000536883 t_weight=5587.8 r_weight=0 yaml=(15.015, -1.32) prior=(13.9882, -1.85039, -179.109deg) obs_actual=(-1.06634, -0.513709) obs_expected=(-1.03488, -0.514356) delta=(-0.0314561, 0.000647106) |delta|=0.0314627m
I0419 20:58:08.840301 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290888380579.
I0419 20:58:08.870523 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290888700665.
I0419 20:58:08.871277 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 20:58:08.871344 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290888700832.
I0419 20:58:08.929678 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.38045, 0.660898)
I0419 20:58:08.929839 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:08.929886 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:08.929910 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290888981133.
I0419 20:58:08.930574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290888981295.
I0419 20:58:08.931763 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:08.931850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290889260641.
I0419 20:58:08.933112 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.3335 rad/s > flush threshold 3.
I0419 20:58:08.933185 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.299 deg, rms_residual=0.00594373m, sigma_yaw=0.00786266 rad, N=2
I0419 20:58:08.933213 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9515, -1.86097, -178.299deg) inliers=2 rms=0.00594373m
I0419 20:58:08.933243 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290889260770.
I0419 20:58:08.958362 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.44184, -0.54066), points=16, range=0.700813, residual=0.0136367, extent=0.0458136
I0419 20:58:08.958489 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.44184, -0.54066), tracking=(0.74034, -0.54066), map_predicted=(13.2199, -1.32234), range=0.700813, pts=16
I0419 20:58:08.958545 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00544978m maha_sq=0.00128443 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2199, -1.32234) lm_pos=(13.215, -1.32) delta=(0.00492271, -0.00233818) -> 1 candidate(s)
I0419 20:58:08.958719 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290889575228.
I0419 20:58:08.963228 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290889624053.
I0419 20:58:08.986660 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290889852954.
I0419 20:58:08.990269 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290889894039.
I0419 20:58:09.018643 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0120436 range=0.689294 variance=0.000687062 t_weight=4366.42 r_weight=0 yaml=(13.215, -1.32) prior=(13.9548, -1.8613, -179.161deg) obs_actual=(0.721138, -0.539197) obs_expected=(0.731792, -0.552071) delta=(-0.0106536, 0.0128747) |delta|=0.016711m
I0419 20:58:09.018783 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290890181452.
I0419 20:58:09.083634 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=98.2891 rad/s > flush threshold 3.
I0419 20:58:09.083827 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290890181596.
I0419 20:58:09.085420 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.34136, 0.663882)
I0419 20:58:09.085614 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290890460667.
I0419 20:58:09.086493 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290890460887.
I0419 20:58:09.088622 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:09.088708 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:09.088833 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290890741005.
I0419 20:58:09.089754 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:09.089897 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290890741153.
I0419 20:58:09.106562 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.407079, -0.541731), points=16, range=0.676, residual=0.013932, extent=0.0466155
I0419 20:58:09.106665 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.407079, -0.541731), tracking=(0.705579, -0.541731), map_predicted=(13.2173, -1.32524), range=0.676, pts=16
I0419 20:58:09.106699 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00573768m maha_sq=0.00142327 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2173, -1.32524) lm_pos=(13.215, -1.32) delta=(0.00234824, -0.00523514) -> 1 candidate(s)
I0419 20:58:09.106832 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891060661.
I0419 20:58:09.108475 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=49.7368 rad/s > flush threshold 3.
I0419 20:58:09.108587 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891060883.
I0419 20:58:09.134491 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596727s, prior_pose=(13.921, -1.85339), yaw=-178.996 deg
I0419 20:58:09.135468 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 20:58:09.135869 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891337732.
I0419 20:58:09.137378 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:09.137462 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:09.137629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891338044.
I0419 20:58:09.229553 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00488611 range=0.663312 variance=0.000587147 t_weight=5109.45 r_weight=0 yaml=(13.215, -1.32) prior=(13.9095, -1.85696, -179.008deg) obs_actual=(0.681715, -0.538786) obs_expected=(0.685127, -0.54891) delta=(-0.00341244, 0.0101235) |delta|=0.0106832m
I0419 20:58:09.229691 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891656640.
I0419 20:58:09.230366 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:09.230460 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891656901.
I0419 20:58:09.231637 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.31031, 0.665225)
I0419 20:58:09.231717 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 19 -> 18 (threshold=0.03, iters=3)
I0419 20:58:09.231767 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:09.231813 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:09.231833 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290891935485.
I0419 20:58:09.233187 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.3429 rad/s > flush threshold 3.
I0419 20:58:09.233304 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290891935721.
I0419 20:58:09.234488 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:09.234568 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290892242355.
I0419 20:58:09.235183 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290892242611.
I0419 20:58:09.251365 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30317, 0.661606), points=3, range=1.45733, residual=0.0083685, extent=0.0163631
I0419 20:58:09.251549 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30317, 0.661606), tracking=(1.60167, 0.661606), map_predicted=(12.2913, -2.55208), range=1.45733, pts=3
I0419 20:58:09.251621 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0398827m maha_sq=0.0682438 (gate chi2=5.99) pose_sigma=(0.150864, 0.150864, rho=0) det_map=(12.2913, -2.55208) lm_pos=(12.315, -2.52) delta=(-0.0236926, -0.0320825) -> 1 candidate(s)
I0419 20:58:09.251734 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.745 deg, rms_residual=0.0134059m, sigma_yaw=0.0175606 rad, N=2
I0419 20:58:09.251896 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8938, -1.8342, -178.745deg) inliers=2 rms=0.0134059m
I0419 20:58:09.251963 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290892505387.
I0419 20:58:09.254741 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290892540554.
I0419 20:58:09.283191 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290892815805.
I0419 20:58:09.366008 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=81.243 rad/s > flush threshold 3.
I0419 20:58:09.366145 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290892816030.
I0419 20:58:09.367439 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.119908 range=1.02825 variance=0.000569628 t_weight=5266.6 r_weight=0 yaml=(15.015, -1.32) prior=(13.8778, -1.85465, -178.873deg) obs_actual=(-1.19945, -0.503967) obs_expected=(-1.1475, -0.512185) delta=(-0.051949, 0.0082174) |delta|=0.0525949m
I0419 20:58:09.367537 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893095654.
I0419 20:58:09.368072 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893140219.
I0419 20:58:09.370038 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27745, 0.660262)
I0419 20:58:09.370208 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893376820.
I0419 20:58:09.370635 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893421389.
I0419 20:58:09.372033 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:09.372120 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:09.372177 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893705448.
I0419 20:58:09.373433 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:09.373497 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.1698 rad/s > flush threshold 3.
I0419 20:58:09.373546 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893705695.
I0419 20:58:09.397989 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.914282, 0.505032), points=5, range=1.0468, residual=0.00948074, extent=0.0251281
I0419 20:58:09.398160 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.914282, 0.505032), tracking=(-1.21278, -0.505032), map_predicted=(15.0589, -1.31494), range=1.0468, pts=5
I0419 20:58:09.398207 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0441648m maha_sq=0.0846501 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0589, -1.31494) lm_pos=(15.015, -1.32) delta=(0.0438744, 0.00505634) -> 1 candidate(s)
I0419 20:58:09.398392 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290893973583.
I0419 20:58:09.402609 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894019654.
I0419 20:58:09.474884 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591588s, prior_pose=(13.8395, -1.84006), yaw=-178.672 deg
I0419 20:58:09.475034 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:09.475209 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894297283.
I0419 20:58:09.475626 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:09.475664 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:09.475744 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894297478.
I0419 20:58:09.477186 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.00645844 range=1.40667 variance=0.000587811 t_weight=5103.69 r_weight=0 yaml=(12.315, -2.52) prior=(13.8395, -1.84006, -178.672deg) obs_actual=(1.53735, 0.656385) obs_expected=(1.53984, 0.64443) delta=(-0.00248823, 0.0119549) |delta|=0.0122111m
I0419 20:58:09.477306 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894577634.
I0419 20:58:09.478579 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.3472 rad/s > flush threshold 3.
I0419 20:58:09.478662 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:09.478717 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894577973.
I0419 20:58:09.487061 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.2326, 0.655358)
I0419 20:58:09.487267 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:09.487382 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:09.487424 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894861835.
I0419 20:58:09.488927 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290894862007.
I0419 20:58:09.518942 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:09.519263 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290895180451.
I0419 20:58:09.520768 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290895180690.
I0419 20:58:09.546113 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23341, 0.658111), points=3, range=1.39367, residual=0.00848747, extent=0.0161735
I0419 20:58:09.546277 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23341, 0.658111), tracking=(1.53191, 0.658111), map_predicted=(12.2995, -2.54548), range=1.39367, pts=3
I0419 20:58:09.546337 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0298477m maha_sq=0.0386576 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2995, -2.54548) lm_pos=(12.315, -2.52) delta=(-0.0155428, -0.0254815) -> 1 candidate(s)
I0419 20:58:09.546451 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.577 deg, rms_residual=0.0153455m, sigma_yaw=0.0200505 rad, N=2
I0419 20:58:09.546571 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8209, -1.83633, -178.577deg) inliers=2 rms=0.0153455m
I0419 20:58:09.546691 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290895453082.
I0419 20:58:09.628616 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.6115 rad/s > flush threshold 3.
I0419 20:58:09.628780 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290895453351.
I0419 20:58:09.630028 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290895734409.
I0419 20:58:09.630705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290895734617.
I0419 20:58:09.631867 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.791, -1.85374), yaw=-178.522 deg backend=(13.811, -1.84067)
I0419 20:58:09.632683 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0529641 range=1.37667 variance=0.000531304 t_weight=5646.49 r_weight=0 yaml=(12.315, -2.52) prior=(13.791, -1.85374, -178.522deg) obs_actual=(1.51266, 0.656948) obs_expected=(1.49269, 0.62798) delta=(0.0199784, 0.0289682) |delta|=0.0351894m
I0419 20:58:09.632764 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896029431.
I0419 20:58:09.633407 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896029658.
I0419 20:58:09.634688 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19863, 0.653757)
I0419 20:58:09.634778 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896341894.
I0419 20:58:09.636034 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=76.9085 rad/s > flush threshold 3.
I0419 20:58:09.636121 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896342025.
I0419 20:58:09.662221 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:09.662385 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:09.662567 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290896612854.
I0419 20:58:09.666747 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:09.667006 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896658792.
I0419 20:58:09.764175 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896938622.
I0419 20:58:09.764652 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0255877, -0.675796), points=18, range=0.678389, residual=0.0118811, extent=0.0348861
I0419 20:58:09.764717 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0255877, -0.675796), tracking=(-0.324088, 0.675796), map_predicted=(14.1313, -2.51444), range=0.678389, pts=18
I0419 20:58:09.764745 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0172559m maha_sq=0.0129028 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1313, -2.51444) lm_pos=(14.115, -2.52) delta=(0.0163362, 0.00555822) -> 1 candidate(s)
I0419 20:58:09.764813 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290896938867.
I0419 20:58:09.766103 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0873734s, prior_pose=(13.7899, -1.84724), yaw=-178.52 deg
I0419 20:58:09.766229 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=254, threshold=230, above_threshold=24, candidates=24
I0419 20:58:09.766382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290897215759.
I0419 20:58:09.767622 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:09.767673 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:09.767704 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.5445 rad/s > flush threshold 3.
I0419 20:58:09.767755 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290897216034.
I0419 20:58:09.768848 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290897499481.
I0419 20:58:09.769475 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 20:58:09.769522 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0140885 range=0.678056 variance=0.000561018 t_weight=5347.42 r_weight=0 yaml=(14.115, -2.52) prior=(13.7743, -1.84466, -178.446deg) obs_actual=(-0.337839, 0.675268) obs_expected=(-0.322255, 0.684325) delta=(-0.0155843, -0.00905682) |delta|=0.0180248m
I0419 20:58:09.769569 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290897499731.
I0419 20:58:09.782331 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.17585, 0.654017)
I0419 20:58:09.782562 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:09.782682 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:09.782717 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290897816109.
I0419 20:58:09.784091 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290897816428.
I0419 20:58:09.811357 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:09.811708 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898102423.
I0419 20:58:09.908428 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=106.261 rad/s > flush threshold 3.
I0419 20:58:09.908576 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898102659.
I0419 20:58:09.910593 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898381064.
I0419 20:58:09.911432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898381333.
I0419 20:58:09.914480 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.192084, -0.547332), points=21, range=0.580571, residual=0.0115234, extent=0.0397106
I0419 20:58:09.914567 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.192084, -0.547332), tracking=(0.490584, -0.547332), map_predicted=(13.2211, -1.31902), range=0.580571, pts=21
I0419 20:58:09.914594 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00618412m maha_sq=0.00162937 (gate chi2=5.99) pose_sigma=(0.151344, 0.151344, rho=0) det_map=(13.2211, -1.31902) lm_pos=(13.215, -1.32) delta=(0.00610667, 0.00097569) -> 1 candidate(s)
I0419 20:58:09.914718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898695935.
I0419 20:58:09.916023 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290898696152.
I0419 20:58:09.917750 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.223 deg, rms_residual=0.0151487m, sigma_yaw=0.0197984 rad, N=2
I0419 20:58:09.917871 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.7261, -1.83995, -178.223deg) inliers=2 rms=0.0151487m
I0419 20:58:09.917908 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898975310.
I0419 20:58:09.919421 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=60.2946 rad/s > flush threshold 3.
I0419 20:58:09.919517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290898975469.
I0419 20:58:09.926591 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.178117, -0.547975)
I0419 20:58:09.926740 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0245023 range=1.29975 variance=0.000633969 t_weight=4732.09 r_weight=0 yaml=(12.315, -2.52) prior=(13.7167, -1.84801, -178.179deg) obs_actual=(1.43085, 0.649361) obs_expected=(1.4224, 0.627103) delta=(0.00845286, 0.0222572) |delta|=0.0238083m
I0419 20:58:09.926894 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290899259155.
I0419 20:58:09.928117 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290899259376.
I0419 20:58:10.010697 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:10.010854 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:10.010959 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290899575503.
I0419 20:58:10.010794 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:10.011682 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:10.011778 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290899575762.
I0419 20:58:10.013129 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290899865610.
I0419 20:58:10.014451 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=62.4272 rad/s > flush threshold 3.
I0419 20:58:10.014549 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290899865892.
I0419 20:58:10.015724 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056598s, prior_pose=(13.6905, -1.85458), yaw=-178.091 deg
I0419 20:58:10.015785 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:10.015897 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11753, 0.647369), points=3, range=1.28667, residual=0.00933112, extent=0.0185723
I0419 20:58:10.015924 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11753, 0.647369), tracking=(1.41603, 0.647369), map_predicted=(12.2968, -2.54876), range=1.28667, pts=3
I0419 20:58:10.015972 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0340501m maha_sq=0.0502921 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2968, -2.54876) lm_pos=(12.315, -2.52) delta=(-0.0182222, -0.0287638) -> 1 candidate(s)
I0419 20:58:10.016024 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290900141483.
I0419 20:58:10.016605 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:10.016649 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:10.016705 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290900141734.
I0419 20:58:10.046639 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290900455797.
I0419 20:58:10.048187 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:58:10.048319 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290900456056.
I0419 20:58:10.074345 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.136825, -0.548485)
I0419 20:58:10.074626 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:10.074736 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:10.074779 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290900735174.
I0419 20:58:10.127803 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=63.7228 rad/s > flush threshold 3.
I0419 20:58:10.127935 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0861847 range=1.204 variance=0.000531213 t_weight=5647.45 r_weight=0 yaml=(15.015, -1.32) prior=(13.6718, -1.84409, -177.932deg) obs_actual=(-1.4057, -0.481413) obs_expected=(-1.36122, -0.475291) delta=(-0.0444794, -0.00612191) |delta|=0.0448987m
I0419 20:58:10.127993 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290900735436.
I0419 20:58:10.129413 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:10.129513 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290901046845.
I0419 20:58:10.130192 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290901047007.
I0419 20:58:10.134220 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290901336461.
I0419 20:58:10.134984 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290901336650.
I0419 20:58:10.162113 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290901614992.
I0419 20:58:10.163585 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=63.6879 rad/s > flush threshold 3.
I0419 20:58:10.189736 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06982, 0.640685), points=5, range=1.2444, residual=0.0082228, extent=0.0208246
I0419 20:58:10.189833 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06982, 0.640685), tracking=(1.36832, 0.640685), map_predicted=(12.3018, -2.54347), range=1.2444, pts=5
I0419 20:58:10.189888 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0269355m maha_sq=0.0311041 (gate chi2=5.99) pose_sigma=(0.150978, 0.150978, rho=0) det_map=(12.3018, -2.54347) lm_pos=(12.315, -2.52) delta=(-0.0132167, -0.02347) -> 1 candidate(s)
I0419 20:58:10.189980 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290901892252.
I0419 20:58:10.190727 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290901892426.
I0419 20:58:10.236244 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0959637, -0.548529)
I0419 20:58:10.236444 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290902215694.
I0419 20:58:10.237090 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290902215854.
I0419 20:58:10.250567 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:10.250648 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:10.250727 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290902500419.
I0419 20:58:10.252038 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:10.252081 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=136.559 rad/s > flush threshold 3.
I0419 20:58:10.252135 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290902500597.
I0419 20:58:10.278260 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.717 deg, rms_residual=0.015304m, sigma_yaw=0.0199973 rad, N=2
I0419 20:58:10.278348 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.020322 range=0.553045 variance=0.00055273 t_weight=5427.61 r_weight=0 yaml=(13.215, -1.32) prior=(13.6342, -1.8474, -177.696deg) obs_actual=(0.376238, -0.547109) obs_expected=(0.397633, -0.543829) delta=(-0.0213944, -0.00327987) |delta|=0.0216443m
I0419 20:58:10.278395 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6219, -1.83945, -177.717deg) inliers=2 rms=0.015304m
I0419 20:58:10.278434 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290902776634.
I0419 20:58:10.279276 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290902776810.
I0419 20:58:10.306025 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556704s, prior_pose=(13.6252, -1.84523), yaw=-177.695 deg
I0419 20:58:10.306123 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1444, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:58:10.306299 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290903057301.
I0419 20:58:10.310782 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:10.310870 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:10.310997 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290903097495.
I0419 20:58:10.339264 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290903381803.
I0419 20:58:10.340216 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290903381978.
I0419 20:58:10.417724 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.055971, -0.547913)
I0419 20:58:10.417981 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:10.418092 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290903660993.
I0419 20:58:10.418838 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.188194, -0.690182), points=17, range=0.718118, residual=0.0131125, extent=0.0421416
I0419 20:58:10.418911 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.188194, -0.690182), tracking=(-0.486694, 0.690182), map_predicted=(14.1221, -2.5194), range=0.718118, pts=17
I0419 20:58:10.418946 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00717263m maha_sq=0.00222618 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1221, -2.5194) lm_pos=(14.115, -2.52) delta=(0.00714732, 0.000601957) -> 1 candidate(s)
I0419 20:58:10.418998 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:10.419032 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:10.419052 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290903661185.
I0419 20:58:10.421408 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:10.421558 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290903976824.
I0419 20:58:10.422303 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290903977053.
I0419 20:58:10.426388 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290904257677.
I0419 20:58:10.429832 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=167.464 rad/s > flush threshold 3.
I0419 20:58:10.430083 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290904257801.
I0419 20:58:10.455112 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.115658 range=1.288 variance=0.00050632 t_weight=5925.11 r_weight=0 yaml=(15.015, -1.32) prior=(13.5847, -1.84688, -177.552deg) obs_actual=(-1.50308, -0.464402) obs_expected=(-1.4515, -0.465318) delta=(-0.0515755, 0.00091616) |delta|=0.0515836m
I0419 20:58:10.455394 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290904540736.
I0419 20:58:10.459124 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290904577058.
I0419 20:58:10.519871 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.5738, -1.84422), yaw=-177.517 deg backend=(13.5899, -1.84764)
I0419 20:58:10.520967 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290904869820.
I0419 20:58:10.521503 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290904870088.
I0419 20:58:10.523053 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.0143779, -0.547753)
I0419 20:58:10.523239 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290905141488.
I0419 20:58:10.524618 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.8304 rad/s > flush threshold 3.
I0419 20:58:10.524722 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290905141780.
I0419 20:58:10.542686 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:10.542815 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:10.542973 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290905419440.
I0419 20:58:10.544055 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23058, 0.462135), points=3, range=1.31167, residual=0.00612953, extent=0.0110491
I0419 20:58:10.544134 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:10.544162 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23058, 0.462135), tracking=(-1.52908, -0.462135), map_predicted=(15.0693, -1.31525), range=1.31167, pts=3
I0419 20:58:10.544198 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0545256m maha_sq=0.129231 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0693, -1.31525) lm_pos=(15.015, -1.32) delta=(0.0543179, 0.004755) -> 1 candidate(s)
I0419 20:58:10.544327 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290905419722.
I0419 20:58:10.574707 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290905736118.
I0419 20:58:10.576263 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290905736432.
I0419 20:58:10.602655 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.087547s, prior_pose=(13.5474, -1.85445), yaw=-177.442 deg
I0419 20:58:10.602837 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:58:10.603365 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290906017250.
I0419 20:58:10.673224 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:10.673367 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:10.673516 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290906053451.
I0419 20:58:10.674810 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0181657 range=1.14325 variance=0.000567078 t_weight=5290.28 r_weight=0 yaml=(12.315, -2.52) prior=(13.5408, -1.85126, -177.44deg) obs_actual=(1.25408, 0.633789) obs_expected=(1.25444, 0.613322) delta=(-0.000354744, 0.0204671) |delta|=0.0204702m
I0419 20:58:10.674932 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290906340258.
I0419 20:58:10.675657 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290906340535.
I0419 20:58:10.677717 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0238904, -0.547768)
I0419 20:58:10.677831 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:10.677930 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290906615523.
I0419 20:58:10.678531 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:10.678598 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:10.678622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290906615733.
I0419 20:58:10.698040 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:10.698381 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290906969790.
I0419 20:58:10.702960 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290907020215.
I0419 20:58:10.723110 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290907219563.
I0419 20:58:10.724875 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290907219930.
I0419 20:58:10.793257 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0463816, -0.548657), points=23, range=0.549739, residual=0.0114505, extent=0.0377524
I0419 20:58:10.793373 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0463816, -0.548657), tracking=(0.252118, -0.548657), map_predicted=(13.2289, -1.31293), range=0.549739, pts=23
I0419 20:58:10.793414 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0155897m maha_sq=0.0104336 (gate chi2=5.99) pose_sigma=(0.150766, 0.150766, rho=0) det_map=(13.2289, -1.31293) lm_pos=(13.215, -1.32) delta=(0.0138949, 0.0070691) -> 1 candidate(s)
I0419 20:58:10.793511 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290907497319.
I0419 20:58:10.794317 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290907497648.
I0419 20:58:10.795848 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.327 deg, rms_residual=0.0134466m, sigma_yaw=0.017613 rad, N=2
I0419 20:58:10.795953 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.4901, -1.84581, -177.327deg) inliers=2 rms=0.0134466m
I0419 20:58:10.796000 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290907779373.
I0419 20:58:10.797842 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.1821 rad/s > flush threshold 3.
I0419 20:58:10.807016 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0641282, -0.548903)
I0419 20:58:10.807334 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290908063595.
I0419 20:58:10.808179 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290908063851.
I0419 20:58:10.838479 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:10.838588 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:10.838667 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0110325 range=1.09586 variance=0.000568378 t_weight=5278.18 r_weight=0 yaml=(12.315, -2.52) prior=(13.4839, -1.84889, -177.303deg) obs_actual=(1.19729, 0.631253) obs_expected=(1.19919, 0.615356) delta=(-0.00189653, 0.0158968) |delta|=0.0160096m
I0419 20:58:10.838816 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290908379061.
I0419 20:58:10.839672 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:10.839773 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290908379246.
I0419 20:58:10.866375 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290908652382.
I0419 20:58:10.932219 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290908696854.
I0419 20:58:10.933842 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059991s, prior_pose=(13.4582, -1.84786), yaw=-177.279 deg
I0419 20:58:10.933933 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:10.934108 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290908978971.
I0419 20:58:10.934746 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:10.934792 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:58:10.934877 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290908979182.
I0419 20:58:10.937047 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290909256506.
I0419 20:58:10.937714 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.32949, 0.451293)
I0419 20:58:10.937784 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.328607, -0.699285), points=15, range=0.775, residual=0.0125725, extent=0.0392624
I0419 20:58:10.937809 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.328607, -0.699285), tracking=(-0.627107, 0.699285), map_predicted=(14.113, -2.51485), range=0.775, pts=15
I0419 20:58:10.937834 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00553694m maha_sq=0.00132728 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.113, -2.51485) lm_pos=(14.115, -2.52) delta=(-0.00203872, 0.00514795) -> 1 candidate(s)
I0419 20:58:10.937904 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290909256648.
I0419 20:58:10.955026 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290909538516.
I0419 20:58:10.957892 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:10.958056 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290909541631.
I0419 20:58:10.987192 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:10.987879 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:10.988356 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:10.988760 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290909861809.
I0419 20:58:10.991173 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290909862077.
I0419 20:58:11.068076 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290910140188.
I0419 20:58:11.068994 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00279329 range=0.786714 variance=0.000587689 t_weight=5104.74 r_weight=0 yaml=(14.115, -2.52) prior=(13.4384, -1.85621, -177.189deg) obs_actual=(-0.649458, 0.701295) obs_expected=(-0.643269, 0.696177) delta=(-0.00618864, 0.00511775) |delta|=0.00803061m
I0419 20:58:11.069149 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290910140444.
I0419 20:58:11.070744 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290910462564.
I0419 20:58:11.072427 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.4061 rad/s > flush threshold 3.
I0419 20:58:11.072516 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:11.074506 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290910739544.
I0419 20:58:11.075344 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.366788, -0.701967)
I0419 20:58:11.075464 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290910739792.
I0419 20:58:11.103251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290911021896.
I0419 20:58:11.104584 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290911022303.
I0419 20:58:11.131183 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:11.131337 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.149383, -0.54788), points=21, range=0.56719, residual=0.0108997, extent=0.0400372
I0419 20:58:11.131385 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:11.131421 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.149383, -0.54788), tracking=(0.149117, -0.54788), map_predicted=(13.2374, -1.31279), range=0.56719, pts=21
I0419 20:58:11.131471 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0235348m maha_sq=0.024028 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2374, -1.31279) lm_pos=(13.215, -1.32) delta=(0.0224048, 0.00720527) -> 1 candidate(s)
I0419 20:58:11.131652 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290911302626.
I0419 20:58:11.208847 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:11.208997 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.2836 rad/s > flush threshold 3.
I0419 20:58:11.210992 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290911653513.
I0419 20:58:11.211795 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290911654191.
I0419 20:58:11.213968 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591068s, prior_pose=(13.395, -1.85201), yaw=-177.094 deg
I0419 20:58:11.214150 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:11.214373 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290911893907.
I0419 20:58:11.215268 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:11.215318 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:11.215385 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290911940346.
I0419 20:58:11.222088 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290912214969.
I0419 20:58:11.226583 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290912259598.
I0419 20:58:11.250226 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.788953, 0.634992)
I0419 20:58:11.250677 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0155245 range=0.578136 variance=0.000552851 t_weight=5426.41 r_weight=0 yaml=(13.215, -1.32) prior=(13.3773, -1.85317, -177.253deg) obs_actual=(0.119904, -0.549592) obs_expected=(0.136592, -0.54034) delta=(-0.0166877, -0.0092525) |delta|=0.0190811m
I0419 20:58:11.250859 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290912496166.
I0419 20:58:11.251749 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290912496397.
I0419 20:58:11.325009 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:11.325202 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290912781309.
I0419 20:58:11.325898 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:11.325992 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290912781633.
I0419 20:58:11.327483 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:11.327605 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:11.327629 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290913058167.
I0419 20:58:11.328961 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.429935, -0.703849), points=12, range=0.82725, residual=0.0109751, extent=0.0327046
I0419 20:58:11.329044 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.429935, -0.703849), tracking=(-0.728435, 0.703849), map_predicted=(14.1072, -2.52312), range=0.82725, pts=12
I0419 20:58:11.329108 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00841021m maha_sq=0.0030351 (gate chi2=5.99) pose_sigma=(0.150804, 0.150804, rho=0) det_map=(14.1072, -2.52312) lm_pos=(14.115, -2.52) delta=(-0.00780817, -0.00312477) -> 1 candidate(s)
I0419 20:58:11.329140 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.80687 rad/s > flush threshold 3.
I0419 20:58:11.338578 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.486 deg, rms_residual=0.017218m, sigma_yaw=0.0224421 rad, N=2
I0419 20:58:11.338752 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.3475, -1.85193, -177.486deg) inliers=2 rms=0.017218m
I0419 20:58:11.338796 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290913379556.
I0419 20:58:11.339442 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290913379676.
I0419 20:58:11.345137 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.3419, -1.85353), yaw=-177.308 deg backend=(13.3661, -1.85448)
I0419 20:58:11.366766 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290913661472.
I0419 20:58:11.367573 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290913661606.
I0419 20:58:11.393852 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290913932244.
I0419 20:58:11.398437 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290913977477.
I0419 20:58:11.445634 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:11.445652 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:11.446235 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:11.446342 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290914220006.
I0419 20:58:11.447448 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.226783, -0.551994)
I0419 20:58:11.447563 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:11.447649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290914257389.
I0419 20:58:11.454445 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0282197 range=0.598905 variance=0.000573699 t_weight=5229.22 r_weight=0 yaml=(13.215, -1.32) prior=(13.3235, -1.85474, -177.289deg) obs_actual=(0.0595288, -0.549521) obs_expected=(0.0830521, -0.539274) delta=(-0.0235233, -0.0102471) |delta|=0.0256583m
I0419 20:58:11.454573 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290914539732.
I0419 20:58:11.454977 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290914539897.
I0419 20:58:11.482757 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844196s, prior_pose=(13.3235, -1.85474), yaw=-177.289 deg
I0419 20:58:11.482872 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=253, threshold=230, above_threshold=31, candidates=31
I0419 20:58:11.483089 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290914821673.
I0419 20:58:11.485689 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:11.485790 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:11.485831 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=55.9858 rad/s > flush threshold 3.
I0419 20:58:11.514088 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.247532, -0.549449), points=20, range=0.6033, residual=0.0109935, extent=0.0333654
I0419 20:58:11.514184 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.247532, -0.549449), tracking=(0.0509676, -0.549449), map_predicted=(13.2293, -1.30789), range=0.6033, pts=20
I0419 20:58:11.514214 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0187415m maha_sq=0.0149876 (gate chi2=5.99) pose_sigma=(0.151264, 0.151264, rho=0) det_map=(13.2293, -1.30789) lm_pos=(13.215, -1.32) delta=(0.0143069, 0.012106) -> 1 candidate(s)
I0419 20:58:11.514326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290915136345.
I0419 20:58:11.555977 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290915413385.
I0419 20:58:11.556509 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290915413534.
I0419 20:58:11.575119 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:11.575278 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290915745271.
I0419 20:58:11.576613 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=69.1081 rad/s > flush threshold 3.
I0419 20:58:11.601986 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(-0.274442, -0.546516)
I0419 20:58:11.602178 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290916015427.
I0419 20:58:11.602844 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290916015580.
I0419 20:58:11.629907 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290916292144.
I0419 20:58:11.630637 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:11.630710 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290916292281.
I0419 20:58:11.662156 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 32 -> 29 (threshold=0.03, iters=3)
I0419 20:58:11.662593 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:11.662659 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:11.662683 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290916615303.
I0419 20:58:11.708673 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.8694 rad/s > flush threshold 3.
I0419 20:58:11.708849 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00364727 range=0.894231 variance=0.000638178 t_weight=4700.88 r_weight=0 yaml=(14.115, -2.52) prior=(13.2578, -1.8526, -177.135deg) obs_actual=(-0.826518, 0.717868) obs_expected=(-0.822743, 0.709416) delta=(-0.00377509, 0.00845203) |delta|=0.00925679m
I0419 20:58:11.708907 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290916615506.
I0419 20:58:11.710477 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290916916784.
I0419 20:58:11.711238 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.534403, -0.717771), points=11, range=0.895545, residual=0.0102655, extent=0.0311769
I0419 20:58:11.711311 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.534403, -0.717771), tracking=(-0.832903, 0.717771), map_predicted=(14.1256, -2.52784), range=0.895545, pts=11
I0419 20:58:11.711336 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0131536m maha_sq=0.00750605 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1256, -2.52784) lm_pos=(14.115, -2.52) delta=(0.0105644, -0.00783648) -> 1 candidate(s)
I0419 20:58:11.711438 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290916916893.
I0419 20:58:11.718173 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:11.718276 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:11.718372 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290917176132.
I0419 20:58:11.719132 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.54528, -0.719159)
I0419 20:58:11.719182 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:11.719237 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290917176283.
I0419 20:58:11.750398 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290917497973.
I0419 20:58:11.751926 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=39.536 rad/s > flush threshold 3.
I0419 20:58:11.752053 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290917498262.
I0419 20:58:11.778199 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060225s, prior_pose=(13.2339, -1.85612), yaw=-177.027 deg
I0419 20:58:11.778298 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=253, threshold=230, above_threshold=19, candidates=19
I0419 20:58:11.778496 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290917778382.
I0419 20:58:11.779237 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:11.779281 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:11.779335 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.771 deg, rms_residual=0.00984193m, sigma_yaw=0.0129526 rad, N=2
I0419 20:58:11.779374 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.2144, -1.8565, -176.771deg) inliers=2 rms=0.00984193m
I0419 20:58:11.779408 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290917778620.
I0419 20:58:11.850023 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290918055011.
I0419 20:58:11.850865 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00839555 range=0.606556 variance=0.00054931 t_weight=5461.4 r_weight=0 yaml=(13.215, -1.32) prior=(13.2215, -1.85733, -177.059deg) obs_actual=(-0.0332192, -0.543833) obs_expected=(-0.0211286, -0.536953) delta=(-0.0120906, -0.00687962) |delta|=0.0139108m
I0419 20:58:11.850988 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290918055110.
I0419 20:58:11.852368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290918350481.
I0419 20:58:11.852823 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290918373437.
I0419 20:58:11.866418 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.63071, 0.630587)
I0419 20:58:11.866587 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.634797, 0.63104), points=11, range=0.891909, residual=0.0132231, extent=0.0427487
I0419 20:58:11.866691 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.634797, 0.63104), tracking=(0.933297, 0.63104), map_predicted=(12.3071, -2.53731), range=0.891909, pts=11
I0419 20:58:11.866746 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0190152m maha_sq=0.0154082 (gate chi2=5.99) pose_sigma=(0.151152, 0.151152, rho=0) det_map=(12.3071, -2.53731) lm_pos=(12.315, -2.52) delta=(-0.0078751, -0.0173079) -> 1 candidate(s)
I0419 20:58:11.866791 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:11.866951 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290918655944.
I0419 20:58:11.867955 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290918656213.
I0419 20:58:11.899185 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290918982159.
I0419 20:58:11.900679 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290918982351.
I0419 20:58:11.927065 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290919261016.
I0419 20:58:12.005580 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.1827 rad/s > flush threshold 3.
I0419 20:58:12.005718 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:12.005817 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290919261293.
I0419 20:58:12.007762 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:12.008009 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:12.008057 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290919536729.
I0419 20:58:12.009600 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290919536978.
I0419 20:58:12.012477 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290919818188.
I0419 20:58:12.013772 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290919863665.
I0419 20:58:12.015245 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:12.015336 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:12.015415 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290920136514.
I0419 20:58:12.017408 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:12.017542 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.7809 rad/s > flush threshold 3.
I0419 20:58:12.017616 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0137121 range=0.959333 variance=0.000530894 t_weight=5650.84 r_weight=0 yaml=(14.115, -2.52) prior=(13.1617, -1.85946, -176.827deg) obs_actual=(-0.918273, 0.729927) obs_expected=(-0.915272, 0.712291) delta=(-0.00300148, 0.0176356) |delta|=0.0178892m
I0419 20:58:12.017684 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290920136692.
I0419 20:58:12.042284 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290920413453.
I0419 20:58:12.043709 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.632329, -0.729044)
I0419 20:58:12.043828 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.202478, 0.541438), points=19, range=0.578789, residual=0.0105323, extent=0.0313397
I0419 20:58:12.043869 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.202478, 0.541438), tracking=(-0.0960218, -0.541438), map_predicted=(13.2276, -1.31354), range=0.578789, pts=19
I0419 20:58:12.043913 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0141729m maha_sq=0.00871673 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2276, -1.31354) lm_pos=(13.215, -1.32) delta=(0.0126138, 0.00646251) -> 1 candidate(s)
I0419 20:58:12.044034 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290920413724.
I0419 20:58:12.126310 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561833s, prior_pose=(13.159, -1.85916), yaw=-176.782 deg
I0419 20:58:12.126431 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 20:58:12.126566 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290920698525.
I0419 20:58:12.127254 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:12.127310 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:12.127413 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290920698880.
I0419 20:58:12.129046 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290921017079.
I0419 20:58:12.130771 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290921017651.
I0419 20:58:12.132562 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290921297745.
I0419 20:58:12.133421 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290921297960.
I0419 20:58:12.162891 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:12.163439 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290921618883.
I0419 20:58:12.165236 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290921619176.
I0419 20:58:12.190481 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290921893169.
I0419 20:58:12.263896 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.1297 rad/s > flush threshold 3.
I0419 20:58:12.264143 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290921893515.
I0419 20:58:12.265853 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00847829 range=0.821231 variance=0.000577374 t_weight=5195.94 r_weight=0 yaml=(12.315, -2.52) prior=(13.1133, -1.86075, -176.884deg) obs_actual=(0.826444, 0.627267) obs_expected=(0.832956, 0.614887) delta=(-0.00651116, 0.0123799) |delta|=0.0139877m
I0419 20:58:12.266077 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290922179454.
I0419 20:58:12.266880 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.159694, 0.541879)
I0419 20:58:12.266985 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:58:12.267066 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290922179764.
I0419 20:58:12.268529 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.1048, -1.86133), yaw=-176.886 deg backend=(13.1411, -1.86478)
I0419 20:58:12.269541 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:12.269641 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:12.269670 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290922497387.
I0419 20:58:12.270406 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.690542, -0.728327), points=7, range=1.00186, residual=0.0111628, extent=0.0334767
I0419 20:58:12.270462 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.690542, -0.728327), tracking=(-0.989042, 0.728327), map_predicted=(14.132, -2.53486), range=1.00186, pts=7
I0419 20:58:12.270493 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0225501m maha_sq=0.0220375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.132, -2.53486) lm_pos=(14.115, -2.52) delta=(0.0169618, -0.0148595) -> 1 candidate(s)
I0419 20:58:12.270572 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290922497616.
I0419 20:58:12.278286 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290922772718.
I0419 20:58:12.281839 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.0345 rad/s > flush threshold 3.
I0419 20:58:12.282179 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290922772984.
I0419 20:58:12.307300 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:12.307467 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:12.307680 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290923058882.
I0419 20:58:12.309223 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:12.309430 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290923064763.
I0419 20:58:12.392019 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290923381017.
I0419 20:58:12.393102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290923381348.
I0419 20:58:12.394645 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0887296s, prior_pose=(13.0876, -1.85949), yaw=-176.873 deg
I0419 20:58:12.394785 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:58:12.394950 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290923660280.
I0419 20:58:12.396627 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:12.396818 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:12.396869 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=43.1917 rad/s > flush threshold 3.
I0419 20:58:12.396919 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.866 deg, rms_residual=0.0102933m, sigma_yaw=0.0135386 rad, N=2
I0419 20:58:12.396955 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.0598, -1.86049, -176.866deg) inliers=2 rms=0.0102933m
I0419 20:58:12.396984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290923660499.
I0419 20:58:12.399281 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290923985428.
I0419 20:58:12.400593 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(-0.113345, 0.540755)
I0419 20:58:12.400808 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0133947 range=0.552609 variance=0.00056993 t_weight=5263.8 r_weight=0 yaml=(13.215, -1.32) prior=(13.0708, -1.86086, -176.927deg) obs_actual=(-0.188479, -0.540638) obs_expected=(-0.172976, -0.532351) delta=(-0.0155031, -0.00828677) |delta|=0.0175788m
I0419 20:58:12.400951 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290923985588.
I0419 20:58:12.423091 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290924220352.
I0419 20:58:12.424793 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290924220640.
I0419 20:58:12.455142 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.460085, 0.627402), points=16, range=0.780187, residual=0.0129841, extent=0.0418895
I0419 20:58:12.455281 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.460085, 0.627402), tracking=(0.758585, 0.627402), map_predicted=(12.336, -2.52868), range=0.780187, pts=16
I0419 20:58:12.455353 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.022746m maha_sq=0.0223888 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.336, -2.52868) lm_pos=(12.315, -2.52) delta=(0.0210245, -0.00868052) -> 1 candidate(s)
I0419 20:58:12.455408 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:12.455601 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290924542693.
I0419 20:58:12.529443 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=67.2346 rad/s > flush threshold 3.
I0419 20:58:12.529685 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290924542916.
I0419 20:58:12.531368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290924898869.
I0419 20:58:12.532222 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290924899102.
I0419 20:58:12.534515 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290925138592.
I0419 20:58:12.535363 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:12.535449 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290925138799.
I0419 20:58:12.542284 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:12.542439 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:12.542485 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290925414532.
I0419 20:58:12.545307 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290925414701.
I0419 20:58:12.570914 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290925696522.
I0419 20:58:12.572494 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290925696811.
I0419 20:58:12.623701 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(-0.0581168, 0.537287)
I0419 20:58:12.623802 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:12.623829 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:12.623894 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00281412 range=0.540522 variance=0.000554925 t_weight=5406.13 r_weight=0 yaml=(13.215, -1.32) prior=(13.0078, -1.86192, -176.973deg) obs_actual=(-0.239627, -0.537166) obs_expected=(-0.235487, -0.530226) delta=(-0.00414018, -0.00694009) |delta|=0.00808121m
I0419 20:58:12.623950 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290925987245.
I0419 20:58:12.624383 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:12.624471 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290926013593.
I0419 20:58:12.630034 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290926295123.
I0419 20:58:12.630719 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0483961, 0.534875), points=25, range=0.539, residual=0.0127873, extent=0.0403323
I0419 20:58:12.630784 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0483961, 0.534875), tracking=(-0.250104, -0.534875), map_predicted=(13.2294, -1.31459), range=0.539, pts=25
I0419 20:58:12.630820 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0153379m maha_sq=0.0101859 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2294, -1.31459) lm_pos=(13.215, -1.32) delta=(0.0143508, 0.00541353) -> 1 candidate(s)
I0419 20:58:12.630910 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290926295269.
I0419 20:58:12.658017 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.058659s, prior_pose=(12.9929, -1.86284), yaw=-176.904 deg
I0419 20:58:12.658181 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:58:12.658512 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290926573835.
I0419 20:58:12.659709 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:12.659785 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:12.659945 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290926574051.
I0419 20:58:12.688187 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290926871444.
I0419 20:58:12.690348 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290926871685.
I0419 20:58:12.718515 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290927179789.
I0419 20:58:12.778151 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.58311 rad/s > flush threshold 3.
I0419 20:58:12.778482 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290927180000.
I0419 20:58:12.780019 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:12.780304 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290927459816.
I0419 20:58:12.780987 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290927460009.
I0419 20:58:12.782946 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290927782100.
I0419 20:58:12.783607 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.010918, 0.534658)
I0419 20:58:12.783706 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290927782270.
I0419 20:58:12.806581 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290928060135.
I0419 20:58:12.808095 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=189.194 rad/s > flush threshold 3.
I0419 20:58:12.910382 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:12.912145 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:12.912269 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.353491, 0.622599), points=17, range=0.717353, residual=0.0121432, extent=0.0400809
I0419 20:58:12.912292 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:12.912304 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.353491, 0.622599), tracking=(0.651991, 0.622599), map_predicted=(12.3277, -2.52659), range=0.717353, pts=17
I0419 20:58:12.912324 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0143358m maha_sq=0.00860423 (gate chi2=5.99) pose_sigma=(0.152643, 0.152643, rho=0) det_map=(12.3277, -2.52659) lm_pos=(12.315, -2.52) delta=(0.0127334, -0.00658585) -> 1 candidate(s)
I0419 20:58:12.913740 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:12.952121 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0587884s, prior_pose=(12.9336, -1.86863), yaw=-176.572 deg
I0419 20:58:12.952567 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:12.953539 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:12.953706 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:13.036525 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:13.042418 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:13.071558 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.0717295, 0.532472)
I0419 20:58:13.146451 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(12.9128, -1.86878), yaw=-176.232 deg backend=(12.927, -1.87313)
I0419 20:58:13.186664 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:13.186789 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.102709, 0.528262), points=25, range=0.53968, residual=0.0122275, extent=0.0401524
I0419 20:58:13.186811 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:13.186829 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.102709, 0.528262), tracking=(-0.401209, -0.528262), map_predicted=(13.261, -1.31559), range=0.53968, pts=25
I0419 20:58:13.186853 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0462262m maha_sq=0.0842978 (gate chi2=5.99) pose_sigma=(0.157376, 0.157376, rho=0) det_map=(13.261, -1.31559) lm_pos=(13.215, -1.32) delta=(0.0460156, 0.00440682) -> 1 candidate(s)
I0419 20:58:13.190311 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:13.246024 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0883031s, prior_pose=(12.8898, -1.87032), yaw=-176.065 deg
I0419 20:58:13.246131 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:58:13.246721 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:13.246778 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:13.306864 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:13.334373 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:13.366667 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.148752, 0.524467)
I0419 20:58:13.482101 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:13.482187 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.209158, 0.619086), points=20, range=0.65415, residual=0.0119509, extent=0.0380677
I0419 20:58:13.482204 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:13.482216 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.209158, 0.619086), tracking=(0.507658, 0.619086), map_predicted=(12.3578, -2.52833), range=0.65415, pts=20
I0419 20:58:13.482239 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0435914m maha_sq=0.0691276 (gate chi2=5.99) pose_sigma=(0.164042, 0.164042, rho=0) det_map=(12.3578, -2.52833) lm_pos=(12.315, -2.52) delta=(0.042789, -0.00832504) -> 1 candidate(s)
I0419 20:58:13.483067 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:13.555797 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.990967, -0.755859)
I0419 20:58:13.558012 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563954s, prior_pose=(12.7974, -1.87443), yaw=-175.634 deg
I0419 20:58:13.558127 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=253, threshold=230, above_threshold=25, candidates=25
I0419 20:58:13.558836 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:13.558986 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:13.571318 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:13.571429 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.06127 range=0.563364 variance=0.000561299 t_weight=5344.74 r_weight=0 yaml=(13.215, -1.32) prior=(12.79, -1.87501, -175.565deg) obs_actual=(-0.508013, -0.522883) obs_expected=(-0.466595, -0.520485) delta=(-0.0414178, -0.0023981) |delta|=0.0414871m
I0419 20:58:13.571519 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290935702331.
I0419 20:58:13.597784 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:13.597929 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:13.597954 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290935971620.
I0419 20:58:13.599370 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=148.683 rad/s > flush threshold 3.
I0419 20:58:13.599506 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290935971765.
I0419 20:58:13.626593 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:13.626827 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290936261097.
I0419 20:58:13.630478 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290936297361.
I0419 20:58:13.704807 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290936572472.
I0419 20:58:13.705740 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.233242, 0.521681)
I0419 20:58:13.705921 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290936572639.
I0419 20:58:13.707458 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290936862707.
I0419 20:58:13.709121 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=154.282 rad/s > flush threshold 3.
I0419 20:58:13.716609 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.157051, 0.610827), points=20, range=0.63095, residual=0.0114331, extent=0.0353633
I0419 20:58:13.716805 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.157051, 0.610827), tracking=(0.455551, 0.610827), map_predicted=(12.329, -2.51905), range=0.63095, pts=20
I0419 20:58:13.716861 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0139856m maha_sq=0.008299 (gate chi2=5.99) pose_sigma=(0.151668, 0.151668, rho=0) det_map=(12.329, -2.51905) lm_pos=(12.315, -2.52) delta=(0.0139536, 0.000945092) -> 1 candidate(s)
I0419 20:58:13.718446 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290937154703.
I0419 20:58:13.746733 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290937457034.
I0419 20:58:13.747681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290937457335.
I0419 20:58:13.774016 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:13.774111 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:13.774247 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290937736337.
I0419 20:58:13.819489 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:13.819584 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=9.18535 rad/s > flush threshold 3.
I0419 20:58:13.819669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290937736522.
I0419 20:58:13.821786 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290938051871.
I0419 20:58:13.822643 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290938051995.
I0419 20:58:13.834635 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605978s, prior_pose=(12.693, -1.87268), yaw=-175.136 deg
I0419 20:58:13.834738 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:13.834909 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00325051 range=0.623364 variance=0.000580246 t_weight=5170.22 r_weight=0 yaml=(12.315, -2.52) prior=(12.693, -1.87268, -175.136deg) obs_actual=(0.423459, 0.609587) obs_expected=(0.431497, 0.612944) delta=(-0.00803749, -0.00335792) |delta|=0.00871073m
I0419 20:58:13.834992 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290938342500.
I0419 20:58:13.835678 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:13.835718 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:13.835811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290938342726.
I0419 20:58:13.862465 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290938618796.
I0419 20:58:13.864059 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.09786, -0.787911)
I0419 20:58:13.864183 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=111.618 rad/s > flush threshold 3.
I0419 20:58:13.864264 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.084 deg, rms_residual=0.0193476m, sigma_yaw=0.0251481 rad, N=2
I0419 20:58:13.864341 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.6637, -1.86995, -175.084deg) inliers=2 rms=0.0193476m
I0419 20:58:13.864398 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290938619013.
I0419 20:58:13.890956 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290938903920.
I0419 20:58:13.894258 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 20:58:13.894379 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290938937027.
I0419 20:58:13.932222 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:13.932338 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:13.932397 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:13.932456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290939219685.
I0419 20:58:13.932866 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10875, -0.78843), points=3, range=1.364, residual=0.00925789, extent=0.0191462
I0419 20:58:13.932929 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10875, -0.78843), tracking=(-1.40725, 0.78843), map_predicted=(14.1358, -2.53442), range=1.364, pts=3
I0419 20:58:13.932956 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0253486m maha_sq=0.0278677 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1358, -2.53442) lm_pos=(14.115, -2.52) delta=(0.0208449, -0.0144237) -> 1 candidate(s)
I0419 20:58:13.933045 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290939219851.
I0419 20:58:13.950435 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290939498272.
I0419 20:58:13.952100 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.7081 rad/s > flush threshold 3.
I0419 20:58:13.952282 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290939498443.
I0419 20:58:13.982741 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290939821344.
I0419 20:58:13.983569 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290939821568.
I0419 20:58:13.984844 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.6444, -1.87769), yaw=-175.001 deg backend=(12.6917, -1.88321)
I0419 20:58:14.010895 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290940102341.
I0419 20:58:14.012531 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290940102511.
I0419 20:58:14.038802 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0139209 range=0.614381 variance=0.000569977 t_weight=5263.37 r_weight=0 yaml=(12.315, -2.52) prior=(12.6444, -1.87769, -175.001deg) obs_actual=(0.366195, 0.609957) obs_expected=(0.384075, 0.611164) delta=(-0.0178801, -0.0012064) |delta|=0.0179208m
I0419 20:58:14.038959 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290940381913.
I0419 20:58:14.081524 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.855538, -0.580698)
I0419 20:58:14.081658 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=97.6023 rad/s > flush threshold 3.
I0419 20:58:14.081684 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:14.082993 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:14.083108 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:14.083750 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:14.125744 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872123s, prior_pose=(12.6173, -1.87714), yaw=-174.891 deg
I0419 20:58:14.125855 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1386, max_intensity=251, threshold=230, above_threshold=22, candidates=22
I0419 20:58:14.130359 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:14.130476 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:14.203078 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0284311, 0.610629), points=22, range=0.612136, residual=0.0120962, extent=0.0383585
I0419 20:58:14.203191 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0284311, 0.610629), tracking=(0.326931, 0.610629), map_predicted=(12.3471, -2.51282), range=0.612136, pts=22
I0419 20:58:14.203225 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0329313m maha_sq=0.0449898 (gate chi2=5.99) pose_sigma=(0.153376, 0.153376, rho=0) det_map=(12.3471, -2.51282) lm_pos=(12.315, -2.52) delta=(0.0321398, 0.00717664) -> 1 candidate(s)
I0419 20:58:14.214191 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:14.250074 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0170175, 0.61152)
I0419 20:58:14.346388 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:14.346515 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:14.363119 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:14.363222 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:14.364856 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:14.423105 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0586087s, prior_pose=(12.5421, -1.87852), yaw=-174.832 deg
I0419 20:58:14.423213 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:14.423795 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:14.423849 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:14.478578 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0436778, 0.61165), points=22, range=0.614591, residual=0.0122647, extent=0.0387189
I0419 20:58:14.478696 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0436778, 0.61165), tracking=(0.254822, 0.61165), map_predicted=(12.3449, -2.51284), range=0.614591, pts=22
I0419 20:58:14.478734 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0307178m maha_sq=0.0364422 (gate chi2=5.99) pose_sigma=(0.159084, 0.159084, rho=0) det_map=(12.3449, -2.51284) lm_pos=(12.315, -2.52) delta=(0.0298718, 0.00715975) -> 1 candidate(s)
I0419 20:58:14.510674 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.0526661, 0.613271)
I0419 20:58:14.510815 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:14.511543 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290945100952.
I0419 20:58:14.538703 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290945379573.
I0419 20:58:14.539548 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290945379730.
I0419 20:58:14.568401 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290945678872.
I0419 20:58:14.570212 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290945696879.
I0419 20:58:14.612680 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946017698.
I0419 20:58:14.613277 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946017809.
I0419 20:58:14.629710 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946291776.
I0419 20:58:14.630523 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946292008.
I0419 20:58:14.654374 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:14.654474 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:14.654556 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946539752.
I0419 20:58:14.657610 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.093827, 0.61613)
I0419 20:58:14.657694 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:14.657734 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:14.657784 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946572467.
I0419 20:58:14.687288 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:14.687444 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:14.687467 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946859418.
I0419 20:58:14.687958 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290946859532.
I0419 20:58:14.699977 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:14.766388 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559843s, prior_pose=(12.4755, -1.88945), yaw=-175.035 deg
I0419 20:58:14.766578 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:14.766867 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290947132310.
I0419 20:58:14.767877 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:14.767971 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:58:14.767997 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.518976, 0.515923), points=13, range=0.732769, residual=0.00924305, extent=0.0293173
I0419 20:58:14.768016 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.518976, 0.515923), tracking=(-0.817476, -0.515923), map_predicted=(13.2453, -1.30472), range=0.732769, pts=13
I0419 20:58:14.768039 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0339379m maha_sq=0.0500254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2453, -1.30472) lm_pos=(13.215, -1.32) delta=(0.0303018, 0.0152833) -> 1 candidate(s)
I0419 20:58:14.768162 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290947176781.
I0419 20:58:14.770367 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290947425634.
I0419 20:58:14.772284 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.7823 rad/s > flush threshold 3.
I0419 20:58:14.802732 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.137034, 0.622623)
I0419 20:58:14.802950 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:14.926293 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:14.927492 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(12.4212, -1.89065), yaw=-175.233 deg backend=(12.4568, -1.8966)
I0419 20:58:14.950487 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:14.950657 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:14.951988 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:15.058810 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0918925s, prior_pose=(12.4038, -1.89261), yaw=-175.299 deg
I0419 20:58:15.059031 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:15.059237 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.193416, 0.622659)
I0419 20:58:15.063293 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:15.063405 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:15.063459 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.592985, 0.521522), points=13, range=0.791692, residual=0.0107916, extent=0.0330745
I0419 20:58:15.063503 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.592985, 0.521522), tracking=(-0.891485, -0.521522), map_predicted=(13.2353, -1.30138), range=0.791692, pts=13
I0419 20:58:15.063544 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0275324m maha_sq=0.0303157 (gate chi2=5.99) pose_sigma=(0.156357, 0.156357, rho=0) det_map=(13.2353, -1.30138) lm_pos=(13.215, -1.32) delta=(0.0202809, 0.0186203) -> 1 candidate(s)
I0419 20:58:15.098977 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:15.195132 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:15.198416 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.641557, 0.525684)
I0419 20:58:15.215612 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0236384 range=0.7176 variance=0.000486546 t_weight=6165.91 r_weight=0 yaml=(12.315, -2.52) prior=(12.3513, -1.89593, -175.656deg) obs_actual=(0.0588356, 0.621016) obs_expected=(0.0834816, 0.61953) delta=(-0.0246461, 0.00148556) |delta|=0.0246908m
I0419 20:58:15.215847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290952138709.
I0419 20:58:15.287626 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:15.287750 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:15.287828 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290952415682.
I0419 20:58:15.288663 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:15.288802 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290952459976.
I0419 20:58:15.290117 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290952736840.
I0419 20:58:15.291545 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.348938, -0.618756), points=23, range=0.713043, residual=0.016377, extent=0.0487723
I0419 20:58:15.291633 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.348938, -0.618756), tracking=(0.0504378, 0.618756), map_predicted=(12.3104, -2.52296), range=0.713043, pts=23
I0419 20:58:15.291664 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00547618m maha_sq=0.001271 (gate chi2=5.99) pose_sigma=(0.15129, 0.15129, rho=0) det_map=(12.3104, -2.52296) lm_pos=(12.315, -2.52) delta=(-0.00460651, -0.00296117) -> 1 candidate(s)
I0419 20:58:15.291687 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=144.421 rad/s > flush threshold 3.
I0419 20:58:15.291754 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290952737057.
I0419 20:58:15.303406 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609949s, prior_pose=(12.3168, -1.90219), yaw=-175.927 deg
I0419 20:58:15.303594 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=254, threshold=230, above_threshold=20, candidates=20
I0419 20:58:15.303987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290953025631.
I0419 20:58:15.305755 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:15.305857 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:15.306062 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290953025932.
I0419 20:58:15.335489 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290953341600.
I0419 20:58:15.337138 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.678099, 0.534907)
I0419 20:58:15.337395 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290953341844.
I0419 20:58:15.362468 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290953614763.
I0419 20:58:15.456310 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=164.279 rad/s > flush threshold 3.
I0419 20:58:15.456449 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290953614983.
I0419 20:58:15.457855 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:15.457971 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290953902934.
I0419 20:58:15.458618 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290953903223.
I0419 20:58:15.460595 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0343865 range=0.699938 variance=0.000599286 t_weight=5005.96 r_weight=0 yaml=(12.315, -2.52) prior=(12.2802, -1.90959, -176.332deg) obs_actual=(-0.0196159, 0.626492) obs_expected=(0.0043302, 0.611388) delta=(-0.0239461, 0.0151048) |delta|=0.028312m
I0419 20:58:15.460716 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290954184022.
I0419 20:58:15.461355 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:15.461468 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290954219908.
I0419 20:58:15.462677 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:15.462746 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:15.462774 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290954498212.
I0419 20:58:15.464030 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.290821, -0.616553)
I0419 20:58:15.464092 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=265.435 rad/s > flush threshold 3.
I0419 20:58:15.464166 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290954498350.
I0419 20:58:15.488570 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.336718, 0.623757), points=23, range=0.711478, residual=0.0223324, extent=0.0563985
I0419 20:58:15.489130 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.336718, 0.623757), tracking=(-0.0382182, 0.623757), map_predicted=(12.3411, -2.53172), range=0.711478, pts=23
I0419 20:58:15.489437 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0285755m maha_sq=0.0348414 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3411, -2.53172) lm_pos=(12.315, -2.52) delta=(0.0260609, -0.0117212) -> 1 candidate(s)
I0419 20:58:15.489823 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290954860626.
I0419 20:58:15.491313 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290954860831.
I0419 20:58:15.597679 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290955071792.
I0419 20:58:15.598412 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290955072154.
I0419 20:58:15.599604 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:15.599679 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:15.599740 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290955382071.
I0419 20:58:15.600992 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:15.601056 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=114.268 rad/s > flush threshold 3.
I0419 20:58:15.601141 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290955382362.
I0419 20:58:15.602274 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290955652974.
I0419 20:58:15.602946 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.528 deg, rms_residual=0.0125866m, sigma_yaw=0.0165052 rad, N=2
I0419 20:58:15.603011 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.2289, -1.9181, -176.528deg) inliers=2 rms=0.0125866m
I0419 20:58:15.603041 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290955697887.
I0419 20:58:15.604725 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0631281s, prior_pose=(12.2326, -1.91572), yaw=-176.987 deg
I0419 20:58:15.604848 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=241, threshold=230, above_threshold=4, candidates=4
I0419 20:58:15.605468 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:15.605515 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.737941, 0.545457)
I0419 20:58:15.605533 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:15.605600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290956013865.
I0419 20:58:15.711556 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00985994 range=0.659167 variance=0.000556629 t_weight=5389.59 r_weight=0 yaml=(12.315, -2.52) prior=(12.2088, -1.91698, -177.131deg) obs_actual=(-0.0624795, 0.6148) obs_expected=(-0.0759149, 0.607581) delta=(0.0134353, 0.00721929) |delta|=0.0152521m
I0419 20:58:15.711696 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290956257158.
I0419 20:58:15.713620 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290956579684.
I0419 20:58:15.715445 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:15.716179 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290956867689.
I0419 20:58:15.718557 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.211636, -0.614574), points=20, range=0.6515, residual=0.0124527, extent=0.0393579
I0419 20:58:15.718690 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.211636, -0.614574), tracking=(-0.0868642, 0.614574), map_predicted=(12.3048, -2.52936), range=0.6515, pts=20
I0419 20:58:15.718724 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0138282m maha_sq=0.00818168 (gate chi2=5.99) pose_sigma=(0.150934, 0.150934, rho=0) det_map=(12.3048, -2.52936) lm_pos=(12.315, -2.52) delta=(-0.010179, -0.00935988) -> 1 candidate(s)
I0419 20:58:15.718809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290957140140.
I0419 20:58:15.747222 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290957453421.
I0419 20:58:15.831013 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.1933, -1.91885), yaw=-177.483 deg backend=(12.2403, -1.90761)
I0419 20:58:15.832495 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:15.832494 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:15.832609 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290957742224.
I0419 20:58:15.833731 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290958015846.
I0419 20:58:15.836283 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.792147, 0.563808)
I0419 20:58:15.836417 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290958301054.
I0419 20:58:15.863819 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:15.864037 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290958619701.
I0419 20:58:15.890452 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836614s, prior_pose=(12.1635, -1.9208), yaw=-177.901 deg
I0419 20:58:15.890614 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=230, threshold=230, above_threshold=1, candidates=1
I0419 20:58:15.955754 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:15.955886 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:15.955910 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290958898170.
I0419 20:58:15.957346 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0171904 range=0.9902 variance=0.000514504 t_weight=5830.85 r_weight=0 yaml=(13.215, -1.32) prior=(12.1404, -1.92178, -178.019deg) obs_actual=(-1.11461, -0.56349) obs_expected=(-1.09473, -0.56427) delta=(-0.0198751, 0.000780772) |delta|=0.0198904m
I0419 20:58:15.957437 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290959178798.
I0419 20:58:15.960325 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:15.960389 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:15.960465 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290959500916.
I0419 20:58:15.979297 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290959774992.
I0419 20:58:16.010975 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.835687, 0.568979), points=5, range=1.0094, residual=0.00685568, extent=0.0182783
I0419 20:58:16.011086 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.835687, 0.568979), tracking=(-1.13419, -0.568979), map_predicted=(13.237, -1.32163), range=1.0094, pts=5
I0419 20:58:16.011117 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0220525m maha_sq=0.0211464 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.237, -1.32163) lm_pos=(13.215, -1.32) delta=(0.0219922, -0.00163008) -> 1 candidate(s)
I0419 20:58:16.011204 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290960099219.
I0419 20:58:16.058806 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.83954, 0.570403)
I0419 20:58:16.059022 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290960378123.
I0419 20:58:16.067773 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:16.067875 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:16.067965 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290960661159.
I0419 20:58:16.098655 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:16.098826 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290960975435.
I0419 20:58:16.127130 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290961259174.
I0419 20:58:16.201674 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290961532540.
I0419 20:58:16.203281 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602988s, prior_pose=(12.0799, -1.92425), yaw=-178.7 deg
I0419 20:58:16.203382 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=231, threshold=230, above_threshold=2, candidates=2
I0419 20:58:16.204166 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.989 deg, rms_residual=0.00975994m, sigma_yaw=0.0128461 rad, N=2
I0419 20:58:16.204222 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.0651, -1.92698, -177.989deg) inliers=2 rms=0.00975994m
I0419 20:58:16.204259 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290961862208.
I0419 20:58:16.214816 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290962135218.
I0419 20:58:16.244316 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0588112, -0.612035)
I0419 20:58:16.244480 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0066021 range=0.614952 variance=0.000594844 t_weight=5043.34 r_weight=0 yaml=(12.315, -2.52) prior=(12.0577, -1.92597, -178.698deg) obs_actual=(-0.237044, 0.610176) obs_expected=(-0.243758, 0.599722) delta=(0.00671327, 0.0104547) |delta|=0.0124245m
I0419 20:58:16.244560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290962417588.
I0419 20:58:16.274819 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:16.276269 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:16.276384 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:16.276643 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290962740398.
I0419 20:58:16.350497 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290963021502.
I0419 20:58:16.352211 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.920082, 0.569351), points=5, range=1.0806, residual=0.00616524, extent=0.0154519
I0419 20:58:16.352376 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.920082, 0.569351), tracking=(-1.21858, -0.569351), map_predicted=(13.2369, -1.32686), range=1.0806, pts=5
I0419 20:58:16.352416 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0229712m maha_sq=0.0229502 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2369, -1.32686) lm_pos=(13.215, -1.32) delta=(0.0219233, -0.0068591) -> 1 candidate(s)
I0419 20:58:16.352521 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290963294089.
I0419 20:58:16.363426 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:16.363653 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290963620832.
I0419 20:58:16.390615 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290963894285.
I0419 20:58:16.419427 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290964176282.
I0419 20:58:16.492667 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.0114769, -0.609742)
I0419 20:58:16.492936 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:16.493178 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290964501070.
I0419 20:58:16.495494 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602852s, prior_pose=(12.006, -1.92868), yaw=-178.372 deg
I0419 20:58:16.495630 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=232, threshold=230, above_threshold=1, candidates=1
I0419 20:58:16.496474 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:16.496608 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:16.496645 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290964779390.
I0419 20:58:16.507674 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290965055678.
I0419 20:58:16.540465 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0597055 range=1.1258 variance=0.000482199 t_weight=6221.5 r_weight=0 yaml=(13.215, -1.32) prior=(11.9894, -1.93317, -178.283deg) obs_actual=(-1.27609, -0.558736) obs_expected=(-1.2434, -0.576167) delta=(-0.0326853, 0.0174309) |delta|=0.0370427m
I0419 20:58:16.540781 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290965379585.
I0419 20:58:16.627556 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290965659363.
I0419 20:58:16.633621 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290965935430.
I0419 20:58:16.635474 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.1963, 0.583469)
I0419 20:58:16.636396 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:16.636458 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:16.636494 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.993029, 0.559893), points=5, range=1.1424, residual=0.00981968, extent=0.0265534
I0419 20:58:16.636523 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.993029, 0.559893), tracking=(-1.29153, -0.559893), map_predicted=(13.2345, -1.33429), range=1.1424, pts=5
I0419 20:58:16.636556 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0241723m maha_sq=0.0253447 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2345, -1.33429) lm_pos=(13.215, -1.32) delta=(0.0194984, -0.0142867) -> 1 candidate(s)
I0419 20:58:16.636668 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290966255943.
I0419 20:58:16.638465 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.9537, -1.93195), yaw=-178.199 deg backend=(12.0011, -1.91283)
I0419 20:58:16.655253 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:16.655406 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:16.655583 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290966535222.
I0419 20:58:16.744074 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 22 -> 21 (threshold=0.03, iters=3)
I0419 20:58:16.744288 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:16.744421 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290966819014.
I0419 20:58:16.746852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290967138544.
I0419 20:58:16.749492 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290967420805.
I0419 20:58:16.774159 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.091479s, prior_pose=(11.9332, -1.93037), yaw=-178.166 deg
I0419 20:58:16.774341 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=229, threshold=230, above_threshold=0, candidates=0
I0419 20:58:16.777662 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290967734121.
I0419 20:58:16.804271 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290968017104.
I0419 20:58:16.868896 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.13435, 0.582137)
I0419 20:58:16.870703 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290968299803.
I0419 20:58:16.872504 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:16.874401 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290968580275.
I0419 20:58:16.887948 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0614668 range=1.211 variance=0.00050318 t_weight=5962.08 r_weight=0 yaml=(13.215, -1.32) prior=(11.8932, -1.93323, -178.286deg) obs_actual=(-1.37474, -0.56025) obs_expected=(-1.33951, -0.573409) delta=(-0.0352244, 0.0131594) |delta|=0.0376023m
I0419 20:58:16.888159 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290968862588.
I0419 20:58:16.918606 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290969177427.
I0419 20:58:16.992244 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:16.992370 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.057 deg, rms_residual=0.01547m, sigma_yaw=0.0202098 rad, N=2
I0419 20:58:16.992429 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.8656, -1.93797, -177.057deg) inliers=2 rms=0.01547m
I0419 20:58:16.992465 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290969455992.
I0419 20:58:16.995442 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290969781837.
I0419 20:58:17.006778 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:17.006861 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:17.006892 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.128097, -0.615697), points=20, range=0.63105, residual=0.0119378, extent=0.035632
I0419 20:58:17.006915 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.128097, -0.615697), tracking=(-0.426597, 0.615697), map_predicted=(12.3034, -2.53899), range=0.63105, pts=20
I0419 20:58:17.006942 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0222314m maha_sq=0.0213194 (gate chi2=5.99) pose_sigma=(0.150349, 0.150349, rho=0) det_map=(12.3034, -2.53899) lm_pos=(12.315, -2.52) delta=(-0.0115518, -0.0189945) -> 1 candidate(s)
I0419 20:58:17.007052 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290970057651.
I0419 20:58:17.034416 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.93553, -0.647622)
I0419 20:58:17.035866 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:17.035981 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290970340661.
I0419 20:58:17.066051 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598998s, prior_pose=(11.8455, -1.9366), yaw=-178.342 deg
I0419 20:58:17.066154 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=230, threshold=230, above_threshold=1, candidates=1
I0419 20:58:17.066943 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:17.067039 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:17.067093 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290970656629.
I0419 20:58:17.110044 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290970940961.
I0419 20:58:17.127182 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290971261780.
I0419 20:58:17.154953 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290971532559.
I0419 20:58:17.183996 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290971815290.
I0419 20:58:17.284305 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.15628, 0.559791)
I0419 20:58:17.284471 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:17.284503 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:17.284613 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0699889 range=1.28467 variance=0.000489294 t_weight=6131.28 r_weight=0 yaml=(13.215, -1.32) prior=(11.8116, -1.93392, -178.391deg) obs_actual=(-1.45725, -0.558911) obs_expected=(-1.42005, -0.574262) delta=(-0.0371986, 0.0153508) |delta|=0.0402416m
I0419 20:58:17.284685 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290972137826.
I0419 20:58:17.287086 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290972421607.
I0419 20:58:17.290154 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:17.290403 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290972700698.
I0419 20:58:17.292200 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:17.306800 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290973019240.
I0419 20:58:17.331609 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.212331, -0.622463), points=18, range=0.659944, residual=0.0122755, extent=0.0370797
I0419 20:58:17.331789 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.212331, -0.622463), tracking=(-0.510831, 0.622463), map_predicted=(12.3121, -2.54111), range=0.659944, pts=18
I0419 20:58:17.331902 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0213137m maha_sq=0.019677 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3121, -2.54111) lm_pos=(12.315, -2.52) delta=(-0.00291297, -0.0211137) -> 1 candidate(s)
I0419 20:58:17.332069 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290973296787.
I0419 20:58:17.379397 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554536s, prior_pose=(11.7749, -1.93527), yaw=-178.562 deg
I0419 20:58:17.379544 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1378, max_intensity=228, threshold=230, above_threshold=0, candidates=0
I0419 20:58:17.380169 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:17.380224 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:17.380321 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290973573959.
I0419 20:58:17.392102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290973897013.
I0419 20:58:17.423122 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290974217456.
I0419 20:58:17.445973 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:17.446838 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290974456417.
I0419 20:58:17.517519 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.262386, -0.62285)
I0419 20:58:17.517728 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290974742972.
I0419 20:58:17.519375 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290975054200.
I0419 20:58:17.520426 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.7347, -1.934), yaw=-178.789 deg backend=(11.7897, -1.91276)
I0419 20:58:17.534400 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:17.534529 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0749825 range=1.364 variance=0.000543606 t_weight=5518.7 r_weight=0 yaml=(13.215, -1.32) prior=(11.7347, -1.934, -178.789deg) obs_actual=(-1.53405, -0.574668) obs_expected=(-1.49295, -0.582587) delta=(-0.0411009, 0.00791872) |delta|=0.0418567m
I0419 20:58:17.534593 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290975332814.
I0419 20:58:17.565742 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290975652668.
I0419 20:58:17.594527 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290975934146.
I0419 20:58:17.632992 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25574, 0.572271), points=3, range=1.38, residual=0.00392401, extent=0.00808187
I0419 20:58:17.633123 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25574, 0.572271), tracking=(-1.55424, -0.572271), map_predicted=(13.2425, -1.33349), range=1.38, pts=3
I0419 20:58:17.633155 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0306218m maha_sq=0.0400798 (gate chi2=5.99) pose_sigma=(0.151353, 0.151353, rho=0) det_map=(13.2425, -1.33349) lm_pos=(13.215, -1.32) delta=(0.0274885, -0.0134935) -> 1 candidate(s)
I0419 20:58:17.633241 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:17.633293 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290976215874.
I0419 20:58:17.653658 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088102s, prior_pose=(11.699, -1.93418), yaw=-178.949 deg
I0419 20:58:17.653765 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1386, max_intensity=228, threshold=230, above_threshold=0, candidates=0
I0419 20:58:17.655128 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:17.655191 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.001 deg, rms_residual=0.0161555m, sigma_yaw=0.0210865 rad, N=2
I0419 20:58:17.655225 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.6779, -1.93313, -178.001deg) inliers=2 rms=0.0161555m
I0419 20:58:17.655260 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:17.655278 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290976533807.
I0419 20:58:17.682799 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290976812828.
I0419 20:58:17.711505 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290977095381.
I0419 20:58:17.811544 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290977430844.
I0419 20:58:17.814090 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.338612, -0.619148)
I0419 20:58:17.814409 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290977700384.
I0419 20:58:17.817260 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:17.817381 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:17.817474 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290977998136.
I0419 20:58:17.832046 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290978297756.
I0419 20:58:17.864724 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:17.864962 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0134789 range=0.719733 variance=0.000582934 t_weight=5146.38 r_weight=0 yaml=(12.315, -2.52) prior=(11.6412, -1.92738, -179.091deg) obs_actual=(-0.664268, 0.620875) obs_expected=(-0.664315, 0.603237) delta=(4.6725e-05, 0.0176389) |delta|=0.017639m
I0419 20:58:17.865176 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290978577654.
I0419 20:58:17.937947 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290978853451.
I0419 20:58:17.940661 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:17.940755 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:17.940946 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290979180500.
I0419 20:58:17.946295 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606349s, prior_pose=(11.623, -1.93009), yaw=-179.127 deg
I0419 20:58:17.946419 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1383, max_intensity=230, threshold=230, above_threshold=1, candidates=1
I0419 20:58:17.947121 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.389748, -0.621636), points=16, range=0.7335, residual=0.0118316, extent=0.0367469
I0419 20:58:17.947180 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.389748, -0.621636), tracking=(-0.688248, 0.621636), map_predicted=(12.3206, -2.54117), range=0.7335, pts=16
I0419 20:58:17.947213 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0218986m maha_sq=0.0203945 (gate chi2=5.99) pose_sigma=(0.151444, 0.151444, rho=0) det_map=(12.3206, -2.54117) lm_pos=(12.315, -2.52) delta=(0.00560968, -0.0211679) -> 1 candidate(s)
I0419 20:58:17.947335 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290979459985.
I0419 20:58:17.980028 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290979782518.
I0419 20:58:18.088454 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.35376, 0.57462)
I0419 20:58:18.089591 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290980061902.
I0419 20:58:18.091600 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:18.092861 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290980332808.
I0419 20:58:18.096978 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290980660404.
I0419 20:58:18.101020 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290980945866.
I0419 20:58:18.122521 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:18.122818 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290981216474.
I0419 20:58:18.127386 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290981262524.
I0419 20:58:18.196578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290981535611.
I0419 20:58:18.197610 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:18.197755 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290981535876.
I0419 20:58:18.199421 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:18.199544 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0896785 range=0.9885 variance=0.000560757 t_weight=5349.91 r_weight=0 yaml=(10.515, -2.52) prior=(11.5662, -1.92862, -179.226deg) obs_actual=(1.06976, 0.621343) obs_expected=(1.05913, 0.577128) delta=(0.0106323, 0.0442155) |delta|=0.0454759m
I0419 20:58:18.199630 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:18.199657 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290981821809.
I0419 20:58:18.201464 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.451759, -0.621687)
I0419 20:58:18.201570 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=40.6541 rad/s > flush threshold 3.
I0419 20:58:18.201675 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290981822109.
I0419 20:58:18.210843 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290982099701.
I0419 20:58:18.212154 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290982100154.
I0419 20:58:18.241879 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0589949s, prior_pose=(11.5439, -1.9299), yaw=-179.311 deg
I0419 20:58:18.242024 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1371, max_intensity=236, threshold=230, above_threshold=4, candidates=4
I0419 20:58:18.243264 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:18.243343 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:18.243404 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.465704, -0.623587), points=14, range=0.781143, residual=0.0128259, extent=0.038907
I0419 20:58:18.243458 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.465704, -0.623587), tracking=(-0.764204, 0.623587), map_predicted=(12.3155, -2.54424), range=0.781143, pts=14
I0419 20:58:18.243508 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0242471m maha_sq=0.0251692 (gate chi2=5.99) pose_sigma=(0.150844, 0.150844, rho=0) det_map=(12.3155, -2.54424) lm_pos=(12.315, -2.52) delta=(0.000523005, -0.0242414) -> 1 candidate(s)
I0419 20:58:18.243721 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290982412324.
I0419 20:58:18.274139 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:18.274305 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:18.274518 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290982733003.
I0419 20:58:18.345124 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.35249 rad/s > flush threshold 3.
I0419 20:58:18.345369 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290982733229.
I0419 20:58:18.347224 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:18.347419 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290983018588.
I0419 20:58:18.348316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290983019979.
I0419 20:58:18.351063 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290983295597.
I0419 20:58:18.351961 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.492429, -0.624515)
I0419 20:58:18.352157 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290983295826.
I0419 20:58:18.358274 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290983573105.
I0419 20:58:18.361433 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.4743 rad/s > flush threshold 3.
I0419 20:58:18.390825 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290983895116.
I0419 20:58:18.456780 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.4987, -1.92531), yaw=-179.438 deg backend=(11.5498, -1.91614)
I0419 20:58:18.458241 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290984182257.
I0419 20:58:18.459108 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:18.459198 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0213012 range=0.811462 variance=0.000555393 t_weight=5401.58 r_weight=0 yaml=(12.315, -2.52) prior=(11.4987, -1.92531, -179.438deg) obs_actual=(-0.813426, 0.624628) obs_expected=(-0.810413, 0.602673) delta=(-0.00301233, 0.0219553) |delta|=0.022161m
I0419 20:58:18.459306 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290984182483.
I0419 20:58:18.460810 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290984455324.
I0419 20:58:18.462426 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=42.9725 rad/s > flush threshold 3.
I0419 20:58:18.462579 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290984455555.
I0419 20:58:18.474161 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.687299, 0.62969)
I0419 20:58:18.474246 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.250348, -0.611928), points=7, range=0.661143, residual=0.00447961, extent=0.0134592
I0419 20:58:18.474296 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.250348, -0.611928), tracking=(0.0481519, -0.611928), map_predicted=(11.4316, -1.31122), range=0.661143, pts=7
I0419 20:58:18.474328 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0187837m maha_sq=0.0153697 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.4316, -1.31122) lm_pos=(11.415, -1.32) delta=(0.016607, 0.00877703) -> 1 candidate(s)
I0419 20:58:18.474398 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.963 deg, rms_residual=0.0253364m, sigma_yaw=0.0266445 rad, N=3
I0419 20:58:18.474468 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.4888, -1.91327, -179.963deg) inliers=3 rms=0.0253364m
I0419 20:58:18.474506 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290984736746.
I0419 20:58:18.475490 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290984736924.
I0419 20:58:18.506910 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=3, buffered=6).
I0419 20:58:18.507213 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290985060148.
I0419 20:58:18.508589 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:18.508723 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:18.508774 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290985060447.
I0419 20:58:18.534610 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0883068s, prior_pose=(11.4888, -1.91327), yaw=-179.492 deg
I0419 20:58:18.534853 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=239, threshold=230, above_threshold=31, candidates=31
I0419 20:58:18.535353 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290985338623.
I0419 20:58:18.608222 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:18.608381 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:18.608454 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.4806 rad/s > flush threshold 3.
I0419 20:58:18.608564 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290985338968.
I0419 20:58:18.610337 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:18.610437 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:18.610574 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290985614677.
I0419 20:58:18.611552 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0320527 range=0.84375 variance=0.000541001 t_weight=5545.27 r_weight=0 yaml=(12.315, -2.52) prior=(11.4725, -1.91246, -179.523deg) obs_actual=(-0.861533, 0.627102) obs_expected=(-0.837436, 0.614536) delta=(-0.0240962, 0.0125658) |delta|=0.0271758m
I0419 20:58:18.611675 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290985659721.
I0419 20:58:18.614034 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:18.614217 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290985947012.
I0419 20:58:18.614943 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.573178, -0.627271)
I0419 20:58:18.615011 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.569824, -0.627301), points=12, range=0.84975, residual=0.0111134, extent=0.0317188
I0419 20:58:18.615041 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.569824, -0.627301), tracking=(-0.868324, 0.627301), map_predicted=(12.3391, -2.52877), range=0.84975, pts=12
I0419 20:58:18.615067 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0256045m maha_sq=0.0284218 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3391, -2.52877) lm_pos=(12.315, -2.52) delta=(0.0240564, -0.00876831) -> 1 candidate(s)
I0419 20:58:18.615144 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290985947200.
I0419 20:58:18.624490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290986238051.
I0419 20:58:18.626425 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290986260424.
I0419 20:58:18.650341 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290986493060.
I0419 20:58:18.654682 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290986538438.
I0419 20:58:18.720818 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290986823911.
I0419 20:58:18.721412 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:18.721820 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290986824139.
I0419 20:58:18.723455 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290987093137.
I0419 20:58:18.725026 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.606829, -0.628312)
I0419 20:58:18.725186 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:18.725207 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.6119 rad/s > flush threshold 3.
I0419 20:58:18.742394 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290987414426.
I0419 20:58:18.744264 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290987414797.
I0419 20:58:18.771183 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.00656068 range=0.648636 variance=0.000668573 t_weight=4487.17 r_weight=5000 yaml=(11.415, -1.32) prior=(11.4231, -1.89894, -179.704deg) obs_actual=(-0.00707472, -0.577057) obs_expected=(0.00515293, -0.578977) delta=(-0.0122277, 0.00192004) |delta|=0.0123775m
I0419 20:58:18.771428 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290987699951.
I0419 20:58:18.773253 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.618432, -0.629294), points=11, range=0.883818, residual=0.00970004, extent=0.0280073
I0419 20:58:18.773366 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.618432, -0.629294), tracking=(-0.916932, 0.629294), map_predicted=(12.3433, -2.5235), range=0.883818, pts=11
I0419 20:58:18.773419 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0285239m maha_sq=0.0353152 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3433, -2.5235) lm_pos=(12.315, -2.52) delta=(0.028309, -0.00349532) -> 1 candidate(s)
I0419 20:58:18.773531 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290987700265.
I0419 20:58:18.798262 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122290987974959.
I0419 20:58:18.872455 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:18.872586 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290988019017.
I0419 20:58:18.873804 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558768s, prior_pose=(11.4113, -1.89345), yaw=-179.777 deg
I0419 20:58:18.873908 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 20:58:18.873991 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=13, centroid=(0.579052, 0.628056)
I0419 20:58:18.874056 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:18.874094 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:18.874111 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290988258719.
I0419 20:58:18.874673 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:18.874719 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:18.874784 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290988258909.
I0419 20:58:18.876698 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:18.876753 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:18.876811 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290988574020.
I0419 20:58:18.877389 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290988574169.
I0419 20:58:18.886925 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:18.887216 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290988861685.
I0419 20:58:18.889279 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.1175 rad/s > flush threshold 3.
I0419 20:58:18.964576 1219494 pose_graph_2d.cc:160] Inserted submap (1, 23).
I0419 20:58:18.965716 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290989453365.
I0419 20:58:18.966398 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290989453580.
I0419 20:58:18.974428 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.46202, -0.585748)
I0419 20:58:18.974655 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290989737515.
I0419 20:58:18.977384 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=34.6998 rad/s > flush threshold 3.
I0419 20:58:19.009984 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45243, -0.581912), points=4, range=1.563, residual=0.00650011, extent=0.0153194
I0419 20:58:19.010121 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.45243, -0.581912), tracking=(1.75093, -0.581912), map_predicted=(9.62522, -1.32222), range=1.563, pts=4
I0419 20:58:19.010176 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.010463m maha_sq=0.00465769 (gate chi2=5.99) pose_sigma=(0.151578, 0.151578, rho=0) det_map=(9.62522, -1.32222) lm_pos=(9.615, -1.32) delta=(0.0102241, -0.0022234) -> 1 candidate(s)
I0419 20:58:19.010267 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0496661 range=0.823846 variance=0.000600146 t_weight=4998.79 r_weight=0 yaml=(10.515, -2.52) prior=(11.3768, -1.90221, -179.937deg) obs_actual=(0.831479, 0.63135) obs_expected=(0.86247, 0.616843) delta=(-0.0309915, 0.0145072) |delta|=0.0342189m
I0419 20:58:19.010345 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290990092717.
I0419 20:58:19.011482 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:19.011611 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290990092925.
I0419 20:58:19.034240 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290990335334.
I0419 20:58:19.035722 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290990335497.
I0419 20:58:19.062495 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290990618569.
I0419 20:58:19.123389 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=21.684 rad/s > flush threshold 3.
I0419 20:58:19.127964 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594764s, prior_pose=(11.3352, -1.90332), yaw=179.992 deg
I0419 20:58:19.128072 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 20:58:19.128141 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.42463, -0.582825)
I0419 20:58:19.128221 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290991213830.
I0419 20:58:19.128772 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:19.128835 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:19.128906 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290991214064.
I0419 20:58:19.150563 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:19.150671 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:19.150779 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290991500515.
I0419 20:58:19.152082 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=10.6269 rad/s > flush threshold 3.
I0419 20:58:19.178140 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:19.178357 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290991775405.
I0419 20:58:19.179448 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290991775615.
I0419 20:58:19.197216 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:19.249306 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.467817, 0.628304), points=16, range=0.784562, residual=0.0133498, extent=0.0482852
I0419 20:58:19.249439 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.467817, 0.628304), tracking=(0.766317, 0.628304), map_predicted=(10.5439, -2.53337), range=0.784562, pts=16
I0419 20:58:19.249472 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.03185m maha_sq=0.0435913 (gate chi2=5.99) pose_sigma=(0.150508, 0.150508, rho=0) det_map=(10.5439, -2.53337) lm_pos=(10.515, -2.52) delta=(0.0289083, -0.0133691) -> 1 candidate(s)
I0419 20:58:19.249531 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.259 deg, rms_residual=0.0142695m, sigma_yaw=0.0186707 rad, N=2
I0419 20:58:19.249559 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.2979, -1.91308, 179.259deg) inliers=2 rms=0.0142695m
I0419 20:58:19.249588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290992080590.
I0419 20:58:19.250159 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:19.250214 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290992080741.
I0419 20:58:19.251523 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:19.251578 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:19.251600 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290992377408.
I0419 20:58:19.252889 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290992421228.
I0419 20:58:19.270546 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0378329 range=0.777071 variance=0.000592108 t_weight=5066.64 r_weight=0 yaml=(10.515, -2.52) prior=(11.2932, -1.90607, 179.92deg) obs_actual=(0.751115, 0.628639) obs_expected=(0.777345, 0.615014) delta=(-0.0262297, 0.0136252) |delta|=0.0295574m
I0419 20:58:19.270695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290992698382.
I0419 20:58:19.271507 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.763436, -0.62789)
I0419 20:58:19.271621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290992698581.
I0419 20:58:19.274783 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.2852, -1.90631), yaw=179.898 deg backend=(11.3128, -1.91149)
I0419 20:58:19.298856 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290992982251.
I0419 20:58:19.299612 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:19.299700 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290992982463.
I0419 20:58:19.326231 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290993256981.
I0419 20:58:19.391368 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.1595 rad/s > flush threshold 3.
I0419 20:58:19.392752 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290993586615.
I0419 20:58:19.393424 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290993586735.
I0419 20:58:19.395543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290993868201.
I0419 20:58:19.396196 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290993868311.
I0419 20:58:19.413913 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877785s, prior_pose=(11.2447, -1.90931), yaw=179.876 deg
I0419 20:58:19.414281 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:19.414597 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.410266, 0.629685), points=15, range=0.7528, residual=0.0109129, extent=0.0330027
I0419 20:58:19.414788 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.410266, 0.629685), tracking=(0.708766, 0.629685), map_predicted=(10.5346, -2.53745), range=0.7528, pts=15
I0419 20:58:19.415019 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0262378m maha_sq=0.0298557 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5346, -2.53745) lm_pos=(10.515, -2.52) delta=(0.0195911, -0.017453) -> 1 candidate(s)
I0419 20:58:19.415282 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290994134904.
I0419 20:58:19.418448 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:19.418808 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:19.419162 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290994178305.
I0419 20:58:19.446720 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:19.447300 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:19.447584 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290994461833.
I0419 20:58:19.448505 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.811374, -0.626308)
I0419 20:58:19.449025 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290994461953.
I0419 20:58:19.522086 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:19.522245 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0259165 range=0.745933 variance=0.000569164 t_weight=5270.89 r_weight=0 yaml=(10.515, -2.52) prior=(11.1953, -1.91135, 179.799deg) obs_actual=(0.692891, 0.631086) obs_expected=(0.678133, 0.611038) delta=(0.0147577, 0.0200477) |delta|=0.0248938m
I0419 20:58:19.522307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290994734287.
I0419 20:58:19.523118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290994734497.
I0419 20:58:19.524439 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290995015374.
I0419 20:58:19.525245 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290995052550.
I0419 20:58:19.534418 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:19.534555 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290995338234.
I0419 20:58:19.534953 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:19.535041 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:19.535061 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290995338409.
I0419 20:58:19.562184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290995613976.
I0419 20:58:19.563287 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.553723, -0.399849)
I0419 20:58:19.590026 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290995894675.
I0419 20:58:19.649539 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290996258002.
I0419 20:58:19.654325 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28915, -0.569473), points=4, range=1.4035, residual=0.0132735, extent=0.0287233
I0419 20:58:19.654440 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28915, -0.569473), tracking=(1.58765, -0.569473), map_predicted=(9.60148, -1.33156), range=1.4035, pts=4
I0419 20:58:19.654471 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.017785m maha_sq=0.0135738 (gate chi2=5.99) pose_sigma=(0.150507, 0.150507, rho=0) det_map=(9.60148, -1.33156) lm_pos=(9.615, -1.32) delta=(-0.0135196, -0.0115554) -> 1 candidate(s)
I0419 20:58:19.654527 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:19.654599 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290996538018.
I0419 20:58:19.678609 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290996780279.
I0419 20:58:19.710572 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056306s, prior_pose=(11.1724, -1.91268), yaw=179.571 deg
I0419 20:58:19.710835 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:19.711062 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290997101078.
I0419 20:58:19.776517 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0384137 range=0.710294 variance=0.000565409 t_weight=5305.9 r_weight=0 yaml=(10.515, -2.52) prior=(11.1565, -1.9134, 179.624deg) obs_actual=(0.617737, 0.633328) obs_expected=(0.637539, 0.610797) delta=(-0.0198017, 0.0225307) |delta|=0.0299957m
I0419 20:58:19.776779 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290997372582.
I0419 20:58:19.778648 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:19.778801 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:19.778954 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122290997655479.
I0419 20:58:19.797962 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290997973744.
I0419 20:58:19.825568 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.24196, -0.570351)
I0419 20:58:19.825766 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290998251960.
I0419 20:58:19.854812 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290998542987.
I0419 20:58:19.916550 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.65 deg, rms_residual=0.0159378m, sigma_yaw=0.0208082 rad, N=2
I0419 20:58:19.916875 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.1185, -1.91371, 178.65deg) inliers=2 rms=0.0159378m
I0419 20:58:19.917068 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290998860637.
I0419 20:58:19.919574 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:19.919878 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:19.920110 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290999137731.
I0419 20:58:19.942868 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290999418999.
I0419 20:58:19.974252 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20752, -0.571651), points=5, range=1.3308, residual=0.0106634, extent=0.020868
I0419 20:58:19.974356 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:19.974376 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.20752, -0.571651), tracking=(1.50602, -0.571651), map_predicted=(9.60108, -1.33322), range=1.3308, pts=5
I0419 20:58:19.974434 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0192021m maha_sq=0.0157324 (gate chi2=5.99) pose_sigma=(0.151176, 0.151176, rho=0) det_map=(9.60108, -1.33322) lm_pos=(9.615, -1.32) delta=(-0.0139247, -0.0132222) -> 1 candidate(s)
I0419 20:58:19.974560 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122290999738619.
I0419 20:58:20.037868 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597354s, prior_pose=(11.0824, -1.91267), yaw=179.626 deg
I0419 20:58:20.038002 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=254, threshold=230, above_threshold=23, candidates=23
I0419 20:58:20.038216 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291000016471.
I0419 20:58:20.040048 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291000302156.
I0419 20:58:20.041373 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:20.063143 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0252553 range=1.31233 variance=0.000547384 t_weight=5480.61 r_weight=0 yaml=(9.615, -1.32) prior=(11.0717, -1.91211, 179.666deg) obs_actual=(1.48305, -0.575613) obs_expected=(1.46015, -0.583601) delta=(0.0228985, 0.00798802) |delta|=0.0242518m
I0419 20:58:20.063411 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291000614665.
I0419 20:58:20.090094 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.231478, 0.632956)
I0419 20:58:20.090271 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:20.090410 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291000892717.
I0419 20:58:20.122030 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:20.122375 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:20.122411 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291001215443.
I0419 20:58:20.187040 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:20.187919 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291001492629.
I0419 20:58:20.190883 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.0585, -1.91086), yaw=179.789 deg backend=(11.0083, -1.90714)
I0419 20:58:20.192675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291001781810.
I0419 20:58:20.206235 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291002056216.
I0419 20:58:20.237954 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:20.238348 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291002374823.
I0419 20:58:20.302933 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1295, -0.581727), points=3, range=1.266, residual=0.00879372, extent=0.0176114
I0419 20:58:20.303050 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1295, -0.581727), tracking=(1.428, -0.581727), map_predicted=(9.61812, -1.32513), range=1.266, pts=3
I0419 20:58:20.303123 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.00600413m maha_sq=0.00155827 (gate chi2=5.99) pose_sigma=(0.150306, 0.150306, rho=0) det_map=(9.61812, -1.32513) lm_pos=(9.615, -1.32) delta=(0.00312143, -0.00512895) -> 1 candidate(s)
I0419 20:58:20.303211 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291002656488.
I0419 20:58:20.304818 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0873385s, prior_pose=(11.0434, -1.91346), yaw=179.735 deg
I0419 20:58:20.304893 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:20.305096 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291002975312.
I0419 20:58:20.326176 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:20.326263 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:20.326370 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291003256214.
I0419 20:58:20.357559 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0014761 range=1.237 variance=0.000695505 t_weight=4313.41 r_weight=0 yaml=(9.615, -1.32) prior=(11.0125, -1.91313, 179.871deg) obs_actual=(1.39488, -0.585652) obs_expected=(1.39885, -0.589991) delta=(-0.00397616, 0.00433903) |delta|=0.00588532m
I0419 20:58:20.357710 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291003539574.
I0419 20:58:20.386349 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.155832, 0.628838)
I0419 20:58:20.386550 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291003857846.
I0419 20:58:20.452872 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291004140970.
I0419 20:58:20.455175 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291004414990.
I0419 20:58:20.474565 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291004738447.
I0419 20:58:20.502383 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:20.502493 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:20.502586 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291005018354.
I0419 20:58:20.565665 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.955 deg, rms_residual=0.0191309m, sigma_yaw=0.0248734 rad, N=2
I0419 20:58:20.565804 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.9505, -1.91662, 178.955deg) inliers=2 rms=0.0191309m
I0419 20:58:20.565845 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291005339018.
I0419 20:58:20.567435 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:20.567540 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291005618343.
I0419 20:58:20.590001 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556114s, prior_pose=(10.948, -1.9126), yaw=-179.998 deg
I0419 20:58:20.590152 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:20.590277 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02823, -0.585675), points=4, range=1.18775, residual=0.0133448, extent=0.0330212
I0419 20:58:20.590305 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02823, -0.585675), tracking=(1.32673, -0.585675), map_predicted=(9.62121, -1.32696), range=1.18775, pts=4
I0419 20:58:20.590332 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.00932732m maha_sq=0.00369716 (gate chi2=5.99) pose_sigma=(0.151304, 0.151304, rho=0) det_map=(9.62121, -1.32696) lm_pos=(9.615, -1.32) delta=(0.00620785, -0.00696142) -> 1 candidate(s)
I0419 20:58:20.590416 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291005895132.
I0419 20:58:20.618490 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291006176636.
I0419 20:58:20.619176 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:20.653865 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291006532444.
I0419 20:58:20.718817 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.0791053, 0.628751)
I0419 20:58:20.718997 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:20.719058 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291006781080.
I0419 20:58:20.721347 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:20.721436 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00576647 range=1.164 variance=0.00049555 t_weight=6053.88 r_weight=0 yaml=(9.615, -1.32) prior=(10.9187, -1.9179, 179.838deg) obs_actual=(1.30828, -0.582996) obs_expected=(1.30537, -0.59421) delta=(0.00291472, 0.0112145) |delta|=0.011587m
I0419 20:58:20.721487 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:20.721503 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291007053290.
I0419 20:58:20.738571 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291007379985.
I0419 20:58:20.765976 1218972 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 23 -> 22 (threshold=0.03, iters=3)
I0419 20:58:20.766206 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291007655381.
I0419 20:58:20.833860 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291007938100.
I0419 20:58:20.834705 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:58:20.834879 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=0
I0419 20:58:20.836387 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.968178, -0.582673)
I0419 20:58:20.836577 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:20.836793 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291008260036.
I0419 20:58:20.854532 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291008539746.
I0419 20:58:20.882138 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557802s, prior_pose=(10.8575, -1.91066), yaw=179.944 deg
I0419 20:58:20.882253 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1403, max_intensity=241, threshold=230, above_threshold=5, candidates=5
I0419 20:58:20.882412 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291008817947.
I0419 20:58:20.885790 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0236843, 0.626018), points=21, range=0.627238, residual=0.0114342, extent=0.03713
I0419 20:58:20.885895 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0236843, 0.626018), tracking=(0.322184, 0.626018), map_predicted=(10.5347, -2.53636), range=0.627238, pts=21
I0419 20:58:20.885929 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0255874m maha_sq=0.0283849 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5347, -2.53636) lm_pos=(10.515, -2.52) delta=(0.019674, -0.01636) -> 1 candidate(s)
I0419 20:58:20.886054 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291008852552.
I0419 20:58:20.914537 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291009138849.
I0419 20:58:20.914983 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.05181, -0.543655)
I0419 20:58:20.915081 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291009138991.
I0419 20:58:20.987897 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291009419935.
I0419 20:58:20.988559 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0780887 range=1.35667 variance=0.000605575 t_weight=4953.97 r_weight=0 yaml=(12.315, -2.52) prior=(10.8428, -1.91065, 179.849deg) obs_actual=(-1.50474, 0.634634) obs_expected=(-1.47384, 0.605481) delta=(-0.0308929, 0.0291532) |delta|=0.0424769m
I0419 20:58:20.988636 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291009420235.
I0419 20:58:20.991806 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291009722820.
I0419 20:58:20.998849 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:20.998934 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:20.999056 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291009984370.
I0419 20:58:21.029868 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(-0.0162865, 0.623497)
I0419 20:58:21.030087 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291010293192.
I0419 20:58:21.105643 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.8308, -1.91139), yaw=179.916 deg backend=(10.8356, -1.89178)
I0419 20:58:21.106654 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:21.106809 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291010580800.
I0419 20:58:21.108747 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291010858551.
I0419 20:58:21.118891 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:21.119004 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:21.119166 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291011183090.
I0419 20:58:21.153856 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0482512, 0.624623), points=22, range=0.627273, residual=0.0118506, extent=0.0387134
I0419 20:58:21.153975 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0482512, 0.624623), tracking=(0.250249, 0.624623), map_predicted=(10.5462, -2.53485), range=0.627273, pts=22
I0419 20:58:21.154016 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0345664m maha_sq=0.0511324 (gate chi2=5.99) pose_sigma=(0.150971, 0.150971, rho=0) det_map=(10.5462, -2.53485) lm_pos=(10.515, -2.52) delta=(0.0312142, -0.0148496) -> 1 candidate(s)
I0419 20:58:21.154157 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291011532299.
I0419 20:58:21.178737 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0887359s, prior_pose=(10.7975, -1.91065), yaw=179.904 deg
I0419 20:58:21.178879 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:21.179087 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:21.179142 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.219 deg, rms_residual=0.0148591m, sigma_yaw=0.0194273 rad, N=2
I0419 20:58:21.179216 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.7716, -1.9097, 179.219deg) inliers=2 rms=0.0148591m
I0419 20:58:21.179260 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291011782535.
I0419 20:58:21.268093 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.0631069, 0.626632)
I0419 20:58:21.268256 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:21.268330 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:21.268353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291012053793.
I0419 20:58:21.271431 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0674338 range=0.629545 variance=0.000578394 t_weight=5186.77 r_weight=0 yaml=(10.515, -2.52) prior=(10.7823, -1.90866, 179.995deg) obs_actual=(0.230023, 0.625189) obs_expected=(0.267257, 0.611364) delta=(-0.0372337, 0.013825) |delta|=0.0397174m
I0419 20:58:21.271548 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291012339928.
I0419 20:58:21.273833 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291012658877.
I0419 20:58:21.294265 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291012935359.
I0419 20:58:21.295123 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:58:21.366468 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:21.366645 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291013258084.
I0419 20:58:21.368561 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291013540965.
I0419 20:58:21.382920 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291013819533.
I0419 20:58:21.413829 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291014132243.
I0419 20:58:21.441841 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.803814, -0.583981)
I0419 20:58:21.442019 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.125406, 0.625608), points=22, range=0.6385, residual=0.0120867, extent=0.0392955
I0419 20:58:21.442090 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.125406, 0.625608), tracking=(0.173094, 0.625608), map_predicted=(10.5316, -2.53313), range=0.6385, pts=22
I0419 20:58:21.442134 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.021134m maha_sq=0.0193509 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5316, -2.53313) lm_pos=(10.515, -2.52) delta=(0.0165637, -0.0131259) -> 1 candidate(s)
I0419 20:58:21.442283 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291014411656.
I0419 20:58:21.529644 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561258s, prior_pose=(10.7008, -1.90681), yaw=-179.957 deg
I0419 20:58:21.529759 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:58:21.529999 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291014693501.
I0419 20:58:21.532487 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291014983130.
I0419 20:58:21.534269 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0358085 range=0.644591 variance=0.000608879 t_weight=4927.09 r_weight=0 yaml=(10.515, -2.52) prior=(10.6937, -1.90612, -179.923deg) obs_actual=(0.153843, 0.626541) obs_expected=(0.179555, 0.613642) delta=(-0.0257123, 0.0128985) |delta|=0.0287662m
I0419 20:58:21.534394 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291015292015.
I0419 20:58:21.558609 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291015574840.
I0419 20:58:21.657348 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:21.657555 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:21.657627 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:21.657717 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291015892509.
I0419 20:58:21.659454 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291016181897.
I0419 20:58:21.661904 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.743629, -0.585709)
I0419 20:58:21.662009 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:21.662084 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291016457024.
I0419 20:58:21.678294 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291016773746.
I0419 20:58:21.706135 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:21.706306 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:21.706518 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291017052518.
I0419 20:58:21.798969 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.199633, 0.633024), points=21, range=0.665, residual=0.0131645, extent=0.0388857
I0419 20:58:21.799093 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.199633, 0.633024), tracking=(0.0988674, 0.633024), map_predicted=(10.5419, -2.53519), range=0.665, pts=21
I0419 20:58:21.799130 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0309225m maha_sq=0.0406747 (gate chi2=5.99) pose_sigma=(0.151325, 0.151325, rho=0) det_map=(10.5419, -2.53519) lm_pos=(10.515, -2.52) delta=(0.0269356, -0.015188) -> 1 candidate(s)
I0419 20:58:21.799216 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291017332299.
I0419 20:58:21.801471 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056101s, prior_pose=(10.6288, -1.90071), yaw=-179.807 deg
I0419 20:58:21.801554 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:58:21.801707 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:21.801743 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.696 deg, rms_residual=0.0149976m, sigma_yaw=0.0196047 rad, N=2
I0419 20:58:21.801774 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.6091, -1.90018, 179.696deg) inliers=2 rms=0.0149976m
I0419 20:58:21.801802 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291017613754.
I0419 20:58:21.803550 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:21.803628 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:21.803650 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291017940316.
I0419 20:58:21.826562 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.229037, 0.634792)
I0419 20:58:21.826710 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0512137 range=0.674952 variance=0.000622564 t_weight=4818.78 r_weight=0 yaml=(10.515, -2.52) prior=(10.6098, -1.90041, -179.856deg) obs_actual=(0.0652809, 0.634861) obs_expected=(0.0963545, 0.619351) delta=(-0.0310736, 0.0155097) |delta|=0.0347292m
I0419 20:58:21.826767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291018260593.
I0419 20:58:21.889613 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291018541396.
I0419 20:58:21.891296 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291018815853.
I0419 20:58:21.892522 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:21.892584 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291018815990.
I0419 20:58:21.910110 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291019094624.
I0419 20:58:21.914523 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291019139455.
I0419 20:58:21.915746 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.5691, -1.89876), yaw=-179.964 deg backend=(10.6019, -1.88912)
I0419 20:58:21.941918 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291019413647.
I0419 20:58:21.942708 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291019413837.
I0419 20:58:21.972147 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291019712235.
I0419 20:58:21.972358 1218972 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.40% real time)
I0419 20:58:21.972496 1218972 collated_trajectory_builder.cc:82] odom rate: 247.68 Hz 4.04e-03 s +/- 7.85e-04 s (pulsed at 100.48% real time)
I0419 20:58:21.972623 1218972 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.52e-03 s (pulsed at 100.32% real time)
I0419 20:58:21.972834 1218972 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.66e-03 s (pulsed at 99.99% real time)
I0419 20:58:22.036388 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.354285, -0.623953)
I0419 20:58:22.036545 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.349141, -0.623501), points=23, range=0.71687, residual=0.0169935, extent=0.0484532
I0419 20:58:22.036571 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.349141, -0.623501), tracking=(0.0506414, 0.623501), map_predicted=(10.5346, -2.52174), range=0.71687, pts=23
I0419 20:58:22.036597 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0196462m maha_sq=0.0163576 (gate chi2=5.99) pose_sigma=(0.151226, 0.151226, rho=0) det_map=(10.5346, -2.52174) lm_pos=(10.515, -2.52) delta=(0.0195688, -0.00174173) -> 1 candidate(s)
I0419 20:58:22.036672 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291019735370.
I0419 20:58:22.037982 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291019973618.
I0419 20:58:22.038703 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291020017335.
I0419 20:58:22.040645 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:22.040740 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:22.040807 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291020293645.
I0419 20:58:22.041488 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0150933 range=0.716706 variance=0.000810855 t_weight=3699.8 r_weight=0 yaml=(10.515, -2.52) prior=(10.5711, -1.89826, 179.96deg) obs_actual=(0.03808, 0.628421) obs_expected=(0.055623, 0.621782) delta=(-0.0175431, 0.00663908) |delta|=0.0187573m
I0419 20:58:22.041581 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291020293762.
I0419 20:58:22.058213 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842737s, prior_pose=(10.5711, -1.89826), yaw=179.96 deg
I0419 20:58:22.058323 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:58:22.058497 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:22.058599 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291020578107.
I0419 20:58:22.059926 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:22.059989 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:22.060029 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.0094 rad/s > flush threshold 3.
I0419 20:58:22.089946 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291020893007.
I0419 20:58:22.090975 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291020893258.
I0419 20:58:22.107378 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:22.182735 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.51303, 0.631855)
I0419 20:58:22.182961 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291021171912.
I0419 20:58:22.183588 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=1, buffered=6).
I0419 20:58:22.183668 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291021172063.
I0419 20:58:22.184975 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:22.185122 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:22.185153 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291021460074.
I0419 20:58:22.186478 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=93.7762 rad/s > flush threshold 3.
I0419 20:58:22.187866 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.606502, -0.583368), points=11, range=0.839182, residual=0.0117171, extent=0.0340184
I0419 20:58:22.187947 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.606502, -0.583368), tracking=(0.905002, -0.583368), map_predicted=(9.62129, -1.32167), range=0.839182, pts=11
I0419 20:58:22.187973 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.00651058m maha_sq=0.0017958 (gate chi2=5.99) pose_sigma=(0.151737, 0.151737, rho=0) det_map=(9.62129, -1.32167) lm_pos=(9.615, -1.32) delta=(0.00629336, -0.00166774) -> 1 candidate(s)
I0419 20:58:22.188056 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291021742406.
I0419 20:58:22.188680 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:22.188766 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291021775965.
I0419 20:58:22.206337 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291022055067.
I0419 20:58:22.210741 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291022097543.
I0419 20:58:22.234673 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.58447, -0.582668)
I0419 20:58:22.235038 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.015304 range=1.62133 variance=0.00053309 t_weight=5627.57 r_weight=3193.85 yaml=(8.715, -2.52) prior=(10.5132, -1.90436, 179.907deg) obs_actual=(1.79248, 0.636715) obs_expected=(1.7972, 0.618544) delta=(-0.00472412, 0.0181709) |delta|=0.018775m
I0419 20:58:22.235213 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291022336095.
I0419 20:58:22.236135 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291022336284.
I0419 20:58:22.328714 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291022656682.
I0419 20:58:22.329406 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291022656936.
I0419 20:58:22.331302 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291022942457.
I0419 20:58:22.331892 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291022942650.
I0419 20:58:22.332969 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:22.333029 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45491, 0.63512), points=3, range=1.59067, residual=0.00795028, extent=0.0167799
I0419 20:58:22.333053 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:22.333086 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45491, 0.63512), tracking=(1.75341, 0.63512), map_predicted=(8.73125, -2.52504), range=1.59067, pts=3
I0419 20:58:22.333107 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0170104m maha_sq=0.0125525 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.73125, -2.52504) lm_pos=(8.715, -2.52) delta=(0.0162471, -0.00503835) -> 1 candidate(s)
I0419 20:58:22.333173 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291023220163.
I0419 20:58:22.334336 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=26.008 rad/s > flush threshold 3.
I0419 20:58:22.354211 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593856s, prior_pose=(10.4702, -1.89388), yaw=179.859 deg
I0419 20:58:22.354351 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=254, threshold=230, above_threshold=23, candidates=23
I0419 20:58:22.354489 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(-0.349648, 0.626608)
I0419 20:58:22.354550 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:22.354633 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.959 deg, rms_residual=0.00697611m, sigma_yaw=0.00747519 rad, N=3
I0419 20:58:22.354727 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.4659, -1.89382, 179.959deg) inliers=3 rms=0.00697611m
I0419 20:58:22.354784 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291023536313.
I0419 20:58:22.355770 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:22.355834 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:22.355931 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291023536553.
I0419 20:58:22.402926 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291023821808.
I0419 20:58:22.403702 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00781707 range=0.668895 variance=0.000572716 t_weight=5238.2 r_weight=0 yaml=(10.515, -2.52) prior=(10.4659, -1.89382, 179.975deg) obs_actual=(-0.0627425, 0.624957) obs_expected=(-0.0493664, 0.626158) delta=(-0.0133761, -0.00120089) |delta|=0.0134299m
I0419 20:58:22.403805 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291023822019.
I0419 20:58:22.410140 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291024092322.
I0419 20:58:22.414635 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291024137768.
I0419 20:58:22.442728 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291024420616.
I0419 20:58:22.443467 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:22.443560 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291024420806.
I0419 20:58:22.470041 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:22.470176 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:22.470202 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291024695781.
I0419 20:58:22.470851 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:22.470960 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291024695957.
I0419 20:58:22.498697 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291024981656.
I0419 20:58:22.559315 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=21.2713 rad/s > flush threshold 3.
I0419 20:58:22.560642 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:22.561353 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.20128, -0.625551)
I0419 20:58:22.561426 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.198224, -0.625489), points=21, range=0.657238, residual=0.0128656, extent=0.0395005
I0419 20:58:22.561451 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.198224, -0.625489), tracking=(-0.100276, 0.625489), map_predicted=(10.5303, -2.52326), range=0.657238, pts=21
I0419 20:58:22.561473 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0156165m maha_sq=0.010378 (gate chi2=5.99) pose_sigma=(0.15132, 0.15132, rho=0) det_map=(10.5303, -2.52326) lm_pos=(10.515, -2.52) delta=(0.0152722, -0.00326106) -> 1 candidate(s)
I0419 20:58:22.563513 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291025577022.
I0419 20:58:22.564203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291025577195.
I0419 20:58:22.586705 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291025856051.
I0419 20:58:22.590672 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291025900457.
I0419 20:58:22.614465 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:22.614584 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:22.614704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291026140522.
I0419 20:58:22.617898 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291026173384.
I0419 20:58:22.692617 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558775s, prior_pose=(10.4152, -1.89056), yaw=-179.82 deg
I0419 20:58:22.692762 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:22.692888 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:22.693055 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291026459232.
I0419 20:58:22.693900 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:22.693960 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:22.694017 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0490837 range=0.647905 variance=0.000586665 t_weight=5113.65 r_weight=0 yaml=(10.515, -2.52) prior=(10.4152, -1.89056, -179.82deg) obs_actual=(-0.131099, 0.624779) obs_expected=(-0.097806, 0.629752) delta=(-0.0332933, -0.00497308) |delta|=0.0336627m
I0419 20:58:22.694073 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291026459390.
I0419 20:58:22.695380 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291026736322.
I0419 20:58:22.697067 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=80.2612 rad/s > flush threshold 3.
I0419 20:58:22.705885 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291027053707.
I0419 20:58:22.706753 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291027053842.
I0419 20:58:22.734287 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.35707, 0.627989)
I0419 20:58:22.734573 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291027336720.
I0419 20:58:22.735625 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.145043, -0.619968), points=22, range=0.638455, residual=0.0128721, extent=0.0399008
I0419 20:58:22.735702 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.145043, -0.619968), tracking=(-0.153457, 0.619968), map_predicted=(10.5388, -2.5095), range=0.638455, pts=22
I0419 20:58:22.735742 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0260282m maha_sq=0.0293264 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5388, -2.5095) lm_pos=(10.515, -2.52) delta=(0.0238143, 0.0105045) -> 1 candidate(s)
I0419 20:58:22.735842 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291027336928.
I0419 20:58:22.763401 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291027622708.
I0419 20:58:22.861960 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:22.862092 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291027656937.
I0419 20:58:22.863358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291027937245.
I0419 20:58:22.864012 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:22.864091 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291027937536.
I0419 20:58:22.865232 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.3602, -1.88542), yaw=-179.743 deg backend=(10.4213, -1.88925)
I0419 20:58:22.866034 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:22.866118 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:22.866142 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291028213849.
I0419 20:58:22.866914 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291028258302.
I0419 20:58:22.867962 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291028537727.
I0419 20:58:22.869210 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.9956 rad/s > flush threshold 3.
I0419 20:58:22.975836 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:22.975953 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:22.976045 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291029094234.
I0419 20:58:22.976676 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291029094430.
I0419 20:58:22.977803 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.087589s, prior_pose=(10.3305, -1.88162), yaw=-179.688 deg
I0419 20:58:22.977869 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:22.977934 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.390311, -0.576564)
I0419 20:58:22.977959 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:22.977988 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.042207 range=0.694824 variance=0.000648408 t_weight=4626.71 r_weight=0 yaml=(9.615, -1.32) prior=(10.3305, -1.88162, -179.688deg) obs_actual=(0.682587, -0.574706) obs_expected=(0.712462, -0.565511) delta=(-0.0298743, -0.0091952) |delta|=0.0312574m
I0419 20:58:22.978029 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291029413836.
I0419 20:58:22.979214 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:22.979252 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:22.979285 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (4 entries) on yaw_rate=12.9471 rad/s > flush threshold 3.
I0419 20:58:22.980433 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291029696218.
I0419 20:58:22.980988 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0847229, -0.622523), points=22, range=0.629818, residual=0.0123713, extent=0.0396805
I0419 20:58:22.981065 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0847229, -0.622523), tracking=(-0.213777, 0.622523), map_predicted=(10.5336, -2.50325), range=0.629818, pts=22
I0419 20:58:22.981106 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0249991m maha_sq=0.0270684 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5336, -2.50325) lm_pos=(10.515, -2.52) delta=(0.0185537, 0.0167545) -> 1 candidate(s)
I0419 20:58:22.981158 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291029696412.
I0419 20:58:22.998695 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291029976887.
I0419 20:58:22.999919 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291029977127.
I0419 20:58:23.027132 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291030259631.
I0419 20:58:23.109808 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.10062 rad/s > flush threshold 3.
I0419 20:58:23.110518 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:23.111207 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291030581765.
I0419 20:58:23.111851 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:23.111943 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291030582064.
I0419 20:58:23.113912 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291030853346.
I0419 20:58:23.114585 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291030853552.
I0419 20:58:23.115835 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291031144512.
I0419 20:58:23.119289 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0482694, -0.625)
I0419 20:58:23.119508 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291031186779.
I0419 20:58:23.146660 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291031457264.
I0419 20:58:23.147874 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0295952 range=0.62719 variance=0.000574087 t_weight=5225.69 r_weight=0 yaml=(10.515, -2.52) prior=(10.2732, -1.88077, -179.659deg) obs_actual=(-0.258484, 0.624479) obs_expected=(-0.237962, 0.640657) delta=(-0.0205221, -0.016178) |delta|=0.026132m
I0419 20:58:23.148015 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291031457527.
I0419 20:58:23.212205 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24806, 0.631346), points=4, range=1.39475, residual=0.00944172, extent=0.0200834
I0419 20:58:23.212329 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.24806, 0.631346), tracking=(1.54656, 0.631346), map_predicted=(8.70403, -2.52007), range=1.39475, pts=4
I0419 20:58:23.212358 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0109734m maha_sq=0.00508617 (gate chi2=5.99) pose_sigma=(0.152027, 0.152027, rho=0) det_map=(8.70403, -2.52007) lm_pos=(8.715, -2.52) delta=(-0.0109732, -6.94451e-05) -> 1 candidate(s)
I0419 20:58:23.212435 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:23.212488 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291031740792.
I0419 20:58:23.213137 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:23.213195 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:23.213222 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291031740948.
I0419 20:58:23.214594 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:23.214785 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:23.214949 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.12 deg, rms_residual=0.0141995m, sigma_yaw=0.0185808 rad, N=2
I0419 20:58:23.215095 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.2438, -1.87367, -179.12deg) inliers=2 rms=0.0141995m
I0419 20:58:23.215236 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291032059586.
I0419 20:58:23.216585 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.2876 rad/s > flush threshold 3.
I0419 20:58:23.234380 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595179s, prior_pose=(10.2353, -1.87676), yaw=-179.587 deg
I0419 20:58:23.234522 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:23.234683 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:23.235646 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:23.235709 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:23.262588 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291032620562.
I0419 20:58:23.263478 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291032620762.
I0419 20:58:23.294662 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291032939404.
I0419 20:58:23.381955 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.00450671, -0.624695)
I0419 20:58:23.382071 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=106.409 rad/s > flush threshold 3.
I0419 20:58:23.383251 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291033216575.
I0419 20:58:23.383863 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291033216722.
I0419 20:58:23.385828 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291033539973.
I0419 20:58:23.386474 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:23.386549 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291033540103.
I0419 20:58:23.387616 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291033781193.
I0419 20:58:23.388999 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.014544, -0.624826), points=21, range=0.626476, residual=0.0119149, extent=0.0370497
I0419 20:58:23.389091 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.014544, -0.624826), tracking=(-0.313044, 0.624826), map_predicted=(10.5187, -2.49887), range=0.626476, pts=21
I0419 20:58:23.389120 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0214541m maha_sq=0.0196824 (gate chi2=5.99) pose_sigma=(0.151025, 0.151025, rho=0) det_map=(10.5187, -2.49887) lm_pos=(10.515, -2.52) delta=(0.00374231, 0.0211252) -> 1 candidate(s)
I0419 20:58:23.389176 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291033815643.
I0419 20:58:23.410167 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.000284766 range=1.343 variance=0.000532723 t_weight=5631.45 r_weight=0 yaml=(8.715, -2.52) prior=(10.1983, -1.87779, -179.323deg) obs_actual=(1.49058, 0.627178) obs_expected=(1.49082, 0.624628) delta=(-0.000242539, 0.00254953) |delta|=0.00256104m
I0419 20:58:23.410300 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291034096568.
I0419 20:58:23.411039 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291034096705.
I0419 20:58:23.499027 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291034377788.
I0419 20:58:23.499763 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.8475, -0.66636)
I0419 20:58:23.499866 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291034421891.
I0419 20:58:23.501109 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291034695818.
I0419 20:58:23.502396 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=85.6359 rad/s > flush threshold 3.
I0419 20:58:23.503607 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:23.503660 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:23.503715 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291034959728.
I0419 20:58:23.504285 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291034959847.
I0419 20:58:23.526085 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558829s, prior_pose=(10.1637, -1.8797), yaw=-179.264 deg
I0419 20:58:23.526232 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:23.526427 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:23.526547 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291035254782.
I0419 20:58:23.530263 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:23.530336 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:23.530413 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:23.530462 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291035298820.
I0419 20:58:23.554703 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:23.554834 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:23.554862 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291035540153.
I0419 20:58:23.645316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291035573926.
I0419 20:58:23.646617 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291035862481.
I0419 20:58:23.647249 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0679063, -0.628277), points=21, range=0.634, residual=0.0123534, extent=0.0379956
I0419 20:58:23.647339 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0679063, -0.628277), tracking=(-0.366406, 0.628277), map_predicted=(10.5234, -2.50706), range=0.634, pts=21
I0419 20:58:23.647368 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0154261m maha_sq=0.010307 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5234, -2.50706) lm_pos=(10.515, -2.52) delta=(0.00840337, 0.0129363) -> 1 candidate(s)
I0419 20:58:23.647423 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291035862840.
I0419 20:58:23.649255 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291036136202.
I0419 20:58:23.649901 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.88051, -0.672089)
I0419 20:58:23.650007 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00970092 range=0.6333 variance=0.000565876 t_weight=5301.52 r_weight=0 yaml=(10.515, -2.52) prior=(10.1407, -1.88389, -179.182deg) obs_actual=(-0.371911, 0.628013) obs_expected=(-0.365215, 0.641389) delta=(-0.00669608, -0.0133762) |delta|=0.0149586m
I0419 20:58:23.650048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291036136339.
I0419 20:58:23.651281 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291036456652.
I0419 20:58:23.652542 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:23.652585 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=38.7993 rad/s > flush threshold 3.
I0419 20:58:23.674410 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291036736239.
I0419 20:58:23.675284 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291036736462.
I0419 20:58:23.743028 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.1109, -1.88358), yaw=-179.114 deg backend=(10.137, -1.88573)
I0419 20:58:23.743981 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291037018515.
I0419 20:58:23.744489 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291037018720.
I0419 20:58:23.745924 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291037301267.
I0419 20:58:23.746420 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291037335338.
I0419 20:58:23.762703 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291037618017.
I0419 20:58:23.763729 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291037618406.
I0419 20:58:23.790623 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:23.790818 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:23.791033 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291037892583.
I0419 20:58:23.795007 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.119432, -0.628909), points=21, range=0.641905, residual=0.0126189, extent=0.041109
I0419 20:58:23.795192 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.119432, -0.628909), tracking=(-0.417932, 0.628909), map_predicted=(10.5231, -2.5021), range=0.641905, pts=21
I0419 20:58:23.795258 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0196326m maha_sq=0.0166896 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5231, -2.5021) lm_pos=(10.515, -2.52) delta=(0.00807125, 0.0178967) -> 1 candidate(s)
I0419 20:58:23.795415 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291037942594.
I0419 20:58:23.822176 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879213s, prior_pose=(10.0947, -1.88024), yaw=-179.046 deg
I0419 20:58:23.822371 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:23.822606 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.148423, -0.580372)
I0419 20:58:23.822685 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:23.822962 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291038214551.
I0419 20:58:23.924305 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:23.924401 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:23.924443 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=116.38 rad/s > flush threshold 3.
I0419 20:58:23.929715 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=9.63306e-05 range=1.2345 variance=0.000567984 t_weight=5281.84 r_weight=0 yaml=(8.715, -2.52) prior=(10.0768, -1.88024, -179.201deg) obs_actual=(1.37121, 0.61933) obs_expected=(1.37062, 0.620709) delta=(0.000598519, -0.00137944) |delta|=0.00150369m
I0419 20:58:23.929833 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291039098417.
I0419 20:58:23.931017 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (2 entries) on yaw_rate=39.912 rad/s > flush threshold 3.
I0419 20:58:23.938586 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:23.938723 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291039380594.
I0419 20:58:23.939455 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:23.939510 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:23.939563 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:23.939615 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291039380763.
I0419 20:58:24.019011 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.531 deg, rms_residual=0.0127281m, sigma_yaw=0.0166876 rad, N=2
I0419 20:58:24.019146 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.0426, -1.87961, -178.531deg) inliers=2 rms=0.0127281m
I0419 20:58:24.019187 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291039660243.
I0419 20:58:24.019850 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291039695389.
I0419 20:58:24.021270 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291039974710.
I0419 20:58:24.022590 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.172042, -0.638122)
I0419 20:58:24.022701 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=108.226 rad/s > flush threshold 3.
I0419 20:58:24.022727 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:24.029898 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.176982, -0.638078), points=20, range=0.6644, residual=0.0133732, extent=0.0418752
I0419 20:58:24.030002 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.176982, -0.638078), tracking=(-0.475482, 0.638078), map_predicted=(10.5254, -2.50784), range=0.6644, pts=20
I0419 20:58:24.030043 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0160142m maha_sq=0.0109583 (gate chi2=5.99) pose_sigma=(0.150957, 0.150957, rho=0) det_map=(10.5254, -2.50784) lm_pos=(10.515, -2.52) delta=(0.0104167, 0.0121634) -> 1 candidate(s)
I0419 20:58:24.058871 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291040578096.
I0419 20:58:24.060161 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291040578658.
I0419 20:58:24.086813 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:24.087003 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:24.087244 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291040855928.
I0419 20:58:24.176795 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=5.32653 rad/s > flush threshold 3.
I0419 20:58:24.179045 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056167s, prior_pose=(10.0245, -1.87835), yaw=-178.803 deg
I0419 20:58:24.179160 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:24.179363 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:24.179488 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291041139766.
I0419 20:58:24.180572 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:24.180641 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:24.180745 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291041140034.
I0419 20:58:24.183563 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291041461477.
I0419 20:58:24.184206 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291041461684.
I0419 20:58:24.185434 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0054329 range=1.17575 variance=0.000514949 t_weight=5825.82 r_weight=0 yaml=(8.715, -2.52) prior=(10.0137, -1.8794, -178.826deg) obs_actual=(1.3014, 0.618586) obs_expected=(1.31153, 0.613856) delta=(-0.0101324, 0.00472988) |delta|=0.011182m
I0419 20:58:24.185532 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291041772235.
I0419 20:58:24.187232 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291041817857.
I0419 20:58:24.202670 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.986284, 0.616271)
I0419 20:58:24.202960 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291042020820.
I0419 20:58:24.204375 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291042021088.
I0419 20:58:24.281066 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 24 -> 23 (threshold=0.03, iters=3)
I0419 20:58:24.281265 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291042338566.
I0419 20:58:24.281879 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.229533, -0.639161), points=20, range=0.6826, residual=0.0149851, extent=0.0450032
I0419 20:58:24.281939 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.229533, -0.639161), tracking=(-0.528033, 0.639161), map_predicted=(10.5234, -2.51012), range=0.6826, pts=20
I0419 20:58:24.281965 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0129606m maha_sq=0.00725257 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5234, -2.51012) lm_pos=(10.515, -2.52) delta=(0.00838504, 0.00988278) -> 1 candidate(s)
I0419 20:58:24.281991 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:24.282054 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291042338789.
I0419 20:58:24.283241 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291042612816.
I0419 20:58:24.284561 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=30.2425 rad/s > flush threshold 3.
I0419 20:58:24.291242 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291042905187.
I0419 20:58:24.292204 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:24.292315 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291042905665.
I0419 20:58:24.322702 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:24.322968 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:24.323019 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291043218034.
I0419 20:58:24.324316 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291043218279.
I0419 20:58:24.351049 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291043500543.
I0419 20:58:24.438686 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=88.158 rad/s > flush threshold 3.
I0419 20:58:24.440050 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:24.440104 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:24.440188 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291043819206.
I0419 20:58:24.440783 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291043819425.
I0419 20:58:24.442562 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592997s, prior_pose=(9.94407, -1.88335), yaw=-178.965 deg
I0419 20:58:24.442639 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:24.442732 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.00671096, -0.581896)
I0419 20:58:24.442762 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:24.442830 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291044093785.
I0419 20:58:24.443378 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:24.443419 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:24.443488 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291044094040.
I0419 20:58:24.444710 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0578684 range=0.583783 variance=0.00057319 t_weight=5233.87 r_weight=0 yaml=(9.615, -1.32) prior=(9.94407, -1.88335, -178.965deg) obs_actual=(0.284946, -0.582874) obs_expected=(0.318833, -0.569204) delta=(-0.0338872, -0.0136699) |delta|=0.0365405m
I0419 20:58:24.444788 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291044381506.
I0419 20:58:24.445971 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=34.7502 rad/s > flush threshold 3.
I0419 20:58:24.466037 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.913461, 0.619998), points=4, range=1.102, residual=0.00627753, extent=0.0153779
I0419 20:58:24.466142 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.913461, 0.619998), tracking=(1.21196, 0.619998), map_predicted=(8.72455, -2.52566), range=1.102, pts=4
I0419 20:58:24.466176 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.011098m maha_sq=0.00526044 (gate chi2=5.99) pose_sigma=(0.151389, 0.151389, rho=0) det_map=(8.72455, -2.52566) lm_pos=(8.715, -2.52) delta=(0.00954629, -0.00565984) -> 1 candidate(s)
I0419 20:58:24.466324 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291044655287.
I0419 20:58:24.470024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291044692391.
I0419 20:58:24.562235 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:24.562449 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291044956591.
I0419 20:58:24.563129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291044979233.
I0419 20:58:24.564374 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291045255111.
I0419 20:58:24.565658 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:24.565723 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.368 rad/s > flush threshold 3.
I0419 20:58:24.568409 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.88787, -1.88548), yaw=-179.106 deg backend=(9.92048, -1.88913)
I0419 20:58:24.586789 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.877558, 0.623044)
I0419 20:58:24.587227 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291045861111.
I0419 20:58:24.614921 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291046135039.
I0419 20:58:24.615707 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291046135391.
I0419 20:58:24.696019 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291046417731.
I0419 20:58:24.696823 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291046461814.
I0419 20:58:24.698786 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:24.698860 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:24.698944 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291046741242.
I0419 20:58:24.699535 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351764, -0.634512), points=16, range=0.729, residual=0.0138766, extent=0.0437831
I0419 20:58:24.699604 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.351764, -0.634512), tracking=(-0.650264, 0.634512), map_predicted=(10.5185, -2.51118), range=0.729, pts=16
I0419 20:58:24.699632 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00948173m maha_sq=0.00388672 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5185, -2.51118) lm_pos=(10.515, -2.52) delta=(0.00347338, 0.00882263) -> 1 candidate(s)
I0419 20:58:24.699673 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:24.699712 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291046741393.
I0419 20:58:24.702044 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881113s, prior_pose=(9.85988, -1.88532), yaw=-179.242 deg
I0419 20:58:24.702158 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:24.702301 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:24.702365 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:24.702387 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.01411 range=0.584955 variance=0.000567136 t_weight=5289.74 r_weight=0 yaml=(9.615, -1.32) prior=(9.85988, -1.88532, -179.242deg) obs_actual=(0.223062, -0.579488) obs_expected=(0.237377, -0.568509) delta=(-0.0143158, -0.0109789) |delta|=0.018041m
I0419 20:58:24.702468 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:24.702487 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291047016504.
I0419 20:58:24.703816 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:24.703884 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:24.703918 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=91.4136 rad/s > flush threshold 3.
I0419 20:58:24.730034 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291047295099.
I0419 20:58:24.734269 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291047339081.
I0419 20:58:24.807865 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291047619733.
I0419 20:58:24.808640 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291047619913.
I0419 20:58:24.809793 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.819134, 0.632308)
I0419 20:58:24.809891 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.638 deg, rms_residual=0.0102065m, sigma_yaw=0.013426 rad, N=2
I0419 20:58:24.809926 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.82476, -1.88895, -179.638deg) inliers=2 rms=0.0102065m
I0419 20:58:24.809953 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291047902044.
I0419 20:58:24.811167 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=177.514 rad/s > flush threshold 3.
I0419 20:58:24.818188 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291048177469.
I0419 20:58:24.818879 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:24.818948 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291048177611.
I0419 20:58:24.850693 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291048500317.
I0419 20:58:24.851619 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291048500495.
I0419 20:58:24.878170 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.791657, 0.641058), points=4, range=1.021, residual=0.00722867, extent=0.0176143
I0419 20:58:24.878274 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.791657, 0.641058), tracking=(1.09016, 0.641058), map_predicted=(8.7323, -2.53774), range=1.021, pts=4
I0419 20:58:24.878310 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0247746m maha_sq=0.0266823 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.7323, -2.53774) lm_pos=(8.715, -2.52) delta=(0.0172984, -0.0177355) -> 1 candidate(s)
I0419 20:58:24.878400 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291048776943.
I0419 20:58:24.941329 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=239.445 rad/s > flush threshold 3.
I0419 20:58:24.942785 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291049057860.
I0419 20:58:24.943492 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00263766 range=0.7605 variance=0.000637166 t_weight=4708.35 r_weight=0 yaml=(10.515, -2.52) prior=(9.80251, -1.89083, -179.823deg) obs_actual=(-0.718249, 0.630099) obs_expected=(-0.710541, 0.631371) delta=(-0.00770779, -0.00127196) |delta|=0.00781204m
I0419 20:58:24.943581 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291049125875.
I0419 20:58:24.945452 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291049378495.
I0419 20:58:24.946069 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291049378664.
I0419 20:58:24.965893 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:24.965982 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:24.966071 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291049654873.
I0419 20:58:24.967756 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=195.083 rad/s > flush threshold 3.
I0419 20:58:24.994443 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562818s, prior_pose=(9.77778, -1.89082), yaw=179.927 deg
I0419 20:58:24.994560 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1392, max_intensity=254, threshold=230, above_threshold=15, candidates=15
I0419 20:58:24.994645 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.453649, -0.62778)
I0419 20:58:24.994688 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:24.997865 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:24.997951 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:24.998051 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291049974076.
I0419 20:58:25.069161 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291050261384.
I0419 20:58:25.069667 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291050261514.
I0419 20:58:25.071089 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:58:25.071166 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291050537737.
I0419 20:58:25.072486 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:25.072557 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:25.072583 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291050576017.
I0419 20:58:25.082166 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.170368, -0.581311), points=21, range=0.606143, residual=0.0112808, extent=0.0354069
I0419 20:58:25.082252 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.170368, -0.581311), tracking=(0.128132, -0.581311), map_predicted=(9.62268, -1.30842), range=0.606143, pts=21
I0419 20:58:25.082281 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0138954m maha_sq=0.00837251 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.62268, -1.30842) lm_pos=(9.615, -1.32) delta=(0.00768474, 0.011577) -> 1 candidate(s)
I0419 20:58:25.082407 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291050817905.
I0419 20:58:25.086699 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291050862032.
I0419 20:58:25.114281 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291051135558.
I0419 20:58:25.115306 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:25.115444 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291051135688.
I0419 20:58:25.142983 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0201059 range=0.61 variance=0.000575722 t_weight=5210.85 r_weight=0 yaml=(9.615, -1.32) prior=(9.7403, -1.89091, 179.512deg) obs_actual=(0.111625, -0.580791) obs_expected=(0.130161, -0.569819) delta=(-0.0185363, -0.0109711) |delta|=0.0215397m
I0419 20:58:25.143275 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291051419910.
I0419 20:58:25.232390 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=113.701 rad/s > flush threshold 3.
I0419 20:58:25.233986 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291051739303.
I0419 20:58:25.234592 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.5066, -0.623602)
I0419 20:58:25.234711 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291051739531.
I0419 20:58:25.236588 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291052021542.
I0419 20:58:25.237257 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291052021672.
I0419 20:58:25.238746 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291052371609.
I0419 20:58:25.240064 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=248.931 rad/s > flush threshold 3.
I0419 20:58:25.262800 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:25.262910 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:25.263034 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291052622306.
I0419 20:58:25.263712 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.530328, -0.622742), points=15, range=0.820733, residual=0.0129829, extent=0.0382195
I0419 20:58:25.263762 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.530328, -0.622742), tracking=(-0.828828, 0.622742), map_predicted=(10.5227, -2.52815), range=0.820733, pts=15
I0419 20:58:25.263789 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0112309m maha_sq=0.00545787 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5227, -2.52815) lm_pos=(10.515, -2.52) delta=(0.00772353, -0.00815356) -> 1 candidate(s)
I0419 20:58:25.263864 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291052622477.
I0419 20:58:25.326241 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0507435s, prior_pose=(9.70281, -1.8946), yaw=178.902 deg
I0419 20:58:25.326393 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=253, threshold=230, above_threshold=30, candidates=30
I0419 20:58:25.326529 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:25.326632 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291052879184.
I0419 20:58:25.327273 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:25.327324 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:25.327402 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291052909504.
I0419 20:58:25.328737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291053181661.
I0419 20:58:25.330080 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=225.611 rad/s > flush threshold 3.
I0419 20:58:25.350942 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291053503199.
I0419 20:58:25.351662 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0211235 range=0.837923 variance=0.000576375 t_weight=5204.94 r_weight=0 yaml=(10.515, -2.52) prior=(9.6874, -1.89425, 178.697deg) obs_actual=(-0.859637, 0.619524) obs_expected=(-0.84162, 0.606763) delta=(-0.0180167, 0.0127614) |delta|=0.0220784m
I0419 20:58:25.351750 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291053503409.
I0419 20:58:25.378473 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.637765, 0.668107)
I0419 20:58:25.378607 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.21 deg, rms_residual=0.0123533m, sigma_yaw=0.0162041 rad, N=2
I0419 20:58:25.378711 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.6673, -1.89211, 178.21deg) inliers=2 rms=0.0123533m
I0419 20:58:25.378747 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291053780755.
I0419 20:58:25.379463 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:25.379536 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291053780990.
I0419 20:58:25.406562 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:25.406713 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:25.406739 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291054060386.
I0419 20:58:25.469695 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:25.469772 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=261.301 rad/s > flush threshold 3.
I0419 20:58:25.471186 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291054379731.
I0419 20:58:25.471849 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291054379960.
I0419 20:58:25.473119 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.64809, -1.89128), yaw=178.224 deg backend=(9.67854, -1.88652)
I0419 20:58:25.474085 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.612198, 0.673934), points=9, range=0.909111, residual=0.00916908, extent=0.0258646
I0419 20:58:25.474143 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.612198, 0.673934), tracking=(0.910698, 0.673934), map_predicted=(8.71695, -2.53667), range=0.909111, pts=9
I0419 20:58:25.474170 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0167861m maha_sq=0.0121454 (gate chi2=5.99) pose_sigma=(0.150567, 0.150567, rho=0) det_map=(8.71695, -2.53667) lm_pos=(8.715, -2.52) delta=(0.00194611, -0.0166729) -> 1 candidate(s)
I0419 20:58:25.474248 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291054658250.
I0419 20:58:25.474854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291054658430.
I0419 20:58:25.495244 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291054935984.
I0419 20:58:25.499179 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291054981588.
I0419 20:58:25.527113 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291055261365.
I0419 20:58:25.528874 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291055261592.
I0419 20:58:25.633261 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.341594, -0.550258)
I0419 20:58:25.633385 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:25.633412 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:25.633476 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0105448 range=0.892364 variance=0.000581744 t_weight=5156.91 r_weight=0 yaml=(8.715, -2.52) prior=(9.61543, -1.88839, 177.978deg) obs_actual=(0.883926, 0.677387) obs_expected=(0.877575, 0.662994) delta=(0.00635094, 0.0143932) |delta|=0.0157321m
I0419 20:58:25.633536 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291055538030.
I0419 20:58:25.634243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291055538295.
I0419 20:58:25.635434 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0886716s, prior_pose=(9.61543, -1.88839), yaw=177.978 deg
I0419 20:58:25.635510 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1370, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:58:25.635617 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:25.635686 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291055868304.
I0419 20:58:25.636945 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:25.637001 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:25.637037 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=98.9076 rad/s > flush threshold 3.
I0419 20:58:25.637121 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291055868567.
I0419 20:58:25.638329 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291056135452.
I0419 20:58:25.639019 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.322427, 0.571668), points=30, range=0.653733, residual=0.0191908, extent=0.0568995
I0419 20:58:25.639072 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.322427, 0.571668), tracking=(0.0239267, -0.571668), map_predicted=(9.60108, -1.31516), range=0.653733, pts=30
I0419 20:58:25.639096 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0147367m maha_sq=0.00931906 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60108, -1.31516) lm_pos=(9.615, -1.32) delta=(-0.0139194, 0.0048395) -> 1 candidate(s)
I0419 20:58:25.639161 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291056135617.
I0419 20:58:25.642627 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291056415803.
I0419 20:58:25.644112 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=30, centroid=(-0.310988, 0.572985)
I0419 20:58:25.644317 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291056416022.
I0419 20:58:25.675498 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291056741215.
I0419 20:58:25.759447 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.4965 rad/s > flush threshold 3.
I0419 20:58:25.759594 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291056741449.
I0419 20:58:25.760797 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:25.760874 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00921715 range=0.8692 variance=0.000539045 t_weight=5565.4 r_weight=0 yaml=(8.715, -2.52) prior=(9.59162, -1.88224, 177.703deg) obs_actual=(0.838338, 0.680638) obs_expected=(0.850352, 0.67239) delta=(-0.0120138, 0.00824759) |delta|=0.0145724m
I0419 20:58:25.760955 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057017197.
I0419 20:58:25.761619 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:25.761690 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:25.761751 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:25.761778 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057017520.
I0419 20:58:25.763890 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057296163.
I0419 20:58:25.770342 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.149 deg, rms_residual=0.00615825m, sigma_yaw=0.00814412 rad, N=2
I0419 20:58:25.770478 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.56386, -1.8828, 178.149deg) inliers=2 rms=0.00615825m
I0419 20:58:25.770552 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057296379.
I0419 20:58:25.772115 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057579871.
I0419 20:58:25.773811 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.261334, 0.568965), points=21, range=0.628762, residual=0.0133546, extent=0.0396863
I0419 20:58:25.773968 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.261334, 0.568965), tracking=(-0.0371656, -0.568965), map_predicted=(9.6249, -1.31571), range=0.628762, pts=21
I0419 20:58:25.774006 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0107842m maha_sq=0.00495798 (gate chi2=5.99) pose_sigma=(0.151141, 0.151141, rho=0) det_map=(9.6249, -1.31571) lm_pos=(9.615, -1.32) delta=(0.00989541, 0.00428711) -> 1 candidate(s)
I0419 20:58:25.774106 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057580079.
I0419 20:58:25.791356 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.51683, 0.679566)
I0419 20:58:25.791571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057896057.
I0419 20:58:25.792749 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291057896203.
I0419 20:58:25.859138 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291058180248.
I0419 20:58:25.859876 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291058180365.
I0419 20:58:25.861056 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:25.861124 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:25.861181 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291058460099.
I0419 20:58:25.862464 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0029857 range=0.620048 variance=0.000602266 t_weight=4981.19 r_weight=0 yaml=(9.615, -1.32) prior=(9.53484, -1.87944, 177.71deg) obs_actual=(-0.0554129, -0.57023) obs_expected=(-0.0577431, -0.562197) delta=(0.0023302, -0.00803241) |delta|=0.00836357m
I0419 20:58:25.862545 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291058493769.
I0419 20:58:25.878492 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599021s, prior_pose=(9.53484, -1.87944), yaw=177.71 deg
I0419 20:58:25.878626 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=252, threshold=230, above_threshold=11, candidates=11
I0419 20:58:25.878747 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:25.878887 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291058779269.
I0419 20:58:25.880156 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:25.880225 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:25.880358 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291058779489.
I0419 20:58:25.906980 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291059057306.
I0419 20:58:25.908542 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291059057531.
I0419 20:58:25.937992 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.475586, 0.681199)
I0419 20:58:25.938309 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291059372370.
I0419 20:58:26.033207 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.40494 rad/s > flush threshold 3.
I0419 20:58:26.033347 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291059372635.
I0419 20:58:26.033517 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:26.034536 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.467975, 0.680822), points=13, range=0.828769, residual=0.0123954, extent=0.039612
I0419 20:58:26.034591 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.467975, 0.680822), tracking=(0.766475, 0.680822), map_predicted=(8.71872, -2.52884), range=0.828769, pts=13
I0419 20:58:26.034616 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0095894m maha_sq=0.00398153 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.71872, -2.52884) lm_pos=(8.715, -2.52) delta=(0.00371504, -0.00884054) -> 1 candidate(s)
I0419 20:58:26.034664 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291059657170.
I0419 20:58:26.035279 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291059657380.
I0419 20:58:26.037061 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:26.037148 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291059941496.
I0419 20:58:26.037741 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:26.037801 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:26.037846 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:26.037871 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291059941690.
I0419 20:58:26.038950 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291060235193.
I0419 20:58:26.040169 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.9659 rad/s > flush threshold 3.
I0419 20:58:26.040246 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291060235391.
I0419 20:58:26.054940 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291060541114.
I0419 20:58:26.056587 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0212195 range=0.9845 variance=0.000576174 t_weight=5206.76 r_weight=0 yaml=(10.515, -2.52) prior=(9.4896, -1.8783, 177.737deg) obs_actual=(-1.06208, 0.619213) obs_expected=(-1.04995, 0.600706) delta=(-0.0121306, 0.0185071) |delta|=0.0221284m
I0419 20:58:26.056756 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291060541399.
I0419 20:58:26.150215 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291060817661.
I0419 20:58:26.151069 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.770241, -0.61442)
I0419 20:58:26.151193 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291060862178.
I0419 20:58:26.152328 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291061141668.
I0419 20:58:26.153645 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=43.1497 rad/s > flush threshold 3.
I0419 20:58:26.153743 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291061141870.
I0419 20:58:26.154721 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:26.154769 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:26.154812 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291061423989.
I0419 20:58:26.155382 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.161667, 0.563619), points=23, range=0.588826, residual=0.0133716, extent=0.0400536
I0419 20:58:26.155427 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.161667, 0.563619), tracking=(-0.136833, -0.563619), map_predicted=(9.6296, -1.31986), range=0.588826, pts=23
I0419 20:58:26.155457 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0145973m maha_sq=0.00921926 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6296, -1.31986) lm_pos=(9.615, -1.32) delta=(0.0145966, 0.000138925) -> 1 candidate(s)
I0419 20:58:26.155506 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291061424145.
I0419 20:58:26.169822 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552372s, prior_pose=(9.46094, -1.87627), yaw=177.844 deg
I0419 20:58:26.169932 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:58:26.170037 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:26.170116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291061694242.
I0419 20:58:26.174857 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:26.174983 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:26.175109 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291061744107.
I0419 20:58:26.202889 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291062021379.
I0419 20:58:26.272817 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.0698 rad/s > flush threshold 3.
I0419 20:58:26.272989 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291062021642.
I0419 20:58:26.274326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291062326270.
I0419 20:58:26.274863 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.37884, -0.49053)
I0419 20:58:26.274928 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291062339636.
I0419 20:58:26.276654 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00130979 range=0.78 variance=0.00052527 t_weight=5711.35 r_weight=0 yaml=(8.715, -2.52) prior=(9.43145, -1.87388, 177.79deg) obs_actual=(0.686156, 0.675926) obs_expected=(0.690994, 0.673278) delta=(-0.00483852, 0.00264828) |delta|=0.00551586m
I0419 20:58:26.276721 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291062573232.
I0419 20:58:26.277199 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.799 deg, rms_residual=0.00877828m, sigma_yaw=0.011569 rad, N=2
I0419 20:58:26.277242 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.42225, -1.86873, 177.799deg) inliers=2 rms=0.00877828m
I0419 20:58:26.277271 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291062573342.
I0419 20:58:26.286530 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:26.286669 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291062859962.
I0419 20:58:26.290031 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:26.290161 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:26.290268 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:26.290325 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291062894574.
I0419 20:58:26.317993 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291063174698.
I0419 20:58:26.318811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291063175019.
I0419 20:58:26.393656 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.40937, -1.87338), yaw=177.843 deg backend=(9.43511, -1.87277)
I0419 20:58:26.394975 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.36159, 0.675247), points=13, range=0.769385, residual=0.0128097, extent=0.0390269
I0419 20:58:26.395280 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.36159, 0.675247), tracking=(0.66009, 0.675247), map_predicted=(8.72433, -2.52331), range=0.769385, pts=13
I0419 20:58:26.395442 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00990261m maha_sq=0.00419534 (gate chi2=5.99) pose_sigma=(0.150897, 0.150897, rho=0) det_map=(8.72433, -2.52331) lm_pos=(8.715, -2.52) delta=(0.0093341, -0.00330699) -> 1 candidate(s)
I0419 20:58:26.395648 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291063457888.
I0419 20:58:26.396564 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291063458033.
I0419 20:58:26.398370 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291063774495.
I0419 20:58:26.399704 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.854389, -0.616128)
I0419 20:58:26.399803 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.2719 rad/s > flush threshold 3.
I0419 20:58:26.399858 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291063774620.
I0419 20:58:26.405956 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291064054502.
I0419 20:58:26.406715 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291064054620.
I0419 20:58:26.434010 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:26.434105 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:26.434208 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00520266 range=0.757333 variance=0.000531951 t_weight=5639.61 r_weight=0 yaml=(8.715, -2.52) prior=(9.38722, -1.87124, 177.846deg) obs_actual=(0.636548, 0.67551) obs_expected=(0.647365, 0.673558) delta=(-0.0108174, 0.00195163) |delta|=0.010992m
I0419 20:58:26.434268 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291064334974.
I0419 20:58:26.438645 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291064380567.
I0419 20:58:26.465726 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879307s, prior_pose=(9.38722, -1.87124), yaw=177.846 deg
I0419 20:58:26.465817 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 20:58:26.465910 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:26.465996 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291064653927.
I0419 20:58:26.538852 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:26.538967 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:26.539014 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=73.8306 rad/s > flush threshold 3.
I0419 20:58:26.539083 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291064654082.
I0419 20:58:26.540429 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291064940285.
I0419 20:58:26.541049 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291064940430.
I0419 20:58:26.542765 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29373, -0.49446), points=3, range=1.387, residual=0.00519012, extent=0.0100601
I0419 20:58:26.542829 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29373, -0.49446), tracking=(1.59223, -0.49446), map_predicted=(7.79429, -1.31589), range=1.387, pts=3
I0419 20:58:26.542853 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0211107m maha_sq=0.0191617 (gate chi2=5.99) pose_sigma=(0.150857, 0.150857, rho=0) det_map=(7.79429, -1.31589) lm_pos=(7.815, -1.32) delta=(-0.0207071, 0.00410831) -> 1 candidate(s)
I0419 20:58:26.542920 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291065217106.
I0419 20:58:26.543493 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.888622, -0.619616)
I0419 20:58:26.543581 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291065217261.
I0419 20:58:26.554181 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291065536060.
I0419 20:58:26.556382 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.00623 rad/s > flush threshold 3.
I0419 20:58:26.556501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291065536212.
I0419 20:58:26.582180 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:26.582441 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291065814971.
I0419 20:58:26.583766 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:26.583868 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:26.583966 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0245595 range=1.09817 variance=0.000539384 t_weight=5561.9 r_weight=0 yaml=(10.515, -2.52) prior=(9.35446, -1.87137, 177.924deg) obs_actual=(-1.20155, 0.621394) obs_expected=(-1.18327, 0.60617) delta=(-0.0182774, 0.0152241) |delta|=0.0237873m
I0419 20:58:26.584076 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:26.584115 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291065815169.
I0419 20:58:26.685673 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291066132544.
I0419 20:58:26.686547 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291066132858.
I0419 20:58:26.687778 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291066419146.
I0419 20:58:26.689196 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.7805 rad/s > flush threshold 3.
I0419 20:58:26.689352 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291066419397.
I0419 20:58:26.690625 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291066701299.
I0419 20:58:26.691232 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.925761, -0.620538)
I0419 20:58:26.691370 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291066701470.
I0419 20:58:26.701280 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.268251, 0.675157), points=15, range=0.728133, residual=0.0107274, extent=0.0348194
I0419 20:58:26.701515 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.268251, 0.675157), tracking=(0.566751, 0.675157), map_predicted=(8.73881, -2.52934), range=0.728133, pts=15
I0419 20:58:26.701567 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0255712m maha_sq=0.0281524 (gate chi2=5.99) pose_sigma=(0.150577, 0.150577, rho=0) det_map=(8.73881, -2.52934) lm_pos=(8.715, -2.52) delta=(0.0238055, -0.00933721) -> 1 candidate(s)
I0419 20:58:26.701692 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291067006463.
I0419 20:58:26.703595 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291067006609.
I0419 20:58:26.730191 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:26.730295 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:26.730432 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.994 deg, rms_residual=0.0139679m, sigma_yaw=0.0182833 rad, N=2
I0419 20:58:26.730512 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.31884, -1.88436, 176.994deg) inliers=2 rms=0.0139679m
I0419 20:58:26.730554 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291067296995.
I0419 20:58:26.796810 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.6843 rad/s > flush threshold 3.
I0419 20:58:26.796914 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:26.798328 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0572636s, prior_pose=(9.33791, -1.87718), yaw=177.945 deg
I0419 20:58:26.798395 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:58:26.798481 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:26.799072 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:26.799117 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:26.801177 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291067857328.
I0419 20:58:26.801895 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291067857497.
I0419 20:58:26.818208 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291068174973.
I0419 20:58:26.819640 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=18.4439 rad/s > flush threshold 3.
I0419 20:58:26.846127 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.21143, -0.497647)
I0419 20:58:26.846274 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0738342 range=0.717765 variance=0.000626317 t_weight=4789.91 r_weight=0 yaml=(8.715, -2.52) prior=(9.3059, -1.87904, 177.996deg) obs_actual=(0.529359, 0.676715) obs_expected=(0.568121, 0.661232) delta=(-0.0387627, 0.0154829) |delta|=0.0417405m
I0419 20:58:26.846364 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291068457174.
I0419 20:58:26.847061 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291068457323.
I0419 20:58:26.916232 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291068740378.
I0419 20:58:26.916939 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:26.917027 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291068740536.
I0419 20:58:26.918453 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216406, 0.67594), points=16, range=0.71225, residual=0.0125341, extent=0.0407735
I0419 20:58:26.918535 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.216406, 0.67594), tracking=(0.514906, 0.67594), map_predicted=(8.77243, -2.54017), range=0.71225, pts=16
I0419 20:58:26.918562 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0608717m maha_sq=0.160442 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.77243, -2.54017) lm_pos=(8.715, -2.52) delta=(0.0574315, -0.0201739) -> 1 candidate(s)
I0419 20:58:26.918637 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291069055809.
I0419 20:58:26.919873 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.9598 rad/s > flush threshold 3.
I0419 20:58:26.934451 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291069338103.
I0419 20:58:26.938908 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:26.939046 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291069385000.
I0419 20:58:26.962060 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:26.962260 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:26.962308 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291069613688.
I0419 20:58:26.966663 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291069660789.
I0419 20:58:26.995755 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291069949554.
I0419 20:58:27.028805 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=92.7745 rad/s > flush threshold 3.
I0419 20:58:27.030004 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:27.030081 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:27.030154 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291070213583.
I0419 20:58:27.030859 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.0734163, 0.557429)
I0419 20:58:27.030947 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291070257614.
I0419 20:58:27.050720 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551178s, prior_pose=(9.26102, -1.88175), yaw=178.198 deg
I0419 20:58:27.050833 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:27.050974 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:27.051116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291070500857.
I0419 20:58:27.054003 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:27.054088 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:27.054174 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.101315 range=0.563391 variance=0.00056452 t_weight=5314.25 r_weight=0 yaml=(9.615, -1.32) prior=(9.26102, -1.88175, 178.198deg) obs_actual=(-0.38169, -0.556428) obs_expected=(-0.336138, -0.572609) delta=(-0.0455519, 0.0161806) |delta|=0.0483403m
I0419 20:58:27.054258 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291070534491.
I0419 20:58:27.081950 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291070812598.
I0419 20:58:27.083638 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=4.69607 rad/s > flush threshold 3.
I0419 20:58:27.110390 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.163342, 0.675924), points=16, range=0.6975, residual=0.0116774, extent=0.0395828
I0419 20:58:27.110518 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.163342, 0.675924), tracking=(0.461842, 0.675924), map_predicted=(8.76099, -2.54204), range=0.6975, pts=16
I0419 20:58:27.110615 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0509973m maha_sq=0.110865 (gate chi2=5.99) pose_sigma=(0.151278, 0.151278, rho=0) det_map=(8.76099, -2.54204) lm_pos=(8.715, -2.52) delta=(0.0459902, -0.0220369) -> 1 candidate(s)
I0419 20:58:27.110771 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291071095741.
I0419 20:58:27.112082 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291071095921.
I0419 20:58:27.207664 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291071419435.
I0419 20:58:27.208384 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291071419650.
I0419 20:58:27.209687 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291071702238.
I0419 20:58:27.211191 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:27.211331 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291071735498.
I0419 20:58:27.212543 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291071974557.
I0419 20:58:27.213285 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291071974723.
I0419 20:58:27.214478 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.2028, -1.88111), yaw=178.299 deg backend=(9.29339, -1.86106)
I0419 20:58:27.230408 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.133675, 0.671895)
I0419 20:58:27.230618 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291072299221.
I0419 20:58:27.231346 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291072299447.
I0419 20:58:27.258355 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291072573662.
I0419 20:58:27.306694 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.6984 rad/s > flush threshold 3.
I0419 20:58:27.308264 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:27.308379 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291072859043.
I0419 20:58:27.309060 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:27.309134 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0889251 range=0.579875 variance=0.000623577 t_weight=4810.95 r_weight=0 yaml=(9.615, -1.32) prior=(9.1983, -1.87968, 178.272deg) obs_actual=(-0.443181, -0.559359) obs_expected=(-0.399631, -0.571995) delta=(-0.0435498, 0.0126364) |delta|=0.0453461m
I0419 20:58:27.309190 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:27.309211 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291072859245.
I0419 20:58:27.318473 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:27.318562 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.107393, 0.671708), points=16, range=0.681562, residual=0.0102002, extent=0.0326902
I0419 20:58:27.318624 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:27.318643 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.107393, 0.671708), tracking=(0.405893, 0.671708), map_predicted=(8.7596, -2.54008), range=0.681562, pts=16
I0419 20:58:27.318672 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0489089m maha_sq=0.102552 (gate chi2=5.99) pose_sigma=(0.150947, 0.150947, rho=0) det_map=(8.7596, -2.54008) lm_pos=(8.715, -2.52) delta=(0.0445962, -0.0200814) -> 1 candidate(s)
I0419 20:58:27.318781 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291073179443.
I0419 20:58:27.319679 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291073179622.
I0419 20:58:27.346699 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0886377s, prior_pose=(9.18571, -1.88102), yaw=178.259 deg
I0419 20:58:27.346858 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:27.347060 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:27.347239 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291073460226.
I0419 20:58:27.349834 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:27.349925 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:27.349982 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=57.7059 rad/s > flush threshold 3.
I0419 20:58:27.374197 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291073734745.
I0419 20:58:27.375380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291073734914.
I0419 20:58:27.427556 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:27.427966 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.026 deg, rms_residual=0.0139684m, sigma_yaw=0.018284 rad, N=2
I0419 20:58:27.477531 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.14464, -1.88053, 177.026deg) inliers=2 rms=0.0139684m
I0419 20:58:27.477672 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291074058223.
I0419 20:58:27.478768 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291074058382.
I0419 20:58:27.480521 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.04807, -0.50361)
I0419 20:58:27.480739 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291074337084.
I0419 20:58:27.482455 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.7566 rad/s > flush threshold 3.
I0419 20:58:27.484153 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291074618430.
I0419 20:58:27.485388 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:27.485487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291074652766.
I0419 20:58:27.494524 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291074936973.
I0419 20:58:27.495720 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291074937181.
I0419 20:58:27.522200 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03211, -0.503391), points=4, range=1.14475, residual=0.00866724, extent=0.0197079
I0419 20:58:27.522327 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03211, -0.503391), tracking=(1.33061, -0.503391), map_predicted=(7.83284, -1.3415), range=1.14475, pts=4
I0419 20:58:27.522373 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0279341m maha_sq=0.0338782 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.83284, -1.3415) lm_pos=(7.815, -1.32) delta=(0.0178392, -0.0214959) -> 1 candidate(s)
I0419 20:58:27.522473 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0338782 range=1.14475 variance=0.000532882 t_weight=5629.76 r_weight=0 yaml=(7.815, -1.32) prior=(9.14927, -1.8809, 178.441deg) obs_actual=(1.33061, -0.503391) obs_expected=(1.34903, -0.524393) delta=(-0.0184174, 0.0210027) |delta|=0.0279341m
I0419 20:58:27.522553 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291075214478.
I0419 20:58:27.567430 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.9079 rad/s > flush threshold 3.
I0419 20:58:27.568920 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291075502473.
I0419 20:58:27.569597 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291075502564.
I0419 20:58:27.581997 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291075814016.
I0419 20:58:27.582957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291075814237.
I0419 20:58:27.610829 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:27.611002 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:27.611131 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291076104058.
I0419 20:58:27.612649 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.231903, 0.557452)
I0419 20:58:27.612763 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=22.9376 rad/s > flush threshold 3.
I0419 20:58:27.638387 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056651s, prior_pose=(9.10252, -1.87789), yaw=178.525 deg
I0419 20:58:27.638584 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:27.638721 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:27.638763 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:27.638836 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291076380526.
I0419 20:58:27.639580 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:27.639640 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:27.639693 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:27.639763 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:27.639779 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291076380792.
I0419 20:58:27.687892 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291076693207.
I0419 20:58:27.690497 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291076693328.
I0419 20:58:27.697911 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291076973285.
I0419 20:58:27.699628 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.259871, 0.55506), points=20, range=0.612, residual=0.011742, extent=0.0359886
I0419 20:58:27.699718 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.259871, 0.55506), tracking=(-0.558371, -0.55506), map_predicted=(9.67063, -1.33705), range=0.612, pts=20
I0419 20:58:27.699752 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0581855m maha_sq=0.142612 (gate chi2=5.99) pose_sigma=(0.152208, 0.152208, rho=0) det_map=(9.67063, -1.33705) lm_pos=(9.615, -1.32) delta=(0.0556316, -0.0170492) -> 1 candidate(s)
I0419 20:58:27.699775 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.9428 rad/s > flush threshold 3.
I0419 20:58:27.758091 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291077575945.
I0419 20:58:27.758807 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:27.758860 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.12994 range=0.618833 variance=0.000543114 t_weight=5523.7 r_weight=0 yaml=(9.615, -1.32) prior=(9.08319, -1.87765, 178.515deg) obs_actual=(-0.569753, -0.55605) obs_expected=(-0.517185, -0.571244) delta=(-0.0525679, 0.0151934) |delta|=0.0547195m
I0419 20:58:27.758908 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291077576098.
I0419 20:58:27.786502 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.81079, 0.731602)
I0419 20:58:27.786705 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291077855423.
I0419 20:58:27.820976 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291077912756.
I0419 20:58:27.822379 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291078136229.
I0419 20:58:27.823159 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291078182296.
I0419 20:58:27.843457 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291078419557.
I0419 20:58:27.846360 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291078458486.
I0419 20:58:27.873930 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291078734803.
I0419 20:58:27.875296 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=127.361 rad/s > flush threshold 3.
I0419 20:58:27.902415 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:27.902540 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:27.902629 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291079019602.
I0419 20:58:27.903296 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.309874, 0.555128), points=20, range=0.638, residual=0.0130322, extent=0.0430114
I0419 20:58:27.903345 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.309874, 0.555128), tracking=(-0.608374, -0.555128), map_predicted=(9.65571, -1.33691), range=0.638, pts=20
I0419 20:58:27.903370 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0440795m maha_sq=0.0840943 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.65571, -1.33691) lm_pos=(9.615, -1.32) delta=(0.0407077, -0.0169081) -> 1 candidate(s)
I0419 20:58:27.903424 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291079019800.
I0419 20:58:27.968073 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602869s, prior_pose=(9.05844, -1.87522), yaw=178.587 deg
I0419 20:58:27.968195 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1407, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 20:58:27.968300 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:27.968379 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291079337784.
I0419 20:58:27.968860 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:27.968902 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.923337, -0.508277)
I0419 20:58:27.968924 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:27.968990 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291079373227.
I0419 20:58:27.970297 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291079618035.
I0419 20:58:27.971823 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 18 -> 17 (threshold=0.03, iters=3)
I0419 20:58:27.971927 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.170737 range=0.672647 variance=0.000543178 t_weight=5523.05 r_weight=0 yaml=(8.715, -2.52) prior=(9.03107, -1.87566, 178.604deg) obs_actual=(0.238998, 0.66874) obs_expected=(0.300269, 0.651848) delta=(-0.0612714, 0.0168919) |delta|=0.0635572m
I0419 20:58:27.971974 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291079664260.
I0419 20:58:27.989771 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:27.989938 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291079891996.
I0419 20:58:27.994694 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:27.994813 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:27.994840 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291079941727.
I0419 20:58:28.021749 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.299 deg, rms_residual=0.0125828m, sigma_yaw=0.0165003 rad, N=2
I0419 20:58:28.021911 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.97905, -1.87225, 177.299deg) inliers=2 rms=0.0125828m
I0419 20:58:28.021950 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291080208749.
I0419 20:58:28.022647 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291080208979.
I0419 20:58:28.050452 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291080498916.
I0419 20:58:28.114806 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:28.114889 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.57291 rad/s > flush threshold 3.
I0419 20:58:28.116147 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.73374, 0.727007)
I0419 20:58:28.116262 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291080808559.
I0419 20:58:28.116882 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291080819434.
I0419 20:58:28.117937 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.98551, -1.87339), yaw=178.607 deg backend=(9.30217, -1.84886)
I0419 20:58:28.118721 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0972099, 0.670298), points=17, range=0.678941, residual=0.010924, extent=0.0345337
I0419 20:58:28.118773 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0972099, 0.670298), tracking=(0.20129, 0.670298), map_predicted=(8.76798, -2.5386), range=0.678941, pts=17
I0419 20:58:28.118803 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.056151m maha_sq=0.134527 (gate chi2=5.99) pose_sigma=(0.151266, 0.151266, rho=0) det_map=(8.76798, -2.5386) lm_pos=(8.715, -2.52) delta=(0.0529815, -0.0185983) -> 1 candidate(s)
I0419 20:58:28.118858 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291081099710.
I0419 20:58:28.119445 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291081099853.
I0419 20:58:28.138783 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291081381488.
I0419 20:58:28.140216 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=87.6207 rad/s > flush threshold 3.
I0419 20:58:28.166731 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291081660807.
I0419 20:58:28.170085 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291081694904.
I0419 20:58:28.242780 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:28.242910 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:28.242977 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.038951 range=0.986 variance=0.000505619 t_weight=5933.32 r_weight=0 yaml=(7.815, -1.32) prior=(8.97329, -1.87228, 178.721deg) obs_actual=(1.14655, -0.507874) obs_expected=(1.17033, -0.526285) delta=(-0.0237822, 0.0184113) |delta|=0.030076m
I0419 20:58:28.243050 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291081973600.
I0419 20:58:28.243763 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291081973742.
I0419 20:58:28.244988 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881195s, prior_pose=(8.97329, -1.87228), yaw=178.721 deg
I0419 20:58:28.245111 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:28.245203 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.69958, 0.724339)
I0419 20:58:28.245231 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:28.245314 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291082262844.
I0419 20:58:28.246623 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:28.246690 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:28.246726 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=38.6582 rad/s > flush threshold 3.
I0419 20:58:28.258948 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291082582174.
I0419 20:58:28.259716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291082582334.
I0419 20:58:28.286407 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291082855765.
I0419 20:58:28.287406 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291082855977.
I0419 20:58:28.314558 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.818711, -0.508261), points=7, range=0.961429, residual=0.00989917, extent=0.0260678
I0419 20:58:28.314689 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.818711, -0.508261), tracking=(1.11721, -0.508261), map_predicted=(7.82688, -1.33729), range=0.961429, pts=7
I0419 20:58:28.314735 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0209801m maha_sq=0.0190994 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.82688, -1.33729) lm_pos=(7.815, -1.32) delta=(0.0118778, -0.017294) -> 1 candidate(s)
I0419 20:58:28.314893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291083137559.
I0419 20:58:28.394250 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=60.0199 rad/s > flush threshold 3.
I0419 20:58:28.395629 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=3, buffered=0).
I0419 20:58:28.395758 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291083462485.
I0419 20:58:28.396349 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:28.396406 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:28.396456 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:28.396478 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291083462639.
I0419 20:58:28.398206 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.65516, 0.722541)
I0419 20:58:28.398389 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291083737425.
I0419 20:58:28.399065 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291083737633.
I0419 20:58:28.402632 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0647853 range=0.716714 variance=0.000619983 t_weight=4838.84 r_weight=0 yaml=(9.615, -1.32) prior=(8.89389, -1.86423, 178.725deg) obs_actual=(-0.746995, -0.553769) obs_expected=(-0.708822, -0.560146) delta=(-0.0381728, 0.00637749) |delta|=0.0387019m
I0419 20:58:28.402786 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291084020616.
I0419 20:58:28.406265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291084056309.
I0419 20:58:28.434617 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291084338891.
I0419 20:58:28.435251 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291084339051.
I0419 20:58:28.466992 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291084619707.
I0419 20:58:28.467772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291084619889.
I0419 20:58:28.489738 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:28.489935 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.76969, -0.512657), points=6, range=0.922333, residual=0.00842836, extent=0.0232342
I0419 20:58:28.489981 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:28.490000 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.76969, -0.512657), tracking=(1.06819, -0.512657), map_predicted=(7.84179, -1.32736), range=0.922333, pts=6
I0419 20:58:28.490023 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0277775m maha_sq=0.0335221 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.84179, -1.32736) lm_pos=(7.815, -1.32) delta=(0.0267858, -0.00735605) -> 1 candidate(s)
I0419 20:58:28.490146 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291084892087.
I0419 20:58:28.498036 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291084973644.
I0419 20:58:28.521608 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059253s, prior_pose=(8.87441, -1.8632), yaw=178.73 deg
I0419 20:58:28.521721 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:28.521831 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.61366, 0.724058)
I0419 20:58:28.521871 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:28.522001 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291085212237.
I0419 20:58:28.522704 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:28.522755 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:58:28.522835 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291085212464.
I0419 20:58:28.550902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291085495955.
I0419 20:58:28.552350 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0600859 range=0.740429 variance=0.000622029 t_weight=4822.92 r_weight=0 yaml=(9.615, -1.32) prior=(8.84435, -1.8585, 178.751deg) obs_actual=(-0.795882, -0.552284) obs_expected=(-0.758721, -0.555174) delta=(-0.0371613, 0.0028892) |delta|=0.0372734m
I0419 20:58:28.552561 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291085496167.
I0419 20:58:28.579016 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.092 deg, rms_residual=0.0131064m, sigma_yaw=0.0139908 rad, N=3
I0419 20:58:28.579218 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.82939, -1.85652, 178.092deg) inliers=3 rms=0.0131064m
I0419 20:58:28.579299 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291085781290.
I0419 20:58:28.671396 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=112.354 rad/s > flush threshold 3.
I0419 20:58:28.671561 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291085781465.
I0419 20:58:28.672978 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086056692.
I0419 20:58:28.673674 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.508013, 0.552646)
I0419 20:58:28.673817 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086100676.
I0419 20:58:28.675668 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.724297, -0.510271), points=6, range=0.887833, residual=0.00905177, extent=0.0254957
I0419 20:58:28.675743 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.724297, -0.510271), tracking=(1.0228, -0.510271), map_predicted=(7.80477, -1.32494), range=0.887833, pts=6
I0419 20:58:28.675771 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0113618m maha_sq=0.00554037 (gate chi2=5.99) pose_sigma=(0.150909, 0.150909, rho=0) det_map=(7.80477, -1.32494) lm_pos=(7.815, -1.32) delta=(-0.0102341, -0.00493508) -> 1 candidate(s)
I0419 20:58:28.675806 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:28.675865 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086374669.
I0419 20:58:28.676476 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:28.676537 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:28.676585 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:28.676606 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086374826.
I0419 20:58:28.677814 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086656191.
I0419 20:58:28.679071 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=90.5242 rad/s > flush threshold 3.
I0419 20:58:28.679160 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086656307.
I0419 20:58:28.698369 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086973083.
I0419 20:58:28.700048 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.010161 range=0.768909 variance=0.000626705 t_weight=4786.94 r_weight=0 yaml=(8.715, -2.52) prior=(8.80259, -1.85509, 178.809deg) obs_actual=(0.0631177, 0.67762) obs_expected=(0.0737589, 0.666586) delta=(-0.0106412, 0.0110343) |delta|=0.0153294m
I0419 20:58:28.700320 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291086973247.
I0419 20:58:28.750607 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291087261236.
I0419 20:58:28.751531 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(-0.352799, -0.677526)
I0419 20:58:28.751724 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291087261518.
I0419 20:58:28.754375 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291087532971.
I0419 20:58:28.758795 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291087578114.
I0419 20:58:28.786466 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:28.786625 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.687878, -0.508966), points=8, range=0.854, residual=0.00908714, extent=0.0264749
I0419 20:58:28.786670 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:28.786705 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.687878, -0.508966), tracking=(0.986378, -0.508966), map_predicted=(7.81698, -1.32252), range=0.854, pts=8
I0419 20:58:28.786746 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00319897m maha_sq=0.000444431 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81698, -1.32252) lm_pos=(7.815, -1.32) delta=(0.00197527, -0.00251629) -> 1 candidate(s)
I0419 20:58:28.786973 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291087854217.
I0419 20:58:28.790829 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291087897127.
I0419 20:58:28.814754 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562855s, prior_pose=(8.77615, -1.85233), yaw=178.814 deg
I0419 20:58:28.814949 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:28.815181 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:28.815434 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291088140969.
I0419 20:58:28.817179 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:28.817269 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:28.817440 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291088141461.
I0419 20:58:28.842669 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.290284, 0.68109)
I0419 20:58:28.843031 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291088418106.
I0419 20:58:28.933362 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0712785 range=0.745733 variance=0.000590617 t_weight=5079.43 r_weight=0 yaml=(8.715, -2.52) prior=(8.78445, -1.85161, 178.931deg) obs_actual=(0.0163497, 0.672583) obs_expected=(0.0569719, 0.669574) delta=(-0.0406223, 0.00300943) |delta|=0.0407336m
I0419 20:58:28.933511 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291088453200.
I0419 20:58:28.933965 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:28.934690 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.479 deg, rms_residual=0.0156231m, sigma_yaw=0.0165841 rad, N=3
I0419 20:58:28.934767 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.75169, -1.84635, 178.479deg) inliers=3 rms=0.0156231m
I0419 20:58:28.934803 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291088732761.
I0419 20:58:28.935425 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291088732907.
I0419 20:58:28.937202 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089015756.
I0419 20:58:28.937711 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.307641, 0.680239), points=15, range=0.748133, residual=0.0115627, extent=0.0315511
I0419 20:58:28.937762 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.307641, 0.680239), tracking=(-0.00914061, 0.680239), map_predicted=(8.75946, -2.53163), range=0.748133, pts=15
I0419 20:58:28.937788 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0459513m maha_sq=0.091516 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75946, -2.53163) lm_pos=(8.715, -2.52) delta=(0.0444557, -0.0116282) -> 1 candidate(s)
I0419 20:58:28.937844 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089052650.
I0419 20:58:28.939087 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:58:28.939154 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291089296553.
I0419 20:58:28.939652 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:28.939707 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:28.939744 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:28.939762 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089339909.
I0419 20:58:28.963011 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.322343, 0.680894)
I0419 20:58:28.963308 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089622039.
I0419 20:58:28.964426 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089622301.
I0419 20:58:29.056928 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.74264, -1.8502), yaw=178.917 deg backend=(9.29156, -1.83981)
I0419 20:58:29.058086 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0027265 range=0.8085 variance=0.000528863 t_weight=5672.55 r_weight=0 yaml=(7.815, -1.32) prior=(8.74264, -1.8502, 178.917deg) obs_actual=(0.930029, -0.50986) obs_expected=(0.937496, -0.512577) delta=(-0.0074668, 0.00271678) |delta|=0.00794569m
I0419 20:58:29.058195 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089904790.
I0419 20:58:29.058880 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291089905093.
I0419 20:58:29.060127 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291090213339.
I0419 20:58:29.061388 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=48.8047 rad/s > flush threshold 3.
I0419 20:58:29.061467 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291090213525.
I0419 20:58:29.062549 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=11, centroid=(-0.402808, 0.666204)
I0419 20:58:29.062597 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.345157, 0.684719), points=15, range=0.768533, residual=0.0121603, extent=0.0316811
I0419 20:58:29.062623 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.345157, 0.684719), tracking=(-0.0466575, 0.684719), map_predicted=(8.7449, -2.53282), range=0.768533, pts=15
I0419 20:58:29.062641 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0325306m maha_sq=0.0458357 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.7449, -2.53282) lm_pos=(8.715, -2.52) delta=(0.0298981, -0.0128197) -> 1 candidate(s)
I0419 20:58:29.062688 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291090500246.
I0419 20:58:29.063246 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291090500415.
I0419 20:58:29.078199 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:58:29.078300 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:29.078415 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291090776874.
I0419 20:58:29.079172 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291090777163.
I0419 20:58:29.106350 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844756s, prior_pose=(8.69751, -1.84821), yaw=178.967 deg
I0419 20:58:29.106459 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:58:29.106791 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:29.107049 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091058281.
I0419 20:58:29.175807 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:29.175931 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:29.176023 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.062108 range=0.7196 variance=0.000558368 t_weight=5372.8 r_weight=0 yaml=(8.715, -2.52) prior=(8.71323, -1.8465, 178.881deg) obs_actual=(-0.0530465, 0.674369) obs_expected=(-0.0149264, 0.673339) delta=(-0.03812, 0.00103064) |delta|=0.038134m
I0419 20:58:29.176074 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091100297.
I0419 20:58:29.177266 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.46159, 0.726063)
I0419 20:58:29.177362 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091380099.
I0419 20:58:29.178000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091380243.
I0419 20:58:29.179733 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.115 deg, rms_residual=0.00683651m, sigma_yaw=0.009033 rad, N=2
I0419 20:58:29.179783 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.65439, -1.84893, 179.115deg) inliers=2 rms=0.00683651m
I0419 20:58:29.179813 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091655599.
I0419 20:58:29.180271 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091698917.
I0419 20:58:29.197713 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.570836, -0.509448), points=9, range=0.766333, residual=0.0083569, extent=0.0253481
I0419 20:58:29.197944 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.570836, -0.509448), tracking=(0.869336, -0.509448), map_predicted=(7.83265, -1.32126), range=0.766333, pts=9
I0419 20:58:29.197991 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0176928m maha_sq=0.0136046 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.83265, -1.32126) lm_pos=(7.815, -1.32) delta=(0.0176482, -0.00125615) -> 1 candidate(s)
I0419 20:58:29.198099 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291091972508.
I0419 20:58:29.198586 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291091972661.
I0419 20:58:29.226465 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.43665, 0.726727)
I0419 20:58:29.226590 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:29.226660 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291092260322.
I0419 20:58:29.227342 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:29.227411 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:29.227458 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:29.227479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291092260454.
I0419 20:58:29.292366 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291092535485.
I0419 20:58:29.293093 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0527272 range=0.708733 variance=0.000558422 t_weight=5372.28 r_weight=0 yaml=(8.715, -2.52) prior=(8.67206, -1.84842, 178.943deg) obs_actual=(-0.0898739, 0.675313) obs_expected=(-0.055315, 0.670677) delta=(-0.0345589, 0.00463596) |delta|=0.0348684m
I0419 20:58:29.293200 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291092535604.
I0419 20:58:29.294412 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291092855660.
I0419 20:58:29.295655 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=64.8179 rad/s > flush threshold 3.
I0419 20:58:29.295743 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291092855769.
I0419 20:58:29.314148 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291093136783.
I0419 20:58:29.314961 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291093136888.
I0419 20:58:29.342684 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.40567, 0.726546)
I0419 20:58:29.342785 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40567, 0.726546), points=3, range=1.58233, residual=0.00412374, extent=0.00967748
I0419 20:58:29.342811 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40567, 0.726546), tracking=(1.70417, 0.726546), map_predicted=(6.91575, -2.54492), range=1.58233, pts=3
I0419 20:58:29.342834 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0249286m maha_sq=0.0265952 (gate chi2=5.99) pose_sigma=(0.151201, 0.151201, rho=0) det_map=(6.91575, -2.54492) lm_pos=(6.915, -2.52) delta=(0.000749025, -0.0249174) -> 1 candidate(s)
I0419 20:58:29.342923 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291093422228.
I0419 20:58:29.343634 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291093422441.
I0419 20:58:29.373652 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:29.373770 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:29.373867 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291093732059.
I0419 20:58:29.405318 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=78.4265 rad/s > flush threshold 3.
I0419 20:58:29.405473 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291093732253.
I0419 20:58:29.406706 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607233s, prior_pose=(8.64107, -1.84667), yaw=178.896 deg
I0419 20:58:29.406780 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 20:58:29.406855 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:29.406903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291094029461.
I0419 20:58:29.407445 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:29.407486 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:29.407548 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291094029560.
I0419 20:58:29.429850 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0179205 range=1.558 variance=0.000555156 t_weight=5403.88 r_weight=0 yaml=(6.915, -2.52) prior=(8.61943, -1.84778, 178.911deg) obs_actual=(1.68296, 0.723259) obs_expected=(1.69134, 0.704507) delta=(-0.00838225, 0.0187519) |delta|=0.0205401m
I0419 20:58:29.429993 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291094293964.
I0419 20:58:29.433796 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291094333117.
I0419 20:58:29.462534 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291094620185.
I0419 20:58:29.464005 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.378 rad/s > flush threshold 3.
I0419 20:58:29.464097 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291094620472.
I0419 20:58:29.492316 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.37009, 0.723377)
I0419 20:58:29.492504 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291094919029.
I0419 20:58:29.493331 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291094919218.
I0419 20:58:29.554172 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.477404, -0.508915), points=13, range=0.699615, residual=0.0101969, extent=0.0329021
I0419 20:58:29.554286 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.477404, -0.508915), tracking=(0.775904, -0.508915), map_predicted=(7.83942, -1.32877), range=0.699615, pts=13
I0419 20:58:29.554316 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0259464m maha_sq=0.0289332 (gate chi2=5.99) pose_sigma=(0.150754, 0.150754, rho=0) det_map=(7.83942, -1.32877) lm_pos=(7.815, -1.32) delta=(0.0244176, -0.00877477) -> 1 candidate(s)
I0419 20:58:29.554354 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:29.554406 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291095180249.
I0419 20:58:29.554996 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:29.555049 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:29.555074 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.63 deg, rms_residual=0.00450694m, sigma_yaw=0.00597336 rad, N=2
I0419 20:58:29.555100 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.55722, -1.85388, 179.63deg) inliers=2 rms=0.00450694m
I0419 20:58:29.555122 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:29.555137 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291095180390.
I0419 20:58:29.556275 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291095495536.
I0419 20:58:29.557549 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.1399 rad/s > flush threshold 3.
I0419 20:58:29.557611 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291095495697.
I0419 20:58:29.578598 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291095780959.
I0419 20:58:29.579366 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0783455 range=0.944833 variance=0.000559215 t_weight=5364.66 r_weight=0 yaml=(9.615, -1.32) prior=(8.58173, -1.85104, 179.043deg) obs_actual=(-1.06669, -0.545874) obs_expected=(-1.02425, -0.548228) delta=(-0.0424387, 0.00235409) |delta|=0.042504m
I0419 20:58:29.579433 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291095781182.
I0419 20:58:29.605923 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291096054326.
I0419 20:58:29.610350 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291096098950.
I0419 20:58:29.634881 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.3296, 0.726894)
I0419 20:58:29.635068 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291096345045.
I0419 20:58:29.695670 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=54.2072 rad/s > flush threshold 3.
I0419 20:58:29.695816 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291096345190.
I0419 20:58:29.697256 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:29.697351 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:29.697422 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291096659916.
I0419 20:58:29.698022 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.799188, 0.548386), points=5, range=0.9706, residual=0.00715596, extent=0.0198649
I0419 20:58:29.698086 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.799188, 0.548386), tracking=(-1.09769, -0.548386), map_predicted=(9.68256, -1.31693), range=0.9706, pts=5
I0419 20:58:29.698114 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0676313m maha_sq=0.198871 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.68256, -1.31693) lm_pos=(9.615, -1.32) delta=(0.0675617, 0.00306623) -> 1 candidate(s)
I0419 20:58:29.698181 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291096660031.
I0419 20:58:29.700017 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595198s, prior_pose=(8.55247, -1.84744), yaw=178.98 deg
I0419 20:58:29.700103 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 20:58:29.700191 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:29.700265 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291096940388.
I0419 20:58:29.700842 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:29.700888 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:29.700961 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291096940521.
I0419 20:58:29.725759 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291097252562.
I0419 20:58:29.727151 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=82.3049 rad/s > flush threshold 3.
I0419 20:58:29.727236 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291097252697.
I0419 20:58:29.754541 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0285568 range=1.48567 variance=0.000623598 t_weight=4810.79 r_weight=0 yaml=(6.915, -2.52) prior=(8.53556, -1.84211, 179.043deg) obs_actual=(1.60027, 0.729015) obs_expected=(1.60902, 0.704854) delta=(-0.00875063, 0.0241612) |delta|=0.025697m
I0419 20:58:29.754707 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291097538937.
I0419 20:58:29.758262 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291097539106.
I0419 20:58:29.826488 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29626, 0.733364)
I0419 20:58:29.826699 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291097817637.
I0419 20:58:29.827375 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291097817742.
I0419 20:58:29.828712 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:29.828769 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291098140499.
I0419 20:58:29.829991 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.838735, 0.546972), points=4, range=0.99875, residual=0.00816905, extent=0.0205971
I0419 20:58:29.830047 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.838735, 0.546972), tracking=(-1.13724, -0.546972), map_predicted=(9.67044, -1.31422), range=0.99875, pts=4
I0419 20:58:29.830070 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0557358m maha_sq=0.132177 (gate chi2=5.99) pose_sigma=(0.15161, 0.15161, rho=0) det_map=(9.67044, -1.31422) lm_pos=(9.615, -1.32) delta=(0.0554353, 0.00577966) -> 1 candidate(s)
I0419 20:58:29.830092 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:29.830103 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=61.0133 rad/s > flush threshold 3.
I0419 20:58:29.830130 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:29.830156 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:29.830171 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291098140654.
I0419 20:58:29.842250 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291098415942.
I0419 20:58:29.843024 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291098416126.
I0419 20:58:29.844099 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.50098, -1.84553), yaw=178.956 deg backend=(9.27522, -1.82972)
I0419 20:58:29.874308 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.822 deg, rms_residual=0.0114113m, sigma_yaw=0.0149871 rad, N=2
I0419 20:58:29.874418 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.49538, -1.83343, 178.822deg) inliers=2 rms=0.0114113m
I0419 20:58:29.874459 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291098738444.
I0419 20:58:29.875238 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291098738616.
I0419 20:58:29.901726 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0359222 range=1.46267 variance=0.000569305 t_weight=5269.58 r_weight=0 yaml=(6.915, -2.52) prior=(8.50098, -1.84553, 178.956deg) obs_actual=(1.57046, 0.731893) obs_expected=(1.57342, 0.703259) delta=(-0.00296108, 0.0286344) |delta|=0.0287871m
I0419 20:58:29.901859 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099011999.
I0419 20:58:29.961712 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099012163.
I0419 20:58:29.962996 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.370058, -0.507573)
I0419 20:58:29.963107 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099297200.
I0419 20:58:29.963691 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099297362.
I0419 20:58:29.965401 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:29.965471 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:29.965525 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099578016.
I0419 20:58:29.966125 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881607, 0.545536), points=5, range=1.0344, residual=0.00785557, extent=0.020823
I0419 20:58:29.966166 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881607, 0.545536), tracking=(-1.18011, -0.545536), map_predicted=(9.67618, -1.32011), range=1.0344, pts=5
I0419 20:58:29.966189 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0611753m maha_sq=0.162618 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.67618, -1.32011) lm_pos=(9.615, -1.32) delta=(0.0611752, -0.000107396) -> 1 candidate(s)
I0419 20:58:29.966245 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099621807.
I0419 20:58:29.990551 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0889415s, prior_pose=(8.48657, -1.8446), yaw=178.982 deg
I0419 20:58:29.990669 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:29.990788 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:29.990890 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099901578.
I0419 20:58:29.992170 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:29.992221 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:29.992254 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.7763 rad/s > flush threshold 3.
I0419 20:58:29.992308 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291099901689.
I0419 20:58:30.018383 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291100178214.
I0419 20:58:30.019176 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291100178510.
I0419 20:58:30.087826 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.218915 range=1.0568 variance=0.000514369 t_weight=5832.39 r_weight=0 yaml=(9.615, -1.32) prior=(8.47173, -1.84504, 179.037deg) obs_actual=(-1.20545, -0.546727) obs_expected=(-1.13428, -0.544185) delta=(-0.0711734, -0.00254237) |delta|=0.0712188m
I0419 20:58:30.088016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291100474975.
I0419 20:58:30.088524 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291100510846.
I0419 20:58:30.090220 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.326136, -0.505231)
I0419 20:58:30.090397 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291100777362.
I0419 20:58:30.090828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291100777559.
I0419 20:58:30.093513 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:30.110319 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:30.110483 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101097987.
I0419 20:58:30.111167 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.921799, 0.544776), points=5, range=1.0684, residual=0.00749942, extent=0.0179637
I0419 20:58:30.111217 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.921799, 0.544776), tracking=(-1.2203, -0.544776), map_predicted=(9.67082, -1.32991), range=1.0684, pts=5
I0419 20:58:30.111241 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.056693m maha_sq=0.139684 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.67082, -1.32991) lm_pos=(9.615, -1.32) delta=(0.0558194, -0.00991386) -> 1 candidate(s)
I0419 20:58:30.111261 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:30.111294 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:30.111322 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:30.111338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101098209.
I0419 20:58:30.140895 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101341159.
I0419 20:58:30.146510 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101459565.
I0419 20:58:30.166088 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.674 deg, rms_residual=0.011912m, sigma_yaw=0.0156343 rad, N=2
I0419 20:58:30.166224 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.41684, -1.83023, 178.674deg) inliers=2 rms=0.011912m
I0419 20:58:30.166266 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101655383.
I0419 20:58:30.233844 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.7002 rad/s > flush threshold 3.
I0419 20:58:30.233997 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101655610.
I0419 20:58:30.235258 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0738931 range=1.3902 variance=0.000628402 t_weight=4774.01 r_weight=0 yaml=(6.915, -2.52) prior=(8.44068, -1.84713, 179.005deg) obs_actual=(1.48666, 0.730471) obs_expected=(1.51376, 0.699259) delta=(-0.0271071, 0.0312128) |delta|=0.0413404m
I0419 20:58:30.235353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291101939977.
I0419 20:58:30.235957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291101972913.
I0419 20:58:30.237843 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.285959, -0.50516)
I0419 20:58:30.238030 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291102258963.
I0419 20:58:30.238654 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291102259136.
I0419 20:58:30.254737 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:30.254876 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:30.255028 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291102538381.
I0419 20:58:30.257171 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.3735 rad/s > flush threshold 3.
I0419 20:58:30.257341 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291102538608.
I0419 20:58:30.282094 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055491s, prior_pose=(8.39685, -1.84509), yaw=179 deg
I0419 20:58:30.282253 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=252, threshold=230, above_threshold=24, candidates=24
I0419 20:58:30.282459 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16507, 0.732734), points=4, range=1.37325, residual=0.00790951, extent=0.0162428
I0419 20:58:30.282506 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:30.282529 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16507, 0.732734), tracking=(1.46357, 0.732734), map_predicted=(6.92072, -2.55217), range=1.37325, pts=4
I0419 20:58:30.282562 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0326709m maha_sq=0.0463384 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92072, -2.55217) lm_pos=(6.915, -2.52) delta=(0.00571949, -0.0321664) -> 1 candidate(s)
I0419 20:58:30.282727 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291102813873.
I0419 20:58:30.287015 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:30.287493 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:30.288179 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291102859502.
I0419 20:58:30.398237 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:30.398639 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291103140637.
I0419 20:58:30.399413 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291103140884.
I0419 20:58:30.400889 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291103420075.
I0419 20:58:30.402638 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.3306 rad/s > flush threshold 3.
I0419 20:58:30.402715 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:30.404052 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.246816, -0.505759)
I0419 20:58:30.404832 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.192358 range=1.127 variance=0.000521444 t_weight=5753.26 r_weight=0 yaml=(9.615, -1.32) prior=(8.38149, -1.8399, 179.033deg) obs_actual=(-1.29186, -0.53934) obs_expected=(-1.22456, -0.540644) delta=(-0.0672999, 0.00130393) |delta|=0.0673126m
I0419 20:58:30.404922 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291103732514.
I0419 20:58:30.406808 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291103976459.
I0419 20:58:30.407389 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:30.407449 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291104020560.
I0419 20:58:30.430552 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:30.430794 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291104295233.
I0419 20:58:30.525373 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00853, 0.540004), points=4, range=1.1415, residual=0.00670867, extent=0.0148284
I0419 20:58:30.525480 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00853, 0.540004), tracking=(-1.30703, -0.540004), map_predicted=(9.67242, -1.31929), range=1.1415, pts=4
I0419 20:58:30.525512 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0574257m maha_sq=0.142172 (gate chi2=5.99) pose_sigma=(0.150641, 0.150641, rho=0) det_map=(9.67242, -1.31929) lm_pos=(9.615, -1.32) delta=(0.0574214, 0.000705762) -> 1 candidate(s)
I0419 20:58:30.525535 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.02055 rad/s > flush threshold 3.
I0419 20:58:30.525574 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:30.525619 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:30.525638 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291104295461.
I0419 20:58:30.526964 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291104576140.
I0419 20:58:30.527621 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291104620551.
I0419 20:58:30.529598 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291104899873.
I0419 20:58:30.530191 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291104899984.
I0419 20:58:30.531244 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.208497, -0.505162)
I0419 20:58:30.531334 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291105188656.
I0419 20:58:30.532503 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=76.0934 rad/s > flush threshold 3.
I0419 20:58:30.532570 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291105188803.
I0419 20:58:30.545938 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:30.546032 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:30.546094 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.042 deg, rms_residual=0.0138078m, sigma_yaw=0.0180776 rad, N=2
I0419 20:58:30.546156 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0137658 range=1.31425 variance=0.000502823 t_weight=5966.32 r_weight=0 yaml=(6.915, -2.52) prior=(8.32595, -1.82995, 178.939deg) obs_actual=(1.39165, 0.732715) obs_expected=(1.39793, 0.716066) delta=(-0.00628021, 0.0166497) |delta|=0.0177947m
I0419 20:58:30.546192 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.31041, -1.82169, 179.042deg) inliers=2 rms=0.0138078m
I0419 20:58:30.546219 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291105454483.
I0419 20:58:30.550041 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291105495630.
I0419 20:58:30.619138 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591011s, prior_pose=(8.33556, -1.82561), yaw=178.901 deg
I0419 20:58:30.619246 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:30.619385 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:30.619477 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291105779814.
I0419 20:58:30.620093 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:30.620131 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:30.620198 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291105779970.
I0419 20:58:30.621345 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291106055915.
I0419 20:58:30.622561 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.141432, -0.670119), points=16, range=0.686875, residual=0.0113246, extent=0.0343605
I0419 20:58:30.622613 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.141432, -0.670119), tracking=(-0.439932, 0.670119), map_predicted=(8.74099, -2.50117), range=0.686875, pts=16
I0419 20:58:30.622638 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0320957m maha_sq=0.0436913 (gate chi2=5.99) pose_sigma=(0.151699, 0.151699, rho=0) det_map=(8.74099, -2.50117) lm_pos=(8.715, -2.52) delta=(0.0259917, 0.01883) -> 1 candidate(s)
I0419 20:58:30.622663 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=159.512 rad/s > flush threshold 3.
I0419 20:58:30.622699 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291106056017.
I0419 20:58:30.634593 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291106340293.
I0419 20:58:30.637943 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.05952, 0.537896)
I0419 20:58:30.638106 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291106374614.
I0419 20:58:30.666764 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291106661235.
I0419 20:58:30.667526 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291106661358.
I0419 20:58:30.693821 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291106932494.
I0419 20:58:30.758781 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:30.758924 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.4004 rad/s > flush threshold 3.
I0419 20:58:30.760262 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.039705 range=1.27725 variance=0.000502496 t_weight=5970.19 r_weight=0 yaml=(6.915, -2.52) prior=(8.28737, -1.83172, 179.036deg) obs_actual=(1.34188, 0.7351) obs_expected=(1.3606, 0.711272) delta=(-0.0187133, 0.0238276) |delta|=0.0302976m
I0419 20:58:30.760350 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291107211816.
I0419 20:58:30.761143 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:30.761225 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291107258644.
I0419 20:58:30.762171 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.2748, -1.8289), yaw=179.014 deg backend=(9.202, -1.8235)
I0419 20:58:30.762939 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:30.762997 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:30.763020 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291107517874.
I0419 20:58:30.763609 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291107518052.
I0419 20:58:30.782745 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03133, 0.733377), points=3, range=1.262, residual=0.00819504, extent=0.0148627
I0419 20:58:30.782997 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.03133, 0.733377), tracking=(1.32983, 0.733377), map_predicted=(6.93254, -2.53927), range=1.262, pts=3
I0419 20:58:30.783047 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0260601m maha_sq=0.0294864 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93254, -2.53927) lm_pos=(6.915, -2.52) delta=(0.0175395, -0.0192742) -> 1 candidate(s)
I0419 20:58:30.783164 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291107821724.
I0419 20:58:30.784513 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.19044, -0.67509)
I0419 20:58:30.784623 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=43.0739 rad/s > flush threshold 3.
I0419 20:58:30.810124 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291108096146.
I0419 20:58:30.814445 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291108139571.
I0419 20:58:30.880728 1237626 pose_graph_2d.cc:160] Inserted submap (1, 24).
I0419 20:58:30.881887 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:30.881974 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:30.882048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291108419789.
I0419 20:58:30.882737 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291108419960.
I0419 20:58:30.883925 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0873985s, prior_pose=(8.26044, -1.82576), yaw=179.067 deg
I0419 20:58:30.884039 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:30.884162 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:30.884224 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291108695816.
I0419 20:58:30.885630 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:30.885694 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:30.885756 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291108749663.
I0419 20:58:30.899506 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291108988789.
I0419 20:58:30.902294 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.139531 range=1.24625 variance=0.000497247 t_weight=6033.22 r_weight=0 yaml=(9.615, -1.32) prior=(8.23653, -1.82588, 179.078deg) obs_actual=(-1.42648, -0.533997) obs_expected=(-1.37015, -0.52799) delta=(-0.056327, -0.00600746) |delta|=0.0566465m
I0419 20:58:30.902410 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109017252.
I0419 20:58:30.930750 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109301235.
I0419 20:58:30.931478 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.229474, -0.679157)
I0419 20:58:30.931582 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109301440.
I0419 20:58:30.958513 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.980341, 0.73203), points=5, range=1.2174, residual=0.0158864, extent=0.0409806
I0419 20:58:30.958627 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.980341, 0.73203), tracking=(1.27884, 0.73203), map_predicted=(6.92633, -2.54311), range=1.2174, pts=5
I0419 20:58:30.958657 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0257336m maha_sq=0.0285261 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92633, -2.54311) lm_pos=(6.915, -2.52) delta=(0.0113279, -0.0231062) -> 1 candidate(s)
I0419 20:58:30.958719 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.945 deg, rms_residual=0.0112525m, sigma_yaw=0.0147816 rad, N=2
I0419 20:58:30.958751 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.20035, -1.82064, 178.945deg) inliers=2 rms=0.0112525m
I0419 20:58:30.958788 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109578572.
I0419 20:58:31.020785 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.74194 rad/s > flush threshold 3.
I0419 20:58:31.020961 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109578700.
I0419 20:58:31.022266 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109856758.
I0419 20:58:31.022918 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:31.022984 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291109908716.
I0419 20:58:31.024816 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291110181064.
I0419 20:58:31.025470 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291110181199.
I0419 20:58:31.046276 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:31.046401 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291110457740.
I0419 20:58:31.047688 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.5849 rad/s > flush threshold 3.
I0419 20:58:31.047753 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:31.047789 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:31.047808 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291110457861.
I0419 20:58:31.074658 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0458511 range=0.506 variance=0.000565542 t_weight=5304.65 r_weight=0 yaml=(7.815, -1.32) prior=(8.19448, -1.82945, 179.076deg) obs_actual=(0.35512, -0.502952) obs_expected=(0.387639, -0.50327) delta=(-0.0325189, 0.00031773) |delta|=0.0325205m
I0419 20:58:31.074798 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291110741727.
I0419 20:58:31.078388 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.269502, -0.683597)
I0419 20:58:31.078518 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291110780324.
I0419 20:58:31.149377 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291111052385.
I0419 20:58:31.150197 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.274254, -0.681607), points=14, range=0.736357, residual=0.0109177, extent=0.030369
I0419 20:58:31.150272 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.274254, -0.681607), tracking=(-0.572754, 0.681607), map_predicted=(8.75928, -2.52411), range=0.736357, pts=14
I0419 20:58:31.150298 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0444692m maha_sq=0.0857633 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75928, -2.52411) lm_pos=(8.715, -2.52) delta=(0.0442793, -0.00410562) -> 1 candidate(s)
I0419 20:58:31.150375 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291111052593.
I0419 20:58:31.151737 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:31.151813 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:31.151865 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291111332419.
I0419 20:58:31.153257 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.3877 rad/s > flush threshold 3.
I0419 20:58:31.153340 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291111332552.
I0419 20:58:31.162606 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0570054s, prior_pose=(8.16788, -1.83739), yaw=179.101 deg
I0419 20:58:31.162709 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:31.162911 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:31.162997 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291111622439.
I0419 20:58:31.166103 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:31.166186 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:31.166276 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291111656179.
I0419 20:58:31.194082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291111935292.
I0419 20:58:31.194905 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291111935446.
I0419 20:58:31.222240 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291112215164.
I0419 20:58:31.274883 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:31.289095 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.308232, -0.684148)
I0419 20:58:31.289296 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0241324 range=0.750429 variance=0.000581233 t_weight=5161.44 r_weight=0 yaml=(8.715, -2.52) prior=(8.145, -1.83359, 179.081deg) obs_actual=(-0.603857, 0.683157) obs_expected=(-0.580946, 0.677178) delta=(-0.0229113, 0.00597816) |delta|=0.0236784m
I0419 20:58:31.289353 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291112286089.
I0419 20:58:31.290697 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291112537225.
I0419 20:58:31.291453 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291112573263.
I0419 20:58:31.293361 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.891944, 0.733787), points=4, range=1.1525, residual=0.00811977, extent=0.02012
I0419 20:58:31.293440 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.891944, 0.733787), tracking=(1.19044, 0.733787), map_predicted=(6.9224, -2.55218), range=1.1525, pts=4
I0419 20:58:31.293467 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0330159m maha_sq=0.0463887 (gate chi2=5.99) pose_sigma=(0.151572, 0.151572, rho=0) det_map=(6.9224, -2.55218) lm_pos=(6.915, -2.52) delta=(0.00739912, -0.0321762) -> 1 candidate(s)
I0419 20:58:31.293548 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291112835309.
I0419 20:58:31.294132 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:31.294209 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291112835472.
I0419 20:58:31.310293 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291113096589.
I0419 20:58:31.314373 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.997 deg, rms_residual=0.0100138m, sigma_yaw=0.0131758 rad, N=2
I0419 20:58:31.314566 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.08216, -1.84496, -179.997deg) inliers=2 rms=0.0100138m
I0419 20:58:31.314612 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291113139073.
I0419 20:58:31.342607 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:31.342734 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291113419569.
I0419 20:58:31.346426 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:31.346524 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:31.346547 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291113458000.
I0419 20:58:31.408885 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291113740167.
I0419 20:58:31.409634 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.34873, -0.685955)
I0419 20:58:31.409806 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291113740285.
I0419 20:58:31.411126 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0370231 range=1.1228 variance=0.000646444 t_weight=4640.77 r_weight=0 yaml=(6.915, -2.52) prior=(8.08997, -1.82852, 179.165deg) obs_actual=(1.15339, 0.735503) obs_expected=(1.16477, 0.708531) delta=(-0.0113784, 0.0269719) |delta|=0.0292738m
I0419 20:58:31.411229 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114055640.
I0419 20:58:31.412616 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.8791 rad/s > flush threshold 3.
I0419 20:58:31.412725 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114056058.
I0419 20:58:31.426646 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:31.426756 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:31.426846 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114260919.
I0419 20:58:31.429935 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27618, 0.532958), points=4, range=1.38, residual=0.00785027, extent=0.0184554
I0419 20:58:31.430034 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27618, 0.532958), tracking=(-1.57468, -0.532958), map_predicted=(9.65914, -1.31929), range=1.38, pts=4
I0419 20:58:31.430064 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0441456m maha_sq=0.0846059 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.65914, -1.31929) lm_pos=(9.615, -1.32) delta=(0.0441399, 0.000705624) -> 1 candidate(s)
I0419 20:58:31.430150 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114294789.
I0419 20:58:31.459409 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0533718s, prior_pose=(8.06183, -1.8321), yaw=179.027 deg
I0419 20:58:31.459534 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:58:31.459709 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:31.459812 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114589776.
I0419 20:58:31.461596 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:31.461732 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:31.461840 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114612167.
I0419 20:58:31.489429 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114877606.
I0419 20:58:31.566686 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 14 -> 13 (threshold=0.03, iters=3)
I0419 20:58:31.566828 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.1084 rad/s > flush threshold 3.
I0419 20:58:31.566905 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291114877737.
I0419 20:58:31.568224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291115141527.
I0419 20:58:31.568976 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.385995, -0.686757)
I0419 20:58:31.569126 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291115175516.
I0419 20:58:31.570917 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0959873 range=1.099 variance=0.00055927 t_weight=5364.13 r_weight=0 yaml=(6.915, -2.52) prior=(8.08231, -1.83164, 179.083deg) obs_actual=(1.11791, 0.735601) obs_expected=(1.15614, 0.706958) delta=(-0.0382348, 0.0286432) |delta|=0.0477737m
I0419 20:58:31.571022 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291115439637.
I0419 20:58:31.571733 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291115454672.
I0419 20:58:31.577953 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291115773399.
I0419 20:58:31.579578 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31413, 0.528714), points=3, range=1.413, residual=0.00732918, extent=0.0145423
I0419 20:58:31.579689 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31413, 0.528714), tracking=(-1.61263, -0.528714), map_predicted=(9.67792, -1.32443), range=1.413, pts=3
I0419 20:58:31.579742 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0630729m maha_sq=0.168516 (gate chi2=5.99) pose_sigma=(0.151916, 0.151916, rho=0) det_map=(9.67792, -1.32443) lm_pos=(9.615, -1.32) delta=(0.0629173, -0.0044277) -> 1 candidate(s)
I0419 20:58:31.579780 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:31.579802 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.44197 rad/s > flush threshold 3.
I0419 20:58:31.579870 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291115773551.
I0419 20:58:31.607877 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291116064563.
I0419 20:58:31.609124 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291116064697.
I0419 20:58:31.672013 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.07072, -1.82392), yaw=179.015 deg backend=(9.1435, -1.81483)
I0419 20:58:31.673056 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:58:31.673225 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291116334099.
I0419 20:58:31.673821 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:31.673902 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:31.673928 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291116334211.
I0419 20:58:31.675114 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.415 deg, rms_residual=0.00655752m, sigma_yaw=0.00866758 rad, N=2
I0419 20:58:31.675180 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.00404, -1.8202, 178.415deg) inliers=2 rms=0.00655752m
I0419 20:58:31.675212 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291116618093.
I0419 20:58:31.676543 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.425947, -0.688225)
I0419 20:58:31.676653 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291116662214.
I0419 20:58:31.694430 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291116937620.
I0419 20:58:31.695191 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291116937816.
I0419 20:58:31.722859 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:31.722961 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:31.723050 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0491984 range=0.51372 variance=0.000555348 t_weight=5402.02 r_weight=0 yaml=(7.815, -1.32) prior=(8.02208, -1.81918, 178.989deg) obs_actual=(0.182221, -0.500292) obs_expected=(0.215856, -0.495445) delta=(-0.0336358, -0.00484725) |delta|=0.0339833m
I0419 20:58:31.723161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291117221593.
I0419 20:58:31.724159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291117221876.
I0419 20:58:31.750468 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.08338s, prior_pose=(8.02208, -1.81918), yaw=178.989 deg
I0419 20:58:31.750633 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:58:31.750964 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:31.751189 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291117496014.
I0419 20:58:31.852196 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:31.852319 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:31.852418 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291117544284.
I0419 20:58:31.852489 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:31.853562 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.13159, -0.499743), points=24, range=0.516917, residual=0.0109684, extent=0.0347461
I0419 20:58:31.853622 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.13159, -0.499743), tracking=(0.16691, -0.499743), map_predicted=(7.85726, -1.31587), range=0.516917, pts=24
I0419 20:58:31.853689 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0424604m maha_sq=0.0782096 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85726, -1.31587) lm_pos=(7.815, -1.32) delta=(0.0422588, 0.00413302) -> 1 candidate(s)
I0419 20:58:31.853754 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291117812455.
I0419 20:58:31.854317 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291117812678.
I0419 20:58:31.856065 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291118105934.
I0419 20:58:31.856608 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291118106201.
I0419 20:58:31.857751 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.150307, -0.499441)
I0419 20:58:31.857834 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291118372802.
I0419 20:58:31.859009 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291118416848.
I0419 20:58:31.870558 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291118699265.
I0419 20:58:31.871299 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:31.871382 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291118699425.
I0419 20:58:31.941015 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291119012695.
I0419 20:58:31.941705 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0617548 range=0.8448 variance=0.000527864 t_weight=5683.28 r_weight=0 yaml=(8.715, -2.52) prior=(7.98011, -1.81432, 179.024deg) obs_actual=(-0.784355, 0.689558) obs_expected=(-0.746806, 0.693051) delta=(-0.0375484, -0.00349277) |delta|=0.0377105m
I0419 20:58:31.941787 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291119012867.
I0419 20:58:31.942981 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:31.943037 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291119271926.
I0419 20:58:31.944190 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.9649 rad/s > flush threshold 3.
I0419 20:58:31.958382 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:31.958511 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:31.958541 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291119577876.
I0419 20:58:31.959277 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.500536, -0.693143), points=11, range=0.857273, residual=0.0109021, extent=0.0282922
I0419 20:58:31.959322 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.500536, -0.693143), tracking=(-0.799036, 0.693143), map_predicted=(8.7413, -2.52046), range=0.857273, pts=11
I0419 20:58:31.959350 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0263069m maha_sq=0.030008 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.7413, -2.52046) lm_pos=(8.715, -2.52) delta=(0.0263029, -0.000455526) -> 1 candidate(s)
I0419 20:58:31.959443 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291119578032.
I0419 20:58:31.989630 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291119868072.
I0419 20:58:32.022743 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291119868248.
I0419 20:58:32.024129 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.19833, -0.499113)
I0419 20:58:32.024196 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:32.024222 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:32.024288 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291120181309.
I0419 20:58:32.087714 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.709 rad/s > flush threshold 3.
I0419 20:58:32.089002 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0589692s, prior_pose=(7.93664, -1.81263), yaw=179.046 deg
I0419 20:58:32.089102 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:58:32.089262 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:32.089349 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291120457764.
I0419 20:58:32.089890 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:32.089937 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:32.089990 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291120457885.
I0419 20:58:32.091837 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291120741785.
I0419 20:58:32.092471 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291120777072.
I0419 20:58:32.105787 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291121052371.
I0419 20:58:32.107273 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.8568 rad/s > flush threshold 3.
I0419 20:58:32.133793 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0295948 range=0.985 variance=0.000575369 t_weight=5214.05 r_weight=0 yaml=(6.915, -2.52) prior=(7.89884, -1.81344, 179deg) obs_actual=(0.948463, 0.736757) obs_expected=(0.971361, 0.723617) delta=(-0.0228977, 0.0131404) |delta|=0.0264003m
I0419 20:58:32.133930 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291121332441.
I0419 20:58:32.134570 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291121332566.
I0419 20:58:32.195585 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.644882, 0.737441), points=12, range=0.980583, residual=0.0135767, extent=0.0462268
I0419 20:58:32.195705 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.644882, 0.737441), tracking=(0.943382, 0.737441), map_predicted=(6.97056, -2.53442), range=0.980583, pts=12
I0419 20:58:32.195785 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0574031m maha_sq=0.138796 (gate chi2=5.99) pose_sigma=(0.152011, 0.152011, rho=0) det_map=(6.97056, -2.53442) lm_pos=(6.915, -2.52) delta=(0.0555624, -0.0144199) -> 1 candidate(s)
I0419 20:58:32.195874 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291121623129.
I0419 20:58:32.196563 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:32.196718 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291121623286.
I0419 20:58:32.198143 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.296161, -0.480214)
I0419 20:58:32.198343 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291121900476.
I0419 20:58:32.199738 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291121934060.
I0419 20:58:32.222213 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.679 deg, rms_residual=0.0079338m, sigma_yaw=0.0104677 rad, N=2
I0419 20:58:32.222337 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.84908, -1.81122, 178.679deg) inliers=2 rms=0.0079338m
I0419 20:58:32.222376 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291122215897.
I0419 20:58:32.223083 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291122216061.
I0419 20:58:32.250216 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291122495478.
I0419 20:58:32.251030 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:32.251129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291122495606.
I0419 20:58:32.278702 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:32.278818 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:32.278843 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291122781541.
I0419 20:58:32.341662 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291122815173.
I0419 20:58:32.342990 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:32.343070 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:32.343145 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291123101804.
I0419 20:58:32.343679 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.49845, 0.525725)
I0419 20:58:32.343770 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291123101920.
I0419 20:58:32.345605 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0572222s, prior_pose=(7.85137, -1.80815), yaw=178.992 deg
I0419 20:58:32.345685 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1455, max_intensity=248, threshold=230, above_threshold=10, candidates=10
I0419 20:58:32.345741 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:32.345829 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0433634 range=0.9302 variance=0.000574819 t_weight=5219.03 r_weight=0 yaml=(8.715, -2.52) prior=(7.85137, -1.80815, 178.992deg) obs_actual=(-0.907853, 0.698887) obs_expected=(-0.876024, 0.696541) delta=(-0.031829, 0.00234621) |delta|=0.0319153m
I0419 20:58:32.345870 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291123387395.
I0419 20:58:32.346300 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:32.346359 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:32.346436 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291123387572.
I0419 20:58:32.366416 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.284662, -0.503119), points=12, range=0.577167, residual=0.00747398, extent=0.0230923
I0419 20:58:32.366506 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.284662, -0.503119), tracking=(0.013838, -0.503119), map_predicted=(7.84639, -1.30486), range=0.577167, pts=12
I0419 20:58:32.366534 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0348488m maha_sq=0.0528265 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.84639, -1.30486) lm_pos=(7.815, -1.32) delta=(0.0313903, 0.0151357) -> 1 candidate(s)
I0419 20:58:32.366622 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291123660471.
I0419 20:58:32.370537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291123701559.
I0419 20:58:32.398583 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291123977398.
I0419 20:58:32.400053 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291123977639.
I0419 20:58:32.500097 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291124316151.
I0419 20:58:32.500744 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291124316333.
I0419 20:58:32.501960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291124578169.
I0419 20:58:32.503202 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.54142, 0.520737)
I0419 20:58:32.503304 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:32.503322 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.31488 rad/s > flush threshold 3.
I0419 20:58:32.503372 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291124579377.
I0419 20:58:32.504491 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291124853009.
I0419 20:58:32.505139 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291124853189.
I0419 20:58:32.507117 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.80541, -1.81094), yaw=179.068 deg backend=(9.0941, -1.80421)
I0419 20:58:32.517730 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291125172213.
I0419 20:58:32.518646 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291125172365.
I0419 20:58:32.546705 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291125461375.
I0419 20:58:32.612372 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=413.727 rad/s > flush threshold 3.
I0419 20:58:32.612573 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:32.612632 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.210839 range=0.972667 variance=0.000571127 t_weight=5252.77 r_weight=0 yaml=(8.715, -2.52) prior=(7.80745, -1.84551, 178.703deg) obs_actual=(-0.970512, 0.706042) obs_expected=(-0.922589, 0.653774) delta=(-0.0479228, 0.0522681) |delta|=0.0709123m
I0419 20:58:32.612702 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291125461529.
I0419 20:58:32.614007 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:32.614107 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:32.614157 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291125736854.
I0419 20:58:32.614792 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=30, centroid=(-0.268022, 0.493612)
I0419 20:58:32.614867 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.684063, -0.706254), points=9, range=0.981778, residual=0.0104708, extent=0.0324128
I0419 20:58:32.614918 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.684063, -0.706254), tracking=(-0.982563, 0.706254), map_predicted=(8.77377, -2.57382), range=0.981778, pts=9
I0419 20:58:32.614957 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0796937m maha_sq=0.275431 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.77377, -2.57382) lm_pos=(8.715, -2.52) delta=(0.0587709, -0.0538244) -> 1 candidate(s)
I0419 20:58:32.615032 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291125736978.
I0419 20:58:32.616806 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:32.616894 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:32.616961 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291126056846.
I0419 20:58:32.617646 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291126057166.
I0419 20:58:32.630802 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839031s, prior_pose=(7.78905, -1.8315), yaw=178.684 deg
I0419 20:58:32.630944 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 20:58:32.631044 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:32.631148 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291126300560.
I0419 20:58:32.634137 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:32.634228 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:32.634351 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291126335971.
I0419 20:58:32.662038 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291126615459.
I0419 20:58:32.662884 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291126615602.
I0419 20:58:32.733780 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291126939853.
I0419 20:58:32.734531 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291126940040.
I0419 20:58:32.735770 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291127219951.
I0419 20:58:32.737037 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.214604, 0.491408)
I0419 20:58:32.737152 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.2126 rad/s > flush threshold 3.
I0419 20:58:32.737227 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291127220145.
I0419 20:58:32.750537 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0943289 range=0.87875 variance=0.000600066 t_weight=4999.45 r_weight=0 yaml=(6.915, -2.52) prior=(7.75447, -1.81168, 178.666deg) obs_actual=(0.776457, 0.733607) obs_expected=(0.822758, 0.727666) delta=(-0.0463003, 0.0059403) |delta|=0.0466798m
I0419 20:58:32.750679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291127499594.
I0419 20:58:32.751422 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:32.751509 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291127499742.
I0419 20:58:32.778306 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.47104, 0.732248), points=12, range=0.873583, residual=0.0122653, extent=0.0357263
I0419 20:58:32.778460 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.47104, 0.732248), tracking=(0.76954, 0.732248), map_predicted=(6.94919, -2.52352), range=0.873583, pts=12
I0419 20:58:32.778512 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0343695m maha_sq=0.0502143 (gate chi2=5.99) pose_sigma=(0.151426, 0.151426, rho=0) det_map=(6.94919, -2.52352) lm_pos=(6.915, -2.52) delta=(0.0341884, -0.00352371) -> 1 candidate(s)
I0419 20:58:32.778689 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291127775507.
I0419 20:58:32.782577 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291127819603.
I0419 20:58:32.809013 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291128078858.
I0419 20:58:32.900091 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291128102651.
I0419 20:58:32.901459 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291128381019.
I0419 20:58:32.902143 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:32.902204 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.902 deg, rms_residual=0.0104269m, sigma_yaw=0.0137119 rad, N=2
I0419 20:58:32.902254 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.68223, -1.80085, 178.902deg) inliers=2 rms=0.0104269m
I0419 20:58:32.902310 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291128381247.
I0419 20:58:32.904130 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:32.904212 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:32.904237 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291128700148.
I0419 20:58:32.904820 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.174902, 0.491408)
I0419 20:58:32.904917 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291128700373.
I0419 20:58:32.906162 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:32.906216 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:32.906277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291128981358.
I0419 20:58:32.907506 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=63.0076 rad/s > flush threshold 3.
I0419 20:58:32.907598 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291128981539.
I0419 20:58:32.925941 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055293s, prior_pose=(7.69515, -1.80385), yaw=178.814 deg
I0419 20:58:32.926088 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:32.926288 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:32.926391 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.053407 range=0.851733 variance=0.000647443 t_weight=4633.61 r_weight=0 yaml=(6.915, -2.52) prior=(7.69515, -1.80385, 178.814deg) obs_actual=(0.730051, 0.730122) obs_expected=(0.765152, 0.732149) delta=(-0.0351016, -0.00202725) |delta|=0.0351601m
I0419 20:58:32.926532 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291129253078.
I0419 20:58:32.931133 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:32.931236 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:32.931432 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291129301696.
I0419 20:58:33.032368 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36577, -0.454773), points=3, range=1.436, residual=0.00754307, extent=0.0154514
I0419 20:58:33.032470 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36577, -0.454773), tracking=(1.66427, -0.454773), map_predicted=(6.04366, -1.31381), range=1.436, pts=3
I0419 20:58:33.032500 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0293223m maha_sq=0.0371837 (gate chi2=5.99) pose_sigma=(0.150298, 0.150298, rho=0) det_map=(6.04366, -1.31381) lm_pos=(6.015, -1.32) delta=(0.0286614, 0.00619034) -> 1 candidate(s)
I0419 20:58:33.032593 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291129578303.
I0419 20:58:33.033318 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291129578605.
I0419 20:58:33.034544 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291129855012.
I0419 20:58:33.035774 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=58.8205 rad/s > flush threshold 3.
I0419 20:58:33.035854 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291129855403.
I0419 20:58:33.037030 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291130139601.
I0419 20:58:33.037667 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(-0.132898, 0.490026)
I0419 20:58:33.037757 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291130173960.
I0419 20:58:33.042762 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291130419661.
I0419 20:58:33.046425 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:33.046624 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291130455173.
I0419 20:58:33.075047 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291130739332.
I0419 20:58:33.174883 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=111.594 rad/s > flush threshold 3.
I0419 20:58:33.175009 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0821004 range=1.08467 variance=0.000541634 t_weight=5538.79 r_weight=0 yaml=(8.715, -2.52) prior=(7.65782, -1.80504, 179.216deg) obs_actual=(-1.10484, 0.721771) obs_expected=(-1.06687, 0.700419) delta=(-0.0379691, 0.0213525) |delta|=0.0435612m
I0419 20:58:33.175060 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291130739564.
I0419 20:58:33.176326 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.108696, 0.486792), points=24, range=0.498125, residual=0.0108147, extent=0.0336839
I0419 20:58:33.176385 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.108696, 0.486792), tracking=(-0.189804, -0.486792), map_predicted=(7.85427, -1.32089), range=0.498125, pts=24
I0419 20:58:33.176410 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0392793m maha_sq=0.0669409 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85427, -1.32089) lm_pos=(7.815, -1.32) delta=(0.0392692, -0.000893249) -> 1 candidate(s)
I0419 20:58:33.176479 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291131018205.
I0419 20:58:33.177018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291131053580.
I0419 20:58:33.179082 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291131333984.
I0419 20:58:33.179553 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:58:33.179625 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291131334164.
I0419 20:58:33.181010 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:33.181097 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:33.181162 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291131620919.
I0419 20:58:33.182392 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(-0.0908985, 0.486268)
I0419 20:58:33.182452 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=63.9535 rad/s > flush threshold 3.
I0419 20:58:33.182518 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291131621057.
I0419 20:58:33.195024 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:33.195170 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:33.195345 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291131939676.
I0419 20:58:33.196285 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291131939971.
I0419 20:58:33.299108 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596267s, prior_pose=(7.63161, -1.80712), yaw=179.416 deg
I0419 20:58:33.299227 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:58:33.299326 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:33.299391 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.927 deg, rms_residual=0.00502768m, sigma_yaw=0.00665893 rad, N=2
I0419 20:58:33.299400 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:33.299427 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.58859, -1.81193, 178.927deg) inliers=2 rms=0.00502768m
I0419 20:58:33.299527 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291132217324.
I0419 20:58:33.300242 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:33.300298 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:33.300387 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291132217592.
I0419 20:58:33.301795 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0893411 range=1.363 variance=0.000518097 t_weight=5790.42 r_weight=0 yaml=(6.015, -1.32) prior=(7.63161, -1.80712, 179.416deg) obs_actual=(1.57627, -0.467173) obs_expected=(1.62149, -0.470635) delta=(-0.0452159, 0.00346188) |delta|=0.0453482m
I0419 20:58:33.301921 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291132501369.
I0419 20:58:33.303519 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0706515, 0.487184), points=27, range=0.491852, residual=0.0118656, extent=0.0374039
I0419 20:58:33.303615 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0706515, 0.487184), tracking=(-0.227849, -0.487184), map_predicted=(7.83826, -1.32344), range=0.491852, pts=27
I0419 20:58:33.303648 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0235152m maha_sq=0.0233671 (gate chi2=5.99) pose_sigma=(0.151962, 0.151962, rho=0) det_map=(7.83826, -1.32344) lm_pos=(7.815, -1.32) delta=(0.023262, -0.00344159) -> 1 candidate(s)
I0419 20:58:33.303675 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.7446 rad/s > flush threshold 3.
I0419 20:58:33.303773 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291132501647.
I0419 20:58:33.305251 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291132819021.
I0419 20:58:33.306053 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291132819208.
I0419 20:58:33.308260 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291133061765.
I0419 20:58:33.310832 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.0497477, 0.487414)
I0419 20:58:33.311077 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291133095829.
I0419 20:58:33.339249 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291133382751.
I0419 20:58:33.431054 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:33.431205 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291133383146.
I0419 20:58:33.432387 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291133652616.
I0419 20:58:33.433117 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291133700285.
I0419 20:58:33.434201 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.5721, -1.80685), yaw=179.458 deg backend=(8.10636, -1.80439)
I0419 20:58:33.435010 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291133981352.
I0419 20:58:33.435680 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0598727 range=0.486296 variance=0.000576596 t_weight=5202.95 r_weight=0 yaml=(7.815, -1.32) prior=(7.5721, -1.80685, 179.458deg) obs_actual=(-0.275185, -0.484675) obs_expected=(-0.238282, -0.489126) delta=(-0.0369032, 0.00445109) |delta|=0.0371707m
I0419 20:58:33.435741 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291133981529.
I0419 20:58:33.436849 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291134271077.
I0419 20:58:33.438128 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0226771, 0.486444), points=26, range=0.486615, residual=0.0113668, extent=0.0356094
I0419 20:58:33.438189 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0226771, 0.486444), tracking=(-0.275823, -0.486444), map_predicted=(7.82993, -1.31999), range=0.486615, pts=26
I0419 20:58:33.438215 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0149264m maha_sq=0.00945045 (gate chi2=5.99) pose_sigma=(0.151708, 0.151708, rho=0) det_map=(7.82993, -1.31999) lm_pos=(7.815, -1.32) delta=(0.0149264, 7.78632e-06) -> 1 candidate(s)
I0419 20:58:33.438237 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.9787 rad/s > flush threshold 3.
I0419 20:58:33.438254 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:33.438287 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291134271191.
I0419 20:58:33.454818 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:33.454938 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:33.455029 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291134538604.
I0419 20:58:33.458601 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.0106409, 0.486152)
I0419 20:58:33.458811 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291134577936.
I0419 20:58:33.574395 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:33.574491 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:33.574602 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291134854741.
I0419 20:58:33.575362 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291134854938.
I0419 20:58:33.576519 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.087087s, prior_pose=(7.56254, -1.80074), yaw=179.462 deg
I0419 20:58:33.576613 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:58:33.576690 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:33.576776 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291135142061.
I0419 20:58:33.578233 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:33.578290 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:33.578322 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.3508 rad/s > flush threshold 3.
I0419 20:58:33.578372 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291135142220.
I0419 20:58:33.579530 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291135418054.
I0419 20:58:33.580428 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291135461957.
I0419 20:58:33.582381 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291135723216.
I0419 20:58:33.583117 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0899053 range=1.1896 variance=0.000553645 t_weight=5418.63 r_weight=0 yaml=(8.715, -2.52) prior=(7.51908, -1.80163, 179.527deg) obs_actual=(-1.24332, 0.727157) obs_expected=(-1.2018, 0.708485) delta=(-0.0415211, 0.0186719) |delta|=0.0455263m
I0419 20:58:33.583185 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291135723364.
I0419 20:58:33.602777 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.263146, 0.726091), points=16, range=0.7755, residual=0.0149645, extent=0.0481923
I0419 20:58:33.602872 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.263146, 0.726091), tracking=(0.561646, 0.726091), map_predicted=(6.95147, -2.52306), range=0.7755, pts=16
I0419 20:58:33.602905 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0365964m maha_sq=0.0578181 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.95147, -2.52306) lm_pos=(6.915, -2.52) delta=(0.0364684, -0.00305866) -> 1 candidate(s)
I0419 20:58:33.603001 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.928 deg, rms_residual=0.0110907m, sigma_yaw=0.0145721 rad, N=2
I0419 20:58:33.603039 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.49679, -1.81342, 178.928deg) inliers=2 rms=0.0110907m
I0419 20:58:33.603071 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136021639.
I0419 20:58:33.664503 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.950711, -0.728586)
I0419 20:58:33.664695 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.14172 rad/s > flush threshold 3.
I0419 20:58:33.664800 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136021959.
I0419 20:58:33.666200 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136327183.
I0419 20:58:33.667040 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:33.667115 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136339544.
I0419 20:58:33.668784 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136582986.
I0419 20:58:33.669535 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136619779.
I0419 20:58:33.690680 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291136901265.
I0419 20:58:33.692124 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.2784 rad/s > flush threshold 3.
I0419 20:58:33.692226 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291136901374.
I0419 20:58:33.718086 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291137175744.
I0419 20:58:33.723208 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:58:33.723515 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291137225443.
I0419 20:58:33.789705 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:33.789829 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0173751 range=1.256 variance=0.000503653 t_weight=5956.49 r_weight=0 yaml=(6.015, -1.32) prior=(7.49158, -1.79643, 179.563deg) obs_actual=(1.46375, -0.47672) obs_expected=(1.48017, -0.465163) delta=(-0.0164209, -0.0115569) |delta|=0.02008m
I0419 20:58:33.789887 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:33.789908 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291137501368.
I0419 20:58:33.790882 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.986073, -0.731866)
I0419 20:58:33.790971 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0667366, 0.485079), points=28, range=0.490286, residual=0.0123779, extent=0.0396075
I0419 20:58:33.791002 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0667366, 0.485079), tracking=(-0.365237, -0.485079), map_predicted=(7.86051, -1.31415), range=0.490286, pts=28
I0419 20:58:33.791023 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0458829m maha_sq=0.0911981 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.86051, -1.31415) lm_pos=(7.815, -1.32) delta=(0.045509, 0.00584513) -> 1 candidate(s)
I0419 20:58:33.791134 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291137501519.
I0419 20:58:33.792894 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:33.793056 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:33.793186 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291137776358.
I0419 20:58:33.794941 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.1344 rad/s > flush threshold 3.
I0419 20:58:33.795097 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291137776594.
I0419 20:58:33.810529 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600519s, prior_pose=(7.46564, -1.79593), yaw=179.612 deg
I0419 20:58:33.810627 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:33.810741 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:33.810829 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291138101887.
I0419 20:58:33.811540 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:33.811599 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:33.811676 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291138102118.
I0419 20:58:33.838388 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291138377518.
I0419 20:58:33.839344 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291138377800.
I0419 20:58:33.866946 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291138664106.
I0419 20:58:33.925107 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.7961 rad/s > flush threshold 3.
I0419 20:58:33.925307 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291138664257.
I0419 20:58:33.926558 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291138940119.
I0419 20:58:33.927218 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.02482, -0.737749)
I0419 20:58:33.927315 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0594622 range=0.494679 variance=0.000583323 t_weight=5142.95 r_weight=0 yaml=(7.815, -1.32) prior=(7.44093, -1.79325, 179.688deg) obs_actual=(-0.408086, -0.481018) obs_expected=(-0.371485, -0.475278) delta=(-0.0366011, -0.00574014) |delta|=0.0370484m
I0419 20:58:33.927379 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291138972967.
I0419 20:58:33.929621 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291139261722.
I0419 20:58:33.930308 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.116402, 0.481659), points=28, range=0.49675, residual=0.0126528, extent=0.0466987
I0419 20:58:33.930414 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.116402, 0.481659), tracking=(-0.414902, -0.481659), map_predicted=(7.841, -1.31349), range=0.49675, pts=28
I0419 20:58:33.930460 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0268035m maha_sq=0.0311126 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.841, -1.31349) lm_pos=(7.815, -1.32) delta=(0.0260012, 0.00650878) -> 1 candidate(s)
I0419 20:58:33.930496 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:33.930553 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291139261830.
I0419 20:58:33.954351 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291139537731.
I0419 20:58:33.955813 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=75.3569 rad/s > flush threshold 3.
I0419 20:58:33.955920 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291139537832.
I0419 20:58:33.983935 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.141 deg, rms_residual=0.00785547m, sigma_yaw=0.0103654 rad, N=2
I0419 20:58:33.984043 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.39025, -1.81542, 179.141deg) inliers=2 rms=0.00785547m
I0419 20:58:33.984081 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291139835178.
I0419 20:58:33.984791 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291139835291.
I0419 20:58:34.060814 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291140115518.
I0419 20:58:34.061764 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:58:34.061884 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291140144752.
I0419 20:58:34.062887 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.08286, -0.482108)
I0419 20:58:34.062994 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:34.063026 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:34.063047 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291140414057.
I0419 20:58:34.065016 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291140457291.
I0419 20:58:34.074692 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:34.074967 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:34.075206 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291140741236.
I0419 20:58:34.076092 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.13853 range=1.30467 variance=0.000506327 t_weight=5925.02 r_weight=0 yaml=(8.715, -2.52) prior=(7.39477, -1.79325, 179.927deg) obs_actual=(-1.37497, 0.742142) obs_expected=(-1.32115, 0.725079) delta=(-0.0538138, 0.0170633) |delta|=0.0564542m
I0419 20:58:34.076277 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291140741352.
I0419 20:58:34.102365 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559808s, prior_pose=(7.37529, -1.79174), yaw=179.908 deg
I0419 20:58:34.102461 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:34.102609 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:34.102722 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291141017099.
I0419 20:58:34.103475 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:34.103513 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:34.103536 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08588, -0.741665), points=3, range=1.31233, residual=0.00715052, extent=0.0145597
I0419 20:58:34.103562 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.08588, -0.741665), tracking=(-1.38438, 0.741665), map_predicted=(8.75849, -2.53562), range=1.31233, pts=3
I0419 20:58:34.103582 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0462062m maha_sq=0.0927492 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75849, -2.53562) lm_pos=(8.715, -2.52) delta=(0.0434856, -0.0156208) -> 1 candidate(s)
I0419 20:58:34.103655 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291141017249.
I0419 20:58:34.129858 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291141292170.
I0419 20:58:34.203138 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291141333947.
I0419 20:58:34.204418 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291141615826.
I0419 20:58:34.205186 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.179976, 0.481297)
I0419 20:58:34.205322 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291141615999.
I0419 20:58:34.207474 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291141896572.
I0419 20:58:34.208189 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291141896748.
I0419 20:58:34.219378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291142187129.
I0419 20:58:34.220885 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:34.220938 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=91.3586 rad/s > flush threshold 3.
I0419 20:58:34.221020 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291142187362.
I0419 20:58:34.246605 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0528513 range=0.725056 variance=0.000583333 t_weight=5142.86 r_weight=0 yaml=(6.915, -2.52) prior=(7.34245, -1.80188, -179.968deg) obs_actual=(0.392928, 0.717153) obs_expected=(0.427849, 0.717885) delta=(-0.0349206, -0.000732124) |delta|=0.0349283m
I0419 20:58:34.246762 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291142460152.
I0419 20:58:34.250310 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291142496064.
I0419 20:58:34.327015 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.34578, -1.79791), yaw=-179.933 deg backend=(7.92092, -1.79492)
I0419 20:58:34.328047 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02404, -0.484787), points=4, range=1.1295, residual=0.00846501, extent=0.019642
I0419 20:58:34.328115 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02404, -0.484787), tracking=(1.32254, -0.484787), map_predicted=(6.02268, -1.31466), range=1.1295, pts=4
I0419 20:58:34.328148 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00935258m maha_sq=0.00377922 (gate chi2=5.99) pose_sigma=(0.150388, 0.150388, rho=0) det_map=(6.02268, -1.31466) lm_pos=(6.015, -1.32) delta=(0.00767552, 0.00534389) -> 1 candidate(s)
I0419 20:58:34.328241 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291142776526.
I0419 20:58:34.328936 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291142776820.
I0419 20:58:34.330184 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.0129, -0.484919)
I0419 20:58:34.330312 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143052784.
I0419 20:58:34.331625 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:34.331708 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143099392.
I0419 20:58:34.334275 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:34.334383 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:34.334412 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143338091.
I0419 20:58:34.338653 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.971 deg, rms_residual=0.0175269m, sigma_yaw=0.0228355 rad, N=2
I0419 20:58:34.338742 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.2795, -1.78505, -179.971deg) inliers=2 rms=0.0175269m
I0419 20:58:34.338775 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143381735.
I0419 20:58:34.365971 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:34.366070 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 19 -> 18 (threshold=0.03, iters=3)
I0419 20:58:34.366099 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:34.366236 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143654741.
I0419 20:58:34.367151 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143654979.
I0419 20:58:34.396760 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0855367s, prior_pose=(7.30569, -1.79819), yaw=-179.901 deg
I0419 20:58:34.397380 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:34.397909 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:34.398159 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0403162 range=0.721842 variance=0.000594225 t_weight=5048.59 r_weight=0 yaml=(6.915, -2.52) prior=(7.30569, -1.79819, -179.901deg) obs_actual=(0.361469, 0.719392) obs_expected=(0.391933, 0.721133) delta=(-0.0304638, -0.00174045) |delta|=0.0305135m
I0419 20:58:34.398362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143954759.
I0419 20:58:34.499897 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:34.500003 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:34.500049 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.7973 rad/s > flush threshold 3.
I0419 20:58:34.500123 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291143954970.
I0419 20:58:34.502712 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.982089, -0.486064)
I0419 20:58:34.502806 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.985661, -0.486067), points=5, range=1.0958, residual=0.00901106, extent=0.02286
I0419 20:58:34.502835 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.985661, -0.486067), tracking=(1.28416, -0.486067), map_predicted=(6.03213, -1.31737), range=1.0958, pts=5
I0419 20:58:34.502858 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0173265m maha_sq=0.013032 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.03213, -1.31737) lm_pos=(6.015, -1.32) delta=(0.0171257, 0.00263058) -> 1 candidate(s)
I0419 20:58:34.502955 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291144261619.
I0419 20:58:34.503641 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291144261869.
I0419 20:58:34.506630 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291144541373.
I0419 20:58:34.507319 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291144541528.
I0419 20:58:34.508659 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291144858460.
I0419 20:58:34.512681 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=74.9322 rad/s > flush threshold 3.
I0419 20:58:34.514093 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145137058.
I0419 20:58:34.514688 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:34.514750 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145137227.
I0419 20:58:34.608115 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.950715, -0.487881)
I0419 20:58:34.608316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145420032.
I0419 20:58:34.609009 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145420183.
I0419 20:58:34.610414 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0430151 range=1.0586 variance=0.000561844 t_weight=5339.56 r_weight=0 yaml=(6.015, -1.32) prior=(7.28734, -1.79602, -179.869deg) obs_actual=(1.24144, -0.489107) obs_expected=(1.27125, -0.478928) delta=(-0.0298057, -0.0101799) |delta|=0.0314962m
I0419 20:58:34.610613 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145740989.
I0419 20:58:34.611982 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1989, -0.751575), points=3, range=1.419, residual=0.0089603, extent=0.0188972
I0419 20:58:34.612077 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1989, -0.751575), tracking=(-1.4974, 0.751575), map_predicted=(8.7629, -2.54984), range=1.419, pts=3
I0419 20:58:34.612112 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0564337m maha_sq=0.134914 (gate chi2=5.99) pose_sigma=(0.151823, 0.151823, rho=0) det_map=(8.7629, -2.54984) lm_pos=(8.715, -2.52) delta=(0.047899, -0.0298403) -> 1 candidate(s)
I0419 20:58:34.612136 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.93084 rad/s > flush threshold 3.
I0419 20:58:34.612200 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145741201.
I0419 20:58:34.613373 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291145985524.
I0419 20:58:34.614065 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291146020855.
I0419 20:58:34.630617 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:34.630905 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291146297513.
I0419 20:58:34.635042 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:34.635253 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:34.635291 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291146341976.
I0419 20:58:34.658877 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.918258, -0.491645)
I0419 20:58:34.658982 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:34.659013 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:34.659137 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291146583050.
I0419 20:58:34.722548 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291146617156.
I0419 20:58:34.722848 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:34.723730 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059965s, prior_pose=(7.23624, -1.80488), yaw=-179.759 deg
I0419 20:58:34.723801 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:34.723909 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:34.723960 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.433 deg, rms_residual=0.0105199m, sigma_yaw=0.0138325 rad, N=2
I0419 20:58:34.723989 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.21233, -1.81593, 179.433deg) inliers=2 rms=0.0105199m
I0419 20:58:34.724011 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291146897163.
I0419 20:58:34.724604 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:34.724643 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:34.724704 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291146897333.
I0419 20:58:34.726755 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0370249 range=0.720167 variance=0.000602934 t_weight=4975.67 r_weight=0 yaml=(6.915, -2.52) prior=(7.21539, -1.80035, -179.71deg) obs_actual=(0.27448, 0.717783) obs_expected=(0.304027, 0.718125) delta=(-0.0295473, -0.000341668) |delta|=0.0295492m
I0419 20:58:34.726851 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291147175036.
I0419 20:58:34.727485 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.331365, 0.473108), points=22, range=0.579545, residual=0.0130856, extent=0.0403827
I0419 20:58:34.727531 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.331365, 0.473108), tracking=(-0.629865, -0.473108), map_predicted=(7.84286, -1.32406), range=0.579545, pts=22
I0419 20:58:34.727555 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0281499m maha_sq=0.0342969 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.84286, -1.32406) lm_pos=(7.815, -1.32) delta=(0.0278558, -0.00405873) -> 1 candidate(s)
I0419 20:58:34.727614 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291147220000.
I0419 20:58:34.745929 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:58:34.746438 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291147453207.
I0419 20:58:34.750324 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291147497629.
I0419 20:58:34.778170 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.88229, -0.492397)
I0419 20:58:34.778367 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291147776482.
I0419 20:58:34.779207 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291147776756.
I0419 20:58:34.844957 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291148087223.
I0419 20:58:34.845790 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:34.845922 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291148087371.
I0419 20:58:34.847349 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291148339313.
I0419 20:58:34.848862 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291148373851.
I0419 20:58:34.863011 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291148624207.
I0419 20:58:34.866310 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.134987 range=1.48433 variance=0.000527397 t_weight=5688.32 r_weight=0 yaml=(8.715, -2.52) prior=(7.17098, -1.81152, -179.577deg) obs_actual=(-1.57686, 0.760549) obs_expected=(-1.53874, 0.719868) delta=(-0.038124, 0.0406813) |delta|=0.0557531m
I0419 20:58:34.866427 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291148658584.
I0419 20:58:34.895325 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.853329, -0.494299)
I0419 20:58:34.895629 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.856494, -0.494493), points=6, range=0.986167, residual=0.00943839, extent=0.024549
I0419 20:58:34.895833 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.856494, -0.494493), tracking=(1.15499, -0.494493), map_predicted=(5.99735, -1.31854), range=0.986167, pts=6
I0419 20:58:34.896037 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0177056m maha_sq=0.0133895 (gate chi2=5.99) pose_sigma=(0.151243, 0.151243, rho=0) det_map=(5.99735, -1.31854) lm_pos=(6.015, -1.32) delta=(-0.0176456, 0.00145689) -> 1 candidate(s)
I0419 20:58:34.896325 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291148938607.
I0419 20:58:34.900172 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291148996119.
I0419 20:58:34.922940 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:34.923251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291149223900.
I0419 20:58:34.986915 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:34.989929 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:34.990164 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291149259873.
I0419 20:58:34.991559 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:34.991757 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:34.991981 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291149537333.
I0419 20:58:34.992731 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291149537469.
I0419 20:58:34.994643 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055283s, prior_pose=(7.14648, -1.79637), yaw=-179.429 deg
I0419 20:58:34.994971 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:34.995122 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:34.995221 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291149812703.
I0419 20:58:34.995987 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:34.996026 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:34.996095 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291149857639.
I0419 20:58:35.010404 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.72454, 0.711379)
I0419 20:58:35.010607 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0627835 range=0.726882 variance=0.000565413 t_weight=5305.85 r_weight=0 yaml=(6.915, -2.52) prior=(7.14648, -1.79637, -179.429deg) obs_actual=(0.200716, 0.718541) obs_expected=(0.238671, 0.721286) delta=(-0.0379552, -0.00274448) |delta|=0.0380543m
I0419 20:58:35.010723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291150099392.
I0419 20:58:35.012077 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.412979, 0.468111), points=17, range=0.625412, residual=0.00994343, extent=0.0324883
I0419 20:58:35.012133 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.412979, 0.468111), tracking=(-0.711479, -0.468111), map_predicted=(7.83785, -1.32687), range=0.625412, pts=17
I0419 20:58:35.012158 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0238563m maha_sq=0.0243135 (gate chi2=5.99) pose_sigma=(0.151241, 0.151241, rho=0) det_map=(7.83785, -1.32687) lm_pos=(7.815, -1.32) delta=(0.0228451, -0.00687208) -> 1 candidate(s)
I0419 20:58:35.012184 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=85.5126 rad/s > flush threshold 3.
I0419 20:58:35.012233 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291150099497.
I0419 20:58:35.042719 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.908 deg, rms_residual=0.0117949m, sigma_yaw=0.012579 rad, N=3
I0419 20:58:35.042989 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.12093, -1.80713, -179.908deg) inliers=3 rms=0.0117949m
I0419 20:58:35.043143 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291150420190.
I0419 20:58:35.043988 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291150420454.
I0419 20:58:35.114392 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291150719299.
I0419 20:58:35.115126 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291150719488.
I0419 20:58:35.116456 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291151014920.
I0419 20:58:35.117818 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:35.117877 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=89.2183 rad/s > flush threshold 3.
I0419 20:58:35.117940 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291151015090.
I0419 20:58:35.130350 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.69717, 0.702967)
I0419 20:58:35.130508 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.0305251 range=0.730579 variance=0.00058968 t_weight=5087.5 r_weight=5000 yaml=(6.915, -2.52) prior=(7.10836, -1.8061, -179.335deg) obs_actual=(0.176068, 0.71879) obs_expected=(0.201627, 0.711609) delta=(-0.0255587, 0.00718109) |delta|=0.0265484m
I0419 20:58:35.130568 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291151299026.
I0419 20:58:35.133838 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291151334432.
I0419 20:58:35.134842 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(7.10145, -1.80515), yaw=-179.263 deg backend=(7.89342, -1.7926)
I0419 20:58:35.157999 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.782913, -0.49873), points=8, range=0.925875, residual=0.0111439, extent=0.031257
I0419 20:58:35.158111 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.782913, -0.49873), tracking=(1.08141, -0.49873), map_predicted=(6.01371, -1.32036), range=0.925875, pts=8
I0419 20:58:35.158175 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00133645m maha_sq=7.68955e-05 (gate chi2=5.99) pose_sigma=(0.150522, 0.150522, rho=0) det_map=(6.01371, -1.32036) lm_pos=(6.015, -1.32) delta=(-0.00128589, -0.000364117) -> 1 candidate(s)
I0419 20:58:35.158274 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291151575397.
I0419 20:58:35.162515 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291151620053.
I0419 20:58:35.190603 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291151899824.
I0419 20:58:35.248975 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.6933 rad/s > flush threshold 3.
I0419 20:58:35.249150 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291151899945.
I0419 20:58:35.250566 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=3, buffered=2).
I0419 20:58:35.250669 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291152173877.
I0419 20:58:35.251289 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:35.251358 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:35.251381 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291152173995.
I0419 20:58:35.253185 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.67277, 0.704297)
I0419 20:58:35.253252 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:35.253278 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:35.253338 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291152464299.
I0419 20:58:35.253913 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0111124 range=0.667375 variance=0.000602905 t_weight=4975.91 r_weight=0 yaml=(7.815, -1.32) prior=(7.06326, -1.79898, -179.209deg) obs_actual=(-0.773683, -0.464169) obs_expected=(-0.758273, -0.468559) delta=(-0.0154099, 0.00438907) |delta|=0.0160227m
I0419 20:58:35.253980 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291152464419.
I0419 20:58:35.277974 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876743s, prior_pose=(7.06326, -1.79898), yaw=-179.209 deg
I0419 20:58:35.278079 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:35.278205 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.65977, 0.701674), points=3, range=1.796, residual=0.0119856, extent=0.0243526
I0419 20:58:35.278237 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:35.278251 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.65977, 0.701674), tracking=(1.95827, 0.701674), map_predicted=(5.11486, -2.5276), range=1.796, pts=3
I0419 20:58:35.278275 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.00760292m maha_sq=0.00249703 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11486, -2.5276) lm_pos=(5.115, -2.52) delta=(-0.000143264, -0.00760157) -> 1 candidate(s)
I0419 20:58:35.278417 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291152776688.
I0419 20:58:35.279798 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:35.279858 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:35.279897 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.4431 rad/s > flush threshold 3.
I0419 20:58:35.279963 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291152776832.
I0419 20:58:35.306948 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291153062285.
I0419 20:58:35.307883 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291153062420.
I0419 20:58:35.387871 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291153344962.
I0419 20:58:35.388576 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=14, centroid=(0.506995, 0.463106)
I0419 20:58:35.388710 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291153345100.
I0419 20:58:35.390178 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291153651879.
I0419 20:58:35.391470 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=171.758 rad/s > flush threshold 3.
I0419 20:58:35.391554 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.935 deg, rms_residual=0.00282504m, sigma_yaw=0.00375258 rad, N=2
I0419 20:58:35.391587 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.01254, -1.79587, -178.935deg) inliers=2 rms=0.00282504m
I0419 20:58:35.391613 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291153651984.
I0419 20:58:35.395283 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.193701, 0.722837), points=16, range=0.747938, residual=0.0110155, extent=0.0336432
I0419 20:58:35.395387 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.193701, 0.722837), tracking=(0.104799, 0.722837), map_predicted=(6.93965, -2.52605), range=0.747938, pts=16
I0419 20:58:35.395414 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[8] 'ref_9' eucl_dist=0.0253837m maha_sq=0.0279411 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93965, -2.52605) lm_pos=(6.915, -2.52) delta=(0.0246527, -0.00604767) -> 1 candidate(s)
I0419 20:58:35.395470 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00180318 range=0.8695 variance=0.000558089 t_weight=5375.48 r_weight=5000 yaml=(6.015, -1.32) prior=(7.03268, -1.8016, -179.068deg) obs_actual=(1.00467, -0.502119) obs_expected=(1.00971, -0.498093) delta=(-0.00503702, -0.0040257) |delta|=0.00644809m
I0419 20:58:35.395550 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291153940977.
I0419 20:58:35.396250 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 20:58:35.396322 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291153941081.
I0419 20:58:35.422663 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291154220086.
I0419 20:58:35.423566 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=15, centroid=(0.53134, 0.461752)
I0419 20:58:35.423751 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291154220290.
I0419 20:58:35.454270 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291154536724.
I0419 20:58:35.516611 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.9318 rad/s > flush threshold 3.
I0419 20:58:35.516762 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291154537403.
I0419 20:58:35.517975 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291154822261.
I0419 20:58:35.518646 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0564132 range=1.62933 variance=0.000629959 t_weight=4762.21 r_weight=2962.36 yaml=(8.715, -2.52) prior=(7.00261, -1.79738, -178.963deg) obs_actual=(-1.72231, 0.781118) obs_expected=(-1.69903, 0.753493) delta=(-0.0232743, 0.027625) |delta|=0.0361225m
I0419 20:58:35.518719 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291154822461.
I0419 20:58:35.520557 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.672185, -0.500399), points=7, range=0.841857, residual=0.0100368, extent=0.0256355
I0419 20:58:35.520627 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.672185, -0.500399), tracking=(0.970685, -0.500399), map_predicted=(6.00404, -1.31439), range=0.841857, pts=7
I0419 20:58:35.520650 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0123084m maha_sq=0.00645552 (gate chi2=5.99) pose_sigma=(0.151407, 0.151407, rho=0) det_map=(6.00404, -1.31439) lm_pos=(6.015, -1.32) delta=(-0.0109559, 0.00560938) -> 1 candidate(s)
I0419 20:58:35.520689 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:58:35.520728 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291155117415.
I0419 20:58:35.521377 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(0.555335, 0.460368)
I0419 20:58:35.521454 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:35.521493 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:35.521514 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291155117556.
I0419 20:58:35.542366 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:35.542474 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:35.542582 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291155418509.
I0419 20:58:35.544164 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=81.4293 rad/s > flush threshold 3.
I0419 20:58:35.544272 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291155418657.
I0419 20:58:35.570500 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0582056s, prior_pose=(6.97185, -1.79772), yaw=-178.878 deg
I0419 20:58:35.570626 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:35.570833 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:35.570950 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291155699471.
I0419 20:58:35.571834 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:58:35.571893 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 20:58:35.572005 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291155699640.
I0419 20:58:35.659435 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.00214813 range=0.766882 variance=0.000590078 t_weight=5084.07 r_weight=3825.31 yaml=(6.915, -2.52) prior=(6.95914, -1.79455, -178.809deg) obs_actual=(0.052212, 0.725497) obs_expected=(0.0592096, 0.724371) delta=(-0.00699759, 0.00112594) |delta|=0.00708759m
I0419 20:58:35.659591 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291155973159.
I0419 20:58:35.660310 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=13, centroid=(0.579934, 0.458462)
I0419 20:58:35.660383 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.576855, 0.458798), points=13, range=0.739308, residual=0.0109356, extent=0.0327208
I0419 20:58:35.660410 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.576855, 0.458798), tracking=(-0.875355, -0.458798), map_predicted=(7.82477, -1.31766), range=0.739308, pts=13
I0419 20:58:35.660434 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0100422m maha_sq=0.00437355 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.82477, -1.31766) lm_pos=(7.815, -1.32) delta=(0.0097653, 0.00234206) -> 1 candidate(s)
I0419 20:58:35.660513 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291156020098.
I0419 20:58:35.661761 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291156292231.
I0419 20:58:35.662323 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291156341351.
I0419 20:58:35.664404 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291156578433.
I0419 20:58:35.664839 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.356 deg, rms_residual=0.00313638m, sigma_yaw=0.00416442 rad, N=2
I0419 20:58:35.664911 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.94021, -1.80092, -178.356deg) inliers=2 rms=0.00313638m
I0419 20:58:35.664944 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291156578592.
I0419 20:58:35.686496 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291156857872.
I0419 20:58:35.690371 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:35.690536 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291156899108.
I0419 20:58:35.718456 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.54603, 0.688297)
I0419 20:58:35.718647 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.0360879 range=0.778412 variance=0.000586381 t_weight=5116.12 r_weight=5000 yaml=(6.915, -2.52) prior=(6.95269, -1.80062, -178.703deg) obs_actual=(0.0271472, 0.729011) obs_expected=(0.0539679, 0.718344) delta=(-0.0268207, 0.0106672) |delta|=0.0288642m
I0419 20:58:35.718782 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291157178474.
I0419 20:58:35.787497 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.610045, 0.456856), points=13, range=0.764769, residual=0.0121776, extent=0.0372916
I0419 20:58:35.787623 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.610045, 0.456856), tracking=(-0.908545, -0.456856), map_predicted=(7.84017, -1.32354), range=0.764769, pts=13
I0419 20:58:35.787655 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0254189m maha_sq=0.0276606 (gate chi2=5.99) pose_sigma=(0.1509, 0.1509, rho=0) det_map=(7.84017, -1.32354) lm_pos=(7.815, -1.32) delta=(0.0251709, -0.00354158) -> 1 candidate(s)
I0419 20:58:35.787683 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=140.011 rad/s > flush threshold 3.
I0419 20:58:35.787758 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291157178674.
I0419 20:58:35.789260 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291157458098.
I0419 20:58:35.789996 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291157494627.
I0419 20:58:35.791772 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291157733818.
I0419 20:58:35.792551 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291157774907.
I0419 20:58:35.806595 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:58:35.806756 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291158061190.
I0419 20:58:35.808162 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.313025, -0.722537)
I0419 20:58:35.808245 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=110.293 rad/s > flush threshold 3.
I0419 20:58:35.808292 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 20:58:35.808348 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:35.808369 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291158061367.
I0419 20:58:35.834342 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:35.834447 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:35.834534 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.000619932 range=1.6644 variance=0.000666234 t_weight=4502.92 r_weight=4457.95 yaml=(5.115, -2.52) prior=(6.91858, -1.79762, -178.716deg) obs_actual=(1.82023, 0.685472) obs_expected=(1.81932, 0.681794) delta=(0.000913465, 0.00367792) |delta|=0.00378966m
I0419 20:58:35.834622 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291158337040.
I0419 20:58:35.835350 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.302595, -0.721489), points=17, range=0.785941, residual=0.0153225, extent=0.0432624
I0419 20:58:35.835405 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.302595, -0.721489), tracking=(0.00409529, 0.721489), map_predicted=(6.93065, -2.51902), range=0.785941, pts=17
I0419 20:58:35.835435 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0156852m maha_sq=0.0106158 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93065, -2.51902) lm_pos=(6.915, -2.52) delta=(0.0156543, 0.000983294) -> 1 candidate(s)
I0419 20:58:35.835537 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291158337187.
I0419 20:58:35.911831 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592283s, prior_pose=(6.92598, -1.79831), yaw=-178.525 deg
I0419 20:58:35.911940 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:35.912055 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:35.912168 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291158653650.
I0419 20:58:35.912772 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:35.912820 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:35.912905 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291158653855.
I0419 20:58:35.914168 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291158940829.
I0419 20:58:35.915460 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.663483, 0.453073)
I0419 20:58:35.915534 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.6456 rad/s > flush threshold 3.
I0419 20:58:35.915592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291158940991.
I0419 20:58:35.922065 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291159214818.
I0419 20:58:35.927291 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291159261075.
I0419 20:58:35.951308 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00284652 range=1.6345 variance=0.000676878 t_weight=4432.12 r_weight=5000 yaml=(5.115, -2.52) prior=(6.88248, -1.79818, -178.573deg) obs_actual=(1.78916, 0.68456) obs_expected=(1.78491, 0.677568) delta=(0.00424321, 0.00699198) |delta|=0.00817879m
I0419 20:58:35.951495 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291159506845.
I0419 20:58:35.954075 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.270671, -0.720649), points=16, range=0.77225, residual=0.0135179, extent=0.0409493
I0419 20:58:35.954164 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.270671, -0.720649), tracking=(-0.027829, 0.720649), map_predicted=(6.92825, -2.51792), range=0.77225, pts=16
I0419 20:58:35.954196 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0134155m maha_sq=0.00778353 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92825, -2.51792) lm_pos=(6.915, -2.52) delta=(0.0132529, 0.00208243) -> 1 candidate(s)
I0419 20:58:35.954254 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.869 deg, rms_residual=0.00469937m, sigma_yaw=0.00622682 rad, N=2
I0419 20:58:35.954306 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.85757, -1.80464, -177.869deg) inliers=2 rms=0.00469937m
I0419 20:58:35.954345 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291159536258.
I0419 20:58:35.983688 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291159820683.
I0419 20:58:36.096817 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:36.097030 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=63.3344 rad/s > flush threshold 3.
I0419 20:58:36.097262 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291159820908.
I0419 20:58:36.098877 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.47149, 0.68352)
I0419 20:58:36.099089 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291160098062.
I0419 20:58:36.100121 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291160142475.
I0419 20:58:36.101496 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.85519, -1.7991), yaw=-178.416 deg backend=(7.69972, -1.79363)
I0419 20:58:36.102545 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291160379300.
I0419 20:58:36.103411 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291160413950.
I0419 20:58:36.104801 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.028161 range=0.819133 variance=0.000586446 t_weight=5115.56 r_weight=4250.68 yaml=(6.915, -2.52) prior=(6.85519, -1.7991, -178.416deg) obs_actual=(-0.0630058, 0.732994) obs_expected=(-0.0398703, 0.722275) delta=(-0.0231355, 0.0107184) |delta|=0.0254978m
I0419 20:58:36.104899 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291160695586.
I0419 20:58:36.106302 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.709047, 0.448765), points=9, range=0.841444, residual=0.0106589, extent=0.0293974
I0419 20:58:36.106367 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.709047, 0.448765), tracking=(-1.00755, -0.448765), map_predicted=(7.84252, -1.31798), range=0.841444, pts=9
I0419 20:58:36.106395 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0275935m maha_sq=0.0328094 (gate chi2=5.99) pose_sigma=(0.150501, 0.150501, rho=0) det_map=(7.84252, -1.31798) lm_pos=(7.815, -1.32) delta=(0.0275198, 0.00201601) -> 1 candidate(s)
I0419 20:58:36.106416 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=110.905 rad/s > flush threshold 3.
I0419 20:58:36.106468 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291160695802.
I0419 20:58:36.107868 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.511387, -0.508304)
I0419 20:58:36.107969 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=3, buffered=2).
I0419 20:58:36.108021 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291160982420.
I0419 20:58:36.108650 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:36.108742 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:36.108768 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291160982578.
I0419 20:58:36.177582 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:36.177996 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:58:36.178071 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:36.178171 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291161257937.
I0419 20:58:36.178997 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291161294175.
I0419 20:58:36.180109 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885208s, prior_pose=(6.85054, -1.7999), yaw=-178.205 deg
I0419 20:58:36.180168 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=43, candidates=43
I0419 20:58:36.180284 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.404087, 0.729769)
I0419 20:58:36.180317 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:36.180369 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291161581010.
I0419 20:58:36.181859 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:36.181915 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:36.181946 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=29.8871 rad/s > flush threshold 3.
I0419 20:58:36.181990 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291161581188.
I0419 20:58:36.186905 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00604631 range=1.58225 variance=0.00072014 t_weight=4165.86 r_weight=4203.95 yaml=(5.115, -2.52) prior=(6.81858, -1.79383, -178.175deg) obs_actual=(1.73439, 0.679745) obs_expected=(1.72585, 0.671537) delta=(0.00854563, 0.00820783) |delta|=0.0118489m
I0419 20:58:36.187096 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291161858201.
I0419 20:58:36.190883 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.212756, -0.718181), points=16, range=0.750938, residual=0.0114947, extent=0.0351479
I0419 20:58:36.191023 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.212756, -0.718181), tracking=(-0.0857438, 0.718181), map_predicted=(6.92716, -2.50892), range=0.750938, pts=16
I0419 20:58:36.191083 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0164523m maha_sq=0.0117322 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92716, -2.50892) lm_pos=(6.915, -2.52) delta=(0.0121596, 0.0110824) -> 1 candidate(s)
I0419 20:58:36.191231 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291161900239.
I0419 20:58:36.214962 1218972 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.312498, 0.541267)
I0419 20:58:36.215327 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291162141197.
I0419 20:58:36.218504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291162178206.
I0419 20:58:36.246608 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291162459805.
I0419 20:58:36.319145 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.9563 rad/s > flush threshold 3.
I0419 20:58:36.319346 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.337 deg, rms_residual=0.00206636m, sigma_yaw=0.00274757 rad, N=2
I0419 20:58:36.319380 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.7794, -1.81181, -177.337deg) inliers=2 rms=0.00206636m
I0419 20:58:36.319414 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291162460022.
I0419 20:58:36.320720 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291162734328.
I0419 20:58:36.321319 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:36.321382 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291162777942.
I0419 20:58:36.323078 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.452073, -0.507805)
I0419 20:58:36.323165 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00136557 range=0.679933 variance=0.000617777 t_weight=4856.12 r_weight=0 yaml=(6.015, -1.32) prior=(6.78511, -1.80058, -178.148deg) obs_actual=(0.74908, -0.507687) obs_expected=(0.754175, -0.505223) delta=(-0.00509527, -0.00246412) |delta|=0.00565983m
I0419 20:58:36.323215 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163059916.
I0419 20:58:36.323752 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.185091, -0.711335), points=17, range=0.736412, residual=0.011794, extent=0.0355359
I0419 20:58:36.323792 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.185091, -0.711335), tracking=(-0.113409, 0.711335), map_predicted=(6.92146, -2.50788), range=0.736412, pts=17
I0419 20:58:36.323818 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0137341m maha_sq=0.00817353 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92146, -2.50788) lm_pos=(6.915, -2.52) delta=(0.00645522, 0.0121225) -> 1 candidate(s)
I0419 20:58:36.323871 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163060100.
I0419 20:58:36.334421 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163339607.
I0419 20:58:36.335968 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.5383 rad/s > flush threshold 3.
I0419 20:58:36.336052 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163339768.
I0419 20:58:36.362512 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163618863.
I0419 20:58:36.366753 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163662216.
I0419 20:58:36.435390 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.427961, -0.508344)
I0419 20:58:36.435529 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:36.435611 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163939717.
I0419 20:58:36.436259 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:36.436328 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:36.436352 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291163939847.
I0419 20:58:36.437541 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:36.437626 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:36.437707 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291164213745.
I0419 20:58:36.439008 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.1151 rad/s > flush threshold 3.
I0419 20:58:36.439129 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291164213907.
I0419 20:58:36.450140 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558423s, prior_pose=(6.77377, -1.80013), yaw=-177.966 deg
I0419 20:58:36.450241 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=21, candidates=21
I0419 20:58:36.450349 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:36.450412 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0260544 range=0.656176 variance=0.000666744 t_weight=4499.48 r_weight=0 yaml=(6.015, -1.32) prior=(6.77377, -1.80013, -177.966deg) obs_actual=(0.716975, -0.510519) obs_expected=(0.741253, -0.506756) delta=(-0.0242782, -0.00376343) |delta|=0.0245682m
I0419 20:58:36.450464 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291164498140.
I0419 20:58:36.454574 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:36.454658 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:36.454694 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.143877, -0.712497), points=17, range=0.729, residual=0.0119501, extent=0.0347619
I0419 20:58:36.454716 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.143877, -0.712497), tracking=(-0.154623, 0.712497), map_predicted=(6.95358, -2.50669), range=0.729, pts=17
I0419 20:58:36.454741 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.040816m maha_sq=0.072178 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.95358, -2.50669) lm_pos=(6.915, -2.52) delta=(0.0385846, 0.0133107) -> 1 candidate(s)
I0419 20:58:36.454821 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291164541800.
I0419 20:58:36.482290 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291164818129.
I0419 20:58:36.483078 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291164818280.
I0419 20:58:36.510561 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.35418, 0.677596)
I0419 20:58:36.510748 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165101252.
I0419 20:58:36.579867 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=73.6606 rad/s > flush threshold 3.
I0419 20:58:36.580009 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165101447.
I0419 20:58:36.581300 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165376481.
I0419 20:58:36.581986 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.737 deg, rms_residual=0.00117741m, sigma_yaw=0.00156742 rad, N=2
I0419 20:58:36.582077 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.70009, -1.8195, -176.737deg) inliers=2 rms=0.00117741m
I0419 20:58:36.582105 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165422706.
I0419 20:58:36.584686 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165709440.
I0419 20:58:36.585407 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:36.585503 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165709570.
I0419 20:58:36.598450 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0550248 range=0.627333 variance=0.000636413 t_weight=4713.92 r_weight=0 yaml=(6.015, -1.32) prior=(6.73595, -1.80659, -177.979deg) obs_actual=(0.667993, -0.506861) obs_expected=(0.703343, -0.511706) delta=(-0.0353497, 0.0048448) |delta|=0.0356802m
I0419 20:58:36.598587 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165979308.
I0419 20:58:36.600080 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.111024, -0.714367), points=18, range=0.7245, residual=0.0120596, extent=0.0370346
I0419 20:58:36.600153 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.111024, -0.714367), tracking=(-0.187476, 0.714367), map_predicted=(6.9296, -2.50951), range=0.7245, pts=18
I0419 20:58:36.600179 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0179721m maha_sq=0.0137312 (gate chi2=5.99) pose_sigma=(0.151457, 0.151457, rho=0) det_map=(6.9296, -2.50951) lm_pos=(6.915, -2.52) delta=(0.0145956, 0.0104864) -> 1 candidate(s)
I0419 20:58:36.600201 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.60467 rad/s > flush threshold 3.
I0419 20:58:36.600246 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291165979504.
I0419 20:58:36.626075 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.29149, 0.672303)
I0419 20:58:36.626438 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291166256460.
I0419 20:58:36.630576 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291166301006.
I0419 20:58:36.696195 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291166578215.
I0419 20:58:36.696911 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291166578342.
I0419 20:58:36.698186 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:36.698272 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291166858076.
I0419 20:58:36.699499 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.8567 rad/s > flush threshold 3.
I0419 20:58:36.699572 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:36.699607 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:36.699630 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291166858215.
I0419 20:58:36.715430 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:36.715528 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:36.715627 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291167141573.
I0419 20:58:36.718116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291167175283.
I0419 20:58:36.746016 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598119s, prior_pose=(6.67695, -1.80874), yaw=-177.804 deg
I0419 20:58:36.746124 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=251, threshold=230, above_threshold=24, candidates=24
I0419 20:58:36.746248 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:36.746315 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0160301 range=0.606316 variance=0.000641976 t_weight=4673.07 r_weight=0 yaml=(6.015, -1.32) prior=(6.67695, -1.80874, -177.804deg) obs_actual=(0.624601, -0.506853) obs_expected=(0.642739, -0.513747) delta=(-0.0181382, 0.00689394) |delta|=0.0194041m
I0419 20:58:36.746371 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291167456334.
I0419 20:58:36.747071 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:36.747113 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:36.747140 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0762136, -0.714828), points=17, range=0.719176, residual=0.0111644, extent=0.03374
I0419 20:58:36.747164 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0762136, -0.714828), tracking=(-0.222286, 0.714828), map_predicted=(6.92647, -2.51453), range=0.719176, pts=17
I0419 20:58:36.747184 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0127077m maha_sq=0.00700207 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92647, -2.51453) lm_pos=(6.915, -2.52) delta=(0.0114681, 0.0054743) -> 1 candidate(s)
I0419 20:58:36.747244 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291167456482.
I0419 20:58:36.774763 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.321235, -0.507233)
I0419 20:58:36.774946 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291167740781.
I0419 20:58:36.840932 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.6089 rad/s > flush threshold 3.
I0419 20:58:36.841177 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291167740894.
I0419 20:58:36.842319 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168051704.
I0419 20:58:36.842876 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168097729.
I0419 20:58:36.844726 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168336879.
I0419 20:58:36.845147 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.962 deg, rms_residual=0.00308823m, sigma_yaw=0.00410075 rad, N=2
I0419 20:58:36.845247 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.62606, -1.82328, -176.962deg) inliers=2 rms=0.00308823m
I0419 20:58:36.845278 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168336991.
I0419 20:58:36.862746 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168621383.
I0419 20:58:36.864198 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:36.864259 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=61.0229 rad/s > flush threshold 3.
I0419 20:58:36.864327 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168621625.
I0419 20:58:36.890828 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0778342 range=0.5836 variance=0.000601619 t_weight=4986.55 r_weight=0 yaml=(6.015, -1.32) prior=(6.66507, -1.79542, -177.948deg) obs_actual=(0.591003, -0.506493) obs_expected=(0.632627, -0.4984) delta=(-0.0416246, -0.00809268) |delta|=0.042404m
I0419 20:58:36.891023 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168899036.
I0419 20:58:36.894132 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.936038, 0.436452)
I0419 20:58:36.894243 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0332245, -0.713504), points=18, range=0.715722, residual=0.0115693, extent=0.0374261
I0419 20:58:36.894290 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0332245, -0.713504), tracking=(-0.265275, 0.713504), map_predicted=(6.95573, -2.49897), range=0.715722, pts=18
I0419 20:58:36.894335 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0458373m maha_sq=0.0910665 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.95573, -2.49897) lm_pos=(6.915, -2.52) delta=(0.0407284, 0.0210298) -> 1 candidate(s)
I0419 20:58:36.894443 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291168933413.
I0419 20:58:36.972589 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.65572, -1.80384), yaw=-177.844 deg backend=(7.69258, -1.79589)
I0419 20:58:36.973834 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291169215495.
I0419 20:58:36.973963 1237626 collated_trajectory_builder.cc:82] imu rate: 200.11 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.11% real time)
I0419 20:58:36.974084 1237626 collated_trajectory_builder.cc:82] odom rate: 248.72 Hz 4.02e-03 s +/- 7.40e-04 s (pulsed at 100.08% real time)
I0419 20:58:36.974195 1237626 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.24e-03 s (pulsed at 100.00% real time)
I0419 20:58:36.974226 1237626 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.19e-03 s (pulsed at 100.05% real time)
I0419 20:58:36.974822 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291169215663.
I0419 20:58:36.976004 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291169493547.
I0419 20:58:36.977243 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=109.559 rad/s > flush threshold 3.
I0419 20:58:36.977316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291169493662.
I0419 20:58:36.978498 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:36.978583 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291169781748.
I0419 20:58:36.979147 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:36.979193 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:36.979215 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291169781941.
I0419 20:58:37.009703 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:37.009810 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:37.009905 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170091619.
I0419 20:58:37.010643 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170091743.
I0419 20:58:37.038201 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088522s, prior_pose=(6.61326, -1.80955), yaw=-177.741 deg
I0419 20:58:37.038306 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=254, threshold=230, above_threshold=24, candidates=24
I0419 20:58:37.038431 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:37.038504 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0391817 range=0.56295 variance=0.000594448 t_weight=5046.7 r_weight=0 yaml=(6.015, -1.32) prior=(6.61326, -1.80955, -177.741deg) obs_actual=(0.549131, -0.506245) obs_expected=(0.578499, -0.512756) delta=(-0.0293681, 0.0065112) |delta|=0.0300812m
I0419 20:58:37.038559 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170378882.
I0419 20:58:37.100250 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:37.100351 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.977676, 0.435267)
I0419 20:58:37.100369 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:37.100392 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00414853, -0.714331), points=18, range=0.716722, residual=0.0126621, extent=0.0390636
I0419 20:58:37.100411 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00414853, -0.714331), tracking=(-0.302649, 0.714331), map_predicted=(6.94135, -2.50716), range=0.716722, pts=18
I0419 20:58:37.100436 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0293115m maha_sq=0.037018 (gate chi2=5.99) pose_sigma=(0.15037, 0.15037, rho=0) det_map=(6.94135, -2.50716) lm_pos=(6.915, -2.52) delta=(0.0263488, 0.0128417) -> 1 candidate(s)
I0419 20:58:37.100456 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=88.4401 rad/s > flush threshold 3.
I0419 20:58:37.100523 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170379050.
I0419 20:58:37.101765 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170662424.
I0419 20:58:37.102397 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170695370.
I0419 20:58:37.104231 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170976169.
I0419 20:58:37.104907 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291170976304.
I0419 20:58:37.125919 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291171253141.
I0419 20:58:37.130481 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.514 deg, rms_residual=0.00427906m, sigma_yaw=0.00567305 rad, N=2
I0419 20:58:37.130609 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.54603, -1.82871, -176.514deg) inliers=2 rms=0.00427906m
I0419 20:58:37.130656 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291171297555.
I0419 20:58:37.141903 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:37.158583 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291171573252.
I0419 20:58:37.159696 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.0613438, -0.7515)
I0419 20:58:37.159788 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:37.159869 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291171573461.
I0419 20:58:37.229590 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0581796 range=0.548435 variance=0.000616137 t_weight=4869.05 r_weight=0 yaml=(6.015, -1.32) prior=(6.57506, -1.81691, -177.876deg) obs_actual=(0.506285, -0.505582) obs_expected=(0.541262, -0.517323) delta=(-0.0349771, 0.0117408) |delta|=0.036895m
I0419 20:58:37.229758 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291171854506.
I0419 20:58:37.230427 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0396129, -0.716048), points=18, range=0.718444, residual=0.0119381, extent=0.0375206
I0419 20:58:37.230497 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0396129, -0.716048), tracking=(-0.338113, 0.716048), map_predicted=(6.93949, -2.51993), range=0.718444, pts=18
I0419 20:58:37.230526 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0244852m maha_sq=0.0259755 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93949, -2.51993) lm_pos=(6.915, -2.52) delta=(0.0244851, 6.98091e-05) -> 1 candidate(s)
I0419 20:58:37.230603 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291171854736.
I0419 20:58:37.231985 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291172141501.
I0419 20:58:37.233367 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.8433 rad/s > flush threshold 3.
I0419 20:58:37.246433 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291172455792.
I0419 20:58:37.247400 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291172455932.
I0419 20:58:37.275025 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291172742228.
I0419 20:58:37.276808 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.04507, 0.431088)
I0419 20:58:37.276937 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 20:58:37.277141 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291172742467.
I0419 20:58:37.306399 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:37.306599 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:37.306767 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:37.306944 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:37.307003 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291173053735.
I0419 20:58:37.390367 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.365 rad/s > flush threshold 3.
I0419 20:58:37.391562 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594875s, prior_pose=(6.57265, -1.80401), yaw=-177.885 deg
I0419 20:58:37.391633 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=254, threshold=230, above_threshold=29, candidates=29
I0419 20:58:37.391750 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:37.391830 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291173337103.
I0419 20:58:37.392388 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:37.392436 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:37.392500 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291173337339.
I0419 20:58:37.394471 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12291, 0.676898), points=7, range=1.30786, residual=0.0130765, extent=0.0376444
I0419 20:58:37.394551 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.12291, 0.676898), tracking=(1.42141, 0.676898), map_predicted=(5.14758, -2.54131), range=1.30786, pts=7
I0419 20:58:37.394577 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0389244m maha_sq=0.0635697 (gate chi2=5.99) pose_sigma=(0.152299, 0.152299, rho=0) det_map=(5.14758, -2.54131) lm_pos=(5.115, -2.52) delta=(0.0325751, -0.0213065) -> 1 candidate(s)
I0419 20:58:37.394625 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0635697 range=1.30786 variance=0.000638758 t_weight=4696.61 r_weight=0 yaml=(5.115, -2.52) prior=(6.54281, -1.81198, -177.867deg) obs_actual=(1.42141, 0.676898) obs_expected=(1.45317, 0.654394) delta=(-0.0317597, 0.022504) |delta|=0.0389244m
I0419 20:58:37.394680 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291173614995.
I0419 20:58:37.395260 1218972 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 20:58:37.395362 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291173615146.
I0419 20:58:37.396678 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291173898528.
I0419 20:58:37.398432 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291173934210.
I0419 20:58:37.423000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291174220243.
I0419 20:58:37.424611 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.104629, -0.72013)
I0419 20:58:37.424860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291174220477.
I0419 20:58:37.520973 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291174493962.
I0419 20:58:37.521890 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:37.522024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291174540429.
I0419 20:58:37.523155 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291174774633.
I0419 20:58:37.524541 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.276 deg, rms_residual=0.00367463m, sigma_yaw=0.00487562 rad, N=2
I0419 20:58:37.524650 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.45402, -1.83451, -176.276deg) inliers=2 rms=0.00367463m
I0419 20:58:37.524693 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291174819625.
I0419 20:58:37.525974 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291175092886.
I0419 20:58:37.526592 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.124541, -0.718427), points=18, range=0.731111, residual=0.0123839, extent=0.0380265
I0419 20:58:37.526654 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.124541, -0.718427), tracking=(-0.423041, 0.718427), map_predicted=(6.94338, -2.51517), range=0.731111, pts=18
I0419 20:58:37.526680 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0287906m maha_sq=0.035896 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94338, -2.51517) lm_pos=(6.915, -2.52) delta=(0.028383, 0.00482787) -> 1 candidate(s)
I0419 20:58:37.526724 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.035896 range=0.731111 variance=0.000591724 t_weight=5069.93 r_weight=0 yaml=(6.915, -2.52) prior=(6.49372, -1.8131, -177.852deg) obs_actual=(-0.423041, 0.718427) obs_expected=(-0.394497, 0.722188) delta=(-0.0285439, -0.00376086) |delta|=0.0287906m
I0419 20:58:37.526777 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291175093190.
I0419 20:58:37.538743 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291175378211.
I0419 20:58:37.542336 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10827, 0.427868)
I0419 20:58:37.542649 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291175413542.
I0419 20:58:37.567265 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291175659857.
I0419 20:58:37.666296 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291175694474.
I0419 20:58:37.666976 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:37.667650 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:37.667730 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:37.667776 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:37.667861 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291175988434.
I0419 20:58:37.668491 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:37.668552 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:37.668574 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291175988714.
I0419 20:58:37.670233 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564068s, prior_pose=(6.46661, -1.80494), yaw=-177.981 deg
I0419 20:58:37.670327 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:58:37.670460 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:37.670531 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291176258542.
I0419 20:58:37.671093 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:37.671131 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:37.671188 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291176292416.
I0419 20:58:37.672364 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291176545252.
I0419 20:58:37.673689 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291176619433.
I0419 20:58:37.686626 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0732687, -0.505035)
I0419 20:58:37.687777 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291176854253.
I0419 20:58:37.688973 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291176854530.
I0419 20:58:37.788921 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0667564, -0.506927), points=24, range=0.511208, residual=0.0113538, extent=0.0418677
I0419 20:58:37.789153 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0667564, -0.506927), tracking=(0.365256, -0.506927), map_predicted=(6.05796, -1.3073), range=0.511208, pts=24
I0419 20:58:37.789192 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0447967m maha_sq=0.0866519 (gate chi2=5.99) pose_sigma=(0.150327, 0.150327, rho=0) det_map=(6.05796, -1.3073) lm_pos=(6.015, -1.32) delta=(0.0429596, 0.0126972) -> 1 candidate(s)
I0419 20:58:37.789259 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0866519 range=0.511208 variance=0.000560443 t_weight=5352.91 r_weight=0 yaml=(6.015, -1.32) prior=(6.44097, -1.80095, -177.967deg) obs_actual=(0.365256, -0.506927) obs_expected=(0.408639, -0.495762) delta=(-0.043383, -0.0111651) |delta|=0.0447967m
I0419 20:58:37.789314 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291177143672.
I0419 20:58:37.790051 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291177143931.
I0419 20:58:37.791672 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291177412429.
I0419 20:58:37.793473 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:37.793646 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291177456709.
I0419 20:58:37.794973 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291177746792.
I0419 20:58:37.795696 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291177746920.
I0419 20:58:37.796942 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.3984, -1.81086), yaw=-178.032 deg backend=(7.47597, -1.80571)
I0419 20:58:37.801724 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291178012376.
I0419 20:58:37.806087 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291178055816.
I0419 20:58:37.830906 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.0340121, -0.506668)
I0419 20:58:37.831102 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291178303125.
I0419 20:58:37.893131 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291178336762.
I0419 20:58:37.894318 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291178614217.
I0419 20:58:37.894917 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19683, 0.421857), points=3, range=1.266, residual=0.00627778, extent=0.0116241
I0419 20:58:37.894985 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19683, 0.421857), tracking=(-1.49533, -0.421857), map_predicted=(7.87783, -1.32917), range=1.266, pts=3
I0419 20:58:37.895009 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0635m maha_sq=0.175281 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.87783, -1.32917) lm_pos=(7.815, -1.32) delta=(0.0628344, -0.00917022) -> 1 candidate(s)
I0419 20:58:37.895054 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.175281 range=1.266 variance=0.000504479 t_weight=5946.72 r_weight=0 yaml=(7.815, -1.32) prior=(6.39986, -1.80829, -177.793deg) obs_actual=(-1.49533, -0.421857) obs_expected=(-1.43289, -0.43344) delta=(-0.0624347, 0.0115826) |delta|=0.0635m
I0419 20:58:37.895092 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291178614485.
I0419 20:58:37.896842 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:37.896900 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:37.896938 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:37.896976 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291178903461.
I0419 20:58:37.897554 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:37.897608 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:37.897634 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291178903580.
I0419 20:58:37.917955 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0837497s, prior_pose=(6.37951, -1.81541), yaw=-177.753 deg
I0419 20:58:37.918066 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:58:37.918324 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:37.918403 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.594 deg, rms_residual=0.0143141m, sigma_yaw=0.0187281 rad, N=2
I0419 20:58:37.918480 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.35569, -1.80256, -177.594deg) inliers=2 rms=0.0143141m
I0419 20:58:37.918546 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291179174259.
I0419 20:58:37.922379 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:37.922461 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:37.922567 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291179218099.
I0419 20:58:37.950310 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291179497183.
I0419 20:58:37.951077 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291179497405.
I0419 20:58:38.014966 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.00355012, -0.50456)
I0419 20:58:38.015179 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291179783992.
I0419 20:58:38.015888 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291179784126.
I0419 20:58:38.017246 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180057149.
I0419 20:58:38.018653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180101105.
I0419 20:58:38.038671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180380894.
I0419 20:58:38.039465 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.262256, -0.730388), points=14, range=0.777286, residual=0.0102576, extent=0.0296813
I0419 20:58:38.039577 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.262256, -0.730388), tracking=(-0.560756, 0.730388), map_predicted=(6.95762, -2.51585), range=0.777286, pts=14
I0419 20:58:38.039611 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0428205m maha_sq=0.0795647 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.95762, -2.51585) lm_pos=(6.915, -2.52) delta=(0.0426194, 0.00414507) -> 1 candidate(s)
I0419 20:58:38.039633 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:38.039670 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0795647 range=0.777286 variance=0.000545322 t_weight=5501.34 r_weight=0 yaml=(6.915, -2.52) prior=(6.36955, -1.80727, -177.825deg) obs_actual=(-0.560756, 0.730388) obs_expected=(-0.51801, 0.732913) delta=(-0.042746, -0.00252482) |delta|=0.0428205m
I0419 20:58:38.039757 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291180381081.
I0419 20:58:38.066682 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180660911.
I0419 20:58:38.067494 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180661069.
I0419 20:58:38.098512 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180979492.
I0419 20:58:38.160130 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.76953 rad/s > flush threshold 3.
I0419 20:58:38.160310 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291180979640.
I0419 20:58:38.161654 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.0462469, -0.503779)
I0419 20:58:38.161800 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291181275784.
I0419 20:58:38.162544 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291181275903.
I0419 20:58:38.164533 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291181536167.
I0419 20:58:38.165184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291181536340.
I0419 20:58:38.186287 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:38.186383 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:38.186440 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:38.186510 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291181858456.
I0419 20:58:38.187902 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.68969 rad/s > flush threshold 3.
I0419 20:58:38.188014 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:38.188060 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:38.188078 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291181858644.
I0419 20:58:38.214314 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603727s, prior_pose=(6.28861, -1.80706), yaw=-177.821 deg
I0419 20:58:38.214411 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:58:38.214577 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0722732, -0.503667), points=25, range=0.50984, residual=0.0114593, extent=0.0376295
I0419 20:58:38.214607 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:38.214619 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0722732, -0.503667), tracking=(0.226227, -0.503667), map_predicted=(6.04339, -1.31236), range=0.50984, pts=25
I0419 20:58:38.214643 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0294044m maha_sq=0.0374898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.04339, -1.31236) lm_pos=(6.015, -1.32) delta=(0.028395, 0.00763846) -> 1 candidate(s)
I0419 20:58:38.214697 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0374898 range=0.50984 variance=0.000562813 t_weight=5330.36 r_weight=0 yaml=(6.015, -1.32) prior=(6.28861, -1.80706, -177.821deg) obs_actual=(0.226227, -0.503667) obs_expected=(0.254892, -0.497114) delta=(-0.0286649, -0.00655335) |delta|=0.0294044m
I0419 20:58:38.214749 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291182139894.
I0419 20:58:38.215447 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:38.215487 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:38.215549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291182140061.
I0419 20:58:38.289369 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291182417002.
I0419 20:58:38.290336 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291182453133.
I0419 20:58:38.291572 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0859968, -0.504894)
I0419 20:58:38.291728 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291182737478.
I0419 20:58:38.292982 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=58.0388 rad/s > flush threshold 3.
I0419 20:58:38.305384 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291183043427.
I0419 20:58:38.306288 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.406 deg, rms_residual=0.00496503m, sigma_yaw=0.0065765 rad, N=2
I0419 20:58:38.306378 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.23627, -1.82995, -176.406deg) inliers=2 rms=0.00496503m
I0419 20:58:38.306420 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291183043573.
I0419 20:58:38.330125 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291183295717.
I0419 20:58:38.334313 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:38.334410 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291183339426.
I0419 20:58:38.358393 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291183577897.
I0419 20:58:38.448824 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291183622551.
I0419 20:58:38.450274 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.116929, -0.502964), points=24, range=0.516958, residual=0.0109904, extent=0.0377808
I0419 20:58:38.450350 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.116929, -0.502964), tracking=(0.181571, -0.502964), map_predicted=(6.05242, -1.31414), range=0.516958, pts=24
I0419 20:58:38.450378 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0378737m maha_sq=0.0622239 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.05242, -1.31414) lm_pos=(6.015, -1.32) delta=(0.0374176, 0.00585982) -> 1 candidate(s)
I0419 20:58:38.450435 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0433224 range=1.08271 variance=0.0006145 t_weight=4882.01 r_weight=0 yaml=(5.115, -2.52) prior=(6.25467, -1.80915, -177.625deg) obs_actual=(1.13926, 0.675944) obs_expected=(1.16815, 0.663019) delta=(-0.0288848, 0.0129244) |delta|=0.0316445m
I0419 20:58:38.450476 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291183902548.
I0419 20:58:38.451095 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291183902721.
I0419 20:58:38.452993 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.123925, -0.503334)
I0419 20:58:38.453140 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291184176367.
I0419 20:58:38.453727 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291184219253.
I0419 20:58:38.454963 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291184499465.
I0419 20:58:38.456193 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.3388 rad/s > flush threshold 3.
I0419 20:58:38.478701 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:38.478812 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:38.478922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291184780103.
I0419 20:58:38.482052 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291184813664.
I0419 20:58:38.553150 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602644s, prior_pose=(6.26497, -1.81156), yaw=-177.636 deg
I0419 20:58:38.553299 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:38.553447 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:38.553489 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:58:38.553547 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291185102225.
I0419 20:58:38.554106 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:38.554144 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:38.554196 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:38.554231 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:38.554250 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291185102388.
I0419 20:58:38.555390 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291185379608.
I0419 20:58:38.556586 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.394989, -0.74014)
I0419 20:58:38.556640 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=65.7172 rad/s > flush threshold 3.
I0419 20:58:38.566504 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.170943, -0.50349), points=23, range=0.530913, residual=0.011404, extent=0.0339706
I0419 20:58:38.566591 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.170943, -0.50349), tracking=(0.127557, -0.50349), map_predicted=(6.08132, -1.31358), range=0.530913, pts=23
I0419 20:58:38.566622 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0666347m maha_sq=0.186214 (gate chi2=5.99) pose_sigma=(0.152586, 0.152586, rho=0) det_map=(6.08132, -1.31358) lm_pos=(6.015, -1.32) delta=(0.0663247, 0.00641964) -> 1 candidate(s)
I0419 20:58:38.566690 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291185660511.
I0419 20:58:38.569871 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291185694544.
I0419 20:58:38.594251 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0965661 range=0.532375 variance=0.00055823 t_weight=5374.13 r_weight=0 yaml=(6.015, -1.32) prior=(6.20743, -1.81021, -177.546deg) obs_actual=(0.123775, -0.502529) obs_expected=(0.171268, -0.497998) delta=(-0.0474934, -0.00453128) |delta|=0.0477091m
I0419 20:58:38.594388 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291185935014.
I0419 20:58:38.599642 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291185989834.
I0419 20:58:38.625921 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291186253834.
I0419 20:58:38.687855 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:38.687947 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=55.9827 rad/s > flush threshold 3.
I0419 20:58:38.689344 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291186533509.
I0419 20:58:38.690054 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291186577913.
I0419 20:58:38.691222 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.17561, -1.80889), yaw=-177.658 deg backend=(7.48457, -1.80725)
I0419 20:58:38.692052 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291186819373.
I0419 20:58:38.692850 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.438739, -0.742232)
I0419 20:58:38.692955 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291186852986.
I0419 20:58:38.714766 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291187141683.
I0419 20:58:38.716404 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.09334 rad/s > flush threshold 3.
I0419 20:58:38.742118 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291187415458.
I0419 20:58:38.746596 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.450959, -0.745551), points=13, range=0.873308, residual=0.0116283, extent=0.0350598
I0419 20:58:38.746706 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.450959, -0.745551), tracking=(-0.749459, 0.745551), map_predicted=(6.93269, -2.52469), range=0.873308, pts=13
I0419 20:58:38.746735 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0182969m maha_sq=0.0145056 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93269, -2.52469) lm_pos=(6.915, -2.52) delta=(0.0176866, -0.00468621) -> 1 candidate(s)
I0419 20:58:38.746806 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291187461696.
I0419 20:58:38.806632 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:38.806782 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:38.806876 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291187697652.
I0419 20:58:38.807687 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291187731835.
I0419 20:58:38.808761 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0875766s, prior_pose=(6.16002, -1.81036), yaw=-177.605 deg
I0419 20:58:38.808830 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 20:58:38.808946 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:38.808993 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0753433 range=1.0015 variance=0.000578114 t_weight=5189.29 r_weight=0 yaml=(5.115, -2.52) prior=(6.16002, -1.81036, -177.605deg) obs_actual=(1.03399, 0.677825) obs_expected=(1.07377, 0.665337) delta=(-0.0397846, 0.0124887) |delta|=0.0416987m
I0419 20:58:38.809041 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291188017561.
I0419 20:58:38.810323 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:38.810393 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:38.810428 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=102.136 rad/s > flush threshold 3.
I0419 20:58:38.832594 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.72648, 0.675442)
I0419 20:58:38.832857 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.602 deg, rms_residual=0.0104808m, sigma_yaw=0.0137818 rad, N=2
I0419 20:58:38.832921 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.10035, -1.80871, -177.602deg) inliers=2 rms=0.0104808m
I0419 20:58:38.832952 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291188318201.
I0419 20:58:38.833849 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291188318492.
I0419 20:58:38.858750 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:58:38.858940 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291188577808.
I0419 20:58:38.862145 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:38.862252 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:38.862274 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291188615381.
I0419 20:58:38.887948 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291188871019.
I0419 20:58:38.958004 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291188894248.
I0419 20:58:38.959576 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291189175298.
I0419 20:58:38.960300 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:38.960407 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291189219739.
I0419 20:58:38.962777 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.697397, 0.677348), points=11, range=0.969909, residual=0.011714, extent=0.0345122
I0419 20:58:38.962944 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.697397, 0.677348), tracking=(0.995897, 0.677348), map_predicted=(5.1381, -2.53106), range=0.969909, pts=11
I0419 20:58:38.962971 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.02561m maha_sq=0.0278497 (gate chi2=5.99) pose_sigma=(0.151541, 0.151541, rho=0) det_map=(5.1381, -2.53106) lm_pos=(5.115, -2.52) delta=(0.0230975, -0.0110625) -> 1 candidate(s)
I0419 20:58:38.963049 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291189458471.
I0419 20:58:38.963680 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.510159, -0.749164)
I0419 20:58:38.963801 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291189492233.
I0419 20:58:38.979292 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291189782037.
I0419 20:58:38.982465 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.51 rad/s > flush threshold 3.
I0419 20:58:39.010705 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291190097120.
I0419 20:58:39.012290 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0110905 range=0.914091 variance=0.000577353 t_weight=5196.12 r_weight=0 yaml=(6.915, -2.52) prior=(6.08034, -1.81176, -177.591deg) obs_actual=(-0.819178, 0.748185) obs_expected=(-0.804149, 0.7427) delta=(-0.0150283, 0.00548537) |delta|=0.0159981m
I0419 20:58:39.012441 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291190097370.
I0419 20:58:39.108052 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291190372924.
I0419 20:58:39.108064 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:39.108726 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291190373220.
I0419 20:58:39.109903 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:39.109966 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:39.110028 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291190661227.
I0419 20:58:39.111215 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.542184, -0.750738)
I0419 20:58:39.111271 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.02414 rad/s > flush threshold 3.
I0419 20:58:39.112262 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566002s, prior_pose=(6.06681, -1.81181), yaw=-177.554 deg
I0419 20:58:39.112313 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=252, threshold=230, above_threshold=13, candidates=13
I0419 20:58:39.112368 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:39.112980 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:39.113018 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:39.113093 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291190974141.
I0419 20:58:39.126642 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291191259586.
I0419 20:58:39.127926 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291191259847.
I0419 20:58:39.153816 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.637145, 0.675283), points=11, range=0.928091, residual=0.0108373, extent=0.0367582
I0419 20:58:39.153908 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.637145, 0.675283), tracking=(0.935645, 0.675283), map_predicted=(5.14352, -2.53005), range=0.928091, pts=11
I0419 20:58:39.153939 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0302383m maha_sq=0.0396443 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14352, -2.53005) lm_pos=(5.115, -2.52) delta=(0.0285195, -0.0100495) -> 1 candidate(s)
I0419 20:58:39.154016 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291191532724.
I0419 20:58:39.215965 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.11228 rad/s > flush threshold 3.
I0419 20:58:39.216169 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291191534348.
I0419 20:58:39.217475 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291191813545.
I0419 20:58:39.218379 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=27, centroid=(-0.274886, 0.499002)
I0419 20:58:39.218504 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:58:39.218626 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291191857596.
I0419 20:58:39.220463 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:39.220595 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:39.220662 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291192159767.
I0419 20:58:39.221354 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:39.221467 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291192159902.
I0419 20:58:39.242627 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0935533 range=1.56533 variance=0.000521616 t_weight=5751.35 r_weight=0 yaml=(4.215, -1.32) prior=(6.03741, -1.81565, -177.591deg) obs_actual=(1.75357, -0.570728) obs_expected=(1.79997, -0.57182) delta=(-0.0463956, 0.0010924) |delta|=0.0464085m
I0419 20:58:39.242761 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291192420917.
I0419 20:58:39.244333 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.59418 rad/s > flush threshold 3.
I0419 20:58:39.244493 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291192421149.
I0419 20:58:39.269862 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291192693963.
I0419 20:58:39.274241 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291192737913.
I0419 20:58:39.334896 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291192976970.
I0419 20:58:39.335685 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.233437, 0.496646)
I0419 20:58:39.335865 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291193024043.
I0419 20:58:39.337134 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291193293464.
I0419 20:58:39.338529 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.618325, -0.758987), points=11, range=0.979455, residual=0.0118954, extent=0.0406928
I0419 20:58:39.338660 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.618325, -0.758987), tracking=(-0.916825, 0.758987), map_predicted=(6.9464, -2.53128), range=0.979455, pts=11
I0419 20:58:39.338719 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0333654m maha_sq=0.0469457 (gate chi2=5.99) pose_sigma=(0.152063, 0.152063, rho=0) det_map=(6.9464, -2.53128) lm_pos=(6.915, -2.52) delta=(0.0314004, -0.011281) -> 1 candidate(s)
I0419 20:58:39.338783 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.7121 rad/s > flush threshold 3.
I0419 20:58:39.338866 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291193293614.
I0419 20:58:39.357884 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:39.357985 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:39.358069 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291193574343.
I0419 20:58:39.362097 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291193615566.
I0419 20:58:39.390398 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605901s, prior_pose=(5.97869, -1.81309), yaw=-177.571 deg
I0419 20:58:39.390498 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=253, threshold=230, above_threshold=14, candidates=14
I0419 20:58:39.390589 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:39.390681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291193899515.
I0419 20:58:39.391394 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:39.391434 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:39.391492 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.856 deg, rms_residual=0.00552501m, sigma_yaw=0.00731281 rad, N=2
I0419 20:58:39.391525 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.9486, -1.8158, -176.856deg) inliers=2 rms=0.00552501m
I0419 20:58:39.391549 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291193899699.
I0419 20:58:39.418489 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0457609 range=0.88 variance=0.000603502 t_weight=4970.98 r_weight=0 yaml=(5.115, -2.52) prior=(5.97869, -1.81309, -177.571deg) obs_actual=(0.86063, 0.673818) obs_expected=(0.892879, 0.669667) delta=(-0.0322491, 0.00415107) |delta|=0.0325152m
I0419 20:58:39.418614 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291194180295.
I0419 20:58:39.478605 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.202414, 0.496581)
I0419 20:58:39.478750 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=45.031 rad/s > flush threshold 3.
I0419 20:58:39.478818 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291194180500.
I0419 20:58:39.480011 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291194460661.
I0419 20:58:39.480646 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291194493334.
I0419 20:58:39.482448 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291194777744.
I0419 20:58:39.483116 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:58:39.483172 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291194777928.
I0419 20:58:39.506300 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:39.506421 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:39.506445 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291195058279.
I0419 20:58:39.507853 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.666097, -0.761693), points=11, range=1.01536, residual=0.0142725, extent=0.0414341
I0419 20:58:39.507907 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.666097, -0.761693), tracking=(-0.964597, 0.761693), map_predicted=(6.94808, -2.53599), range=1.01536, pts=11
I0419 20:58:39.507933 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0367463m maha_sq=0.0567415 (gate chi2=5.99) pose_sigma=(0.152127, 0.152127, rho=0) det_map=(6.94808, -2.53599) lm_pos=(6.915, -2.52) delta=(0.0330844, -0.015991) -> 1 candidate(s)
I0419 20:58:39.507954 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:39.507964 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=83.705 rad/s > flush threshold 3.
I0419 20:58:39.508015 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291195058428.
I0419 20:58:39.533910 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291195334424.
I0419 20:58:39.538223 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(-0.17129, 0.499506)
I0419 20:58:39.538348 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291195378265.
I0419 20:58:39.599169 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.94829, -1.81612), yaw=-177.62 deg backend=(7.34211, -1.81512)
I0419 20:58:39.600332 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291195658822.
I0419 20:58:39.601014 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291195659079.
I0419 20:58:39.602180 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291195938908.
I0419 20:58:39.603595 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0596968 range=1.03313 variance=0.000610892 t_weight=4910.85 r_weight=0 yaml=(6.915, -2.52) prior=(5.9231, -1.81629, -177.641deg) obs_actual=(-0.994694, 0.762679) obs_expected=(-0.9621, 0.743941) delta=(-0.0325939, 0.0187382) |delta|=0.0375963m
I0419 20:58:39.603714 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291195977229.
I0419 20:58:39.622110 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291196215616.
I0419 20:58:39.626539 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291196259562.
I0419 20:58:39.654624 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:39.654716 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:39.654815 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291196541295.
I0419 20:58:39.657860 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.138383, 0.495968)
I0419 20:58:39.658013 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291196574675.
I0419 20:58:39.682230 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084184s, prior_pose=(5.9042, -1.81672), yaw=-177.608 deg
I0419 20:58:39.682319 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:58:39.682422 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:39.682507 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291196819069.
I0419 20:58:39.746385 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:39.746477 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:39.746518 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=107.863 rad/s > flush threshold 3.
I0419 20:58:39.746588 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291196819223.
I0419 20:58:39.747833 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475326, 0.672522), points=14, range=0.825714, residual=0.0119318, extent=0.040137
I0419 20:58:39.747885 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475326, 0.672522), tracking=(0.773826, 0.672522), map_predicted=(5.14874, -2.5218), range=0.825714, pts=14
I0419 20:58:39.747910 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0337927m maha_sq=0.0494684 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14874, -2.5218) lm_pos=(5.115, -2.52) delta=(0.0337446, -0.00180332) -> 1 candidate(s)
I0419 20:58:39.747957 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291197101465.
I0419 20:58:39.748737 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291197134524.
I0419 20:58:39.750380 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291197420592.
I0419 20:58:39.751029 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291197420739.
I0419 20:58:39.769951 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291197693859.
I0419 20:58:39.771616 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(-0.106093, 0.495244)
I0419 20:58:39.771754 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.3191 rad/s > flush threshold 3.
I0419 20:58:39.771785 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:39.771818 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.016059 range=0.506583 variance=0.000568419 t_weight=5277.79 r_weight=0 yaml=(6.015, -1.32) prior=(5.8598, -1.82002, -177.566deg) obs_actual=(-0.195683, -0.494197) obs_expected=(-0.176299, -0.492973) delta=(-0.0193839, -0.00122318) |delta|=0.0194225m
I0419 20:58:39.771871 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291197694014.
I0419 20:58:39.798115 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:39.798276 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:39.798305 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291197975104.
I0419 20:58:39.802431 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:39.802541 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291198019223.
I0419 20:58:39.866237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291198261916.
I0419 20:58:39.867084 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291198301086.
I0419 20:58:39.868358 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.818 deg, rms_residual=0.00666055m, sigma_yaw=0.00880256 rad, N=2
I0419 20:58:39.868443 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.82847, -1.82473, -177.818deg) inliers=2 rms=0.00666055m
I0419 20:58:39.868474 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291198574950.
I0419 20:58:39.869812 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0788201, 0.492766), points=25, range=0.50056, residual=0.012007, extent=0.0354744
I0419 20:58:39.869899 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0788201, 0.492766), tracking=(-0.21968, -0.492766), map_predicted=(6.06634, -1.32015), range=0.50056, pts=25
I0419 20:58:39.869925 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0513374m maha_sq=0.110774 (gate chi2=5.99) pose_sigma=(0.152369, 0.152369, rho=0) det_map=(6.06634, -1.32015) lm_pos=(6.015, -1.32) delta=(0.0513372, -0.000152281) -> 1 candidate(s)
I0419 20:58:39.869987 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291198618598.
I0419 20:58:39.886684 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291198861368.
I0419 20:58:39.890475 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291198898858.
I0419 20:58:39.918586 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.424704, 0.675128)
I0419 20:58:39.918773 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291199181262.
I0419 20:58:39.919512 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291199181499.
I0419 20:58:39.946156 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:39.946273 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:39.946336 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0842282 range=0.794267 variance=0.000597894 t_weight=5017.61 r_weight=0 yaml=(5.115, -2.52) prior=(5.843, -1.8198, -177.648deg) obs_actual=(0.712365, 0.675298) obs_expected=(0.756121, 0.669738) delta=(-0.0437559, 0.00556003) |delta|=0.0441078m
I0419 20:58:39.946388 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291199457461.
I0419 20:58:40.007510 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291199493234.
I0419 20:58:40.008728 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600521s, prior_pose=(5.8305, -1.8191), yaw=-177.571 deg
I0419 20:58:40.008816 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:40.008898 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:40.008971 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291199781783.
I0419 20:58:40.009608 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:40.009665 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:40.009735 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291199781906.
I0419 20:58:40.011509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200053887.
I0419 20:58:40.012226 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200100214.
I0419 20:58:40.033810 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2678, -0.571106), points=3, range=1.38867, residual=0.00501957, extent=0.0100601
I0419 20:58:40.034076 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.2678, -0.571106), tracking=(1.5663, -0.571106), map_predicted=(4.22227, -1.3143), range=1.38867, pts=3
I0419 20:58:40.034224 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00923638m maha_sq=0.00370942 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.22227, -1.3143) lm_pos=(4.215, -1.32) delta=(0.00726822, 0.00569946) -> 1 candidate(s)
I0419 20:58:40.034427 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200334365.
I0419 20:58:40.038404 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.812892, -0.764596)
I0419 20:58:40.038533 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200379370.
I0419 20:58:40.066571 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200660800.
I0419 20:58:40.067382 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:40.067447 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200660946.
I0419 20:58:40.148761 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:40.149044 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0348979 range=0.773 variance=0.000627843 t_weight=4778.27 r_weight=0 yaml=(5.115, -2.52) prior=(5.78727, -1.82106, -177.564deg) obs_actual=(0.673083, 0.67334) obs_expected=(0.701369, 0.669731) delta=(-0.0282865, 0.00360927) |delta|=0.0285159m
I0419 20:58:40.149159 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:40.149195 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200936540.
I0419 20:58:40.150112 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:40.150223 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291200936663.
I0419 20:58:40.152179 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291201220525.
I0419 20:58:40.154028 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291201253472.
I0419 20:58:40.155354 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.358664, 0.674349)
I0419 20:58:40.155468 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291201542428.
I0419 20:58:40.156212 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.278 deg, rms_residual=0.0117481m, sigma_yaw=0.0154225 rad, N=2
I0419 20:58:40.156260 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.73602, -1.81533, -177.278deg) inliers=2 rms=0.0117481m
I0419 20:58:40.156289 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291201542536.
I0419 20:58:40.184605 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22223, -0.572096), points=3, range=1.34233, residual=0.0137187, extent=0.0281053
I0419 20:58:40.184722 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.22223, -0.572096), tracking=(1.52073, -0.572096), map_predicted=(4.20811, -1.31613), range=1.34233, pts=3
I0419 20:58:40.184752 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00789979m maha_sq=0.00265447 (gate chi2=5.99) pose_sigma=(0.151168, 0.151168, rho=0) det_map=(4.20811, -1.31613) lm_pos=(4.215, -1.32) delta=(-0.00688712, 0.00386967) -> 1 candidate(s)
I0419 20:58:40.184854 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291201841353.
I0419 20:58:40.186301 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291201853827.
I0419 20:58:40.210196 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291202096850.
I0419 20:58:40.270617 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291202140116.
I0419 20:58:40.271663 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:40.271724 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:40.271776 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.101054 range=0.754 variance=0.000618589 t_weight=4849.75 r_weight=0 yaml=(5.115, -2.52) prior=(5.76406, -1.82592, -177.439deg) obs_actual=(0.632001, 0.673714) obs_expected=(0.679425, 0.664378) delta=(-0.0474241, 0.00933662) |delta|=0.0483344m
I0419 20:58:40.271819 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291202381832.
I0419 20:58:40.272517 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291202413576.
I0419 20:58:40.274430 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552193s, prior_pose=(5.74238, -1.82362), yaw=-177.441 deg
I0419 20:58:40.274511 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:40.274595 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:40.274657 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291202692309.
I0419 20:58:40.275385 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:40.275447 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.0331858, 0.491123)
I0419 20:58:40.275467 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:40.275537 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291202736742.
I0419 20:58:40.301358 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291203008050.
I0419 20:58:40.302851 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=59.34 rad/s > flush threshold 3.
I0419 20:58:40.302953 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203008255.
I0419 20:58:40.330106 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.309464, 0.671217), points=19, range=0.741947, residual=0.0146145, extent=0.0450506
I0419 20:58:40.330266 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.309464, 0.671217), tracking=(0.607964, 0.671217), map_predicted=(5.14341, -2.5203), range=0.741947, pts=19
I0419 20:58:40.330332 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0284145m maha_sq=0.0348726 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14341, -2.5203) lm_pos=(5.115, -2.52) delta=(0.0284128, -0.00030473) -> 1 candidate(s)
I0419 20:58:40.330444 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203296261.
I0419 20:58:40.331274 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203296416.
I0419 20:58:40.394522 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203599949.
I0419 20:58:40.395270 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:40.395344 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203600103.
I0419 20:58:40.396546 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:40.396629 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:40.396652 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203862050.
I0419 20:58:40.397956 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:40.398034 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.073596 range=1.1945 variance=0.000594917 t_weight=5042.72 r_weight=0 yaml=(6.915, -2.52) prior=(5.7108, -1.82682, -177.411deg) obs_actual=(-1.20464, 0.77238) obs_expected=(-1.17166, 0.746865) delta=(-0.032988, 0.025515) |delta|=0.041704m
I0419 20:58:40.398126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291203894921.
I0419 20:58:40.417881 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.289668, 0.674031)
I0419 20:58:40.418196 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291204175109.
I0419 20:58:40.418913 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291204175272.
I0419 20:58:40.423251 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.69244, -1.82551), yaw=-177.45 deg backend=(7.30029, -1.82088)
I0419 20:58:40.446511 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291204460162.
I0419 20:58:40.447317 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291204460316.
I0419 20:58:40.473836 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.272056, 0.673252), points=18, range=0.729056, residual=0.0141939, extent=0.0435548
I0419 20:58:40.473940 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.272056, 0.673252), tracking=(0.570556, 0.673252), map_predicted=(5.1524, -2.52348), range=0.729056, pts=18
I0419 20:58:40.473973 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0375619m maha_sq=0.0609727 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.1524, -2.52348) lm_pos=(5.115, -2.52) delta=(0.0373999, -0.0034842) -> 1 candidate(s)
I0419 20:58:40.474031 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.091 deg, rms_residual=0.0114902m, sigma_yaw=0.0150891 rad, N=2
I0419 20:58:40.474063 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.6697, -1.83731, -178.091deg) inliers=2 rms=0.0114902m
I0419 20:58:40.474094 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291204734358.
I0419 20:58:40.535629 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291204779792.
I0419 20:58:40.536885 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205031064.
I0419 20:58:40.537674 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205054729.
I0419 20:58:40.539469 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:40.539547 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:40.539608 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205341187.
I0419 20:58:40.540236 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.119615 range=1.22533 variance=0.000595505 t_weight=5037.74 r_weight=0 yaml=(6.915, -2.52) prior=(5.67636, -1.82726, -177.372deg) obs_actual=(-1.25074, 0.775681) obs_expected=(-1.20558, 0.748801) delta=(-0.0451665, 0.0268803) |delta|=0.0525601m
I0419 20:58:40.540297 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205341315.
I0419 20:58:40.560818 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 44
I0419 20:58:40.562392 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838986s, prior_pose=(5.67636, -1.82726), yaw=-177.372 deg
I0419 20:58:40.562506 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:40.562610 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.11941, -0.582713)
I0419 20:58:40.562649 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:40.562743 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205618778.
I0419 20:58:40.566298 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:40.566396 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:40.566520 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205655774.
I0419 20:58:40.594710 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205940663.
I0419 20:58:40.595705 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291205940808.
I0419 20:58:40.678483 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.234552, 0.671593), points=19, range=0.713, residual=0.0130756, extent=0.0389978
I0419 20:58:40.678586 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.234552, 0.671593), tracking=(0.533052, 0.671593), map_predicted=(5.15706, -2.52911), range=0.713, pts=19
I0419 20:58:40.678623 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0430323m maha_sq=0.0795853 (gate chi2=5.99) pose_sigma=(0.150529, 0.150529, rho=0) det_map=(5.15706, -2.52911) lm_pos=(5.115, -2.52) delta=(0.042057, -0.00910963) -> 1 candidate(s)
I0419 20:58:40.678711 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291206226367.
I0419 20:58:40.679392 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291206226513.
I0419 20:58:40.680524 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291206501741.
I0419 20:58:40.682001 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:40.682072 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291206534505.
I0419 20:58:40.683279 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:40.683336 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:40.683360 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291206825705.
I0419 20:58:40.683950 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:40.684015 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291206825854.
I0419 20:58:40.710532 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.07066, -0.583304)
I0419 20:58:40.710697 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.00466357 range=1.21925 variance=0.000620499 t_weight=4834.82 r_weight=0 yaml=(4.215, -1.32) prior=(5.61463, -1.82618, -177.198deg) obs_actual=(1.37476, -0.58435) obs_expected=(1.37321, -0.573994) delta=(0.00154711, -0.0103568) |delta|=0.0104717m
I0419 20:58:40.710798 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291207099437.
I0419 20:58:40.711594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291207099577.
I0419 20:58:40.738832 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291207381545.
I0419 20:58:40.800889 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291207415448.
I0419 20:58:40.802309 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291207694721.
I0419 20:58:40.803011 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291207694914.
I0419 20:58:40.804831 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.191103, 0.66635), points=19, range=0.693947, residual=0.011874, extent=0.038561
I0419 20:58:40.804977 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.191103, 0.66635), tracking=(0.489603, 0.66635), map_predicted=(5.14891, -2.51389), range=0.693947, pts=19
I0419 20:58:40.805028 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.034459m maha_sq=0.0502871 (gate chi2=5.99) pose_sigma=(0.151772, 0.151772, rho=0) det_map=(5.14891, -2.51389) lm_pos=(5.115, -2.52) delta=(0.0339126, 0.00611207) -> 1 candidate(s)
I0419 20:58:40.805166 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291207990761.
I0419 20:58:40.806176 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291207990900.
I0419 20:58:40.827450 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:40.827561 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:40.827636 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.702 deg, rms_residual=0.0114898m, sigma_yaw=0.0150886 rad, N=2
I0419 20:58:40.827670 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.57949, -1.84255, -177.702deg) inliers=2 rms=0.0114898m
I0419 20:58:40.827698 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291208269385.
I0419 20:58:40.829769 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291208292924.
I0419 20:58:40.858644 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591672s, prior_pose=(5.5865, -1.83016), yaw=-177.122 deg
I0419 20:58:40.858748 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:40.858860 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.03689, -0.586628)
I0419 20:58:40.858892 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:40.858983 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291208582433.
I0419 20:58:40.859674 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:40.859716 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:40.859808 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0668541 range=0.52392 variance=0.000590632 t_weight=5079.31 r_weight=0 yaml=(6.015, -1.32) prior=(5.5865, -1.83016, -177.122deg) obs_actual=(-0.492716, -0.484642) obs_expected=(-0.45357, -0.488004) delta=(-0.0391459, 0.00336167) |delta|=0.03929m
I0419 20:58:40.859849 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291208582630.
I0419 20:58:40.924154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291208861493.
I0419 20:58:40.925182 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291208861613.
I0419 20:58:40.927057 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291209194918.
I0419 20:58:40.928546 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.1605 rad/s > flush threshold 3.
I0419 20:58:40.928675 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291209195027.
I0419 20:58:40.946430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291209457553.
I0419 20:58:40.947182 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218546, 0.483223), points=25, range=0.5316, residual=0.012087, extent=0.0392284
I0419 20:58:40.947242 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.218546, 0.483223), tracking=(-0.517046, -0.483223), map_predicted=(6.05606, -1.32558), range=0.5316, pts=25
I0419 20:58:40.947268 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0414377m maha_sq=0.074403 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.05606, -1.32558) lm_pos=(6.015, -1.32) delta=(0.0410608, -0.00557653) -> 1 candidate(s)
I0419 20:58:40.947299 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 20:58:40.947338 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291209457702.
I0419 20:58:40.973919 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:40.974074 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:40.974115 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291209733312.
I0419 20:58:40.978420 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.228831, 0.483241)
I0419 20:58:40.978530 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:40.978612 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291209779979.
I0419 20:58:41.006428 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210057971.
I0419 20:58:41.073032 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=190.367 rad/s > flush threshold 3.
I0419 20:58:41.073290 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210058083.
I0419 20:58:41.074837 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.165596 range=0.683476 variance=0.000615761 t_weight=4872.02 r_weight=0 yaml=(5.115, -2.52) prior=(5.56728, -1.83546, -176.979deg) obs_actual=(0.426578, 0.669196) obs_expected=(0.487723, 0.659757) delta=(-0.0611456, 0.00943934) |delta|=0.0618699m
I0419 20:58:41.075012 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210334127.
I0419 20:58:41.075791 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291210377248.
I0419 20:58:41.077662 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210618396.
I0419 20:58:41.078748 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210651748.
I0419 20:58:41.093101 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210924898.
I0419 20:58:41.094646 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.7661 rad/s > flush threshold 3.
I0419 20:58:41.094748 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291210924998.
I0419 20:58:41.123580 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:41.123700 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.106695, 0.667339), points=20, range=0.6771, residual=0.011976, extent=0.0378518
I0419 20:58:41.123725 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:41.123742 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.106695, 0.667339), tracking=(0.405195, 0.667339), map_predicted=(5.15627, -2.52935), range=0.6771, pts=20
I0419 20:58:41.123764 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0423196m maha_sq=0.0775979 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.15627, -2.52935) lm_pos=(5.115, -2.52) delta=(0.0412728, -0.00935451) -> 1 candidate(s)
I0419 20:58:41.123840 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291211230861.
I0419 20:58:41.125811 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.10228, -0.794308)
I0419 20:58:41.125955 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291211253473.
I0419 20:58:41.187672 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0571245s, prior_pose=(5.5258, -1.83391), yaw=-176.883 deg
I0419 20:58:41.187801 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:41.187929 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:41.188023 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291211496243.
I0419 20:58:41.188877 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:41.188930 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:41.189006 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291211541471.
I0419 20:58:41.190182 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.565 deg, rms_residual=0.0126661m, sigma_yaw=0.0166077 rad, N=2
I0419 20:58:41.190255 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.48329, -1.84616, -177.565deg) inliers=2 rms=0.0126661m
I0419 20:58:41.190323 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291211818636.
I0419 20:58:41.191725 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=112.822 rad/s > flush threshold 3.
I0419 20:58:41.210388 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.015711 range=1.1058 variance=0.00060993 t_weight=4918.59 r_weight=0 yaml=(4.215, -1.32) prior=(5.50242, -1.83817, -176.799deg) obs_actual=(1.23747, -0.592428) obs_expected=(1.25648, -0.589245) delta=(-0.0190093, -0.00318218) |delta|=0.0192738m
I0419 20:58:41.210527 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291212097131.
I0419 20:58:41.211282 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291212097251.
I0419 20:58:41.238883 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291212380332.
I0419 20:58:41.241976 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291212414554.
I0419 20:58:41.270519 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(0.0664714, 0.669748)
I0419 20:58:41.270660 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:41.270730 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291212699700.
I0419 20:58:41.333278 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15014, -0.797042), points=4, range=1.395, residual=0.0117759, extent=0.0265236
I0419 20:58:41.333387 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15014, -0.797042), tracking=(-1.44864, 0.797042), map_predicted=(6.97513, -2.55106), range=1.395, pts=4
I0419 20:58:41.333416 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0676834m maha_sq=0.196988 (gate chi2=5.99) pose_sigma=(0.150477, 0.150477, rho=0) det_map=(6.97513, -2.55106) lm_pos=(6.915, -2.52) delta=(0.0601336, -0.0310643) -> 1 candidate(s)
I0419 20:58:41.333437 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:41.333448 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.99447 rad/s > flush threshold 3.
I0419 20:58:41.333487 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:41.333532 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:41.333551 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291212699983.
I0419 20:58:41.334722 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213001015.
I0419 20:58:41.335343 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213001173.
I0419 20:58:41.336403 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.45978, -1.83439), yaw=-176.799 deg backend=(7.15327, -1.83045)
I0419 20:58:41.337285 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213254397.
I0419 20:58:41.337898 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213297950.
I0419 20:58:41.358105 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0165732 range=1.07925 variance=0.000598458 t_weight=5012.88 r_weight=0 yaml=(4.215, -1.32) prior=(5.45978, -1.83439, -176.799deg) obs_actual=(1.19664, -0.591928) obs_expected=(1.21411, -0.583101) delta=(-0.0174612, -0.00882732) |delta|=0.0195657m
I0419 20:58:41.358237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213575375.
I0419 20:58:41.359589 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.4269 rad/s > flush threshold 3.
I0419 20:58:41.359676 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213575525.
I0419 20:58:41.386550 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213854380.
I0419 20:58:41.390774 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291213902384.
I0419 20:58:41.459713 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.88583, -0.593712)
I0419 20:58:41.459851 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:41.459879 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:41.459964 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291214134648.
I0419 20:58:41.460654 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.347027, 0.477585), points=20, range=0.5917, residual=0.0112608, extent=0.035484
I0419 20:58:41.460703 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.347027, 0.477585), tracking=(-0.645527, -0.477585), map_predicted=(6.0573, -1.3244), range=0.5917, pts=20
I0419 20:58:41.460734 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.042524m maha_sq=0.0784148 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.0573, -1.3244) lm_pos=(6.015, -1.32) delta=(0.0422956, -0.0044013) -> 1 candidate(s)
I0419 20:58:41.460791 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291214179322.
I0419 20:58:41.461885 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0867657s, prior_pose=(5.43879, -1.8365), yaw=-176.872 deg
I0419 20:58:41.461942 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:41.462039 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:41.462100 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291214443182.
I0419 20:58:41.463285 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:41.463326 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:41.463358 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=183.791 rad/s > flush threshold 3.
I0419 20:58:41.463402 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291214443304.
I0419 20:58:41.474215 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291214735987.
I0419 20:58:41.478592 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291214780083.
I0419 20:58:41.506752 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215062075.
I0419 20:58:41.507696 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.039 deg, rms_residual=0.0107531m, sigma_yaw=0.0141348 rad, N=2
I0419 20:58:41.507972 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.106305 range=1.44267 variance=0.00057201 t_weight=5244.66 r_weight=0 yaml=(6.915, -2.52) prior=(5.4071, -1.84181, -176.713deg) obs_actual=(-1.49765, 0.802057) obs_expected=(-1.46654, 0.763523) delta=(-0.0311092, 0.0385343) |delta|=0.0495244m
I0419 20:58:41.508136 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.37197, -1.83192, -176.039deg) inliers=2 rms=0.0107531m
I0419 20:58:41.508656 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215062198.
I0419 20:58:41.534112 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.849919, -0.593261)
I0419 20:58:41.534296 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215337170.
I0419 20:58:41.592607 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=71.8985 rad/s > flush threshold 3.
I0419 20:58:41.592746 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215337317.
I0419 20:58:41.593946 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 20:58:41.594022 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291215613438.
I0419 20:58:41.594736 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:41.594794 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:41.594837 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:41.594858 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215658875.
I0419 20:58:41.596529 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0145568, 0.666156), points=20, range=0.66745, residual=0.0118801, extent=0.0373
I0419 20:58:41.596630 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0145568, 0.666156), tracking=(0.283943, 0.666156), map_predicted=(5.15378, -2.52163), range=0.66745, pts=20
I0419 20:58:41.596675 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0388134m maha_sq=0.0636778 (gate chi2=5.99) pose_sigma=(0.151923, 0.151923, rho=0) det_map=(5.15378, -2.52163) lm_pos=(5.115, -2.52) delta=(0.0387794, -0.00162568) -> 1 candidate(s)
I0419 20:58:41.596750 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215904585.
I0419 20:58:41.597550 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291215951662.
I0419 20:58:41.622488 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291216219289.
I0419 20:58:41.624050 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.2805 rad/s > flush threshold 3.
I0419 20:58:41.624197 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291216219485.
I0419 20:58:41.652334 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.816333, -0.592161)
I0419 20:58:41.652556 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291216499948.
I0419 20:58:41.653985 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291216534727.
I0419 20:58:41.715709 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0220491 range=1.0035 variance=0.00054339 t_weight=5520.9 r_weight=0 yaml=(4.215, -1.32) prior=(5.3817, -1.84286, -176.581deg) obs_actual=(1.11097, -0.593897) obs_expected=(1.13344, -0.591499) delta=(-0.0224693, -0.00239762) |delta|=0.0225968m
I0419 20:58:41.715919 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291216817225.
I0419 20:58:41.716626 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291216817375.
I0419 20:58:41.717984 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:41.718079 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:41.718161 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291217129363.
I0419 20:58:41.719379 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=49.3686 rad/s > flush threshold 3.
I0419 20:58:41.719453 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:41.740429 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0583287s, prior_pose=(5.35573, -1.84464), yaw=-176.534 deg
I0419 20:58:41.740545 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:41.740676 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:41.740765 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291217400512.
I0419 20:58:41.741488 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:41.741564 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:41.741629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291217400736.
I0419 20:58:41.766602 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.74098, 0.557282)
I0419 20:58:41.766746 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786183, -0.592404), points=6, range=0.981333, residual=0.0104738, extent=0.0287664
I0419 20:58:41.766798 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786183, -0.592404), tracking=(1.08468, -0.592404), map_predicted=(4.22309, -1.32095), range=0.981333, pts=6
I0419 20:58:41.766837 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00814785m maha_sq=0.00283995 (gate chi2=5.99) pose_sigma=(0.151055, 0.151055, rho=0) det_map=(4.22309, -1.32095) lm_pos=(4.215, -1.32) delta=(0.00809202, -0.000952172) -> 1 candidate(s)
I0419 20:58:41.766968 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291217660831.
I0419 20:58:41.769917 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291217694305.
I0419 20:58:41.802594 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291218019732.
I0419 20:58:41.862247 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=8.68581 rad/s > flush threshold 3.
I0419 20:58:41.863603 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291218262611.
I0419 20:58:41.864262 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291218292181.
I0419 20:58:41.866092 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291218541397.
I0419 20:58:41.866822 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:41.866904 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291218591128.
I0419 20:58:41.887313 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:41.887428 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0629623 range=0.958 variance=0.000597662 t_weight=5019.56 r_weight=0 yaml=(4.215, -1.32) prior=(5.33201, -1.84877, -176.513deg) obs_actual=(1.04465, -0.595239) obs_expected=(1.08278, -0.595729) delta=(-0.0381319, 0.00049021) |delta|=0.038135m
I0419 20:58:41.887494 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291218868312.
I0419 20:58:41.888929 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.5611 rad/s > flush threshold 3.
I0419 20:58:41.913865 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.71176, 0.553422)
I0419 20:58:41.914062 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:41.914145 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:41.914184 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291219134111.
I0419 20:58:41.917891 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291219173584.
I0419 20:58:41.978538 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291219415511.
I0419 20:58:41.979516 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.495307, 0.469971), points=14, range=0.687, residual=0.0132197, extent=0.0361894
I0419 20:58:41.979637 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.495307, 0.469971), tracking=(-0.793807, -0.469971), map_predicted=(6.09509, -1.33088), range=0.687, pts=14
I0419 20:58:41.979701 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0808266m maha_sq=0.28267 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.09509, -1.33088) lm_pos=(6.015, -1.32) delta=(0.0800906, -0.0108831) -> 1 candidate(s)
I0419 20:58:41.979799 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291219463620.
I0419 20:58:41.981017 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.7 deg, rms_residual=0.00973839m, sigma_yaw=0.0128181 rad, N=2
I0419 20:58:41.981129 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.26107, -1.84762, -176.7deg) inliers=2 rms=0.00973839m
I0419 20:58:41.986774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291219738428.
I0419 20:58:41.988808 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.2297 rad/s > flush threshold 3.
I0419 20:58:42.002192 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:42.002323 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:42.002426 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291220016608.
I0419 20:58:42.006896 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291220061642.
I0419 20:58:42.030040 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557871s, prior_pose=(5.28181, -1.84878), yaw=-176.418 deg
I0419 20:58:42.030138 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:42.030279 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:42.030369 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291220296497.
I0419 20:58:42.037880 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:42.038000 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:42.038126 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291220373971.
I0419 20:58:42.062386 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.66672, 0.549592)
I0419 20:58:42.062573 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291220618412.
I0419 20:58:42.087299 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 63
I0419 20:58:42.137353 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291220618696.
I0419 20:58:42.138677 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.170775 range=0.692263 variance=0.000575393 t_weight=5213.83 r_weight=0 yaml=(5.115, -2.52) prior=(5.28394, -1.85387, -176.42deg) obs_actual=(0.150923, 0.674933) obs_expected=(0.210205, 0.654285) delta=(-0.0592819, 0.0206483) |delta|=0.062775m
I0419 20:58:42.138825 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291220902536.
I0419 20:58:42.139462 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291220902703.
I0419 20:58:42.141543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291221181991.
I0419 20:58:42.142143 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291221219492.
I0419 20:58:42.149763 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.160886, 0.67883), points=21, range=0.698905, residual=0.0134968, extent=0.0410507
I0419 20:58:42.149864 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.160886, 0.67883), tracking=(0.137614, 0.67883), map_predicted=(5.16843, -2.53832), range=0.698905, pts=21
I0419 20:58:42.149897 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0564818m maha_sq=0.137988 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.16843, -2.53832) lm_pos=(5.115, -2.52) delta=(0.0534285, -0.0183192) -> 1 candidate(s)
I0419 20:58:42.150017 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291221492731.
I0419 20:58:42.151328 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:42.151378 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=60.608 rad/s > flush threshold 3.
I0419 20:58:42.178710 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291221781537.
I0419 20:58:42.182245 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291221817325.
I0419 20:58:42.245023 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.24014, -1.84931), yaw=-176.36 deg backend=(6.99335, -1.83959)
I0419 20:58:42.246152 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.64184, 0.554663)
I0419 20:58:42.246332 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291222099723.
I0419 20:58:42.246956 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:42.247017 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291222099921.
I0419 20:58:42.248283 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:42.248366 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:42.248390 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291222379359.
I0419 20:58:42.249699 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.8562 rad/s > flush threshold 3.
I0419 20:58:42.265782 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291222652594.
I0419 20:58:42.270272 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291222698662.
I0419 20:58:42.298643 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:42.298818 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:42.298923 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291222979764.
I0419 20:58:42.299609 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.142286 range=0.760636 variance=0.00056871 t_weight=5275.1 r_weight=0 yaml=(6.015, -1.32) prior=(5.20132, -1.84858, -176.348deg) obs_actual=(-0.902404, -0.467534) obs_expected=(-0.845695, -0.475683) delta=(-0.0567093, 0.00814906) |delta|=0.0572918m
I0419 20:58:42.299677 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291222979918.
I0419 20:58:42.325722 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0874789s, prior_pose=(5.20132, -1.84858), yaw=-176.348 deg
I0419 20:58:42.325836 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=254, threshold=230, above_threshold=28, candidates=28
I0419 20:58:42.325971 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:42.326071 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291223254278.
I0419 20:58:42.385864 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:42.385970 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:42.386005 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.603042, 0.465775), points=11, range=0.765091, residual=0.0120342, extent=0.0344383
I0419 20:58:42.386026 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.603042, 0.465775), tracking=(-0.901542, -0.465775), map_predicted=(6.06954, -1.32475), range=0.765091, pts=11
I0419 20:58:42.386051 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0547459m maha_sq=0.129737 (gate chi2=5.99) pose_sigma=(0.150056, 0.150056, rho=0) det_map=(6.06954, -1.32475) lm_pos=(6.015, -1.32) delta=(0.0545395, -0.00474933) -> 1 candidate(s)
I0419 20:58:42.386142 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291223291434.
I0419 20:58:42.387311 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.61305, -0.595012)
I0419 20:58:42.387501 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291223536083.
I0419 20:58:42.388271 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291223579873.
I0419 20:58:42.390208 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291223859602.
I0419 20:58:42.390883 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291223859772.
I0419 20:58:42.414634 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291224140269.
I0419 20:58:42.417997 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291224173433.
I0419 20:58:42.446283 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.163 deg, rms_residual=0.0105843m, sigma_yaw=0.0139161 rad, N=2
I0419 20:58:42.446388 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.1348, -1.84677, -176.163deg) inliers=2 rms=0.0105843m
I0419 20:58:42.446429 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291224457625.
I0419 20:58:42.447145 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.333453, -0.56609)
I0419 20:58:42.447202 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:42.447249 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.111702 range=0.79125 variance=0.000591897 t_weight=5068.45 r_weight=0 yaml=(6.015, -1.32) prior=(5.15602, -1.85024, -176.154deg) obs_actual=(-0.94282, -0.463773) obs_expected=(-0.892612, -0.471431) delta=(-0.0502071, 0.00765834) |delta|=0.0507878m
I0419 20:58:42.447289 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291224457777.
I0419 20:58:42.536439 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291224746683.
I0419 20:58:42.537158 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.369777, -0.678584), points=18, range=0.777222, residual=0.0224871, extent=0.0575181
I0419 20:58:42.537226 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.369777, -0.678584), tracking=(0.0712771, 0.678584), map_predicted=(5.13934, -2.53273), range=0.777222, pts=18
I0419 20:58:42.537252 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0274721m maha_sq=0.0321898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13934, -2.53273) lm_pos=(5.115, -2.52) delta=(0.0243446, -0.01273) -> 1 candidate(s)
I0419 20:58:42.537349 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291224746835.
I0419 20:58:42.538470 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225019768.
I0419 20:58:42.539750 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.153 rad/s > flush threshold 3.
I0419 20:58:42.539831 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225019903.
I0419 20:58:42.540946 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:42.541002 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225297457.
I0419 20:58:42.541716 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.664503, 0.462325)
I0419 20:58:42.541806 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:42.541848 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:42.541870 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225341050.
I0419 20:58:42.561967 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225614064.
I0419 20:58:42.562743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225614221.
I0419 20:58:42.590633 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:42.590752 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:42.590852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225900674.
I0419 20:58:42.651979 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.0864 rad/s > flush threshold 3.
I0419 20:58:42.652115 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.089064 range=0.823143 variance=0.000554613 t_weight=5409.18 r_weight=0 yaml=(6.015, -1.32) prior=(5.11715, -1.85297, -176.103deg) obs_actual=(-0.976696, -0.462673) obs_expected=(-0.932002, -0.470709) delta=(-0.0446941, 0.00803626) |delta|=0.0454109m
I0419 20:58:42.652166 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291225900832.
I0419 20:58:42.653357 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560304s, prior_pose=(5.11715, -1.85297), yaw=-176.103 deg
I0419 20:58:42.653452 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:42.653584 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.539968, -0.595659), points=10, range=0.8085, residual=0.0152342, extent=0.0455385
I0419 20:58:42.653615 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:42.653628 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.539968, -0.595659), tracking=(0.838468, -0.595659), map_predicted=(4.24013, -1.31567), range=0.8085, pts=10
I0419 20:58:42.653687 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0255015m maha_sq=0.0280635 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.24013, -1.31567) lm_pos=(4.215, -1.32) delta=(0.0251317, 0.00432709) -> 1 candidate(s)
I0419 20:58:42.653757 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291226174368.
I0419 20:58:42.654408 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:42.654454 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:42.654522 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291226220261.
I0419 20:58:42.656517 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291226501682.
I0419 20:58:42.657245 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.309936, -0.669718)
I0419 20:58:42.657363 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291226501885.
I0419 20:58:42.677945 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291226774323.
I0419 20:58:42.682621 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291226820287.
I0419 20:58:42.709985 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291227093632.
I0419 20:58:42.710793 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291227093762.
I0419 20:58:42.775583 1218970 pose_graph_2d.cc:160] Inserted submap (1, 25).
I0419 20:58:42.776692 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.414 deg, rms_residual=0.0118306m, sigma_yaw=0.0155291 rad, N=2
I0419 20:58:42.776785 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.05149, -1.85514, -176.414deg) inliers=2 rms=0.0118306m
I0419 20:58:42.776823 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291227372537.
I0419 20:58:42.777457 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:42.777527 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.351735 range=0.854167 variance=0.000521765 t_weight=5749.71 r_weight=0 yaml=(6.015, -1.32) prior=(5.1181, -1.85563, -176.11deg) obs_actual=(-1.02018, -0.460316) obs_expected=(-0.931175, -0.47355) delta=(-0.089008, 0.0132339) |delta|=0.0899864m
I0419 20:58:42.777576 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291227372665.
I0419 20:58:42.778736 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.328122, 0.677534)
I0419 20:58:42.778798 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.503786, -0.596749), points=14, range=0.7795, residual=0.0150635, extent=0.0521261
I0419 20:58:42.778825 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.503786, -0.596749), tracking=(0.802286, -0.596749), map_predicted=(4.27717, -1.31468), range=0.7795, pts=14
I0419 20:58:42.778846 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0624019m maha_sq=0.168083 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.27717, -1.31468) lm_pos=(4.215, -1.32) delta=(0.0621749, 0.0053175) -> 1 candidate(s)
I0419 20:58:42.778901 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291227700841.
I0419 20:58:42.780251 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.1289 rad/s > flush threshold 3.
I0419 20:58:42.780350 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291227701024.
I0419 20:58:42.801762 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228011669.
I0419 20:58:42.802511 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228011827.
I0419 20:58:42.826593 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:58:42.826740 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228260390.
I0419 20:58:42.827473 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:42.827540 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:42.827587 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228260567.
I0419 20:58:42.857211 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.329329, 0.574271)
I0419 20:58:42.857419 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228566345.
I0419 20:58:42.917301 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228579334.
I0419 20:58:42.918697 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:42.918795 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 26 -> 19 (threshold=0.03, iters=3)
I0419 20:58:42.918821 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.374568, 0.678357), points=19, range=0.775842, residual=0.0204379, extent=0.0570338
I0419 20:58:42.918836 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:42.918850 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.374568, 0.678357), tracking=(-0.0760676, 0.678357), map_predicted=(5.1657, -2.529), range=0.775842, pts=19
I0419 20:58:42.918877 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[6] 'ref_7' eucl_dist=0.0514952m maha_sq=0.113528 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.1657, -2.529) lm_pos=(5.115, -2.52) delta=(0.0507027, -0.00899995) -> 1 candidate(s)
I0419 20:58:42.918951 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228892763.
I0419 20:58:42.919591 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0929047 range=0.888375 variance=0.000579258 t_weight=5179.04 r_weight=0 yaml=(6.015, -1.32) prior=(5.04175, -1.85774, -175.936deg) obs_actual=(-1.05439, -0.458652) obs_expected=(-1.00892, -0.467406) delta=(-0.0454702, 0.0087542) |delta|=0.0463052m
I0419 20:58:42.919663 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291228892948.
I0419 20:58:42.921499 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055944s, prior_pose=(5.02472, -1.85944), yaw=-175.932 deg
I0419 20:58:42.921607 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=43, candidates=43
I0419 20:58:42.921818 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:42.921913 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291229138774.
I0419 20:58:42.922523 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:42.922566 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:42.922638 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291229138932.
I0419 20:58:42.942116 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.45152, 0.545099)
I0419 20:58:42.942305 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291229415927.
I0419 20:58:42.946465 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291229459820.
I0419 20:58:42.974193 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291229734085.
I0419 20:58:42.975328 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291229734250.
I0419 20:58:43.043351 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291230014589.
I0419 20:58:43.044253 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291230059249.
I0419 20:58:43.045372 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.41905, 0.544698)
I0419 20:58:43.045434 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.422958, -0.594708), points=13, range=0.733231, residual=0.0124007, extent=0.0364501
I0419 20:58:43.045460 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.422958, -0.594708), tracking=(0.721458, -0.594708), map_predicted=(4.2369, -1.3218), range=0.733231, pts=13
I0419 20:58:43.045480 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.021969m maha_sq=0.0209004 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.2369, -1.3218) lm_pos=(4.215, -1.32) delta=(0.0218951, -0.00180078) -> 1 candidate(s)
I0419 20:58:43.046824 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:43.046891 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-174.889 deg, rms_residual=0.00204861m, sigma_yaw=0.00272404 rad, N=2
I0419 20:58:43.046928 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.96551, -1.86973, -174.889deg) inliers=2 rms=0.00204861m
I0419 20:58:43.046952 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291230340452.
I0419 20:58:43.063807 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0608744 range=0.932167 variance=0.000512489 t_weight=5853.79 r_weight=0 yaml=(6.015, -1.32) prior=(4.98064, -1.86579, -175.73deg) obs_actual=(-1.10795, -0.456392) obs_expected=(-1.07213, -0.467259) delta=(-0.0358156, 0.0108679) |delta|=0.0374282m
I0419 20:58:43.064028 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291230621854.
I0419 20:58:43.065244 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.96704, -1.86843), yaw=-175.779 deg backend=(6.9248, -1.85354)
I0419 20:58:43.091892 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291230903761.
I0419 20:58:43.118373 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:43.118491 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291231179192.
I0419 20:58:43.180429 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291231216350.
I0419 20:58:43.182175 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.837628, 0.453976)
I0419 20:58:43.182302 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291231499088.
I0419 20:58:43.184047 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:43.184118 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38339, 0.542603), points=3, range=1.482, residual=0.00822687, extent=0.0164389
I0419 20:58:43.184139 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:43.184159 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.38339, 0.542603), tracking=(1.68189, 0.542603), map_predicted=(3.30965, -2.53725), range=1.482, pts=3
I0419 20:58:43.184181 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.221023m maha_sq=2.08702 (gate chi2=5.99) pose_sigma=(0.151194, 0.151194, rho=0) det_map=(3.30965, -2.53725) lm_pos=(3.53, -2.52) delta=(-0.220349, -0.0172478) -> 1 candidate(s)
I0419 20:58:43.184842 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291231777712.
I0419 20:58:43.206007 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840918s, prior_pose=(4.94703, -1.87229), yaw=-175.778 deg
I0419 20:58:43.206095 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:58:43.206200 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:43.210547 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:43.210623 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:43.210697 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:43.210752 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:43.210772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291232101188.
I0419 20:58:43.238224 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291232377022.
I0419 20:58:43.239001 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291232377156.
I0419 20:58:43.312316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291232697454.
I0419 20:58:43.313089 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291232697597.
I0419 20:58:43.315467 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.875839, 0.451039)
I0419 20:58:43.315589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291232973462.
I0419 20:58:43.327277 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888102, 0.450866), points=5, range=0.9938, residual=0.00770562, extent=0.0189302
I0419 20:58:43.327381 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.888102, 0.450866), tracking=(-1.1866, -0.450866), map_predicted=(6.05125, -1.33742), range=0.9938, pts=5
I0419 20:58:43.327406 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0402233m maha_sq=0.0703164 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.05125, -1.33742) lm_pos=(6.015, -1.32) delta=(0.0362549, -0.0174211) -> 1 candidate(s)
I0419 20:58:43.327427 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:43.327473 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00231472 range=0.678526 variance=0.000569478 t_weight=5267.98 r_weight=0 yaml=(5.115, -2.52) prior=(4.90245, -1.87738, -175.631deg) obs_actual=(-0.160408, 0.66379) obs_expected=(-0.162974, 0.656947) delta=(0.00256586, 0.0068422) |delta|=0.00730748m
I0419 20:58:43.327520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291233262195.
I0419 20:58:43.357859 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291233573680.
I0419 20:58:43.445005 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291233876435.
I0419 20:58:43.446229 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:43.446298 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291234141897.
I0419 20:58:43.446898 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291234142033.
I0419 20:58:43.448577 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291234414560.
I0419 20:58:43.449287 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.918143, 0.449441)
I0419 20:58:43.449370 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291234457130.
I0419 20:58:43.470432 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:43.470532 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:43.474050 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291234735021.
I0419 20:58:43.502413 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605784s, prior_pose=(4.85751, -1.88162), yaw=-175.432 deg
I0419 20:58:43.502640 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:58:43.502802 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30576, 0.53864), points=3, range=1.41133, residual=0.00458419, extent=0.00844331
I0419 20:58:43.502868 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:43.502928 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30576, 0.53864), tracking=(1.60426, 0.53864), map_predicted=(3.30124, -2.54631), range=1.41133, pts=3
I0419 20:58:43.502991 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.230266m maha_sq=2.30575 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.30124, -2.54631) lm_pos=(3.53, -2.52) delta=(-0.228758, -0.0263119) -> 1 candidate(s)
I0419 20:58:43.503938 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:43.504163 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:43.504302 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291235020704.
I0419 20:58:43.569729 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291235294820.
I0419 20:58:43.570631 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291235341112.
I0419 20:58:43.572913 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.028638 range=1.047 variance=0.000512896 t_weight=5849.14 r_weight=0 yaml=(6.015, -1.32) prior=(4.83069, -1.88499, -175.478deg) obs_actual=(-1.2414, -0.449728) obs_expected=(-1.22517, -0.469864) delta=(-0.0162377, 0.0201357) |delta|=0.0258671m
I0419 20:58:43.573015 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291235611975.
I0419 20:58:43.590991 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.955399, 0.448871)
I0419 20:58:43.591153 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291235898925.
I0419 20:58:43.618324 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:43.619035 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:43.619104 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-173.966 deg, rms_residual=0.00748486m, sigma_yaw=0.0098812 rad, N=2
I0419 20:58:43.619148 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.8016, -1.89046, -173.966deg) inliers=2 rms=0.00748486m
I0419 20:58:43.619184 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291236178559.
I0419 20:58:43.713402 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0551559, -0.66384), points=20, range=0.66765, residual=0.0120581, extent=0.0378353
I0419 20:58:43.713511 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0551559, -0.66384), tracking=(-0.243344, 0.66384), map_predicted=(5.10417, -2.52935), range=0.66765, pts=20
I0419 20:58:43.713539 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0143064m maha_sq=0.008764 (gate chi2=5.99) pose_sigma=(0.150905, 0.150905, rho=0) det_map=(5.10417, -2.52935) lm_pos=(5.115, -2.52) delta=(-0.0108264, -0.00935217) -> 1 candidate(s)
I0419 20:58:43.713593 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:43.713634 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:43.713653 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291236492247.
I0419 20:58:43.715638 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291236821698.
I0419 20:58:43.717374 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:43.718042 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291237100187.
I0419 20:58:43.739348 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.828815, -0.392371)
I0419 20:58:43.739492 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.99666 rad/s > flush threshold 3.
I0419 20:58:43.739563 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291237375880.
I0419 20:58:43.766466 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:43.766562 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:43.767285 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291237660473.
I0419 20:58:43.839803 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561025s, prior_pose=(4.76999, -1.89141), yaw=-175.355 deg
I0419 20:58:43.839959 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:43.840076 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:43.840814 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:43.840858 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:43.840884 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01531, 0.446735), points=5, range=1.107, residual=0.00737186, extent=0.0182797
I0419 20:58:43.840906 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01531, 0.446735), tracking=(-1.31381, -0.446735), map_predicted=(6.04331, -1.33975), range=1.107, pts=5
I0419 20:58:43.840926 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0345216m maha_sq=0.051184 (gate chi2=5.99) pose_sigma=(0.150909, 0.150909, rho=0) det_map=(6.04331, -1.33975) lm_pos=(6.015, -1.32) delta=(0.028311, -0.0197542) -> 1 candidate(s)
I0419 20:58:43.840996 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291237972960.
I0419 20:58:43.843593 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291238258521.
I0419 20:58:43.854539 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(1.02858, 0.441894)
I0419 20:58:43.854771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291238534948.
I0419 20:58:43.887724 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0583736 range=1.12725 variance=0.000519064 t_weight=5779.64 r_weight=0 yaml=(6.015, -1.32) prior=(4.7469, -1.89414, -175.351deg) obs_actual=(-1.33769, -0.44467) obs_expected=(-1.31046, -0.469466) delta=(-0.0272294, 0.0247962) |delta|=0.0368279m
I0419 20:58:43.887895 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291238858050.
I0419 20:58:43.978888 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:43.979027 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291239132943.
I0419 20:58:43.980726 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291239415100.
I0419 20:58:43.981779 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.72331, -1.89563), yaw=-175.293 deg backend=(6.72664, -1.86659)
I0419 20:58:43.982627 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18671, 0.551265), points=3, range=1.30467, residual=0.00766585, extent=0.0150501
I0419 20:58:43.982720 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18671, 0.551265), tracking=(1.48521, 0.551265), map_predicted=(3.28835, -2.56692), range=1.30467, pts=3
I0419 20:58:43.982749 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.246166m maha_sq=2.61671 (gate chi2=5.99) pose_sigma=(0.150438, 0.150438, rho=0) det_map=(3.28835, -2.56692) lm_pos=(3.53, -2.52) delta=(-0.241653, -0.0469207) -> 1 candidate(s)
I0419 20:58:43.983464 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291239739212.
I0419 20:58:43.998044 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17539, 0.552248)
I0419 20:58:43.998200 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:44.002563 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291240019623.
I0419 20:58:44.031412 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291240300585.
I0419 20:58:44.032362 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 330
I0419 20:58:44.060403 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:44.109452 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:44.109651 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:44.110464 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291240613548.
I0419 20:58:44.111604 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0866537s, prior_pose=(4.71708, -1.89386), yaw=-175.676 deg
I0419 20:58:44.111758 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:44.111889 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:44.113276 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:44.113363 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:44.113487 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.2865 rad/s > flush threshold 3.
I0419 20:58:44.113574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291240886390.
I0419 20:58:44.118803 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09803, 0.44735), points=4, range=1.18325, residual=0.00657684, extent=0.0138306
I0419 20:58:44.119132 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09803, 0.44735), tracking=(-1.39653, -0.44735), map_predicted=(6.05713, -1.345), range=1.18325, pts=4
I0419 20:58:44.119216 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0489881m maha_sq=0.104326 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.05713, -1.345) lm_pos=(6.015, -1.32) delta=(0.0421259, -0.0250048) -> 1 candidate(s)
I0419 20:58:44.119343 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291241173486.
I0419 20:58:44.146567 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.13218, 0.552192)
I0419 20:58:44.147764 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291241460198.
I0419 20:58:44.250240 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291241804190.
I0419 20:58:44.252018 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291242084282.
I0419 20:58:44.252813 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:44.252948 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:44.253104 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:44.253162 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291242084460.
I0419 20:58:44.255298 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0298326 range=0.59719 variance=0.000585091 t_weight=5127.41 r_weight=0 yaml=(4.215, -1.32) prior=(4.65585, -1.90181, -175.683deg) obs_actual=(0.40594, -0.588985) obs_expected=(0.395806, -0.613348) delta=(0.0101343, 0.0243635) |delta|=0.0263872m
I0419 20:58:44.255506 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291242330120.
I0419 20:58:44.256273 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291242341580.
I0419 20:58:44.262594 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291242620636.
I0419 20:58:44.265983 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291242654618.
I0419 20:58:44.297101 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.08179, 0.565093)
I0419 20:58:44.297254 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:44.297323 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291242965565.
I0419 20:58:44.298062 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291242967151.
I0419 20:58:44.377765 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291243257944.
I0419 20:58:44.378484 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14588, 0.466836), points=4, range=1.23225, residual=0.011736, extent=0.0253756
I0419 20:58:44.378551 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.14588, 0.466836), tracking=(-1.44438, -0.466836), map_predicted=(6.04322, -1.33718), range=1.23225, pts=4
I0419 20:58:44.378577 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0330372m maha_sq=0.0472477 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.04322, -1.33718) lm_pos=(6.015, -1.32) delta=(0.0282162, -0.0171844) -> 1 candidate(s)
I0419 20:58:44.378648 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291243258097.
I0419 20:58:44.379781 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:44.379839 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:44.379897 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291243536433.
I0419 20:58:44.381163 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=369.188 rad/s > flush threshold 3.
I0419 20:58:44.381304 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291243536558.
I0419 20:58:44.382292 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553748s, prior_pose=(4.61889, -1.9014), yaw=-176.327 deg
I0419 20:58:44.382352 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:58:44.382444 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:44.382488 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291243811692.
I0419 20:58:44.386441 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:44.386551 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:44.386664 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291243856088.
I0419 20:58:44.410555 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:44.414746 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291244141516.
I0419 20:58:44.442363 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.03767, 0.585064)
I0419 20:58:44.508909 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=209.776 rad/s > flush threshold 3.
I0419 20:58:44.509050 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.736 deg, rms_residual=0.0107875m, sigma_yaw=0.0141794 rad, N=2
I0419 20:58:44.509100 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.58804, -1.89812, -175.736deg) inliers=2 rms=0.0107875m
I0419 20:58:44.509142 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291244419385.
I0419 20:58:44.510974 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0124012 range=0.691842 variance=0.000618019 t_weight=4854.22 r_weight=0 yaml=(5.115, -2.52) prior=(4.59721, -1.90059, -176.715deg) obs_actual=(-0.481897, 0.664987) obs_expected=(-0.481453, 0.648061) delta=(-0.000443595, 0.0169262) |delta|=0.016932m
I0419 20:58:44.511066 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291244732050.
I0419 20:58:44.512849 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291244981385.
I0419 20:58:44.513432 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.201519, -0.665904), points=19, range=0.693737, residual=0.0143243, extent=0.0380877
I0419 20:58:44.513489 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.201519, -0.665904), tracking=(-0.500019, 0.665904), map_predicted=(5.12128, -2.53873), range=0.693737, pts=19
I0419 20:58:44.513516 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0197512m maha_sq=0.0168571 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.12128, -2.53873) lm_pos=(5.115, -2.52) delta=(0.00627608, -0.0187276) -> 1 candidate(s)
I0419 20:58:44.513538 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:44.513579 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291245014685.
I0419 20:58:44.533895 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291245332622.
I0419 20:58:44.559187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291245580045.
I0419 20:58:44.633442 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.993201, 0.602661)
I0419 20:58:44.633589 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:44.634261 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:44.634334 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:44.634359 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291245899814.
I0419 20:58:44.636699 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=425.013 rad/s > flush threshold 3.
I0419 20:58:44.636793 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291246180633.
I0419 20:58:44.646492 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:44.646601 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:44.649936 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.242238, -0.659462), points=19, range=0.704737, residual=0.012908, extent=0.0376874
I0419 20:58:44.650066 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.242238, -0.659462), tracking=(-0.540738, 0.659462), map_predicted=(5.11103, -2.53512), range=0.704737, pts=19
I0419 20:58:44.650099 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0156333m maha_sq=0.0105782 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11103, -2.53512) lm_pos=(5.115, -2.52) delta=(-0.0039657, -0.0151219) -> 1 candidate(s)
I0419 20:58:44.650202 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291246492457.
I0419 20:58:44.674484 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560485s, prior_pose=(4.53392, -1.90005), yaw=-177.682 deg
I0419 20:58:44.674607 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:44.674774 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:44.678105 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:44.678170 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:44.678268 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291246775840.
I0419 20:58:44.774564 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=343.509 rad/s > flush threshold 3.
I0419 20:58:44.774737 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291247070215.
I0419 20:58:44.775918 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.943501, 0.612707)
I0419 20:58:44.776697 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291247379958.
I0419 20:58:44.779134 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.013913 range=0.716118 variance=0.0005843 t_weight=5134.34 r_weight=0 yaml=(5.115, -2.52) prior=(4.51982, -1.89781, -178.116deg) obs_actual=(-0.573908, 0.659407) obs_expected=(-0.57441, 0.641421) delta=(0.00050219, 0.0179866) |delta|=0.0179937m
I0419 20:58:44.779284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291247654948.
I0419 20:58:44.795874 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26125, 0.507441), points=3, range=1.35733, residual=0.00534045, extent=0.00991126
I0419 20:58:44.796015 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26125, 0.507441), tracking=(-1.55975, -0.507441), map_predicted=(6.04558, -1.33988), range=1.35733, pts=3
I0419 20:58:44.796044 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0364706m maha_sq=0.0569277 (gate chi2=5.99) pose_sigma=(0.151212, 0.151212, rho=0) det_map=(6.04558, -1.33988) lm_pos=(6.015, -1.32) delta=(0.030575, -0.0198815) -> 1 candidate(s)
I0419 20:58:44.796068 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:44.796078 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=28.0906 rad/s > flush threshold 3.
I0419 20:58:44.796149 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291247937720.
I0419 20:58:44.826593 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291248260797.
I0419 20:58:44.894580 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.48232, -1.90043), yaw=-178.068 deg backend=(6.3166, -1.87679)
I0419 20:58:44.896286 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291248540181.
I0419 20:58:44.897440 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.897349, 0.611294)
I0419 20:58:44.897542 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 20:58:44.898900 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=87.0295 rad/s > flush threshold 3.
I0419 20:58:44.914160 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291249134369.
I0419 20:58:44.943091 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:44.943198 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:44.944157 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291249437525.
I0419 20:58:44.970829 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0887264s, prior_pose=(4.46326, -1.90161), yaw=-178.15 deg
I0419 20:58:44.970927 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:44.971081 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:44.971164 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291249704893.
I0419 20:58:45.039856 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:45.039951 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:45.039981 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.329951, -0.661708), points=17, range=0.741059, residual=0.0128025, extent=0.0389762
I0419 20:58:45.040002 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.329951, -0.661708), tracking=(-0.628451, 0.661708), map_predicted=(5.1079, -2.54283), range=0.741059, pts=17
I0419 20:58:45.040064 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0239071m maha_sq=0.024599 (gate chi2=5.99) pose_sigma=(0.150439, 0.150439, rho=0) det_map=(5.1079, -2.54283) lm_pos=(5.115, -2.52) delta=(-0.0070994, -0.0228287) -> 1 candidate(s)
I0419 20:58:45.040087 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=66.5507 rad/s > flush threshold 3.
I0419 20:58:45.041298 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:45.041975 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291250012649.
I0419 20:58:45.043776 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0921307, -0.57105)
I0419 20:58:45.044430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291250292775.
I0419 20:58:45.059396 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=48.9528 rad/s > flush threshold 3.
I0419 20:58:45.059548 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291250574548.
I0419 20:58:45.090332 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:45.090479 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291250898677.
I0419 20:58:45.160877 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291251174166.
I0419 20:58:45.162139 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832174, 0.61201), points=6, range=1.029, residual=0.012459, extent=0.0340592
I0419 20:58:45.162230 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.832174, 0.61201), tracking=(1.13067, 0.61201), map_predicted=(3.31694, -2.5532), range=1.029, pts=6
I0419 20:58:45.162254 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.215634m maha_sq=2.01232 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31694, -2.5532) lm_pos=(3.53, -2.52) delta=(-0.213063, -0.0332004) -> 1 candidate(s)
I0419 20:58:45.163535 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.36111, 0.499887)
I0419 20:58:45.163635 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0217091 range=0.7674 variance=0.000579153 t_weight=5179.98 r_weight=0 yaml=(5.115, -2.52) prior=(4.40936, -1.89973, -177.952deg) obs_actual=(-0.675544, 0.666373) obs_expected=(-0.683021, 0.645091) delta=(0.007477, 0.0212817) |delta|=0.022557m
I0419 20:58:45.163687 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291251494080.
I0419 20:58:45.178090 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291251776648.
I0419 20:58:45.207294 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 15 -> 14 (threshold=0.03, iters=3)
I0419 20:58:45.207451 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:45.207505 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:45.207525 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291252061743.
I0419 20:58:45.233909 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:45.234027 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:45.234077 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:45.295230 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291252379566.
I0419 20:58:45.296267 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554581s, prior_pose=(4.38243, -1.89966), yaw=-177.877 deg
I0419 20:58:45.296336 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:45.296444 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:45.297106 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:45.297155 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:45.297217 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291252660718.
I0419 20:58:45.298960 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.63981, -0.626724)
I0419 20:58:45.299722 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291252940487.
I0419 20:58:45.324195 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.428208, -0.667757), points=15, range=0.795333, residual=0.0128732, extent=0.0387739
I0419 20:58:45.324313 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.428208, -0.667757), tracking=(-0.726708, 0.667757), map_predicted=(5.12388, -2.54076), range=0.795333, pts=15
I0419 20:58:45.324345 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0225785m maha_sq=0.0219328 (gate chi2=5.99) pose_sigma=(0.150455, 0.150455, rho=0) det_map=(5.12388, -2.54076) lm_pos=(5.115, -2.52) delta=(0.00888439, -0.0207571) -> 1 candidate(s)
I0419 20:58:45.324369 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.5491 rad/s > flush threshold 3.
I0419 20:58:45.416832 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:45.418044 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291254097521.
I0419 20:58:45.419435 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.457678, -0.669923)
I0419 20:58:45.419526 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291254142162.
I0419 20:58:45.442718 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.106 deg, rms_residual=0.0107849m, sigma_yaw=0.014176 rad, N=2
I0419 20:58:45.442821 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.31501, -1.89958, -177.106deg) inliers=2 rms=0.0107849m
I0419 20:58:45.442857 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291254416671.
I0419 20:58:45.470530 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291254694316.
I0419 20:58:45.562196 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476668, -0.668186), points=13, range=0.823692, residual=0.0128886, extent=0.0395864
I0419 20:58:45.562302 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476668, -0.668186), tracking=(-0.775168, 0.668186), map_predicted=(5.11426, -2.53885), range=0.823692, pts=13
I0419 20:58:45.562356 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0188677m maha_sq=0.0151427 (gate chi2=5.99) pose_sigma=(0.151331, 0.151331, rho=0) det_map=(5.11426, -2.53885) lm_pos=(5.115, -2.52) delta=(-0.000735179, -0.0188534) -> 1 candidate(s)
I0419 20:58:45.562379 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=24.8089 rad/s > flush threshold 3.
I0419 20:58:45.562397 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:45.563622 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:45.563683 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:45.564217 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.489714, -0.669787)
I0419 20:58:45.565986 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597344s, prior_pose=(4.31029, -1.89892), yaw=-178.007 deg
I0419 20:58:45.566059 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=253, threshold=230, above_threshold=30, candidates=30
I0419 20:58:45.566171 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:45.566699 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:45.566737 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:45.566812 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291255579713.
I0419 20:58:45.587896 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (2 entries) on yaw_rate=61.0642 rad/s > flush threshold 3.
I0419 20:58:45.695884 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.524819, -0.673542)
I0419 20:58:45.698346 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.318428, 0.56865), points=10, range=0.6528, residual=0.00731859, extent=0.0202947
I0419 20:58:45.698421 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.318428, 0.56865), tracking=(0.0199279, -0.56865), map_predicted=(4.23047, -1.33067), range=0.6528, pts=10
I0419 20:58:45.698448 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0187927m maha_sq=0.0147897 (gate chi2=5.99) pose_sigma=(0.152938, 0.152938, rho=0) det_map=(4.23047, -1.33067) lm_pos=(4.215, -1.32) delta=(0.0154678, -0.010673) -> 1 candidate(s)
I0419 20:58:45.698470 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:45.698531 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291256773859.
I0419 20:58:45.703408 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291257029348.
I0419 20:58:45.704175 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0823763 range=1.59033 variance=0.0005242 t_weight=5723 r_weight=5000 yaml=(6.015, -1.32) prior=(4.27074, -1.89824, -177.948deg) obs_actual=(-1.80517, -0.501685) obs_expected=(-1.76384, -0.515423) delta=(-0.0413267, 0.0137388) |delta|=0.0435505m
I0419 20:58:45.704273 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291257029517.
I0419 20:58:45.706528 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(4.24332, -1.88488), yaw=-177.93 deg backend=(6.07991, -1.88447)
I0419 20:58:45.734628 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=11, centroid=(0.658045, 0.613529)
I0419 20:58:45.735615 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 20:58:45.735718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291257341891.
I0419 20:58:45.814692 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:45.822645 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 442
I0419 20:58:45.826175 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291257655472.
I0419 20:58:45.828136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291257933369.
I0419 20:58:45.829952 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.634882, 0.614795)
I0419 20:58:45.830044 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:45.830070 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.322769, -0.567426), points=26, range=0.651038, residual=0.0225031, extent=0.0560825
I0419 20:58:45.830088 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:45.830104 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.322769, -0.567426), tracking=(-0.0242693, -0.567426), map_predicted=(4.24004, -1.31635), range=0.651038, pts=26
I0419 20:58:45.830125 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0253004m maha_sq=0.0270763 (gate chi2=5.99) pose_sigma=(0.150662, 0.150662, rho=0) det_map=(4.24004, -1.31635) lm_pos=(4.215, -1.32) delta=(0.0250361, 0.00364749) -> 1 candidate(s)
I0419 20:58:45.830794 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122291258215836.
I0419 20:58:45.850857 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0849029s, prior_pose=(4.23496, -1.88427), yaw=-178.063 deg
I0419 20:58:45.851195 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=254, threshold=230, above_threshold=36, candidates=36
I0419 20:58:45.851574 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:45.854132 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:45.854490 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:45.854776 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291258534007.
I0419 20:58:45.883189 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291258819763.
I0419 20:58:45.946969 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.598784, -0.678639)
I0419 20:58:45.947166 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291259100647.
I0419 20:58:45.949714 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291259396821.
I0419 20:58:45.969689 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.595041, 0.612536), points=12, range=0.8545, residual=0.0125231, extent=0.0405115
I0419 20:58:45.969803 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.595041, 0.612536), tracking=(0.893541, 0.612536), map_predicted=(3.32222, -2.5322), range=0.8545, pts=12
I0419 20:58:45.969834 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.208133m maha_sq=1.8753 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.32222, -2.5322) lm_pos=(3.53, -2.52) delta=(-0.207776, -0.0121992) -> 1 candidate(s)
I0419 20:58:45.970570 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:45.970636 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:45.970662 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0225485 range=0.917182 variance=0.000594517 t_weight=5046.11 r_weight=0 yaml=(5.115, -2.52) prior=(4.19255, -1.8871, -177.885deg) obs_actual=(-0.915735, 0.681434) obs_expected=(-0.898463, 0.66652) delta=(-0.0172719, 0.014914) |delta|=0.0228199m
I0419 20:58:45.970714 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:45.970732 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291259692122.
I0419 20:58:45.998211 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:45.999140 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291259977380.
I0419 20:58:46.026298 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.582633, 0.612072)
I0419 20:58:46.125509 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:46.125663 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291260300433.
I0419 20:58:46.127444 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291260582268.
I0419 20:58:46.129810 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291260861463.
I0419 20:58:46.130923 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:46.130976 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:46.132283 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291261174139.
I0419 20:58:46.150305 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0636773s, prior_pose=(4.13987, -1.88798), yaw=-177.746 deg
I0419 20:58:46.150439 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=13, candidates=13
I0419 20:58:46.150621 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.553381, 0.610947), points=11, range=0.822455, residual=0.0102059, extent=0.0299503
I0419 20:58:46.150663 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:46.150686 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.553381, 0.610947), tracking=(0.851881, 0.610947), map_predicted=(3.31267, -2.53196), range=0.822455, pts=11
I0419 20:58:46.150718 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.217655m maha_sq=2.0556 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31267, -2.53196) lm_pos=(3.53, -2.52) delta=(-0.217326, -0.0119562) -> 1 candidate(s)
I0419 20:58:46.154036 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:46.154165 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.664227, -0.685638)
I0419 20:58:46.154256 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:46.154413 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291261531609.
I0419 20:58:46.252333 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.685 deg, rms_residual=0.0116663m, sigma_yaw=0.0153168 rad, N=2
I0419 20:58:46.252477 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.11993, -1.88285, -177.685deg) inliers=2 rms=0.0116663m
I0419 20:58:46.252514 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291261772702.
I0419 20:58:46.255002 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291262058475.
I0419 20:58:46.256744 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291262337095.
I0419 20:58:46.266610 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.66351, 0.482241)
I0419 20:58:46.266729 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:46.266794 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0100227 range=0.9778 variance=0.000627629 t_weight=4779.89 r_weight=0 yaml=(5.115, -2.52) prior=(4.10852, -1.88566, -177.694deg) obs_actual=(-0.990321, 0.685756) obs_expected=(-0.98014, 0.674322) delta=(-0.0101811, 0.011434) |delta|=0.0153098m
I0419 20:58:46.266848 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291262661047.
I0419 20:58:46.355091 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291262941606.
I0419 20:58:46.356954 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.70673, -0.688417), points=10, range=0.9895, residual=0.0120415, extent=0.0381342
I0419 20:58:46.357025 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.70673, -0.688417), tracking=(-1.00523, 0.688417), map_predicted=(5.12407, -2.53348), range=0.9895, pts=10
I0419 20:58:46.357048 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.01625m maha_sq=0.011434 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.12407, -2.53348) lm_pos=(5.115, -2.52) delta=(0.0090707, -0.0134828) -> 1 candidate(s)
I0419 20:58:46.357110 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:46.357151 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291263258205.
I0419 20:58:46.359447 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291263540506.
I0419 20:58:46.382148 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.128695, 0.56838)
I0419 20:58:46.382302 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291263817536.
I0419 20:58:46.410727 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:46.410827 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:46.411607 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291264102528.
I0419 20:58:46.478266 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561584s, prior_pose=(4.05652, -1.88487), yaw=-177.531 deg
I0419 20:58:46.478432 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 20:58:46.478518 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:46.479166 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:46.479205 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:46.479292 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291264379228.
I0419 20:58:46.481643 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.2958 rad/s > flush threshold 3.
I0419 20:58:46.481724 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291264699032.
I0419 20:58:46.498840 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32164, -0.646982), points=3, range=1.46467, residual=0.0130458, extent=0.02641
I0419 20:58:46.498926 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.32164, -0.646982), tracking=(1.62014, -0.646982), map_predicted=(2.39775, -1.31001), range=1.46467, pts=3
I0419 20:58:46.498956 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0199342m maha_sq=0.017166 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.39775, -1.31001) lm_pos=(2.415, -1.32) delta=(-0.0172496, 0.00999124) -> 1 candidate(s)
I0419 20:58:46.499681 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.0945661, 0.565428)
I0419 20:58:46.499789 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291264981528.
I0419 20:58:46.529654 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291265292362.
I0419 20:58:46.620478 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:46.620606 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:46.620647 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0150447 range=1.0415 variance=0.000613093 t_weight=4893.23 r_weight=0 yaml=(5.115, -2.52) prior=(4.02678, -1.88501, -177.238deg) obs_actual=(-1.07136, 0.697878) obs_expected=(-1.05635, 0.6867) delta=(-0.0150126, 0.0111779) |delta|=0.018717m
I0419 20:58:46.620700 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:46.620718 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291265579106.
I0419 20:58:46.621860 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:46.622509 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291265895744.
I0419 20:58:46.623533 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.01639, -1.88605), yaw=-177.218 deg backend=(4.10902, -1.89725)
I0419 20:58:46.624838 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.0650939, 0.563565)
I0419 20:58:46.624908 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:46.624948 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291266174677.
I0419 20:58:46.647414 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.794343, -0.692501), points=7, range=1.057, residual=0.0126525, extent=0.0385971
I0419 20:58:46.647550 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.794343, -0.692501), tracking=(-1.09284, 0.692501), map_predicted=(5.12353, -2.52783), range=1.057, pts=7
I0419 20:58:46.647581 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0115788m maha_sq=0.00571154 (gate chi2=5.99) pose_sigma=(0.151196, 0.151196, rho=0) det_map=(5.12353, -2.52783) lm_pos=(5.115, -2.52) delta=(0.00853233, -0.00782742) -> 1 candidate(s)
I0419 20:58:46.647605 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=224.237 rad/s > flush threshold 3.
I0419 20:58:46.647675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291266456912.
I0419 20:58:46.675004 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291266738867.
I0419 20:58:46.758826 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:46.759049 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:46.760210 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291267059706.
I0419 20:58:46.762032 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084544s, prior_pose=(3.99388, -1.88596), yaw=-177.472 deg
I0419 20:58:46.762218 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:46.762346 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:46.764142 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:46.764272 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:46.764403 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291267340182.
I0419 20:58:46.765647 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.25418, -0.632156)
I0419 20:58:46.766458 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.179 deg, rms_residual=0.0138187m, sigma_yaw=0.0180915 rad, N=2
I0419 20:58:46.766561 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.95499, -1.88077, -178.179deg) inliers=2 rms=0.0138187m
I0419 20:58:46.766655 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291267616689.
I0419 20:58:46.795135 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.843596, -0.684417), points=8, range=1.09075, residual=0.0154122, extent=0.040031
I0419 20:58:46.795238 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.843596, -0.684417), tracking=(-1.1421, 0.684417), map_predicted=(5.13257, -2.52404), range=1.09075, pts=8
I0419 20:58:46.795262 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0180245m maha_sq=0.0138338 (gate chi2=5.99) pose_sigma=(0.150972, 0.150972, rho=0) det_map=(5.13257, -2.52404) lm_pos=(5.115, -2.52) delta=(0.0175657, -0.00404118) -> 1 candidate(s)
I0419 20:58:46.795341 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291267938340.
I0419 20:58:46.888381 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291268259811.
I0419 20:58:46.890697 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:46.890816 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0235309 range=1.10287 variance=0.000683849 t_weight=4386.93 r_weight=0 yaml=(5.115, -2.52) prior=(3.95268, -1.88573, -178.011deg) obs_actual=(-1.16277, 0.67721) obs_expected=(-1.1396, 0.674228) delta=(-0.0231657, 0.00298141) |delta|=0.0233567m
I0419 20:58:46.890882 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291268498793.
I0419 20:58:46.894295 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.80823, 0.507131)
I0419 20:58:46.894505 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291268816827.
I0419 20:58:46.911859 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=285.534 rad/s > flush threshold 3.
I0419 20:58:46.911950 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 20:58:46.912010 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291269100520.
I0419 20:58:46.939023 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.900629, -0.670466), points=6, range=1.11933, residual=0.0121501, extent=0.0332863
I0419 20:58:46.939123 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.900629, -0.670466), tracking=(-1.19913, 0.670466), map_predicted=(5.14472, -2.52183), range=1.11933, pts=6
I0419 20:58:46.939152 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0297744m maha_sq=0.0383707 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14472, -2.52183) lm_pos=(5.115, -2.52) delta=(0.029718, -0.00183195) -> 1 candidate(s)
I0419 20:58:46.939225 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291269379188.
I0419 20:58:47.027030 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291269700612.
I0419 20:58:47.028220 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:47.028285 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:47.028338 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291269977092.
I0419 20:58:47.030586 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606096s, prior_pose=(3.89775, -1.88397), yaw=-178.744 deg
I0419 20:58:47.030679 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:58:47.030748 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.293291, 0.621664)
I0419 20:58:47.030778 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:47.031216 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:47.031251 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:47.031317 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291270296813.
I0419 20:58:47.058878 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291270579694.
I0419 20:58:47.115891 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 387
I0419 20:58:47.162912 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.947495, -0.661362), points=7, range=1.15329, residual=0.0105283, extent=0.0292695
I0419 20:58:47.163077 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.947495, -0.661362), tracking=(-1.246, 0.661362), map_predicted=(5.13332, -2.51438), range=1.15329, pts=7
I0419 20:58:47.163110 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0191632m maha_sq=0.0156787 (gate chi2=5.99) pose_sigma=(0.151172, 0.151172, rho=0) det_map=(5.13332, -2.51438) lm_pos=(5.115, -2.52) delta=(0.0183208, 0.00561956) -> 1 candidate(s)
I0419 20:58:47.163132 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=54.1935 rad/s > flush threshold 3.
I0419 20:58:47.163200 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291270864628.
I0419 20:58:47.165100 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291271169072.
I0419 20:58:47.167034 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.258185, 0.625701)
I0419 20:58:47.167714 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:47.167775 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:47.167820 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:47.167840 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291271459902.
I0419 20:58:47.173789 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:47.175319 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (4 entries) on yaw_rate=19.6891 rad/s > flush threshold 3.
I0419 20:58:47.291304 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:47.291401 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13238, -0.604215), points=3, range=1.27933, residual=0.00805712, extent=0.0149745
I0419 20:58:47.291453 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:47.291469 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.13238, -0.604215), tracking=(1.43088, -0.604215), map_predicted=(2.40942, -1.29927), range=1.27933, pts=3
I0419 20:58:47.291491 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0214702m maha_sq=0.0196661 (gate chi2=5.99) pose_sigma=(0.151357, 0.151357, rho=0) det_map=(2.40942, -1.29927) lm_pos=(2.415, -1.32) delta=(-0.00558174, 0.0207319) -> 1 candidate(s)
I0419 20:58:47.318518 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561979s, prior_pose=(3.84173, -1.87891), yaw=-178.975 deg
I0419 20:58:47.318625 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:47.318758 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:47.321749 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:47.321810 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:47.350581 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.10352, -0.603299)
I0419 20:58:47.447585 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:47.465972 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:47.560616 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.78635, -1.87802), yaw=-178.714 deg backend=(3.81844, -1.90368)
I0419 20:58:47.561653 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.160843, 0.618108), points=19, range=0.64121, residual=0.0126987, extent=0.0410475
I0419 20:58:47.561717 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.160843, 0.618108), tracking=(0.459343, 0.618108), map_predicted=(3.34099, -2.50628), range=0.64121, pts=19
I0419 20:58:47.561748 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.189506m maha_sq=1.43938 (gate chi2=5.99) pose_sigma=(0.156056, 0.156056, rho=0) det_map=(3.34099, -2.50628) lm_pos=(3.53, -2.52) delta=(-0.189008, 0.0137196) -> 1 candidate(s)
I0419 20:58:47.564623 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.165902, 0.565901)
I0419 20:58:47.582602 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:47.582891 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:47.614351 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879789s, prior_pose=(3.76348, -1.87853), yaw=-178.757 deg
I0419 20:58:47.614493 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:58:47.614639 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:47.679327 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:47.679490 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:47.701952 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01742, -0.613335), points=5, range=1.1848, residual=0.00941558, extent=0.0234515
I0419 20:58:47.702093 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01742, -0.613335), tracking=(1.31592, -0.613335), map_predicted=(2.41291, -1.29546), range=1.1848, pts=5
I0419 20:58:47.702144 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0246315m maha_sq=0.0234354 (gate chi2=5.99) pose_sigma=(0.159185, 0.159185, rho=0) det_map=(2.41291, -1.29546) lm_pos=(2.415, -1.32) delta=(-0.00209004, 0.0245427) -> 1 candidate(s)
I0419 20:58:47.730546 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.10244, 0.617545)
I0419 20:58:47.733942 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:47.799139 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:47.880087 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:47.880199 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:47.940821 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.263553, 0.565152), points=20, range=0.62535, residual=0.0119808, extent=0.0384636
I0419 20:58:47.940919 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.263553, 0.565152), tracking=(-0.562053, -0.565152), map_predicted=(4.23009, -1.30133), range=0.62535, pts=20
I0419 20:58:47.940953 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0240065m maha_sq=0.0211327 (gate chi2=5.99) pose_sigma=(0.163379, 0.163379, rho=0) det_map=(4.23009, -1.30133) lm_pos=(4.215, -1.32) delta=(0.0150884, 0.0186721) -> 1 candidate(s)
I0419 20:58:47.942152 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602915s, prior_pose=(3.68243, -1.88044), yaw=-178.559 deg
I0419 20:58:47.942214 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:58:47.942310 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:47.942891 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:47.942927 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:47.944661 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.94193, -0.613585)
I0419 20:58:48.058683 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:48.059955 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:48.081794 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00616366, 0.612664), points=19, range=0.614895, residual=0.0134281, extent=0.0428944
I0419 20:58:48.081887 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00616366, 0.612664), tracking=(0.304664, 0.612664), map_predicted=(3.35206, -2.49986), range=0.614895, pts=19
I0419 20:58:48.081916 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.179071m maha_sq=1.13464 (gate chi2=5.99) pose_sigma=(0.166272, 0.166272, rho=0) det_map=(3.35206, -2.49986) lm_pos=(3.53, -2.52) delta=(-0.177935, 0.0201365) -> 1 candidate(s)
I0419 20:58:48.114420 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.330144, 0.562278)
I0419 20:58:48.205956 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:48.206074 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:48.208376 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604403s, prior_pose=(3.59588, -1.88026), yaw=-178.429 deg
I0419 20:58:48.208468 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:48.208582 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:48.209172 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:48.209219 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:48.316219 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 238
I0419 20:58:48.328907 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.0505929, 0.619543)
I0419 20:58:48.329057 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.844485, -0.613506), points=7, range=1.04029, residual=0.0138413, extent=0.0366494
I0419 20:58:48.329109 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.844485, -0.613506), tracking=(1.14299, -0.613506), map_predicted=(2.42035, -1.29775), range=1.04029, pts=7
I0419 20:58:48.329135 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0228866m maha_sq=0.0176434 (gate chi2=5.99) pose_sigma=(0.170424, 0.170424, rho=0) det_map=(2.42035, -1.29775) lm_pos=(2.415, -1.32) delta=(0.00535201, 0.022252) -> 1 candidate(s)
I0419 20:58:48.332125 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:48.346778 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:48.354059 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.55542, -1.88101), yaw=-178.303 deg backend=(3.60216, -1.90397)
I0419 20:58:48.469172 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.424452, 0.561419)
I0419 20:58:48.471382 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:48.471479 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:48.494132 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840497s, prior_pose=(3.52723, -1.88175), yaw=-178.354 deg
I0419 20:58:48.494228 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:48.494354 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785993, -0.612802), points=7, range=0.994429, residual=0.0119921, extent=0.0345598
I0419 20:58:48.494385 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:48.494398 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785993, -0.612802), tracking=(1.08449, -0.612802), map_predicted=(2.42558, -1.30035), range=0.994429, pts=7
I0419 20:58:48.494421 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0223174m maha_sq=0.0161647 (gate chi2=5.99) pose_sigma=(0.173835, 0.173835, rho=0) det_map=(2.42558, -1.30035) lm_pos=(2.415, -1.32) delta=(0.0105831, 0.0196485) -> 1 candidate(s)
I0419 20:58:48.502713 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:48.502871 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:48.591995 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.465811, 0.55831)
I0419 20:58:48.614559 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:48.642599 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:48.732554 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.488669, 0.560451), points=12, range=0.745333, residual=0.00980334, extent=0.0272774
I0419 20:58:48.732671 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.488669, 0.560451), tracking=(-0.787169, -0.560451), map_predicted=(4.23151, -1.29686), range=0.745333, pts=12
I0419 20:58:48.732700 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0284277m maha_sq=0.0250798 (gate chi2=5.99) pose_sigma=(0.17801, 0.17801, rho=0) det_map=(4.23151, -1.29686) lm_pos=(4.215, -1.32) delta=(0.0165066, 0.0231444) -> 1 candidate(s)
I0419 20:58:48.757788 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.707949, -0.615307)
I0419 20:58:48.757895 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:48.757923 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:48.788463 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558595s, prior_pose=(3.4374, -1.88212), yaw=-178.198 deg
I0419 20:58:48.788586 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:58:48.788735 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:48.789778 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:48.789866 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:48.874583 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.206803, 0.62404), points=18, range=0.658111, residual=0.0114336, extent=0.0327732
I0419 20:58:48.874694 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.206803, 0.62404), tracking=(0.0916968, 0.62404), map_predicted=(3.33788, -2.50907), range=0.658111, pts=18
I0419 20:58:48.874722 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.192431m maha_sq=1.10694 (gate chi2=5.99) pose_sigma=(0.181345, 0.181345, rho=0) det_map=(3.33788, -2.50907) lm_pos=(3.53, -2.52) delta=(-0.19212, 0.0109323) -> 1 candidate(s)
I0419 20:58:48.877830 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.4191, -0.687035)
I0419 20:58:48.877960 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0420876 range=1.57667 variance=0.000522741 t_weight=5738.98 r_weight=0 yaml=(5.115, -2.52) prior=(3.40878, -1.88232, -178.095deg) obs_actual=(-1.7207, 0.685991) obs_expected=(-1.68408, 0.694047) delta=(-0.0366222, -0.00805662) |delta|=0.0374979m
I0419 20:58:48.878017 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291288774925.
I0419 20:58:48.906546 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291289059283.
I0419 20:58:48.910017 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:48.910133 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:58:48.938145 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291289376830.
I0419 20:58:49.009732 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291289653576.
I0419 20:58:49.012149 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:49.012893 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.359147, -0.619984)
I0419 20:58:49.013111 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291289933580.
I0419 20:58:49.026417 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.352475, -0.620922), points=9, range=0.709, residual=0.0112612, extent=0.0236648
I0419 20:58:49.026600 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.352475, -0.620922), tracking=(0.0539754, 0.620922), map_predicted=(3.31807, -2.51384), range=0.709, pts=9
I0419 20:58:49.026665 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.212017m maha_sq=1.91799 (gate chi2=5.99) pose_sigma=(0.151236, 0.151236, rho=0) det_map=(3.31807, -2.51384) lm_pos=(3.53, -2.52) delta=(-0.211928, 0.00615724) -> 1 candidate(s)
I0419 20:58:49.026762 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291290260518.
I0419 20:58:49.054626 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:49.054725 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:49.123629 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564255s, prior_pose=(3.34307, -1.8925), yaw=-177.972 deg
I0419 20:58:49.123906 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:49.124146 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:49.124953 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:49.125136 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:49.126683 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.27431, 0.625868)
I0419 20:58:49.170080 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.293315, 0.624168), points=16, range=0.68925, residual=0.01073, extent=0.0304987
I0419 20:58:49.170192 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.293315, 0.624168), tracking=(0.00518495, 0.624168), map_predicted=(3.34436, -2.51894), range=0.68925, pts=16
I0419 20:58:49.170230 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.185644m maha_sq=1.4633 (gate chi2=5.99) pose_sigma=(0.151657, 0.151657, rho=0) det_map=(3.34436, -2.51894) lm_pos=(3.53, -2.52) delta=(-0.185641, 0.00106342) -> 1 candidate(s)
I0419 20:58:49.171312 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291291708917.
I0419 20:58:49.263398 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=10, centroid=(0.644361, 0.558431)
I0419 20:58:49.263535 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:49.263568 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:49.266170 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.29896, -1.89974), yaw=-177.952 deg backend=(3.35621, -1.90767)
I0419 20:58:49.267709 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291292619139.
I0419 20:58:49.290745 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.66756, 0.561771), points=9, range=0.872111, residual=0.00778332, extent=0.0218334
I0419 20:58:49.290863 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.66756, 0.561771), tracking=(-0.96606, -0.561771), map_predicted=(4.22715, -1.30693), range=0.872111, pts=9
I0419 20:58:49.290899 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0178407m maha_sq=0.0135913 (gate chi2=5.99) pose_sigma=(0.151374, 0.151374, rho=0) det_map=(4.22715, -1.30693) lm_pos=(4.215, -1.32) delta=(0.0121486, 0.0130652) -> 1 candidate(s)
I0419 20:58:49.318331 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.303498, 0.525679)
I0419 20:58:49.318418 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 27 -> 25 (threshold=0.03, iters=3)
I0419 20:58:49.404146 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 66
I0419 20:58:49.406245 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:49.406353 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:49.406440 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:49.408537 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0832364s, prior_pose=(3.28149, -1.89291), yaw=-177.98 deg
I0419 20:58:49.408661 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=254, threshold=230, above_threshold=27, candidates=27
I0419 20:58:49.408761 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:49.410274 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:49.410380 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:49.412487 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.69917, 0.559407)
I0419 20:58:49.434580 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291294340519.
I0419 20:58:49.462335 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.505121, -0.609054), points=15, range=0.794067, residual=0.0140248, extent=0.0486272
I0419 20:58:49.462463 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.505121, -0.609054), tracking=(0.803621, -0.609054), map_predicted=(2.43821, -1.31783), range=0.794067, pts=15
I0419 20:58:49.462529 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0233077m maha_sq=0.0234793 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43821, -1.31783) lm_pos=(2.415, -1.32) delta=(0.0232065, 0.00216949) -> 1 candidate(s)
I0419 20:58:49.462636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291294617178.
I0419 20:58:49.534511 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291294652191.
I0419 20:58:49.536103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291294953136.
I0419 20:58:49.536952 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:49.537179 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:49.539490 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.00214497 range=0.784714 variance=0.000635371 t_weight=4721.65 r_weight=0 yaml=(2.415, -1.32) prior=(3.23007, -1.90388, -178.044deg) obs_actual=(0.788256, -0.608316) obs_expected=(0.79467, -0.611352) delta=(-0.00641357, 0.00303636) |delta|=0.00709601m
I0419 20:58:49.539624 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291295217572.
I0419 20:58:49.551249 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291295505679.
I0419 20:58:49.553174 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.743938, 0.560529)
I0419 20:58:49.553261 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=90.6977 rad/s > flush threshold 3.
I0419 20:58:49.647957 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:49.648070 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:49.649396 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.185023, -0.6147), points=18, range=0.643833, residual=0.0117882, extent=0.0348355
I0419 20:58:49.649474 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.185023, -0.6147), tracking=(-0.113477, 0.6147), map_predicted=(3.33052, -2.52105), range=0.643833, pts=18
I0419 20:58:49.649503 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.199487m maha_sq=1.67191 (gate chi2=5.99) pose_sigma=(0.152407, 0.152407, rho=0) det_map=(3.33052, -2.52105) lm_pos=(3.53, -2.52) delta=(-0.199484, -0.00105079) -> 1 candidate(s)
I0419 20:58:49.670512 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0581889s, prior_pose=(3.19836, -1.91009), yaw=-178.254 deg
I0419 20:58:49.670639 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1338, max_intensity=254, threshold=230, above_threshold=14, candidates=14
I0419 20:58:49.670732 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:49.671540 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:49.671592 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:49.726332 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.434014, -0.602746)
I0419 20:58:49.726457 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:49.792838 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:49.818701 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.813848, 0.566306), points=5, range=0.9932, residual=0.00850509, extent=0.0208174
I0419 20:58:49.819008 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.813848, 0.566306), tracking=(-1.11235, -0.566306), map_predicted=(4.24909, -1.31319), range=0.9932, pts=5
I0419 20:58:49.819183 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0347584m maha_sq=0.0487918 (gate chi2=5.99) pose_sigma=(0.15569, 0.15569, rho=0) det_map=(4.24909, -1.31319) lm_pos=(4.215, -1.32) delta=(0.0340853, 0.0068076) -> 1 candidate(s)
I0419 20:58:49.919587 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.397208, -0.59994)
I0419 20:58:49.934382 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:49.934487 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:49.962522 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566006s, prior_pose=(3.11429, -1.9102), yaw=-178.589 deg
I0419 20:58:49.962646 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1340, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:58:49.962782 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:49.965888 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:49.965977 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:49.994643 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30163, 0.59776), points=4, range=1.42975, residual=0.00733261, extent=0.0172999
I0419 20:58:49.994794 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30163, 0.59776), tracking=(1.60013, 0.59776), map_predicted=(1.52936, -2.54719), range=1.42975, pts=4
I0419 20:58:49.994855 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.217343m maha_sq=1.84153 (gate chi2=5.99) pose_sigma=(0.158498, 0.158498, rho=0) det_map=(1.52936, -2.54719) lm_pos=(1.745, -2.52) delta=(-0.215636, -0.0271915) -> 1 candidate(s)
I0419 20:58:50.093322 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.361007, -0.594762)
I0419 20:58:50.093461 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:50.099233 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:50.204404 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.06753, -1.91095), yaw=-178.969 deg backend=(3.27501, -1.91217)
I0419 20:58:50.205551 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2565, 0.610567), points=5, range=1.3946, residual=0.00820734, extent=0.0214085
I0419 20:58:50.205621 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2565, 0.610567), tracking=(1.555, 0.610567), map_predicted=(1.52376, -2.54939), range=1.3946, pts=5
I0419 20:58:50.205685 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.223184m maha_sq=1.86373 (gate chi2=5.99) pose_sigma=(0.16182, 0.16182, rho=0) det_map=(1.52376, -2.54939) lm_pos=(1.745, -2.52) delta=(-0.221241, -0.029391) -> 1 candidate(s)
I0419 20:58:50.207562 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.324696, -0.589391)
I0419 20:58:50.230259 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:50.230427 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:50.258862 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842575s, prior_pose=(3.04184, -1.91131), yaw=-179.385 deg
I0419 20:58:50.259034 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1335, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:50.259219 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:50.349761 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:50.349857 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:50.351724 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.930127, 0.58873)
I0419 20:58:50.351835 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.933262, 0.588831), points=5, range=1.1008, residual=0.0081522, extent=0.0196993
I0419 20:58:50.351861 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.933262, 0.588831), tracking=(-1.23176, -0.588831), map_predicted=(4.25331, -1.31255), range=1.1008, pts=5
I0419 20:58:50.351881 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0390329m maha_sq=0.0551122 (gate chi2=5.99) pose_sigma=(0.164691, 0.164691, rho=0) det_map=(4.25331, -1.31255) lm_pos=(4.215, -1.32) delta=(0.0383146, 0.00745356) -> 1 candidate(s)
I0419 20:58:50.353822 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:50.377960 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:50.444242 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.969834, 0.600124)
I0419 20:58:50.462298 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.252804, -0.576726), points=21, range=0.629857, residual=0.0124173, extent=0.0425107
I0419 20:58:50.462400 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.252804, -0.576726), tracking=(0.551304, -0.576726), map_predicted=(2.42687, -1.33352), range=0.629857, pts=21
I0419 20:58:50.462432 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0179893m maha_sq=0.0112324 (gate chi2=5.99) pose_sigma=(0.167993, 0.167993, rho=0) det_map=(2.42687, -1.33352) lm_pos=(2.415, -1.32) delta=(0.0118654, -0.0135214) -> 1 candidate(s)
I0419 20:58:50.522861 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:50.522948 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:50.591373 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605704s, prior_pose=(2.95507, -1.9114), yaw=179.618 deg
I0419 20:58:50.591485 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1331, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:50.591604 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:50.592389 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:50.592501 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:50.594326 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.223285, -0.576405)
I0419 20:58:50.611038 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:50.614353 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.103806, -0.604027), points=19, range=0.614158, residual=0.0105286, extent=0.0340139
I0419 20:58:50.614516 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.103806, -0.604027), tracking=(-0.402306, 0.604027), map_predicted=(3.32532, -2.51952), range=0.614158, pts=19
I0419 20:58:50.614571 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.204684m maha_sq=1.40418 (gate chi2=5.99) pose_sigma=(0.171146, 0.171146, rho=0) det_map=(3.32532, -2.51952) lm_pos=(3.53, -2.52) delta=(-0.204683, 0.000477195) -> 1 candidate(s)
I0419 20:58:50.735846 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:50.736308 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:50.738834 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.127916, -0.605964)
I0419 20:58:50.786953 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06499, 0.651553), points=5, range=1.246, residual=0.00936116, extent=0.0211433
I0419 20:58:50.787122 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06499, 0.651553), tracking=(1.36349, 0.651553), map_predicted=(1.53571, -2.5474), range=1.246, pts=5
I0419 20:58:50.787175 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.211077m maha_sq=1.46489 (gate chi2=5.99) pose_sigma=(0.172808, 0.172808, rho=0) det_map=(1.53571, -2.5474) lm_pos=(1.745, -2.52) delta=(-0.20929, -0.0274035) -> 1 candidate(s)
I0419 20:58:50.863830 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:50.863929 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:50.866899 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595146s, prior_pose=(2.86694, -1.90874), yaw=179.453 deg
I0419 20:58:50.867012 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1330, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:50.867168 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.04997, 0.651802)
I0419 20:58:50.867214 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:50.868053 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:50.868098 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:50.906699 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:50.983850 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01841, 0.65154), points=4, range=1.213, residual=0.0130556, extent=0.0314118
I0419 20:58:50.983964 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01841, 0.65154), tracking=(1.31691, 0.65154), map_predicted=(1.52989, -2.54543), range=1.213, pts=4
I0419 20:58:50.983995 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.216605m maha_sq=1.47276 (gate chi2=5.99) pose_sigma=(0.176706, 0.176706, rho=0) det_map=(1.52989, -2.54543) lm_pos=(1.745, -2.52) delta=(-0.215108, -0.025428) -> 1 candidate(s)
I0419 20:58:50.985805 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.112897, -0.576124)
I0419 20:58:50.987340 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:50.995134 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.82785, -1.90419), yaw=179.71 deg backend=(3.03533, -1.90546)
I0419 20:58:51.112377 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.13876, 0.599103)
I0419 20:58:51.113590 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.984582, 0.649989), points=6, range=1.177, residual=0.0119858, extent=0.031121
I0419 20:58:51.113649 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.984582, 0.649989), tracking=(1.28308, 0.649989), map_predicted=(1.51376, -2.54731), range=1.177, pts=6
I0419 20:58:51.113678 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.232844m maha_sq=1.64395 (gate chi2=5.99) pose_sigma=(0.179934, 0.179934, rho=0) det_map=(1.51376, -2.54731) lm_pos=(1.745, -2.52) delta=(-0.231238, -0.0273053) -> 1 candidate(s)
I0419 20:58:51.115978 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:51.116036 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:51.138480 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844662s, prior_pose=(2.79204, -1.90508), yaw=179.623 deg
I0419 20:58:51.138563 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1323, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:51.138717 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:51.141808 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:51.141872 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:51.179878 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:51.240447 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0461009, -0.574737)
I0419 20:58:51.240588 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:51.243772 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19605, 0.594154), points=3, range=1.33233, residual=0.00663306, extent=0.0126475
I0419 20:58:51.243913 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19605, 0.594154), tracking=(-1.49455, -0.594154), map_predicted=(4.25791, -1.31899), range=1.33233, pts=3
I0419 20:58:51.243942 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0429252m maha_sq=0.0544055 (gate chi2=5.99) pose_sigma=(0.182631, 0.182631, rho=0) det_map=(4.25791, -1.31899) lm_pos=(4.215, -1.32) delta=(0.0429134, 0.00100612) -> 1 candidate(s)
I0419 20:58:51.259055 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:51.314792 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.918323, 0.646907)
I0419 20:58:51.404806 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 20:58:51.409777 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23531, 0.59584), points=3, range=1.36967, residual=0.00510992, extent=0.00890731
I0419 20:58:51.409869 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23531, 0.59584), tracking=(-1.53381, -0.59584), map_predicted=(4.26525, -1.31863), range=1.36967, pts=3
I0419 20:58:51.409893 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.050265m maha_sq=0.0730595 (gate chi2=5.99) pose_sigma=(0.18462, 0.18462, rho=0) det_map=(4.26525, -1.31863) lm_pos=(4.215, -1.32) delta=(0.0502464, 0.00136902) -> 1 candidate(s)
I0419 20:58:51.411211 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:51.411265 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:51.430835 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055898s, prior_pose=(2.71345, -1.90857), yaw=179.754 deg
I0419 20:58:51.430979 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1317, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:58:51.431264 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.878649, 0.65006)
I0419 20:58:51.431341 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:51.433827 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:51.433889 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:51.512461 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:51.550619 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0526841, -0.573185), points=22, range=0.575455, residual=0.0112841, extent=0.0353636
I0419 20:58:51.550792 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0526841, -0.573185), tracking=(0.245816, -0.573185), map_predicted=(2.43033, -1.33085), range=0.575455, pts=22
I0419 20:58:51.550858 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0187788m maha_sq=0.00980906 (gate chi2=5.99) pose_sigma=(0.188123, 0.188123, rho=0) det_map=(2.43033, -1.33085) lm_pos=(2.415, -1.32) delta=(0.0153284, -0.0108482) -> 1 candidate(s)
I0419 20:58:51.552161 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.364235, -0.616209)
I0419 20:58:51.552265 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:51.680976 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.30478, 0.608425)
I0419 20:58:51.694929 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:51.695086 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.808093, 0.664134), points=7, range=1.04343, residual=0.0110721, extent=0.0300903
I0419 20:58:51.695117 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:51.695143 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.808093, 0.664134), tracking=(1.10659, 0.664134), map_predicted=(1.51892, -2.5543), range=1.04343, pts=7
I0419 20:58:51.695181 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.228668m maha_sq=1.42134 (gate chi2=5.99) pose_sigma=(0.190299, 0.190299, rho=0) det_map=(1.51892, -2.5543) lm_pos=(1.745, -2.52) delta=(-0.226081, -0.0342986) -> 1 candidate(s)
I0419 20:58:51.787400 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565317s, prior_pose=(2.62857, -1.90426), yaw=179.122 deg
I0419 20:58:51.787537 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1317, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:58:51.787689 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:51.788340 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:51.788414 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:51.792263 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:51.814471 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.115379, -0.571368)
I0419 20:58:51.942050 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:51.943342 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.134776, -0.572277), points=22, range=0.587773, residual=0.0116805, extent=0.0360354
I0419 20:58:51.943427 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.134776, -0.572277), tracking=(0.163724, -0.572277), map_predicted=(2.4446, -1.32663), range=0.587773, pts=22
I0419 20:58:51.943455 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0303349m maha_sq=0.0244278 (gate chi2=5.99) pose_sigma=(0.192615, 0.192615, rho=0) det_map=(2.4446, -1.32663) lm_pos=(2.415, -1.32) delta=(0.0296016, -0.00662992) -> 1 candidate(s)
I0419 20:58:51.945302 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.58652, -1.90218), yaw=178.625 deg backend=(2.86704, -1.90313)
I0419 20:58:51.947822 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.144411, -0.572058)
I0419 20:58:52.061025 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:52.061192 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:52.061297 1232263 collated_trajectory_builder.cc:82] imu rate: 200.02 Hz 5.00e-03 s +/- 4.31e-03 s (pulsed at 100.52% real time)
I0419 20:58:52.061412 1232263 collated_trajectory_builder.cc:82] odom rate: 248.67 Hz 4.02e-03 s +/- 7.61e-04 s (pulsed at 100.54% real time)
I0419 20:58:52.061513 1232263 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.30e-03 s (pulsed at 100.33% real time)
I0419 20:58:52.061547 1232263 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.12e-03 s (pulsed at 99.77% real time)
I0419 20:58:52.063077 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838548s, prior_pose=(2.55757, -1.89556), yaw=178.24 deg
I0419 20:58:52.063166 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1309, max_intensity=254, threshold=230, above_threshold=29, candidates=29
I0419 20:58:52.063282 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:52.064517 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:52.064574 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:52.067070 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.694054, 0.680601)
I0419 20:58:52.067214 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.686054, 0.680046), points=9, range=0.972111, residual=0.0154318, extent=0.0375559
I0419 20:58:52.067267 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.686054, 0.680046), tracking=(0.984554, 0.680046), map_predicted=(1.53622, -2.54439), range=0.972111, pts=9
I0419 20:58:52.067307 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.210195m maha_sq=1.13173 (gate chi2=5.99) pose_sigma=(0.195838, 0.195838, rho=0) det_map=(1.53622, -2.54439) lm_pos=(1.745, -2.52) delta=(-0.208775, -0.0243865) -> 1 candidate(s)
I0419 20:58:52.086902 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:52.213368 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:52.214757 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:52.216792 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.658246, 0.679526)
I0419 20:58:52.220180 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44482, 0.625721), points=3, range=1.56867, residual=0.0113713, extent=0.0228944
I0419 20:58:52.220288 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44482, 0.625721), tracking=(-1.74332, -0.625721), map_predicted=(4.25373, -1.32206), range=1.56867, pts=3
I0419 20:58:52.220312 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0387853m maha_sq=0.0375496 (gate chi2=5.99) pose_sigma=(0.19861, 0.19861, rho=0) det_map=(4.25373, -1.32206) lm_pos=(4.215, -1.32) delta=(0.0387303, -0.00206439) -> 1 candidate(s)
I0419 20:58:52.330432 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.625219, 0.678197)
I0419 20:58:52.330534 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:52.330554 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:52.332885 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600465s, prior_pose=(2.46822, -1.89604), yaw=178.395 deg
I0419 20:58:52.332957 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1308, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 20:58:52.333060 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:52.333612 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:52.333657 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:52.370589 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:52.462898 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.318868, 0.573279), points=7, range=0.656714, residual=0.00465607, extent=0.0125333
I0419 20:58:52.463009 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.318868, 0.573279), tracking=(0.0203685, -0.573279), map_predicted=(2.43616, -1.3233), range=0.656714, pts=7
I0419 20:58:52.463039 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0214132m maha_sq=0.0111661 (gate chi2=5.99) pose_sigma=(0.20151, 0.20151, rho=0) det_map=(2.43616, -1.3233) lm_pos=(2.415, -1.32) delta=(0.0211579, -0.00329636) -> 1 candidate(s)
I0419 20:58:52.464138 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.341065, -0.549409)
I0419 20:58:52.467161 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:52.469485 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=29, centroid=(-0.315716, 0.569139)
I0419 20:58:52.490953 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.208 deg, rms_residual=0.0190574m, sigma_yaw=0.0207358 rad, N=2
I0419 20:58:52.491107 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(2.39185, -1.88552, 178.208deg) inliers=2 rms=0.0190574m
I0419 20:58:52.491158 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291324899960.
I0419 20:58:52.579866 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.65021, -0.6206), points=9, range=0.901889, residual=0.0104432, extent=0.0297316
I0419 20:58:52.579980 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.65021, -0.6206), tracking=(-0.94871, 0.6206), map_predicted=(3.33555, -2.5313), range=0.901889, pts=9
I0419 20:58:52.580008 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.194775m maha_sq=1.6187 (gate chi2=5.99) pose_sigma=(0.151269, 0.151269, rho=0) det_map=(3.33555, -2.5313) lm_pos=(3.53, -2.52) delta=(-0.194446, -0.0113034) -> 1 candidate(s)
I0419 20:58:52.582489 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=29.9276 rad/s > flush threshold 3.
I0419 20:58:52.582631 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291325498034.
I0419 20:58:52.583763 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(-0.319244, -0.562046)
I0419 20:58:52.583810 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:52.583833 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:52.605866 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557922s, prior_pose=(2.37646, -1.88576), yaw=178.656 deg
I0419 20:58:52.605955 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1307, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 20:58:52.606055 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:58:52.610423 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:52.610487 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:52.704367 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=26.5112 rad/s > flush threshold 3.
I0419 20:58:52.706245 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.56427, 0.60307)
I0419 20:58:52.707973 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.509144, 0.669457), points=12, range=0.844, residual=0.013099, extent=0.0382414
I0419 20:58:52.708026 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.509144, 0.669457), tracking=(0.807644, 0.669457), map_predicted=(1.53582, -2.53548), range=0.844, pts=12
I0419 20:58:52.708052 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.20975m maha_sq=1.84947 (gate chi2=5.99) pose_sigma=(0.152229, 0.152229, rho=0) det_map=(1.53582, -2.53548) lm_pos=(1.745, -2.52) delta=(-0.209178, -0.0154827) -> 1 candidate(s)
I0419 20:58:52.708076 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:52.727937 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:52.833386 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.34622, -1.88456), yaw=178.881 deg backend=(2.69781, -1.88976)
I0419 20:58:52.834975 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.60932, 0.607037)
I0419 20:58:52.843993 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.190998, 0.565248), points=20, range=0.5973, residual=0.0112966, extent=0.0339143
I0419 20:58:52.844127 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.190998, 0.565248), tracking=(-0.107502, -0.565248), map_predicted=(2.44947, -1.32126), range=0.5973, pts=20
I0419 20:58:52.844180 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0344896m maha_sq=0.0488264 (gate chi2=5.99) pose_sigma=(0.154275, 0.154275, rho=0) det_map=(2.44947, -1.32126) lm_pos=(2.415, -1.32) delta=(0.0344664, -0.0012645) -> 1 candidate(s)
I0419 20:58:52.870270 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:52.870937 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:52.902228 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0875546s, prior_pose=(2.32188, -1.88409), yaw=178.88 deg
I0419 20:58:52.902411 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1298, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 20:58:52.902603 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:52.981096 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:52.981194 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.63427, 0.600209)
I0419 20:58:52.981212 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:52.989630 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:53.018443 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37359, -0.52498), points=3, range=1.46433, residual=0.0117835, extent=0.0235889
I0419 20:58:53.018610 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.37359, -0.52498), tracking=(1.67209, -0.52498), map_predicted=(0.617203, -1.33273), range=1.46433, pts=3
I0419 20:58:53.018666 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0129161m maha_sq=0.00653228 (gate chi2=5.99) pose_sigma=(0.157864, 0.157864, rho=0) det_map=(0.617203, -1.33273) lm_pos=(0.615, -1.32) delta=(0.0022027, -0.0127269) -> 1 candidate(s)
I0419 20:58:53.022866 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(-0.140478, 0.559731)
I0419 20:58:53.023031 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:53.165894 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:53.165982 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32959, -0.532683), points=4, range=1.42625, residual=0.0144376, extent=0.0333961
I0419 20:58:53.166006 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:53.166023 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.32959, -0.532683), tracking=(1.62809, -0.532683), map_predicted=(0.624425, -1.32694), range=1.42625, pts=4
I0419 20:58:53.166044 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0117055m maha_sq=0.00518803 (gate chi2=5.99) pose_sigma=(0.160395, 0.160395, rho=0) det_map=(0.624425, -1.32694) lm_pos=(0.615, -1.32) delta=(0.00942548, -0.00694118) -> 1 candidate(s)
I0419 20:58:53.235507 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.826184, -0.639637)
I0419 20:58:53.236675 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599918s, prior_pose=(2.23328, -1.88131), yaw=179.377 deg
I0419 20:58:53.236757 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1292, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:58:53.236857 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:53.237670 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:53.237738 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:53.281729 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:53.286079 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(-0.065123, 0.557014)
I0419 20:58:53.349632 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29265, -0.537638), points=3, range=1.39667, residual=0.00700786, extent=0.0136716
I0419 20:58:53.349845 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29265, -0.537638), tracking=(1.59115, -0.537638), map_predicted=(0.615262, -1.32883), range=1.39667, pts=3
I0419 20:58:53.349900 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00883377m maha_sq=0.00286541 (gate chi2=5.99) pose_sigma=(0.163434, 0.163434, rho=0) det_map=(0.615262, -1.32883) lm_pos=(0.615, -1.32) delta=(0.000261734, -0.00882989) -> 1 candidate(s)
I0419 20:58:53.350751 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:53.519464 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.898286, -0.648634)
I0419 20:58:53.520659 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:53.520728 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.302894, 0.656904), points=18, range=0.725333, residual=0.0133682, extent=0.044005
I0419 20:58:53.520747 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:53.520766 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.302894, 0.656904), tracking=(0.601394, 0.656904), map_predicted=(1.55531, -2.53145), range=0.725333, pts=18
I0419 20:58:53.520793 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.190038m maha_sq=1.2788 (gate chi2=5.99) pose_sigma=(0.166205, 0.166205, rho=0) det_map=(1.55531, -2.53145) lm_pos=(1.745, -2.52) delta=(-0.189693, -0.0114465) -> 1 candidate(s)
I0419 20:58:53.523191 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056916s, prior_pose=(2.15226, -1.87865), yaw=179.622 deg
I0419 20:58:53.523290 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1287, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 20:58:53.523389 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:53.524134 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:53.524192 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:53.647032 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:53.647722 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.933295, -0.655505)
I0419 20:58:53.648041 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:53.649176 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.267947, 0.654823), points=17, range=0.707824, residual=0.0114311, extent=0.0371772
I0419 20:58:53.649267 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.267947, 0.654823), tracking=(0.566447, 0.654823), map_predicted=(1.56941, -2.53286), range=0.707824, pts=17
I0419 20:58:53.649293 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.176064m maha_sq=1.07755 (gate chi2=5.99) pose_sigma=(0.167927, 0.167927, rho=0) det_map=(1.56941, -2.53286) lm_pos=(1.745, -2.52) delta=(-0.175594, -0.0128597) -> 1 candidate(s)
I0419 20:58:53.650720 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:53.656236 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.10998, -1.87898), yaw=-179.955 deg backend=(2.46157, -1.88414)
I0419 20:58:53.784984 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.974023, -0.661102)
I0419 20:58:53.786993 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:53.787111 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226645, 0.655023), points=19, range=0.694053, residual=0.0123594, extent=0.0398421
I0419 20:58:53.787177 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:53.787199 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.226645, 0.655023), tracking=(0.525145, 0.655023), map_predicted=(1.57188, -2.53539), range=0.694053, pts=19
I0419 20:58:53.787220 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.173806m maha_sq=1.01639 (gate chi2=5.99) pose_sigma=(0.17068, 0.17068, rho=0) det_map=(1.57188, -2.53539) lm_pos=(1.745, -2.52) delta=(-0.173124, -0.0153892) -> 1 candidate(s)
I0419 20:58:53.788831 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844068s, prior_pose=(2.09551, -1.87916), yaw=-179.868 deg
I0419 20:58:53.788904 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1277, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:58:53.788995 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:53.790489 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:53.790545 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:53.876505 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.12805, -0.556257)
I0419 20:58:53.876616 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:53.902657 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:53.931221 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.116959, 0.546335), points=22, range=0.559864, residual=0.0113283, extent=0.0354823
I0419 20:58:53.931340 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.116959, 0.546335), tracking=(-0.415459, -0.546335), map_predicted=(2.46195, -1.32725), range=0.559864, pts=22
I0419 20:58:53.931368 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0475072m maha_sq=0.073471 (gate chi2=5.99) pose_sigma=(0.173659, 0.173659, rho=0) det_map=(2.46195, -1.32725) lm_pos=(2.415, -1.32) delta=(0.0469504, -0.00725215) -> 1 candidate(s)
I0419 20:58:54.055581 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.95728, 0.635952)
I0419 20:58:54.059895 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:54.060005 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:54.074203 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557356s, prior_pose=(2.00506, -1.87549), yaw=-179.397 deg
I0419 20:58:54.074314 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1274, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:58:54.074492 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:54.078668 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:54.078748 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:54.182319 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.181092, 0.549063), points=22, range=0.579818, residual=0.0123279, extent=0.0388432
I0419 20:58:54.182503 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.181092, 0.549063), tracking=(-0.479592, -0.549063), map_predicted=(2.45002, -1.32123), range=0.579818, pts=22
I0419 20:58:54.182617 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0350459m maha_sq=0.0379232 (gate chi2=5.99) pose_sigma=(0.17833, 0.17833, rho=0) det_map=(2.45002, -1.32123) lm_pos=(2.415, -1.32) delta=(0.0350243, -0.00122899) -> 1 candidate(s)
I0419 20:58:54.184938 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.04232, -0.567218)
I0419 20:58:54.185129 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:54.194620 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:54.327034 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.999607, -0.569372)
I0419 20:58:54.343267 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:54.343422 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:54.435099 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0539273s, prior_pose=(1.92448, -1.87607), yaw=-179.058 deg
I0419 20:58:54.435420 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1263, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:58:54.435707 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0612544, 0.645917), points=21, range=0.650286, residual=0.0126683, extent=0.0422935
I0419 20:58:54.435868 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:54.436005 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0612544, 0.645917), tracking=(0.359754, 0.645917), map_predicted=(1.57539, -2.52782), range=0.650286, pts=21
I0419 20:58:54.436156 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.169791m maha_sq=0.858159 (gate chi2=5.99) pose_sigma=(0.181654, 0.181654, rho=0) det_map=(1.57539, -2.52782) lm_pos=(1.745, -2.52) delta=(-0.169611, -0.00781701) -> 1 candidate(s)
I0419 20:58:54.437000 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:54.437251 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:54.458380 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.951046, -0.572354)
I0419 20:58:54.458580 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:54.577548 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:54.580622 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.86827, -1.87662), yaw=-178.902 deg backend=(2.27182, -1.881)
I0419 20:58:54.583660 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00374419, 0.644749), points=22, range=0.645909, residual=0.0132463, extent=0.0414594
I0419 20:58:54.583766 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00374419, 0.644749), tracking=(0.302244, 0.644749), map_predicted=(1.57843, -2.52704), range=0.645909, pts=22
I0419 20:58:54.583793 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.166714m maha_sq=0.796975 (gate chi2=5.99) pose_sigma=(0.185102, 0.185102, rho=0) det_map=(1.57843, -2.52704) lm_pos=(1.745, -2.52) delta=(-0.166565, -0.00703791) -> 1 candidate(s)
I0419 20:58:54.606393 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.91535, -0.575682)
I0419 20:58:54.634387 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:54.721949 1218967 pose_graph_2d.cc:160] Inserted submap (1, 26).
I0419 20:58:54.723106 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:54.723204 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:54.724821 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841892s, prior_pose=(1.84515, -1.87593), yaw=-178.79 deg
I0419 20:58:54.724936 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1254, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:58:54.725045 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:54.726522 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:54.726603 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:54.750489 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.859749, -0.578889)
I0419 20:58:54.750624 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:54.810945 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548376, 0.648561), points=21, range=0.651476, residual=0.0123234, extent=0.038685
I0419 20:58:54.811039 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0548376, 0.648561), tracking=(0.243662, 0.648561), map_predicted=(1.58372, -2.52977), range=0.651476, pts=21
I0419 20:58:54.811066 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.161571m maha_sq=0.722854 (gate chi2=5.99) pose_sigma=(0.188485, 0.188485, rho=0) det_map=(1.58372, -2.52977) lm_pos=(1.745, -2.52) delta=(-0.161276, -0.00977156) -> 1 candidate(s)
I0419 20:58:54.811734 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:54.945427 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.819912, -0.57977)
I0419 20:58:54.947501 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:54.947619 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:54.955950 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0569124s, prior_pose=(1.76079, -1.87758), yaw=-178.557 deg
I0419 20:58:54.956072 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1245, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:54.956223 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:54.961824 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:54.961925 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:54.986713 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.791893, -0.58239), points=7, range=0.986, residual=0.00952324, extent=0.0256166
I0419 20:58:54.986872 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.791893, -0.58239), tracking=(1.09039, -0.58239), map_predicted=(0.647041, -1.32334), range=0.986, pts=7
I0419 20:58:54.986934 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0322144m maha_sq=0.0277287 (gate chi2=5.99) pose_sigma=(0.192056, 0.192056, rho=0) det_map=(0.647041, -1.32334) lm_pos=(0.615, -1.32) delta=(0.032041, -0.00333771) -> 1 candidate(s)
I0419 20:58:55.075106 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.774509, -0.580054)
I0419 20:58:55.075142 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:55.075294 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291350457524.
I0419 20:58:55.076053 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291350457676.
I0419 20:58:55.078102 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:55.078775 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:55.078867 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291350736439.
I0419 20:58:55.106233 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 20:58:55.106423 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:58:55.106511 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:55.106547 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291351054877.
I0419 20:58:55.135555 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291351344700.
I0419 20:58:55.200634 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.737067, -0.581722)
I0419 20:58:55.200759 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.67412, 0.612066), points=3, range=1.77067, residual=0.0230767, extent=0.0481153
I0419 20:58:55.200790 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.67412, 0.612066), tracking=(1.97262, 0.612066), map_predicted=(-0.261563, -2.54619), range=1.77067, pts=3
I0419 20:58:55.200816 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0351423m maha_sq=0.0521899 (gate chi2=5.99) pose_sigma=(0.150424, 0.150424, rho=0) det_map=(-0.261563, -2.54619) lm_pos=(-0.285, -2.52) delta=(0.0234366, -0.026186) -> 1 candidate(s)
I0419 20:58:55.200898 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291351617486.
I0419 20:58:55.201710 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291351660945.
I0419 20:58:55.202936 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291351896226.
I0419 20:58:55.204463 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291351941675.
I0419 20:58:55.221702 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:55.221803 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:55.221908 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291352211988.
I0419 20:58:55.222596 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.137162 range=0.7445 variance=0.000559415 t_weight=5362.75 r_weight=0 yaml=(2.415, -1.32) prior=(1.66816, -1.88583, -178.437deg) obs_actual=(-0.817435, -0.535756) obs_expected=(-0.762001, -0.545241) delta=(-0.0554339, 0.00948476) |delta|=0.0562394m
I0419 20:58:55.222668 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291352212190.
I0419 20:58:55.249792 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552722s, prior_pose=(1.65756, -1.8811), yaw=-178.387 deg
I0419 20:58:55.249897 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1238, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:58:55.250072 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.71306, 0.623498)
I0419 20:58:55.250116 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:55.250217 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291352494397.
I0419 20:58:55.254015 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:55.254119 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:55.254218 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291352534644.
I0419 20:58:55.277819 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291352772329.
I0419 20:58:55.338624 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291352819824.
I0419 20:58:55.339964 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.61312, 0.611128), points=3, range=1.73833, residual=0.0262195, extent=0.0549383
I0419 20:58:55.340051 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.61312, 0.611128), tracking=(1.91162, 0.611128), map_predicted=(-0.252748, -2.54278), range=1.73833, pts=3
I0419 20:58:55.340075 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.039486m maha_sq=0.0658199 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.252748, -2.54278) lm_pos=(-0.285, -2.52) delta=(0.0322519, -0.0227806) -> 1 candidate(s)
I0419 20:58:55.340143 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291353092407.
I0419 20:58:55.340838 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291353146996.
I0419 20:58:55.342597 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(1.77504, 0.657778)
I0419 20:58:55.342687 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 4 -> 3 (threshold=0.03, iters=3)
I0419 20:58:55.342757 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291353376838.
I0419 20:58:55.343359 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291353412357.
I0419 20:58:55.366791 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291353662301.
I0419 20:58:55.370599 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:55.370769 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291353701061.
I0419 20:58:55.396463 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291353949612.
I0419 20:58:55.400993 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:55.458168 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.59455, -1.88048), yaw=-178.397 deg backend=(2.01849, -1.88386)
I0419 20:58:55.459221 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.63096, -0.626072)
I0419 20:58:55.459393 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291354255435.
I0419 20:58:55.460134 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.578932, 0.536679), points=11, range=0.79, residual=0.00900908, extent=0.0275018
I0419 20:58:55.460237 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.578932, 0.536679), tracking=(-0.877432, -0.536679), map_predicted=(2.45663, -1.31947), range=0.79, pts=11
I0419 20:58:55.460268 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0416315m maha_sq=0.0752844 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45663, -1.31947) lm_pos=(2.415, -1.32) delta=(0.0416281, 0.00053158) -> 1 candidate(s)
I0419 20:58:55.461510 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:55.461598 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0191878 range=0.872455 variance=0.000590821 t_weight=5077.68 r_weight=0 yaml=(0.615, -1.32) prior=(1.59455, -1.88048, -178.397deg) obs_actual=(0.942851, -0.583532) obs_expected=(0.96349, -0.587669) delta=(-0.0206384, 0.00413723) |delta|=0.021049m
I0419 20:58:55.461658 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:55.461678 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291354541793.
I0419 20:58:55.485739 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.67111, -0.641482)
I0419 20:58:55.514263 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:55.514372 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:55.542300 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843557s, prior_pose=(1.57675, -1.86886), yaw=-178.31 deg
I0419 20:58:55.542416 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1226, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 20:58:55.542584 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.60032, -0.630385)
I0419 20:58:55.542632 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:55.601402 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:55.601547 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:55.602870 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.03831, 1.50316), points=3, range=4.30133, residual=0.0178981, extent=0.0346589
I0419 20:58:55.602959 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(4.03831, 1.50316), tracking=(4.33681, 1.50316), map_predicted=(-2.72318, -3.49656), range=4.30133, pts=3
I0419 20:58:55.603005 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62648m maha_sq=282.435 (gate chi2=5.99) pose_sigma=(0.152371, 0.152371, rho=0) det_map=(-2.72318, -3.49656) lm_pos=(-0.285, -2.52) delta=(-2.43818, -0.976561) -> 0 candidate(s)
I0419 20:58:55.605497 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(4.0258, 1.5052)
I0419 20:58:55.605676 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291356040938.
I0419 20:58:55.630585 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291356299985.
I0419 20:58:55.663349 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.302254, -0.643106)
I0419 20:58:55.663480 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.654892, 0.532906), points=7, range=0.842571, residual=0.00987154, extent=0.0279975
I0419 20:58:55.663506 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.654892, 0.532906), tracking=(-0.953392, -0.532906), map_predicted=(2.4773, -1.30779), range=0.842571, pts=7
I0419 20:58:55.663566 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0634872m maha_sq=0.170439 (gate chi2=5.99) pose_sigma=(0.152014, 0.152014, rho=0) det_map=(2.4773, -1.30779) lm_pos=(2.415, -1.32) delta=(0.0623023, 0.0122082) -> 1 candidate(s)
I0419 20:58:55.663590 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:55.723593 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291356902540.
I0419 20:58:55.724557 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:55.725719 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291357180602.
I0419 20:58:55.751039 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.47968, 0.607834)
I0419 20:58:55.751264 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291357505160.
I0419 20:58:55.752005 1218972 reflector_localizer.cc:649] [Localizer] STAGE 4 RANSAC — best support 0 < min 2, falling back to intra-scan inter-distance filter only.
I0419 20:58:55.752200 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:55.778663 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.97011, 1.50414), points=3, range=4.23833, residual=0.0175164, extent=0.0358275
I0419 20:58:55.778784 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.97011, 1.50414), tracking=(4.26861, 1.50414), map_predicted=(-2.72903, -3.51805), range=4.23833, pts=3
I0419 20:58:55.778817 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63996m maha_sq=290.079 (gate chi2=5.99) pose_sigma=(0.151145, 0.151145, rho=0) det_map=(-2.72903, -3.51805) lm_pos=(-0.285, -2.52) delta=(-2.44403, -0.998047) -> 0 candidate(s)
I0419 20:58:55.778911 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291357780810.
I0419 20:58:55.799459 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:55.799537 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:58:55.810561 1218972 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.328831, 0.573403)
I0419 20:58:55.810827 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 20:58:55.810876 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:55.873852 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=49.1204 rad/s > flush threshold 3.
I0419 20:58:55.875239 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678908s, prior_pose=(1.47131, -1.88145), yaw=-178.134 deg
I0419 20:58:55.875325 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1227, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 20:58:55.875478 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:55.876080 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:55.876132 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:55.877977 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.654 deg, rms_residual=0.0049436m, sigma_yaw=0.0065483 rad, N=2
I0419 20:58:55.878129 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.44597, -1.87996, -178.654deg) inliers=2 rms=0.0049436m
I0419 20:58:55.878173 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291358657051.
I0419 20:58:55.878769 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.242323, -0.645134)
I0419 20:58:55.878818 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.716708, 0.533531), points=5, range=0.8954, residual=0.00862526, extent=0.0214066
I0419 20:58:55.878844 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.716708, 0.533531), tracking=(-1.01521, -0.533531), map_predicted=(2.46192, -1.31516), range=0.8954, pts=5
I0419 20:58:55.878866 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0471644m maha_sq=0.0966348 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.46192, -1.31516) lm_pos=(2.415, -1.32) delta=(0.0469157, 0.00483687) -> 1 candidate(s)
I0419 20:58:55.993029 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.41992, 0.605149)
I0419 20:58:55.993829 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:55.995118 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291359857419.
I0419 20:58:55.996516 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=24.4412 rad/s > flush threshold 3.
I0419 20:58:56.014470 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:58:56.018359 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.196312, -0.642061), points=20, range=0.67365, residual=0.0134363, extent=0.0394985
I0419 20:58:56.018455 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.196312, -0.642061), tracking=(-0.102188, 0.642061), map_predicted=(1.54048, -2.51809), range=0.67365, pts=20
I0419 20:58:56.018486 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.204531m maha_sq=1.77367 (gate chi2=5.99) pose_sigma=(0.151554, 0.151554, rho=0) det_map=(1.54048, -2.51809) lm_pos=(1.745, -2.52) delta=(-0.204523, 0.00190658) -> 1 candidate(s)
I0419 20:58:56.070592 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(4.02512, 1.47829)
I0419 20:58:56.134220 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 20:58:56.134361 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:56.134466 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291361026320.
I0419 20:58:56.135149 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:56.137116 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056054s, prior_pose=(1.38564, -1.87767), yaw=-178.185 deg
I0419 20:58:56.137247 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1206, max_intensity=254, threshold=230, above_threshold=24, candidates=24
I0419 20:58:56.137347 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:56.137406 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00663139 range=0.726177 variance=0.000616643 t_weight=4865.05 r_weight=0 yaml=(0.615, -1.32) prior=(1.38564, -1.87767, -178.185deg) obs_actual=(0.740745, -0.577944) obs_expected=(0.752599, -0.581792) delta=(-0.0118546, 0.00384812) |delta|=0.0124635m
I0419 20:58:56.137533 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291361295201.
I0419 20:58:56.138381 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:56.138437 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:58:56.162786 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.431822, -0.578082)
I0419 20:58:56.163110 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.84453, 1.49505), points=3, range=4.128, residual=0.0135328, extent=0.0283077
I0419 20:58:56.163165 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.84453, 1.49505), tracking=(4.14303, 1.49505), map_predicted=(-2.70797, -3.50316), range=4.128, pts=3
I0419 20:58:56.163200 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61484m maha_sq=290.53 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.70797, -3.50316) lm_pos=(-0.285, -2.52) delta=(-2.42297, -0.983162) -> 0 candidate(s)
I0419 20:58:56.163244 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:56.163354 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291361622026.
I0419 20:58:56.165180 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=135.276 rad/s > flush threshold 3.
I0419 20:58:56.283218 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.40151, -0.576758)
I0419 20:58:56.283457 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291362497272.
I0419 20:58:56.284955 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:56.286294 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291362772083.
I0419 20:58:56.287050 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.838478, 0.532437), points=5, range=0.994, residual=0.00594598, extent=0.014641
I0419 20:58:56.287173 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.838478, 0.532437), tracking=(-1.13698, -0.532437), map_predicted=(2.45512, -1.31149), range=0.994, pts=5
I0419 20:58:56.287226 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0410083m maha_sq=0.073164 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45512, -1.31149) lm_pos=(2.415, -1.32) delta=(0.040116, 0.00850799) -> 1 candidate(s)
I0419 20:58:56.288403 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.32199, -1.87934), yaw=-178.256 deg backend=(1.94373, -1.89084)
I0419 20:58:56.306193 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291363056735.
I0419 20:58:56.337944 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.30874, 0.614896)
I0419 20:58:56.338164 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291363374525.
I0419 20:58:56.398293 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291363652160.
I0419 20:58:56.400856 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:56.400954 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:56.426034 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839238s, prior_pose=(1.29767, -1.87644), yaw=-178.428 deg
I0419 20:58:56.426149 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1190, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:58:56.426275 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.353215, -0.572541), points=18, range=0.670833, residual=0.0134391, extent=0.0435222
I0419 20:58:56.426303 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:56.426316 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.353215, -0.572541), tracking=(0.651715, -0.572541), map_predicted=(0.630495, -1.32198), range=0.670833, pts=18
I0419 20:58:56.426338 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0156209m maha_sq=0.0104546 (gate chi2=5.99) pose_sigma=(0.150742, 0.150742, rho=0) det_map=(0.630495, -1.32198) lm_pos=(0.615, -1.32) delta=(0.0154945, -0.00198278) -> 1 candidate(s)
I0419 20:58:56.426453 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291364257408.
I0419 20:58:56.427827 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:58:56.427870 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.877652, 0.537817)
I0419 20:58:56.427889 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:58:56.427915 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=134.717 rad/s > flush threshold 3.
I0419 20:58:56.453812 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291364533107.
I0419 20:58:56.525485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291364820028.
I0419 20:58:56.526046 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:56.527534 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:56.527654 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0125962 range=0.655895 variance=0.000610164 t_weight=4916.71 r_weight=0 yaml=(0.615, -1.32) prior=(1.2658, -1.87578, -178.522deg) obs_actual=(0.619493, -0.569165) obs_expected=(0.636249, -0.572381) delta=(-0.0167559, 0.00321559) |delta|=0.0170617m
I0419 20:58:56.527715 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:56.527740 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291365138740.
I0419 20:58:56.529114 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=50.4757 rad/s > flush threshold 3.
I0419 20:58:56.541973 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.72522, 1.53037), points=4, range=4.0285, residual=0.0162453, extent=0.0385892
I0419 20:58:56.542065 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.72522, 1.53037), tracking=(4.02372, 1.53037), map_predicted=(-2.73549, -3.50149), range=4.0285, pts=4
I0419 20:58:56.542096 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63974m maha_sq=290.899 (gate chi2=5.99) pose_sigma=(0.151193, 0.151193, rho=0) det_map=(-2.73549, -3.50149) lm_pos=(-0.285, -2.52) delta=(-2.45049, -0.981491) -> 0 candidate(s)
I0419 20:58:56.542179 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291365414787.
I0419 20:58:56.546370 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.916017, 0.541944)
I0419 20:58:56.546510 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:56.546538 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 20:58:56.571033 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291365701393.
I0419 20:58:56.602234 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291366015787.
I0419 20:58:56.671990 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:56.673122 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291366299857.
I0419 20:58:56.675554 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20982, 0.634253), points=4, range=1.3595, residual=0.0149626, extent=0.0341175
I0419 20:58:56.675642 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.20982, 0.634253), tracking=(1.50832, 0.634253), map_predicted=(-0.278648, -2.53692), range=1.3595, pts=4
I0419 20:58:56.675666 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0180691m maha_sq=0.0139384 (gate chi2=5.99) pose_sigma=(0.150761, 0.150761, rho=0) det_map=(-0.278648, -2.53692) lm_pos=(-0.285, -2.52) delta=(0.00635183, -0.0169159) -> 1 candidate(s)
I0419 20:58:56.675733 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291366579495.
I0419 20:58:56.676496 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.950244, 0.544902)
I0419 20:58:56.690783 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:58:56.690879 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:56.694113 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291366934588.
I0419 20:58:56.718010 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595369s, prior_pose=(1.20328, -1.87334), yaw=-178.979 deg
I0419 20:58:56.718137 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1170, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:58:56.718314 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:56.718395 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.298 deg, rms_residual=0.0101811m, sigma_yaw=0.0133929 rad, N=2
I0419 20:58:56.718472 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.1918, -1.87153, -179.298deg) inliers=2 rms=0.0101811m
I0419 20:58:56.718525 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291367174864.
I0419 20:58:56.722514 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:56.722628 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:56.782994 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291367502519.
I0419 20:58:56.784860 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291367777448.
I0419 20:58:56.786343 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.985073, 0.552276)
I0419 20:58:56.786439 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0425925, -0.635451), points=21, range=0.638476, residual=0.0120858, extent=0.0381679
I0419 20:58:56.786511 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0425925, -0.635451), tracking=(-0.341092, 0.635451), map_predicted=(1.52257, -2.50299), range=0.638476, pts=21
I0419 20:58:56.786535 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.223077m maha_sq=2.12275 (gate chi2=5.99) pose_sigma=(0.151201, 0.151201, rho=0) det_map=(1.52257, -2.50299) lm_pos=(1.745, -2.52) delta=(-0.222427, 0.0170142) -> 1 candidate(s)
I0419 20:58:56.806417 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00543865 range=0.615609 variance=0.000633664 t_weight=4734.37 r_weight=0 yaml=(0.615, -1.32) prior=(1.17289, -1.87222, -179.223deg) obs_actual=(0.540242, -0.564782) obs_expected=(0.550356, -0.559733) delta=(-0.010114, -0.00504875) |delta|=0.0113041m
I0419 20:58:56.806553 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291368058356.
I0419 20:58:56.839062 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291368383948.
I0419 20:58:56.839948 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:56.840013 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:56.866076 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291368654943.
I0419 20:58:56.928040 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291368960492.
I0419 20:58:56.928751 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.02007, 0.559614)
I0419 20:58:56.930810 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.21243, -0.56302), points=22, range=0.601636, residual=0.013188, extent=0.0457327
I0419 20:58:56.930910 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.21243, -0.56302), tracking=(0.51093, -0.56302), map_predicted=(0.621081, -1.31305), range=0.601636, pts=22
I0419 20:58:56.930941 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00923351m maha_sq=0.0036627 (gate chi2=5.99) pose_sigma=(0.150563, 0.150563, rho=0) det_map=(0.621081, -1.31305) lm_pos=(0.615, -1.32) delta=(0.00608091, 0.0069484) -> 1 candidate(s)
I0419 20:58:56.931016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291369251907.
I0419 20:58:56.954528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291369538209.
I0419 20:58:56.956171 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=267.025 rad/s > flush threshold 3.
I0419 20:58:56.981958 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:56.982052 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:57.055579 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598683s, prior_pose=(1.12151, -1.87588), yaw=-179.797 deg
I0419 20:58:57.055775 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1151, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 20:58:57.055951 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:57.056039 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291370137028.
I0419 20:58:57.056835 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:57.056902 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.04728, 0.566635)
I0419 20:58:57.056941 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:57.058367 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291370432949.
I0419 20:58:57.059948 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.126648, -0.631837), points=20, range=0.6461, residual=0.0118847, extent=0.0367445
I0419 20:58:57.060053 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.126648, -0.631837), tracking=(-0.425148, 0.631837), map_predicted=(1.52653, -2.50701), range=0.6461, pts=20
I0419 20:58:57.060101 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.218858m maha_sq=2.03479 (gate chi2=5.99) pose_sigma=(0.151536, 0.151536, rho=0) det_map=(1.52653, -2.50701) lm_pos=(1.745, -2.52) delta=(-0.218473, 0.0129857) -> 1 candidate(s)
I0419 20:58:57.060139 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=238.222 rad/s > flush threshold 3.
I0419 20:58:57.071123 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291370701416.
I0419 20:58:57.098451 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291370978388.
I0419 20:58:57.130367 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:57.130497 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0154431 range=0.575792 variance=0.000606483 t_weight=4946.55 r_weight=0 yaml=(0.615, -1.32) prior=(1.0895, -1.87555, 179.98deg) obs_actual=(0.455817, -0.554517) obs_expected=(0.474687, -0.555388) delta=(-0.01887, 0.000871096) |delta|=0.0188901m
I0419 20:58:57.130571 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:57.130591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291371297660.
I0419 20:58:57.189510 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.07892, 0.571634)
I0419 20:58:57.189651 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:57.190994 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291371624272.
I0419 20:58:57.191668 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08947, 0.575208), points=4, range=1.2285, residual=0.0091449, extent=0.0218114
I0419 20:58:57.191735 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.08947, 0.575208), tracking=(-1.38797, -0.575208), map_predicted=(2.45888, -1.31766), range=1.2285, pts=4
I0419 20:58:57.191758 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0439439m maha_sq=0.0837907 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45888, -1.31766) lm_pos=(2.415, -1.32) delta=(0.0438818, 0.00233555) -> 1 candidate(s)
I0419 20:58:57.191789 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:57.192984 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.05688, -1.88066), yaw=179.563 deg backend=(1.13708, -1.87328)
I0419 20:58:57.193967 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291371899544.
I0419 20:58:57.194628 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:57.219059 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291372182153.
I0419 20:58:57.246419 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291372454025.
I0419 20:58:57.250752 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.11103, 0.580398)
I0419 20:58:57.347666 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:57.347786 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:57.347872 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291372780823.
I0419 20:58:57.348511 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12198, 0.579927), points=4, range=1.262, residual=0.00526082, extent=0.0110366
I0419 20:58:57.348559 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.12198, 0.579927), tracking=(-1.42048, -0.579927), map_predicted=(2.45666, -1.31344), range=1.262, pts=4
I0419 20:58:57.348583 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0421704m maha_sq=0.0773446 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45666, -1.31344) lm_pos=(2.415, -1.32) delta=(0.041657, 0.00656034) -> 1 candidate(s)
I0419 20:58:57.349707 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845833s, prior_pose=(1.02888, -1.87516), yaw=179.268 deg
I0419 20:58:57.349768 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1124, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:58:57.349888 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:57.349958 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291373062194.
I0419 20:58:57.351203 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:57.351250 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:57.352567 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.404 deg, rms_residual=0.00347793m, sigma_yaw=0.00461584 rad, N=2
I0419 20:58:57.352626 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.00023, -1.87688, 178.404deg) inliers=2 rms=0.00347793m
I0419 20:58:57.352656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291373381609.
I0419 20:58:57.367108 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291373661403.
I0419 20:58:57.368464 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.663503, -0.19654)
I0419 20:58:57.396188 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291373938525.
I0419 20:58:57.493165 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15385, 0.58791), points=4, range=1.292, residual=0.00765768, extent=0.0171938
I0419 20:58:57.493261 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15385, 0.58791), tracking=(-1.45235, -0.58791), map_predicted=(2.44691, -1.31265), range=1.292, pts=4
I0419 20:58:57.493290 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0327439m maha_sq=0.0456535 (gate chi2=5.99) pose_sigma=(0.151523, 0.151523, rho=0) det_map=(2.44691, -1.31265) lm_pos=(2.415, -1.32) delta=(0.0319075, 0.00735348) -> 1 candidate(s)
I0419 20:58:57.494689 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00138895 range=0.55225 variance=0.000569817 t_weight=5264.85 r_weight=0 yaml=(0.615, -1.32) prior=(0.982727, -1.87045, 178.817deg) obs_actual=(0.375413, -0.547182) obs_expected=(0.379012, -0.542741) delta=(-0.00359904, -0.00444159) |delta|=0.00571671m
I0419 20:58:57.494834 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291374255227.
I0419 20:58:57.495512 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:57.497519 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291374535846.
I0419 20:58:57.499308 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.929179, 0.690629)
I0419 20:58:57.499449 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291374815042.
I0419 20:58:57.500937 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:58:57.515100 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291375137115.
I0419 20:58:57.516577 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18316, 0.594211), points=4, range=1.32275, residual=0.00590806, extent=0.0115581
I0419 20:58:57.516690 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18316, 0.594211), tracking=(-1.48166, -0.594211), map_predicted=(2.45356, -1.31492), range=1.32275, pts=4
I0419 20:58:57.516744 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0388985m maha_sq=0.0657763 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45356, -1.31492) lm_pos=(2.415, -1.32) delta=(0.0385648, 0.00508419) -> 1 candidate(s)
I0419 20:58:57.620016 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291375416980.
I0419 20:58:57.622038 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:57.622150 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:57.622242 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291375694093.
I0419 20:58:57.624711 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597809s, prior_pose=(0.928006, -1.86951), yaw=178.326 deg
I0419 20:58:57.624810 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 20:58:57.624917 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.895334, 0.701109)
I0419 20:58:57.624951 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:57.625027 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291376014789.
I0419 20:58:57.625653 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:57.625700 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:57.630332 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291376294248.
I0419 20:58:57.663089 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.30676, 1.73976), points=3, range=3.73667, residual=0.0107935, extent=0.0220944
I0419 20:58:57.663300 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.30676, 1.73976), tracking=(3.60526, 1.73976), map_predicted=(-2.73488, -3.49696), range=3.73667, pts=3
I0419 20:58:57.663365 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63749m maha_sq=297.401 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73488, -3.49696) lm_pos=(-0.285, -2.52) delta=(-2.44988, -0.976962) -> 0 candidate(s)
I0419 20:58:57.663609 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291376621253.
I0419 20:58:57.753477 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=43.7472 rad/s > flush threshold 3.
I0419 20:58:57.754856 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291376897787.
I0419 20:58:57.757439 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.851009, 0.705596)
I0419 20:58:57.757593 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:57.757620 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0197701 range=0.544577 variance=0.000585049 t_weight=5127.77 r_weight=0 yaml=(0.615, -1.32) prior=(0.906177, -1.86715, 178.077deg) obs_actual=(0.289018, -0.543976) obs_expected=(0.309376, -0.537071) delta=(-0.0203583, -0.00690459) |delta|=0.0214973m
I0419 20:58:57.757686 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:57.757710 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291377172423.
I0419 20:58:57.758354 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:57.759579 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291377454944.
I0419 20:58:57.760927 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:58:57.778945 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291377777165.
I0419 20:58:57.780382 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.370809, -0.625288), points=15, range=0.726467, residual=0.0112357, extent=0.0359128
I0419 20:58:57.780500 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.370809, -0.625288), tracking=(-0.669309, 0.625288), map_predicted=(1.53452, -2.51458), range=0.726467, pts=15
I0419 20:58:57.780556 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210554m maha_sq=1.92214 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53452, -2.51458) lm_pos=(1.745, -2.52) delta=(-0.210484, 0.00541949) -> 1 candidate(s)
I0419 20:58:57.873996 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:58:57.874128 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291378055667.
I0419 20:58:57.876287 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.816932, 0.707683)
I0419 20:58:57.876487 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291378380144.
I0419 20:58:57.878041 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.4391 rad/s > flush threshold 3.
I0419 20:58:57.879391 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:57.879460 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:57.879563 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291378621748.
I0419 20:58:57.893760 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554s, prior_pose=(0.846354, -1.86373), yaw=177.911 deg
I0419 20:58:57.893855 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1068, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 20:58:57.894023 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:57.894145 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291378934381.
I0419 20:58:57.898324 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:57.898399 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:57.922195 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.22648, 1.74576), points=3, range=3.66967, residual=0.0110449, extent=0.0227897
I0419 20:58:57.922286 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.22648, 1.74576), tracking=(3.52498, 1.74576), map_predicted=(-2.73992, -3.47983), range=3.66967, pts=3
I0419 20:58:57.922322 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63589m maha_sq=297.128 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73992, -3.47983) lm_pos=(-0.285, -2.52) delta=(-2.45492, -0.959834) -> 0 candidate(s)
I0419 20:58:57.922389 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.532 deg, rms_residual=0.00676886m, sigma_yaw=0.00894443 rad, N=2
I0419 20:58:57.922457 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.828206, -1.86635, 177.532deg) inliers=2 rms=0.00676886m
I0419 20:58:57.922494 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291379215588.
I0419 20:58:58.004365 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:58.004385 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.781896, 0.705686)
I0419 20:58:58.004698 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291379540176.
I0419 20:58:58.009125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291379819599.
I0419 20:58:58.012349 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0134779 range=0.551417 variance=0.000564576 t_weight=5313.72 r_weight=0 yaml=(0.615, -1.32) prior=(0.818702, -1.86477, 177.995deg) obs_actual=(0.205988, -0.543107) obs_expected=(0.222638, -0.537305) delta=(-0.0166491, -0.00580239) |delta|=0.0176313m
I0419 20:58:58.012509 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291380098275.
I0419 20:58:58.014887 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:58.042574 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291380417188.
I0419 20:58:58.113559 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.795583, -1.8642), yaw=177.957 deg backend=(0.876579, -1.86203)
I0419 20:58:58.114538 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.744781, 0.704605)
I0419 20:58:58.114643 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.116364, -0.543454), points=24, range=0.555417, residual=0.0118443, extent=0.0371249
I0419 20:58:58.114674 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.116364, -0.543454), tracking=(0.182136, -0.543454), map_predicted=(0.632933, -1.3146), range=0.555417, pts=24
I0419 20:58:58.114701 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0187286m maha_sq=0.0150962 (gate chi2=5.99) pose_sigma=(0.150539, 0.150539, rho=0) det_map=(0.632933, -1.3146) lm_pos=(0.615, -1.32) delta=(0.017933, 0.0054009) -> 1 candidate(s)
I0419 20:58:58.114779 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291380696504.
I0419 20:58:58.116554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291380974536.
I0419 20:58:58.117877 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:58.130568 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291381299510.
I0419 20:58:58.158650 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:58.158790 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:58.158916 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291381578983.
I0419 20:58:58.190862 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088407s, prior_pose=(0.768131, -1.86244), yaw=178.017 deg
I0419 20:58:58.190968 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1035, max_intensity=254, threshold=230, above_threshold=33, candidates=33
I0419 20:58:58.191103 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.14658, 1.74417)
I0419 20:58:58.191144 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:58.191241 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291381902073.
I0419 20:58:58.251123 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:58.251222 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:58.251250 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.485845, -0.636966), points=15, range=0.803133, residual=0.0124715, extent=0.0359268
I0419 20:58:58.251272 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.485845, -0.636966), tracking=(-0.784345, 0.636966), map_predicted=(1.51183, -2.52238), range=0.803133, pts=15
I0419 20:58:58.251295 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.233182m maha_sq=2.31143 (gate chi2=5.99) pose_sigma=(0.151418, 0.151418, rho=0) det_map=(1.51183, -2.52238) lm_pos=(1.745, -2.52) delta=(-0.23317, -0.00238496) -> 1 candidate(s)
I0419 20:58:58.251317 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=60.0808 rad/s > flush threshold 3.
I0419 20:58:58.252600 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291382172328.
I0419 20:58:58.255023 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291382456512.
I0419 20:58:58.278278 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291382776441.
I0419 20:58:58.280462 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.3417 rad/s > flush threshold 3.
I0419 20:58:58.308421 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.11355, 1.73773)
I0419 20:58:58.308573 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:58:58.308605 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0106238 range=0.571864 variance=0.000565036 t_weight=5309.39 r_weight=0 yaml=(0.615, -1.32) prior=(0.722351, -1.86018, 178.135deg) obs_actual=(0.10967, -0.540628) obs_expected=(0.124873, -0.536399) delta=(-0.0152031, -0.00422989) |delta|=0.0157806m
I0419 20:58:58.308657 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:58:58.308673 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291383079299.
I0419 20:58:58.310567 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:58.374148 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291383333591.
I0419 20:58:58.374987 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.531268, -0.640604), points=14, range=0.836357, residual=0.0147283, extent=0.0419939
I0419 20:58:58.375087 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.531268, -0.640604), tracking=(-0.829768, 0.640604), map_predicted=(1.52079, -2.52595), range=0.836357, pts=14
I0419 20:58:58.375115 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.224288m maha_sq=2.17213 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52079, -2.52595) lm_pos=(1.745, -2.52) delta=(-0.224209, -0.00595152) -> 1 candidate(s)
I0419 20:58:58.375145 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:58.376283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291383614176.
I0419 20:58:58.392073 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291383912138.
I0419 20:58:58.421689 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.642997, 0.701615)
I0419 20:58:58.421892 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291384211678.
I0419 20:58:58.425951 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:58:58.450552 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:58.450650 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:58.450748 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291384500541.
I0419 20:58:58.514164 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607297s, prior_pose=(0.667644, -1.85633), yaw=178.39 deg
I0419 20:58:58.514274 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=995, max_intensity=254, threshold=230, above_threshold=36, candidates=36
I0419 20:58:58.514429 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:58:58.514518 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291384818975.
I0419 20:58:58.515268 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:58.515326 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:58:58.515352 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.578102, -0.651449), points=12, range=0.87325, residual=0.012215, extent=0.0365642
I0419 20:58:58.515374 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.578102, -0.651449), tracking=(-0.876602, 0.651449), map_predicted=(1.5256, -2.53215), range=0.87325, pts=12
I0419 20:58:58.515395 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.219739m maha_sq=2.09087 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.5256, -2.53215) lm_pos=(1.745, -2.52) delta=(-0.219402, -0.0121546) -> 1 candidate(s)
I0419 20:58:58.517369 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.911 deg, rms_residual=0.00425464m, sigma_yaw=0.00564086 rad, N=2
I0419 20:58:58.517474 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.649625, -1.85926, 177.911deg) inliers=2 rms=0.00425464m
I0419 20:58:58.517509 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291385093001.
I0419 20:58:58.539609 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:58:58.541855 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291385412014.
I0419 20:58:58.543738 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.597413, -0.653776)
I0419 20:58:58.543831 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.5913 rad/s > flush threshold 3.
I0419 20:58:58.570690 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291385701203.
I0419 20:58:58.645360 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00314876 range=0.602714 variance=0.000576475 t_weight=5204.04 r_weight=0 yaml=(0.615, -1.32) prior=(0.634235, -1.85982, 178.407deg) obs_actual=(0.0256736, -0.539329) obs_expected=(0.0342311, -0.539077) delta=(-0.00855751, -0.000252431) |delta|=0.00856123m
I0419 20:58:58.645520 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291385983811.
I0419 20:58:58.646206 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:58.647392 1218972 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 35 -> 33 (threshold=0.03, iters=3)
I0419 20:58:58.647554 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291386254702.
I0419 20:58:58.649036 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.624002, -0.655569), points=12, range=0.902667, residual=0.0129362, extent=0.0416258
I0419 20:58:58.649156 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.624002, -0.655569), tracking=(-0.922502, 0.655569), map_predicted=(1.51986, -2.53808), range=0.902667, pts=12
I0419 20:58:58.649184 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.225865m maha_sq=2.16754 (gate chi2=5.99) pose_sigma=(0.151404, 0.151404, rho=0) det_map=(1.51986, -2.53808) lm_pos=(1.745, -2.52) delta=(-0.22514, -0.0180841) -> 1 candidate(s)
I0419 20:58:58.658169 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.576463, 0.695122)
I0419 20:58:58.658361 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291386576244.
I0419 20:58:58.686694 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291386858939.
I0419 20:58:58.718784 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291387181863.
I0419 20:58:58.791718 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=72.7341 rad/s > flush threshold 3.
I0419 20:58:58.793131 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:58.793231 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:58.793984 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=31, centroid=(-0.291225, 0.535543)
I0419 20:58:58.795885 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559905s, prior_pose=(0.580515, -1.85745), yaw=178.628 deg
I0419 20:58:58.795990 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=955, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:58:58.796072 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.99863, 1.70808), points=3, range=3.451, residual=0.00893413, extent=0.0212541
I0419 20:58:58.796100 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:58.796114 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.99863, 1.70808), tracking=(3.29713, 1.70808), map_predicted=(-2.75657, -3.4861), range=3.451, pts=3
I0419 20:58:58.796133 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.65368m maha_sq=295.558 (gate chi2=5.99) pose_sigma=(0.151735, 0.151735, rho=0) det_map=(-2.75657, -3.4861) lm_pos=(-0.285, -2.52) delta=(-2.47157, -0.9661) -> 0 candidate(s)
I0419 20:58:58.796860 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=44, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:58.796927 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:58.834199 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:58.909569 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.504827, 0.690563)
I0419 20:58:58.911252 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:58.922207 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.95689, 1.70716), points=4, range=3.41025, residual=0.0151443, extent=0.0358396
I0419 20:58:58.922302 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.95689, 1.70716), tracking=(3.25539, 1.70716), map_predicted=(-2.72977, -3.49123), range=3.41025, pts=4
I0419 20:58:58.922333 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.63063m maha_sq=283.79 (gate chi2=5.99) pose_sigma=(0.153101, 0.153101, rho=0) det_map=(-2.72977, -3.49123) lm_pos=(-0.285, -2.52) delta=(-2.44477, -0.971228) -> 0 candidate(s)
I0419 20:58:58.929510 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.551608, -1.85602), yaw=178.767 deg backend=(0.577807, -1.84213)
I0419 20:58:59.082878 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.462098, 0.687209)
I0419 20:58:59.082990 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:59.083012 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:59.084698 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872328s, prior_pose=(0.534253, -1.85323), yaw=178.873 deg
I0419 20:58:59.084823 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=898, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:58:59.084889 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.9156, 1.68334), points=4, range=3.3705, residual=0.016404, extent=0.0399135
I0419 20:58:59.084914 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:59.084925 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.9156, 1.68334), tracking=(3.2141, 1.68334), map_predicted=(-2.71233, -3.47304), range=3.3705, pts=4
I0419 20:58:59.084944 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.60773m maha_sq=271.331 (gate chi2=5.99) pose_sigma=(0.155191, 0.155191, rho=0) det_map=(-2.71233, -3.47304) lm_pos=(-0.285, -2.52) delta=(-2.42733, -0.95304) -> 0 candidate(s)
I0419 20:58:59.090480 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:59.090593 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:59.176069 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:59.186373 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.89253, 1.68689)
I0419 20:58:59.191067 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:58:59.215128 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.88102, 1.68579), points=4, range=3.3325, residual=0.0169203, extent=0.0396635
I0419 20:58:59.215284 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.88102, 1.68579), tracking=(3.17952, 1.68579), map_predicted=(-2.73041, -3.48544), range=3.3325, pts=4
I0419 20:58:59.215477 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.62909m maha_sq=261.868 (gate chi2=5.99) pose_sigma=(0.159394, 0.159394, rho=0) det_map=(-2.73041, -3.48544) lm_pos=(-0.285, -2.52) delta=(-2.44541, -0.965445) -> 0 candidate(s)
I0419 20:58:59.335752 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.85321, 1.66952)
I0419 20:58:59.335837 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:58:59.335860 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:59.362401 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598415s, prior_pose=(0.435227, -1.8503), yaw=179.371 deg
I0419 20:58:59.362830 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=848, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 20:58:59.363003 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85225, 1.66895), points=4, range=3.307, residual=0.0133879, extent=0.0329897
I0419 20:58:59.363051 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:59.363075 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85225, 1.66895), tracking=(3.15075, 1.66895), map_predicted=(-2.73365, -3.48457), range=3.307, pts=4
I0419 20:58:59.363114 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.63179m maha_sq=254.712 (gate chi2=5.99) pose_sigma=(0.162219, 0.162219, rho=0) det_map=(-2.73365, -3.48457) lm_pos=(-0.285, -2.52) delta=(-2.44865, -0.964572) -> 0 candidate(s)
I0419 20:58:59.367056 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:58:59.367189 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:58:59.478996 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:58:59.479494 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:59.482267 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.82444, 1.65822)
I0419 20:58:59.486937 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:59.509960 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.330962, 0.681078), points=16, range=0.758812, residual=0.0118383, extent=0.0375521
I0419 20:58:59.510089 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.330962, 0.681078), tracking=(0.629462, 0.681078), map_predicted=(-0.229298, -2.52261), range=0.758812, pts=16
I0419 20:58:59.510144 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0557632m maha_sq=0.112687 (gate chi2=5.99) pose_sigma=(0.164362, 0.164362, rho=0) det_map=(-0.229298, -2.52261) lm_pos=(-0.285, -2.52) delta=(0.0557023, -0.00260586) -> 1 candidate(s)
I0419 20:58:59.624962 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.7899, 1.64888)
I0419 20:58:59.627637 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:59.627722 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:59.705296 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563536s, prior_pose=(0.360229, -1.84179), yaw=179.894 deg
I0419 20:58:59.705402 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=790, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:58:59.705513 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:59.706166 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:59.706208 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:59.706233 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00686734, 0.524048), points=27, range=0.524481, residual=0.0126701, extent=0.0400748
I0419 20:58:59.706251 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00686734, 0.524048), tracking=(-0.305367, -0.524048), map_predicted=(0.666568, -1.31831), range=0.524481, pts=27
I0419 20:58:59.706272 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0515962m maha_sq=0.092908 (gate chi2=5.99) pose_sigma=(0.167516, 0.167516, rho=0) det_map=(0.666568, -1.31831) lm_pos=(0.615, -1.32) delta=(0.0515685, 0.00169207) -> 1 candidate(s)
I0419 20:58:59.714440 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:58:59.742463 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.75093, 1.63666)
I0419 20:58:59.878737 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:58:59.881609 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.306497, -1.83787), yaw=-179.84 deg backend=(0.332696, -1.82398)
I0419 20:58:59.882340 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.45037, -2.02035), points=3, range=4.88767, residual=0.0139096, extent=0.0287056
I0419 20:58:59.882395 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.45037, -2.02035), tracking=(4.74887, -2.02035), map_predicted=(-4.44799, 0.169224), range=4.88767, pts=3
I0419 20:58:59.882421 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95605m maha_sq=805.422 (gate chi2=5.99) pose_sigma=(0.171116, 0.171116, rho=0) det_map=(-4.44799, 0.169224) lm_pos=(-0.285, -2.52) delta=(-4.16299, 2.68922) -> 0 candidate(s)
I0419 20:58:59.890733 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.71461, 1.63113)
I0419 20:58:59.963212 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:58:59.963361 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:58:59.965139 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839938s, prior_pose=(0.279647, -1.8447), yaw=-179.77 deg
I0419 20:58:59.965262 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=711, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:58:59.965355 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:58:59.966814 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:58:59.966892 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:58:59.977926 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.197677, 0.678346), points=19, range=0.707, residual=0.0125705, extent=0.0391586
I0419 20:58:59.978045 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.197677, 0.678346), tracking=(0.496177, 0.678346), map_predicted=(-0.228291, -2.52567), range=0.707, pts=19
I0419 20:58:59.978078 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0569915m maha_sq=0.105215 (gate chi2=5.99) pose_sigma=(0.173997, 0.173997, rho=0) det_map=(-0.228291, -2.52567) lm_pos=(-0.285, -2.52) delta=(0.0567089, -0.00566823) -> 1 candidate(s)
I0419 20:59:00.009729 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:00.038280 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.67864, 1.62544)
I0419 20:59:00.147923 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:00.152920 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.146956, 0.518047), points=25, range=0.53892, residual=0.0121645, extent=0.0391288
I0419 20:59:00.153002 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.146956, 0.518047), tracking=(-0.445456, -0.518047), map_predicted=(0.651637, -1.31728), range=0.53892, pts=25
I0419 20:59:00.153028 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0367382m maha_sq=0.0421144 (gate chi2=5.99) pose_sigma=(0.177393, 0.177393, rho=0) det_map=(0.651637, -1.31728) lm_pos=(0.615, -1.32) delta=(0.0366374, 0.00271939) -> 1 candidate(s)
I0419 20:59:00.258610 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.63588, 1.62585)
I0419 20:59:00.260579 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:00.260694 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:00.263278 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559333s, prior_pose=(0.181703, -1.84146), yaw=-179.412 deg
I0419 20:59:00.263396 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=625, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:59:00.263491 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:00.264245 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:00.264294 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:00.302279 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.59859, 1.6133), points=4, range=3.06075, residual=0.0140298, extent=0.0327551
I0419 20:59:00.302474 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.59859, 1.6133), tracking=(2.89709, 1.6133), map_predicted=(-2.70898, -3.48327), range=3.06075, pts=4
I0419 20:59:00.302538 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.60837m maha_sq=204.786 (gate chi2=5.99) pose_sigma=(0.179908, 0.179908, rho=0) det_map=(-2.70898, -3.48327) lm_pos=(-0.285, -2.52) delta=(-2.42398, -0.963267) -> 0 candidate(s)
I0419 20:59:00.302594 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:00.420040 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.59307, 1.62558)
I0419 20:59:00.424085 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:00.511196 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0621222, 0.676091), points=19, range=0.680211, residual=0.0114802, extent=0.0360718
I0419 20:59:00.511341 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0621222, 0.676091), tracking=(0.360622, 0.676091), map_predicted=(-0.237103, -2.51619), range=0.680211, pts=19
I0419 20:59:00.511375 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0480479m maha_sq=0.0674506 (gate chi2=5.99) pose_sigma=(0.183462, 0.183462, rho=0) det_map=(-0.237103, -2.51619) lm_pos=(-0.285, -2.52) delta=(0.0478969, 0.0038072) -> 1 candidate(s)
I0419 20:59:00.513695 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.54403, 1.62594)
I0419 20:59:00.518775 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:00.518921 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:00.538515 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562067s, prior_pose=(0.0903834, -1.83677), yaw=-179.455 deg
I0419 20:59:00.538667 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=564, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:59:00.538903 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:00.542122 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:00.542217 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:00.681032 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0176282, 0.673316), points=19, range=0.675947, residual=0.0121416, extent=0.0365154
I0419 20:59:00.681151 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0176282, 0.673316), tracking=(0.316128, 0.673316), map_predicted=(-0.232334, -2.51566), range=0.675947, pts=19
I0419 20:59:00.681176 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0528447m maha_sq=0.0794757 (gate chi2=5.99) pose_sigma=(0.185886, 0.185886, rho=0) det_map=(-0.232334, -2.51566) lm_pos=(-0.285, -2.52) delta=(0.0526662, 0.00433981) -> 1 candidate(s)
I0419 20:59:00.681195 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:00.683796 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.20569, -2.03614)
I0419 20:59:00.687109 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:00.799904 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.0396163, -1.83845), yaw=-179.426 deg backend=(0.0699083, -1.82529)
I0419 20:59:00.801142 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.47337, 1.63193)
I0419 20:59:00.807524 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0306266, 0.67862), points=18, range=0.679389, residual=0.0107738, extent=0.0354933
I0419 20:59:00.807632 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.0306266, 0.67862), tracking=(0.267873, 0.67862), map_predicted=(-0.221442, -2.51972), range=0.679389, pts=18
I0419 20:59:00.807662 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0635587m maha_sq=0.112363 (gate chi2=5.99) pose_sigma=(0.188148, 0.188148, rho=0) det_map=(-0.221442, -2.51972) lm_pos=(-0.285, -2.52) delta=(0.063558, 0.000281166) -> 1 candidate(s)
I0419 20:59:00.813107 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(4.15452, -2.04878)
I0419 20:59:00.813201 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:00.813225 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:00.830257 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845621s, prior_pose=(0.0136498, -1.8387), yaw=-179.477 deg
I0419 20:59:00.830355 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=501, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:59:00.830503 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:00.934978 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:59:00.935124 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 20:59:00.935880 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:00.938921 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.423, 1.62414)
I0419 20:59:00.939035 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:00.939747 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.375852, 0.514073), points=18, range=0.639056, residual=0.0121885, extent=0.0423228
I0419 20:59:00.939810 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.375852, 0.514073), tracking=(-0.674352, -0.514073), map_predicted=(0.653533, -1.31769), range=0.639056, pts=18
I0419 20:59:00.939837 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0386023m maha_sq=0.040027 (gate chi2=5.99) pose_sigma=(0.191428, 0.191428, rho=0) det_map=(0.653533, -1.31769) lm_pos=(0.615, -1.32) delta=(0.0385332, 0.00230903) -> 1 candidate(s)
I0419 20:59:00.951951 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:01.046643 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.37728, 1.62878)
I0419 20:59:01.047299 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.42394, 0.514192), points=15, range=0.668667, residual=0.0116731, extent=0.0364563
I0419 20:59:01.047356 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.42394, 0.514192), tracking=(-0.72244, -0.514192), map_predicted=(0.662636, -1.32063), range=0.668667, pts=15
I0419 20:59:01.047384 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0476401m maha_sq=0.0595482 (gate chi2=5.99) pose_sigma=(0.193755, 0.193755, rho=0) det_map=(0.662636, -1.32063) lm_pos=(0.615, -1.32) delta=(0.0476359, -0.000630746) -> 1 candidate(s)
I0419 20:59:01.094173 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:01.094267 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:01.169871 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0583772s, prior_pose=(-0.0861312, -1.83857), yaw=-179.405 deg
I0419 20:59:01.170032 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=493, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:59:01.170152 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:01.170847 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:01.170929 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:01.188489 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(4.04325, -2.05275)
I0419 20:59:01.188692 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:01.215169 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.3275, 1.61467), points=5, range=2.8342, residual=0.0149076, extent=0.0385261
I0419 20:59:01.215267 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.3275, 1.61467), tracking=(2.626, 1.61467), map_predicted=(-2.7182, -3.48473), range=2.8342, pts=5
I0419 20:59:01.215299 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.61747m maha_sq=172.671 (gate chi2=5.99) pose_sigma=(0.197052, 0.197052, rho=0) det_map=(-2.7182, -3.48473) lm_pos=(-0.285, -2.52) delta=(-2.4332, -0.964728) -> 0 candidate(s)
I0419 20:59:01.331713 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:01.338682 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.98077, -2.05025)
I0419 20:59:01.362039 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.28595, 1.62554), points=5, range=2.8012, residual=0.0154971, extent=0.0387264
I0419 20:59:01.362231 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.28595, 1.62554), tracking=(2.58445, 1.62554), map_predicted=(-2.71043, -3.49519), range=2.8012, pts=5
I0419 20:59:01.362288 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61414m maha_sq=168.81 (gate chi2=5.99) pose_sigma=(0.199049, 0.199049, rho=0) det_map=(-2.71043, -3.49519) lm_pos=(-0.285, -2.52) delta=(-2.42543, -0.975187) -> 0 candidate(s)
I0419 20:59:01.452135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291413612800.
I0419 20:59:01.453490 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:01.453600 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:01.453639 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=1, buffered=1).
I0419 20:59:01.454500 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291413937136.
I0419 20:59:01.456373 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561995s, prior_pose=(-0.183413, -1.8436), yaw=-179.363 deg
I0419 20:59:01.456497 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=488, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 20:59:01.456607 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:01.457346 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:59:01.457417 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.389983, -0.683329)
I0419 20:59:01.457440 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=2
I0419 20:59:01.457592 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291414219223.
I0419 20:59:01.460415 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291414492747.
I0419 20:59:01.477749 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.25375, 1.61257), points=5, range=2.7732, residual=0.0164735, extent=0.0420224
I0419 20:59:01.477833 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.25375, 1.61257), tracking=(2.55225, 1.61257), map_predicted=(-2.73615, -3.48726), range=2.7732, pts=5
I0419 20:59:01.477860 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6351m maha_sq=296.886 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73615, -3.48726) lm_pos=(-0.285, -2.52) delta=(-2.45115, -0.967262) -> 0 candidate(s)
I0419 20:59:01.482084 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=12, centroid=(0.56668, 0.508623)
I0419 20:59:01.482256 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291414816162.
I0419 20:59:01.549427 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:01.549530 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00292125 range=0.7779 variance=0.000616044 t_weight=4869.78 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.222718, -1.84243, -179.295deg) obs_actual=(0.0681305, 0.68466) obs_expected=(0.0706204, 0.676751) delta=(-0.00248983, 0.00790896) |delta|=0.00829162m
I0419 20:59:01.549589 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:01.549604 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291415092896.
I0419 20:59:01.552412 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:01.552515 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.65537 rad/s > flush threshold 3.
I0419 20:59:01.552625 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291415380700.
I0419 20:59:01.570339 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.550573, -0.269514)
I0419 20:59:01.570536 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291415697968.
I0419 20:59:01.572881 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.253613, -1.84266), yaw=-179.283 deg backend=(-0.166961, -1.82765)
I0419 20:59:01.594741 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.21791, 1.62625), points=5, range=2.7472, residual=0.0144302, extent=0.0376844
I0419 20:59:01.594841 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.21791, 1.62625), tracking=(2.51641, 1.62625), map_predicted=(-2.74946, -3.50028), range=2.7472, pts=5
I0419 20:59:01.594869 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65227m maha_sq=297.562 (gate chi2=5.99) pose_sigma=(0.151058, 0.151058, rho=0) det_map=(-2.74946, -3.50028) lm_pos=(-0.285, -2.52) delta=(-2.46446, -0.980283) -> 0 candidate(s)
I0419 20:59:01.594902 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:01.597918 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291415974038.
I0419 20:59:01.718072 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=24.5628 rad/s > flush threshold 3.
I0419 20:59:01.718219 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291416261790.
I0419 20:59:01.720139 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.55612, -0.267245)
I0419 20:59:01.720249 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291416580169.
I0419 20:59:01.722539 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:01.722612 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:01.722642 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 20:59:01.723462 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291416859752.
I0419 20:59:01.724555 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838586s, prior_pose=(-0.283179, -1.84391), yaw=-179.238 deg
I0419 20:59:01.724620 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=493, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 20:59:01.724731 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.18047, 1.62331), points=6, range=2.715, residual=0.0171271, extent=0.0441727
I0419 20:59:01.724757 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:01.724771 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.18047, 1.62331), tracking=(2.47897, 1.62331), map_predicted=(-2.74035, -3.50003), range=2.715, pts=6
I0419 20:59:01.724788 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64371m maha_sq=298.651 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74035, -3.50003) lm_pos=(-0.285, -2.52) delta=(-2.45535, -0.980027) -> 0 candidate(s)
I0419 20:59:01.726749 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:01.726814 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:01.726867 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.685 deg, rms_residual=0.00353267m, sigma_yaw=0.00468814 rad, N=2
I0419 20:59:01.726908 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.304711, -1.84674, -178.685deg) inliers=2 rms=0.00353267m
I0419 20:59:01.726941 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291417178452.
I0419 20:59:01.746423 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.645413, 0.50721)
I0419 20:59:01.746978 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291417457661.
I0419 20:59:01.837061 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291417733185.
I0419 20:59:01.840111 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.4283 rad/s > flush threshold 3.
I0419 20:59:01.840240 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000149631 range=0.72875 variance=0.000553517 t_weight=5419.89 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.327006, -1.8441, -179.289deg) obs_actual=(-0.0318411, 0.676945) obs_expected=(-0.0336209, 0.676371) delta=(0.00177981, 0.000574159) |delta|=0.00187013m
I0419 20:59:01.840312 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291418022977.
I0419 20:59:01.841698 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.1452, 1.62633), points=4, range=2.69325, residual=0.0109434, extent=0.0263717
I0419 20:59:01.841768 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.1452, 1.62633), tracking=(2.4437, 1.62633), map_predicted=(-2.75035, -3.50061), range=2.69325, pts=4
I0419 20:59:01.841794 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65321m maha_sq=303.087 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.75035, -3.50061) lm_pos=(-0.285, -2.52) delta=(-2.46535, -0.980611) -> 0 candidate(s)
I0419 20:59:01.842558 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:01.842667 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291418337177.
I0419 20:59:01.866847 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.82744, -2.05658)
I0419 20:59:01.868433 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291418660523.
I0419 20:59:02.003643 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291418932696.
I0419 20:59:02.004786 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-0.317287, 0.547738)
I0419 20:59:02.005612 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291419223426.
I0419 20:59:02.007524 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.10875, 1.63278), points=5, range=2.664, residual=0.0141842, extent=0.0363317
I0419 20:59:02.007587 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.10875, 1.63278), tracking=(2.40725, 1.63278), map_predicted=(-2.74906, -3.50887), range=2.664, pts=5
I0419 20:59:02.007614 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65508m maha_sq=299.378 (gate chi2=5.99) pose_sigma=(0.150809, 0.150809, rho=0) det_map=(-2.74906, -3.50887) lm_pos=(-0.285, -2.52) delta=(-2.46406, -0.988867) -> 0 candidate(s)
I0419 20:59:02.008303 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291419494409.
I0419 20:59:02.009509 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:02.009563 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:02.009594 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:59:02.011104 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291419818474.
I0419 20:59:02.012311 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599531s, prior_pose=(-0.376746, -1.84803), yaw=-179.328 deg
I0419 20:59:02.012362 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=488, max_intensity=246, threshold=230, above_threshold=12, candidates=12
I0419 20:59:02.012410 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:02.012959 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:02.012993 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.203618, -0.676716)
I0419 20:59:02.013012 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:02.013131 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291420094258.
I0419 20:59:02.088346 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291420374422.
I0419 20:59:02.091167 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750563, 0.51133), points=7, range=0.904286, residual=0.0115419, extent=0.0296986
I0419 20:59:02.091287 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.750563, 0.51133), tracking=(-1.04906, -0.51133), map_predicted=(0.637493, -1.32745), range=0.904286, pts=7
I0419 20:59:02.091315 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0236931m maha_sq=0.0240292 (gate chi2=5.99) pose_sigma=(0.15094, 0.15094, rho=0) det_map=(0.637493, -1.32745) lm_pos=(0.615, -1.32) delta=(0.0224925, -0.00744643) -> 1 candidate(s)
I0419 20:59:02.091406 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291420695798.
I0419 20:59:02.097779 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:02.097891 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00133166 range=0.699111 variance=0.000585799 t_weight=5121.21 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.406456, -1.84914, -179.433deg) obs_actual=(-0.120067, 0.673785) obs_expected=(-0.114808, 0.672031) delta=(-0.00525978, 0.00175419) |delta|=0.00554459m
I0419 20:59:02.097976 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:02.098001 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291420972078.
I0419 20:59:02.127383 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291421260739.
I0419 20:59:02.251013 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.158458, -0.672962)
I0419 20:59:02.251212 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291421579308.
I0419 20:59:02.253017 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291421859679.
I0419 20:59:02.255688 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291422136300.
I0419 20:59:02.256795 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.71755, -2.04657), points=3, range=4.24367, residual=0.0103812, extent=0.0247598
I0419 20:59:02.256891 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.71755, -2.04657), tracking=(4.01605, -2.04657), map_predicted=(-4.47855, 0.157573), range=4.24367, pts=3
I0419 20:59:02.256915 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97546m maha_sq=1054.18 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.47855, 0.157573) lm_pos=(-0.285, -2.52) delta=(-4.19355, 2.67757) -> 0 candidate(s)
I0419 20:59:02.258713 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291422458335.
I0419 20:59:02.270413 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:02.270507 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:02.273788 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:02.273948 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291422733430.
I0419 20:59:02.350641 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601532s, prior_pose=(-0.470092, -1.85272), yaw=-179.42 deg
I0419 20:59:02.350749 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=475, max_intensity=253, threshold=230, above_threshold=8, candidates=8
I0419 20:59:02.350819 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:02.351420 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:02.351572 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:02.351665 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.118012, -0.67496)
I0419 20:59:02.351689 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:02.351784 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291423095103.
I0419 20:59:02.352746 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:02.354660 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.804 deg, rms_residual=0.00269626m, sigma_yaw=0.00358214 rad, N=2
I0419 20:59:02.354781 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.488569, -1.85357, -178.804deg) inliers=2 rms=0.00269626m
I0419 20:59:02.354820 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291423339144.
I0419 20:59:02.362275 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291423616739.
I0419 20:59:02.386444 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.68791, -2.05127), points=3, range=4.21533, residual=0.014344, extent=0.0292753
I0419 20:59:02.386559 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.68791, -2.05127), tracking=(3.98641, -2.05127), map_predicted=(-4.50209, 0.157759), range=4.21533, pts=3
I0419 20:59:02.386591 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99542m maha_sq=1048.05 (gate chi2=5.99) pose_sigma=(0.150782, 0.150782, rho=0) det_map=(-4.50209, 0.157759) lm_pos=(-0.285, -2.52) delta=(-4.21709, 2.67776) -> 0 candidate(s)
I0419 20:59:02.390093 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.01382 range=0.9816 variance=0.000531117 t_weight=5648.48 r_weight=0 yaml=(0.615, -1.32) prior=(-0.495698, -1.8542, -179.436deg) obs_actual=(-1.13089, -0.513418) obs_expected=(-1.1159, -0.52325) delta=(-0.0149957, 0.0098322) |delta|=0.0179316m
I0419 20:59:02.390234 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291423895080.
I0419 20:59:02.494784 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291424188969.
I0419 20:59:02.496644 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0777328, -0.673675)
I0419 20:59:02.496809 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291424478576.
I0419 20:59:02.498119 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.520179, -1.85364), yaw=-179.499 deg backend=(-0.426786, -1.82474)
I0419 20:59:02.499641 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291424781878.
I0419 20:59:02.510085 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.0915 rad/s > flush threshold 3.
I0419 20:59:02.510277 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291425064084.
I0419 20:59:02.534135 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.64586, -2.05574), points=3, range=4.18067, residual=0.0143896, extent=0.0291047
I0419 20:59:02.534238 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.64586, -2.05574), tracking=(3.94436, -2.05574), map_predicted=(-4.49895, 0.164421), range=4.18067, pts=3
I0419 20:59:02.534266 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99635m maha_sq=1059.17 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49895, 0.164421) lm_pos=(-0.285, -2.52) delta=(-4.21395, 2.68442) -> 0 candidate(s)
I0419 20:59:02.538633 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 20:59:02.538777 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291425381544.
I0419 20:59:02.615017 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:02.615130 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:02.615942 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291425662552.
I0419 20:59:02.616974 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0868304s, prior_pose=(-0.546618, -1.85504), yaw=-179.45 deg
I0419 20:59:02.617035 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=490, max_intensity=251, threshold=230, above_threshold=9, candidates=9
I0419 20:59:02.617105 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:02.618695 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:02.618765 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0370888, -0.675785)
I0419 20:59:02.618783 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:02.618849 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291425976861.
I0419 20:59:02.626410 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291426259652.
I0419 20:59:02.655189 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291426540579.
I0419 20:59:02.682751 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.59906, -2.05009), points=4, range=4.1395, residual=0.0160067, extent=0.0362969
I0419 20:59:02.682863 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.59906, -2.05009), tracking=(3.89756, -2.05009), map_predicted=(-4.48825, 0.155109), range=4.1395, pts=4
I0419 20:59:02.682896 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98232m maha_sq=1051.41 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48825, 0.155109) lm_pos=(-0.285, -2.52) delta=(-4.20325, 2.67511) -> 0 candidate(s)
I0419 20:59:02.766443 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:02.766614 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0307557 range=1.0545 variance=0.000482502 t_weight=6217.6 r_weight=0 yaml=(0.615, -1.32) prior=(-0.581794, -1.85707, -179.423deg) obs_actual=(-1.22388, -0.509424) obs_expected=(-1.20214, -0.524984) delta=(-0.021733, 0.0155593) |delta|=0.0267285m
I0419 20:59:02.766760 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:02.766809 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291426892387.
I0419 20:59:02.768658 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291427141152.
I0419 20:59:02.771637 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.00098985, -0.674422)
I0419 20:59:02.771869 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291427412221.
I0419 20:59:02.774942 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291427734052.
I0419 20:59:02.802701 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291428021520.
I0419 20:59:02.882424 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.86492, 1.63551), points=5, range=2.4764, residual=0.0151146, extent=0.0394624
I0419 20:59:02.882565 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.86492, 1.63551), tracking=(2.16342, 1.63551), map_predicted=(-2.75512, -3.51398), range=2.4764, pts=5
I0419 20:59:02.882599 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66261m maha_sq=300.274 (gate chi2=5.99) pose_sigma=(0.151008, 0.151008, rho=0) det_map=(-2.75512, -3.51398) lm_pos=(-0.285, -2.52) delta=(-2.47012, -0.993981) -> 0 candidate(s)
I0419 20:59:02.883471 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291428339847.
I0419 20:59:02.884560 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:02.884635 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:02.886288 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.8363, -0.720252)
I0419 20:59:02.886387 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:02.886406 1218972 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.2538 rad/s > flush threshold 3.
I0419 20:59:02.887544 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595941s, prior_pose=(-0.624672, -1.85121), yaw=-179.177 deg
I0419 20:59:02.887607 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=487, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 20:59:02.887661 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:02.890959 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:02.891045 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 20:59:02.918833 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:02.919765 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:03.023272 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291429494822.
I0419 20:59:03.025301 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.87824, -0.72413)
I0419 20:59:03.025513 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291429781995.
I0419 20:59:03.027794 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.81535, 1.62983), points=7, range=2.44171, residual=0.0186345, extent=0.0509652
I0419 20:59:03.027892 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.81535, 1.62983), tracking=(2.11385, 1.62983), map_predicted=(-2.74494, -3.51468), range=2.44171, pts=7
I0419 20:59:03.027917 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65343m maha_sq=296.453 (gate chi2=5.99) pose_sigma=(0.151091, 0.151091, rho=0) det_map=(-2.74494, -3.51468) lm_pos=(-0.285, -2.52) delta=(-2.45994, -0.994685) -> 0 candidate(s)
I0419 20:59:03.028578 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291430058535.
I0419 20:59:03.038918 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291430379985.
I0419 20:59:03.066015 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291430654742.
I0419 20:59:03.145669 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.79549, 1.63093)
I0419 20:59:03.146484 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291431014227.
I0419 20:59:03.149183 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 20:59:03.149320 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.099 deg, rms_residual=0.00575251m, sigma_yaw=0.00761163 rad, N=2
I0419 20:59:03.149353 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0425804 range=1.156 variance=0.000513309 t_weight=5844.43 r_weight=0 yaml=(0.615, -1.32) prior=(-0.69425, -1.85861, -179.167deg) obs_actual=(-1.34314, -0.502001) obs_expected=(-1.31694, -0.519532) delta=(-0.0261998, 0.0175317) |delta|=0.0315244m
I0419 20:59:03.149400 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.707291, -1.86169, -178.099deg) inliers=2 rms=0.00575251m
I0419 20:59:03.149432 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291431258522.
I0419 20:59:03.150810 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:03.150874 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:03.157776 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04669, 0.499249), points=4, range=1.15775, residual=0.00585886, extent=0.0112473
I0419 20:59:03.157896 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04669, 0.499249), tracking=(-1.34519, -0.499249), map_predicted=(0.643548, -1.33987), range=1.15775, pts=4
I0419 20:59:03.157925 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.034783m maha_sq=0.0526189 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.643548, -1.33987) lm_pos=(0.615, -1.32) delta=(0.0285482, -0.019871) -> 1 candidate(s)
I0419 20:59:03.158038 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291431571960.
I0419 20:59:03.182145 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559356s, prior_pose=(-0.704539, -1.85875), yaw=-179.151 deg
I0419 20:59:03.182255 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=480, max_intensity=243, threshold=230, above_threshold=9, candidates=9
I0419 20:59:03.182336 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:03.183090 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:59:03.183138 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 20:59:03.183236 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291431818057.
I0419 20:59:03.210459 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.45892, -2.05107)
I0419 20:59:03.305939 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:59:03.306087 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291432141667.
I0419 20:59:03.307988 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291432426216.
I0419 20:59:03.311004 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291432699310.
I0419 20:59:03.313830 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.630125, -0.233509)
I0419 20:59:03.314047 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291433017608.
I0419 20:59:03.330466 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291433296900.
I0419 20:59:03.411195 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.740273, -1.85927), yaw=-179.082 deg backend=(-0.679442, -1.83022)
I0419 20:59:03.412201 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.42437, -2.05758), points=3, range=3.995, residual=0.00993298, extent=0.0237651
I0419 20:59:03.412288 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.42437, -2.05758), tracking=(3.72287, -2.05758), map_predicted=(-4.49564, 0.138379), range=3.995, pts=3
I0419 20:59:03.412324 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9796m maha_sq=1051.11 (gate chi2=5.99) pose_sigma=(0.150559, 0.150559, rho=0) det_map=(-4.49564, 0.138379) lm_pos=(-0.285, -2.52) delta=(-4.21064, 2.65838) -> 0 candidate(s)
I0419 20:59:03.413015 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:59:03.413128 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:03.413159 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291433576208.
I0419 20:59:03.415962 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291433903934.
I0419 20:59:03.418413 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.11335, 0.497627)
I0419 20:59:03.418587 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291434180288.
I0419 20:59:03.445719 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:03.445819 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:03.450110 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:03.450279 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291434496636.
I0419 20:59:03.475198 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0835883s, prior_pose=(-0.754517, -1.8593), yaw=-179.033 deg
I0419 20:59:03.475386 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=488, max_intensity=244, threshold=230, above_threshold=9, candidates=9
I0419 20:59:03.475638 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:03.580246 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:03.580415 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:03.580557 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291434773890.
I0419 20:59:03.582227 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:03.583250 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291435051443.
I0419 20:59:03.586197 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.68446, 1.63143), points=5, range=2.347, residual=0.0128226, extent=0.0338299
I0419 20:59:03.586580 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.68446, 1.63143), tracking=(1.98296, 1.63143), map_predicted=(-2.73316, -3.52079), range=2.347, pts=5
I0419 20:59:03.586851 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64482m maha_sq=297.055 (gate chi2=5.99) pose_sigma=(0.151066, 0.151066, rho=0) det_map=(-2.73316, -3.52079) lm_pos=(-0.285, -2.52) delta=(-2.44816, -1.00079) -> 0 candidate(s)
I0419 20:59:03.587929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291435342041.
I0419 20:59:03.590770 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.14889, 0.497553)
I0419 20:59:03.590932 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291435660479.
I0419 20:59:03.593709 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0891621 range=1.254 variance=0.000566486 t_weight=5295.81 r_weight=0 yaml=(0.615, -1.32) prior=(-0.792586, -1.85557, -179.046deg) obs_actual=(-1.4568, -0.49166) obs_expected=(-1.41631, -0.512072) delta=(-0.0404972, 0.0204116) |delta|=0.0453504m
I0419 20:59:03.593840 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291435932163.
I0419 20:59:03.672725 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291436251693.
I0419 20:59:03.675705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291436534504.
I0419 20:59:03.683300 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291436820679.
I0419 20:59:03.709826 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.64392, 1.63916), points=5, range=2.3166, residual=0.0158925, extent=0.0381013
I0419 20:59:03.709929 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.64392, 1.63916), tracking=(1.94242, 1.63916), map_predicted=(-2.74312, -3.52962), range=2.3166, pts=5
I0419 20:59:03.709961 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65738m maha_sq=300.003 (gate chi2=5.99) pose_sigma=(0.150755, 0.150755, rho=0) det_map=(-2.74312, -3.52962) lm_pos=(-0.285, -2.52) delta=(-2.45812, -1.00962) -> 0 candidate(s)
I0419 20:59:03.714494 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.19114, 0.49135)
I0419 20:59:03.714792 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291437137556.
I0419 20:59:03.738608 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:03.738739 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:03.819849 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291437418212.
I0419 20:59:03.820993 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060002s, prior_pose=(-0.846585, -1.85666), yaw=-179.01 deg
I0419 20:59:03.821103 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=492, max_intensity=244, threshold=230, above_threshold=8, candidates=8
I0419 20:59:03.821185 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:03.821800 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:03.821851 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:03.821954 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291437694123.
I0419 20:59:03.822010 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:03.824636 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:03.824767 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291438012472.
I0419 20:59:03.832432 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291438310074.
I0419 20:59:03.861887 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.22271, 0.485747)
I0419 20:59:03.862012 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22231, 0.487647), points=3, range=1.31567, residual=0.00405123, extent=0.00771254
I0419 20:59:03.862051 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22231, 0.487647), tracking=(-1.52081, -0.487647), map_predicted=(0.642208, -1.34095), range=1.31567, pts=3
I0419 20:59:03.862079 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0343374m maha_sq=0.0512974 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.642208, -1.34095) lm_pos=(0.615, -1.32) delta=(0.0272082, -0.0209468) -> 1 candidate(s)
I0419 20:59:03.862190 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291438612616.
I0419 20:59:03.946491 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291438903232.
I0419 20:59:03.949177 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291439174031.
I0419 20:59:03.950964 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:59:03.951068 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:03.951092 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291439497246.
I0419 20:59:03.977887 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291439773684.
I0419 20:59:04.093735 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.25924, 0.487559)
I0419 20:59:04.093912 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0700797 range=1.35033 variance=0.000587035 t_weight=5110.43 r_weight=0 yaml=(0.615, -1.32) prior=(-0.902964, -1.85351, -178.948deg) obs_actual=(-1.56373, -0.48778) obs_expected=(-1.52751, -0.505548) delta=(-0.0362226, 0.0177682) |delta|=0.0403458m
I0419 20:59:04.094027 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291440056719.
I0419 20:59:04.095353 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:04.095431 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:04.096158 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27131, 0.485882), points=3, range=1.362, residual=0.00483515, extent=0.00993443
I0419 20:59:04.096222 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27131, 0.485882), tracking=(-1.56981, -0.485882), map_predicted=(0.657661, -1.33889), range=1.362, pts=3
I0419 20:59:04.096249 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0466539m maha_sq=0.0946559 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.657661, -1.33889) lm_pos=(0.615, -1.32) delta=(0.0426607, -0.0188854) -> 1 candidate(s)
I0419 20:59:04.096268 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:04.096335 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291440351482.
I0419 20:59:04.098366 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565609s, prior_pose=(-0.918063, -1.8535), yaw=-178.923 deg
I0419 20:59:04.098453 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=489, max_intensity=242, threshold=230, above_threshold=7, candidates=7
I0419 20:59:04.098515 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:04.099155 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:04.099210 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:04.099298 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291440656467.
I0419 20:59:04.100471 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:04.102250 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291440938341.
I0419 20:59:04.125773 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291441253189.
I0419 20:59:04.201785 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.30714, 0.484386)
I0419 20:59:04.201958 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291441533358.
I0419 20:59:04.204605 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291441812145.
I0419 20:59:04.214637 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291442140546.
I0419 20:59:04.216181 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.949166, -1.85138), yaw=-178.816 deg backend=(-0.905909, -1.82328)
I0419 20:59:04.238720 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51791, 1.62305), points=5, range=2.224, residual=0.0126629, extent=0.0326774
I0419 20:59:04.238837 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.51791, 1.62305), tracking=(1.81641, 1.62305), map_predicted=(-2.73166, -3.5116), range=2.224, pts=5
I0419 20:59:04.238866 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63997m maha_sq=299.935 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(-2.73166, -3.5116) lm_pos=(-0.285, -2.52) delta=(-2.44666, -0.991604) -> 0 candidate(s)
I0419 20:59:04.241734 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291442413087.
I0419 20:59:04.349856 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.67147 rad/s > flush threshold 3.
I0419 20:59:04.353780 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.4937, 1.62536)
I0419 20:59:04.353866 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:04.353889 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:04.355513 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843475s, prior_pose=(-0.967944, -1.85167), yaw=-178.777 deg
I0419 20:59:04.355571 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=486, max_intensity=244, threshold=230, above_threshold=10, candidates=10
I0419 20:59:04.355623 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:04.358484 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:04.358547 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:04.358582 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:04.489030 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12685, -2.08274), points=3, range=3.757, residual=0.0102107, extent=0.0244613
I0419 20:59:04.489204 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.12685, -2.08274), tracking=(3.42535, -2.08274), map_predicted=(-4.46039, 0.145484), range=3.757, pts=3
I0419 20:59:04.489238 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95365m maha_sq=1013.03 (gate chi2=5.99) pose_sigma=(0.152778, 0.152778, rho=0) det_map=(-4.46039, 0.145484) lm_pos=(-0.285, -2.52) delta=(-4.17539, 2.66548) -> 0 candidate(s)
I0419 20:59:04.492789 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.438217, -0.703463)
I0419 20:59:04.654765 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:04.654865 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:04.656399 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473377, -0.704021), points=12, range=0.850333, residual=0.0103205, extent=0.0303312
I0419 20:59:04.656466 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473377, -0.704021), tracking=(-0.771877, 0.704021), map_predicted=(-0.260457, -2.54066), range=0.850333, pts=12
I0419 20:59:04.656491 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0320835m maha_sq=0.0406709 (gate chi2=5.99) pose_sigma=(0.157352, 0.157352, rho=0) det_map=(-0.260457, -2.54066) lm_pos=(-0.285, -2.52) delta=(0.0245426, -0.0206642) -> 1 candidate(s)
I0419 20:59:04.656513 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:04.657590 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592207s, prior_pose=(-1.04894, -1.85529), yaw=-178.631 deg
I0419 20:59:04.657655 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=494, max_intensity=248, threshold=230, above_threshold=9, candidates=9
I0419 20:59:04.657701 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:04.658406 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:04.658449 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:04.733143 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.39959, 1.62914)
I0419 20:59:04.733266 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:04.905239 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34892, 1.651), points=5, range=2.128, residual=0.013565, extent=0.0324174
I0419 20:59:04.905341 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.34892, 1.651), tracking=(1.64742, 1.651), map_predicted=(-2.71564, -3.53639), range=2.128, pts=5
I0419 20:59:04.905369 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63459m maha_sq=261.554 (gate chi2=5.99) pose_sigma=(0.160672, 0.160672, rho=0) det_map=(-2.71564, -3.53639) lm_pos=(-0.285, -2.52) delta=(-2.43064, -1.01639) -> 0 candidate(s)
I0419 20:59:04.909487 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.04528, -2.02842)
I0419 20:59:04.914945 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:04.915063 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:05.037425 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565693s, prior_pose=(-1.12635, -1.85569), yaw=-179.514 deg
I0419 20:59:05.037529 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=492, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 20:59:05.037606 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:05.038223 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:05.038271 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:05.038304 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:05.044672 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.03367, -2.00161), points=3, range=3.63033, residual=0.0124257, extent=0.0247915
I0419 20:59:05.044879 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.03367, -2.00161), tracking=(3.33217, -2.00161), map_predicted=(-4.48512, 0.139561), range=3.63033, pts=3
I0419 20:59:05.044914 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97134m maha_sq=884.329 (gate chi2=5.99) pose_sigma=(0.164432, 0.164432, rho=0) det_map=(-4.48512, 0.139561) lm_pos=(-0.285, -2.52) delta=(-4.20012, 2.65956) -> 0 candidate(s)
I0419 20:59:05.045511 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.605617, -0.690515)
I0419 20:59:05.161263 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.16803, -1.85691), yaw=179.678 deg backend=(-1.142, -1.83726)
I0419 20:59:05.303376 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:05.303475 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:05.304091 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.52927, 0.546549)
I0419 20:59:05.304152 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.663915, -0.677544), points=10, range=0.9509, residual=0.0105453, extent=0.0291214
I0419 20:59:05.304175 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.663915, -0.677544), tracking=(-0.962415, 0.677544), map_predicted=(-0.238665, -2.54817), range=0.9509, pts=10
I0419 20:59:05.304225 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0542241m maha_sq=0.103009 (gate chi2=5.99) pose_sigma=(0.167287, 0.167287, rho=0) det_map=(-0.238665, -2.54817) lm_pos=(-0.285, -2.52) delta=(0.0463347, -0.0281664) -> 1 candidate(s)
I0419 20:59:05.304246 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:05.304391 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:05.305361 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841259s, prior_pose=(-1.19124, -1.85685), yaw=179.176 deg
I0419 20:59:05.305428 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=492, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 20:59:05.305476 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:05.307045 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:05.307098 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:05.308084 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:05.448720 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.727267, -0.65535)
I0419 20:59:05.449826 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09795, 1.74577), points=4, range=2.05925, residual=0.0097953, extent=0.0227644
I0419 20:59:05.449913 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09795, 1.74577), tracking=(1.39645, 1.74577), map_predicted=(-2.69735, -3.55381), range=2.05925, pts=4
I0419 20:59:05.449937 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62453m maha_sq=231.639 (gate chi2=5.99) pose_sigma=(0.170616, 0.170616, rho=0) det_map=(-2.69735, -3.55381) lm_pos=(-0.285, -2.52) delta=(-2.41235, -1.03381) -> 0 candidate(s)
I0419 20:59:05.538548 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:05.538656 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:05.541082 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553649s, prior_pose=(-1.27186, -1.85604), yaw=176.711 deg
I0419 20:59:05.541152 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=482, max_intensity=245, threshold=230, above_threshold=7, candidates=7
I0419 20:59:05.541194 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:05.541867 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:05.541913 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:05.541944 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:05.590101 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.99895, 1.77774)
I0419 20:59:05.673061 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.03096, -1.73818), points=4, range=3.492, residual=0.0137492, extent=0.0304418
I0419 20:59:05.673233 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.03096, -1.73818), tracking=(3.32946, -1.73818), map_predicted=(-4.49238, 0.118979), range=3.492, pts=4
I0419 20:59:05.673262 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96651m maha_sq=789.246 (gate chi2=5.99) pose_sigma=(0.174167, 0.174167, rho=0) det_map=(-4.49238, 0.118979) lm_pos=(-0.285, -2.52) delta=(-4.20738, 2.63898) -> 0 candidate(s)
I0419 20:59:05.776139 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:05.800150 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.03703, -1.62617)
I0419 20:59:05.800266 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:05.800289 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:05.800879 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.877537, -0.578968), points=7, range=1.05314, residual=0.00925291, extent=0.0264517
I0419 20:59:05.800935 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.877537, -0.578968), tracking=(-1.17604, 0.578968), map_predicted=(-0.229557, -2.54079), range=1.05314, pts=7
I0419 20:59:05.800959 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0592128m maha_sq=0.109878 (gate chi2=5.99) pose_sigma=(0.177119, 0.177119, rho=0) det_map=(-0.229557, -2.54079) lm_pos=(-0.285, -2.52) delta=(0.0554433, -0.0207894) -> 1 candidate(s)
I0419 20:59:05.800987 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:05.825592 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557371s, prior_pose=(-1.34808, -1.84373), yaw=173.812 deg
I0419 20:59:05.825696 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=488, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 20:59:05.825773 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:05.830031 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:05.830106 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:05.854533 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:05.977164 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:05.982110 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.941406, -0.544416)
I0419 20:59:06.071198 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.39477, -1.84163), yaw=172.047 deg backend=(-1.36614, -1.82504)
I0419 20:59:06.073180 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.942867, -0.538874), points=5, range=1.0886, residual=0.00967815, extent=0.0262985
I0419 20:59:06.073290 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.942867, -0.538874), tracking=(-1.24137, 0.538874), map_predicted=(-0.239902, -2.54708), range=1.0886, pts=5
I0419 20:59:06.073316 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0526059m maha_sq=0.0834675 (gate chi2=5.99) pose_sigma=(0.180574, 0.180574, rho=0) det_map=(-0.239902, -2.54708) lm_pos=(-0.285, -2.52) delta=(0.0450977, -0.0270847) -> 1 candidate(s)
I0419 20:59:06.117825 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0833376s, prior_pose=(-1.4161, -1.83846), yaw=171.179 deg
I0419 20:59:06.118055 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=496, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 20:59:06.118166 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:06.118206 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:06.223649 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:06.223812 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:06.226609 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.669161, 1.89851)
I0419 20:59:06.226715 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:06.351581 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.613389, 1.91621), points=5, range=2.0084, residual=0.0127339, extent=0.0281093
I0419 20:59:06.351673 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.613389, 1.91621), tracking=(0.911889, 1.91621), map_predicted=(-2.70018, -3.54741), range=2.0084, pts=5
I0419 20:59:06.351702 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62463m maha_sq=199.142 (gate chi2=5.99) pose_sigma=(0.18413, 0.18413, rho=0) det_map=(-2.70018, -3.54741) lm_pos=(-0.285, -2.52) delta=(-2.41518, -1.02741) -> 0 candidate(s)
I0419 20:59:06.450572 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599891s, prior_pose=(-1.48289, -1.82174), yaw=167.611 deg
I0419 20:59:06.450762 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=497, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:59:06.506557 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:06.542130 1218972 pose_graph_2d.cc:160] Inserted submap (1, 27).
I0419 20:59:06.543133 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:06.544803 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.06862, -1.19333)
I0419 20:59:06.632722 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.427536, 1.96911), points=5, range=2.011, residual=0.0134298, extent=0.0305269
I0419 20:59:06.632884 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.427536, 1.96911), tracking=(0.726036, 1.96911), map_predicted=(-2.68578, -3.55052), range=2.011, pts=5
I0419 20:59:06.632916 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61261m maha_sq=190.241 (gate chi2=5.99) pose_sigma=(0.187544, 0.187544, rho=0) det_map=(-2.68578, -3.55052) lm_pos=(-0.285, -2.52) delta=(-2.40078, -1.03052) -> 0 candidate(s)
I0419 20:59:06.634687 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.06641, -1.11105)
I0419 20:59:06.637547 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:06.637643 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:06.637665 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:06.637684 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:06.722349 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:06.723110 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.34613, -0.99004)
I0419 20:59:06.727480 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.767404, -0.222469)
I0419 20:59:06.810667 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557368s, prior_pose=(-1.54611, -1.80592), yaw=163.656 deg
I0419 20:59:06.810798 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=497, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:59:06.812574 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.0694, -0.987451), points=4, range=3.22, residual=0.0146673, extent=0.0313472
I0419 20:59:06.812726 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.0694, -0.987451), tracking=(3.3679, -0.987451), map_predicted=(-4.50005, 0.0893456), range=3.22, pts=4
I0419 20:59:06.812757 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95735m maha_sq=662.992 (gate chi2=5.99) pose_sigma=(0.190179, 0.190179, rho=0) det_map=(-4.50005, 0.0893456) lm_pos=(-0.285, -2.52) delta=(-4.21505, 2.60935) -> 0 candidate(s)
I0419 20:59:06.814379 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:06.816524 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.888651, -1.98825)
I0419 20:59:06.843875 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 120
I0419 20:59:06.904419 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(2.65062, -1.69948)
I0419 20:59:06.987385 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.58235, -1.79697), yaw=161.451 deg backend=(-1.55386, -1.78099)
I0419 20:59:06.988457 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:06.988559 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:06.988603 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:06.988641 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.194279, 2.01766), points=4, range=2.02625, residual=0.00798664, extent=0.0177668
I0419 20:59:06.988669 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:06.988698 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.194279, 2.01766), tracking=(0.492779, 2.01766), map_predicted=(-2.69137, -3.55306), range=2.02625, pts=4
I0419 20:59:06.988734 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61875m maha_sq=182.258 (gate chi2=5.99) pose_sigma=(0.192447, 0.192447, rho=0) det_map=(-2.69137, -3.55306) lm_pos=(-0.285, -2.52) delta=(-2.40637, -1.03306) -> 0 candidate(s)
I0419 20:59:06.990451 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:06.998584 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840433s, prior_pose=(-1.60242, -1.78999), yaw=160.367 deg
I0419 20:59:06.998682 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=499, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 20:59:06.998729 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.10942, 2.03154)
I0419 20:59:07.088580 1232263 collated_trajectory_builder.cc:82] imu rate: 200.02 Hz 5.00e-03 s +/- 4.36e-03 s (pulsed at 100.48% real time)
I0419 20:59:07.088841 1232263 collated_trajectory_builder.cc:82] odom rate: 248.12 Hz 4.03e-03 s +/- 7.56e-04 s (pulsed at 99.50% real time)
I0419 20:59:07.088990 1232263 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.55e-03 s (pulsed at 100.28% real time)
I0419 20:59:07.089046 1232263 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.37e-03 s (pulsed at 100.49% real time)
I0419 20:59:07.090951 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:07.092923 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0736545, 2.02515), points=5, range=2.0286, residual=0.0118562, extent=0.0315747
I0419 20:59:07.093008 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0736545, 2.02515), tracking=(0.372154, 2.02515), map_predicted=(-2.69793, -3.53905), range=2.0286, pts=5
I0419 20:59:07.093035 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6193m maha_sq=176.532 (gate chi2=5.99) pose_sigma=(0.195437, 0.195437, rho=0) det_map=(-2.69793, -3.53905) lm_pos=(-0.285, -2.52) delta=(-2.41293, -1.01905) -> 0 candidate(s)
I0419 20:59:07.187306 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.00294172, 2.03874)
I0419 20:59:07.189011 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:07.189086 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:07.189108 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:07.189124 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:07.276054 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:07.280297 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.03976, -0.590886), points=4, range=3.09225, residual=0.0146945, extent=0.0341742
I0419 20:59:07.280413 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.03976, -0.590886), tracking=(3.33826, -0.590886), map_predicted=(-4.50576, 0.0883351), range=3.09225, pts=4
I0419 20:59:07.280439 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96168m maha_sq=616.046 (gate chi2=5.99) pose_sigma=(0.197691, 0.197691, rho=0) det_map=(-4.50576, 0.0883351) lm_pos=(-0.285, -2.52) delta=(-4.22076, 2.60834) -> 0 candidate(s)
I0419 20:59:07.300526 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:07.316179 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:07.368288 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0579701s, prior_pose=(-1.68071, -1.76051), yaw=156.219 deg
I0419 20:59:07.368415 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=501, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 20:59:07.368454 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0954253, 2.04877)
I0419 20:59:07.371690 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:07.457348 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:07.462687 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.206555, 2.05111)
I0419 20:59:07.462797 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.00924, -0.449738), points=4, range=3.039, residual=0.0132464, extent=0.0290689
I0419 20:59:07.462823 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.00924, -0.449738), tracking=(3.30774, -0.449738), map_predicted=(-4.50106, 0.081315), range=3.039, pts=4
I0419 20:59:07.462841 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95399m maha_sq=599.79 (gate chi2=5.99) pose_sigma=(0.200216, 0.200216, rho=0) det_map=(-4.50106, 0.081315) lm_pos=(-0.285, -2.52) delta=(-4.21606, 2.60131) -> 0 candidate(s)
I0419 20:59:07.549326 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:07.549432 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:07.549454 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:07.549474 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:07.552021 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:07.637012 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:07.639627 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516342s, prior_pose=(-1.74763, -1.72781), yaw=152.293 deg
I0419 20:59:07.639745 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=509, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 20:59:07.641389 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.331422, 2.05376)
I0419 20:59:07.726460 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.285578, -2.05373), points=5, range=2.0708, residual=0.0113049, extent=0.0294662
I0419 20:59:07.726603 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.285578, -2.05373), tracking=(-0.0129223, 2.05373), map_predicted=(-2.72163, -3.53641), range=2.0708, pts=5
I0419 20:59:07.726631 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.64012m maha_sq=166.19 (gate chi2=5.99) pose_sigma=(0.203178, 0.203178, rho=0) det_map=(-2.72163, -3.53641) lm_pos=(-0.285, -2.52) delta=(-2.43663, -1.01641) -> 0 candidate(s)
I0419 20:59:07.726655 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:07.817881 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.13718, -1.06493)
I0419 20:59:07.819356 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.78022, -1.70855), yaw=149.949 deg backend=(-1.69114, -1.69675)
I0419 20:59:07.820004 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:07.820055 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:07.820075 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:07.820089 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:07.821754 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:07.909162 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.140617, -2.05393), points=5, range=2.0568, residual=0.0102194, extent=0.0267531
I0419 20:59:07.909263 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.140617, -2.05393), tracking=(-0.157883, 2.05393), map_predicted=(-2.70572, -3.54685), range=2.0568, pts=5
I0419 20:59:07.909286 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.62951m maha_sq=161.268 (gate chi2=5.99) pose_sigma=(0.205522, 0.205522, rho=0) det_map=(-2.70572, -3.54685) lm_pos=(-0.285, -2.52) delta=(-2.42072, -1.02685) -> 0 candidate(s)
I0419 20:59:07.912665 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840008s, prior_pose=(-1.79911, -1.69625), yaw=148.78 deg
I0419 20:59:07.912756 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=490, max_intensity=245, threshold=230, above_threshold=7, candidates=7
I0419 20:59:07.998258 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.19712, -0.941977)
I0419 20:59:08.000206 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:08.094746 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.625415, 2.03506), points=3, range=2.12667, residual=0.00757709, extent=0.0159099
I0419 20:59:08.094862 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.625415, 2.03506), tracking=(-0.326915, 2.03506), map_predicted=(-2.6859, -3.55227), range=2.12667, pts=3
I0419 20:59:08.094892 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6134m maha_sq=155.398 (gate chi2=5.99) pose_sigma=(0.20822, 0.20822, rho=0) det_map=(-2.6859, -3.55227) lm_pos=(-0.285, -2.52) delta=(-2.4009, -1.03227) -> 0 candidate(s)
I0419 20:59:08.095556 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.28471, -0.82405)
I0419 20:59:08.096894 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:08.097316 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:08.097514 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:08.097586 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:08.188664 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:08.281340 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598667s, prior_pose=(-1.85971, -1.65615), yaw=144.592 deg
I0419 20:59:08.281476 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=483, max_intensity=251, threshold=230, above_threshold=8, candidates=8
I0419 20:59:08.281535 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:08.282142 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(3.33655, -0.699075)
I0419 20:59:08.285017 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:08.372851 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.174135, -2.02401), points=5, range=2.025, residual=0.0186778, extent=0.0446685
I0419 20:59:08.372974 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.174135, -2.02401), tracking=(-0.472635, 2.02401), map_predicted=(-2.71032, -3.55525), range=2.025, pts=5
I0419 20:59:08.372999 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.63703m maha_sq=152.759 (gate chi2=5.99) pose_sigma=(0.211296, 0.211296, rho=0) det_map=(-2.71032, -3.55525) lm_pos=(-0.285, -2.52) delta=(-2.42532, -1.03525) -> 0 candidate(s)
I0419 20:59:08.462495 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.211975, -2.01627)
I0419 20:59:08.463641 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:08.463711 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:08.463732 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:08.463752 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:08.466615 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:08.555434 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518441s, prior_pose=(-1.91394, -1.61481), yaw=140.627 deg
I0419 20:59:08.555573 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=465, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 20:59:08.555619 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.934607, 1.98166)
I0419 20:59:08.557319 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.924307, 1.93064), points=3, range=2.14467, residual=0.00945119, extent=0.0166461
I0419 20:59:08.557405 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.924307, 1.93064), tracking=(-0.625807, 1.93064), map_predicted=(-2.65491, -3.50425), range=2.14467, pts=3
I0419 20:59:08.557430 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56617m maha_sq=142.072 (gate chi2=5.99) pose_sigma=(0.213827, 0.213827, rho=0) det_map=(-2.65491, -3.50425) lm_pos=(-0.285, -2.52) delta=(-2.36991, -0.984253) -> 0 candidate(s)
I0419 20:59:08.643661 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:08.643850 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:08.734368 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.94268, -1.59005), yaw=138.207 deg backend=(-1.88921, -1.57835)
I0419 20:59:08.735167 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:08.735221 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(2.73276, 0.436893)
I0419 20:59:08.735239 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:08.735255 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:08.735275 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:08.736866 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:08.821130 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800765s, prior_pose=(-1.95442, -1.5795), yaw=136.968 deg
I0419 20:59:08.821273 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=482, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:59:08.821318 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.69674, 0.52824), points=5, range=2.7478, residual=0.0130596, extent=0.0329033
I0419 20:59:08.821342 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.69674, 0.52824), tracking=(2.99524, 0.52824), map_predicted=(-4.50434, 0.0783329), range=2.7478, pts=5
I0419 20:59:08.821362 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95521m maha_sq=514.325 (gate chi2=5.99) pose_sigma=(0.216694, 0.216694, rho=0) det_map=(-4.50434, 0.0783329) lm_pos=(-0.285, -2.52) delta=(-4.21934, 2.59833) -> 0 candidate(s)
I0419 20:59:08.903645 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.63478, 0.523301)
I0419 20:59:08.903776 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:08.989553 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:08.989703 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:08.989727 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:08.989741 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:09.067781 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:09.071202 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.64183, 0.605707)
I0419 20:59:09.150112 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.63454, 0.613842), points=3, range=1.749, residual=0.00820887, extent=0.0173036
I0419 20:59:09.150213 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.63454, 0.613842), tracking=(-1.93304, -0.613842), map_predicted=(-0.238895, -2.54483), range=1.749, pts=3
I0419 20:59:09.150243 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0523646m maha_sq=0.0559359 (gate chi2=5.99) pose_sigma=(0.220119, 0.220119, rho=0) det_map=(-0.238895, -2.54483) lm_pos=(-0.285, -2.52) delta=(0.0461052, -0.0248266) -> 1 candidate(s)
I0419 20:59:09.150307 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:09.151429 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565387s, prior_pose=(-2.00043, -1.53963), yaw=132.672 deg
I0419 20:59:09.151489 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=501, max_intensity=250, threshold=230, above_threshold=4, candidates=4
I0419 20:59:09.239404 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:09.320479 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.799019, -1.84489)
I0419 20:59:09.321846 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:09.321928 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:09.321947 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:09.321970 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:09.324571 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:09.326319 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.52258, 0.905686), points=5, range=2.6774, residual=0.0135145, extent=0.0341073
I0419 20:59:09.326402 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.52258, 0.905686), tracking=(2.82108, 0.905686), map_predicted=(-4.51231, 0.0824828), range=2.6774, pts=5
I0419 20:59:09.326429 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96418m maha_sq=493.359 (gate chi2=5.99) pose_sigma=(0.221727, 0.221727, rho=0) det_map=(-4.51231, 0.0824828) lm_pos=(-0.285, -2.52) delta=(-4.22731, 2.60248) -> 0 candidate(s)
I0419 20:59:09.408866 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556099s, prior_pose=(-2.02648, -1.502), yaw=128.266 deg
I0419 20:59:09.408988 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=522, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 20:59:09.491019 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.920947, -1.77533)
I0419 20:59:09.572597 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:09.573632 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:09.575873 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-2.03816, -1.48405), yaw=125.589 deg backend=(-1.98903, -1.47259)
I0419 20:59:09.576675 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:09.576732 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:09.576753 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:09.576773 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:09.578469 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:09.661185 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.40406, 1.12101), points=6, range=2.6505, residual=0.0151039, extent=0.0421048
I0419 20:59:09.661324 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.40406, 1.12101), tracking=(2.70256, 1.12101), map_predicted=(-4.5055, 0.101699), range=2.6505, pts=6
I0419 20:59:09.661353 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96849m maha_sq=483.736 (gate chi2=5.99) pose_sigma=(0.22406, 0.22406, rho=0) det_map=(-4.5055, 0.101699) lm_pos=(-0.285, -2.52) delta=(-4.2205, 2.6217) -> 0 candidate(s)
I0419 20:59:09.662093 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.02287, -1.71922)
I0419 20:59:09.665748 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845891s, prior_pose=(-2.04639, -1.47779), yaw=124.271 deg
I0419 20:59:09.665858 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=562, max_intensity=247, threshold=230, above_threshold=5, candidates=5
I0419 20:59:09.831947 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.099, -1.66559)
I0419 20:59:09.833706 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:09.837595 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:09.837710 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:09.837733 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:09.837749 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:09.919451 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:09.922263 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.28676, 1.32468), points=5, range=2.6398, residual=0.0139081, extent=0.0366351
I0419 20:59:09.922390 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.28676, 1.32468), tracking=(2.58526, 1.32468), map_predicted=(-4.51163, 0.10786), range=2.6398, pts=5
I0419 20:59:09.922416 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97695m maha_sq=479.177 (gate chi2=5.99) pose_sigma=(0.225611, 0.225611, rho=0) det_map=(-4.51163, 0.10786) lm_pos=(-0.285, -2.52) delta=(-4.22663, 2.62786) -> 0 candidate(s)
I0419 20:59:09.923038 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17466, -1.60198)
I0419 20:59:10.005385 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604619s, prior_pose=(-2.05825, -1.44957), yaw=119.417 deg
I0419 20:59:10.005509 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=585, max_intensity=246, threshold=230, above_threshold=5, candidates=5
I0419 20:59:10.091764 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(3.52016, 1.07621)
I0419 20:59:10.091895 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:10.176879 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:10.177000 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:10.177021 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:10.177040 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:10.177093 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:10.177721 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29788, -1.5107), points=4, range=1.987, residual=0.0119279, extent=0.0264471
I0419 20:59:10.177802 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29788, -1.5107), tracking=(-1.59638, 1.5107), map_predicted=(-2.70014, -3.54983), range=1.987, pts=4
I0419 20:59:10.177829 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.62554m maha_sq=132.074 (gate chi2=5.99) pose_sigma=(0.226998, 0.226998, rho=0) det_map=(-2.70014, -3.54983) lm_pos=(-0.285, -2.52) delta=(-2.41514, -1.02983) -> 0 candidate(s)
I0419 20:59:10.180018 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:10.263747 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(3.49702, 1.22691)
I0419 20:59:10.267553 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518573s, prior_pose=(-2.06805, -1.44307), yaw=114.87 deg
I0419 20:59:10.267697 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=602, max_intensity=246, threshold=230, above_threshold=6, candidates=6
I0419 20:59:10.350493 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:10.432343 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(3.43005, 1.40327)
I0419 20:59:10.435596 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-2.06114, -1.43951), yaw=112.296 deg backend=(-2.01365, -1.42811)
I0419 20:59:10.436403 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:10.436447 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:10.436466 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:10.436483 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:10.438160 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.03217, 1.70515), points=6, range=2.65317, residual=0.0149231, extent=0.0403532
I0419 20:59:10.438223 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.03217, 1.70515), tracking=(2.33067, 1.70515), map_predicted=(-4.52303, 0.0700084), range=2.65317, pts=6
I0419 20:59:10.438247 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96679m maha_sq=468.77 (gate chi2=5.99) pose_sigma=(0.227599, 0.227599, rho=0) det_map=(-4.52303, 0.0700084) lm_pos=(-0.285, -2.52) delta=(-4.23803, 2.59001) -> 0 candidate(s)
I0419 20:59:10.517509 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:10.517678 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:10.520246 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.99419, 1.75396)
I0419 20:59:10.526310 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846276s, prior_pose=(-2.06867, -1.43959), yaw=110.534 deg
I0419 20:59:10.526412 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=614, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 20:59:10.607142 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:10.700199 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:10.711935 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.494648, -0.402948)
I0419 20:59:10.716359 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:10.716526 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:10.716549 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:10.716566 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:10.813058 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24121, 1.47052), points=3, range=1.92433, residual=0.00798588, extent=0.0195266
I0419 20:59:10.813429 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.24121, 1.47052), tracking=(-1.53971, -1.47052), map_predicted=(-0.230484, -2.51555), range=1.92433, pts=3
I0419 20:59:10.813503 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0546971m maha_sq=0.0566907 (gate chi2=5.99) pose_sigma=(0.228456, 0.228456, rho=0) det_map=(-0.230484, -2.51555) lm_pos=(-0.285, -2.52) delta=(0.0545159, 0.00444864) -> 1 candidate(s)
I0419 20:59:10.816776 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.494909, -0.368448)
I0419 20:59:10.907970 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:10.908054 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:10.909647 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0645086s, prior_pose=(-2.06453, -1.44158), yaw=104.454 deg
I0419 20:59:10.909740 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=614, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 20:59:10.910645 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:11.009879 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(3.09285, 2.09926)
I0419 20:59:11.010004 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:11.098014 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:11.098105 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:11.098125 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:11.098145 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:11.198695 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518472s, prior_pose=(-2.06519, -1.43742), yaw=99.1336 deg
I0419 20:59:11.198827 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=630, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 20:59:11.198872 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.205797, -0.376415)
I0419 20:59:11.198907 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:11.200524 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.60039, 2.18262), points=5, range=2.7036, residual=0.0138877, extent=0.0357255
I0419 20:59:11.200601 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.60039, 2.18262), tracking=(1.89889, 2.18262), map_predicted=(-4.52156, 0.0909288), range=2.7036, pts=5
I0419 20:59:11.200626 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97648m maha_sq=464.058 (gate chi2=5.99) pose_sigma=(0.229274, 0.229274, rho=0) det_map=(-4.52156, 0.0909288) lm_pos=(-0.285, -2.52) delta=(-4.23656, 2.61093) -> 0 candidate(s)
I0419 20:59:11.280757 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:11.363003 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.977867, 1.70517)
I0419 20:59:11.363116 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:11.364501 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-2.07246, -1.44714), yaw=96.0342 deg backend=(-2.02569, -1.43581)
I0419 20:59:11.365389 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:11.365535 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:11.365557 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:11.365571 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:11.451514 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0831854s, prior_pose=(-2.07786, -1.44079), yaw=94.3004 deg
I0419 20:59:11.451650 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=658, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:59:11.531852 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:11.534441 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.36379, 2.36209)
I0419 20:59:11.535192 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:11.617893 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30429, 2.40212), points=6, range=2.7305, residual=0.0169593, extent=0.0469018
I0419 20:59:11.618005 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.30429, 2.40212), tracking=(1.60279, 2.40212), map_predicted=(-4.50963, 0.110004), range=2.7305, pts=6
I0419 20:59:11.618032 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97638m maha_sq=457.075 (gate chi2=5.99) pose_sigma=(0.230827, 0.230827, rho=0) det_map=(-4.50963, 0.110004) lm_pos=(-0.285, -2.52) delta=(-4.22463, 2.63) -> 0 candidate(s)
I0419 20:59:11.619452 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:11.619508 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:11.619529 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:11.619549 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:11.698709 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:11.699550 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:11.702309 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.777652, 1.84696)
I0419 20:59:11.780653 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554483s, prior_pose=(-2.06802, -1.44759), yaw=88.9486 deg
I0419 20:59:11.780767 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=688, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 20:59:11.780815 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:11.943498 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.37989, 2.95645)
I0419 20:59:11.944761 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 20:59:11.944830 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 20:59:11.944850 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:11.944868 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:11.947441 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02856, 2.56719), points=6, range=2.7635, residual=0.0155705, extent=0.0428598
I0419 20:59:11.947511 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02856, 2.56719), tracking=(1.32706, 2.56719), map_predicted=(-4.52423, 0.0882152), range=2.7635, pts=6
I0419 20:59:11.947573 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97733m maha_sq=453.924 (gate chi2=5.99) pose_sigma=(0.231773, 0.231773, rho=0) det_map=(-4.52423, 0.0882152) lm_pos=(-0.285, -2.52) delta=(-4.23923, 2.60822) -> 0 candidate(s)
I0419 20:59:12.029405 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:12.031498 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565788s, prior_pose=(-2.07553, -1.44863), yaw=83.2875 deg
I0419 20:59:12.031610 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=733, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 20:59:12.113211 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0789998, -0.136832)
I0419 20:59:12.113310 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:12.114970 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:12.118618 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.155913, -0.26388)
I0419 20:59:12.199714 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:12.201011 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-2.07542, -1.4431), yaw=79.3697 deg backend=(-2.02913, -1.4318)
I0419 20:59:12.201912 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:12.201968 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:12.201987 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:12.202003 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:12.202636 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.37522, -2.68926)
I0419 20:59:12.280390 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:12.281598 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.968361, -2.03021), points=4, range=2.2485, residual=0.00819048, extent=0.0198412
I0419 20:59:12.281678 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.968361, -2.03021), tracking=(-0.669861, -2.03021), map_predicted=(-0.220901, -2.5167), range=2.2485, pts=4
I0419 20:59:12.281705 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0641834m maha_sq=0.0753395 (gate chi2=5.99) pose_sigma=(0.23251, 0.23251, rho=0) det_map=(-0.220901, -2.5167) lm_pos=(-0.285, -2.52) delta=(0.0640988, 0.00329536) -> 1 candidate(s)
I0419 20:59:12.284904 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.89977, 3.32389)
I0419 20:59:12.286688 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084202s, prior_pose=(-2.07157, -1.44642), yaw=77.571 deg
I0419 20:59:12.286927 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=762, max_intensity=250, threshold=230, above_threshold=9, candidates=9
I0419 20:59:12.414142 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:12.502364 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.77093, 3.41402)
I0419 20:59:12.503297 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:12.503738 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.843624, -2.0621), points=3, range=2.229, residual=0.0072235, extent=0.0147287
I0419 20:59:12.503834 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.843624, -2.0621), tracking=(-0.545124, -2.0621), map_predicted=(-0.228849, -2.51283), range=2.229, pts=3
I0419 20:59:12.503866 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0566066m maha_sq=0.0585074 (gate chi2=5.99) pose_sigma=(0.232736, 0.232736, rho=0) det_map=(-0.228849, -2.51283) lm_pos=(-0.285, -2.52) delta=(0.0561509, 0.00716754) -> 1 candidate(s)
I0419 20:59:12.503891 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:12.507131 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:12.508172 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:12.508246 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:12.508267 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:12.508287 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:12.591945 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.217768, 2.07191)
I0419 20:59:12.597098 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.421014, 2.78914), points=5, range=2.823, residual=0.0140576, extent=0.0374555
I0419 20:59:12.597213 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.421014, 2.78914), tracking=(0.719514, 2.78914), map_predicted=(-4.51389, 0.0755171), range=2.823, pts=5
I0419 20:59:12.597237 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=4.96188m maha_sq=446.484 (gate chi2=5.99) pose_sigma=(0.233068, 0.233068, rho=0) det_map=(-4.51389, 0.0755171) lm_pos=(-0.285, -2.52) delta=(-4.22889, 2.59552) -> 0 candidate(s)
I0419 20:59:12.676981 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604868s, prior_pose=(-2.0717, -1.4453), yaw=71.6942 deg
I0419 20:59:12.677237 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=794, max_intensity=250, threshold=230, above_threshold=9, candidates=9
I0419 20:59:12.678059 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.55637, 3.5232)
I0419 20:59:12.680058 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:12.680848 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:12.767036 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.31284, 2.81827)
I0419 20:59:12.767904 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.924644, -2.81783), points=4, range=2.96375, residual=0.0113701, extent=0.0270579
I0419 20:59:12.767980 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.924644, -2.81783), tracking=(0.626144, 2.81783), map_predicted=(-4.50502, 0.113031), range=2.96375, pts=4
I0419 20:59:12.768009 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97407m maha_sq=447.665 (gate chi2=5.99) pose_sigma=(0.233439, 0.233439, rho=0) det_map=(-4.50502, 0.113031) lm_pos=(-0.285, -2.52) delta=(-4.22002, 2.63303) -> 0 candidate(s)
I0419 20:59:12.848978 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:59:12.849089 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 20:59:12.849114 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:12.849143 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:12.851925 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-0.617939, -2.10865)
I0419 20:59:12.852561 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:12.932231 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:12.936431 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560331s, prior_pose=(-2.07122, -1.44517), yaw=67.0182 deg
I0419 20:59:12.936559 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=835, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 20:59:12.936614 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.565505, -2.11055)
I0419 20:59:12.936640 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.165533, 2.84116), points=6, range=2.849, residual=0.0192453, extent=0.0548572
I0419 20:59:12.936661 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.165533, 2.84116), tracking=(0.464033, 2.84116), map_predicted=(-4.5057, 0.0913291), range=2.849, pts=6
I0419 20:59:12.936681 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=4.9632m maha_sq=442.809 (gate chi2=5.99) pose_sigma=(0.233734, 0.233734, rho=0) det_map=(-4.5057, 0.0913291) lm_pos=(-0.285, -2.52) delta=(-4.2207, 2.61133) -> 0 candidate(s)
I0419 20:59:12.938444 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:13.019716 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.104003, 2.85807)
I0419 20:59:13.102804 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-2.07518, -1.44693), yaw=64.1192 deg backend=(-2.0292, -1.43566)
I0419 20:59:13.103754 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:13.103829 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:13.103849 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:13.103868 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.463785, -2.12122), points=4, range=2.173, residual=0.00936562, extent=0.0214381
I0419 20:59:13.103888 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:13.103907 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.463785, -2.12122), tracking=(-0.165285, -2.12122), map_predicted=(-0.238858, -2.52155), range=2.173, pts=4
I0419 20:59:13.103928 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0461679m maha_sq=0.038478 (gate chi2=5.99) pose_sigma=(0.234017, 0.234017, rho=0) det_map=(-0.238858, -2.52155) lm_pos=(-0.285, -2.52) delta=(0.0461419, -0.00155021) -> 1 candidate(s)
I0419 20:59:13.103950 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:13.104547 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.07782, 3.73822)
I0419 20:59:13.185608 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:13.185724 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:13.191123 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841555s, prior_pose=(-2.0793, -1.44795), yaw=62.7318 deg
I0419 20:59:13.191264 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=861, max_intensity=254, threshold=230, above_threshold=14, candidates=14
I0419 20:59:13.191316 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-1.52825, -3.7826)
I0419 20:59:13.268766 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.373444, -2.1361), points=3, range=2.16233, residual=0.012799, extent=0.0262131
I0419 20:59:13.268877 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:13.268893 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.373444, -2.1361), tracking=(-0.0749441, -2.1361), map_predicted=(-0.223272, -2.51636), range=2.16233, pts=3
I0419 20:59:13.268915 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0618356m maha_sq=0.0686247 (gate chi2=5.99) pose_sigma=(0.234547, 0.234547, rho=0) det_map=(-0.223272, -2.51636) lm_pos=(-0.285, -2.52) delta=(0.0617283, 0.00364174) -> 1 candidate(s)
I0419 20:59:13.272032 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:13.273129 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.142429, 2.87845)
I0419 20:59:13.347244 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:59:13.347339 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:59:13.347357 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:13.347373 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.284587, -2.13764), points=3, range=2.15167, residual=0.010494, extent=0.0211074
I0419 20:59:13.347388 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:13.347402 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.284587, -2.13764), tracking=(0.0139134, -2.13764), map_predicted=(-0.220637, -2.50939), range=2.15167, pts=3
I0419 20:59:13.347424 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0652313m maha_sq=0.0763021 (gate chi2=5.99) pose_sigma=(0.234768, 0.234768, rho=0) det_map=(-0.220637, -2.50939) lm_pos=(-0.285, -2.52) delta=(0.064363, 0.0106081) -> 1 candidate(s)
I0419 20:59:13.417188 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.405258, -2.88344)
I0419 20:59:13.418148 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:13.533947 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.664963, 3.86978)
I0419 20:59:13.534053 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:13.535077 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600495s, prior_pose=(-2.07191, -1.44526), yaw=57.504 deg
I0419 20:59:13.535144 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=883, max_intensity=248, threshold=230, above_threshold=12, candidates=12
I0419 20:59:13.535795 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.303491, -2.88742), points=4, range=2.90075, residual=0.0120257, extent=0.0289215
I0419 20:59:13.535843 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.303491, -2.88742), tracking=(0.0049907, 2.88742), map_predicted=(-4.50456, 0.110184), range=2.90075, pts=4
I0419 20:59:13.535869 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97218m maha_sq=441.117 (gate chi2=5.99) pose_sigma=(0.235086, 0.235086, rho=0) det_map=(-4.50456, 0.110184) lm_pos=(-0.285, -2.52) delta=(-4.21956, 2.63018) -> 0 candidate(s)
I0419 20:59:13.537793 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:13.538477 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:13.605911 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(-1.10245, -3.90901)
I0419 20:59:13.610132 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.114572, -2.12691), points=3, range=2.128, residual=0.00691068, extent=0.0133436
I0419 20:59:13.610231 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.114572, -2.12691), tracking=(0.183928, -2.12691), map_predicted=(-0.211883, -2.49839), range=2.128, pts=3
I0419 20:59:13.610258 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0762436m maha_sq=0.103945 (gate chi2=5.99) pose_sigma=(0.235241, 0.235241, rho=0) det_map=(-0.211883, -2.49839) lm_pos=(-0.285, -2.52) delta=(0.0731174, 0.0216085) -> 1 candidate(s)
I0419 20:59:13.676999 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:13.677124 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0992194, -2.13069)
I0419 20:59:13.677147 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:13.677162 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:13.677187 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:13.677208 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:13.773339 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.0796313, -2.87986)
I0419 20:59:13.773555 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.321791, 3.94188), points=3, range=3.955, residual=0.00963753, extent=0.0233486
I0419 20:59:13.773622 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.321791, 3.94188), tracking=(-0.620291, -3.94188), map_predicted=(0.702614, -4.31239), range=3.955, pts=3
I0419 20:59:13.773672 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.04647m maha_sq=74.2413 (gate chi2=5.99) pose_sigma=(0.235589, 0.235589, rho=0) det_map=(0.702614, -4.31239) lm_pos=(-0.285, -2.52) delta=(0.987614, -1.79239) -> 0 candidate(s)
I0419 20:59:13.775825 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518784s, prior_pose=(-2.07362, -1.44609), yaw=52.4236 deg
I0419 20:59:13.776031 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=879, max_intensity=251, threshold=230, above_threshold=11, candidates=11
I0419 20:59:13.782826 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:13.852128 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:13.854481 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-0.595401, 2.11114)
I0419 20:59:13.874112 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:13.978771 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0458381, -2.86587), points=5, range=2.8676, residual=0.0134689, extent=0.0354514
I0419 20:59:13.978875 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0458381, -2.86587), tracking=(-0.344338, 2.86587), map_predicted=(-4.49976, 0.123725), range=2.8676, pts=5
I0419 20:59:13.978906 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97528m maha_sq=438.135 (gate chi2=5.99) pose_sigma=(0.235977, 0.235977, rho=0) det_map=(-4.49976, 0.123725) lm_pos=(-0.285, -2.52) delta=(-4.21476, 2.64373) -> 0 candidate(s)
I0419 20:59:13.982054 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-2.07677, -1.445), yaw=49.6731 deg backend=(-2.03104, -1.43376)
I0419 20:59:13.982836 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:13.982926 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.0734848, -2.10404)
I0419 20:59:13.982949 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:13.982964 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:13.982980 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:14.053793 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.56449, -3.97461), points=3, range=4.01067, residual=0.013152, extent=0.0272077
I0419 20:59:14.053897 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.56449, -3.97461), tracking=(-0.26599, -3.97461), map_predicted=(0.716032, -4.28857), range=4.01067, pts=3
I0419 20:59:14.053926 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.03222m maha_sq=72.7637 (gate chi2=5.99) pose_sigma=(0.236131, 0.236131, rho=0) det_map=(0.716032, -4.28857) lm_pos=(-0.285, -2.52) delta=(1.00103, -1.76857) -> 0 candidate(s)
I0419 20:59:14.054661 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.165841, -2.84775)
I0419 20:59:14.055601 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839125s, prior_pose=(-2.07355, -1.44489), yaw=48.2784 deg
I0419 20:59:14.055660 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=868, max_intensity=252, threshold=230, above_threshold=12, candidates=12
I0419 20:59:14.119251 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:14.119338 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:14.119930 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:14.122550 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.109872, 3.97548)
I0419 20:59:14.240914 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:14.242312 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.91522, 2.81682), points=6, range=2.96217, residual=0.0154934, extent=0.0432654
I0419 20:59:14.242386 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.91522, 2.81682), tracking=(-0.61672, 2.81682), map_predicted=(-4.52104, 0.0801566), range=2.96217, pts=6
I0419 20:59:14.242411 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=4.9704m maha_sq=435.59 (gate chi2=5.99) pose_sigma=(0.236287, 0.236287, rho=0) det_map=(-4.52104, 0.0801566) lm_pos=(-0.285, -2.52) delta=(-4.23604, 2.60016) -> 0 candidate(s)
I0419 20:59:14.245646 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.220218, 3.98057)
I0419 20:59:14.246752 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:14.246798 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:14.246816 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:14.246834 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:14.317965 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(-0.214749, -3.98672)
I0419 20:59:14.393698 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.409839, -2.79812), points=6, range=2.82517, residual=0.0170345, extent=0.047055
I0419 20:59:14.393800 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.409839, -2.79812), tracking=(-0.708339, 2.79812), map_predicted=(-4.45296, 0.137469), range=2.82517, pts=6
I0419 20:59:14.393868 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.94308m maha_sq=421.522 (gate chi2=5.99) pose_sigma=(0.238855, 0.238855, rho=0) det_map=(-4.45296, 0.137469) lm_pos=(-0.285, -2.52) delta=(-4.16796, 2.65747) -> 0 candidate(s)
I0419 20:59:14.394958 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563885s, prior_pose=(-2.03036, -1.43168), yaw=42.8625 deg
I0419 20:59:14.395048 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=843, max_intensity=252, threshold=230, above_threshold=13, candidates=13
I0419 20:59:14.397946 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:14.398027 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:14.402278 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-1.10101, 2.77149)
I0419 20:59:14.404703 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:14.471306 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:14.520586 1218972 pose_graph_2d.cc:160] Inserted submap (1, 28).
I0419 20:59:14.523759 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:14.526685 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0404997, -3.97779), points=3, range=3.97967, residual=0.0115693, extent=0.0241868
I0419 20:59:14.526851 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0404997, -3.97779), tracking=(0.258, -3.97779), map_predicted=(0.765063, -4.27), range=3.97967, pts=3
I0419 20:59:14.526880 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=2.00569m maha_sq=69.2854 (gate chi2=5.99) pose_sigma=(0.238969, 0.238969, rho=0) det_map=(0.765063, -4.27) lm_pos=(1.745, -2.52) delta=(-0.979937, -1.75) -> 0 candidate(s)
I0419 20:59:14.604686 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.560944, -2.7573)
I0419 20:59:14.606217 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:14.606340 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:14.606361 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:14.606441 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:14.606490 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:14.687783 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.05834, 1.99045)
I0419 20:59:14.687991 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.05459, 1.99037), points=3, range=2.25433, residual=0.00793612, extent=0.0164864
I0419 20:59:14.688050 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.05459, 1.99037), tracking=(0.756087, -1.99037), map_predicted=(-0.201905, -2.51956), range=2.25433, pts=3
I0419 20:59:14.688100 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0830965m maha_sq=0.119301 (gate chi2=5.99) pose_sigma=(0.239299, 0.239299, rho=0) det_map=(-0.201905, -2.51956) lm_pos=(-0.285, -2.52) delta=(0.0830953, 0.000435328) -> 1 candidate(s)
I0419 20:59:14.693517 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565555s, prior_pose=(-2.03298, -1.4331), yaw=37.9732 deg
I0419 20:59:14.693682 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=813, max_intensity=252, threshold=230, above_threshold=14, candidates=14
I0419 20:59:14.695901 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:14.786237 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.23616, -3.95545)
I0419 20:59:14.791899 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.574413, -1.93909)
I0419 20:59:14.875348 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.787924, -2.67433), points=5, range=2.7918, residual=0.0154512, extent=0.0410148
I0419 20:59:14.875560 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:14.875613 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.787924, -2.67433), tracking=(-1.08642, 2.67433), map_predicted=(-4.46412, 0.118646), range=2.7918, pts=5
I0419 20:59:14.875665 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.94242m maha_sq=419.365 (gate chi2=5.99) pose_sigma=(0.239563, 0.239563, rho=0) det_map=(-4.46412, 0.118646) lm_pos=(-0.285, -2.52) delta=(-4.17912, 2.63865) -> 0 candidate(s)
I0419 20:59:14.877107 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:14.879573 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.02978, -1.43259), yaw=34.7331 deg backend=(-2.02978, -1.43259)
I0419 20:59:14.880607 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:14.880714 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:14.880759 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:14.880791 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:14.881879 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.967775, 3.93026)
I0419 20:59:14.963158 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:14.966691 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840864s, prior_pose=(-2.03299, -1.43112), yaw=33.0688 deg
I0419 20:59:14.966796 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=774, max_intensity=245, threshold=230, above_threshold=7, candidates=7
I0419 20:59:15.041527 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.930078, -2.61446)
I0419 20:59:15.042654 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.562423, -3.87893), points=3, range=3.92433, residual=0.0144816, extent=0.0303505
I0419 20:59:15.042734 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:15.042753 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.562423, -3.87893), tracking=(0.860923, -3.87893), map_predicted=(0.762128, -4.26124), range=3.92433, pts=3
I0419 20:59:15.042778 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=1.99949m maha_sq=68.2186 (gate chi2=5.99) pose_sigma=(0.23997, 0.23997, rho=0) det_map=(0.762128, -4.26124) lm_pos=(1.745, -2.52) delta=(-0.982872, -1.74124) -> 0 candidate(s)
I0419 20:59:15.124958 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:15.128253 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.0574, -2.55285)
I0419 20:59:15.129511 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:15.129602 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:15.129622 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:15.129684 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:15.209504 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10221, -2.52489), points=5, range=2.7534, residual=0.0129579, extent=0.0342063
I0419 20:59:15.209625 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10221, -2.52489), tracking=(-1.40071, 2.52489), map_predicted=(-4.47241, 0.10672), range=2.7534, pts=5
I0419 20:59:15.209649 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.94308m maha_sq=416.127 (gate chi2=5.99) pose_sigma=(0.240698, 0.240698, rho=0) det_map=(-4.47241, 0.10672) lm_pos=(-0.285, -2.52) delta=(-4.18741, 2.62672) -> 0 candidate(s)
I0419 20:59:15.287482 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609674s, prior_pose=(-2.02458, -1.43049), yaw=27.2294 deg
I0419 20:59:15.287609 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=744, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:59:15.288239 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.17459, -2.4812)
I0419 20:59:15.290426 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:15.292070 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:15.367445 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:15.371866 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05999, -3.73759), points=4, range=3.887, residual=0.0148745, extent=0.0366878
I0419 20:59:15.371975 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.05999, -3.73759), tracking=(1.35849, -3.73759), map_predicted=(0.80252, -4.23569), range=3.887, pts=4
I0419 20:59:15.372000 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=1.95752m maha_sq=64.7002 (gate chi2=5.99) pose_sigma=(0.241249, 0.241249, rho=0) det_map=(0.80252, -4.23569) lm_pos=(1.745, -2.52) delta=(-0.94248, -1.71569) -> 0 candidate(s)
I0419 20:59:15.372026 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:15.445294 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.2909, -2.41093)
I0419 20:59:15.448204 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:15.448290 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:15.448321 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:15.448346 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:15.533797 1218972 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:15.537546 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0574145s, prior_pose=(-2.02765, -1.42859), yaw=22.0051 deg
I0419 20:59:15.537662 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=703, max_intensity=243, threshold=230, above_threshold=5, candidates=5
I0419 20:59:15.538214 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.38963, -2.34356)
I0419 20:59:15.546038 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:15.555606 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:15.622464 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04989, -1.66397), points=3, range=1.96367, residual=0.00868688, extent=0.0173019
I0419 20:59:15.622619 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04989, -1.66397), tracking=(1.34839, -1.66397), map_predicted=(-0.17117, -2.50292), range=1.96367, pts=3
I0419 20:59:15.622646 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.115105m maha_sq=0.223779 (gate chi2=5.99) pose_sigma=(0.242093, 0.242093, rho=0) det_map=(-0.17117, -2.50292) lm_pos=(-0.285, -2.52) delta=(0.11383, 0.0170805) -> 1 candidate(s)
I0419 20:59:15.634163 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.35495, -3.62397)
I0419 20:59:15.634258 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:15.712668 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.02133, -1.43184), yaw=19.041 deg backend=(-2.02133, -1.43184)
I0419 20:59:15.713636 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:15.713732 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:15.713755 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:15.713776 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:15.851334 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.52887, -2.2385)
I0419 20:59:15.852334 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0831824s, prior_pose=(-2.02821, -1.43103), yaw=17.86 deg
I0419 20:59:15.852396 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=691, max_intensity=243, threshold=230, above_threshold=6, candidates=6
I0419 20:59:15.852437 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11325, -1.59977), points=4, range=1.9445, residual=0.0115486, extent=0.0247104
I0419 20:59:15.852463 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.11325, -1.59977), tracking=(1.41175, -1.59977), map_predicted=(-0.193857, -2.52073), range=1.9445, pts=4
I0419 20:59:15.852481 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0911457m maha_sq=0.13948 (gate chi2=5.99) pose_sigma=(0.242709, 0.242709, rho=0) det_map=(-0.193857, -2.52073) lm_pos=(-0.285, -2.52) delta=(0.0911428, -0.000733497) -> 1 candidate(s)
I0419 20:59:15.855221 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:15.991166 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:15.991351 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1023, -1.60884)
I0419 20:59:15.991396 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:15.991431 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:15.991475 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:15.991531 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:16.106258 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:16.108932 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:16.109661 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5155, -2.24685), points=6, range=2.70917, residual=0.0146369, extent=0.0412011
I0419 20:59:16.109730 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.5155, -2.24685), tracking=(-1.814, 2.24685), map_predicted=(-4.44556, 0.138922), range=2.70917, pts=6
I0419 20:59:16.109778 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.93762m maha_sq=407.115 (gate chi2=5.99) pose_sigma=(0.243027, 0.243027, rho=0) det_map=(-4.44556, 0.138922) lm_pos=(-0.285, -2.52) delta=(-4.16056, 2.65892) -> 0 candidate(s)
I0419 20:59:16.113602 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.065749s, prior_pose=(-2.02451, -1.43512), yaw=17.9988 deg
I0419 20:59:16.113687 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=688, max_intensity=243, threshold=230, above_threshold=6, candidates=6
I0419 20:59:16.189296 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:16.197305 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.43035, -3.5852)
I0419 20:59:16.324893 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51641, -2.24117), points=5, range=2.7086, residual=0.014167, extent=0.0378703
I0419 20:59:16.325018 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.51641, -2.24117), tracking=(-1.81491, 2.24117), map_predicted=(-4.44008, 0.138576), range=2.7086, pts=5
I0419 20:59:16.325047 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.93282m maha_sq=405.604 (gate chi2=5.99) pose_sigma=(0.243274, 0.243274, rho=0) det_map=(-4.44008, 0.138576) lm_pos=(-0.285, -2.52) delta=(-4.15508, 2.65858) -> 0 candidate(s)
I0419 20:59:16.326023 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:16.326088 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:16.326110 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:16.326129 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:16.326148 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:16.370301 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.42878, -3.58123)
I0419 20:59:16.463786 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520267s, prior_pose=(-2.02356, -1.43129), yaw=17.9861 deg
I0419 20:59:16.463912 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=688, max_intensity=244, threshold=230, above_threshold=6, candidates=6
I0419 20:59:16.608733 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:16.608980 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:16.610930 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.02976, -1.4338), yaw=17.9854 deg backend=(-2.02976, -1.4338)
I0419 20:59:16.634092 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.10725, -1.60604)
I0419 20:59:16.634228 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11067, -1.60602), points=4, range=1.95075, residual=0.0079436, extent=0.0183883
I0419 20:59:16.634274 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11067, -1.60602), tracking=(1.40917, -1.60602), map_predicted=(-0.193467, -2.52608), range=1.95075, pts=4
I0419 20:59:16.634313 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0917349m maha_sq=0.140332 (gate chi2=5.99) pose_sigma=(0.243688, 0.243688, rho=0) det_map=(-0.193467, -2.52608) lm_pos=(-0.285, -2.52) delta=(0.0915332, -0.00608042) -> 1 candidate(s)
I0419 20:59:16.730495 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841578s, prior_pose=(-2.02904, -1.43398), yaw=18.0449 deg
I0419 20:59:16.730636 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=691, max_intensity=241, threshold=230, above_threshold=8, candidates=8
I0419 20:59:16.730693 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:16.733116 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:16.733179 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:16.878897 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:16.879022 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:16.879686 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:16.880671 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.10585, -1.60398)
I0419 20:59:16.986496 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0588043s, prior_pose=(-2.03091, -1.43255), yaw=18.0131 deg
I0419 20:59:16.986608 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=689, max_intensity=243, threshold=230, above_threshold=5, candidates=5
I0419 20:59:17.013545 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10525, -1.60814), points=4, range=1.952, residual=0.00763514, extent=0.0177488
I0419 20:59:17.013650 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10525, -1.60814), tracking=(1.40375, -1.60814), map_predicted=(-0.198672, -2.52777), range=1.952, pts=4
I0419 20:59:17.013682 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0866772m maha_sq=0.1248 (gate chi2=5.99) pose_sigma=(0.244175, 0.244175, rho=0) det_map=(-0.198672, -2.52777) lm_pos=(-0.285, -2.52) delta=(0.0863279, -0.0077739) -> 1 candidate(s)
I0419 20:59:17.013703 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:17.135903 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:17.163264 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.11049, -1.60574)
I0419 20:59:17.251385 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:17.251493 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:17.278147 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052005s, prior_pose=(-2.03276, -1.43377), yaw=17.9958 deg
I0419 20:59:17.278252 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=695, max_intensity=244, threshold=230, above_threshold=5, candidates=5
I0419 20:59:17.397891 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:17.401053 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11491, -1.60714), points=3, range=1.95367, residual=0.00677586, extent=0.0133428
I0419 20:59:17.401336 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11491, -1.60714), tracking=(1.41341, -1.60714), map_predicted=(-0.196053, -2.52247), range=1.95367, pts=3
I0419 20:59:17.401502 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0889814m maha_sq=0.130851 (gate chi2=5.99) pose_sigma=(0.244832, 0.244832, rho=0) det_map=(-0.196053, -2.52247) lm_pos=(-0.285, -2.52) delta=(0.088947, -0.00247349) -> 1 candidate(s)
I0419 20:59:17.426589 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:17.426872 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:17.430111 1218530 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:17.515090 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03399, -1.43088), yaw=17.972 deg backend=(-2.03399, -1.43088)
I0419 20:59:17.516052 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.42551, -3.5882)
I0419 20:59:17.574498 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846588s, prior_pose=(-2.03399, -1.43088), yaw=17.9707 deg
I0419 20:59:17.574730 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=692, max_intensity=240, threshold=230, above_threshold=8, candidates=8
I0419 20:59:17.677138 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:17.680025 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:17.691380 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10668, -1.60522), points=5, range=1.9462, residual=0.0118277, extent=0.0288798
I0419 20:59:17.691504 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10668, -1.60522), tracking=(1.40518, -1.60522), map_predicted=(-0.202165, -2.52609), range=1.9462, pts=5
I0419 20:59:17.691540 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0830582m maha_sq=0.113533 (gate chi2=5.99) pose_sigma=(0.245161, 0.245161, rho=0) det_map=(-0.202165, -2.52609) lm_pos=(-0.285, -2.52) delta=(0.0828349, -0.00608613) -> 1 candidate(s)
I0419 20:59:17.770651 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10168, -1.60291)
I0419 20:59:17.770787 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:17.778069 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:17.778211 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:17.939235 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555671s, prior_pose=(-2.03568, -1.43134), yaw=17.982 deg
I0419 20:59:17.939460 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=688, max_intensity=243, threshold=230, above_threshold=6, candidates=6
I0419 20:59:18.052860 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:18.052982 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:18.053016 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:18.054571 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:18.054687 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.42416, -3.58479)
I0419 20:59:18.056505 1218530 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:18.073575 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10916, -1.60382), points=4, range=1.94875, residual=0.00799637, extent=0.0183883
I0419 20:59:18.073783 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10916, -1.60382), tracking=(1.40766, -1.60382), map_predicted=(-0.196627, -2.52204), range=1.94875, pts=4
I0419 20:59:18.073829 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.088397m maha_sq=0.128145 (gate chi2=5.99) pose_sigma=(0.245752, 0.245752, rho=0) det_map=(-0.196627, -2.52204) lm_pos=(-0.285, -2.52) delta=(0.0883733, -0.00204372) -> 1 candidate(s)
I0419 20:59:18.185096 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555231s, prior_pose=(-2.03037, -1.43262), yaw=18.0234 deg
I0419 20:59:18.185258 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=690, max_intensity=245, threshold=230, above_threshold=8, candidates=8
I0419 20:59:18.303021 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:18.306087 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.43146, -3.58799)
I0419 20:59:18.315217 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03029, -1.43104), yaw=17.9764 deg backend=(-2.03029, -1.43104)
I0419 20:59:18.337675 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:18.337759 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:18.337795 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:18.481113 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0833158s, prior_pose=(-2.03304, -1.43298), yaw=18.0133 deg
I0419 20:59:18.481237 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=681, max_intensity=244, threshold=230, above_threshold=7, candidates=7
I0419 20:59:18.481280 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11067, -1.60602), points=4, range=1.95125, residual=0.00754795, extent=0.017732
I0419 20:59:18.481303 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11067, -1.60602), tracking=(1.40917, -1.60602), map_predicted=(-0.196294, -2.52451), range=1.95125, pts=4
I0419 20:59:18.481323 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0888208m maha_sq=0.129106 (gate chi2=5.99) pose_sigma=(0.246026, 0.246026, rho=0) det_map=(-0.196294, -2.52451) lm_pos=(-0.285, -2.52) delta=(0.0887061, -0.00451199) -> 1 candidate(s)
I0419 20:59:18.599789 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:18.600905 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:18.600993 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:18.603576 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.42341, -3.58293)
I0419 20:59:18.750247 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:18.757037 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0622449s, prior_pose=(-2.03095, -1.43), yaw=18.0195 deg
I0419 20:59:18.757160 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=690, max_intensity=243, threshold=230, above_threshold=7, candidates=7
I0419 20:59:18.831507 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10019, -1.60574), points=5, range=1.9494, residual=0.0143565, extent=0.0383848
I0419 20:59:18.831619 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10019, -1.60574), tracking=(1.39869, -1.60574), map_predicted=(-0.202934, -2.52294), range=1.9494, pts=5
I0419 20:59:18.831653 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.082119m maha_sq=0.109835 (gate chi2=5.99) pose_sigma=(0.246314, 0.246314, rho=0) det_map=(-0.202934, -2.52294) lm_pos=(-0.285, -2.52) delta=(0.0820662, -0.00294337) -> 1 candidate(s)
I0419 20:59:18.894667 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.42613, -3.58974)
I0419 20:59:19.006337 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:19.006489 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:19.006609 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:19.009392 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:19.009455 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:19.134965 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518468s, prior_pose=(-2.03566, -1.43048), yaw=17.975 deg
I0419 20:59:19.135133 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=686, max_intensity=244, threshold=230, above_threshold=6, candidates=6
I0419 20:59:19.144807 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:19.162585 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10167, -1.60291)
I0419 20:59:19.162751 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:19.162793 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:19.299710 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.43742, -3.58775), points=4, range=3.86175, residual=0.015409, extent=0.0377352
I0419 20:59:19.299839 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.43742, -3.58775), tracking=(1.73592, -3.58775), map_predicted=(0.727743, -4.30533), range=3.86175, pts=4
I0419 20:59:19.299866 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.05257m maha_sq=67.9819 (gate chi2=5.99) pose_sigma=(0.246856, 0.246856, rho=0) det_map=(0.727743, -4.30533) lm_pos=(-0.285, -2.52) delta=(1.01274, -1.78533) -> 0 candidate(s)
I0419 20:59:19.302234 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03244, -1.43013), yaw=18.0108 deg backend=(-2.03244, -1.43013)
I0419 20:59:19.305195 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:19.389442 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839843s, prior_pose=(-2.02994, -1.43079), yaw=18.0058 deg
I0419 20:59:19.389554 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=684, max_intensity=243, threshold=230, above_threshold=6, candidates=6
I0419 20:59:19.538697 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10413, -1.60648)
I0419 20:59:19.538964 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:19.541493 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:19.541585 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:19.543241 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:19.545887 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.43109, -3.58706), points=3, range=3.859, residual=0.0119635, extent=0.0245718
I0419 20:59:19.545957 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:19.545974 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.43109, -3.58706), tracking=(1.72959, -3.58706), map_predicted=(0.717456, -4.31062), range=3.859, pts=3
I0419 20:59:19.545996 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.05213m maha_sq=67.8636 (gate chi2=5.99) pose_sigma=(0.247212, 0.247212, rho=0) det_map=(0.717456, -4.31062) lm_pos=(-0.285, -2.52) delta=(1.00246, -1.79062) -> 0 candidate(s)
I0419 20:59:19.630587 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602867s, prior_pose=(-2.03201, -1.43447), yaw=18.0067 deg
I0419 20:59:19.630733 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=698, max_intensity=242, threshold=230, above_threshold=7, candidates=7
I0419 20:59:19.766708 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 20:59:19.768895 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.11067, -1.61098)
I0419 20:59:19.769033 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:19.769093 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:19.896260 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:19.900663 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11605, -1.60878), points=3, range=1.95433, residual=0.00840193, extent=0.0165256
I0419 20:59:19.900764 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.11605, -1.60878), tracking=(1.41455, -1.60878), map_predicted=(-0.187513, -2.52241), range=1.95433, pts=3
I0419 20:59:19.900791 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0975169m maha_sq=0.153447 (gate chi2=5.99) pose_sigma=(0.247754, 0.247754, rho=0) det_map=(-0.187513, -2.52241) lm_pos=(-0.285, -2.52) delta=(0.0974872, -0.0024083) -> 1 candidate(s)
I0419 20:59:19.926214 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555824s, prior_pose=(-2.02994, -1.42943), yaw=17.9972 deg
I0419 20:59:19.926335 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=688, max_intensity=244, threshold=230, above_threshold=6, candidates=6
I0419 20:59:20.061895 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.350227, -0.509583)
I0419 20:59:20.063126 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:20.063203 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:20.063926 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:20.067734 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:20.184342 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03124, -1.433), yaw=17.979 deg backend=(-2.03124, -1.433)
I0419 20:59:20.185285 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:20.188710 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.51266, -2.24971)
I0419 20:59:20.188822 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:20.188845 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5104, -2.25341), points=6, range=2.711, residual=0.0150802, extent=0.0425385
I0419 20:59:20.188859 1218972 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:20.188874 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.5104, -2.25341), tracking=(-1.8089, 2.25341), map_predicted=(-4.44733, 0.152076), range=2.711, pts=6
I0419 20:59:20.188894 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.94621m maha_sq=392.097 (gate chi2=5.99) pose_sigma=(0.248111, 0.248111, rho=0) det_map=(-4.44733, 0.152076) lm_pos=(-0.285, -2.52) delta=(-4.16233, 2.67208) -> 0 candidate(s)
I0419 20:59:20.218972 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0847061s, prior_pose=(-2.03124, -1.433), yaw=17.9779 deg
I0419 20:59:20.219146 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=683, max_intensity=242, threshold=230, above_threshold=5, candidates=5
I0419 20:59:20.336364 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:20.336473 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:20.340901 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10205, -1.60346)
I0419 20:59:20.340998 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:20.440407 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5127, -2.24271), points=6, range=2.70767, residual=0.0158813, extent=0.0441986
I0419 20:59:20.440539 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.5127, -2.24271), tracking=(-1.8112, 2.24271), map_predicted=(-4.4442, 0.136152), range=2.70767, pts=6
I0419 20:59:20.440567 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.93498m maha_sq=388.786 (gate chi2=5.99) pose_sigma=(0.248557, 0.248557, rho=0) det_map=(-4.4442, 0.136152) lm_pos=(-0.285, -2.52) delta=(-4.1592, 2.65615) -> 0 candidate(s)
I0419 20:59:20.444340 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:20.444933 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:20.445000 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:20.586334 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561481s, prior_pose=(-2.03463, -1.4331), yaw=17.9855 deg
I0419 20:59:20.586470 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=692, max_intensity=240, threshold=230, above_threshold=6, candidates=6
I0419 20:59:20.586514 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:20.589221 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.43146, -3.58799)
I0419 20:59:20.591202 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:20.591300 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:20.593189 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:20.603031 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51292, -2.24304), points=6, range=2.70617, residual=0.0147282, extent=0.0403514
I0419 20:59:20.603183 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.51292, -2.24304), tracking=(-1.81142, 2.24304), map_predicted=(-4.45011, 0.14105), range=2.70617, pts=6
I0419 20:59:20.603227 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9426m maha_sq=389.197 (gate chi2=5.99) pose_sigma=(0.248885, 0.248885, rho=0) det_map=(-4.45011, 0.14105) lm_pos=(-0.285, -2.52) delta=(-4.16511, 2.66105) -> 0 candidate(s)
I0419 20:59:20.702966 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:20.710167 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:20.722184 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.51229, -2.24916)
I0419 20:59:20.722306 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:20.722352 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:20.842067 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520338s, prior_pose=(-2.03291, -1.43267), yaw=17.9886 deg
I0419 20:59:20.842214 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=686, max_intensity=242, threshold=230, above_threshold=5, candidates=5
I0419 20:59:20.862545 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:20.862637 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:20.862666 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10824, -1.6075), points=3, range=1.95033, residual=0.00661256, extent=0.0128284
I0419 20:59:20.862690 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10824, -1.6075), tracking=(1.40674, -1.6075), map_predicted=(-0.198465, -2.5271), range=1.95033, pts=3
I0419 20:59:20.862717 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.086826m maha_sq=0.120168 (gate chi2=5.99) pose_sigma=(0.249342, 0.249342, rho=0) det_map=(-0.198465, -2.5271) lm_pos=(-0.285, -2.52) delta=(0.0865354, -0.0070986) -> 1 candidate(s)
I0419 20:59:20.946412 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:20.947530 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.43644, -3.58527)
I0419 20:59:20.947635 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:20.961048 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03614, -1.43092), yaw=17.9874 deg backend=(-2.03614, -1.43092)
I0419 20:59:21.010536 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:21.084566 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:21.084698 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:21.088399 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11124, -1.60684), points=4, range=1.95, residual=0.0102524, extent=0.0226612
I0419 20:59:21.088527 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11124, -1.60684), tracking=(1.40974, -1.60684), map_predicted=(-0.197721, -2.52287), range=1.95, pts=4
I0419 20:59:21.088554 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0873266m maha_sq=0.121209 (gate chi2=5.99) pose_sigma=(0.24958, 0.24958, rho=0) det_map=(-0.197721, -2.52287) lm_pos=(-0.285, -2.52) delta=(0.0872793, -0.00287266) -> 1 candidate(s)
I0419 20:59:21.098009 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842364s, prior_pose=(-2.03482, -1.42999), yaw=17.9899 deg
I0419 20:59:21.098117 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=688, max_intensity=245, threshold=230, above_threshold=8, candidates=8
I0419 20:59:21.098186 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.10315, -1.60504)
I0419 20:59:21.240995 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:21.241117 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:21.241829 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:21.245575 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:21.274667 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10506, -1.60786), points=4, range=1.952, residual=0.00814405, extent=0.0197376
I0419 20:59:21.274829 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10506, -1.60786), tracking=(1.40356, -1.60786), map_predicted=(-0.195196, -2.52532), range=1.952, pts=4
I0419 20:59:21.274940 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0899616m maha_sq=0.128347 (gate chi2=5.99) pose_sigma=(0.249939, 0.249939, rho=0) det_map=(-0.195196, -2.52532) lm_pos=(-0.285, -2.52) delta=(0.0898039, -0.0053243) -> 1 candidate(s)
I0419 20:59:21.274974 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:21.367060 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.4244, -3.58541)
I0419 20:59:21.367669 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:21.367723 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:21.394346 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593044s, prior_pose=(-2.03266, -1.43282), yaw=17.9865 deg
I0419 20:59:21.394595 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=686, max_intensity=244, threshold=230, above_threshold=6, candidates=6
I0419 20:59:21.493891 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:21.493995 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:21.496680 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10825, -1.60749), points=3, range=1.94567, residual=0.0133254, extent=0.0265311
I0419 20:59:21.496836 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10825, -1.60749), tracking=(1.40675, -1.60749), map_predicted=(-0.19775, -2.52801), range=1.94567, pts=3
I0419 20:59:21.496862 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0876173m maha_sq=0.121474 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.19775, -2.52801) lm_pos=(-0.285, -2.52) delta=(0.0872502, -0.00801154) -> 1 candidate(s)
I0419 20:59:21.497501 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.51515, -2.24636)
I0419 20:59:21.510191 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:21.639883 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:21.640559 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:21.640614 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:21.775478 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052844s, prior_pose=(-2.02694, -1.43238), yaw=18.0106 deg
I0419 20:59:21.775592 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=686, max_intensity=244, threshold=230, above_threshold=7, candidates=7
I0419 20:59:21.775646 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.10178, -1.60306)
I0419 20:59:21.777302 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42305, -3.582), points=3, range=3.85433, residual=0.0102635, extent=0.0249719
I0419 20:59:21.777379 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.42305, -3.582), tracking=(1.72155, -3.582), map_predicted=(0.717778, -4.30657), range=3.85433, pts=3
I0419 20:59:21.777403 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.04876m maha_sq=66.2034 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(0.717778, -4.30657) lm_pos=(-0.285, -2.52) delta=(1.00278, -1.78657) -> 0 candidate(s)
I0419 20:59:21.779954 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:21.780012 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:21.780689 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:21.806245 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:21.908756 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03244, -1.43047), yaw=17.9858 deg backend=(-2.03244, -1.43047)
I0419 20:59:21.909565 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:21.910168 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.51571, -2.24719)
I0419 20:59:21.912695 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:21.912755 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:21.925714 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5124, -2.2564), points=6, range=2.71367, residual=0.0165698, extent=0.0467051
I0419 20:59:21.925834 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.5124, -2.2564), tracking=(-1.8109, 2.2564), map_predicted=(-4.45157, 0.156529), range=2.71367, pts=6
I0419 20:59:21.925869 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95218m maha_sq=386.915 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.45157, 0.156529) lm_pos=(-0.285, -2.52) delta=(-4.16657, 2.67653) -> 0 candidate(s)
I0419 20:59:22.053696 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876442s, prior_pose=(-2.02866, -1.43175), yaw=18.0037 deg
I0419 20:59:22.053828 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=687, max_intensity=241, threshold=230, above_threshold=6, candidates=6
I0419 20:59:22.059234 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:22.059366 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:22.059391 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:22.071368 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10507, -1.60786)
I0419 20:59:22.172142 1218972 collated_trajectory_builder.cc:82] imu rate: 200.01 Hz 5.00e-03 s +/- 4.30e-03 s (pulsed at 100.51% real time)
I0419 20:59:22.172325 1218972 collated_trajectory_builder.cc:82] odom rate: 248.67 Hz 4.02e-03 s +/- 7.01e-04 s (pulsed at 99.92% real time)
I0419 20:59:22.172437 1218972 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.32e-03 s (pulsed at 100.46% real time)
I0419 20:59:22.172472 1218972 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.30e-03 s (pulsed at 100.39% real time)
I0419 20:59:22.174093 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:22.180300 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51262, -2.25673), points=6, range=2.7145, residual=0.0158384, extent=0.0437879
I0419 20:59:22.180416 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.51262, -2.25673), tracking=(-1.81112, 2.25673), map_predicted=(-4.45101, 0.154525), range=2.7145, pts=6
I0419 20:59:22.180447 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95063m maha_sq=386.816 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.45101, 0.154525) lm_pos=(-0.285, -2.52) delta=(-4.16601, 2.67453) -> 0 candidate(s)
I0419 20:59:22.194267 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:22.194440 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:22.324394 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:22.329949 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594408s, prior_pose=(-2.03415, -1.43304), yaw=17.9922 deg
I0419 20:59:22.330070 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=685, max_intensity=243, threshold=230, above_threshold=7, candidates=7
I0419 20:59:22.330211 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.42453, -3.58572)
I0419 20:59:22.335639 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:22.335726 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:22.430809 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:22.432021 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:22.435707 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.54985, -2.22032), points=5, range=2.7052, residual=0.0138685, extent=0.0367591
I0419 20:59:22.435837 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:22.435854 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.54985, -2.22032), tracking=(-1.84835, 2.22032), map_predicted=(-4.46759, 0.124513), range=2.7052, pts=5
I0419 20:59:22.435874 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.94849m maha_sq=386.847 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.46759, 0.124513) lm_pos=(-0.285, -2.52) delta=(-4.18259, 2.64451) -> 0 candidate(s)
I0419 20:59:22.450903 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.1589, -1.55664)
I0419 20:59:22.551983 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:22.552798 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:22.552861 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:22.640115 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516972s, prior_pose=(-2.03413, -1.42975), yaw=14.2087 deg
I0419 20:59:22.640275 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=680, max_intensity=243, threshold=230, above_threshold=7, candidates=7
I0419 20:59:22.644620 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:22.730010 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:22.730099 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:22.814275 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.89171, -3.321)
I0419 20:59:22.814379 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.89171, -3.321), points=3, range=3.822, residual=0.0109723, extent=0.0268195
I0419 20:59:22.814410 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.89171, -3.321), tracking=(2.19021, -3.321), map_predicted=(0.777017, -4.23688), range=3.822, pts=3
I0419 20:59:22.814437 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=1.97095m maha_sq=61.2619 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(0.777017, -4.23688) lm_pos=(1.745, -2.52) delta=(-0.967983, -1.71688) -> 0 candidate(s)
I0419 20:59:22.894526 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:22.974540 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.03549, -1.43158), yaw=9.21599 deg backend=(-2.03549, -1.43158)
I0419 20:59:23.061412 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:23.061530 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:23.136624 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.41662, -1.26066)
I0419 20:59:23.138484 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842595s, prior_pose=(-2.03416, -1.43278), yaw=6.73108 deg
I0419 20:59:23.138562 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=654, max_intensity=255, threshold=230, above_threshold=9, candidates=9
I0419 20:59:23.138615 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:23.221869 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:23.222944 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45803, -1.21982), points=3, range=1.89467, residual=0.0126019, extent=0.0255019
I0419 20:59:23.223016 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.45803, -1.21982), tracking=(1.75653, -1.21982), map_predicted=(-0.169069, -2.4783), range=1.89467, pts=3
I0419 20:59:23.223042 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.123204m maha_sq=0.240277 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.169069, -2.4783) lm_pos=(-0.285, -2.52) delta=(0.115931, 0.0417022) -> 1 candidate(s)
I0419 20:59:23.225708 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:23.225800 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:23.312295 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.05501, -1.67407)
I0419 20:59:23.313396 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 20:59:23.388931 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 20:59:23.389504 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:23.465744 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:23.465884 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:23.468448 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.16916, -1.50017)
I0419 20:59:23.551358 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.18876, -1.46712), points=6, range=2.63483, residual=0.0143395, extent=0.039079
I0419 20:59:23.551470 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.18876, -1.46712), tracking=(-2.48726, 1.46712), map_predicted=(-4.47548, 0.116885), range=2.63483, pts=6
I0419 20:59:23.551499 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95109m maha_sq=387.23 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.47548, 0.116885) lm_pos=(-0.285, -2.52) delta=(-4.19048, 2.63689) -> 0 candidate(s)
I0419 20:59:23.552721 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555226s, prior_pose=(-2.03626, -1.42879), yaw=-1.82703 deg
I0419 20:59:23.552832 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=619, max_intensity=240, threshold=230, above_threshold=11, candidates=11
I0419 20:59:23.557317 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:23.557440 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:23.557515 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:23.633590 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.26493, -1.3253)
I0419 20:59:23.637564 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:23.721110 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.67894, -0.827965), points=3, range=1.868, residual=0.00870045, extent=0.0169385
I0419 20:59:23.721232 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.67894, -0.827965), tracking=(1.97744, -0.827965), map_predicted=(-0.162768, -2.48168), range=1.868, pts=3
I0419 20:59:23.721263 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.128097m maha_sq=0.260095 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.162768, -2.48168) lm_pos=(-0.285, -2.52) delta=(0.122232, 0.0383153) -> 1 candidate(s)
I0419 20:59:23.801270 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:23.801363 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:23.801388 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:23.802445 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.68634, -0.774423)
I0419 20:59:23.960361 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0496723s, prior_pose=(-2.04111, -1.43475), yaw=-9.99625 deg
I0419 20:59:23.960484 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=619, max_intensity=241, threshold=230, above_threshold=8, candidates=8
I0419 20:59:24.044914 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:24.045023 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:24.045624 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.40876, -1.01423)
I0419 20:59:24.048213 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.72289, -0.664225), points=3, range=1.852, residual=0.012444, extent=0.0263052
I0419 20:59:24.048352 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.72289, -0.664225), tracking=(2.02139, -0.664225), map_predicted=(-0.204565, -2.50547), range=1.852, pts=3
I0419 20:59:24.048381 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0817361m maha_sq=0.105766 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.204565, -2.50547) lm_pos=(-0.285, -2.52) delta=(0.0804349, 0.0145261) -> 1 candidate(s)
I0419 20:59:24.134193 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:24.136224 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-2.0347, -1.42984), yaw=-12.9975 deg backend=(-2.0347, -1.42984)
I0419 20:59:24.137197 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:24.140460 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.40967, -1.00636)
I0419 20:59:24.140565 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:24.140587 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:24.220402 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:24.222112 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0834587s, prior_pose=(-2.02957, -1.42816), yaw=-12.8103 deg
I0419 20:59:24.222235 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=618, max_intensity=243, threshold=230, above_threshold=10, candidates=10
I0419 20:59:24.224987 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.482865, -2.19321), points=5, range=2.2406, residual=0.0157636, extent=0.038948
I0419 20:59:24.225060 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.482865, -2.19321), tracking=(-0.184365, -2.19321), map_predicted=(-2.68337, -3.52963), range=2.2406, pts=5
I0419 20:59:24.225106 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.60222m maha_sq=106.977 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.68337, -3.52963) lm_pos=(-0.285, -2.52) delta=(-2.39837, -1.00963) -> 0 candidate(s)
I0419 20:59:24.227895 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:24.227950 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.4941, -2.18379)
I0419 20:59:24.227967 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:24.228526 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:24.311694 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:24.314703 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:24.319103 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.513883, -2.18256)
I0419 20:59:24.319209 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.69403, -0.698799), points=3, range=1.83567, residual=0.00873936, extent=0.0184093
I0419 20:59:24.319236 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.69403, -0.698799), tracking=(1.99253, -0.698799), map_predicted=(-0.213199, -2.52839), range=1.83567, pts=3
I0419 20:59:24.319257 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0722895m maha_sq=0.0828362 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.213199, -2.52839) lm_pos=(-0.285, -2.52) delta=(0.0718014, -0.00838658) -> 1 candidate(s)
I0419 20:59:24.319926 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:24.319973 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:24.405560 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558018s, prior_pose=(-2.00122, -1.43835), yaw=-11.9459 deg
I0419 20:59:24.405675 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=629, max_intensity=243, threshold=230, above_threshold=8, candidates=8
I0419 20:59:24.409996 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:24.410122 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.534278, -2.18357)
I0419 20:59:24.410141 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:24.410173 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:24.509793 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.65258, -0.692986), points=3, range=1.78667, residual=0.010617, extent=0.0207807
I0419 20:59:24.509899 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:24.509915 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.65258, -0.692986), tracking=(1.95108, -0.692986), map_predicted=(-0.222963, -2.52961), range=1.78667, pts=3
I0419 20:59:24.509936 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0627761m maha_sq=0.0624366 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.222963, -2.52961) lm_pos=(-0.285, -2.52) delta=(0.0620369, -0.00960551) -> 1 candidate(s)
I0419 20:59:24.513808 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:24.586153 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:24.599781 1219494 pose_graph_2d.cc:160] Inserted submap (1, 29).
I0419 20:59:24.600683 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.575609, -2.18649)
I0419 20:59:24.601537 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:24.601605 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:24.608018 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0529188s, prior_pose=(-1.93936, -1.45316), yaw=-11.9245 deg
I0419 20:59:24.608140 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=642, max_intensity=242, threshold=230, above_threshold=10, candidates=10
I0419 20:59:24.691416 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.51782, -1.05153)
I0419 20:59:24.692744 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:24.692852 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:24.693696 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.5255, -1.05042), points=5, range=2.7348, residual=0.0126247, extent=0.0321616
I0419 20:59:24.693851 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.5255, -1.05042), tracking=(-2.824, 1.05042), map_predicted=(-4.47264, 0.150195), range=2.7348, pts=5
I0419 20:59:24.693917 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96652m maha_sq=389.849 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.47264, 0.150195) lm_pos=(-0.285, -2.52) delta=(-4.18764, 2.67019) -> 0 candidate(s)
I0419 20:59:24.700431 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:24.777417 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.88407, -1.46099), yaw=-11.6788 deg backend=(-1.88407, -1.46099)
I0419 20:59:24.778512 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.8086, -2.27437)
I0419 20:59:24.782135 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:24.782347 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:24.787047 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77113, -2.27758), points=3, range=3.59167, residual=0.0137621, extent=0.0289215
I0419 20:59:24.787282 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.77113, -2.27758), tracking=(3.06963, -2.27758), map_predicted=(0.689395, -4.31614), range=3.59167, pts=3
I0419 20:59:24.787350 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.04342m maha_sq=65.8225 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(0.689395, -4.31614) lm_pos=(-0.285, -2.52) delta=(0.974395, -1.79614) -> 0 candidate(s)
I0419 20:59:24.788933 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.083767s, prior_pose=(-1.85794, -1.46639), yaw=-11.6329 deg
I0419 20:59:24.789152 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=662, max_intensity=242, threshold=230, above_threshold=8, candidates=8
I0419 20:59:24.789305 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.5158, -0.706814)
I0419 20:59:24.789361 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:24.789412 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:24.869439 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:24.869673 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:24.871521 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:24.874456 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.76431, -1.46303)
I0419 20:59:24.874655 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 6 -> 5 (threshold=0.03, iters=3)
I0419 20:59:24.947479 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:24.949483 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.762227, -2.19297), points=4, range=2.32325, residual=0.0107066, extent=0.0258048
I0419 20:59:24.949652 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.762227, -2.19297), tracking=(-0.463727, -2.19297), map_predicted=(-2.70072, -3.53812), range=2.32325, pts=4
I0419 20:59:24.949715 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.6215m maha_sq=108.782 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.70072, -3.53812) lm_pos=(-0.285, -2.52) delta=(-2.41572, -1.01812) -> 0 candidate(s)
I0419 20:59:24.952643 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.45528, -0.70715)
I0419 20:59:24.953552 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:24.953680 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:25.032744 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595983s, prior_pose=(-1.76834, -1.48264), yaw=-11.7962 deg
I0419 20:59:25.032866 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=685, max_intensity=251, threshold=230, above_threshold=9, candidates=9
I0419 20:59:25.035770 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.770268, -2.19559)
I0419 20:59:25.037546 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:25.037633 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:25.037670 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:25.039646 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.70258, -1.00598), points=5, range=2.8822, residual=0.0131973, extent=0.0340316
I0419 20:59:25.039733 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.70258, -1.00598), tracking=(-3.00108, 1.00598), map_predicted=(-4.46675, 0.137705), range=2.8822, pts=5
I0419 20:59:25.039758 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95484m maha_sq=387.8 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.46675, 0.137705) lm_pos=(-0.285, -2.52) delta=(-4.18175, 2.65771) -> 0 candidate(s)
I0419 20:59:25.122478 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.72304, -0.977684)
I0419 20:59:25.123715 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:25.197888 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:25.198807 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:25.198879 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:25.201619 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.138501, 2.21191)
I0419 20:59:25.201722 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.141483, 2.2078), points=4, range=2.21625, residual=0.0114873, extent=0.026438
I0419 20:59:25.201747 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.141483, 2.2078), tracking=(-0.439983, -2.2078), map_predicted=(-2.68841, -3.5273), range=2.21625, pts=4
I0419 20:59:25.201769 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.60596m maha_sq=107.487 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.68841, -3.5273) lm_pos=(-0.285, -2.52) delta=(-2.40341, -1.0073) -> 0 candidate(s)
I0419 20:59:25.201792 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:25.210081 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051955s, prior_pose=(-1.7128, -1.49696), yaw=-14.6254 deg
I0419 20:59:25.210220 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=708, max_intensity=241, threshold=230, above_threshold=8, candidates=8
I0419 20:59:25.313599 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:25.313695 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:25.313969 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:25.316349 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:25.317198 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.10042, 2.22573)
I0419 20:59:25.421104 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.83625, -0.791008), points=5, range=2.9428, residual=0.0135986, extent=0.0345544
I0419 20:59:25.421205 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.83625, -0.791008), tracking=(-3.13475, 0.791008), map_predicted=(-4.46835, 0.135483), range=2.9428, pts=5
I0419 20:59:25.421233 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95499m maha_sq=387.705 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.46835, 0.135483) lm_pos=(-0.285, -2.52) delta=(-4.18335, 2.65548) -> 0 candidate(s)
I0419 20:59:25.422243 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:25.424209 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.6736, -1.50402), yaw=-16.7931 deg backend=(-1.6736, -1.50402)
I0419 20:59:25.496292 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:25.496402 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:25.498138 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.0489694, 2.24396)
I0419 20:59:25.506213 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846763s, prior_pose=(-1.65786, -1.5114), yaw=-18.0289 deg
I0419 20:59:25.506291 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=721, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 20:59:25.591028 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.606758, -2.25141), points=5, range=2.3262, residual=0.0171494, extent=0.0411017
I0419 20:59:25.591143 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.606758, -2.25141), tracking=(-0.308258, -2.25141), map_predicted=(-2.66594, -3.54603), range=2.3262, pts=5
I0419 20:59:25.591218 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.5926m maha_sq=106.095 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.66594, -3.54603) lm_pos=(-0.285, -2.52) delta=(-2.38094, -1.02603) -> 0 candidate(s)
I0419 20:59:25.593905 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:25.593968 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:25.670722 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.00328213, 2.256)
I0419 20:59:25.674610 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:25.674685 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:25.675480 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:25.748293 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0164355, 2.26044), points=3, range=2.25833, residual=0.00786219, extent=0.0165142
I0419 20:59:25.748418 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0164355, 2.26044), tracking=(-0.282064, -2.26044), map_predicted=(-2.68795, -3.53449), range=2.25833, pts=3
I0419 20:59:25.748450 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.60832m maha_sq=107.794 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.68795, -3.53449) lm_pos=(-0.285, -2.52) delta=(-2.40295, -1.01449) -> 0 candidate(s)
I0419 20:59:25.750236 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:25.750339 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:25.753217 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0262903, 2.25917)
I0419 20:59:25.799178 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568224s, prior_pose=(-1.59992, -1.53083), yaw=-21.8597 deg
I0419 20:59:25.799348 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=741, max_intensity=245, threshold=230, above_threshold=7, candidates=7
I0419 20:59:25.909241 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0229875, 2.25838), points=3, range=2.26167, residual=0.00844298, extent=0.0171538
I0419 20:59:25.909371 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0229875, 2.25838), tracking=(-0.275512, -2.25838), map_predicted=(-2.69776, -3.5196), range=2.26167, pts=3
I0419 20:59:25.909399 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61163m maha_sq=108.051 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.69776, -3.5196) lm_pos=(-0.285, -2.52) delta=(-2.41276, -0.999598) -> 0 candidate(s)
I0419 20:59:25.910495 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:25.910578 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:25.913971 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0197437, 2.26224)
I0419 20:59:25.946403 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:26.027449 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:26.028172 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00986053, 2.25898), points=3, range=2.26467, residual=0.0119229, extent=0.0239539
I0419 20:59:26.028249 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00986053, 2.25898), tracking=(-0.308361, -2.25898), map_predicted=(-2.71533, -3.51324), range=2.26467, pts=3
I0419 20:59:26.028319 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62546m maha_sq=109.075 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.71533, -3.51324) lm_pos=(-0.285, -2.52) delta=(-2.43033, -0.993241) -> 0 candidate(s)
I0419 20:59:26.030946 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:26.031034 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:26.039711 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.019735, 2.26291)
I0419 20:59:26.168190 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555602s, prior_pose=(-1.55428, -1.55333), yaw=-22.392 deg
I0419 20:59:26.168344 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=760, max_intensity=246, threshold=230, above_threshold=10, candidates=10
I0419 20:59:26.175572 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:26.175690 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:26.175719 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29071, -0.400762), points=5, range=1.3524, residual=0.00757841, extent=0.0197669
I0419 20:59:26.175740 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.29071, -0.400762), tracking=(1.58921, -0.400762), map_predicted=(-0.227399, -2.53238), range=1.3524, pts=5
I0419 20:59:26.175760 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0589168m maha_sq=0.0550735 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.227399, -2.53238) lm_pos=(-0.285, -2.52) delta=(0.0576014, -0.0123799) -> 1 candidate(s)
I0419 20:59:26.186805 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.0557044, 2.2538)
I0419 20:59:26.322368 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:26.323515 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:26.325627 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.52223, -1.56574), yaw=-22.1354 deg backend=(-1.52223, -1.56574)
I0419 20:59:26.326505 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:26.328127 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25979, -0.407306), points=3, range=1.32567, residual=0.00666907, extent=0.0135202
I0419 20:59:26.328192 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25979, -0.407306), tracking=(1.55829, -0.407306), map_predicted=(-0.232261, -2.53018), range=1.32567, pts=3
I0419 20:59:26.328217 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0537132m maha_sq=0.0457857 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.232261, -2.53018) lm_pos=(-0.285, -2.52) delta=(0.0527389, -0.0101843) -> 1 candidate(s)
I0419 20:59:26.329879 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:26.329941 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:26.333379 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.0920766, 2.25979)
I0419 20:59:26.444311 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844441s, prior_pose=(-1.50453, -1.56979), yaw=-22.0087 deg
I0419 20:59:26.444446 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=776, max_intensity=247, threshold=230, above_threshold=10, candidates=10
I0419 20:59:26.452960 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:26.453159 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:26.453190 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23698, -0.407896), points=3, range=1.3, residual=0.00723766, extent=0.0144776
I0419 20:59:26.453213 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23698, -0.407896), tracking=(1.53548, -0.407896), map_predicted=(-0.215008, -2.52794), range=1.3, pts=3
I0419 20:59:26.453233 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0704412m maha_sq=0.0787367 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.215008, -2.52794) lm_pos=(-0.285, -2.52) delta=(0.0699921, -0.007941) -> 1 candidate(s)
I0419 20:59:26.556553 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.127971, 2.25411)
I0419 20:59:26.557456 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:26.560474 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:26.594028 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19548, -0.413582), points=3, range=1.26767, residual=0.00739144, extent=0.0149144
I0419 20:59:26.594167 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19548, -0.413582), tracking=(1.49398, -0.413582), map_predicted=(-0.225069, -2.52641), range=1.26767, pts=3
I0419 20:59:26.594223 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0602727m maha_sq=0.0576453 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.225069, -2.52641) lm_pos=(-0.285, -2.52) delta=(0.0599311, -0.00640826) -> 1 candidate(s)
I0419 20:59:26.594277 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:26.598794 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:26.598930 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:26.707348 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.167675, 2.25677)
I0419 20:59:26.710857 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060186s, prior_pose=(-1.43575, -1.59495), yaw=-21.8235 deg
I0419 20:59:26.710954 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=805, max_intensity=247, threshold=230, above_threshold=10, candidates=10
I0419 20:59:26.738333 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:26.738447 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:26.738481 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16547, -0.410794), points=5, range=1.2334, residual=0.00925606, extent=0.0247047
I0419 20:59:26.738509 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16547, -0.410794), tracking=(1.46397, -0.410794), map_predicted=(-0.221384, -2.5232), range=1.2334, pts=5
I0419 20:59:26.738543 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0636964m maha_sq=0.0643508 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.221384, -2.5232) lm_pos=(-0.285, -2.52) delta=(0.0636159, -0.00320111) -> 1 candidate(s)
I0419 20:59:26.818513 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.200752, 2.25708)
I0419 20:59:26.821298 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:26.825774 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:26.854705 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:26.935624 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13233, -0.41213), points=4, range=1.20375, residual=0.00539816, extent=0.0132057
I0419 20:59:26.935775 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.13233, -0.41213), tracking=(1.43083, -0.41213), map_predicted=(-0.213801, -2.52707), range=1.20375, pts=4
I0419 20:59:26.935807 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0715496m maha_sq=0.0812718 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.213801, -2.52707) lm_pos=(-0.285, -2.52) delta=(0.071199, -0.00707368) -> 1 candidate(s)
I0419 20:59:26.936518 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:26.936583 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:26.939378 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.234298, 2.26088)
I0419 20:59:26.978338 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596452s, prior_pose=(-1.37171, -1.6212), yaw=-21.7327 deg
I0419 20:59:26.978444 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=823, max_intensity=249, threshold=230, above_threshold=12, candidates=12
I0419 20:59:27.089118 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:27.089214 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:27.089244 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09491, -0.418453), points=7, range=1.16957, residual=0.0111246, extent=0.0344832
I0419 20:59:27.089272 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09491, -0.418453), tracking=(1.39341, -0.418453), map_predicted=(-0.211215, -2.52777), range=1.16957, pts=7
I0419 20:59:27.089293 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.074192m maha_sq=0.0872575 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.211215, -2.52777) lm_pos=(-0.285, -2.52) delta=(0.0737845, -0.00776559) -> 1 candidate(s)
I0419 20:59:27.092636 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.27105, 2.262)
I0419 20:59:27.122748 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:27.202666 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.32698, -1.63656), yaw=-21.5429 deg backend=(-1.32698, -1.63656)
I0419 20:59:27.205268 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05621, -0.421356), points=7, range=1.13914, residual=0.010065, extent=0.029662
I0419 20:59:27.205363 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.05621, -0.421356), tracking=(1.35471, -0.421356), map_predicted=(-0.22163, -2.52593), range=1.13914, pts=7
I0419 20:59:27.205389 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0636467m maha_sq=0.0642401 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.22163, -2.52593) lm_pos=(-0.285, -2.52) delta=(0.0633702, -0.00592602) -> 1 candidate(s)
I0419 20:59:27.205413 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:27.206940 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:27.207016 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:27.214941 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.307498, 2.25966)
I0419 20:59:27.266865 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845228s, prior_pose=(-1.30962, -1.64343), yaw=-21.6079 deg
I0419 20:59:27.267074 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=845, max_intensity=251, threshold=230, above_threshold=11, candidates=11
I0419 20:59:27.377691 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:27.377813 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:27.377844 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02812, -0.42409), points=8, range=1.11137, residual=0.0100467, extent=0.0315256
I0419 20:59:27.377866 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02812, -0.42409), tracking=(1.32662, -0.42409), map_predicted=(-0.216538, -2.5306), range=1.11137, pts=8
I0419 20:59:27.377884 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0692779m maha_sq=0.0761128 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.216538, -2.5306) lm_pos=(-0.285, -2.52) delta=(0.0684621, -0.0106008) -> 1 candidate(s)
I0419 20:59:27.381172 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.341426, 2.26212)
I0419 20:59:27.390969 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:27.500957 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:27.502779 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:27.505625 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.986917, -0.427394), points=8, range=1.0775, residual=0.00982806, extent=0.0277065
I0419 20:59:27.505714 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.986917, -0.427394), tracking=(1.28542, -0.427394), map_predicted=(-0.220142, -2.53278), range=1.0775, pts=8
I0419 20:59:27.505738 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0661055m maha_sq=0.0693084 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.220142, -2.53278) lm_pos=(-0.285, -2.52) delta=(0.064858, -0.0127818) -> 1 candidate(s)
I0419 20:59:27.506294 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:27.506348 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:27.509052 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.34457, -0.524744)
I0419 20:59:27.646498 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591782s, prior_pose=(-1.24452, -1.66944), yaw=-21.3918 deg
I0419 20:59:27.646624 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=876, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 20:59:27.651212 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:27.651325 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:27.651350 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.958301, -0.426642), points=8, range=1.0465, residual=0.0111291, extent=0.0340991
I0419 20:59:27.651376 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.958301, -0.426642), tracking=(1.2568, -0.426642), map_predicted=(-0.221762, -2.52766), range=1.0465, pts=8
I0419 20:59:27.651394 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0637006m maha_sq=0.0643312 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.221762, -2.52766) lm_pos=(-0.285, -2.52) delta=(0.0632383, -0.00766077) -> 1 candidate(s)
I0419 20:59:27.654842 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.38063, -0.530408)
I0419 20:59:27.736112 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:27.766108 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.920934, -0.429408), points=8, range=1.01487, residual=0.00915857, extent=0.0267522
I0419 20:59:27.766215 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.920934, -0.429408), tracking=(1.21943, -0.429408), map_predicted=(-0.222969, -2.53125), range=1.01487, pts=8
I0419 20:59:27.766243 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0630432m maha_sq=0.0630518 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.222969, -2.53125) lm_pos=(-0.285, -2.52) delta=(0.0620311, -0.0112514) -> 1 candidate(s)
I0419 20:59:27.766269 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:27.770757 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.41076, -0.535137)
I0419 20:59:27.770864 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:27.770911 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:27.905017 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553631s, prior_pose=(-1.17851, -1.69374), yaw=-21.2596 deg
I0419 20:59:27.905139 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=890, max_intensity=252, threshold=230, above_threshold=14, candidates=14
I0419 20:59:27.908224 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.480636, 2.26126)
I0419 20:59:27.914959 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:27.915102 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:27.915159 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881245, -0.432966), points=10, range=0.9803, residual=0.01024, extent=0.0318295
I0419 20:59:27.915205 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881245, -0.432966), tracking=(1.17974, -0.432966), map_predicted=(-0.222841, -2.52885), range=0.9803, pts=10
I0419 20:59:27.915246 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0627852m maha_sq=0.0625178 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.222841, -2.52885) lm_pos=(-0.285, -2.52) delta=(0.0621585, -0.00884917) -> 1 candidate(s)
I0419 20:59:28.020193 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:28.022094 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:28.023216 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.859664, -0.433249)
I0419 20:59:28.023288 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:28.025142 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.13761, -1.71043), yaw=-21.1117 deg backend=(-1.13761, -1.71043)
I0419 20:59:28.029856 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:28.062140 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.844174, -0.43943), points=9, range=0.953556, residual=0.00919057, extent=0.0257359
I0419 20:59:28.062302 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.844174, -0.43943), tracking=(1.14267, -0.43943), map_predicted=(-0.229908, -2.53194), range=0.953556, pts=9
I0419 20:59:28.062415 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0563702m maha_sq=0.0504123 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.229908, -2.53194) lm_pos=(-0.285, -2.52) delta=(0.0550917, -0.0119376) -> 1 candidate(s)
I0419 20:59:28.164996 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:28.165158 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:28.168677 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=12, centroid=(0.833298, -0.43811)
I0419 20:59:28.170260 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758801s, prior_pose=(-1.11992, -1.71638), yaw=-21.0121 deg
I0419 20:59:28.170341 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=920, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:59:28.211290 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:28.252873 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:59:28.252970 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.18619, 1.0101)
I0419 20:59:28.252990 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 20:59:28.253679 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.50548, -0.560444), points=3, range=3.55, residual=0.0101836, extent=0.0208611
I0419 20:59:28.253755 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.50548, -0.560444), tracking=(-3.80398, 0.560444), map_predicted=(-4.44688, 0.160546), range=3.55, pts=3
I0419 20:59:28.253782 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95041m maha_sq=386.882 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.44688, 0.160546) lm_pos=(-0.285, -2.52) delta=(-4.16188, 2.68055) -> 0 candidate(s)
I0419 20:59:28.294570 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:28.298008 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.596152, 2.25118)
I0419 20:59:28.430358 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:28.431180 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:28.431252 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:28.433943 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.623354, 2.24775)
I0419 20:59:28.434039 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.620602, 2.25049), points=5, range=2.3326, residual=0.011387, extent=0.0277439
I0419 20:59:28.434067 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.620602, 2.25049), tracking=(-0.919102, -2.25049), map_predicted=(-2.71201, -3.52165), range=2.3326, pts=5
I0419 20:59:28.434087 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62559m maha_sq=109.094 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-2.71201, -3.52165) lm_pos=(-0.285, -2.52) delta=(-2.42701, -1.00165) -> 0 candidate(s)
I0419 20:59:28.441862 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591139s, prior_pose=(-1.04475, -1.74602), yaw=-20.6118 deg
I0419 20:59:28.441998 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=933, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:59:28.524770 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-0.222465, -0.40833)
I0419 20:59:28.526688 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 20:59:28.526789 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=1
I0419 20:59:28.534888 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.66548, 2.24669)
I0419 20:59:28.566262 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:28.591012 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12005, 0.99673), points=3, range=1.49933, residual=0.00892001, extent=0.0218185
I0419 20:59:28.591214 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:28.591252 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.12005, 0.99673), tracking=(1.41855, 0.99673), map_predicted=(0.659149, -1.31314), range=1.49933, pts=3
I0419 20:59:28.591301 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0446782m maha_sq=0.0316542 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(0.659149, -1.31314) lm_pos=(0.615, -1.32) delta=(0.0441489, 0.00685679) -> 1 candidate(s)
I0419 20:59:28.591529 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291685897686.
I0419 20:59:28.680855 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:28.680997 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291686183474.
I0419 20:59:28.683848 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291686462434.
I0419 20:59:28.684660 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.704952, 2.23588)
I0419 20:59:28.684753 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:28.684775 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:28.685931 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291686779214.
I0419 20:59:28.706918 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 20:59:28.707183 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291687058889.
I0419 20:59:28.818069 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601425s, prior_pose=(-1.03728, -1.75382), yaw=-19.9165 deg
I0419 20:59:28.818195 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=937, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 20:59:28.818352 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0106449 range=1.468 variance=0.000613027 t_weight=4893.75 r_weight=0 yaml=(0.615, -1.32) prior=(-1.03728, -1.75382, -19.9165deg) obs_actual=(1.39231, 0.979081) obs_expected=(1.40568, 0.970727) delta=(-0.0133685, 0.00835401) |delta|=0.0157641m
I0419 20:59:28.818409 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291687415095.
I0419 20:59:28.818985 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.61183, -0.642295), points=3, range=3.67, residual=0.0111661, extent=0.0231625
I0419 20:59:28.819036 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.61183, -0.642295), tracking=(-3.91033, 0.642295), map_predicted=(-4.49493, 0.182116), range=3.67, pts=3
I0419 20:59:28.819100 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0025m maha_sq=1070.07 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49493, 0.182116) lm_pos=(-0.285, -2.52) delta=(-4.20993, 2.70212) -> 0 candidate(s)
I0419 20:59:28.820519 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291687654200.
I0419 20:59:28.823482 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:28.823559 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.08263, 0.969078)
I0419 20:59:28.823577 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:28.823666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291687936992.
I0419 20:59:28.826776 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291688214925.
I0419 20:59:28.855278 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:59:28.855785 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:28.855865 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291688541099.
I0419 20:59:28.977861 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:28.977985 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-19.3947 deg, rms_residual=0.000144318m, sigma_yaw=0.000192387 rad, N=2
I0419 20:59:28.978034 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.991317, -1.76559, -19.3947deg) inliers=2 rms=0.000144318m
I0419 20:59:28.978103 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291688819036.
I0419 20:59:28.978861 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.821599, 2.20729), points=5, range=2.351, residual=0.0153083, extent=0.0391197
I0419 20:59:28.978920 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.821599, 2.20729), tracking=(-1.1201, -2.20729), map_predicted=(-2.7837, -3.48204), range=2.351, pts=5
I0419 20:59:28.978946 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6775m maha_sq=307.715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7837, -3.48204) lm_pos=(-0.285, -2.52) delta=(-2.4987, -0.962041) -> 0 candidate(s)
I0419 20:59:28.980414 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.993797, -1.7651), yaw=-18.7537 deg backend=(-0.935042, -1.78022)
I0419 20:59:28.981606 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291689139129.
I0419 20:59:28.983354 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.06328, 0.940681)
I0419 20:59:28.983520 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291689419708.
I0419 20:59:28.985524 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:28.985625 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:28.986891 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291689699104.
I0419 20:59:29.061677 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291689979552.
I0419 20:59:29.063740 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845479s, prior_pose=(-0.972934, -1.77637), yaw=-18.0694 deg
I0419 20:59:29.063848 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:59:29.064000 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291690299377.
I0419 20:59:29.067075 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04995, 0.920763), points=3, range=1.403, residual=0.0137907, extent=0.0291637
I0419 20:59:29.067171 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04995, 0.920763), tracking=(1.34845, 0.920763), map_predicted=(0.598168, -1.31067), range=1.403, pts=3
I0419 20:59:29.067198 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0192438m maha_sq=0.0158656 (gate chi2=5.99) pose_sigma=(0.150588, 0.150588, rho=0) det_map=(0.598168, -1.31067) lm_pos=(0.615, -1.32) delta=(-0.0168315, 0.00932865) -> 1 candidate(s)
I0419 20:59:29.067323 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291690580373.
I0419 20:59:29.068138 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.919436, 2.17487)
I0419 20:59:29.090873 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:29.091033 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:29.091208 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00425766 range=0.750133 variance=0.000640509 t_weight=4683.78 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.955898, -1.78183, -17.3191deg) obs_actual=(0.850829, -0.501638) obs_expected=(0.860228, -0.504979) delta=(-0.00939857, 0.00334125) |delta|=0.00997482m
I0419 20:59:29.091377 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291690897329.
I0419 20:59:29.118672 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291691178991.
I0419 20:59:29.189455 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291691461408.
I0419 20:59:29.190186 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:29.192526 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:29.192718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291691775561.
I0419 20:59:29.207406 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04734, 0.902435), points=3, range=1.379, residual=0.00727882, extent=0.0144315
I0419 20:59:29.207508 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04734, 0.902435), tracking=(1.34584, 0.902435), map_predicted=(0.614081, -1.31027), range=1.379, pts=3
I0419 20:59:29.207538 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00977272m maha_sq=0.00414784 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.614081, -1.31027) lm_pos=(0.615, -1.32) delta=(-0.000919464, 0.00972937) -> 1 candidate(s)
I0419 20:59:29.207561 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:29.207667 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291692068922.
I0419 20:59:29.210542 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.991066, 2.15809)
I0419 20:59:29.233978 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291692334716.
I0419 20:59:29.241806 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:29.241878 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:29.310242 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291692652118.
I0419 20:59:29.312126 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:29.312269 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291692940761.
I0419 20:59:29.321977 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564261s, prior_pose=(-0.905316, -1.79951), yaw=-15.719 deg
I0419 20:59:29.322089 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=937, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:59:29.322311 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291693216379.
I0419 20:59:29.354614 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291693540488.
I0419 20:59:29.382257 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:29.382427 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.470264, -0.531364)
I0419 20:59:29.382465 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:29.382725 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291693816081.
I0419 20:59:29.471053 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:29.471170 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01692, 0.87108), points=3, range=1.331, residual=0.0151563, extent=0.0309816
I0419 20:59:29.471231 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01692, 0.87108), tracking=(1.31542, 0.87108), map_predicted=(0.614038, -1.3024), range=1.331, pts=3
I0419 20:59:29.471261 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0176293m maha_sq=0.0132114 (gate chi2=5.99) pose_sigma=(0.151081, 0.151081, rho=0) det_map=(0.614038, -1.3024) lm_pos=(0.615, -1.32) delta=(-0.000962469, 0.017603) -> 1 candidate(s)
I0419 20:59:29.471333 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00416721 range=0.706 variance=0.000645268 t_weight=4649.23 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.882665, -1.8014, -15.0742deg) obs_actual=(0.755479, -0.533393) obs_expected=(0.763986, -0.538437) delta=(-0.00850659, 0.00504432) |delta|=0.00988976m
I0419 20:59:29.471388 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291694100500.
I0419 20:59:29.474411 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:59:29.474534 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:29.474560 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291694422376.
I0419 20:59:29.476096 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:29.476248 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291694699931.
I0419 20:59:29.502421 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291695013030.
I0419 20:59:29.612828 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291695295796.
I0419 20:59:29.614348 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:29.614651 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:29.616408 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291695577513.
I0419 20:59:29.618999 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.16448, 2.10083)
I0419 20:59:29.620853 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291695857346.
I0419 20:59:29.623981 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557847s, prior_pose=(-0.833237, -1.82109), yaw=-13.7343 deg
I0419 20:59:29.624274 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=947, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 20:59:29.624503 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.979477, 0.834849), points=3, range=1.287, residual=0.0131094, extent=0.0320332
I0419 20:59:29.624645 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.979477, 0.834849), tracking=(1.27798, 0.834849), map_predicted=(0.606409, -1.31353), range=1.287, pts=3
I0419 20:59:29.624781 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0107544m maha_sq=0.0049688 (gate chi2=5.99) pose_sigma=(0.15046, 0.15046, rho=0) det_map=(0.606409, -1.31353) lm_pos=(0.615, -1.32) delta=(-0.00859102, 0.00646922) -> 1 candidate(s)
I0419 20:59:29.624953 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-13.9724 deg, rms_residual=0.00212378m, sigma_yaw=0.00282371 rad, N=2
I0419 20:59:29.625178 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.825467, -1.81988, -13.9724deg) inliers=2 rms=0.00212378m
I0419 20:59:29.625356 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291696179666.
I0419 20:59:29.646391 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291696457618.
I0419 20:59:29.719929 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:29.720068 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:29.720180 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291696772953.
I0419 20:59:29.723024 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00256253 range=1.272 variance=0.000673524 t_weight=4454.18 r_weight=0 yaml=(0.615, -1.32) prior=(-0.816409, -1.82685, -13.0918deg) obs_actual=(1.27537, 0.824526) obs_expected=(1.2794, 0.817911) delta=(-0.00402199, 0.00661526) |delta|=0.00774197m
I0419 20:59:29.723172 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291697056912.
I0419 20:59:29.734238 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291697337022.
I0419 20:59:29.742199 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:29.762394 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.967451, 0.816569)
I0419 20:59:29.762516 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:29.762627 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291697619396.
I0419 20:59:29.847833 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.792584, -1.84494), yaw=-12.6853 deg backend=(-0.757744, -1.83263)
I0419 20:59:29.848980 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:29.849133 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291697934228.
I0419 20:59:29.850914 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291698214391.
I0419 20:59:29.852588 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:29.852694 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29534, 2.053), points=5, range=2.4246, residual=0.0130423, extent=0.0351587
I0419 20:59:29.852712 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:29.852725 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29534, 2.053), tracking=(-1.59384, -2.053), map_predicted=(-2.77835, -3.51054), range=2.4246, pts=5
I0419 20:59:29.852742 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68291m maha_sq=307.014 (gate chi2=5.99) pose_sigma=(0.150675, 0.150675, rho=0) det_map=(-2.77835, -3.51054) lm_pos=(-0.285, -2.52) delta=(-2.49335, -0.990542) -> 0 candidate(s)
I0419 20:59:29.854378 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291698539380.
I0419 20:59:29.882269 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:59:29.882547 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291698813324.
I0419 20:59:29.910465 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803992s, prior_pose=(-0.779875, -1.84344), yaw=-12.0643 deg
I0419 20:59:29.910645 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=969, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:59:29.911075 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291699095439.
I0419 20:59:30.007437 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291699418462.
I0419 20:59:30.010411 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:30.010501 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.288403, -0.57831)
I0419 20:59:30.010522 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:30.010627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291699701533.
I0419 20:59:30.012552 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291700001190.
I0419 20:59:30.026381 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:59:30.026603 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:30.026650 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291700258494.
I0419 20:59:30.112425 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:30.112596 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291700553164.
I0419 20:59:30.114503 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291700856324.
I0419 20:59:30.116184 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40055, 2.01264), points=4, range=2.45525, residual=0.0118439, extent=0.0293082
I0419 20:59:30.116272 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.40055, 2.01264), tracking=(-1.69905, -2.01264), map_predicted=(-2.79359, -3.49783), range=2.45525, pts=4
I0419 20:59:30.116302 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.69243m maha_sq=307.075 (gate chi2=5.99) pose_sigma=(0.151299, 0.151299, rho=0) det_map=(-2.79359, -3.49783) lm_pos=(-0.285, -2.52) delta=(-2.50859, -0.977831) -> 0 candidate(s)
I0419 20:59:30.117589 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291701142097.
I0419 20:59:30.122465 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:30.122557 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:30.146142 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.242997, -0.581712)
I0419 20:59:30.146333 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0265467 range=0.630524 variance=0.00058933 t_weight=5090.52 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.727035, -1.84991, -11.0155deg) obs_actual=(0.538373, -0.581448) obs_expected=(0.561928, -0.573281) delta=(-0.0235553, -0.00816722) |delta|=0.024931m
I0419 20:59:30.146433 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291701455325.
I0419 20:59:30.173974 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291701733427.
I0419 20:59:30.243585 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06041s, prior_pose=(-0.711238, -1.85284), yaw=-10.9957 deg
I0419 20:59:30.243717 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=998, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:59:30.243929 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291702059425.
I0419 20:59:30.246789 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.868775, 0.779917)
I0419 20:59:30.246977 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291702336797.
I0419 20:59:30.262509 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:30.262777 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:30.263060 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291702620785.
I0419 20:59:30.294080 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291702935585.
I0419 20:59:30.298465 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.86231, -1.26116), points=3, range=4.063, residual=0.0114313, extent=0.0237162
I0419 20:59:30.298556 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.86231, -1.26116), tracking=(-4.16081, 1.26116), map_predicted=(-4.52912, 0.168049), range=4.063, pts=3
I0419 20:59:30.298588 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02376m maha_sq=1075.41 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.52912, 0.168049) lm_pos=(-0.285, -2.52) delta=(-4.24412, 2.68805) -> 0 candidate(s)
I0419 20:59:30.369302 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.846511, 0.780166)
I0419 20:59:30.369580 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291703221188.
I0419 20:59:30.370362 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:30.371467 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:30.371642 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291703507273.
I0419 20:59:30.378528 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:30.378669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291703780082.
I0419 20:59:30.414520 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291704138298.
I0419 20:59:30.415337 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:30.415402 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:30.438865 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291704381784.
I0419 20:59:30.514083 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.159562, -0.5846)
I0419 20:59:30.514190 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.157385, -0.583869), points=22, range=0.606091, residual=0.0132478, extent=0.051703
I0419 20:59:30.514215 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.157385, -0.583869), tracking=(0.455885, -0.583869), map_predicted=(-0.293877, -2.52175), range=0.606091, pts=22
I0419 20:59:30.514237 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00904692m maha_sq=0.00348641 (gate chi2=5.99) pose_sigma=(0.151216, 0.151216, rho=0) det_map=(-0.293877, -2.52175) lm_pos=(-0.285, -2.52) delta=(-0.00887652, -0.0017476) -> 1 candidate(s)
I0419 20:59:30.514276 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:59:30.514310 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00952996 range=1.123 variance=0.000547091 t_weight=5483.55 r_weight=0 yaml=(0.615, -1.32) prior=(-0.630392, -1.86183, -10.9641deg) obs_actual=(1.11018, 0.780397) obs_expected=(1.11961, 0.768806) delta=(-0.00942114, 0.0115918) |delta|=0.0149375m
I0419 20:59:30.514359 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291704693791.
I0419 20:59:30.516916 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525266s, prior_pose=(-0.622182, -1.86349), yaw=-10.9688 deg
I0419 20:59:30.517023 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1058, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 20:59:30.517256 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291704980520.
I0419 20:59:30.530685 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291705300224.
I0419 20:59:30.558171 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:30.558296 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:30.558490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291705574093.
I0419 20:59:30.633666 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-11.287 deg, rms_residual=0.00525637m, sigma_yaw=0.00695972 rad, N=2
I0419 20:59:30.633791 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.594337, -1.86978, -11.287deg) inliers=2 rms=0.00525637m
I0419 20:59:30.633831 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291705853672.
I0419 20:59:30.634434 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.93552, -1.25348)
I0419 20:59:30.635716 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.771364, 0.779422), points=6, range=1.09217, residual=0.0148841, extent=0.0415909
I0419 20:59:30.635810 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.771364, 0.779422), tracking=(1.06986, 0.779422), map_predicted=(0.596254, -1.30488), range=1.09217, pts=6
I0419 20:59:30.635838 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0240825m maha_sq=0.0250241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.596254, -1.30488) lm_pos=(0.615, -1.32) delta=(-0.0187464, 0.0151175) -> 1 candidate(s)
I0419 20:59:30.635902 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:30.635962 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:30.635987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291706141073.
I0419 20:59:30.646888 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:30.647143 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291706459109.
I0419 20:59:30.652513 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.578158, -1.87082), yaw=-11.0211 deg backend=(-0.548422, -1.8737)
I0419 20:59:30.674777 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291706741518.
I0419 20:59:30.707278 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291707065964.
I0419 20:59:30.771171 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:30.771286 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:30.772598 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.739319, 0.779002)
I0419 20:59:30.772794 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291707340070.
I0419 20:59:30.775525 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.738116, 0.781185), points=5, range=1.072, residual=0.00978852, extent=0.0230422
I0419 20:59:30.775631 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.738116, 0.781185), tracking=(1.03662, 0.781185), map_predicted=(0.611479, -1.30582), range=1.072, pts=5
I0419 20:59:30.775697 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0146139m maha_sq=0.00918056 (gate chi2=5.99) pose_sigma=(0.15071, 0.15071, rho=0) det_map=(0.611479, -1.30582) lm_pos=(0.615, -1.32) delta=(-0.00352105, 0.0141834) -> 1 candidate(s)
I0419 20:59:30.775801 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291707620618.
I0419 20:59:30.790545 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080162s, prior_pose=(-0.555608, -1.87391), yaw=-11.0462 deg
I0419 20:59:30.790659 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1137, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:59:30.790861 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0141537 range=0.594286 variance=0.000559399 t_weight=5362.9 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.555608, -1.87391, -11.0462deg) obs_actual=(0.372553, -0.588831) obs_expected=(0.389385, -0.582269) delta=(-0.016832, -0.00656194) |delta|=0.0180659m
I0419 20:59:30.790958 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291707901379.
I0419 20:59:30.822458 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291708218644.
I0419 20:59:30.889643 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:30.889755 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:30.889868 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291708496957.
I0419 20:59:30.891556 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:30.891680 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0507887, -0.590127)
I0419 20:59:30.892001 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291708777019.
I0419 20:59:30.910737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291709098931.
I0419 20:59:30.914641 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.0133, -1.27181), points=3, range=4.21067, residual=0.0122256, extent=0.0252113
I0419 20:59:30.914804 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.0133, -1.27181), tracking=(-4.3118, 1.27181), map_predicted=(-4.50186, 0.194936), range=4.21067, pts=3
I0419 20:59:30.914860 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01525m maha_sq=1069.52 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.50186, 0.194936) lm_pos=(-0.285, -2.52) delta=(-4.21686, 2.71494) -> 0 candidate(s)
I0419 20:59:30.914994 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:30.938627 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:30.939080 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291709379225.
I0419 20:59:30.970655 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:30.970851 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291709699916.
I0419 20:59:31.034147 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291709955354.
I0419 20:59:31.034888 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:31.034976 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:31.037374 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0120355, -0.591309)
I0419 20:59:31.037588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291710253059.
I0419 20:59:31.058359 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:59:31.058508 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291710578280.
I0419 20:59:31.061841 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.05435, -1.24601), points=3, range=4.246, residual=0.0154291, extent=0.0324154
I0419 20:59:31.061933 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.05435, -1.24601), tracking=(-4.35285, 1.24601), map_predicted=(-4.50284, 0.16744), range=4.246, pts=3
I0419 20:59:31.061964 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00125m maha_sq=1045.17 (gate chi2=5.99) pose_sigma=(0.151056, 0.151056, rho=0) det_map=(-4.50284, 0.16744) lm_pos=(-0.285, -2.52) delta=(-4.21784, 2.68744) -> 0 candidate(s)
I0419 20:59:31.087114 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0613566s, prior_pose=(-0.468046, -1.8869), yaw=-11.0094 deg
I0419 20:59:31.087244 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1217, max_intensity=254, threshold=230, above_threshold=26, candidates=26
I0419 20:59:31.087440 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00492851 range=0.592524 variance=0.00055651 t_weight=5390.74 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.468046, -1.8869, -11.0094deg) obs_actual=(0.291598, -0.59237) obs_expected=(0.30058, -0.586493) delta=(-0.00898113, -0.00587705) |delta|=0.0107331m
I0419 20:59:31.087502 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291710866625.
I0419 20:59:31.157759 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291711147906.
I0419 20:59:31.159562 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:31.159647 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:31.159730 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291711459416.
I0419 20:59:31.161214 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.566858, -0.172417)
I0419 20:59:31.174638 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-11.3411 deg, rms_residual=0.0076405m, sigma_yaw=0.0100846 rad, N=2
I0419 20:59:31.174760 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.435306, -1.89266, -11.3411deg) inliers=2 rms=0.0076405m
I0419 20:59:31.174796 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291711740938.
I0419 20:59:31.207640 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:31.207844 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:31.207890 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291712046354.
I0419 20:59:31.234479 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.612696, 0.778664), points=7, range=0.987714, residual=0.0135309, extent=0.0394836
I0419 20:59:31.234589 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:31.234606 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.612696, 0.778664), tracking=(0.911196, 0.778664), map_predicted=(0.607232, -1.3068), range=0.987714, pts=7
I0419 20:59:31.234627 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0153174m maha_sq=0.0101426 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.607232, -1.3068) lm_pos=(0.615, -1.32) delta=(-0.00776798, 0.0132016) -> 1 candidate(s)
I0419 20:59:31.234743 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291712340131.
I0419 20:59:31.294727 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291712620032.
I0419 20:59:31.297557 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291712893679.
I0419 20:59:31.298368 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 20:59:31.298441 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:31.322469 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.589622, 0.775575)
I0419 20:59:31.322672 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291713220644.
I0419 20:59:31.350392 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291713496745.
I0419 20:59:31.426688 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0524097s, prior_pose=(-0.394166, -1.89996), yaw=-10.8649 deg
I0419 20:59:31.426820 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1273, max_intensity=254, threshold=230, above_threshold=31, candidates=31
I0419 20:59:31.427022 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00952661 range=0.602619 variance=0.000567213 t_weight=5289.02 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.394166, -1.89996, -10.8649deg) obs_actual=(0.211218, -0.595815) obs_expected=(0.224083, -0.588348) delta=(-0.0128644, -0.00746768) |delta|=0.0148748m
I0419 20:59:31.427088 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291713778039.
I0419 20:59:31.428930 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291714061456.
I0419 20:59:31.437997 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:31.438084 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.100759, -0.596769)
I0419 20:59:31.438102 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:31.438127 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0973893, -0.597878), points=20, range=0.6053, residual=0.0110006, extent=0.0340766
I0419 20:59:31.438148 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0973893, -0.597878), tracking=(0.201111, -0.597878), map_predicted=(-0.29451, -2.52831), range=0.6053, pts=20
I0419 20:59:31.438176 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0126314m maha_sq=0.00682139 (gate chi2=5.99) pose_sigma=(0.151112, 0.151112, rho=0) det_map=(-0.29451, -2.52831) lm_pos=(-0.285, -2.52) delta=(-0.0095098, -0.00831366) -> 1 candidate(s)
I0419 20:59:31.438310 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291714375288.
I0419 20:59:31.466770 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291714660530.
I0419 20:59:31.499563 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291714987326.
I0419 20:59:31.604166 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 20:59:31.605522 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.528413, 0.76913)
I0419 20:59:31.605609 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:31.605715 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291715261489.
I0419 20:59:31.607669 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.346695, -1.90897), yaw=-10.7566 deg backend=(-0.332862, -1.91566)
I0419 20:59:31.608518 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:31.608644 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291715538836.
I0419 20:59:31.610399 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.51512, 0.768448), points=9, range=0.929556, residual=0.0130017, extent=0.0386553
I0419 20:59:31.610487 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.51512, 0.768448), tracking=(0.81362, 0.768448), map_predicted=(0.596049, -1.30587), range=0.929556, pts=9
I0419 20:59:31.610517 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0236363m maha_sq=0.0241686 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.596049, -1.30587) lm_pos=(0.615, -1.32) delta=(-0.0189506, 0.0141261) -> 1 candidate(s)
I0419 20:59:31.610607 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291715860653.
I0419 20:59:31.611968 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:31.612039 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:31.614960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291716141257.
I0419 20:59:31.697604 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:59:31.697746 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291716421695.
I0419 20:59:31.699656 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0815752s, prior_pose=(-0.323174, -1.91197), yaw=-10.6615 deg
I0419 20:59:31.699779 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1308, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:59:31.699882 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.167998, -0.598965)
I0419 20:59:31.699954 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0256013 range=0.622158 variance=0.000553675 t_weight=5418.34 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.323174, -1.91197, -10.6615deg) obs_actual=(0.126964, -0.598175) obs_expected=(0.150006, -0.590475) delta=(-0.0230415, -0.00770026) |delta|=0.0242941m
I0419 20:59:31.700043 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291716710168.
I0419 20:59:31.702960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291717024435.
I0419 20:59:31.730623 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:31.730715 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:31.730744 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.49091, 0.760651), points=11, range=0.902182, residual=0.0138369, extent=0.0429613
I0419 20:59:31.730765 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.49091, 0.760651), tracking=(0.78941, 0.760651), map_predicted=(0.613336, -1.30785), range=0.902182, pts=11
I0419 20:59:31.730798 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0122591m maha_sq=0.00643376 (gate chi2=5.99) pose_sigma=(0.150738, 0.150738, rho=0) det_map=(0.613336, -1.30785) lm_pos=(0.615, -1.32) delta=(-0.00166354, 0.0121457) -> 1 candidate(s)
I0419 20:59:31.730918 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291717300557.
I0419 20:59:31.762728 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-10.2617 deg, rms_residual=0.00826816m, sigma_yaw=0.010904 rad, N=2
I0419 20:59:31.762888 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.279073, -1.91853, -10.2617deg) inliers=2 rms=0.00826816m
I0419 20:59:31.762940 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291717621898.
I0419 20:59:31.823699 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:31.823851 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:31.823876 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291717904327.
I0419 20:59:31.826503 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.215532, -0.600237)
I0419 20:59:31.826639 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:31.826764 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291718179414.
I0419 20:59:31.850116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291718493336.
I0419 20:59:31.854270 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:31.878053 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291718774012.
I0419 20:59:31.886721 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:31.886826 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.21395, -1.43729), points=3, range=4.45233, residual=0.0108934, extent=0.0259112
I0419 20:59:31.886847 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:31.886862 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.21395, -1.43729), tracking=(-4.51245, 1.43729), map_predicted=(-4.48097, 0.222225), range=4.45233, pts=3
I0419 20:59:31.886883 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01258m maha_sq=1067.41 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48097, 0.222225) lm_pos=(-0.285, -2.52) delta=(-4.19597, 2.74223) -> 0 candidate(s)
I0419 20:59:31.961841 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291719058322.
I0419 20:59:31.965438 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291719384552.
I0419 20:59:31.967823 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(4.21745, -1.47282)
I0419 20:59:31.970830 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0644484s, prior_pose=(-0.239062, -1.92695), yaw=-8.65087 deg
I0419 20:59:31.970947 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 20:59:31.971359 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0044814 range=0.655294 variance=0.000535728 t_weight=5599.86 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.239062, -1.92695, -8.65087deg) obs_actual=(0.0364184, -0.600311) obs_expected=(0.0437878, -0.593217) delta=(-0.00736939, -0.00709328) |delta|=0.0102285m
I0419 20:59:31.971527 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291719702806.
I0419 20:59:31.998347 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291719977423.
I0419 20:59:32.001844 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.32676, 0.59561), points=26, range=0.681923, residual=0.0182756, extent=0.0532598
I0419 20:59:32.001927 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.32676, 0.59561), tracking=(0.0282601, -0.59561), map_predicted=(-0.289357, -2.52081), range=0.681923, pts=26
I0419 20:59:32.001956 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00443069m maha_sq=0.000843598 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.289357, -2.52081) lm_pos=(-0.285, -2.52) delta=(-0.00435664, -0.000806701) -> 1 candidate(s)
I0419 20:59:32.026518 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:32.026615 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:32.026767 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291720259745.
I0419 20:59:32.087822 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 31 -> 21 (threshold=0.03, iters=3)
I0419 20:59:32.087939 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:32.089270 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(-0.294062, -0.596314)
I0419 20:59:32.089453 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291720541693.
I0419 20:59:32.092330 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 20:59:32.092476 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291720858485.
I0419 20:59:32.114707 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:32.114971 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291721141914.
I0419 20:59:32.142602 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.411186, 0.716946)
I0419 20:59:32.142810 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.310025, -0.582359), points=16, range=0.661438, residual=0.017105, extent=0.0543974
I0419 20:59:32.142853 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.310025, -0.582359), tracking=(-0.0115247, -0.582359), map_predicted=(-0.278485, -2.50918), range=0.661438, pts=16
I0419 20:59:32.142891 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0126313m maha_sq=0.00676864 (gate chi2=5.99) pose_sigma=(0.15114, 0.15114, rho=0) det_map=(-0.278485, -2.50918) lm_pos=(-0.285, -2.52) delta=(0.0065151, 0.0108214) -> 1 candidate(s)
I0419 20:59:32.143070 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291721419439.
I0419 20:59:32.224395 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291721740649.
I0419 20:59:32.225207 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:32.225299 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:32.226625 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291722099422.
I0419 20:59:32.228196 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.2811 rad/s > flush threshold 3.
I0419 20:59:32.230243 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291722296882.
I0419 20:59:32.239521 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.09013, 1.86011)
I0419 20:59:32.262141 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051182s, prior_pose=(-0.165809, -1.93997), yaw=-7.09413 deg
I0419 20:59:32.262331 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 20:59:32.262537 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.380249, 0.715058), points=13, range=0.810462, residual=0.0108363, extent=0.0365393
I0419 20:59:32.262609 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.380249, 0.715058), tracking=(0.678749, 0.715058), map_predicted=(0.596054, -1.31421), range=0.810462, pts=13
I0419 20:59:32.262661 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0198103m maha_sq=0.0168499 (gate chi2=5.99) pose_sigma=(0.150771, 0.150771, rho=0) det_map=(0.596054, -1.31421) lm_pos=(0.615, -1.32) delta=(-0.0189465, 0.00578622) -> 1 candidate(s)
I0419 20:59:32.262760 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0168499 range=0.810462 variance=0.000558846 t_weight=5368.2 r_weight=0 yaml=(0.615, -1.32) prior=(-0.165809, -1.93997, -7.09413deg) obs_actual=(0.678749, 0.715058) obs_expected=(0.698265, 0.711656) delta=(-0.019516, 0.00340204) |delta|=0.0198103m
I0419 20:59:32.262895 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291722612789.
I0419 20:59:32.290613 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291722895636.
I0419 20:59:32.383368 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:32.384398 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:32.384469 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:32.384546 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291723177916.
I0419 20:59:32.384608 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:32.385419 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:32.387470 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291723500579.
I0419 20:59:32.388285 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(4.29537, -1.57049)
I0419 20:59:32.389451 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 20:59:32.389540 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:32.389567 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291723777579.
I0419 20:59:32.391193 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=1, buffered=6).
I0419 20:59:32.411157 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.341328, 0.710202), points=13, range=0.788615, residual=0.0100267, extent=0.0329867
I0419 20:59:32.411427 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:32.411494 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.341328, 0.710202), tracking=(0.639828, 0.710202), map_predicted=(0.576733, -1.31558), range=0.788615, pts=13
I0419 20:59:32.411648 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0385213m maha_sq=0.064021 (gate chi2=5.99) pose_sigma=(0.150456, 0.150456, rho=0) det_map=(0.576733, -1.31558) lm_pos=(0.615, -1.32) delta=(-0.0382669, 0.00441948) -> 1 candidate(s)
I0419 20:59:32.491110 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-0.134052, -1.94255), yaw=-7.0733 deg backend=(-0.0998314, -1.94988)
I0419 20:59:32.493979 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291724660327.
I0419 20:59:32.495455 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.32351, -1.57364)
I0419 20:59:32.495527 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:32.495554 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:32.497771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291724973570.
I0419 20:59:32.526471 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291725259438.
I0419 20:59:32.554009 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838408s, prior_pose=(-0.111957, -1.94528), yaw=-7.02514 deg
I0419 20:59:32.554122 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 20:59:32.554297 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291725536972.
I0419 20:59:32.628398 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.34517, -1.58869), points=3, range=4.62167, residual=0.0154, extent=0.0312797
I0419 20:59:32.628518 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.34517, -1.58869), tracking=(-4.64367, 1.58869), map_predicted=(-4.52295, 0.193637), range=4.62167, pts=3
I0419 20:59:32.628547 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0323m maha_sq=1062.05 (gate chi2=5.99) pose_sigma=(0.150494, 0.150494, rho=0) det_map=(-4.52295, 0.193637) lm_pos=(-0.285, -2.52) delta=(-4.23795, 2.71364) -> 0 candidate(s)
I0419 20:59:32.630425 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.34481, -1.58139)
I0419 20:59:32.632448 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:32.632519 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:32.632607 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291726137732.
I0419 20:59:32.633219 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:32.641772 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291726413443.
I0419 20:59:32.678040 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.131173, 0.59157), points=21, range=0.606857, residual=0.01138, extent=0.0358172
I0419 20:59:32.678155 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.131173, 0.59157), tracking=(-0.167327, -0.59157), map_predicted=(-0.319576, -2.5147), range=0.606857, pts=21
I0419 20:59:32.678184 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0349799m maha_sq=0.0522988 (gate chi2=5.99) pose_sigma=(0.151104, 0.151104, rho=0) det_map=(-0.319576, -2.5147) lm_pos=(-0.285, -2.52) delta=(-0.0345761, 0.00529926) -> 1 candidate(s)
I0419 20:59:32.678227 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:59:32.739002 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:32.739871 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(4.37279, -1.58438)
I0419 20:59:32.741168 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:32.766520 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:32.766646 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:32.818960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291728177894.
I0419 20:59:32.930117 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(4.41505, -1.58518)
I0419 20:59:32.930263 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.25185, 1.85628), points=4, range=2.9195, residual=0.0113904, extent=0.0277346
I0419 20:59:32.930298 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.25185, 1.85628), tracking=(-2.55035, -1.85628), map_predicted=(-2.79054, -3.48754), range=2.9195, pts=4
I0419 20:59:32.930323 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.68586m maha_sq=307.476 (gate chi2=5.99) pose_sigma=(0.150644, 0.150644, rho=0) det_map=(-2.79054, -3.48754) lm_pos=(-0.285, -2.52) delta=(-2.50554, -0.967539) -> 0 candidate(s)
I0419 20:59:32.931483 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0526821s, prior_pose=(-0.0333865, -1.95515), yaw=-6.98447 deg
I0419 20:59:32.931582 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 20:59:32.937254 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:32.937357 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:32.937489 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291729057543.
I0419 20:59:32.939491 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:32.940905 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.202815, 0.70712)
I0419 20:59:33.011965 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.194788, 0.706296), points=17, range=0.733412, residual=0.0115277, extent=0.0401938
I0419 20:59:33.012105 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.194788, 0.706296), tracking=(0.493288, 0.706296), map_predicted=(0.570308, -1.31621), range=0.733412, pts=17
I0419 20:59:33.012137 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0448526m maha_sq=0.0853472 (gate chi2=5.99) pose_sigma=(0.151658, 0.151658, rho=0) det_map=(0.570308, -1.31621) lm_pos=(0.615, -1.32) delta=(-0.0446918, 0.00379451) -> 1 candidate(s)
I0419 20:59:33.012902 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:59:33.014315 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:33.030616 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.037159, 0.595191)
I0419 20:59:33.054459 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:33.059355 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:33.059500 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:33.175027 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.152985, 0.704532), points=17, range=0.721706, residual=0.0114166, extent=0.0340852
I0419 20:59:33.175146 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.152985, 0.704532), tracking=(0.451485, 0.704532), map_predicted=(0.567001, -1.31406), range=0.721706, pts=17
I0419 20:59:33.175173 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0483645m maha_sq=0.0957079 (gate chi2=5.99) pose_sigma=(0.154505, 0.154505, rho=0) det_map=(0.567001, -1.31406) lm_pos=(0.615, -1.32) delta=(-0.0479988, 0.00593688) -> 1 candidate(s)
I0419 20:59:33.175770 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.012962, 0.595803)
I0419 20:59:33.177798 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051487s, prior_pose=(0.0440661, -1.96073), yaw=-6.81425 deg
I0419 20:59:33.177881 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 20:59:33.203193 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:33.203366 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:33.206856 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:33.294289 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.0164161, 0.59394)
I0419 20:59:33.294389 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.36284, 1.85714), points=4, range=3.002, residual=0.0128802, extent=0.0306818
I0419 20:59:33.294413 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.36284, 1.85714), tracking=(-2.66134, -1.85714), map_predicted=(-2.79241, -3.49352), range=3.002, pts=4
I0419 20:59:33.294435 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68977m maha_sq=284.073 (gate chi2=5.99) pose_sigma=(0.15701, 0.15701, rho=0) det_map=(-2.79241, -3.49352) lm_pos=(-0.285, -2.52) delta=(-2.50741, -0.97352) -> 0 candidate(s)
I0419 20:59:33.297026 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 20:59:33.298178 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:33.300215 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.092002, -1.96532), yaw=-6.68673 deg backend=(0.120627, -1.97195)
I0419 20:59:33.351238 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:33.461601 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.39799, 1.8456)
I0419 20:59:33.461684 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:33.461712 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0503101, 0.594993), points=21, range=0.598143, residual=0.0112124, extent=0.035632
I0419 20:59:33.461727 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:33.461742 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0503101, 0.594993), tracking=(-0.34881, -0.594993), map_predicted=(-0.306867, -2.51751), range=0.598143, pts=21
I0419 20:59:33.461763 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0220089m maha_sq=0.0185633 (gate chi2=5.99) pose_sigma=(0.159795, 0.159795, rho=0) det_map=(-0.306867, -2.51751) lm_pos=(-0.285, -2.52) delta=(-0.0218671, 0.0024946) -> 1 candidate(s)
I0419 20:59:33.461782 1218530 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=90.2877 rad/s > flush threshold 3.
I0419 20:59:33.468130 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838163s, prior_pose=(0.116416, -1.96755), yaw=-6.57395 deg
I0419 20:59:33.468263 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 20:59:33.471868 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(2.43405, 1.83978)
I0419 20:59:33.541522 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:33.541631 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:33.542520 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.44192, 1.84571), points=5, range=3.058, residual=0.0156502, extent=0.0413009
I0419 20:59:33.542603 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.44192, 1.84571), tracking=(-2.74042, -1.84571), map_predicted=(-2.79665, -3.49231), range=3.058, pts=5
I0419 20:59:33.542631 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69329m maha_sq=267.907 (gate chi2=5.99) pose_sigma=(0.161778, 0.161778, rho=0) det_map=(-2.79665, -3.49231) lm_pos=(-0.285, -2.52) delta=(-2.51165, -0.972305) -> 0 candidate(s)
I0419 20:59:33.542654 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:33.582520 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:33.592096 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.46909, 1.82707)
I0419 20:59:33.698441 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09026, -0.393193), points=6, range=1.154, residual=0.0164178, extent=0.0433496
I0419 20:59:33.698557 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.09026, -0.393193), tracking=(1.38876, -0.393193), map_predicted=(1.51767, -2.51891), range=1.154, pts=6
I0419 20:59:33.698586 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.227335m maha_sq=1.85151 (gate chi2=5.99) pose_sigma=(0.164879, 0.164879, rho=0) det_map=(1.51767, -2.51891) lm_pos=(1.745, -2.52) delta=(-0.227332, 0.00108895) -> 1 candidate(s)
I0419 20:59:33.698654 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:33.699375 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:33.699434 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:33.703181 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.00702852, 0.689767)
I0419 20:59:33.730994 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608441s, prior_pose=(0.203814, -1.9771), yaw=-6.29909 deg
I0419 20:59:33.731190 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:59:33.833482 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.63719, -1.62697), points=3, range=4.91433, residual=0.0125068, extent=0.0302815
I0419 20:59:33.833597 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.63719, -1.62697), tracking=(-4.93569, 1.62697), map_predicted=(-4.52732, 0.179375), range=4.91433, pts=3
I0419 20:59:33.833623 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02831m maha_sq=873.458 (gate chi2=5.99) pose_sigma=(0.166619, 0.166619, rho=0) det_map=(-4.52732, 0.179375) lm_pos=(-0.285, -2.52) delta=(-4.24232, 2.69938) -> 0 candidate(s)
I0419 20:59:33.834573 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:33.834630 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 20:59:33.834659 1218972 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:33.835058 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:33.836162 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.171034, 0.599281)
I0419 20:59:33.836244 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:33.882699 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:33.970719 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.0432457, 0.690735)
I0419 20:59:33.970827 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0451952, 0.689616), points=18, range=0.692167, residual=0.0109844, extent=0.0345524
I0419 20:59:33.970849 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0451952, 0.689616), tracking=(0.253305, 0.689616), map_predicted=(0.559188, -1.31959), range=0.692167, pts=18
I0419 20:59:33.970870 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.055814m maha_sq=0.10715 (gate chi2=5.99) pose_sigma=(0.168865, 0.168865, rho=0) det_map=(0.559188, -1.31959) lm_pos=(0.615, -1.32) delta=(-0.0558125, 0.000413255) -> 1 candidate(s)
I0419 20:59:33.973387 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:33.974076 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:33.974133 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:33.998239 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.22725, 0.597082)
I0419 20:59:34.110769 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521691s, prior_pose=(0.272554, -1.98203), yaw=-5.93494 deg
I0419 20:59:34.110867 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 20:59:34.113276 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.081746, 0.681997), points=19, range=0.687368, residual=0.0120441, extent=0.0391567
I0419 20:59:34.113343 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.081746, 0.681997), tracking=(0.216754, 0.681997), map_predicted=(0.558664, -1.3261), range=0.687368, pts=19
I0419 20:59:34.113369 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0566655m maha_sq=0.107196 (gate chi2=5.99) pose_sigma=(0.171384, 0.171384, rho=0) det_map=(0.558664, -1.3261) lm_pos=(0.615, -1.32) delta=(-0.0563361, -0.00610094) -> 1 candidate(s)
I0419 20:59:34.116235 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:34.116292 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:34.117167 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:34.119243 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71185, 0.884809)
I0419 20:59:34.228202 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:34.230214 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.322711, -1.98612), yaw=-5.80245 deg backend=(0.349725, -1.99265)
I0419 20:59:34.231361 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.118134, 0.681771), points=19, range=0.693421, residual=0.0128451, extent=0.0415666
I0419 20:59:34.231446 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.118134, 0.681771), tracking=(0.180366, 0.681771), map_predicted=(0.57108, -1.32607), range=0.693421, pts=19
I0419 20:59:34.231482 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0443381m maha_sq=0.0631966 (gate chi2=5.99) pose_sigma=(0.174657, 0.174657, rho=0) det_map=(0.57108, -1.32607) lm_pos=(0.615, -1.32) delta=(-0.0439202, -0.00607301) -> 1 candidate(s)
I0419 20:59:34.233888 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.93104, -0.414466)
I0419 20:59:34.234045 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291742296604.
I0419 20:59:34.236042 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:34.236096 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:34.236135 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:34.364496 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878628s, prior_pose=(0.356979, -1.98982), yaw=-5.83369 deg
I0419 20:59:34.364639 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 20:59:34.366128 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=16.7547 rad/s > flush threshold 3.
I0419 20:59:34.367283 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.896219, -0.417847)
I0419 20:59:34.367360 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.899521, -0.417817), points=7, range=0.988857, residual=0.0126753, extent=0.0363409
I0419 20:59:34.367385 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.899521, -0.417817), tracking=(1.19802, -0.417817), map_predicted=(1.51972, -2.52415), range=0.988857, pts=7
I0419 20:59:34.367408 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.225315m maha_sq=2.09441 (gate chi2=5.99) pose_sigma=(0.153717, 0.153717, rho=0) det_map=(1.51972, -2.52415) lm_pos=(1.745, -2.52) delta=(-0.225276, -0.00414787) -> 1 candidate(s)
I0419 20:59:34.378759 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:34.378929 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:34.382149 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:34.506915 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.862154, -0.419617)
I0419 20:59:34.507087 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:34.508797 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845343, -0.421402), points=9, range=0.949778, residual=0.0168525, extent=0.0519021
I0419 20:59:34.508894 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.845343, -0.421402), tracking=(1.14384, -0.421402), map_predicted=(1.49264, -2.51906), range=0.949778, pts=9
I0419 20:59:34.508920 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.252365m maha_sq=2.55174 (gate chi2=5.99) pose_sigma=(0.155651, 0.155651, rho=0) det_map=(1.49264, -2.51906) lm_pos=(1.745, -2.52) delta=(-0.252363, 0.000935381) -> 1 candidate(s)
I0419 20:59:34.526142 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:34.526245 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:34.526278 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:34.599954 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(-0.388046, -0.681381)
I0419 20:59:34.600131 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291745581145.
I0419 20:59:34.602803 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291745861040.
I0419 20:59:34.610128 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593376s, prior_pose=(0.436624, -1.99047), yaw=-5.59824 deg
I0419 20:59:34.610275 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 20:59:34.614806 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.388295, -0.689597), points=18, range=0.790556, residual=0.0164669, extent=0.0407949
I0419 20:59:34.614952 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.388295, -0.689597), tracking=(0.0897952, 0.689597), map_predicted=(0.593263, -1.31292), range=0.790556, pts=18
I0419 20:59:34.614988 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0228613m maha_sq=0.0225161 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.593263, -1.31292) lm_pos=(0.615, -1.32) delta=(-0.0217371, 0.0070809) -> 1 candidate(s)
I0419 20:59:34.615068 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-5.40619 deg, rms_residual=0.00484311m, sigma_yaw=0.00641605 rad, N=2
I0419 20:59:34.615095 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.0435372 range=0.7178 variance=0.000553832 t_weight=5416.8 r_weight=0 yaml=(-0.285, -2.52) prior=(0.436624, -1.99047, -5.59824deg) obs_actual=(-0.698198, -0.598122) obs_expected=(-0.666525, -0.597403) delta=(-0.0316731, -0.000718229) |delta|=0.0316812m
I0419 20:59:34.615175 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.463539, -1.99419, -5.40619deg) inliers=2 rms=0.00484311m
I0419 20:59:34.615226 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291746140679.
I0419 20:59:34.646238 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.78066, 1.79431)
I0419 20:59:34.646456 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291746456896.
I0419 20:59:34.670637 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:34.670729 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:34.670799 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:34.742573 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:34.742766 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291746737110.
I0419 20:59:34.744761 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291747058423.
I0419 20:59:34.747583 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=15, centroid=(0.429883, 0.598897)
I0419 20:59:34.747757 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.361029, -0.688507), points=14, range=0.775857, residual=0.0117804, extent=0.0330714
I0419 20:59:34.747826 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.361029, -0.688507), tracking=(0.0625293, 0.688507), map_predicted=(0.60508, -1.31452), range=0.775857, pts=14
I0419 20:59:34.747876 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0113342m maha_sq=0.00550198 (gate chi2=5.99) pose_sigma=(0.150896, 0.150896, rho=0) det_map=(0.60508, -1.31452) lm_pos=(0.615, -1.32) delta=(-0.00992032, 0.00548183) -> 1 candidate(s)
I0419 20:59:34.748008 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291747336136.
I0419 20:59:34.757715 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:34.762164 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291747615801.
I0419 20:59:34.794911 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291747943440.
I0419 20:59:34.860533 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:34.860882 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:34.861140 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291748220918.
I0419 20:59:34.862846 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.757873, -0.424313)
I0419 20:59:34.864627 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.32338, -0.680445), points=14, range=0.754071, residual=0.0101637, extent=0.0310722
I0419 20:59:34.864886 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.32338, -0.680445), tracking=(0.0248797, 0.680445), map_predicted=(0.610605, -1.3219), range=0.754071, pts=14
I0419 20:59:34.865041 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00478715m maha_sq=0.0009809 (gate chi2=5.99) pose_sigma=(0.151065, 0.151065, rho=0) det_map=(0.610605, -1.3219) lm_pos=(0.615, -1.32) delta=(-0.00439491, -0.00189778) -> 1 candidate(s)
I0419 20:59:34.865250 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:34.865464 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:34.865607 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291748502068.
I0419 20:59:34.879050 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291748783917.
I0419 20:59:34.905925 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553052s, prior_pose=(0.532318, -1.99683), yaw=-5.46186 deg
I0419 20:59:34.906055 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 20:59:34.906327 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.0117373 range=0.748 variance=0.000581256 t_weight=5161.24 r_weight=0 yaml=(0.615, -1.32) prior=(0.532318, -1.99683, -5.46186deg) obs_actual=(0.00172903, 0.685229) obs_expected=(0.0178831, 0.681631) delta=(-0.016154, 0.00359812) |delta|=0.0165499m
I0419 20:59:34.906435 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291749055120.
I0419 20:59:34.910683 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291749100960.
I0419 20:59:34.934907 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.308298, 0.686975)
I0419 20:59:34.935247 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291749340965.
I0419 20:59:35.023061 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291749375437.
I0419 20:59:35.024336 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 20:59:35.024410 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 20:59:35.024435 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.728171, -0.426028), points=10, range=0.842, residual=0.0104648, extent=0.0340509
I0419 20:59:35.024457 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.728171, -0.426028), tracking=(1.02667, -0.426028), map_predicted=(1.52122, -2.52115), range=0.842, pts=10
I0419 20:59:35.024477 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.223783m maha_sq=2.17241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52122, -2.52115) lm_pos=(1.745, -2.52) delta=(-0.22378, -0.00114759) -> 1 candidate(s)
I0419 20:59:35.024506 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:35.025305 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:35.025418 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291749693143.
I0419 20:59:35.027943 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291749981272.
I0419 20:59:35.029116 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(-0.406715, 0.661649)
I0419 20:59:35.029225 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291750222198.
I0419 20:59:35.030632 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291750257225.
I0419 20:59:35.050554 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:35.058641 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.514739, 0.59937), points=12, range=0.794083, residual=0.0155963, extent=0.0462765
I0419 20:59:35.058784 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.514739, 0.59937), tracking=(-0.813239, -0.59937), map_predicted=(-0.296963, -2.52357), range=0.794083, pts=12
I0419 20:59:35.058830 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0124827m maha_sq=0.00672094 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.296963, -2.52357) lm_pos=(-0.285, -2.52) delta=(-0.0119628, -0.00356522) -> 1 candidate(s)
I0419 20:59:35.058991 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291750578390.
I0419 20:59:35.153818 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.576485, -2.00054), yaw=-5.37805 deg backend=(0.575403, -2.00892)
I0419 20:59:35.155710 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291750863008.
I0419 20:59:35.156785 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.45859, 0.870613)
I0419 20:59:35.156864 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 28 -> 12 (threshold=0.03, iters=3)
I0419 20:59:35.156922 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-5.64033 deg, rms_residual=0.0201419m, sigma_yaw=0.02189 rad, N=2
I0419 20:59:35.156945 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.0812503 range=0.781 variance=0.000522004 t_weight=5747.08 r_weight=0 yaml=(0.615, -1.32) prior=(0.576485, -2.00054, -5.37805deg) obs_actual=(-0.0675822, 0.690875) obs_expected=(-0.025439, 0.681155) delta=(-0.0421432, 0.0097208) |delta|=0.0432498m
I0419 20:59:35.156975 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.594212, -2.01417, -5.64033deg) inliers=2 rms=0.0201419m
I0419 20:59:35.156998 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291751093841.
I0419 20:59:35.158463 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:35.158542 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:35.158610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291751138189.
I0419 20:59:35.159677 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291751373661.
I0419 20:59:35.160518 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291751452167.
I0419 20:59:35.170454 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.332811, 0.580343)
I0419 20:59:35.174336 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.234553, -0.681167), points=17, range=0.721588, residual=0.0117525, extent=0.0337992
I0419 20:59:35.174449 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.234553, -0.681167), tracking=(-0.0639469, 0.681167), map_predicted=(0.603302, -1.32048), range=0.721588, pts=17
I0419 20:59:35.174486 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0117078m maha_sq=0.00586908 (gate chi2=5.99) pose_sigma=(0.150927, 0.150927, rho=0) det_map=(0.603302, -1.32048) lm_pos=(0.615, -1.32) delta=(-0.011698, -0.0004791) -> 1 candidate(s)
I0419 20:59:35.174634 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291751736743.
I0419 20:59:35.198372 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.083873s, prior_pose=(0.603753, -2.00464), yaw=-5.32536 deg
I0419 20:59:35.198657 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=252, threshold=230, above_threshold=38, candidates=38
I0419 20:59:35.199232 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291751976919.
I0419 20:59:35.287225 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291752070503.
I0419 20:59:35.287812 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:35.288429 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291752261753.
I0419 20:59:35.289224 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.57072, 0.599381)
I0419 20:59:35.289330 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:35.289369 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:35.289390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291752337369.
I0419 20:59:35.291360 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 20:59:35.291437 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 20:59:35.291487 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 20:59:35.291533 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291752578484.
I0419 20:59:35.292354 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.577929, 0.597631), points=12, range=0.827167, residual=0.0168445, extent=0.0484848
I0419 20:59:35.292415 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.577929, 0.597631), tracking=(-0.876429, -0.597631), map_predicted=(-0.301922, -2.52433), range=0.827167, pts=12
I0419 20:59:35.292443 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0174669m maha_sq=0.0131359 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.301922, -2.52433) lm_pos=(-0.285, -2.52) delta=(-0.0169221, -0.00432854) -> 1 candidate(s)
I0419 20:59:35.292466 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:35.292500 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.0131359 range=0.827167 variance=0.000725843 t_weight=4133.13 r_weight=0 yaml=(-0.285, -2.52) prior=(0.625673, -2.00969, -5.26768deg) obs_actual=(-0.876429, -0.597631) obs_expected=(-0.859976, -0.591767) delta=(-0.0164532, -0.00586386) |delta|=0.0174669m
I0419 20:59:35.292546 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291752621436.
I0419 20:59:35.295243 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291752942171.
I0419 20:59:35.322242 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.596585, 0.601512)
I0419 20:59:35.322551 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291753214754.
I0419 20:59:35.401568 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:35.401684 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:35.402432 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291753496758.
I0419 20:59:35.404955 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291753817825.
I0419 20:59:35.406400 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.608025, -0.434742), points=14, range=0.744643, residual=0.0133908, extent=0.0438945
I0419 20:59:35.406472 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.608025, -0.434742), tracking=(0.906525, -0.434742), map_predicted=(1.52735, -2.52027), range=0.744643, pts=14
I0419 20:59:35.406498 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.217646m maha_sq=2.04903 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52735, -2.52027) lm_pos=(1.745, -2.52) delta=(-0.217646, -0.000271959) -> 1 candidate(s)
I0419 20:59:35.409933 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:35.409997 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:35.410072 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291754095841.
I0419 20:59:35.438612 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.628285, 0.599566)
I0419 20:59:35.438795 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291754380973.
I0419 20:59:35.518774 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291754660697.
I0419 20:59:35.519922 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.057603s, prior_pose=(0.689965, -2.00678), yaw=-5.0885 deg
I0419 20:59:35.520005 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 20:59:35.520776 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291754975788.
I0419 20:59:35.522578 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.568001, -0.437097), points=15, range=0.719333, residual=0.0122571, extent=0.0378866
I0419 20:59:35.522647 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.568001, -0.437097), tracking=(0.866501, -0.437097), map_predicted=(1.52306, -2.51965), range=0.719333, pts=15
I0419 20:59:35.522672 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.221936m maha_sq=2.11491 (gate chi2=5.99) pose_sigma=(0.15067, 0.15067, rho=0) det_map=(1.52306, -2.51965) lm_pos=(1.745, -2.52) delta=(-0.221936, 0.000351626) -> 1 candidate(s)
I0419 20:59:35.526693 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291755261914.
I0419 20:59:35.550161 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:35.550258 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:35.550318 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:35.555037 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.663342, 0.600235)
I0419 20:59:35.555155 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:35.555210 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-5.02015 deg, rms_residual=0.00360291m, sigma_yaw=0.00478092 rad, N=2
I0419 20:59:35.555279 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00297614 range=0.894625 variance=0.000623975 t_weight=4807.88 r_weight=0 yaml=(-0.285, -2.52) prior=(0.71222, -2.00863, -5.06799deg) obs_actual=(-0.956313, -0.599211) obs_expected=(-0.948149, -0.597462) delta=(-0.00816445, -0.00174885) |delta|=0.00834965m
I0419 20:59:35.555320 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.717918, -2.00965, -5.02015deg) inliers=2 rms=0.00360291m
I0419 20:59:35.555349 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291755546007.
I0419 20:59:35.573941 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:35.587652 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291755865659.
I0419 20:59:35.668810 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291756139541.
I0419 20:59:35.669924 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33486, 0.855854), points=4, range=1.5805, residual=0.0121264, extent=0.0259449
I0419 20:59:35.670022 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:35.670040 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.33486, 0.855854), tracking=(1.63336, 0.855854), map_predicted=(2.42482, -1.30203), range=1.5805, pts=4
I0419 20:59:35.670063 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0204809m maha_sq=0.0181316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42482, -1.30203) lm_pos=(2.415, -1.32) delta=(0.00981708, 0.0179747) -> 1 candidate(s)
I0419 20:59:35.671657 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291756453052.
I0419 20:59:35.673676 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.695549, 0.596578)
I0419 20:59:35.673823 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291756732911.
I0419 20:59:35.706308 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:35.706423 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:35.706555 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291757057628.
I0419 20:59:35.788914 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291757336495.
I0419 20:59:35.792162 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30502, 0.855609), points=3, range=1.55867, residual=0.00551375, extent=0.00990212
I0419 20:59:35.792268 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30502, 0.855609), tracking=(1.60352, 0.855609), map_predicted=(2.42491, -1.29464), range=1.55867, pts=3
I0419 20:59:35.792299 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.027223m maha_sq=0.0321988 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42491, -1.29464) lm_pos=(2.415, -1.32) delta=(0.00990838, 0.0253558) -> 1 candidate(s)
I0419 20:59:35.793231 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291757615312.
I0419 20:59:35.795333 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521668s, prior_pose=(0.765483, -2.00924), yaw=-4.94654 deg
I0419 20:59:35.795415 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=20, candidates=20
I0419 20:59:35.796439 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.723022, 0.595968)
I0419 20:59:35.796553 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:35.796609 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:35.796628 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291757940741.
I0419 20:59:35.822304 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291758216304.
I0419 20:59:35.845798 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:35.845876 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:35.845937 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:35.850189 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:35.850294 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.0217134 range=0.948333 variance=0.000620043 t_weight=4838.38 r_weight=0 yaml=(-0.285, -2.52) prior=(0.778237, -2.00943, -4.92044deg) obs_actual=(-1.0379, -0.598676) obs_expected=(-1.01553, -0.599889) delta=(-0.0223728, 0.00121355) |delta|=0.0224057m
I0419 20:59:35.850381 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291758493310.
I0419 20:59:35.854097 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:35.918915 1218970 pose_graph_2d.cc:160] Inserted submap (1, 30).
I0419 20:59:35.920109 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28129, 0.856131), points=3, range=1.53867, residual=0.00594444, extent=0.0107683
I0419 20:59:35.920217 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28129, 0.856131), tracking=(1.57979, 0.856131), map_predicted=(2.43563, -1.28865), range=1.53867, pts=3
I0419 20:59:35.920249 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0375347m maha_sq=0.060579 (gate chi2=5.99) pose_sigma=(0.150788, 0.150788, rho=0) det_map=(2.43563, -1.28865) lm_pos=(2.415, -1.32) delta=(0.0206338, 0.0313544) -> 1 candidate(s)
I0419 20:59:35.920993 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291758779491.
I0419 20:59:35.923624 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.746342, 0.599307)
I0419 20:59:35.923799 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291759070200.
I0419 20:59:35.930392 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:35.930593 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:35.938192 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291759376179.
I0419 20:59:35.939494 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.800461, -2.00695), yaw=-5.01081 deg backend=(0.781871, -2.02467)
I0419 20:59:35.966364 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291759652354.
I0419 20:59:35.990641 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27049, 0.859647), points=3, range=1.532, residual=0.00555403, extent=0.0102119
I0419 20:59:35.990896 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27049, 0.859647), tracking=(1.56899, 0.859647), map_predicted=(2.43854, -1.28763), range=1.532, pts=3
I0419 20:59:35.990975 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.040025m maha_sq=0.0696083 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43854, -1.28763) lm_pos=(2.415, -1.32) delta=(0.0235442, 0.0323678) -> 1 candidate(s)
I0419 20:59:36.052896 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:36.053133 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:36.053284 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291759982646.
I0419 20:59:36.055198 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.741796, 0.600637)
I0419 20:59:36.055452 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291760256329.
I0419 20:59:36.058286 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291760571668.
I0419 20:59:36.078284 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796079s, prior_pose=(0.808067, -2.00935), yaw=-5.10009 deg
I0419 20:59:36.078508 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=251, threshold=230, above_threshold=24, candidates=24
I0419 20:59:36.086517 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291760858389.
I0419 20:59:36.106287 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27672, 0.858458), points=3, range=1.536, residual=0.00609847, extent=0.0113444
I0419 20:59:36.106384 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27672, 0.858458), tracking=(1.57522, 0.858458), map_predicted=(2.45204, -1.29317), range=1.536, pts=3
I0419 20:59:36.106413 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0457384m maha_sq=0.0908728 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45204, -1.29317) lm_pos=(2.415, -1.32) delta=(0.0370398, 0.0268338) -> 1 candidate(s)
I0419 20:59:36.111392 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291761108058.
I0419 20:59:36.167738 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:36.167845 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:36.167928 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:36.168630 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.74315, 0.598174)
I0419 20:59:36.168701 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:36.168747 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.73343 deg, rms_residual=0.000208633m, sigma_yaw=0.000278255 rad, N=2
I0419 20:59:36.168772 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00252976 range=0.954 variance=0.000530825 t_weight=5651.58 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804785, -2.00872, -5.05661deg) obs_actual=(-1.03741, -0.59834) obs_expected=(-1.04048, -0.605339) delta=(0.00306507, 0.00699961) |delta|=0.00764128m
I0419 20:59:36.168800 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.798377, -2.00914, -4.73343deg) inliers=2 rms=0.000208633m
I0419 20:59:36.168874 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291761423224.
I0419 20:59:36.174494 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291761740396.
I0419 20:59:36.203038 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291762022152.
I0419 20:59:36.226439 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:36.229856 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547592, -0.670849), points=18, range=0.674167, residual=0.0110117, extent=0.0339683
I0419 20:59:36.229969 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547592, -0.670849), tracking=(-0.243741, 0.670849), map_predicted=(0.618646, -1.31869), range=0.674167, pts=18
I0419 20:59:36.229998 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00387429m maha_sq=0.000650609 (gate chi2=5.99) pose_sigma=(0.150044, 0.150044, rho=0) det_map=(0.618646, -1.31869) lm_pos=(0.615, -1.32) delta=(0.00364553, 0.00131157) -> 1 candidate(s)
I0419 20:59:36.230087 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291762293536.
I0419 20:59:36.313030 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.745712, 0.600232)
I0419 20:59:36.313234 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291762616424.
I0419 20:59:36.315088 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:36.315191 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:36.315274 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291762900509.
I0419 20:59:36.322625 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291763215562.
I0419 20:59:36.350073 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11122, 1.76026), points=4, range=3.57875, residual=0.0173744, extent=0.0426039
I0419 20:59:36.353281 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11122, 1.76026), tracking=(-3.40972, -1.76026), map_predicted=(-2.75016, -3.46025), range=3.57875, pts=4
I0419 20:59:36.353332 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63839m maha_sq=295.342 (gate chi2=5.99) pose_sigma=(0.150075, 0.150075, rho=0) det_map=(-2.75016, -3.46025) lm_pos=(-0.285, -2.52) delta=(-2.46516, -0.940245) -> 0 candidate(s)
I0419 20:59:36.353502 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291763494332.
I0419 20:59:36.374683 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599534s, prior_pose=(0.801561, -2.00769), yaw=-5.06173 deg
I0419 20:59:36.374827 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:59:36.378530 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.743485, 0.598443)
I0419 20:59:36.378734 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:36.378876 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:36.378916 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291763776193.
I0419 20:59:36.469388 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291764099462.
I0419 20:59:36.470605 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:36.470707 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:36.470758 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:36.472261 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 20:59:36.474063 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750973, 0.600902), points=6, range=0.9595, residual=0.00899064, extent=0.0238256
I0419 20:59:36.474155 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.750973, 0.600902), tracking=(-1.04947, -0.600902), map_predicted=(-0.296878, -2.51244), range=0.9595, pts=6
I0419 20:59:36.474182 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0140785m maha_sq=0.0085918 (gate chi2=5.99) pose_sigma=(0.150134, 0.150134, rho=0) det_map=(-0.296878, -2.51244) lm_pos=(-0.285, -2.52) delta=(-0.0118785, 0.00755684) -> 1 candidate(s)
I0419 20:59:36.474239 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.0085918 range=0.9595 variance=0.000528848 t_weight=5672.71 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801515, -2.00647, -5.06126deg) obs_actual=(-1.04947, -0.600902) obs_expected=(-1.03697, -0.607381) delta=(-0.0124988, 0.00647944) |delta|=0.0140785m
I0419 20:59:36.474303 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291764660697.
I0419 20:59:36.490832 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:36.499089 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.745467, 0.600596)
I0419 20:59:36.499465 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291764981626.
I0419 20:59:36.518656 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:36.614265 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291765260272.
I0419 20:59:36.616135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291765533142.
I0419 20:59:36.618666 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:36.618764 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.74016, 0.599344), points=7, range=0.955, residual=0.0086302, extent=0.0224036
I0419 20:59:36.618783 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:36.618798 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.74016, 0.599344), tracking=(-1.03866, -0.599344), map_predicted=(-0.282924, -2.51084), range=0.955, pts=7
I0419 20:59:36.618817 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00939468m maha_sq=0.00383215 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(-0.282924, -2.51084) lm_pos=(-0.285, -2.52) delta=(0.00207633, 0.00916236) -> 1 candidate(s)
I0419 20:59:36.618882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291765855829.
I0419 20:59:36.619840 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27092, 0.857233)
I0419 20:59:36.621367 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291766131769.
I0419 20:59:36.642257 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291766412384.
I0419 20:59:36.735468 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0523438s, prior_pose=(0.806556, -2.00531), yaw=-5.05043 deg
I0419 20:59:36.735638 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 20:59:36.736624 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:36.736871 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291766735720.
I0419 20:59:36.739529 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740922, 0.601725), points=5, range=0.9566, residual=0.0103878, extent=0.0271935
I0419 20:59:36.739634 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740922, 0.601725), tracking=(-1.03942, -0.601725), map_predicted=(-0.2835, -2.51412), range=0.9566, pts=5
I0419 20:59:36.739665 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00606646m maha_sq=0.0015932 (gate chi2=5.99) pose_sigma=(0.150145, 0.150145, rho=0) det_map=(-0.2835, -2.51412) lm_pos=(-0.285, -2.52) delta=(0.00150007, 0.00587807) -> 1 candidate(s)
I0419 20:59:36.739737 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291767013153.
I0419 20:59:36.740998 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:36.741050 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.26705, 0.859973)
I0419 20:59:36.741111 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:36.741161 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:36.741892 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:36.741971 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291767295478.
I0419 20:59:36.762753 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.40329 deg, rms_residual=0.000789468m, sigma_yaw=0.00105152 rad, N=2
I0419 20:59:36.762933 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00850527 range=0.9548 variance=0.00052954 t_weight=5665.29 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803225, -2.00633, -5.05489deg) obs_actual=(-1.04682, -0.596117) obs_expected=(-1.03873, -0.607552) delta=(-0.00808854, 0.0114353) |delta|=0.0140068m
I0419 20:59:36.763007 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.804026, -2.00665, -4.40329deg) inliers=2 rms=0.000789468m
I0419 20:59:36.763072 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291767619184.
I0419 20:59:36.855732 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291767897114.
I0419 20:59:36.856961 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:36.857702 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=7, centroid=(0.738761, 0.600183)
I0419 20:59:36.857813 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.735887, 0.599989), points=7, range=0.951857, residual=0.0121692, extent=0.0365441
I0419 20:59:36.857892 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.735887, 0.599989), tracking=(-1.03439, -0.599989), map_predicted=(-0.279689, -2.51364), range=0.951857, pts=7
I0419 20:59:36.857918 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00828424m maha_sq=0.00297149 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.279689, -2.51364) lm_pos=(-0.285, -2.52) delta=(0.00531052, 0.00635823) -> 1 candidate(s)
I0419 20:59:36.858011 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291768176066.
I0419 20:59:36.859330 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.8018, -2.00778), yaw=-5.03258 deg backend=(0.795157, -2.02886)
I0419 20:59:36.860795 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291768498743.
I0419 20:59:36.878082 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:36.878176 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:36.878260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291768776699.
I0419 20:59:36.906817 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.668312, 0.388444)
I0419 20:59:36.907044 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291769058089.
I0419 20:59:36.980053 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291769351477.
I0419 20:59:36.981108 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803146s, prior_pose=(0.801139, -2.00715), yaw=-5.05082 deg
I0419 20:59:36.981204 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 20:59:36.982753 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291769656229.
I0419 20:59:36.992499 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.472002, -0.436196), points=20, range=0.6447, residual=0.014828, extent=0.0499257
I0419 20:59:36.992645 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.472002, -0.436196), tracking=(0.770502, -0.436196), map_predicted=(1.53028, -2.50951), range=0.6447, pts=20
I0419 20:59:36.992690 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.214972m maha_sq=1.99578 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53028, -2.50951) lm_pos=(1.745, -2.52) delta=(-0.214715, 0.0104943) -> 1 candidate(s)
I0419 20:59:36.994591 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:36.994740 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:36.994778 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291769940536.
I0419 20:59:37.018352 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:37.018450 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:37.018510 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:37.026096 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.744994, 0.600657)
I0419 20:59:37.026286 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:37.026388 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291770252499.
I0419 20:59:37.111800 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.0141778 range=0.956429 variance=0.000575967 t_weight=5208.63 r_weight=0 yaml=(-0.285, -2.52) prior=(0.79782, -1.99725, -4.93562deg) obs_actual=(-1.04613, -0.600583) obs_expected=(-1.03383, -0.613971) delta=(-0.0123008, 0.0133879) |delta|=0.0181809m
I0419 20:59:37.111992 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291770534643.
I0419 20:59:37.113165 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:37.114001 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291770814730.
I0419 20:59:37.115923 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:37.116695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291771095369.
I0419 20:59:37.138468 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.477191, -0.435821), points=20, range=0.64435, residual=0.0150499, extent=0.0499601
I0419 20:59:37.138576 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.477191, -0.435821), tracking=(0.775691, -0.435821), map_predicted=(1.53392, -2.50182), range=0.64435, pts=20
I0419 20:59:37.138607 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.211859m maha_sq=1.93784 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53392, -2.50182) lm_pos=(1.745, -2.52) delta=(-0.211077, 0.0181839) -> 1 candidate(s)
I0419 20:59:37.141919 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291771413447.
I0419 20:59:37.170688 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0576435, -0.669948)
I0419 20:59:37.170795 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:37.170833 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:37.170984 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291771700025.
I0419 20:59:37.243155 1232263 collated_trajectory_builder.cc:82] imu rate: 200.01 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.81% real time)
I0419 20:59:37.243356 1232263 collated_trajectory_builder.cc:82] odom rate: 248.85 Hz 4.02e-03 s +/- 7.07e-04 s (pulsed at 100.44% real time)
I0419 20:59:37.243481 1232263 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.33e-03 s (pulsed at 100.64% real time)
I0419 20:59:37.243522 1232263 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.05e-03 s (pulsed at 100.50% real time)
I0419 20:59:37.244222 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291772011916.
I0419 20:59:37.247076 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291772297367.
I0419 20:59:37.254933 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567216s, prior_pose=(0.802406, -2.00501), yaw=-4.91061 deg
I0419 20:59:37.255043 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 20:59:37.262004 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.747098, 0.600442)
I0419 20:59:37.262203 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291772613862.
I0419 20:59:37.282553 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25684, 0.85573), points=3, range=1.526, residual=0.0135388, extent=0.0283192
I0419 20:59:37.282644 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25684, 0.85573), tracking=(1.55534, 0.85573), map_predicted=(2.42677, -1.28543), range=1.526, pts=3
I0419 20:59:37.282675 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0365232m maha_sq=0.0574969 (gate chi2=5.99) pose_sigma=(0.150113, 0.150113, rho=0) det_map=(2.42677, -1.28543) lm_pos=(2.415, -1.32) delta=(0.0117745, 0.0345732) -> 1 candidate(s)
I0419 20:59:37.290572 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291772896912.
I0419 20:59:37.314388 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:37.314661 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:37.314843 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:37.368283 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:37.368626 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291773173448.
I0419 20:59:37.370688 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.72786 deg, rms_residual=0.000351078m, sigma_yaw=0.000467885 rad, N=2
I0419 20:59:37.370944 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.0025795 range=0.9558 variance=0.000584219 t_weight=5135.06 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805447, -2.00438, -4.93391deg) obs_actual=(-1.03826, -0.600774) obs_expected=(-1.04206, -0.607491) delta=(0.00379896, 0.00671668) |delta|=0.0077166m
I0419 20:59:37.371019 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.799036, -2.00713, -4.72786deg) inliers=2 rms=0.000351078m
I0419 20:59:37.371058 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291773459851.
I0419 20:59:37.378309 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0568308, -0.672042)
I0419 20:59:37.378499 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291773778155.
I0419 20:59:37.402196 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:37.410244 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291774096317.
I0419 20:59:37.430011 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27216, 0.860762), points=3, range=1.529, residual=0.0132576, extent=0.0265323
I0419 20:59:37.430187 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27216, 0.860762), tracking=(1.57066, 0.860762), map_predicted=(2.44223, -1.28311), range=1.529, pts=3
I0419 20:59:37.430255 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0458525m maha_sq=0.0907826 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44223, -1.28311) lm_pos=(2.415, -1.32) delta=(0.0272292, 0.0368921) -> 1 candidate(s)
I0419 20:59:37.434309 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291774337619.
I0419 20:59:37.491329 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.588032, 0.339498)
I0419 20:59:37.491485 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:37.491531 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:37.491633 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291774654172.
I0419 20:59:37.494832 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291774943935.
I0419 20:59:37.522686 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291775221405.
I0419 20:59:37.549728 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0549683s, prior_pose=(0.801677, -2.00648), yaw=-4.92929 deg
I0419 20:59:37.549829 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:37.554553 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291775540082.
I0419 20:59:37.577962 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475862, -0.437124)
I0419 20:59:37.578063 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27298, 0.861324), points=3, range=1.53133, residual=0.0109769, extent=0.0218912
I0419 20:59:37.578089 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27298, 0.861324), tracking=(1.57148, 0.861324), map_predicted=(2.44136, -1.28337), range=1.53133, pts=3
I0419 20:59:37.578114 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0451259m maha_sq=0.0881378 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44136, -1.28337) lm_pos=(2.415, -1.32) delta=(0.0263576, 0.0366282) -> 1 candidate(s)
I0419 20:59:37.641736 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:37.641875 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:37.641902 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291775820554.
I0419 20:59:37.642968 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:37.643049 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:37.643100 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:37.643916 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:37.644021 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291776134708.
I0419 20:59:37.646553 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291776423384.
I0419 20:59:37.666819 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.477282, -0.438435)
I0419 20:59:37.666967 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:37.669989 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00140524 range=0.673889 variance=0.000554945 t_weight=5405.94 r_weight=0 yaml=(0.615, -1.32) prior=(0.800135, -2.00674, -4.95585deg) obs_actual=(-0.238792, 0.670945) obs_expected=(-0.243769, 0.668178) delta=(0.00497713, 0.00276659) |delta|=0.00569437m
I0419 20:59:37.670179 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291776694938.
I0419 20:59:37.693825 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:37.702978 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291777021667.
I0419 20:59:37.791713 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803642, -2.00671), yaw=-4.91909 deg backend=(0.803718, -2.00998)
I0419 20:59:37.793669 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291777295405.
I0419 20:59:37.794941 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475514, -0.436884), points=18, range=0.645833, residual=0.0143105, extent=0.049601
I0419 20:59:37.795032 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475514, -0.436884), tracking=(0.774014, -0.436884), map_predicted=(1.53734, -2.50835), range=0.645833, pts=18
I0419 20:59:37.795058 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.207983m maha_sq=1.86934 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53734, -2.50835) lm_pos=(1.745, -2.52) delta=(-0.207657, 0.0116451) -> 1 candidate(s)
I0419 20:59:37.796389 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.467405, 0.261836)
I0419 20:59:37.796456 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:37.796480 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:37.796572 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291777573959.
I0419 20:59:37.798513 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291777891795.
I0419 20:59:37.818068 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291778175668.
I0419 20:59:37.841897 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840281s, prior_pose=(0.803151, -2.00685), yaw=-4.91844 deg
I0419 20:59:37.842021 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=249, threshold=230, above_threshold=24, candidates=24
I0419 20:59:37.919934 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291778459202.
I0419 20:59:37.921058 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27147, 0.857605)
I0419 20:59:37.922094 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291778781040.
I0419 20:59:37.923882 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:37.923971 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:37.924001 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471639, -0.437163), points=18, range=0.645278, residual=0.0126372, extent=0.0397422
I0419 20:59:37.924021 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471639, -0.437163), tracking=(0.770139, -0.437163), map_predicted=(1.53526, -2.5083), range=0.645278, pts=18
I0419 20:59:37.924042 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210062m maha_sq=1.9086 (gate chi2=5.99) pose_sigma=(0.150082, 0.150082, rho=0) det_map=(1.53526, -2.5083) lm_pos=(1.745, -2.52) delta=(-0.209736, 0.0117045) -> 1 candidate(s)
I0419 20:59:37.924111 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:37.924823 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:37.924921 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291779061322.
I0419 20:59:37.937654 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291779339812.
I0419 20:59:37.966257 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.463764, 0.260657)
I0419 20:59:37.966430 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.40602 deg, rms_residual=0.00351022m, sigma_yaw=0.00465848 rad, N=2
I0419 20:59:37.966460 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00521417 range=0.673056 variance=0.000554497 t_weight=5410.31 r_weight=0 yaml=(0.615, -1.32) prior=(0.80519, -2.00676, -4.93142deg) obs_actual=(-0.237857, 0.67041) obs_expected=(-0.248522, 0.667868) delta=(0.0106655, 0.00254114) |delta|=0.010964m
I0419 20:59:37.966529 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802756, -2.00389, -4.40602deg) inliers=2 rms=0.00351022m
I0419 20:59:37.966562 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291779658194.
I0419 20:59:38.019634 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:38.020479 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291779922762.
I0419 20:59:38.026472 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291780259692.
I0419 20:59:38.046872 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.474189, -0.436958), points=19, range=0.645947, residual=0.0138617, extent=0.0479886
I0419 20:59:38.047003 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.474189, -0.436958), tracking=(0.772689, -0.436958), map_predicted=(1.53482, -2.50788), range=0.645947, pts=19
I0419 20:59:38.047053 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210527m maha_sq=1.9164 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53482, -2.50788) lm_pos=(1.745, -2.52) delta=(-0.210178, 0.0121191) -> 1 candidate(s)
I0419 20:59:38.054505 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.473323, 0.265086)
I0419 20:59:38.054591 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:38.054618 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:38.054747 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291780539866.
I0419 20:59:38.082190 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291780816780.
I0419 20:59:38.164384 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=6, centroid=(0.743, 0.601003)
I0419 20:59:38.164619 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291781131468.
I0419 20:59:38.164973 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:38.165872 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601007s, prior_pose=(0.79933, -2.00613), yaw=-4.93268 deg
I0419 20:59:38.165953 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 20:59:38.167094 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291781420248.
I0419 20:59:38.172289 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0565988, -0.669024), points=18, range=0.672778, residual=0.0110008, extent=0.0336134
I0419 20:59:38.172399 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0565988, -0.669024), tracking=(-0.241901, 0.669024), map_predicted=(0.616167, -1.31926), range=0.672778, pts=18
I0419 20:59:38.172431 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0013825m maha_sq=8.28472e-05 (gate chi2=5.99) pose_sigma=(0.150043, 0.150043, rho=0) det_map=(0.616167, -1.31926) lm_pos=(0.615, -1.32) delta=(0.00116692, 0.000741355) -> 1 candidate(s)
I0419 20:59:38.172490 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:38.172545 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:38.172565 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291781718705.
I0419 20:59:38.194695 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:38.194788 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:38.194847 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:38.202503 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.729128, 0.406937)
I0419 20:59:38.202620 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:38.202708 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291782020180.
I0419 20:59:38.230904 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291782301393.
I0419 20:59:38.295040 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:38.295964 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00169602 range=0.6745 variance=0.000557034 t_weight=5385.67 r_weight=0 yaml=(0.615, -1.32) prior=(0.805502, -2.00712, -4.90785deg) obs_actual=(-0.242775, 0.670643) obs_expected=(-0.248589, 0.668301) delta=(0.00581389, 0.00234123) |delta|=0.0062676m
I0419 20:59:38.296063 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291782576620.
I0419 20:59:38.297219 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:38.298787 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0567768, -0.671201)
I0419 20:59:38.298856 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0556828, -0.669879), points=19, range=0.673684, residual=0.0116594, extent=0.0358571
I0419 20:59:38.298879 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0556828, -0.669879), tracking=(-0.242817, 0.669879), map_predicted=(0.620654, -1.31863), range=0.673684, pts=19
I0419 20:59:38.298900 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00581746m maha_sq=0.00146629 (gate chi2=5.99) pose_sigma=(0.150028, 0.150028, rho=0) det_map=(0.620654, -1.31863) lm_pos=(0.615, -1.32) delta=(0.0056543, 0.0013681) -> 1 candidate(s)
I0419 20:59:38.299012 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291782901122.
I0419 20:59:38.317772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291783171914.
I0419 20:59:38.346105 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=6, centroid=(0.745915, 0.599787)
I0419 20:59:38.346196 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:38.346225 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:38.346320 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291783456022.
I0419 20:59:38.430511 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291783777139.
I0419 20:59:38.432550 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547906, -0.671047), points=18, range=0.674222, residual=0.011118, extent=0.0338602
I0419 20:59:38.432745 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:38.432798 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547906, -0.671047), tracking=(-0.243709, 0.671047), map_predicted=(0.613756, -1.31554), range=0.674222, pts=18
I0419 20:59:38.432852 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00463159m maha_sq=0.000930254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.613756, -1.31554) lm_pos=(0.615, -1.32) delta=(-0.00124411, 0.00446137) -> 1 candidate(s)
I0419 20:59:38.432955 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291784061199.
I0419 20:59:38.437417 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0522754s, prior_pose=(0.799396, -2.0065), yaw=-4.927 deg
I0419 20:59:38.437700 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=23, candidates=23
I0419 20:59:38.438763 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.515192, 0.287536)
I0419 20:59:38.438961 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291784338850.
I0419 20:59:38.466353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291784658099.
I0419 20:59:38.486526 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:38.486639 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:38.486701 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:38.494853 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:38.495035 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291784942243.
I0419 20:59:38.555799 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475023, -0.436337)
I0419 20:59:38.556831 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291785214605.
I0419 20:59:38.558032 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471009, -0.436568), points=19, range=0.644158, residual=0.0142885, extent=0.0507914
I0419 20:59:38.558117 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471009, -0.436568), tracking=(0.769509, -0.436568), map_predicted=(1.53453, -2.49523), range=0.644158, pts=19
I0419 20:59:38.558185 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.211925m maha_sq=1.94093 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53453, -2.49523) lm_pos=(1.745, -2.52) delta=(-0.210473, 0.0247663) -> 1 candidate(s)
I0419 20:59:38.559906 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.27684 deg, rms_residual=0.00248421m, sigma_yaw=0.00330135 rad, N=2
I0419 20:59:38.559963 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0057128 range=0.673611 variance=0.000555095 t_weight=5404.48 r_weight=0 yaml=(0.615, -1.32) prior=(0.803103, -1.99905, -4.78169deg) obs_actual=(-0.237836, 0.670675) obs_expected=(-0.244054, 0.661009) delta=(0.00621852, 0.00966661) |delta|=0.0114941m
I0419 20:59:38.560014 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803648, -2.00456, -4.27684deg) inliers=2 rms=0.00248421m
I0419 20:59:38.560050 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291785539093.
I0419 20:59:38.578331 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:38.582567 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.561888, 0.31467)
I0419 20:59:38.582783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291785821535.
I0419 20:59:38.583817 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803888, -2.00069), yaw=-4.78177 deg backend=(0.804406, -2.00863)
I0419 20:59:38.609854 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291786092432.
I0419 20:59:38.704785 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:38.704896 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:38.704985 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291786420053.
I0419 20:59:38.706812 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.449185, 0.249856)
I0419 20:59:38.706921 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0606193, -0.670078), points=20, range=0.6736, residual=0.0122101, extent=0.0386667
I0419 20:59:38.706951 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0606193, -0.670078), tracking=(-0.237881, 0.670078), map_predicted=(0.62133, -1.31491), range=0.6736, pts=20
I0419 20:59:38.706970 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00812334m maha_sq=0.00285846 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.62133, -1.31491) lm_pos=(0.615, -1.32) delta=(0.00633023, 0.00509086) -> 1 candidate(s)
I0419 20:59:38.707052 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291786696776.
I0419 20:59:38.709615 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291786978088.
I0419 20:59:38.722414 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080069s, prior_pose=(0.801273, -2.00377), yaw=-4.77833 deg
I0419 20:59:38.722515 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 20:59:38.730253 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291787297048.
I0419 20:59:38.750080 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.26622, 0.859413)
I0419 20:59:38.758369 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:38.758559 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:38.758615 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291787574807.
I0419 20:59:38.854332 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:38.854453 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:38.854513 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:38.855237 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:38.855367 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291787854947.
I0419 20:59:38.856421 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475132, -0.436561), points=18, range=0.645167, residual=0.0129465, extent=0.0451023
I0419 20:59:38.856510 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475132, -0.436561), tracking=(0.773632, -0.436561), map_predicted=(1.53858, -2.5055), range=0.645167, pts=18
I0419 20:59:38.856535 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.206929m maha_sq=1.85342 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53858, -2.5055) lm_pos=(1.745, -2.52) delta=(-0.20642, 0.0145049) -> 1 candidate(s)
I0419 20:59:38.858043 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.73898, 0.600158)
I0419 20:59:38.858220 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291788137338.
I0419 20:59:38.859309 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:38.860167 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000797619 range=0.673684 variance=0.000574688 t_weight=5220.22 r_weight=0 yaml=(0.615, -1.32) prior=(0.804353, -2.00597, -4.78415deg) obs_actual=(-0.241887, 0.66929) obs_expected=(-0.245904, 0.667784) delta=(0.00401706, 0.00150599) |delta|=0.00429008m
I0419 20:59:38.860267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291788459167.
I0419 20:59:38.870132 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:38.874506 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291788739497.
I0419 20:59:38.987027 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0577931, -0.671608)
I0419 20:59:38.987262 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291789059897.
I0419 20:59:38.989331 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:38.989423 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.73922, 0.599471), points=6, range=0.955333, residual=0.00997486, extent=0.0230914
I0419 20:59:38.989444 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:38.989460 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.73922, 0.599471), tracking=(-1.03772, -0.599471), map_predicted=(-0.281612, -2.51613), range=0.955333, pts=6
I0419 20:59:38.989512 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00514187m maha_sq=0.00114715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.281612, -2.51613) lm_pos=(-0.285, -2.52) delta=(0.00338847, 0.00386743) -> 1 candidate(s)
I0419 20:59:38.989605 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291789418342.
I0419 20:59:38.992244 1218978 reflector_detector.cc:209] [Detect]   cluster[6]: points=5, centroid=(0.741952, 0.599345)
I0419 20:59:38.992432 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291789654759.
I0419 20:59:38.995339 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291789939564.
I0419 20:59:39.018373 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060178s, prior_pose=(0.801028, -2.00744), yaw=-4.79363 deg
I0419 20:59:39.018575 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=20, candidates=20
I0419 20:59:39.022311 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291790212008.
I0419 20:59:39.108943 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0576607, -0.670058)
I0419 20:59:39.109126 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291790500732.
I0419 20:59:39.110276 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:39.110342 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:39.110388 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:39.112423 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.742646, 0.601359), points=6, range=0.958, residual=0.0090116, extent=0.0253376
I0419 20:59:39.112541 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.742646, 0.601359), tracking=(-1.04115, -0.601359), map_predicted=(-0.285083, -2.51785), range=0.958, pts=6
I0419 20:59:39.112578 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00215048m maha_sq=0.000200473 (gate chi2=5.99) pose_sigma=(0.150131, 0.150131, rho=0) det_map=(-0.285083, -2.51785) lm_pos=(-0.285, -2.52) delta=(-8.30934e-05, 0.00214888) -> 1 candidate(s)
I0419 20:59:39.112614 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:39.112706 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291790820037.
I0419 20:59:39.115020 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=5, centroid=(0.743538, 0.59992)
I0419 20:59:39.115195 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291791093749.
I0419 20:59:39.142421 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.40389 deg, rms_residual=0.000771891m, sigma_yaw=0.00102813 rad, N=2
I0419 20:59:39.142592 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000887827 range=0.672611 variance=0.000550313 t_weight=5451.44 r_weight=0 yaml=(0.615, -1.32) prior=(0.801345, -2.00544, -4.7895deg) obs_actual=(-0.238917, 0.669594) obs_expected=(-0.242925, 0.667491) delta=(0.00400837, 0.00210322) |delta|=0.00452665m
I0419 20:59:39.142710 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802259, -2.00534, -4.40389deg) inliers=2 rms=0.000771891m
I0419 20:59:39.142846 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291791414290.
I0419 20:59:39.162863 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:39.253993 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291791664014.
I0419 20:59:39.255908 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.465351, 0.258851)
I0419 20:59:39.256073 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291791975949.
I0419 20:59:39.258754 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:39.258868 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.742763, 0.600254), points=4, range=0.9575, residual=0.00912884, extent=0.0231291
I0419 20:59:39.258891 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:39.258908 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.742763, 0.600254), tracking=(-1.04126, -0.600254), map_predicted=(-0.286362, -2.51745), range=0.9575, pts=4
I0419 20:59:39.258929 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.002889m maha_sq=0.000362202 (gate chi2=5.99) pose_sigma=(0.15004, 0.15004, rho=0) det_map=(-0.286362, -2.51745) lm_pos=(-0.285, -2.52) delta=(-0.00136217, 0.0025477) -> 1 candidate(s)
I0419 20:59:39.259002 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291792297207.
I0419 20:59:39.261469 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291792575823.
I0419 20:59:39.282415 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27119, 0.85742)
I0419 20:59:39.287770 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291792863043.
I0419 20:59:39.379196 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517017s, prior_pose=(0.803671, -2.00518), yaw=-4.76314 deg
I0419 20:59:39.379314 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:59:39.380329 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291793175080.
I0419 20:59:39.382794 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:39.382889 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:39.382920 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291793459998.
I0419 20:59:39.383911 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:39.383953 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475396, -0.436712)
I0419 20:59:39.383971 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:39.384006 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:39.384718 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:39.384755 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.744011, 0.600297), points=6, range=0.957833, residual=0.00936395, extent=0.0245669
I0419 20:59:39.384815 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.744011, 0.600297), tracking=(-1.04251, -0.600297), map_predicted=(-0.286045, -2.51676), range=0.957833, pts=6
I0419 20:59:39.384838 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00340441m maha_sq=0.000503134 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.286045, -2.51676) lm_pos=(-0.285, -2.52) delta=(-0.00104529, 0.00323996) -> 1 candidate(s)
I0419 20:59:39.384857 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:39.384912 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291793740004.
I0419 20:59:39.407521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291794062717.
I0419 20:59:39.430799 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:39.528412 1218970 reflector_detector.cc:209] [Detect]   cluster[5]: points=5, centroid=(0.744401, 0.599172)
I0419 20:59:39.528568 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00249705 range=0.674 variance=0.000556053 t_weight=5395.17 r_weight=0 yaml=(0.615, -1.32) prior=(0.802895, -2.00557, -4.77094deg) obs_actual=(-0.237758, 0.671472) obs_expected=(-0.244265, 0.667567) delta=(0.0065069, 0.00390466) |delta|=0.00758855m
I0419 20:59:39.528631 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291794337867.
I0419 20:59:39.529718 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:39.530503 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291794621166.
I0419 20:59:39.531596 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801385, -2.00615), yaw=-4.7716 deg backend=(0.806521, -2.00821)
I0419 20:59:39.533133 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291794982449.
I0419 20:59:39.535318 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0577734, -0.671219)
I0419 20:59:39.535387 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:39.535408 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.739433, 0.600867), points=7, range=0.956429, residual=0.0118599, extent=0.0293477
I0419 20:59:39.535422 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:39.535435 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.739433, 0.600867), tracking=(-1.03793, -0.600867), map_predicted=(-0.282502, -2.51821), range=0.956429, pts=7
I0419 20:59:39.535457 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00307316m maha_sq=0.000408819 (gate chi2=5.99) pose_sigma=(0.150043, 0.150043, rho=0) det_map=(-0.282502, -2.51821) lm_pos=(-0.285, -2.52) delta=(0.00249761, 0.0017906) -> 1 candidate(s)
I0419 20:59:39.535528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291795186604.
I0419 20:59:39.550876 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291795498106.
I0419 20:59:39.647960 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:39.648360 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291795814124.
I0419 20:59:39.649461 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0870843s, prior_pose=(0.799449, -2.00645), yaw=-4.7632 deg
I0419 20:59:39.649566 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=247, threshold=230, above_threshold=24, candidates=24
I0419 20:59:39.649657 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475685, -0.436947)
I0419 20:59:39.651053 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291796105247.
I0419 20:59:39.652827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291796376993.
I0419 20:59:39.662317 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:39.662459 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:39.662564 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:39.670738 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.42769, 0.237071)
I0419 20:59:39.670890 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.744796, 0.59773), points=7, range=0.953857, residual=0.00766286, extent=0.0217535
I0419 20:59:39.670946 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.744796, 0.59773), tracking=(-1.0433, -0.59773), map_predicted=(-0.288934, -2.5159), range=0.953857, pts=7
I0419 20:59:39.670996 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00568394m maha_sq=0.00140355 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(-0.288934, -2.5159) lm_pos=(-0.285, -2.52) delta=(-0.00393396, 0.00410257) -> 1 candidate(s)
I0419 20:59:39.671043 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:39.671185 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291796699182.
I0419 20:59:39.790373 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291796975299.
I0419 20:59:39.792186 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.33359 deg, rms_residual=0.00165037m, sigma_yaw=0.00219567 rad, N=2
I0419 20:59:39.792264 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000916803 range=0.672222 variance=0.000553701 t_weight=5418.08 r_weight=0 yaml=(0.615, -1.32) prior=(0.804081, -2.00554, -4.77804deg) obs_actual=(-0.240998, 0.668199) obs_expected=(-0.245527, 0.667406) delta=(0.00452859, 0.000792177) |delta|=0.00459736m
I0419 20:59:39.792301 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.805808, -2.00318, -4.33359deg) inliers=2 rms=0.00165037m
I0419 20:59:39.792335 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291797251853.
I0419 20:59:39.794050 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:39.794854 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0576852, -0.670112)
I0419 20:59:39.794955 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291797575792.
I0419 20:59:39.797319 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291797858536.
I0419 20:59:39.820091 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:39.820204 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.739851, 0.599086), points=4, range=0.95425, residual=0.00919075, extent=0.0224036
I0419 20:59:39.820276 1218972 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:39.820298 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.739851, 0.599086), tracking=(-1.03835, -0.599086), map_predicted=(-0.280552, -2.51566), range=0.95425, pts=4
I0419 20:59:39.820327 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00621156m maha_sq=0.00167519 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.280552, -2.51566) lm_pos=(-0.285, -2.52) delta=(0.00444817, 0.00433558) -> 1 candidate(s)
I0419 20:59:39.820506 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291798192293.
I0419 20:59:39.894770 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.566536, 0.322708)
I0419 20:59:39.894932 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291798457250.
I0419 20:59:39.897923 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291798731935.
I0419 20:59:39.899072 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0580987s, prior_pose=(0.800894, -2.00451), yaw=-4.75175 deg
I0419 20:59:39.899139 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=249, threshold=230, above_threshold=24, candidates=24
I0419 20:59:39.902210 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291799015998.
I0419 20:59:39.934005 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.453175, 0.252967)
I0419 20:59:39.934268 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:39.934398 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:39.934437 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291799333027.
I0419 20:59:39.959311 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:39.959502 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:39.959599 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:40.054059 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:40.054207 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291799615212.
I0419 20:59:40.055356 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473862, -0.43794), points=18, range=0.649389, residual=0.0147305, extent=0.0439593
I0419 20:59:40.055483 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473862, -0.43794), tracking=(0.772362, -0.43794), map_predicted=(1.53631, -2.50596), range=0.649389, pts=18
I0419 20:59:40.055512 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.209157m maha_sq=1.88951 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53631, -2.50596) lm_pos=(1.745, -2.52) delta=(-0.208686, 0.0140402) -> 1 candidate(s)
I0419 20:59:40.056275 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291799896792.
I0419 20:59:40.058416 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:40.060228 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0586793, -0.670404)
I0419 20:59:40.060369 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00131401 range=0.673053 variance=0.000565697 t_weight=5303.19 r_weight=0 yaml=(0.615, -1.32) prior=(0.802024, -2.0054, -4.74012deg) obs_actual=(-0.237923, 0.669679) obs_expected=(-0.243024, 0.667602) delta=(0.00510077, 0.0020772) |delta|=0.00550751m
I0419 20:59:40.060443 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291800214193.
I0419 20:59:40.061597 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:40.063145 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291800495413.
I0419 20:59:40.086066 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291800855170.
I0419 20:59:40.161937 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476481, -0.436403)
I0419 20:59:40.162791 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:40.162850 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:40.162953 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291801094552.
I0419 20:59:40.164078 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27506, 0.857344), points=3, range=1.53467, residual=0.00546128, extent=0.00977451
I0419 20:59:40.164155 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27506, 0.857344), tracking=(1.57356, 0.857344), map_predicted=(2.44157, -1.27983), range=1.53467, pts=3
I0419 20:59:40.164182 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0481593m maha_sq=0.10078 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44157, -1.27983) lm_pos=(2.415, -1.32) delta=(0.0265679, 0.040168) -> 1 candidate(s)
I0419 20:59:40.165642 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291801378014.
I0419 20:59:40.167606 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(3.12022, 1.76533)
I0419 20:59:40.167773 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291801672884.
I0419 20:59:40.189558 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0513658s, prior_pose=(0.80242, -2.00524), yaw=-4.73437 deg
I0419 20:59:40.189668 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:40.198180 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291801973482.
I0419 20:59:40.282307 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291802255927.
I0419 20:59:40.283514 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:40.283589 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:40.283622 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27368, 0.859095), points=4, range=1.53025, residual=0.0137405, extent=0.0293736
I0419 20:59:40.283644 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27368, 0.859095), tracking=(1.57218, 0.859095), map_predicted=(2.44194, -1.27902), range=1.53025, pts=4
I0419 20:59:40.283703 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0490458m maha_sq=0.103809 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44194, -1.27902) lm_pos=(2.415, -1.32) delta=(0.0269449, 0.0409813) -> 1 candidate(s)
I0419 20:59:40.283738 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:40.284583 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.651412, 0.363563)
I0419 20:59:40.284675 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:40.284770 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291802580565.
I0419 20:59:40.287510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291802853042.
I0419 20:59:40.313557 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.62308 deg, rms_residual=0.000296334m, sigma_yaw=0.000395269 rad, N=2
I0419 20:59:40.313648 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000153298 range=0.673333 variance=0.000552613 t_weight=5428.75 r_weight=0 yaml=(0.615, -1.32) prior=(0.802019, -2.00581, -4.74364deg) obs_actual=(-0.242826, 0.669858) obs_expected=(-0.243093, 0.667997) delta=(0.000267058, 0.00186182) |delta|=0.00188088m
I0419 20:59:40.313711 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802867, -2.00749, -4.62308deg) inliers=2 rms=0.000296334m
I0419 20:59:40.313747 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291803131476.
I0419 20:59:40.338302 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:40.342700 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.725935, 0.40239)
I0419 20:59:40.342908 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291803421702.
I0419 20:59:40.417558 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.804387, -2.00532), yaw=-4.73015 deg backend=(0.805417, -2.00708)
I0419 20:59:40.418653 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2723, 0.858166), points=4, range=1.52975, residual=0.0115092, extent=0.0246549
I0419 20:59:40.418723 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2723, 0.858166), tracking=(1.5708, 0.858166), map_predicted=(2.4406, -1.27961), range=1.52975, pts=4
I0419 20:59:40.418751 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0478184m maha_sq=0.0986862 (gate chi2=5.99) pose_sigma=(0.150181, 0.150181, rho=0) det_map=(2.4406, -1.27961) lm_pos=(2.415, -1.32) delta=(0.0256015, 0.0403876) -> 1 candidate(s)
I0419 20:59:40.419642 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291803741909.
I0419 20:59:40.421967 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:40.422046 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:40.422117 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291804020530.
I0419 20:59:40.430603 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.743147, 0.598173)
I0419 20:59:40.430800 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291804301738.
I0419 20:59:40.462644 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291804617957.
I0419 20:59:40.486434 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836786s, prior_pose=(0.803632, -2.00519), yaw=-4.72914 deg
I0419 20:59:40.486625 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 20:59:40.486851 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26967, 0.859081), points=3, range=1.52567, residual=0.0137846, extent=0.02747
I0419 20:59:40.486908 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26967, 0.859081), tracking=(1.56817, 0.859081), map_predicted=(2.43729, -1.27832), range=1.52567, pts=3
I0419 20:59:40.486959 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0472659m maha_sq=0.0964074 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43729, -1.27832) lm_pos=(2.415, -1.32) delta=(0.0222912, 0.0416794) -> 1 candidate(s)
I0419 20:59:40.557760 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291804932247.
I0419 20:59:40.559609 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:40.559736 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:40.559760 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291805217906.
I0419 20:59:40.561510 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:40.561594 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:40.561635 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:40.562259 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.743396, 0.601067)
I0419 20:59:40.562321 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:40.562390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291805493170.
I0419 20:59:40.578317 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291805776563.
I0419 20:59:40.608755 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:40.611368 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11391, 1.77374), points=4, range=3.57875, residual=0.0166055, extent=0.0387628
I0419 20:59:40.611553 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11391, 1.77374), tracking=(-3.41241, -1.77374), map_predicted=(-2.74583, -3.4919), range=3.57875, pts=4
I0419 20:59:40.611624 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6458m maha_sq=297.619 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74583, -3.4919) lm_pos=(-0.285, -2.52) delta=(-2.46083, -0.971902) -> 0 candidate(s)
I0419 20:59:40.611754 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000233984 range=0.674474 variance=0.000568678 t_weight=5275.39 r_weight=0 yaml=(0.615, -1.32) prior=(0.80134, -2.00588, -4.73463deg) obs_actual=(-0.241807, 0.670421) obs_expected=(-0.242317, 0.668154) delta=(0.000509668, 0.0022667) |delta|=0.00232329m
I0419 20:59:40.611907 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291806103596.
I0419 20:59:40.704555 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:40.705381 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291806376888.
I0419 20:59:40.707755 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.747287, 0.600605)
I0419 20:59:40.707940 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291806657083.
I0419 20:59:40.709699 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:40.709792 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:40.709861 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291806980565.
I0419 20:59:40.726179 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11826, 1.77621), points=4, range=3.58675, residual=0.0134379, extent=0.0325578
I0419 20:59:40.726358 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11826, 1.77621), tracking=(-3.41676, -1.77621), map_predicted=(-2.74638, -3.49533), range=3.58675, pts=4
I0419 20:59:40.726404 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64758m maha_sq=298.907 (gate chi2=5.99) pose_sigma=(0.15008, 0.15008, rho=0) det_map=(-2.74638, -3.49533) lm_pos=(-0.285, -2.52) delta=(-2.46138, -0.975333) -> 0 candidate(s)
I0419 20:59:40.726578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291807254550.
I0419 20:59:40.846827 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291807540287.
I0419 20:59:40.847872 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595187s, prior_pose=(0.803402, -2.00594), yaw=-4.7337 deg
I0419 20:59:40.847952 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 20:59:40.848825 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(3.12561, 1.76237)
I0419 20:59:40.848940 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291807855062.
I0419 20:59:40.851514 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291808132646.
I0419 20:59:40.852560 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:40.852640 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:40.852694 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:40.854147 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.746387, 0.59842), points=4, range=0.95375, residual=0.00916365, extent=0.0219387
I0419 20:59:40.854223 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.746387, 0.59842), tracking=(-1.04489, -0.59842), map_predicted=(-0.287792, -2.51645), range=0.95375, pts=4
I0419 20:59:40.854249 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00451644m maha_sq=0.000885151 (gate chi2=5.99) pose_sigma=(0.150044, 0.150044, rho=0) det_map=(-0.287792, -2.51645) lm_pos=(-0.285, -2.52) delta=(-0.00279174, 0.00355027) -> 1 candidate(s)
I0419 20:59:40.854270 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:40.854394 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291808419769.
I0419 20:59:40.874668 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291808738208.
I0419 20:59:40.961735 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475682, -0.436975)
I0419 20:59:40.962694 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.66171 deg, rms_residual=0.00182137m, sigma_yaw=0.00242261 rad, N=2
I0419 20:59:40.962770 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00143429 range=0.674632 variance=0.000584967 t_weight=5128.49 r_weight=0 yaml=(0.615, -1.32) prior=(0.799881, -2.00666, -4.71587deg) obs_actual=(-0.235718, 0.67202) obs_expected=(-0.240709, 0.669139) delta=(0.00499083, 0.00288108) |delta|=0.00576272m
I0419 20:59:40.962809 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.796414, -2.0075, -4.66171deg) inliers=2 rms=0.00182137m
I0419 20:59:40.962843 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291809021787.
I0419 20:59:40.963848 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:40.965309 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291809294188.
I0419 20:59:40.967190 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750396, 0.599541), points=5, range=0.9578, residual=0.00978383, extent=0.0245432
I0419 20:59:40.967281 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.750396, 0.599541), tracking=(-1.0489, -0.599541), map_predicted=(-0.295791, -2.5182), range=0.9578, pts=5
I0419 20:59:40.967309 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0109409m maha_sq=0.00519461 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.295791, -2.5182) lm_pos=(-0.285, -2.52) delta=(-0.0107915, 0.00180199) -> 1 candidate(s)
I0419 20:59:40.967370 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291809616508.
I0419 20:59:40.987617 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.473635, -0.43504)
I0419 20:59:40.991884 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:40.992039 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:40.992223 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291809912159.
I0419 20:59:41.110575 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291810214753.
I0419 20:59:41.111375 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:41.112356 1218972 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.743478, 0.599628)
I0419 20:59:41.112468 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291810501272.
I0419 20:59:41.114262 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0524659s, prior_pose=(0.801293, -2.00625), yaw=-4.73255 deg
I0419 20:59:41.114329 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:59:41.115006 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.752783, 0.600564), points=5, range=0.96, residual=0.00964081, extent=0.0245551
I0419 20:59:41.115092 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.752783, 0.600564), tracking=(-1.05128, -0.600564), map_predicted=(-0.295955, -2.51803), range=0.96, pts=5
I0419 20:59:41.115116 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0111304m maha_sq=0.00537033 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(-0.295955, -2.51803) lm_pos=(-0.285, -2.52) delta=(-0.010955, 0.00196818) -> 1 candidate(s)
I0419 20:59:41.115172 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291810774654.
I0419 20:59:41.117532 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:41.117596 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:41.117619 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291811091672.
I0419 20:59:41.130479 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:41.130631 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:41.130739 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:41.138028 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(3.11623, 1.77506)
I0419 20:59:41.138207 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:41.138394 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291811372001.
I0419 20:59:41.232205 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291811654271.
I0419 20:59:41.236639 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:41.238420 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.741411, 0.600339), points=5, range=0.9568, residual=0.010287, extent=0.0260329
I0419 20:59:41.238502 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.741411, 0.600339), tracking=(-1.03991, -0.600339), map_predicted=(-0.281642, -2.51864), range=0.9568, pts=5
I0419 20:59:41.238530 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00362355m maha_sq=0.000569315 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(-0.281642, -2.51864) lm_pos=(-0.285, -2.52) delta=(0.00335798, 0.00136163) -> 1 candidate(s)
I0419 20:59:41.238587 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000282896 range=0.673211 variance=0.000570236 t_weight=5260.98 r_weight=0 yaml=(0.615, -1.32) prior=(0.804092, -2.0058, -4.71445deg) obs_actual=(-0.24285, 0.669568) obs_expected=(-0.244818, 0.667939) delta=(0.00196832, 0.00162936) |delta|=0.00255521m
I0419 20:59:41.238636 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291811977638.
I0419 20:59:41.240052 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:41.240939 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.474088, 0.263716)
I0419 20:59:41.241111 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291812255876.
I0419 20:59:41.242143 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802671, -2.00638), yaw=-4.71412 deg backend=(0.804666, -2.00676)
I0419 20:59:41.254220 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291812537096.
I0419 20:59:41.336369 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:41.336583 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:41.336720 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291812817736.
I0419 20:59:41.337904 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.47331, -0.436044)
I0419 20:59:41.338775 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291813110382.
I0419 20:59:41.342173 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0595518, -0.669166), points=18, range=0.672444, residual=0.0108199, extent=0.0336828
I0419 20:59:41.342288 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0595518, -0.669166), tracking=(-0.238948, 0.669166), map_predicted=(0.618868, -1.31949), range=0.672444, pts=18
I0419 20:59:41.342317 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00390177m maha_sq=0.00065983 (gate chi2=5.99) pose_sigma=(0.150063, 0.150063, rho=0) det_map=(0.618868, -1.31949) lm_pos=(0.615, -1.32) delta=(0.00386791, 0.000512935) -> 1 candidate(s)
I0419 20:59:41.342403 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291813417936.
I0419 20:59:41.365803 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836149s, prior_pose=(0.801785, -2.00609), yaw=-4.73312 deg
I0419 20:59:41.370165 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 20:59:41.371803 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.478991, 0.268268)
I0419 20:59:41.371953 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291813702835.
I0419 20:59:41.403034 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291814020108.
I0419 20:59:41.494510 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:41.494611 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:41.494668 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:41.496055 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:41.496232 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291814302304.
I0419 20:59:41.497910 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.476425, -0.437619)
I0419 20:59:41.499567 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291814620675.
I0419 20:59:41.501497 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0556045, -0.669147), points=18, range=0.673, residual=0.0109551, extent=0.0336134
I0419 20:59:41.501583 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0556045, -0.669147), tracking=(-0.242895, 0.669147), map_predicted=(0.614347, -1.31722), range=0.673, pts=18
I0419 20:59:41.501613 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00285428m maha_sq=0.000353347 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.614347, -1.31722) lm_pos=(0.615, -1.32) delta=(-0.000652777, 0.00277863) -> 1 candidate(s)
I0419 20:59:41.501714 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.52028 deg, rms_residual=0.000695634m, sigma_yaw=0.000926652 rad, N=2
I0419 20:59:41.501734 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000353347 range=0.673 variance=0.000556336 t_weight=5392.42 r_weight=0 yaml=(0.615, -1.32) prior=(0.801577, -2.00403, -4.7017deg) obs_actual=(-0.242895, 0.669147) obs_expected=(-0.242017, 0.666432) delta=(-0.000878339, 0.00271577) |delta|=0.00285428m
I0419 20:59:41.501762 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.80482, -2.00565, -4.52028deg) inliers=2 rms=0.000695634m
I0419 20:59:41.501787 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291814899476.
I0419 20:59:41.515369 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:41.519090 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.74526, 0.601297)
I0419 20:59:41.519440 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291815181039.
I0419 20:59:41.628654 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291815501966.
I0419 20:59:41.630617 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:41.630725 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:41.630831 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291815775814.
I0419 20:59:41.633364 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.446774, 0.245953)
I0419 20:59:41.633544 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291816062078.
I0419 20:59:41.634778 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27047, 0.865021), points=3, range=1.53933, residual=0.00716709, extent=0.0149687
I0419 20:59:41.634847 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27047, 0.865021), tracking=(1.56897, 0.865021), map_predicted=(2.43933, -1.27086), range=1.53933, pts=3
I0419 20:59:41.634873 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0548292m maha_sq=0.130504 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43933, -1.27086) lm_pos=(2.415, -1.32) delta=(0.024326, 0.0491374) -> 1 candidate(s)
I0419 20:59:41.636385 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291816340869.
I0419 20:59:41.662468 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598428s, prior_pose=(0.804142, -2.00526), yaw=-4.67186 deg
I0419 20:59:41.662628 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=252, threshold=230, above_threshold=24, candidates=24
I0419 20:59:41.666465 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.743088, 0.599315)
I0419 20:59:41.666749 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291816655725.
I0419 20:59:41.746671 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:41.746824 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:41.746891 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291816943646.
I0419 20:59:41.747911 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:41.747998 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:41.748047 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:41.749585 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:41.749718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291817254149.
I0419 20:59:41.754895 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.742761, 0.417384)
I0419 20:59:41.755034 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547356, -0.670449), points=18, range=0.673944, residual=0.011255, extent=0.0338602
I0419 20:59:41.755098 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547356, -0.670449), tracking=(-0.243764, 0.670449), map_predicted=(0.613483, -1.31932), range=0.673944, pts=18
I0419 20:59:41.755148 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00166447m maha_sq=0.000120125 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.613483, -1.31932) lm_pos=(0.615, -1.32) delta=(-0.00151737, 0.000684132) -> 1 candidate(s)
I0419 20:59:41.755329 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291817541507.
I0419 20:59:41.778358 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:41.783228 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000213611 range=0.673722 variance=0.000551589 t_weight=5438.83 r_weight=0 yaml=(0.615, -1.32) prior=(0.802522, -2.00725, -4.68733deg) obs_actual=(-0.240853, 0.669907) obs_expected=(-0.243055, 0.669624) delta=(0.00220199, 0.00028216) |delta|=0.00222m
I0419 20:59:41.783488 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291817823121.
I0419 20:59:41.810771 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:41.880173 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291818142243.
I0419 20:59:41.882073 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.481527, 0.267829)
I0419 20:59:41.882237 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291818415957.
I0419 20:59:41.884691 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:41.884785 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:41.884860 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291818734655.
I0419 20:59:41.894527 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27423, 0.856787), points=3, range=1.534, residual=0.0053981, extent=0.00913443
I0419 20:59:41.894716 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27423, 0.856787), tracking=(1.57273, 0.856787), map_predicted=(2.43951, -1.28199), range=1.534, pts=3
I0419 20:59:41.894778 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0452292m maha_sq=0.0888925 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43951, -1.28199) lm_pos=(2.415, -1.32) delta=(0.0245083, 0.0380134) -> 1 candidate(s)
I0419 20:59:41.902594 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291819012744.
I0419 20:59:41.926119 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.26719, 0.85738)
I0419 20:59:41.930882 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291819298297.
I0419 20:59:41.996598 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0526342s, prior_pose=(0.804699, -2.00596), yaw=-4.71782 deg
I0419 20:59:41.996711 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:41.997601 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291819612992.
I0419 20:59:42.000160 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.478119, 0.267779)
I0419 20:59:42.000305 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291819896991.
I0419 20:59:42.014545 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:42.014694 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:42.014814 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:42.018554 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 20:59:42.018688 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:42.018885 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291820177601.
I0419 20:59:42.047021 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.752232, 0.600718), points=4, range=0.95925, residual=0.0101163, extent=0.0245669
I0419 20:59:42.047183 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.752232, 0.600718), tracking=(-1.05073, -0.600718), map_predicted=(-0.293139, -2.51884), range=0.95925, pts=4
I0419 20:59:42.047240 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00822114m maha_sq=0.00293101 (gate chi2=5.99) pose_sigma=(0.15003, 0.15003, rho=0) det_map=(-0.293139, -2.51884) lm_pos=(-0.285, -2.52) delta=(-0.00813935, 0.00115677) -> 1 candidate(s)
I0419 20:59:42.047453 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291820461631.
I0419 20:59:42.070487 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.26871, 0.855742)
I0419 20:59:42.162997 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.42633 deg, rms_residual=0.00270954m, sigma_yaw=0.00359972 rad, N=2
I0419 20:59:42.163095 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000470736 range=0.673842 variance=0.000573699 t_weight=5229.22 r_weight=0 yaml=(0.615, -1.32) prior=(0.804178, -2.00584, -4.70376deg) obs_actual=(-0.241866, 0.669556) obs_expected=(-0.244782, 0.668016) delta=(0.00291558, 0.00154014) |delta|=0.00329737m
I0419 20:59:42.163137 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.806096, -2.00406, -4.42633deg) inliers=2 rms=0.00270954m
I0419 20:59:42.163172 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291820779744.
I0419 20:59:42.164253 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:42.165066 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291821057952.
I0419 20:59:42.166100 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803287, -2.00582), yaw=-4.70338 deg backend=(0.804408, -2.00726)
I0419 20:59:42.167603 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.472013, 0.264357)
I0419 20:59:42.167713 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291821374474.
I0419 20:59:42.170049 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:42.170115 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:42.170182 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291821656199.
I0419 20:59:42.195372 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.741641, 0.601955), points=6, range=0.957333, residual=0.0096915, extent=0.0268372
I0419 20:59:42.195581 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.741641, 0.601955), tracking=(-1.04014, -0.601955), map_predicted=(-0.283826, -2.52126), range=0.957333, pts=6
I0419 20:59:42.195642 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00172421m maha_sq=0.000129022 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.283826, -2.52126) lm_pos=(-0.285, -2.52) delta=(0.00117438, -0.00126243) -> 1 candidate(s)
I0419 20:59:42.195884 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291821942296.
I0419 20:59:42.301307 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.47313, -0.435939)
I0419 20:59:42.302654 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291822254672.
I0419 20:59:42.303798 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0804967s, prior_pose=(0.80096, -2.00681), yaw=-4.71524 deg
I0419 20:59:42.303880 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:42.305742 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291822540071.
I0419 20:59:42.307449 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=6, centroid=(0.742903, 0.600329)
I0419 20:59:42.307569 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:42.307611 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:42.307631 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291822822257.
I0419 20:59:42.309794 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:42.309866 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:42.309911 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:42.314254 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:42.314429 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291823136574.
I0419 20:59:42.430727 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291823414384.
I0419 20:59:42.431970 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471948, -0.434865), points=18, range=0.642889, residual=0.0137869, extent=0.045834
I0419 20:59:42.432057 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471948, -0.434865), tracking=(0.770448, -0.434865), map_predicted=(1.53596, -2.50202), range=0.642889, pts=18
I0419 20:59:42.432086 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.209814m maha_sq=1.90362 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53596, -2.50202) lm_pos=(1.745, -2.52) delta=(-0.209043, 0.0179756) -> 1 candidate(s)
I0419 20:59:42.432118 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:42.432766 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.549195, 0.310718)
I0419 20:59:42.432873 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000371177 range=0.672944 variance=0.000554597 t_weight=5409.33 r_weight=0 yaml=(0.615, -1.32) prior=(0.803988, -2.00512, -4.72953deg) obs_actual=(-0.242861, 0.66936) obs_expected=(-0.244834, 0.6672) delta=(0.00197308, 0.0021597) |delta|=0.00292529m
I0419 20:59:42.432926 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291823695838.
I0419 20:59:42.434723 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:42.435513 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291823972350.
I0419 20:59:42.438050 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291824292949.
I0419 20:59:42.454699 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.473956, -0.435237)
I0419 20:59:42.462200 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:42.462323 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:42.462536 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291824614115.
I0419 20:59:42.553857 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:42.554144 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291824912920.
I0419 20:59:42.555337 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471338, -0.43562), points=18, range=0.643667, residual=0.0133539, extent=0.0464385
I0419 20:59:42.555436 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471338, -0.43562), tracking=(0.769838, -0.43562), map_predicted=(1.53404, -2.50292), range=0.643667, pts=18
I0419 20:59:42.555466 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.211647m maha_sq=1.938 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53404, -2.50292) lm_pos=(1.745, -2.52) delta=(-0.210956, 0.017083) -> 1 candidate(s)
I0419 20:59:42.557225 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(3.11945, 1.78893)
I0419 20:59:42.557394 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291825178029.
I0419 20:59:42.558697 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598349s, prior_pose=(0.802018, -2.00617), yaw=-4.70461 deg
I0419 20:59:42.558775 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:42.559866 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291825497148.
I0419 20:59:42.578727 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291825778919.
I0419 20:59:42.602519 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:42.602687 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:42.602797 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:42.667654 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.74734, 0.60094)
I0419 20:59:42.667770 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:42.667845 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291826061993.
I0419 20:59:42.669746 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291826377446.
I0419 20:59:42.671314 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471006, -0.437869), points=17, range=0.645412, residual=0.0121026, extent=0.0351975
I0419 20:59:42.671375 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471006, -0.437869), tracking=(0.769506, -0.437869), map_predicted=(1.53242, -2.50722), range=0.645412, pts=17
I0419 20:59:42.671403 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.21296m maha_sq=1.96337 (gate chi2=5.99) pose_sigma=(0.150057, 0.150057, rho=0) det_map=(1.53242, -2.50722) lm_pos=(1.745, -2.52) delta=(-0.212576, 0.0127841) -> 1 candidate(s)
I0419 20:59:42.672219 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.41009 deg, rms_residual=0.00172764m, sigma_yaw=0.00229823 rad, N=2
I0419 20:59:42.672261 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000755973 range=0.674421 variance=0.000581242 t_weight=5161.37 r_weight=0 yaml=(0.615, -1.32) prior=(0.801706, -2.0073, -4.73695deg) obs_actual=(-0.238804, 0.670663) obs_expected=(-0.242826, 0.66953) delta=(0.00402217, 0.00113313) |delta|=0.00417873m
I0419 20:59:42.672297 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802563, -2.00566, -4.41009deg) inliers=2 rms=0.00172764m
I0419 20:59:42.672326 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291826660028.
I0419 20:59:42.690689 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:42.694108 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291826935133.
I0419 20:59:42.718366 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.477474, -0.436088)
I0419 20:59:42.721907 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291827212920.
I0419 20:59:42.788993 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:42.789153 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:42.789242 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291827542347.
I0419 20:59:42.791730 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291827818118.
I0419 20:59:42.796005 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:42.806010 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470193, -0.437046), points=19, range=0.644737, residual=0.0145815, extent=0.0458134
I0419 20:59:42.806133 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470193, -0.437046), tracking=(0.768693, -0.437046), map_predicted=(1.53632, -2.50548), range=0.644737, pts=19
I0419 20:59:42.806164 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.209186m maha_sq=1.89039 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53632, -2.50548) lm_pos=(1.745, -2.52) delta=(-0.208681, 0.0145215) -> 1 candidate(s)
I0419 20:59:42.810408 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.457461, 0.257176)
I0419 20:59:42.810770 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291828099570.
I0419 20:59:42.833808 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051447s, prior_pose=(0.805429, -2.00473), yaw=-4.6689 deg
I0419 20:59:42.833938 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:59:42.843003 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122291828421513.
I0419 20:59:42.964418 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:42.964538 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:42.964562 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291828693731.
I0419 20:59:42.965828 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:42.965893 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:42.965945 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:42.966747 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:42.966857 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291829020991.
I0419 20:59:42.969267 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.477847, -0.436421)
I0419 20:59:42.970706 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291829297556.
I0419 20:59:42.971858 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:42.973196 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0566225, -0.66949), points=18, range=0.673444, residual=0.0110378, extent=0.0339584
I0419 20:59:42.973266 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0566225, -0.66949), tracking=(-0.241878, 0.66949), map_predicted=(0.616559, -1.3192), range=0.673444, pts=18
I0419 20:59:42.973291 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00175013m maha_sq=0.000132697 (gate chi2=5.99) pose_sigma=(0.150081, 0.150081, rho=0) det_map=(0.616559, -1.3192) lm_pos=(0.615, -1.32) delta=(0.00155912, 0.000795049) -> 1 candidate(s)
I0419 20:59:42.973335 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.00161126 range=0.956143 variance=0.000507268 t_weight=5914.03 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802884, -2.00623, -4.69019deg) obs_actual=(-1.04685, -0.597027) obs_expected=(-1.04223, -0.601003) delta=(-0.00461574, 0.00397551) |delta|=0.00609178m
I0419 20:59:42.973423 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291829580306.
I0419 20:59:42.981714 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:42.986377 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.747093, 0.600448)
I0419 20:59:42.986605 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291829856608.
I0419 20:59:43.054747 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.800827, -2.00591), yaw=-4.67951 deg backend=(0.801068, -2.0072)
I0419 20:59:43.056725 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291830173051.
I0419 20:59:43.059420 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:43.059584 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:43.059695 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291830458518.
I0419 20:59:43.077957 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291830774341.
I0419 20:59:43.102509 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.26616, 0.856682)
I0419 20:59:43.106737 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0565607, -0.668826), points=18, range=0.672444, residual=0.0107, extent=0.0335738
I0419 20:59:43.106874 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0565607, -0.668826), tracking=(-0.241939, 0.668826), map_predicted=(0.61508, -1.31943), range=0.672444, pts=18
I0419 20:59:43.106909 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.000579282m maha_sq=1.45404e-05 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(0.61508, -1.31943) lm_pos=(0.615, -1.32) delta=(7.97241e-05, 0.00057377) -> 1 candidate(s)
I0419 20:59:43.107070 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291831060917.
I0419 20:59:43.129776 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0835349s, prior_pose=(0.801664, -2.00576), yaw=-4.67817 deg
I0419 20:59:43.129918 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 20:59:43.182438 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291831337770.
I0419 20:59:43.184405 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291831654356.
I0419 20:59:43.186125 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:43.186204 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:43.186254 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:43.194051 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0566782, -0.670365)
I0419 20:59:43.194175 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:43.194303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291831936019.
I0419 20:59:43.222800 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291832217603.
I0419 20:59:43.254154 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0594657, -0.668313), points=18, range=0.6715, residual=0.0107477, extent=0.0335839
I0419 20:59:43.254271 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0594657, -0.668313), tracking=(-0.239034, 0.668313), map_predicted=(0.617709, -1.32065), range=0.6715, pts=18
I0419 20:59:43.254302 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00278519m maha_sq=0.000336514 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.617709, -1.32065) lm_pos=(0.615, -1.32) delta=(0.00270916, -0.000646297) -> 1 candidate(s)
I0419 20:59:43.254386 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=4.75107e-05 range=0.9566 variance=0.000542224 t_weight=5532.77 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801496, -2.00621, -4.67354deg) obs_actual=(-1.04034, -0.599806) obs_expected=(-1.04102, -0.600604) delta=(0.000677111, 0.000797668) |delta|=0.0010463m
I0419 20:59:43.254493 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291832536025.
I0419 20:59:43.340389 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:43.341267 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.450328, 0.253132)
I0419 20:59:43.341398 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.29036 deg, rms_residual=0.0022763m, sigma_yaw=0.00302588 rad, N=2
I0419 20:59:43.341457 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.804627, -2.00314, -4.29036deg) inliers=2 rms=0.0022763m
I0419 20:59:43.341491 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291832812248.
I0419 20:59:43.343797 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291833092923.
I0419 20:59:43.345767 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 20:59:43.345852 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:43.345913 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291833417944.
I0419 20:59:43.370215 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291833693844.
I0419 20:59:43.395023 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.477955, -0.437816)
I0419 20:59:43.492923 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0625402, -0.6697), points=19, range=0.672368, residual=0.0116324, extent=0.0353912
I0419 20:59:43.493054 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0625402, -0.6697), tracking=(-0.23596, 0.6697), map_predicted=(0.623514, -1.31778), range=0.672368, pts=19
I0419 20:59:43.493127 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00879721m maha_sq=0.00334715 (gate chi2=5.99) pose_sigma=(0.150166, 0.150166, rho=0) det_map=(0.623514, -1.31778) lm_pos=(0.615, -1.32) delta=(0.00851365, 0.00221555) -> 1 candidate(s)
I0419 20:59:43.493227 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291833978067.
I0419 20:59:43.494488 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599125s, prior_pose=(0.803948, -2.00453), yaw=-4.68811 deg
I0419 20:59:43.494688 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:59:43.495656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291834300263.
I0419 20:59:43.498205 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:43.498286 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:43.498313 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291834578752.
I0419 20:59:43.499650 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:43.499718 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:43.499768 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:43.501329 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:43.501466 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291834860639.
I0419 20:59:43.517311 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.739193, 0.598528)
I0419 20:59:43.517596 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291835167357.
I0419 20:59:43.606060 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:43.606863 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.75083, 0.599004), points=6, range=0.955833, residual=0.0111253, extent=0.0252684
I0419 20:59:43.606941 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.75083, 0.599004), tracking=(-1.04933, -0.599004), map_predicted=(-0.294139, -2.51833), range=0.955833, pts=6
I0419 20:59:43.606971 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00929131m maha_sq=0.00373369 (gate chi2=5.99) pose_sigma=(0.150166, 0.150166, rho=0) det_map=(-0.294139, -2.51833) lm_pos=(-0.285, -2.52) delta=(-0.00913926, 0.00167404) -> 1 candidate(s)
I0419 20:59:43.607038 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.00373369 range=0.955833 variance=0.000571612 t_weight=5248.31 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800455, -2.0067, -4.66773deg) obs_actual=(-1.04933, -0.599004) obs_expected=(-1.04008, -0.599928) delta=(-0.00924518, 0.000924763) |delta|=0.00929131m
I0419 20:59:43.607100 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291835461814.
I0419 20:59:43.608063 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:43.609539 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291835777877.
I0419 20:59:43.611238 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291836062772.
I0419 20:59:43.634864 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0567271, -0.670783)
I0419 20:59:43.634990 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:43.635035 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:43.635179 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291836341260.
I0419 20:59:43.751237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291836619067.
I0419 20:59:43.752452 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2734, 0.861603), points=3, range=1.53067, residual=0.0128991, extent=0.0255954
I0419 20:59:43.752523 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2734, 0.861603), tracking=(1.5719, 0.861603), map_predicted=(2.43501, -1.27495), range=1.53067, pts=3
I0419 20:59:43.752553 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0492963m maha_sq=0.104973 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43501, -1.27495) lm_pos=(2.415, -1.32) delta=(0.020006, 0.0450543) -> 1 candidate(s)
I0419 20:59:43.753484 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291836932955.
I0419 20:59:43.755198 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055743s, prior_pose=(0.798413, -2.00641), yaw=-4.67836 deg
I0419 20:59:43.755271 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=249, threshold=230, above_threshold=23, candidates=23
I0419 20:59:43.756201 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291837220756.
I0419 20:59:43.757282 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474601, -0.435849)
I0419 20:59:43.758616 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291837500058.
I0419 20:59:43.778540 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:43.778692 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:43.778806 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:43.783020 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:43.783306 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291837821304.
I0419 20:59:43.871016 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27008, 0.859362), points=3, range=1.52667, residual=0.0128954, extent=0.0255872
I0419 20:59:43.871119 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27008, 0.859362), tracking=(1.56858, 0.859362), map_predicted=(2.43486, -1.27645), range=1.52667, pts=3
I0419 20:59:43.871147 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0478652m maha_sq=0.0988414 (gate chi2=5.99) pose_sigma=(0.150099, 0.150099, rho=0) det_map=(2.43486, -1.27645) lm_pos=(2.415, -1.32) delta=(0.0198641, 0.0435487) -> 1 candidate(s)
I0419 20:59:43.871865 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291838094227.
I0419 20:59:43.874476 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000389384 range=0.951 variance=0.000579312 t_weight=5178.56 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801929, -2.00555, -4.66597deg) obs_actual=(-1.04165, -0.598166) obs_expected=(-1.04148, -0.601159) delta=(-0.000173451, 0.00299338) |delta|=0.0029984m
I0419 20:59:43.874616 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291838417920.
I0419 20:59:43.875636 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475504, -0.43684)
I0419 20:59:43.875727 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:43.876336 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.48501 deg, rms_residual=0.0018647m, sigma_yaw=0.0024801 rad, N=2
I0419 20:59:43.876397 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.806715, -2.0059, -4.48501deg) inliers=2 rms=0.0018647m
I0419 20:59:43.876433 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291838698160.
I0419 20:59:43.877517 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803365, -2.00566), yaw=-4.66579 deg backend=(0.797896, -2.00685)
I0419 20:59:43.898510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291838973256.
I0419 20:59:43.923106 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27589, 0.860587), points=4, range=1.5335, residual=0.0126981, extent=0.0274814
I0419 20:59:43.923463 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27589, 0.860587), tracking=(1.57439, 0.860587), map_predicted=(2.44254, -1.27599), range=1.5335, pts=4
I0419 20:59:43.923619 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0519186m maha_sq=0.116463 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44254, -1.27599) lm_pos=(2.415, -1.32) delta=(0.0275414, 0.0440115) -> 1 candidate(s)
I0419 20:59:43.995287 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:43.995489 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:43.995625 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291839297619.
I0419 20:59:43.996982 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:43.997915 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291839574353.
I0419 20:59:43.999799 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.472839, -0.435647)
I0419 20:59:44.000589 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291839852092.
I0419 20:59:44.010303 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0801017s, prior_pose=(0.799233, -2.00688), yaw=-4.64634 deg
I0419 20:59:44.010413 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 20:59:44.015156 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291840143527.
I0419 20:59:44.038259 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27008, 0.856677), points=3, range=1.532, residual=0.00423005, extent=0.00896005
I0419 20:59:44.038376 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27008, 0.856677), tracking=(1.56858, 0.856677), map_predicted=(2.43248, -1.28053), range=1.532, pts=3
I0419 20:59:44.038415 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0431684m maha_sq=0.0810166 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43248, -1.28053) lm_pos=(2.415, -1.32) delta=(0.0174809, 0.0394706) -> 1 candidate(s)
I0419 20:59:44.046232 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:44.046411 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:44.046483 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291840456295.
I0419 20:59:44.108678 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:44.108793 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:44.108850 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:44.109628 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:44.109733 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291840741054.
I0419 20:59:44.110723 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.474685, -0.43478)
I0419 20:59:44.112198 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291841042472.
I0419 20:59:44.130636 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:44.133909 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000384018 range=0.9554 variance=0.000520142 t_weight=5767.66 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805089, -2.00688, -4.67999deg) obs_actual=(-1.04301, -0.602869) obs_expected=(-1.04459, -0.600349) delta=(0.00157918, -0.00251919) |delta|=0.00297324m
I0419 20:59:44.134042 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291841333777.
I0419 20:59:44.155040 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27175, 0.855111), points=3, range=1.53033, residual=0.00569146, extent=0.0107297
I0419 20:59:44.155160 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:44.155179 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27175, 0.855111), tracking=(1.57025, 0.855111), map_predicted=(2.43861, -1.28258), range=1.53033, pts=3
I0419 20:59:44.155205 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0442467m maha_sq=0.0849572 (gate chi2=5.99) pose_sigma=(0.150094, 0.150094, rho=0) det_map=(2.43861, -1.28258) lm_pos=(2.415, -1.32) delta=(0.0236123, 0.0374196) -> 1 candidate(s)
I0419 20:59:44.162518 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291841619672.
I0419 20:59:44.252631 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291841937746.
I0419 20:59:44.253779 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474036, -0.435417)
I0419 20:59:44.254647 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:44.254742 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:44.254828 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291842219788.
I0419 20:59:44.257525 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291842539506.
I0419 20:59:44.282246 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0607325, -0.671406), points=18, range=0.674278, residual=0.0108458, extent=0.0335639
I0419 20:59:44.282362 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0607325, -0.671406), tracking=(-0.237768, 0.671406), map_predicted=(0.616814, -1.31816), range=0.674278, pts=18
I0419 20:59:44.282395 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00258258m maha_sq=0.000289129 (gate chi2=5.99) pose_sigma=(0.150048, 0.150048, rho=0) det_map=(0.616814, -1.31816) lm_pos=(0.615, -1.32) delta=(0.00181424, 0.001838) -> 1 candidate(s)
I0419 20:59:44.282552 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291842817527.
I0419 20:59:44.306478 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609722s, prior_pose=(0.799165, -2.00669), yaw=-4.66695 deg
I0419 20:59:44.306566 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:59:44.314709 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291843141517.
I0419 20:59:44.392323 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.477276, -0.435894)
I0419 20:59:44.393224 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291843379553.
I0419 20:59:44.394304 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:44.394395 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:44.394447 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:44.395902 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:44.396075 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291843659829.
I0419 20:59:44.398733 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12068, 1.75364), points=4, range=3.5815, residual=0.0148767, extent=0.0355555
I0419 20:59:44.398845 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12068, 1.75364), tracking=(-3.41918, -1.75364), map_predicted=(-2.74675, -3.47705), range=3.5815, pts=4
I0419 20:59:44.398882 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64124m maha_sq=297.275 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74675, -3.47705) lm_pos=(-0.285, -2.52) delta=(-2.46175, -0.957049) -> 0 candidate(s)
I0419 20:59:44.399008 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291843981839.
I0419 20:59:44.426613 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000651085 range=0.957 variance=0.000557128 t_weight=5384.76 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803656, -2.00627, -4.65642deg) obs_actual=(-1.04723, -0.600273) obs_expected=(-1.04336, -0.600407) delta=(-0.00387328, 0.000134274) |delta|=0.0038756m
I0419 20:59:44.426967 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291844259690.
I0419 20:59:44.450264 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476215, -0.436149)
I0419 20:59:44.450371 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:44.520234 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.69351 deg, rms_residual=3.83156e-05m, sigma_yaw=5.10848e-05 rad, N=2
I0419 20:59:44.520366 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.797255, -2.00732, -4.69351deg) inliers=2 rms=3.83156e-05m
I0419 20:59:44.520404 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291844578582.
I0419 20:59:44.522408 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291844859018.
I0419 20:59:44.524969 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:44.525113 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12299, 1.76092), points=5, range=3.586, residual=0.0162991, extent=0.0431222
I0419 20:59:44.525139 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:44.525154 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12299, 1.76092), tracking=(-3.42149, -1.76092), map_predicted=(-2.74993, -3.47958), range=3.586, pts=5
I0419 20:59:44.525171 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64512m maha_sq=297.531 (gate chi2=5.99) pose_sigma=(0.150012, 0.150012, rho=0) det_map=(-2.74993, -3.47958) lm_pos=(-0.285, -2.52) delta=(-2.46493, -0.959576) -> 0 candidate(s)
I0419 20:59:44.525243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291845137219.
I0419 20:59:44.546218 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291845454889.
I0419 20:59:44.566085 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.472363, -0.435209)
I0419 20:59:44.573822 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291845732784.
I0419 20:59:44.630136 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520853s, prior_pose=(0.802695, -2.00716), yaw=-4.6562 deg
I0419 20:59:44.630260 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=23, candidates=23
I0419 20:59:44.631327 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291846057310.
I0419 20:59:44.633939 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12196, 1.76632), points=4, range=3.58825, residual=0.0141443, extent=0.0342745
I0419 20:59:44.634034 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12196, 1.76632), tracking=(-3.42046, -1.76632), map_predicted=(-2.74997, -3.48942), range=3.58825, pts=4
I0419 20:59:44.634060 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64875m maha_sq=299.063 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(-2.74997, -3.48942) lm_pos=(-0.285, -2.52) delta=(-2.46497, -0.969423) -> 0 candidate(s)
I0419 20:59:44.634110 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:44.634167 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:44.634188 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291846332846.
I0419 20:59:44.654882 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:44.655014 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:44.655118 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:44.662670 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:44.662896 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291846618746.
I0419 20:59:44.686622 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476272, -0.436242)
I0419 20:59:44.695086 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291846939799.
I0419 20:59:44.718381 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:44.781862 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000566763 range=0.95325 variance=0.000536108 t_weight=5595.89 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800827, -2.0074, -4.68825deg) obs_actual=(-1.03705, -0.598043) obs_expected=(-1.0403, -0.599633) delta=(0.00324648, 0.00158937) |delta|=0.00361465m
I0419 20:59:44.782011 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291847213707.
I0419 20:59:44.783186 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:44.783928 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.75113, 0.601026), points=6, range=0.959833, residual=0.00885997, extent=0.0238379
I0419 20:59:44.784003 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.75113, 0.601026), tracking=(-1.04963, -0.601026), map_predicted=(-0.294415, -2.52063), range=0.959833, pts=6
I0419 20:59:44.784026 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00943621m maha_sq=0.00386693 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.294415, -2.52063) lm_pos=(-0.285, -2.52) delta=(-0.00941544, -0.000625641) -> 1 candidate(s)
I0419 20:59:44.784122 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291847493745.
I0419 20:59:44.785226 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802519, -2.00681), yaw=-4.68849 deg backend=(0.803026, -2.00808)
I0419 20:59:44.786800 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291847783491.
I0419 20:59:44.802917 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476906, -0.436796)
I0419 20:59:44.807367 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:44.807557 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:44.807725 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291848065598.
I0419 20:59:44.842649 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291848419595.
I0419 20:59:44.897630 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291848700475.
I0419 20:59:44.898660 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0828794s, prior_pose=(0.802864, -2.00622), yaw=-4.66646 deg
I0419 20:59:44.898769 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:44.900345 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.1174, 1.76377)
I0419 20:59:44.900444 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0556097, -0.66907), points=19, range=0.672895, residual=0.0117025, extent=0.0362056
I0419 20:59:44.900471 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0556097, -0.66907), tracking=(-0.24289, 0.66907), map_predicted=(0.613545, -1.32008), range=0.672895, pts=19
I0419 20:59:44.900492 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0014574m maha_sq=9.19013e-05 (gate chi2=5.99) pose_sigma=(0.150128, 0.150128, rho=0) det_map=(0.613545, -1.32008) lm_pos=(0.615, -1.32) delta=(-0.00145499, -8.3652e-05) -> 1 candidate(s)
I0419 20:59:44.900610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291849000193.
I0419 20:59:44.926414 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291849258982.
I0419 20:59:44.949972 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:44.950069 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:44.950129 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:44.958031 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:44.958277 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291849574036.
I0419 20:59:45.034701 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291849853525.
I0419 20:59:45.036526 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.238323, 0.133972)
I0419 20:59:45.036612 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.741448, 0.5995), points=5, range=0.9548, residual=0.00720058, extent=0.0199627
I0419 20:59:45.036638 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.741448, 0.5995), tracking=(-1.03995, -0.5995), map_predicted=(-0.284088, -2.51798), range=0.9548, pts=5
I0419 20:59:45.036659 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00221842m maha_sq=0.000213977 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.284088, -2.51798) lm_pos=(-0.285, -2.52) delta=(0.000912457, 0.00202208) -> 1 candidate(s)
I0419 20:59:45.036715 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.000213977 range=0.9548 variance=0.000499639 t_weight=6004.33 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801146, -2.00499, -4.66206deg) obs_actual=(-1.03995, -0.5995) obs_expected=(-1.04069, -0.601589) delta=(0.000745087, 0.00208955) |delta|=0.00221842m
I0419 20:59:45.036762 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291850141873.
I0419 20:59:45.038484 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:45.042572 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.56435 deg, rms_residual=0.000573774m, sigma_yaw=0.000764447 rad, N=2
I0419 20:59:45.042685 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.805084, -2.00654, -4.56435deg) inliers=2 rms=0.000573774m
I0419 20:59:45.042730 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291850421220.
I0419 20:59:45.074504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291850738881.
I0419 20:59:45.101924 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:45.102015 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:45.102133 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291851014145.
I0419 20:59:45.162892 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0576899, -0.67039)
I0419 20:59:45.163102 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291851333775.
I0419 20:59:45.164251 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.474489, -0.438524), points=17, range=0.647412, residual=0.0122391, extent=0.0412143
I0419 20:59:45.164387 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.474489, -0.438524), tracking=(0.772989, -0.438524), map_predicted=(1.53333, -2.50616), range=0.647412, pts=17
I0419 20:59:45.164436 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.212127m maha_sq=1.9492 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53333, -2.50616) lm_pos=(1.745, -2.52) delta=(-0.211675, 0.0138387) -> 1 candidate(s)
I0419 20:59:45.166177 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291851652453.
I0419 20:59:45.182348 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056626s, prior_pose=(0.799059, -2.00676), yaw=-4.66008 deg
I0419 20:59:45.182461 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:45.190670 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291851899394.
I0419 20:59:45.222481 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:45.222627 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:45.222661 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291852219083.
I0419 20:59:45.241789 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:45.241897 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.26823, 0.85808)
I0419 20:59:45.241918 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:45.241973 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:45.305323 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:45.305550 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291852493765.
I0419 20:59:45.306851 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473847, -0.436641), points=19, range=0.645947, residual=0.0135641, extent=0.0438203
I0419 20:59:45.306941 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473847, -0.436641), tracking=(0.772347, -0.436641), map_predicted=(1.53853, -2.50391), range=0.645947, pts=19
I0419 20:59:45.306967 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.207092m maha_sq=1.85503 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53853, -2.50391) lm_pos=(1.745, -2.52) delta=(-0.206466, 0.0160907) -> 1 candidate(s)
I0419 20:59:45.307734 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291852777765.
I0419 20:59:45.310020 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:45.310932 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000985524 range=0.955667 variance=0.000518112 t_weight=5790.25 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804769, -2.00572, -4.65403deg) obs_actual=(-1.03975, -0.600225) obs_expected=(-1.04445, -0.601007) delta=(0.00469984, 0.000781804) |delta|=0.00476442m
I0419 20:59:45.311074 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291853103317.
I0419 20:59:45.334496 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:45.338990 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291853382307.
I0419 20:59:45.362442 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.476325, -0.437421)
I0419 20:59:45.367359 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291853662651.
I0419 20:59:45.436269 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476133, -0.437478), points=18, range=0.648333, residual=0.0129889, extent=0.0404898
I0419 20:59:45.436393 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476133, -0.437478), tracking=(0.774633, -0.437478), map_predicted=(1.53913, -2.50633), range=0.648333, pts=18
I0419 20:59:45.436429 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.206318m maha_sq=1.83965 (gate chi2=5.99) pose_sigma=(0.150115, 0.150115, rho=0) det_map=(1.53913, -2.50633) lm_pos=(1.745, -2.52) delta=(-0.205865, 0.0136682) -> 1 candidate(s)
I0419 20:59:45.436705 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:45.437433 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:45.437527 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:45.437615 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291854014789.
I0419 20:59:45.440114 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291854258163.
I0419 20:59:45.454201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291854535393.
I0419 20:59:45.477700 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0515204s, prior_pose=(0.801268, -2.00679), yaw=-4.64639 deg
I0419 20:59:45.477901 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=251, threshold=230, above_threshold=23, candidates=23
I0419 20:59:45.478040 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476726, -0.436681)
I0419 20:59:45.491036 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291854895824.
I0419 20:59:45.593051 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548305, -0.671646), points=18, range=0.674833, residual=0.011054, extent=0.0337813
I0419 20:59:45.593217 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0548305, -0.671646), tracking=(-0.243669, 0.671646), map_predicted=(0.612618, -1.3166), range=0.674833, pts=18
I0419 20:59:45.593253 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00414865m maha_sq=0.000745643 (gate chi2=5.99) pose_sigma=(0.15008, 0.15008, rho=0) det_map=(0.612618, -1.3166) lm_pos=(0.615, -1.32) delta=(-0.00238247, 0.00339634) -> 1 candidate(s)
I0419 20:59:45.593344 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291855136371.
I0419 20:59:45.594393 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:45.594470 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:45.594552 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:45.595222 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:45.595314 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291855414691.
I0419 20:59:45.597791 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291855741019.
I0419 20:59:45.598820 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476672, -0.436584)
I0419 20:59:45.600219 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00019398 range=0.957143 variance=0.000580409 t_weight=5168.77 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800822, -2.00586, -4.67185deg) obs_actual=(-1.03824, -0.601127) obs_expected=(-1.04034, -0.600873) delta=(0.00210137, -0.000254054) |delta|=0.00211668m
I0419 20:59:45.600320 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291855993358.
I0419 20:59:45.625962 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:45.634680 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0557106, -0.670429), points=18, range=0.674167, residual=0.010859, extent=0.0336628
I0419 20:59:45.634842 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0557106, -0.670429), tracking=(-0.242789, 0.670429), map_predicted=(0.613445, -1.31788), range=0.674167, pts=18
I0419 20:59:45.634878 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00262797m maha_sq=0.000299564 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.613445, -1.31788) lm_pos=(0.615, -1.32) delta=(-0.00155529, 0.00211833) -> 1 candidate(s)
I0419 20:59:45.634948 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.74659 deg, rms_residual=6.60494e-05m, sigma_yaw=8.80736e-05 rad, N=2
I0419 20:59:45.634990 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.80144, -2.00827, -4.74659deg) inliers=2 rms=6.60494e-05m
I0419 20:59:45.635025 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291856340372.
I0419 20:59:45.688369 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.799823, -2.00568), yaw=-4.65271 deg backend=(0.798329, -2.00644)
I0419 20:59:45.690510 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291856741352.
I0419 20:59:45.692803 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:45.692911 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:45.692996 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291856896710.
I0419 20:59:45.714408 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476119, -0.436097)
I0419 20:59:45.721953 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291857213251.
I0419 20:59:45.750897 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0576956, -0.670399), points=19, range=0.674579, residual=0.0118776, extent=0.0367433
I0419 20:59:45.751015 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0576956, -0.670399), tracking=(-0.240804, 0.670399), map_predicted=(0.615299, -1.31847), range=0.674579, pts=19
I0419 20:59:45.751050 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00155551m maha_sq=0.000104739 (gate chi2=5.99) pose_sigma=(0.15008, 0.15008, rho=0) det_map=(0.615299, -1.31847) lm_pos=(0.615, -1.32) delta=(0.000299383, 0.00152643) -> 1 candidate(s)
I0419 20:59:45.751215 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291857501743.
I0419 20:59:45.770149 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080084s, prior_pose=(0.800956, -2.00619), yaw=-4.65056 deg
I0419 20:59:45.770260 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:45.827005 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291857775495.
I0419 20:59:45.829160 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:45.829279 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:45.829308 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291858099012.
I0419 20:59:45.830978 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:45.831037 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.473921, -0.436643)
I0419 20:59:45.831054 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:45.831095 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:45.837934 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 19 -> 18 (threshold=0.03, iters=3)
I0419 20:59:45.838047 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:45.838148 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291858374090.
I0419 20:59:45.866215 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0596959, -0.671018), points=18, range=0.674111, residual=0.0106967, extent=0.0336134
I0419 20:59:45.866326 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0596959, -0.671018), tracking=(-0.238804, 0.671018), map_predicted=(0.621155, -1.31789), range=0.674111, pts=18
I0419 20:59:45.866359 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00650568m maha_sq=0.00183496 (gate chi2=5.99) pose_sigma=(0.150049, 0.150049, rho=0) det_map=(0.621155, -1.31789) lm_pos=(0.615, -1.32) delta=(0.00615458, 0.00210832) -> 1 candidate(s)
I0419 20:59:45.866479 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291858657009.
I0419 20:59:45.889866 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:45.897974 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000127849 range=0.956833 variance=0.000561956 t_weight=5338.5 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804764, -2.00606, -4.65083deg) obs_actual=(-1.04551, -0.601998) obs_expected=(-1.0445, -0.600606) delta=(-0.00100544, -0.00139195) |delta|=0.0017171m
I0419 20:59:45.898129 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291858973124.
I0419 20:59:45.962510 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:45.963467 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291859257347.
I0419 20:59:45.964525 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475695, -0.436936)
I0419 20:59:45.966241 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291859574996.
I0419 20:59:45.986568 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:45.986795 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0597035, -0.670874), points=18, range=0.673889, residual=0.0109089, extent=0.0339683
I0419 20:59:45.986840 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:45.986881 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0597035, -0.670874), tracking=(-0.238796, 0.670874), map_predicted=(0.618075, -1.31762), range=0.673889, pts=18
I0419 20:59:45.986923 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00388883m maha_sq=0.000655942 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.618075, -1.31762) lm_pos=(0.615, -1.32) delta=(0.00307457, 0.00238118) -> 1 candidate(s)
I0419 20:59:45.987105 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291859860932.
I0419 20:59:46.015188 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291860139804.
I0419 20:59:46.120105 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291860415785.
I0419 20:59:46.121119 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592719s, prior_pose=(0.801138, -2.00489), yaw=-4.6738 deg
I0419 20:59:46.121214 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=250, threshold=230, above_threshold=24, candidates=24
I0419 20:59:46.121304 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475689, -0.436942)
I0419 20:59:46.122155 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291860732495.
I0419 20:59:46.124589 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740512, 0.601759), points=6, range=0.9565, residual=0.0102858, extent=0.0301374
I0419 20:59:46.124683 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740512, 0.601759), tracking=(-1.03901, -0.601759), map_predicted=(-0.28353, -2.52027), range=0.9565, pts=6
I0419 20:59:46.124709 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00149579m maha_sq=9.70243e-05 (gate chi2=5.99) pose_sigma=(0.150021, 0.150021, rho=0) det_map=(-0.28353, -2.52027) lm_pos=(-0.285, -2.52) delta=(0.00147034, -0.00027473) -> 1 candidate(s)
I0419 20:59:46.124785 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291861017685.
I0419 20:59:46.125846 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:46.125910 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:46.125948 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:46.131124 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:46.131330 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291861302588.
I0419 20:59:46.162941 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291861621389.
I0419 20:59:46.239796 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476284, -0.436229)
I0419 20:59:46.240693 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000303941 range=0.958 variance=0.000532988 t_weight=5628.64 r_weight=0 yaml=(-0.285, -2.52) prior=(0.80666, -2.00677, -4.67452deg) obs_actual=(-1.04355, -0.600598) obs_expected=(-1.0462, -0.600487) delta=(0.00265084, -0.000110799) |delta|=0.00265315m
I0419 20:59:46.240784 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291861897578.
I0419 20:59:46.241991 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:46.243371 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.748459, 0.601542), points=5, range=0.957, residual=0.0119457, extent=0.0301242
I0419 20:59:46.243453 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.748459, 0.601542), tracking=(-1.04696, -0.601542), map_predicted=(-0.287075, -2.52141), range=0.957, pts=5
I0419 20:59:46.243479 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00250999m maha_sq=0.000272493 (gate chi2=5.99) pose_sigma=(0.150098, 0.150098, rho=0) det_map=(-0.287075, -2.52141) lm_pos=(-0.285, -2.52) delta=(-0.00207514, -0.00141204) -> 1 candidate(s)
I0419 20:59:46.243527 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.63021 deg, rms_residual=0.00294596m, sigma_yaw=0.00391258 rad, N=2
I0419 20:59:46.243559 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.805333, -2.00729, -4.63021deg) inliers=2 rms=0.00294596m
I0419 20:59:46.243589 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291862176231.
I0419 20:59:46.254734 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291862539291.
I0419 20:59:46.278534 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:46.278627 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:46.278739 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291862780306.
I0419 20:59:46.302574 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474917, -0.43623)
I0419 20:59:46.394749 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291863095122.
I0419 20:59:46.396628 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.739463, 0.601158), points=4, range=0.956, residual=0.00879181, extent=0.0194931
I0419 20:59:46.396730 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.739463, 0.601158), tracking=(-1.03796, -0.601158), map_predicted=(-0.282082, -2.5219), range=0.956, pts=4
I0419 20:59:46.396759 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00348357m maha_sq=0.000527043 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.282082, -2.5219) lm_pos=(-0.285, -2.52) delta=(0.00291847, -0.00190205) -> 1 candidate(s)
I0419 20:59:46.396850 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291863374401.
I0419 20:59:46.398655 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0526905s, prior_pose=(0.800815, -2.00765), yaw=-4.66458 deg
I0419 20:59:46.398746 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:59:46.399552 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291863655926.
I0419 20:59:46.402182 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:46.402290 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:46.402319 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291863938775.
I0419 20:59:46.426570 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:46.426693 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473415, -0.436003)
I0419 20:59:46.426728 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:46.426823 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:46.428318 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:46.428509 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291864258631.
I0419 20:59:46.526674 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.73985, 0.599092), points=6, range=0.953667, residual=0.00814885, extent=0.0230914
I0419 20:59:46.526793 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.73985, 0.599092), tracking=(-1.03835, -0.599092), map_predicted=(-0.278481, -2.51839), range=0.953667, pts=6
I0419 20:59:46.526818 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00671503m maha_sq=0.0019529 (gate chi2=5.99) pose_sigma=(0.150251, 0.150251, rho=0) det_map=(-0.278481, -2.51839) lm_pos=(-0.285, -2.52) delta=(0.00651867, 0.00161203) -> 1 candidate(s)
I0419 20:59:46.526907 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291864540055.
I0419 20:59:46.527940 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:46.529456 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000616112 range=0.954833 variance=0.000508469 t_weight=5900.06 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803382, -2.00595, -4.64632deg) obs_actual=(-1.03944, -0.599974) obs_expected=(-1.04316, -0.600524) delta=(0.00372779, 0.000550483) |delta|=0.00376821m
I0419 20:59:46.529580 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291864860762.
I0419 20:59:46.530526 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:46.531347 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291865135044.
I0419 20:59:46.532328 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802847, -2.00602), yaw=-4.64508 deg backend=(0.799694, -2.00721)
I0419 20:59:46.536124 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476242, -0.436197)
I0419 20:59:46.542721 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291865419501.
I0419 20:59:46.649905 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:46.650046 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740157, 0.599349), points=6, range=0.953833, residual=0.0072541, extent=0.0205378
I0419 20:59:46.650089 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:46.650158 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740157, 0.599349), tracking=(-1.03866, -0.599349), map_predicted=(-0.282892, -2.52027), range=0.953833, pts=6
I0419 20:59:46.650197 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00212497m maha_sq=0.000195893 (gate chi2=5.99) pose_sigma=(0.150168, 0.150168, rho=0) det_map=(-0.282892, -2.52027) lm_pos=(-0.285, -2.52) delta=(0.00210801, -0.000267956) -> 1 candidate(s)
I0419 20:59:46.650291 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291865699761.
I0419 20:59:46.652875 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291866020904.
I0419 20:59:46.656440 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291866294826.
I0419 20:59:46.658022 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842394s, prior_pose=(0.802043, -2.00691), yaw=-4.66693 deg
I0419 20:59:46.658113 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 20:59:46.658207 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.472357, -0.436485)
I0419 20:59:46.660087 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291866579122.
I0419 20:59:46.690364 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.745206, 0.599135), points=6, range=0.955167, residual=0.00700826, extent=0.0199773
I0419 20:59:46.690569 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.745206, 0.599135), tracking=(-1.04371, -0.599135), map_predicted=(-0.287859, -2.51953), range=0.955167, pts=6
I0419 20:59:46.690634 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00289683m maha_sq=0.000364903 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.287859, -2.51953) lm_pos=(-0.285, -2.52) delta=(-0.00285914, 0.000465774) -> 1 candidate(s)
I0419 20:59:46.690872 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291866893802.
I0419 20:59:46.765797 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:46.765905 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:46.765966 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:46.766803 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:46.766913 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291867180718.
I0419 20:59:46.769529 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291867470401.
I0419 20:59:46.774403 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.472527, -0.435378)
I0419 20:59:46.778028 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00166809 range=0.9578 variance=0.000534785 t_weight=5609.73 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803266, -2.00734, -4.64905deg) obs_actual=(-1.04933, -0.599004) obs_expected=(-1.04313, -0.599182) delta=(-0.00619614, 0.00017837) |delta|=0.00619871m
I0419 20:59:46.778261 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291867773794.
I0419 20:59:46.802954 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:46.806110 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.56424 deg, rms_residual=0.000707244m, sigma_yaw=0.000942104 rad, N=2
I0419 20:59:46.806274 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.804198, -2.00635, -4.56424deg) inliers=2 rms=0.000707244m
I0419 20:59:46.806329 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291868055573.
I0419 20:59:46.830770 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.482749, -0.435835), points=18, range=0.647611, residual=0.0135718, extent=0.0398127
I0419 20:59:46.830906 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.482749, -0.435835), tracking=(0.781249, -0.435835), map_predicted=(1.54743, -2.50429), range=0.647611, pts=18
I0419 20:59:46.830941 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.198196m maha_sq=1.69905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.54743, -2.50429) lm_pos=(1.745, -2.52) delta=(-0.197572, 0.0157066) -> 1 candidate(s)
I0419 20:59:46.898350 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291868379729.
I0419 20:59:46.899550 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:46.900236 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:46.900323 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:46.900398 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291868654318.
I0419 20:59:46.902215 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474094, -0.4355)
I0419 20:59:46.903132 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291868940346.
I0419 20:59:46.926844 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291869259625.
I0419 20:59:46.946233 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560337s, prior_pose=(0.802945, -2.00732), yaw=-4.67256 deg
I0419 20:59:46.946449 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:46.946695 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473835, -0.437896), points=19, range=0.647421, residual=0.013422, extent=0.0403862
I0419 20:59:46.946755 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473835, -0.437896), tracking=(0.772335, -0.437896), map_predicted=(1.53704, -2.50668), range=0.647421, pts=19
I0419 20:59:46.946808 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.208385m maha_sq=1.87857 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53704, -2.50668) lm_pos=(1.745, -2.52) delta=(-0.207958, 0.0133242) -> 1 candidate(s)
I0419 20:59:46.955076 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291869540423.
I0419 20:59:47.046792 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:47.046931 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:47.046953 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291869818359.
I0419 20:59:47.047894 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:47.047931 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.47636, -0.436302)
I0419 20:59:47.047951 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:47.047989 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:47.049399 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:47.049472 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291870136762.
I0419 20:59:47.051082 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291870412431.
I0419 20:59:47.066558 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470371, -0.435981), points=19, range=0.642947, residual=0.0137963, extent=0.0484986
I0419 20:59:47.066725 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470371, -0.435981), tracking=(0.768871, -0.435981), map_predicted=(1.53184, -2.50333), range=0.642947, pts=19
I0419 20:59:47.066790 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.213815m maha_sq=1.97556 (gate chi2=5.99) pose_sigma=(0.150052, 0.150052, rho=0) det_map=(1.53184, -2.50333) lm_pos=(1.745, -2.52) delta=(-0.213165, 0.0166701) -> 1 candidate(s)
I0419 20:59:47.066850 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:47.070502 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=2.43791e-05 range=0.9574 variance=0.000516846 t_weight=5804.44 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800988, -2.00623, -4.66718deg) obs_actual=(-1.04131, -0.600594) obs_expected=(-1.04058, -0.600428) delta=(-0.000730739, -0.000165926) |delta|=0.000749341m
I0419 20:59:47.070655 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291870696535.
I0419 20:59:47.093990 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:47.179067 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291871015744.
I0419 20:59:47.180271 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473498, -0.436228)
I0419 20:59:47.181147 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291871301621.
I0419 20:59:47.183594 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:47.183691 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:47.183768 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291871581032.
I0419 20:59:47.184824 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473019, -0.435866), points=19, range=0.645421, residual=0.0145696, extent=0.0466432
I0419 20:59:47.184885 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473019, -0.435866), tracking=(0.771519, -0.435866), map_predicted=(1.53483, -2.50282), range=0.645421, pts=19
I0419 20:59:47.184909 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210872m maha_sq=1.92101 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53483, -2.50282) lm_pos=(1.745, -2.52) delta=(-0.210171, 0.0171793) -> 1 candidate(s)
I0419 20:59:47.189172 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291871885584.
I0419 20:59:47.218634 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291872178576.
I0419 20:59:47.306885 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0532995s, prior_pose=(0.801447, -2.00558), yaw=-4.63076 deg
I0419 20:59:47.307004 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:47.307111 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475057, -0.436256)
I0419 20:59:47.307893 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291872460112.
I0419 20:59:47.310577 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291872779255.
I0419 20:59:47.311837 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:47.311896 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:47.311926 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475341, -0.436723), points=20, range=0.6453, residual=0.0144853, extent=0.0505341
I0419 20:59:47.311946 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475341, -0.436723), tracking=(0.773841, -0.436723), map_predicted=(1.53762, -2.50366), range=0.6453, pts=20
I0419 20:59:47.311964 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.208027m maha_sq=1.86973 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53762, -2.50366) lm_pos=(1.745, -2.52) delta=(-0.207384, 0.0163431) -> 1 candidate(s)
I0419 20:59:47.311991 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:47.312623 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:47.312722 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291873055881.
I0419 20:59:47.338646 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291873378575.
I0419 20:59:47.358947 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.473447, -0.436203)
I0419 20:59:47.447432 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00195992 range=0.952167 variance=0.000540396 t_weight=5551.48 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802666, -2.00528, -4.66142deg) obs_actual=(-1.03572, -0.599793) obs_expected=(-1.04224, -0.601413) delta=(0.00652282, 0.00162024) |delta|=0.00672104m
I0419 20:59:47.447569 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291873656253.
I0419 20:59:47.448552 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:47.449389 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.4546 deg, rms_residual=0.00171131m, sigma_yaw=0.00227655 rad, N=2
I0419 20:59:47.449456 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.807071, -2.00539, -4.4546deg) inliers=2 rms=0.00171131m
I0419 20:59:47.449489 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291873978506.
I0419 20:59:47.450413 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803987, -2.00531), yaw=-4.66206 deg backend=(0.800266, -2.00735)
I0419 20:59:47.451184 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27092, 0.857234), points=4, range=1.528, residual=0.0117273, extent=0.0255872
I0419 20:59:47.451239 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27092, 0.857234), tracking=(1.56942, 0.857234), map_predicted=(2.43789, -1.27847), range=1.528, pts=4
I0419 20:59:47.451265 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0474142m maha_sq=0.0971077 (gate chi2=5.99) pose_sigma=(0.150099, 0.150099, rho=0) det_map=(2.43789, -1.27847) lm_pos=(2.415, -1.32) delta=(0.0228852, 0.0415256) -> 1 candidate(s)
I0419 20:59:47.452078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291874261720.
I0419 20:59:47.454322 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:47.454383 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:47.454449 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291874507665.
I0419 20:59:47.474308 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474652, -0.436044)
I0419 20:59:47.482573 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291874815741.
I0419 20:59:47.572574 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291875141051.
I0419 20:59:47.573769 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.087117s, prior_pose=(0.803579, -2.00552), yaw=-4.64464 deg
I0419 20:59:47.573884 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:59:47.573998 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27174, 0.860483), points=3, range=1.52867, residual=0.0128972, extent=0.0255914
I0419 20:59:47.574033 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27174, 0.860483), tracking=(1.57024, 0.860483), map_predicted=(2.43834, -1.27502), range=1.52867, pts=3
I0419 20:59:47.574057 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0506792m maha_sq=0.110946 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43834, -1.27502) lm_pos=(2.415, -1.32) delta=(0.0233413, 0.044984) -> 1 candidate(s)
I0419 20:59:47.575585 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291875416264.
I0419 20:59:47.577545 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:47.577634 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:47.577661 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291875692753.
I0419 20:59:47.594568 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:47.594748 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.475698, -0.4357)
I0419 20:59:47.594790 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:47.594902 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:47.598809 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:47.599083 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291875981889.
I0419 20:59:47.717869 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291876299855.
I0419 20:59:47.719121 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:47.719967 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.056587, -0.669092), points=18, range=0.672778, residual=0.0107308, extent=0.0336826
I0419 20:59:47.720042 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.056587, -0.669092), tracking=(-0.241913, 0.669092), map_predicted=(0.616184, -1.31951), range=0.672778, pts=18
I0419 20:59:47.720065 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00127918m maha_sq=7.09846e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.616184, -1.31951) lm_pos=(0.615, -1.32) delta=(0.00118367, 0.000485009) -> 1 candidate(s)
I0419 20:59:47.720117 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000872728 range=0.9538 variance=0.000484841 t_weight=6187.6 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802678, -2.00612, -4.68171deg) obs_actual=(-1.03767, -0.600333) obs_expected=(-1.04211, -0.600943) delta=(0.0044371, 0.000609616) |delta|=0.00447878m
I0419 20:59:47.720167 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291876614889.
I0419 20:59:47.721791 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:47.722580 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291876865132.
I0419 20:59:47.723680 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473337, -0.436092)
I0419 20:59:47.725163 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291877139752.
I0419 20:59:47.746856 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:47.747030 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:47.747226 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291877458491.
I0419 20:59:47.804623 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:47.839987 1218970 pose_graph_2d.cc:160] Inserted submap (1, 31).
I0419 20:59:47.842031 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.74078, 0.59985), points=7, range=0.955857, residual=0.00852708, extent=0.0211445
I0419 20:59:47.842136 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.74078, 0.59985), tracking=(-1.03928, -0.59985), map_predicted=(-0.283067, -2.51936), range=0.955857, pts=7
I0419 20:59:47.842164 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00203478m maha_sq=0.000179702 (gate chi2=5.99) pose_sigma=(0.150065, 0.150065, rho=0) det_map=(-0.283067, -2.51936) lm_pos=(-0.285, -2.52) delta=(0.0019326, 0.000636714) -> 1 candidate(s)
I0419 20:59:47.842244 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291877779927.
I0419 20:59:47.845949 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603936s, prior_pose=(0.801501, -2.00671), yaw=-4.66314 deg
I0419 20:59:47.846064 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 20:59:47.846177 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.473949, -0.436699)
I0419 20:59:47.847091 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291878339993.
I0419 20:59:47.866166 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291878655923.
I0419 20:59:47.887238 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:47.887625 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:47.887889 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:47.940136 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:47.940609 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291878978306.
I0419 20:59:47.942634 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0564875, -0.667896), points=18, range=0.671556, residual=0.0106908, extent=0.0335639
I0419 20:59:47.942953 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0564875, -0.667896), tracking=(-0.242013, 0.667896), map_predicted=(0.613581, -1.32135), range=0.671556, pts=18
I0419 20:59:47.943162 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00195628m maha_sq=0.000166028 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.613581, -1.32135) lm_pos=(0.615, -1.32) delta=(-0.00141884, -0.00134682) -> 1 candidate(s)
I0419 20:59:47.943405 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291879215265.
I0419 20:59:47.945914 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473504, -0.436221)
I0419 20:59:47.953862 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291879533139.
I0419 20:59:47.978657 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:47.983096 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000712936 range=0.956286 variance=0.000517019 t_weight=5802.49 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802361, -2.00514, -4.65818deg) obs_actual=(-1.04551, -0.599503) obs_expected=(-1.04196, -0.601461) delta=(-0.00354837, 0.00195779) |delta|=0.00405264m
I0419 20:59:47.983491 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291879825579.
I0419 20:59:48.010531 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.74013 deg, rms_residual=5.19023e-05m, sigma_yaw=6.91983e-05 rad, N=2
I0419 20:59:48.010756 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801757, -2.00712, -4.74013deg) inliers=2 rms=5.19023e-05m
I0419 20:59:48.010859 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291880099994.
I0419 20:59:48.067502 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:48.067845 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0565731, -0.668892), points=18, range=0.672556, residual=0.0107555, extent=0.0336333
I0419 20:59:48.068045 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:48.068214 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0565731, -0.668892), tracking=(-0.241927, 0.668892), map_predicted=(0.615748, -1.31914), range=0.672556, pts=18
I0419 20:59:48.068426 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00113975m maha_sq=5.63299e-05 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(0.615748, -1.31914) lm_pos=(0.615, -1.32) delta=(0.000747645, 0.000860271) -> 1 candidate(s)
I0419 20:59:48.068655 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291880420021.
I0419 20:59:48.070151 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475011, -0.43635)
I0419 20:59:48.072105 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291880694223.
I0419 20:59:48.102664 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291881020128.
I0419 20:59:48.122507 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0527466s, prior_pose=(0.800809, -2.00681), yaw=-4.65009 deg
I0419 20:59:48.122692 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 20:59:48.130554 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291881298863.
I0419 20:59:48.214725 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547071, -0.670117), points=18, range=0.673, residual=0.0108737, extent=0.0335243
I0419 20:59:48.214826 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547071, -0.670117), tracking=(-0.243793, 0.670117), map_predicted=(0.612683, -1.32012), range=0.673, pts=18
I0419 20:59:48.214855 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00231983m maha_sq=0.000233176 (gate chi2=5.99) pose_sigma=(0.150083, 0.150083, rho=0) det_map=(0.612683, -1.32012) lm_pos=(0.615, -1.32) delta=(-0.00231662, -0.000122055) -> 1 candidate(s)
I0419 20:59:48.214933 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291881589860.
I0419 20:59:48.216071 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:48.216113 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.474762, -0.43726)
I0419 20:59:48.216136 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:48.216177 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:48.216933 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:48.217027 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:48.217118 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:48.217142 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291881899877.
I0419 20:59:48.218838 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:48.219882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291882174251.
I0419 20:59:48.246568 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291882460712.
I0419 20:59:48.270567 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:48.274827 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.054619, -0.669055), points=18, range=0.672389, residual=0.0110723, extent=0.0339194
I0419 20:59:48.275027 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.054619, -0.669055), tracking=(-0.243881, 0.669055), map_predicted=(0.612256, -1.32072), range=0.672389, pts=18
I0419 20:59:48.275074 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00283606m maha_sq=0.000348814 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.612256, -1.32072) lm_pos=(0.615, -1.32) delta=(-0.00274373, -0.000717764) -> 1 candidate(s)
I0419 20:59:48.275170 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000100129 range=0.956667 variance=0.000534259 t_weight=5615.25 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801064, -2.00735, -4.65258deg) obs_actual=(-1.0417, -0.600349) obs_expected=(-1.0409, -0.599056) delta=(-0.000795467, -0.00129369) |delta|=0.00151869m
I0419 20:59:48.275282 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291882742072.
I0419 20:59:48.347060 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.800157, -2.00626), yaw=-4.63893 deg backend=(0.799554, -2.00727)
I0419 20:59:48.348040 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.476076, -0.435945)
I0419 20:59:48.348634 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:48.349089 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291883055209.
I0419 20:59:48.351576 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:48.351679 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:48.351752 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291883339944.
I0419 20:59:48.362756 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291883623008.
I0419 20:59:48.391180 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.1172, 1.76962), points=5, range=3.5798, residual=0.0194493, extent=0.0495861
I0419 20:59:48.391322 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.1172, 1.76962), tracking=(-3.4157, -1.76962), map_predicted=(-2.74451, -3.49348), range=3.5798, pts=5
I0419 20:59:48.391381 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64516m maha_sq=295.761 (gate chi2=5.99) pose_sigma=(0.150111, 0.150111, rho=0) det_map=(-2.74451, -3.49348) lm_pos=(-0.285, -2.52) delta=(-2.45951, -0.973479) -> 0 candidate(s)
I0419 20:59:48.391723 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291883904196.
I0419 20:59:48.414275 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799833s, prior_pose=(0.803099, -2.00585), yaw=-4.63803 deg
I0419 20:59:48.414395 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=247, threshold=230, above_threshold=22, candidates=22
I0419 20:59:48.414492 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474659, -0.435995)
I0419 20:59:48.464759 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291884218704.
I0419 20:59:48.466671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291884537304.
I0419 20:59:48.475037 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:48.475178 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:48.475244 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:48.481889 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:48.482067 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291884813488.
I0419 20:59:48.509701 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740677, 0.598863), points=5, range=0.9544, residual=0.00820588, extent=0.0227179
I0419 20:59:48.509788 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740677, 0.598863), tracking=(-1.03918, -0.598863), map_predicted=(-0.280995, -2.51929), range=0.9544, pts=5
I0419 20:59:48.509821 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00406728m maha_sq=0.000717746 (gate chi2=5.99) pose_sigma=(0.15011, 0.15011, rho=0) det_map=(-0.280995, -2.51929) lm_pos=(-0.285, -2.52) delta=(0.00400481, 0.000710108) -> 1 candidate(s)
I0419 20:59:48.509913 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291885092188.
I0419 20:59:48.533998 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474661, -0.435992)
I0419 20:59:48.538525 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291885378851.
I0419 20:59:48.589468 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:48.590348 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000469805 range=0.958 variance=0.000536063 t_weight=5596.36 r_weight=0 yaml=(-0.285, -2.52) prior=(0.798733, -2.00722, -4.64876deg) obs_actual=(-1.04153, -0.600457) obs_expected=(-1.03861, -0.598924) delta=(-0.00291887, -0.00153376) |delta|=0.00329731m
I0419 20:59:48.590453 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291885659299.
I0419 20:59:48.597831 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.68015 deg, rms_residual=0.000500832m, sigma_yaw=0.000668223 rad, N=2
I0419 20:59:48.597942 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.80031, -2.00639, -4.68015deg) inliers=2 rms=0.000500832m
I0419 20:59:48.597980 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291885971721.
I0419 20:59:48.630374 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:48.630498 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:48.630661 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291886297516.
I0419 20:59:48.650348 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475113, -0.436446)
I0419 20:59:48.650437 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473855, -0.436632), points=18, range=0.645222, residual=0.0136237, extent=0.0465756
I0419 20:59:48.650465 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473855, -0.436632), tracking=(0.772355, -0.436632), map_predicted=(1.53408, -2.50384), range=0.645222, pts=18
I0419 20:59:48.650491 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.211536m maha_sq=1.9342 (gate chi2=5.99) pose_sigma=(0.150046, 0.150046, rho=0) det_map=(1.53408, -2.50384) lm_pos=(1.745, -2.52) delta=(-0.210918, 0.0161551) -> 1 candidate(s)
I0419 20:59:48.658000 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291886575500.
I0419 20:59:48.766726 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291886862360.
I0419 20:59:48.767745 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593308s, prior_pose=(0.803098, -2.00531), yaw=-4.62291 deg
I0419 20:59:48.767810 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:48.768723 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291887137402.
I0419 20:59:48.771333 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291887456727.
I0419 20:59:48.772353 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:48.772413 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474813, -0.436198)
I0419 20:59:48.772431 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:48.772451 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.476149, -0.436204), points=18, range=0.644833, residual=0.0126665, extent=0.0423599
I0419 20:59:48.772471 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.476149, -0.436204), tracking=(0.774649, -0.436204), map_predicted=(1.53826, -2.50305), range=0.644833, pts=18
I0419 20:59:48.772490 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.207438m maha_sq=1.86312 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53826, -2.50305) lm_pos=(1.745, -2.52) delta=(-0.206744, 0.0169497) -> 1 candidate(s)
I0419 20:59:48.772516 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:48.774017 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:48.774085 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:48.774150 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:48.774175 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291887732814.
I0419 20:59:48.798343 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:48.802999 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291888022476.
I0419 20:59:48.880234 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291888337976.
I0419 20:59:48.881593 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:48.883445 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000299351 range=0.955 variance=0.000567693 t_weight=5284.54 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802613, -2.00567, -4.63887deg) obs_actual=(-1.04501, -0.59998) obs_expected=(-1.04245, -0.600608) delta=(-0.00255316, 0.000627667) |delta|=0.00262918m
I0419 20:59:48.883589 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291888620691.
I0419 20:59:48.886040 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473624, -0.436324)
I0419 20:59:48.886128 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2734, 0.856228), points=3, range=1.53267, residual=0.00545692, extent=0.0097639
I0419 20:59:48.886188 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2734, 0.856228), tracking=(1.5719, 0.856228), map_predicted=(2.43862, -1.27937), range=1.53267, pts=3
I0419 20:59:48.886209 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0469918m maha_sq=0.0959537 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43862, -1.27937) lm_pos=(2.415, -1.32) delta=(0.0236164, 0.0406263) -> 1 candidate(s)
I0419 20:59:48.895215 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291888943416.
I0419 20:59:48.922135 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:48.922294 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:48.922484 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291889214105.
I0419 20:59:49.033493 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291889492761.
I0419 20:59:49.036042 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291889862692.
I0419 20:59:49.037750 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521372s, prior_pose=(0.802662, -2.00658), yaw=-4.64988 deg
I0419 20:59:49.037833 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:49.037914 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474995, -0.436327)
I0419 20:59:49.038599 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547313, -0.670383), points=18, range=0.673611, residual=0.0110843, extent=0.0335738
I0419 20:59:49.038648 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547313, -0.670383), tracking=(-0.243769, 0.670383), map_predicted=(0.614041, -1.31864), range=0.673611, pts=18
I0419 20:59:49.038673 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00166416m maha_sq=0.000119984 (gate chi2=5.99) pose_sigma=(0.150075, 0.150075, rho=0) det_map=(0.614041, -1.31864) lm_pos=(0.615, -1.32) delta=(-0.000959014, 0.00136004) -> 1 candidate(s)
I0419 20:59:49.038743 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291890092722.
I0419 20:59:49.041211 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291890378912.
I0419 20:59:49.062665 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:49.062832 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:49.062951 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:49.071293 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:49.071584 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291890702937.
I0419 20:59:49.160846 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291890979857.
I0419 20:59:49.161972 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475776, -0.437038)
I0419 20:59:49.163417 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548034, -0.671247), points=18, range=0.674333, residual=0.0110667, extent=0.0336826
I0419 20:59:49.163494 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0548034, -0.671247), tracking=(-0.243697, 0.671247), map_predicted=(0.612773, -1.31864), range=0.674333, pts=18
I0419 20:59:49.163519 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00260951m maha_sq=0.000294847 (gate chi2=5.99) pose_sigma=(0.150121, 0.150121, rho=0) det_map=(0.612773, -1.31864) lm_pos=(0.615, -1.32) delta=(-0.00222731, 0.00135965) -> 1 candidate(s)
I0419 20:59:49.163602 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291891261827.
I0419 20:59:49.164572 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:49.165400 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000645397 range=0.954143 variance=0.000526878 t_weight=5693.91 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801429, -2.00738, -4.63509deg) obs_actual=(-1.03813, -0.600683) obs_expected=(-1.04145, -0.598733) delta=(0.00332497, -0.0019509) |delta|=0.00385506m
I0419 20:59:49.165482 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291891576871.
I0419 20:59:49.166429 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801232, -2.00773), yaw=-4.63264 deg backend=(0.801826, -2.00715)
I0419 20:59:49.187247 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.42147 deg, rms_residual=0.00281134m, sigma_yaw=0.00373445 rad, N=2
I0419 20:59:49.187502 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801274, -2.00387, -4.42147deg) inliers=2 rms=0.00281134m
I0419 20:59:49.187590 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291891864135.
I0419 20:59:49.296823 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:49.296955 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:49.297056 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291892139783.
I0419 20:59:49.298218 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475141, -0.436328)
I0419 20:59:49.299104 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0597245, -0.671159), points=18, range=0.674222, residual=0.0107238, extent=0.0336333
I0419 20:59:49.299181 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0597245, -0.671159), tracking=(-0.238776, 0.671159), map_predicted=(0.618306, -1.31874), range=0.674222, pts=18
I0419 20:59:49.299213 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00353791m maha_sq=0.000542996 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.618306, -1.31874) lm_pos=(0.615, -1.32) delta=(0.00330594, 0.00125999) -> 1 candidate(s)
I0419 20:59:49.299301 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291892455262.
I0419 20:59:49.301856 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291892736573.
I0419 20:59:49.302857 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841666s, prior_pose=(0.802632, -2.00622), yaw=-4.64718 deg
I0419 20:59:49.302928 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:59:49.304463 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291893019907.
I0419 20:59:49.334384 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291893333277.
I0419 20:59:49.420255 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:49.420357 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.474057, -0.436627)
I0419 20:59:49.420377 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:49.420424 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:49.421056 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0565117, -0.668228), points=19, range=0.672053, residual=0.011418, extent=0.0355522
I0419 20:59:49.421155 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0565117, -0.668228), tracking=(-0.241988, 0.668228), map_predicted=(0.613342, -1.32086), range=0.672053, pts=19
I0419 20:59:49.421185 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00186622m maha_sq=0.000150691 (gate chi2=5.99) pose_sigma=(0.150151, 0.150151, rho=0) det_map=(0.613342, -1.32086) lm_pos=(0.615, -1.32) delta=(-0.00165785, -0.000856924) -> 1 candidate(s)
I0419 20:59:49.421204 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:49.421239 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:49.421286 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:49.421306 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291893612409.
I0419 20:59:49.422501 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:49.424229 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291893941962.
I0419 20:59:49.426115 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291894235103.
I0419 20:59:49.446802 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:49.450333 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00116801 range=0.95675 variance=0.000530317 t_weight=5657 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803611, -2.00555, -4.6311deg) obs_actual=(-1.04838, -0.59885) obs_expected=(-1.04352, -0.600663) delta=(-0.00486371, 0.00181283) |delta|=0.00519057m
I0419 20:59:49.450562 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291894493810.
I0419 20:59:49.474275 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475794, -0.437099)
I0419 20:59:49.567189 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0546529, -0.669453), points=18, range=0.6725, residual=0.010922, extent=0.0335145
I0419 20:59:49.567305 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0546529, -0.669453), tracking=(-0.243847, 0.669453), map_predicted=(0.615715, -1.31805), range=0.6725, pts=18
I0419 20:59:49.567334 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00207879m maha_sq=0.00018726 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(0.615715, -1.31805) lm_pos=(0.615, -1.32) delta=(0.000715257, 0.00195186) -> 1 candidate(s)
I0419 20:59:49.567441 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291894812978.
I0419 20:59:49.569139 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:49.569221 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:49.569301 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291895098886.
I0419 20:59:49.571787 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291895372543.
I0419 20:59:49.574349 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291895693300.
I0419 20:59:49.594310 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597798s, prior_pose=(0.803757, -2.00499), yaw=-4.65428 deg
I0419 20:59:49.594524 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:59:49.594718 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.47593, -0.435914)
I0419 20:59:49.598881 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11536, 1.77457), points=4, range=3.58025, residual=0.0169282, extent=0.0399954
I0419 20:59:49.599012 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11536, 1.77457), tracking=(-3.41386, -1.77457), map_predicted=(-2.74284, -3.4967), range=3.58025, pts=4
I0419 20:59:49.599066 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64479m maha_sq=297.25 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74284, -3.4967) lm_pos=(-0.285, -2.52) delta=(-2.45784, -0.976695) -> 0 candidate(s)
I0419 20:59:49.599269 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291895981892.
I0419 20:59:49.673781 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291896254060.
I0419 20:59:49.674921 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:49.675007 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:49.675050 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:49.676494 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:49.676616 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291896578860.
I0419 20:59:49.686641 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291896858409.
I0419 20:59:49.710701 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.47595, -0.437258)
I0419 20:59:49.715267 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291897141935.
I0419 20:59:49.738206 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.478224, -0.435516), points=19, range=0.645368, residual=0.0135542, extent=0.0431682
I0419 20:59:49.738348 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:49.738382 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.478224, -0.435516), tracking=(0.776724, -0.435516), map_predicted=(1.54151, -2.50201), range=0.645368, pts=19
I0419 20:59:49.738435 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.204279m maha_sq=1.80499 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.54151, -2.50201) lm_pos=(1.745, -2.52) delta=(-0.203485, 0.0179865) -> 1 candidate(s)
I0419 20:59:49.833678 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000132767 range=0.954714 variance=0.000557376 t_weight=5382.37 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805517, -2.00573, -4.64789deg) obs_actual=(-1.04415, -0.599586) obs_expected=(-1.04526, -0.600942) delta=(0.00111053, 0.00135537) |delta|=0.00175223m
I0419 20:59:49.833817 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291897453224.
I0419 20:59:49.834833 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:49.835629 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.51384 deg, rms_residual=0.00219621m, sigma_yaw=0.00291973 rad, N=2
I0419 20:59:49.835724 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803712, -2.0049, -4.51384deg) inliers=2 rms=0.00219621m
I0419 20:59:49.835764 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291897733271.
I0419 20:59:49.838119 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:49.838239 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:49.838308 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291898021342.
I0419 20:59:49.839443 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.47374, -0.436492)
I0419 20:59:49.840965 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291898338620.
I0419 20:59:49.858404 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27119, 0.857419), points=4, range=1.52825, residual=0.0118773, extent=0.0255872
I0419 20:59:49.858579 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27119, 0.857419), tracking=(1.56969, 0.857419), map_predicted=(2.43851, -1.27775), range=1.52825, pts=4
I0419 20:59:49.858619 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0483481m maha_sq=0.101085 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43851, -1.27775) lm_pos=(2.415, -1.32) delta=(0.0235066, 0.042249) -> 1 candidate(s)
I0419 20:59:49.862962 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291898620692.
I0419 20:59:49.925920 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519481s, prior_pose=(0.80104, -2.00583), yaw=-4.65 deg
I0419 20:59:49.926041 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=248, threshold=230, above_threshold=24, candidates=24
I0419 20:59:49.926930 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291898893034.
I0419 20:59:49.929541 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291899214393.
I0419 20:59:49.942106 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:49.942194 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.474235, -0.436904)
I0419 20:59:49.942216 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:49.942267 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:49.949954 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:49.950069 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:49.950143 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:49.950167 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291899493410.
I0419 20:59:49.974313 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26884, 0.858521), points=3, range=1.52433, residual=0.0143172, extent=0.0284157
I0419 20:59:49.974409 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26884, 0.858521), tracking=(1.56734, 0.858521), map_predicted=(2.43222, -1.27811), range=1.52433, pts=3
I0419 20:59:49.974442 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0452918m maha_sq=0.0884302 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(2.43222, -1.27811) lm_pos=(2.415, -1.32) delta=(0.0172243, 0.0418887) -> 1 candidate(s)
I0419 20:59:49.974484 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:49.978157 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291899776260.
I0419 20:59:50.051957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291900101739.
I0419 20:59:50.053122 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:50.053951 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00463978 range=0.9592 variance=0.00051834 t_weight=5787.71 r_weight=0 yaml=(-0.285, -2.52) prior=(0.799991, -2.00665, -4.67001deg) obs_actual=(-1.04992, -0.599472) obs_expected=(-1.03959, -0.599978) delta=(-0.010322, 0.000506826) |delta|=0.0103344m
I0419 20:59:50.054047 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291900372726.
I0419 20:59:50.054948 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801714, -2.00611), yaw=-4.6682 deg backend=(0.801604, -2.00674)
I0419 20:59:50.058465 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475457, -0.436751)
I0419 20:59:50.066696 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291900660897.
I0419 20:59:50.084712 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:50.097903 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:50.097991 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0576232, -0.669715), points=19, range=0.673526, residual=0.011427, extent=0.0363589
I0419 20:59:50.098017 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:50.098037 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0576232, -0.669715), tracking=(-0.240877, 0.669715), map_predicted=(0.615594, -1.31755), range=0.673526, pts=19
I0419 20:59:50.098063 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00252174m maha_sq=0.000275266 (gate chi2=5.99) pose_sigma=(0.150117, 0.150117, rho=0) det_map=(0.615594, -1.31755) lm_pos=(0.615, -1.32) delta=(0.000593712, 0.00245085) -> 1 candidate(s)
I0419 20:59:50.098179 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291900973258.
I0419 20:59:50.127099 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291901262026.
I0419 20:59:50.206610 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291901582051.
I0419 20:59:50.207595 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0807723s, prior_pose=(0.802668, -2.00548), yaw=-4.62528 deg
I0419 20:59:50.207670 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 20:59:50.207746 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.473705, -0.436443)
I0419 20:59:50.209286 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291901859176.
I0419 20:59:50.214362 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0594938, -0.66867), points=18, range=0.671944, residual=0.0106829, extent=0.0335243
I0419 20:59:50.214509 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0594938, -0.66867), tracking=(-0.239006, 0.66867), map_predicted=(0.617456, -1.32048), range=0.671944, pts=18
I0419 20:59:50.214562 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00250176m maha_sq=0.000271527 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.617456, -1.32048) lm_pos=(0.615, -1.32) delta=(0.00245598, -0.000476391) -> 1 candidate(s)
I0419 20:59:50.214735 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291902135336.
I0419 20:59:50.238804 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:50.238927 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:50.239019 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:50.242811 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:50.243096 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291902415264.
I0419 20:59:50.361909 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291902732885.
I0419 20:59:50.363003 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475611, -0.436879)
I0419 20:59:50.363894 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291903016311.
I0419 20:59:50.365604 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:50.366293 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.748162, 0.598652), points=6, range=0.956333, residual=0.00829547, extent=0.0224166
I0419 20:59:50.366369 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.748162, 0.598652), tracking=(-1.04666, -0.598652), map_predicted=(-0.293436, -2.51663), range=0.956333, pts=6
I0419 20:59:50.366393 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00908497m maha_sq=0.00358193 (gate chi2=5.99) pose_sigma=(0.150086, 0.150086, rho=0) det_map=(-0.293436, -2.51663) lm_pos=(-0.285, -2.52) delta=(-0.00843575, 0.00337265) -> 1 candidate(s)
I0419 20:59:50.366444 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00358193 range=0.956333 variance=0.000516679 t_weight=5806.31 r_weight=0 yaml=(-0.285, -2.52) prior=(0.798142, -2.00443, -4.63085deg) obs_actual=(-1.04666, -0.598652) obs_expected=(-1.03798, -0.601333) delta=(-0.0086805, 0.00268057) |delta|=0.00908497m
I0419 20:59:50.366529 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291903296000.
I0419 20:59:50.368919 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.46203 deg, rms_residual=0.00131548m, sigma_yaw=0.0017509 rad, N=2
I0419 20:59:50.368993 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.800877, -2.00517, -4.46203deg) inliers=2 rms=0.00131548m
I0419 20:59:50.369025 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291903615699.
I0419 20:59:50.394989 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:50.395180 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:50.395414 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291903940537.
I0419 20:59:50.476943 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.4762, -0.436165)
I0419 20:59:50.477921 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291904219725.
I0419 20:59:50.480244 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750346, 0.600413), points=4, range=0.95775, residual=0.00902807, extent=0.0211971
I0419 20:59:50.480355 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.750346, 0.600413), tracking=(-1.04885, -0.600413), map_predicted=(-0.290497, -2.5198), range=0.95775, pts=4
I0419 20:59:50.480378 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00550021m maha_sq=0.0013108 (gate chi2=5.99) pose_sigma=(0.150166, 0.150166, rho=0) det_map=(-0.290497, -2.5198) lm_pos=(-0.285, -2.52) delta=(-0.00549668, 0.000197113) -> 1 candidate(s)
I0419 20:59:50.480448 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291904499535.
I0419 20:59:50.481390 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561214s, prior_pose=(0.803549, -2.00634), yaw=-4.64738 deg
I0419 20:59:50.481468 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 20:59:50.482391 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291904779378.
I0419 20:59:50.507515 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291905062595.
I0419 20:59:50.530323 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:50.530460 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.475396, -0.436755)
I0419 20:59:50.530493 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:50.530581 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:50.608359 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:50.608479 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:50.608542 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:50.608566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291905377034.
I0419 20:59:50.609860 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:50.610577 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.74062, 0.599729), points=7, range=0.955286, residual=0.00773326, extent=0.0199919
I0419 20:59:50.610664 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.74062, 0.599729), tracking=(-1.03912, -0.599729), map_predicted=(-0.284156, -2.52052), range=0.955286, pts=7
I0419 20:59:50.610693 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.000993678m maha_sq=4.2916e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.284156, -2.52052) lm_pos=(-0.285, -2.52) delta=(0.000843776, -0.000524822) -> 1 candidate(s)
I0419 20:59:50.610770 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291905661635.
I0419 20:59:50.613353 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291905939274.
I0419 20:59:50.622907 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:50.626528 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00322982 range=0.959 variance=0.000550002 t_weight=5454.53 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802251, -2.00692, -4.64974deg) obs_actual=(-1.0507, -0.600095) obs_expected=(-1.04208, -0.599525) delta=(-0.00861717, -0.000570504) |delta|=0.00863604m
I0419 20:59:50.626698 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291906259245.
I0419 20:59:50.650712 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474533, -0.435927)
I0419 20:59:50.663214 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291906621191.
I0419 20:59:50.757961 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:50.758104 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740866, 0.599027), points=6, range=0.956, residual=0.00894495, extent=0.0217669
I0419 20:59:50.758129 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:50.758147 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740866, 0.599027), tracking=(-1.03937, -0.599027), map_predicted=(-0.282356, -2.51972), range=0.956, pts=6
I0419 20:59:50.758172 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00265795m maha_sq=0.000306653 (gate chi2=5.99) pose_sigma=(0.150034, 0.150034, rho=0) det_map=(-0.282356, -2.51972) lm_pos=(-0.285, -2.52) delta=(0.00264359, 0.000275849) -> 1 candidate(s)
I0419 20:59:50.758268 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291906854157.
I0419 20:59:50.760980 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291907136461.
I0419 20:59:50.762888 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291907421018.
I0419 20:59:50.766921 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0528806s, prior_pose=(0.799648, -2.00709), yaw=-4.63111 deg
I0419 20:59:50.767194 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:50.767437 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473646, -0.436378)
I0419 20:59:50.770306 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291907697605.
I0419 20:59:50.865347 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291908014190.
I0419 20:59:50.867082 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:50.867183 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:50.867214 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473549, -0.436374), points=19, range=0.644053, residual=0.0135883, extent=0.0478926
I0419 20:59:50.867236 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473549, -0.436374), tracking=(0.772049, -0.436374), map_predicted=(1.53563, -2.50475), range=0.644053, pts=19
I0419 20:59:50.867260 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.209926m maha_sq=1.90609 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53563, -2.50475) lm_pos=(1.745, -2.52) delta=(-0.209372, 0.0152463) -> 1 candidate(s)
I0419 20:59:50.867293 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:50.868001 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:50.868124 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291908301618.
I0419 20:59:50.871109 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291908611928.
I0419 20:59:50.886832 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.473482, -0.434911)
I0419 20:59:50.894222 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291908901769.
I0419 20:59:50.914321 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:50.919302 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000332218 range=0.9575 variance=0.000560067 t_weight=5356.5 r_weight=0 yaml=(-0.285, -2.52) prior=(0.80242, -2.00626, -4.6254deg) obs_actual=(-1.03971, -0.600184) obs_expected=(-1.04245, -0.599762) delta=(0.00273545, -0.000422255) |delta|=0.00276784m
I0419 20:59:50.919471 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291909187079.
I0419 20:59:50.974665 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.799474, -2.00682), yaw=-4.64254 deg backend=(0.801297, -2.00725)
I0419 20:59:50.976459 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.059446, -0.667957), points=18, range=0.671333, residual=0.0109958, extent=0.0336828
I0419 20:59:50.976562 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.059446, -0.667957), tracking=(-0.239054, 0.667957), map_predicted=(0.615268, -1.32171), range=0.671333, pts=18
I0419 20:59:50.976588 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00172769m maha_sq=0.000129079 (gate chi2=5.99) pose_sigma=(0.150225, 0.150225, rho=0) det_map=(0.615268, -1.32171) lm_pos=(0.615, -1.32) delta=(0.000268407, -0.00170671) -> 1 candidate(s)
I0419 20:59:50.976636 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.67513 deg, rms_residual=0.000728249m, sigma_yaw=0.000971943 rad, N=2
I0419 20:59:50.976677 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.798379, -2.0058, -4.67513deg) inliers=2 rms=0.000728249m
I0419 20:59:50.976709 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291909502003.
I0419 20:59:50.979215 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:50.979301 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:50.979387 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291909779961.
I0419 20:59:51.002462 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.475274, -0.435305)
I0419 20:59:51.006067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291910054451.
I0419 20:59:51.038476 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291910379142.
I0419 20:59:51.058917 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0804975s, prior_pose=(0.79922, -2.0069), yaw=-4.64111 deg
I0419 20:59:51.059048 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 20:59:51.109347 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11851, 1.77036), points=5, range=3.582, residual=0.018372, extent=0.0466125
I0419 20:59:51.109494 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11851, 1.77036), tracking=(-3.41701, -1.77036), map_predicted=(-2.74967, -3.49505), range=3.582, pts=5
I0419 20:59:51.109529 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65053m maha_sq=297.857 (gate chi2=5.99) pose_sigma=(0.15001, 0.15001, rho=0) det_map=(-2.74967, -3.49505) lm_pos=(-0.285, -2.52) delta=(-2.46467, -0.975054) -> 0 candidate(s)
I0419 20:59:51.109613 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291910655770.
I0419 20:59:51.111511 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291910936300.
I0419 20:59:51.117856 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:51.117960 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474002, -0.435379)
I0419 20:59:51.117981 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:51.118036 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:51.127422 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:51.127552 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:51.127641 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:51.127665 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291911268570.
I0419 20:59:51.146459 1218972 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:51.154203 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291911536843.
I0419 20:59:51.182089 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11611, 1.76901), points=5, range=3.5798, residual=0.0180414, extent=0.0475572
I0419 20:59:51.182188 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11611, 1.76901), tracking=(-3.41461, -1.76901), map_predicted=(-2.74686, -3.49466), range=3.5798, pts=5
I0419 20:59:51.182246 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64777m maha_sq=297.43 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74686, -3.49466) lm_pos=(-0.285, -2.52) delta=(-2.46186, -0.974659) -> 0 candidate(s)
I0419 20:59:51.182358 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291911816850.
I0419 20:59:51.232121 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:51.232522 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:51.233283 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00215724 range=0.958 variance=0.00055629 t_weight=5392.87 r_weight=0 yaml=(-0.285, -2.52) prior=(0.799677, -2.00614, -4.63228deg) obs_actual=(-1.04649, -0.601464) obs_expected=(-1.03963, -0.599785) delta=(-0.00685484, -0.00167828) |delta|=0.0070573m
I0419 20:59:51.233392 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291912132536.
I0419 20:59:51.234452 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.475576, -0.435599)
I0419 20:59:51.242141 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291912416295.
I0419 20:59:51.270295 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:51.270475 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:51.270603 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291912698247.
I0419 20:59:51.302876 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11876, 1.76451), points=4, range=3.58525, residual=0.0139993, extent=0.0342666
I0419 20:59:51.302986 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11876, 1.76451), tracking=(-3.41726, -1.76451), map_predicted=(-2.74796, -3.48924), range=3.58525, pts=4
I0419 20:59:51.303022 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6468m maha_sq=298.572 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(-2.74796, -3.48924) lm_pos=(-0.285, -2.52) delta=(-2.46296, -0.969235) -> 0 candidate(s)
I0419 20:59:51.303114 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291913016347.
I0419 20:59:51.377271 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291913302255.
I0419 20:59:51.378829 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599923s, prior_pose=(0.80383, -2.00725), yaw=-4.62525 deg
I0419 20:59:51.378912 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 20:59:51.379068 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473719, -0.436295)
I0419 20:59:51.380816 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291913620281.
I0419 20:59:51.389865 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291913892679.
I0419 20:59:51.410779 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:51.410889 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:51.410991 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:51.418675 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.747848, 0.598405), points=6, range=0.9565, residual=0.00730957, extent=0.0199773
I0419 20:59:51.418784 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.747848, 0.598405), tracking=(-1.04635, -0.598405), map_predicted=(-0.287868, -2.51805), range=0.9565, pts=6
I0419 20:59:51.418820 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00346583m maha_sq=0.000521879 (gate chi2=5.99) pose_sigma=(0.150051, 0.150051, rho=0) det_map=(-0.287868, -2.51805) lm_pos=(-0.285, -2.52) delta=(-0.00286827, 0.00194551) -> 1 candidate(s)
I0419 20:59:51.418846 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:51.418932 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291914180882.
I0419 20:59:51.450676 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291914500224.
I0419 20:59:51.514068 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.475331, -0.436532)
I0419 20:59:51.515048 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291914780910.
I0419 20:59:51.516140 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:51.517834 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00152464 range=0.953286 variance=0.000539213 t_weight=5563.66 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803222, -2.00522, -4.63663deg) obs_actual=(-1.03722, -0.599945) obs_expected=(-1.04305, -0.601059) delta=(0.00582501, 0.00111329) |delta|=0.00593045m
I0419 20:59:51.517982 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291915061982.
I0419 20:59:51.534878 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.749324, 0.600481), points=5, range=0.9582, residual=0.00798434, extent=0.0217936
I0419 20:59:51.534996 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.749324, 0.600481), tracking=(-1.04782, -0.600481), map_predicted=(-0.289713, -2.51904), range=0.9582, pts=5
I0419 20:59:51.535027 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0048098m maha_sq=0.00100532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.289713, -2.51904) lm_pos=(-0.285, -2.52) delta=(-0.0047126, 0.000962076) -> 1 candidate(s)
I0419 20:59:51.535086 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.50429 deg, rms_residual=0.00185763m, sigma_yaw=0.00247072 rad, N=2
I0419 20:59:51.535143 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.805631, -2.00515, -4.50429deg) inliers=2 rms=0.00185763m
I0419 20:59:51.535178 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291915343096.
I0419 20:59:51.565935 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:51.566042 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:51.566179 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291915653106.
I0419 20:59:51.586810 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475719, -0.436983)
I0419 20:59:51.638262 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291915942267.
I0419 20:59:51.640206 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291916220135.
I0419 20:59:51.646291 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517111s, prior_pose=(0.802617, -2.00585), yaw=-4.63773 deg
I0419 20:59:51.646395 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 20:59:51.654639 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291916540980.
I0419 20:59:51.678457 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471602, -0.437105), points=19, range=0.646474, residual=0.0146074, extent=0.045172
I0419 20:59:51.678563 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471602, -0.437105), tracking=(0.770102, -0.437105), map_predicted=(1.53486, -2.50379), range=0.646474, pts=19
I0419 20:59:51.678591 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210769m maha_sq=1.91905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53486, -2.50379) lm_pos=(1.745, -2.52) delta=(-0.210145, 0.0162106) -> 1 candidate(s)
I0419 20:59:51.681896 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291916812685.
I0419 20:59:51.706687 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:51.706816 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.476899, -0.438115)
I0419 20:59:51.706859 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:51.706946 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:51.714596 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:51.714732 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:51.714844 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:51.714890 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291917138202.
I0419 20:59:51.779685 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:51.780670 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291917498369.
I0419 20:59:51.783215 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291917736785.
I0419 20:59:51.794412 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.4816, -0.43606), points=18, range=0.6475, residual=0.0132789, extent=0.0411811
I0419 20:59:51.794623 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:51.794684 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.4816, -0.43606), tracking=(0.7801, -0.43606), map_predicted=(1.54344, -2.50277), range=0.6475, pts=18
I0419 20:59:51.794790 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.202295m maha_sq=1.77066 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.54344, -2.50277) lm_pos=(1.745, -2.52) delta=(-0.201559, 0.0172337) -> 1 candidate(s)
I0419 20:59:51.802604 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.741449, 0.599741)
I0419 20:59:51.802838 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000242603 range=0.953667 variance=0.000569534 t_weight=5267.46 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801197, -2.00499, -4.64281deg) obs_actual=(-1.04286, -0.599853) obs_expected=(-1.04095, -0.601238) delta=(-0.0019176, 0.00138547) |delta|=0.00236574m
I0419 20:59:51.803022 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291918014304.
I0419 20:59:51.805295 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801071, -2.00484), yaw=-4.64173 deg backend=(0.801968, -2.00677)
I0419 20:59:51.830019 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291918292415.
I0419 20:59:51.914026 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:51.914127 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:51.914212 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291918614949.
I0419 20:59:51.916075 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291918897816.
I0419 20:59:51.917879 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470607, -0.436155), points=20, range=0.64465, residual=0.0152066, extent=0.0486438
I0419 20:59:51.917970 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470607, -0.436155), tracking=(0.769107, -0.436155), map_predicted=(1.53122, -2.50361), range=0.64465, pts=20
I0419 20:59:51.917995 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.214407m maha_sq=1.98352 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(1.53122, -2.50361) lm_pos=(1.745, -2.52) delta=(-0.21378, 0.0163859) -> 1 candidate(s)
I0419 20:59:51.918836 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.74155, 0.599923)
I0419 20:59:51.918983 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291919176717.
I0419 20:59:51.942221 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803017s, prior_pose=(0.79992, -2.00667), yaw=-4.64045 deg
I0419 20:59:51.942349 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 20:59:51.947202 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291919466564.
I0419 20:59:51.978324 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291919776446.
I0419 20:59:52.029886 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:52.029978 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:52.030037 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:52.030915 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:52.031020 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291920051602.
I0419 20:59:52.032066 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2589, 0.857138), points=3, range=1.52767, residual=0.0112289, extent=0.0237236
I0419 20:59:52.032136 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2589, 0.857138), tracking=(1.5574, 0.857138), map_predicted=(2.42378, -1.27731), range=1.52767, pts=3
I0419 20:59:52.032202 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.043588m maha_sq=0.0822137 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42378, -1.27731) lm_pos=(2.415, -1.32) delta=(0.00878246, 0.042694) -> 1 candidate(s)
I0419 20:59:52.034171 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.742104, 0.600375)
I0419 20:59:52.034413 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291920336295.
I0419 20:59:52.066448 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291920657882.
I0419 20:59:52.086014 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:52.094437 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00223013 range=0.95825 variance=0.000546181 t_weight=5492.68 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802789, -2.00617, -4.62828deg) obs_actual=(-1.04995, -0.600096) obs_expected=(-1.04278, -0.599929) delta=(-0.00716886, -0.000166693) |delta|=0.0071708m
I0419 20:59:52.094597 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291920938584.
I0419 20:59:52.203106 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.51221 deg, rms_residual=0.0015863m, sigma_yaw=0.00211061 rad, N=2
I0419 20:59:52.203214 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803432, -2.00507, -4.51221deg) inliers=2 rms=0.0015863m
I0419 20:59:52.203254 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291921256512.
I0419 20:59:52.205193 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.742798, 0.59968)
I0419 20:59:52.205273 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:52.205295 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11478, 1.77424), points=4, range=3.57975, residual=0.0166083, extent=0.0387698
I0419 20:59:52.205313 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:52.205327 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11478, 1.77424), tracking=(-3.41328, -1.77424), map_predicted=(-2.74229, -3.49803), range=3.57975, pts=4
I0419 20:59:52.205344 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64477m maha_sq=297.383 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74229, -3.49803) lm_pos=(-0.285, -2.52) delta=(-2.45729, -0.978027) -> 0 candidate(s)
I0419 20:59:52.205441 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291921543080.
I0419 20:59:52.208047 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291921816338.
I0419 20:59:52.214007 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291922134059.
I0419 20:59:52.234514 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601142s, prior_pose=(0.80133, -2.00659), yaw=-4.63508 deg
I0419 20:59:52.234618 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=247, threshold=230, above_threshold=21, candidates=21
I0419 20:59:52.246318 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291922456568.
I0419 20:59:52.246553 1218978 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.33% real time)
I0419 20:59:52.246731 1218978 collated_trajectory_builder.cc:82] odom rate: 248.60 Hz 4.02e-03 s +/- 6.83e-04 s (pulsed at 100.09% real time)
I0419 20:59:52.246857 1218978 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.18e-03 s (pulsed at 100.27% real time)
I0419 20:59:52.246894 1218978 collated_trajectory_builder.cc:82] scan_2 rate: 34.03 Hz 2.94e-02 s +/- 2.44e-03 s (pulsed at 100.35% real time)
I0419 20:59:52.318051 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(3.11462, 1.76219)
I0419 20:59:52.318167 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.742228, 0.600126), points=6, range=0.958167, residual=0.00951522, extent=0.0231291
I0419 20:59:52.318195 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.742228, 0.600126), tracking=(-1.04073, -0.600126), map_predicted=(-0.28175, -2.52037), range=0.958167, pts=6
I0419 20:59:52.318217 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00327089m maha_sq=0.000463099 (gate chi2=5.99) pose_sigma=(0.150213, 0.150213, rho=0) det_map=(-0.28175, -2.52037) lm_pos=(-0.285, -2.52) delta=(0.00325029, -0.000366565) -> 1 candidate(s)
I0419 20:59:52.318301 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291922707727.
I0419 20:59:52.319386 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:52.319451 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:52.319499 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:52.320854 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:52.320940 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:52.320993 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:52.321013 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291922982793.
I0419 20:59:52.322086 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:52.330072 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291923294128.
I0419 20:59:52.358160 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291923575904.
I0419 20:59:52.378916 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:52.455351 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11219, 1.7668)
I0419 20:59:52.455467 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.747959, 0.599385), points=5, range=0.9568, residual=0.00766587, extent=0.0211583
I0419 20:59:52.455495 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.747959, 0.599385), tracking=(-1.04646, -0.599385), map_predicted=(-0.290305, -2.51968), range=0.9568, pts=5
I0419 20:59:52.455521 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00531409m maha_sq=0.00122666 (gate chi2=5.99) pose_sigma=(0.150049, 0.150049, rho=0) det_map=(-0.290305, -2.51968) lm_pos=(-0.285, -2.52) delta=(-0.00530457, 0.000318012) -> 1 candidate(s)
I0419 20:59:52.455577 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00122666 range=0.9568 variance=0.000506652 t_weight=5921.22 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801122, -2.00672, -4.62994deg) obs_actual=(-1.04646, -0.599385) obs_expected=(-1.04115, -0.599274) delta=(-0.00531293, -0.000111209) |delta|=0.00531409m
I0419 20:59:52.455664 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291923868653.
I0419 20:59:52.457608 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291924171866.
I0419 20:59:52.460054 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:52.460193 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:52.460273 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291924461235.
I0419 20:59:52.478471 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291924777316.
I0419 20:59:52.505959 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11176, 1.76655)
I0419 20:59:52.506067 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.739382, 0.598717), points=6, range=0.953, residual=0.00776293, extent=0.0217535
I0419 20:59:52.506096 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.739382, 0.598717), tracking=(-1.03788, -0.598717), map_predicted=(-0.280153, -2.51835), range=0.953, pts=6
I0419 20:59:52.506121 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00512137m maha_sq=0.00113997 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.280153, -2.51835) lm_pos=(-0.285, -2.52) delta=(0.00484695, 0.00165391) -> 1 candidate(s)
I0419 20:59:52.506234 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291925054072.
I0419 20:59:52.555655 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051633s, prior_pose=(0.800521, -2.00565), yaw=-4.63329 deg
I0419 20:59:52.555800 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=20, candidates=20
I0419 20:59:52.556878 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291925338878.
I0419 20:59:52.566533 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291925658134.
I0419 20:59:52.586042 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:52.586334 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:52.586504 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:52.594923 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:52.595270 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291925939282.
I0419 20:59:52.622362 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11851, 1.77036)
I0419 20:59:52.622576 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.74125, 0.600223), points=7, range=0.956857, residual=0.00943686, extent=0.0238134
I0419 20:59:52.622669 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.74125, 0.600223), tracking=(-1.03975, -0.600223), map_predicted=(-0.28385, -2.52062), range=0.956857, pts=7
I0419 20:59:52.622779 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00130414m maha_sq=7.37505e-05 (gate chi2=5.99) pose_sigma=(0.150081, 0.150081, rho=0) det_map=(-0.28385, -2.52062) lm_pos=(-0.285, -2.52) delta=(0.00114972, -0.000615559) -> 1 candidate(s)
I0419 20:59:52.623036 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291926214947.
I0419 20:59:52.737707 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291926538576.
I0419 20:59:52.738404 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:52.738847 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:52.739705 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00151023 range=0.9542 variance=0.00049787 t_weight=6025.67 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803677, -2.00584, -4.63549deg) obs_actual=(-1.03767, -0.60033) obs_expected=(-1.04356, -0.600461) delta=(0.00589194, 0.000131117) |delta|=0.0058934m
I0419 20:59:52.739823 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291926813974.
I0419 20:59:52.740787 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802072, -2.00611), yaw=-4.63471 deg backend=(0.80556, -2.00658)
I0419 20:59:52.742367 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.71041 deg, rms_residual=0.000193809m, sigma_yaw=0.000258479 rad, N=2
I0419 20:59:52.742463 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.80281, -2.00809, -4.71041deg) inliers=2 rms=0.000193809m
I0419 20:59:52.742501 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291927101643.
I0419 20:59:52.744735 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11829, 1.77024)
I0419 20:59:52.744820 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:52.744854 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740772, 0.600732), points=5, range=0.9558, residual=0.00806611, extent=0.0204578
I0419 20:59:52.744870 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:52.744882 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740772, 0.600732), tracking=(-1.03927, -0.600732), map_predicted=(-0.282123, -2.52149), range=0.9558, pts=5
I0419 20:59:52.744900 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00324059m maha_sq=0.000456044 (gate chi2=5.99) pose_sigma=(0.150048, 0.150048, rho=0) det_map=(-0.282123, -2.52149) lm_pos=(-0.285, -2.52) delta=(0.00287698, -0.00149145) -> 1 candidate(s)
I0419 20:59:52.744962 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291927381186.
I0419 20:59:52.835850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291927979445.
I0419 20:59:52.837356 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0837682s, prior_pose=(0.799107, -2.00679), yaw=-4.63922 deg
I0419 20:59:52.837644 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 20:59:52.839159 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291928293527.
I0419 20:59:52.858300 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11567, 1.76877)
I0419 20:59:52.858700 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291928577165.
I0419 20:59:52.882436 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:52.882534 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:52.882560 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.472601, -0.436745), points=20, range=0.64515, residual=0.0145146, extent=0.0471682
I0419 20:59:52.882579 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.472601, -0.436745), tracking=(0.771101, -0.436745), map_predicted=(1.53336, -2.50425), range=0.64515, pts=20
I0419 20:59:52.882604 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.212224m maha_sq=1.94506 (gate chi2=5.99) pose_sigma=(0.150032, 0.150032, rho=0) det_map=(1.53336, -2.50425) lm_pos=(1.745, -2.52) delta=(-0.211639, 0.01575) -> 1 candidate(s)
I0419 20:59:52.882640 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:52.882652 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:52.886066 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:52.886209 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291928854452.
I0419 20:59:52.988636 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:52.988981 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:52.989154 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291929177181.
I0419 20:59:52.991277 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291929458538.
I0419 20:59:52.993314 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:52.994279 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11807, 1.77012)
I0419 20:59:52.994406 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291929778192.
I0419 20:59:52.996820 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2589, 0.857137), points=3, range=1.52867, residual=0.0129787, extent=0.0274756
I0419 20:59:52.996914 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2589, 0.857137), tracking=(1.5574, 0.857137), map_predicted=(2.42377, -1.27601), range=1.52867, pts=3
I0419 20:59:52.996944 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0448509m maha_sq=0.0868875 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42377, -1.27601) lm_pos=(2.415, -1.32) delta=(0.00876853, 0.0439855) -> 1 candidate(s)
I0419 20:59:53.006732 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000311852 range=0.955 variance=0.000597478 t_weight=5021.1 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802583, -2.00537, -4.60836deg) obs_actual=(-1.0454, -0.600286) obs_expected=(-1.04272, -0.600346) delta=(-0.00268339, 6.00986e-05) |delta|=0.00268406m
I0419 20:59:53.006911 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291930059531.
I0419 20:59:53.034157 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:53.034587 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:53.034945 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291930336271.
I0419 20:59:53.114610 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291930659092.
I0419 20:59:53.117182 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11754, 1.75786)
I0419 20:59:53.117380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291930939765.
I0419 20:59:53.118887 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562551s, prior_pose=(0.80165, -2.00662), yaw=-4.61599 deg
I0419 20:59:53.118971 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 20:59:53.119057 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27423, 0.856786), points=3, range=1.534, residual=0.00514579, extent=0.0094069
I0419 20:59:53.119086 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27423, 0.856786), tracking=(1.57273, 0.856786), map_predicted=(2.43823, -1.27918), range=1.534, pts=3
I0419 20:59:53.119108 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0469711m maha_sq=0.0958826 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43823, -1.27918) lm_pos=(2.415, -1.32) delta=(0.0232348, 0.040822) -> 1 candidate(s)
I0419 20:59:53.122865 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291931220688.
I0419 20:59:53.154290 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291931532565.
I0419 20:59:53.174873 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:53.175028 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:53.175148 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:53.274405 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:53.274538 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291931819079.
I0419 20:59:53.276284 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.11828, 1.76425)
I0419 20:59:53.276405 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291932140007.
I0419 20:59:53.278033 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2734, 0.858912), points=4, range=1.53125, residual=0.0111539, extent=0.0237281
I0419 20:59:53.278100 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2734, 0.858912), tracking=(1.5719, 0.858912), map_predicted=(2.43945, -1.27549), range=1.53125, pts=4
I0419 20:59:53.278126 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0507796m maha_sq=0.111427 (gate chi2=5.99) pose_sigma=(0.150111, 0.150111, rho=0) det_map=(2.43945, -1.27549) lm_pos=(2.415, -1.32) delta=(0.0244514, 0.0445051) -> 1 candidate(s)
I0419 20:59:53.278782 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291932377852.
I0419 20:59:53.279844 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:53.281179 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291932692824.
I0419 20:59:53.302388 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000137186 range=0.9538 variance=0.000586811 t_weight=5112.38 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802747, -2.00565, -4.62246deg) obs_actual=(-1.04423, -0.599347) obs_expected=(-1.04276, -0.600342) delta=(-0.00147539, 0.000995195) |delta|=0.00177966m
I0419 20:59:53.302779 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291933013169.
I0419 20:59:53.383998 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11545, 1.76865)
I0419 20:59:53.384104 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:53.384132 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:53.384183 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.86802 deg, rms_residual=0.000392872m, sigma_yaw=0.000524104 rad, N=2
I0419 20:59:53.384227 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.799558, -2.0103, -4.86802deg) inliers=2 rms=0.000392872m
I0419 20:59:53.384264 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291933293871.
I0419 20:59:53.386755 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0546715, -0.669585), points=18, range=0.673111, residual=0.0112342, extent=0.0339194
I0419 20:59:53.386857 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0546715, -0.669585), tracking=(-0.243829, 0.669585), map_predicted=(0.611837, -1.31992), range=0.673111, pts=18
I0419 20:59:53.386883 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00316396m maha_sq=0.000433414 (gate chi2=5.99) pose_sigma=(0.150116, 0.150116, rho=0) det_map=(0.611837, -1.31992) lm_pos=(0.615, -1.32) delta=(-0.00316303, 7.69385e-05) -> 1 candidate(s)
I0419 20:59:53.386955 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291933578913.
I0419 20:59:53.388836 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291933871512.
I0419 20:59:53.410038 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516847s, prior_pose=(0.801703, -2.00658), yaw=-4.62112 deg
I0419 20:59:53.410192 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=249, threshold=230, above_threshold=20, candidates=20
I0419 20:59:53.414860 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291934142127.
I0419 20:59:53.525429 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11241, 1.76692)
I0419 20:59:53.525655 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291934460004.
I0419 20:59:53.527236 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:53.527318 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:53.527362 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:53.527417 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:53.528707 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12476, 1.75592), points=4, range=3.58575, residual=0.0137598, extent=0.0334991
I0419 20:59:53.528779 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12476, 1.75592), tracking=(-3.42326, -1.75592), map_predicted=(-2.75087, -3.48122), range=3.58575, pts=4
I0419 20:59:53.528844 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6466m maha_sq=298.879 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.75087, -3.48122) lm_pos=(-0.285, -2.52) delta=(-2.46587, -0.961222) -> 0 candidate(s)
I0419 20:59:53.528872 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:53.528966 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291934739527.
I0419 20:59:53.532760 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:53.532935 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:53.532967 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291935059155.
I0419 20:59:53.537367 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291935341408.
I0419 20:59:53.558904 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:53.566875 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11589, 1.7689)
I0419 20:59:53.567178 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291935661189.
I0419 20:59:53.651582 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801685, -2.00569), yaw=-4.62421 deg backend=(0.79901, -2.00592)
I0419 20:59:53.653514 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.743732, 0.602239), points=4, range=0.9585, residual=0.00797722, extent=0.0194821
I0419 20:59:53.653626 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.743732, 0.602239), tracking=(-1.04223, -0.602239), map_predicted=(-0.285707, -2.52194), range=0.9585, pts=4
I0419 20:59:53.653654 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00206732m maha_sq=0.000185322 (gate chi2=5.99) pose_sigma=(0.150167, 0.150167, rho=0) det_map=(-0.285707, -2.52194) lm_pos=(-0.285, -2.52) delta=(-0.000706852, -0.00194273) -> 1 candidate(s)
I0419 20:59:53.653714 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000185322 range=0.9585 variance=0.000511604 t_weight=5863.91 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801685, -2.00569, -4.62421deg) obs_actual=(-1.04223, -0.602239) obs_expected=(-1.04168, -0.600245) delta=(-0.000547929, -0.00199339) |delta|=0.00206732m
I0419 20:59:53.653770 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291935936924.
I0419 20:59:53.656467 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:53.656577 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:53.656659 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291936222827.
I0419 20:59:53.658414 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291936499049.
I0419 20:59:53.681975 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11611, 1.76901)
I0419 20:59:53.682216 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291936815023.
I0419 20:59:53.702338 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796653s, prior_pose=(0.802013, -2.00609), yaw=-4.62384 deg
I0419 20:59:53.702489 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:53.761247 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740384, 0.600416), points=6, range=0.9565, residual=0.00962777, extent=0.0211445
I0419 20:59:53.761355 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.740384, 0.600416), tracking=(-1.03888, -0.600416), map_predicted=(-0.277248, -2.52042), range=0.9565, pts=6
I0419 20:59:53.761384 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00776298m maha_sq=0.002603 (gate chi2=5.99) pose_sigma=(0.15037, 0.15037, rho=0) det_map=(-0.277248, -2.52042) lm_pos=(-0.285, -2.52) delta=(0.00775177, -0.000416952) -> 1 candidate(s)
I0419 20:59:53.761464 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291937101840.
I0419 20:59:53.763316 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291937382970.
I0419 20:59:53.765040 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:53.765133 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:53.765177 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:53.769850 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:53.770008 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291937693053.
I0419 20:59:53.798569 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11807, 1.77012)
I0419 20:59:53.798844 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291937979416.
I0419 20:59:53.830847 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291938297641.
I0419 20:59:53.912744 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.46931, -0.436251), points=20, range=0.64425, residual=0.0149908, extent=0.0464965
I0419 20:59:53.912858 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:53.912879 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.46931, -0.436251), tracking=(0.76781, -0.436251), map_predicted=(1.5303, -2.50344), range=0.64425, pts=20
I0419 20:59:53.912909 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.215333m maha_sq=1.99148 (gate chi2=5.99) pose_sigma=(0.15041, 0.15041, rho=0) det_map=(1.5303, -2.50344) lm_pos=(1.745, -2.52) delta=(-0.214695, 0.0165613) -> 1 candidate(s)
I0419 20:59:53.913900 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291938574357.
I0419 20:59:53.916468 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000280428 range=0.955125 variance=0.000549592 t_weight=5458.6 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801394, -2.00687, -4.61927deg) obs_actual=(-1.04388, -0.599963) obs_expected=(-1.04154, -0.598959) delta=(-0.00233752, -0.00100388) |delta|=0.00254397m
I0419 20:59:53.916615 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291938854243.
I0419 20:59:53.918385 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11732, 1.75774)
I0419 20:59:53.918483 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:53.918558 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:53.918617 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.48731 deg, rms_residual=0.00256903m, sigma_yaw=0.00341368 rad, N=2
I0419 20:59:53.918651 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802226, -2.00481, -4.48731deg) inliers=2 rms=0.00256903m
I0419 20:59:53.918684 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291939141371.
I0419 20:59:53.946674 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291939457779.
I0419 20:59:53.966846 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27424, 0.856785), points=3, range=1.53333, residual=0.00569772, extent=0.0107441
I0419 20:59:53.967003 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27424, 0.856785), tracking=(1.57274, 0.856785), map_predicted=(2.43827, -1.2789), range=1.53333, pts=3
I0419 20:59:53.967043 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0472267m maha_sq=0.0969036 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43827, -1.2789) lm_pos=(2.415, -1.32) delta=(0.0232699, 0.0410959) -> 1 candidate(s)
I0419 20:59:54.031622 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291939738573.
I0419 20:59:54.032694 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059503s, prior_pose=(0.801834, -2.00632), yaw=-4.63462 deg
I0419 20:59:54.032804 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 20:59:54.033782 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291940021538.
I0419 20:59:54.036401 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11732, 1.75774)
I0419 20:59:54.036556 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291940340218.
I0419 20:59:54.054345 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:54.054426 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:54.054481 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:54.054497 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:54.062098 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:54.062258 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291940616135.
I0419 20:59:54.094960 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0596297, -0.670104), points=19, range=0.674105, residual=0.0120105, extent=0.0380214
I0419 20:59:54.095109 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0596297, -0.670104), tracking=(-0.23887, 0.670104), map_predicted=(0.617449, -1.31912), range=0.674105, pts=19
I0419 20:59:54.095150 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0026038m maha_sq=0.000293742 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.617449, -1.31912) lm_pos=(0.615, -1.32) delta=(0.00244895, 0.000884531) -> 1 candidate(s)
I0419 20:59:54.095228 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:54.095402 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:54.095431 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291940941456.
I0419 20:59:54.145067 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:54.145432 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291941219872.
I0419 20:59:54.146510 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:54.149784 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.11618, 1.76308)
I0419 20:59:54.149948 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291941493074.
I0419 20:59:54.178203 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000612532 range=0.957429 variance=0.000573472 t_weight=5231.29 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803012, -2.00646, -4.63917deg) obs_actual=(-1.04636, -0.601357) obs_expected=(-1.04291, -0.59986) delta=(-0.00344876, -0.00149642) |delta|=0.00375942m
I0419 20:59:54.178330 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291941776611.
I0419 20:59:54.210260 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:54.210361 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:54.210466 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291942097184.
I0419 20:59:54.229944 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.482431, -0.435548), points=18, range=0.646778, residual=0.013977, extent=0.0411427
I0419 20:59:54.230032 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.482431, -0.435548), tracking=(0.780931, -0.435548), map_predicted=(1.54681, -2.50369), range=0.646778, pts=18
I0419 20:59:54.230062 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.198863m maha_sq=1.70968 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.54681, -2.50369) lm_pos=(1.745, -2.52) delta=(-0.198192, 0.0163143) -> 1 candidate(s)
I0419 20:59:54.281805 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291942372079.
I0419 20:59:54.283568 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11306, 1.76729)
I0419 20:59:54.283670 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291942701246.
I0419 20:59:54.290493 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0527365s, prior_pose=(0.802393, -2.00623), yaw=-4.64237 deg
I0419 20:59:54.290594 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 20:59:54.298252 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291942976566.
I0419 20:59:54.326014 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291943254412.
I0419 20:59:54.349961 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:54.350067 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:54.350111 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27174, 0.860483), points=3, range=1.52867, residual=0.0128972, extent=0.0255914
I0419 20:59:54.350173 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27174, 0.860483), tracking=(1.57024, 0.860483), map_predicted=(2.43872, -1.27453), range=1.52867, pts=3
I0419 20:59:54.350214 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0512877m maha_sq=0.113626 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43872, -1.27453) lm_pos=(2.415, -1.32) delta=(0.0237167, 0.0454746) -> 1 candidate(s)
I0419 20:59:54.350266 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:54.358819 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:54.359042 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291943579823.
I0419 20:59:54.457659 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1195, 1.75896)
I0419 20:59:54.457850 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291943858650.
I0419 20:59:54.460219 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291944137562.
I0419 20:59:54.461256 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:54.462075 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291944455193.
I0419 20:59:54.463017 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801412, -2.0065), yaw=-4.62973 deg backend=(0.802295, -2.00609)
I0419 20:59:54.466421 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2734, 0.856228), points=3, range=1.53233, residual=0.00581097, extent=0.0102119
I0419 20:59:54.466522 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2734, 0.856228), tracking=(1.5719, 0.856228), map_predicted=(2.4373, -1.27994), range=1.53233, pts=3
I0419 20:59:54.466573 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0458465m maha_sq=0.0912361 (gate chi2=5.99) pose_sigma=(0.150069, 0.150069, rho=0) det_map=(2.4373, -1.27994) lm_pos=(2.415, -1.32) delta=(0.0222993, 0.040058) -> 1 candidate(s)
I0419 20:59:54.474023 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00265583 range=0.959167 variance=0.000528395 t_weight=5677.57 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801412, -2.0065, -4.62973deg) obs_actual=(-1.04916, -0.600652) obs_expected=(-1.04142, -0.599517) delta=(-0.00774128, -0.00113441) |delta|=0.00782396m
I0419 20:59:54.474840 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291944735480.
I0419 20:59:54.588405 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11776, 1.75798)
I0419 20:59:54.588877 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:54.589061 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:54.589354 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.71921 deg, rms_residual=0.00119261m, sigma_yaw=0.00158763 rad, N=2
I0419 20:59:54.589419 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801504, -2.00722, -4.71921deg) inliers=2 rms=0.00119261m
I0419 20:59:54.589473 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291945015613.
I0419 20:59:54.591995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291945339584.
I0419 20:59:54.594885 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291945619187.
I0419 20:59:54.595881 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0837436s, prior_pose=(0.805143, -2.00548), yaw=-4.60809 deg
I0419 20:59:54.595949 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=250, threshold=230, above_threshold=24, candidates=24
I0419 20:59:54.596042 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27147, 0.857604), points=4, range=1.528, residual=0.0130819, extent=0.0284192
I0419 20:59:54.596071 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27147, 0.857604), tracking=(1.56997, 0.857604), map_predicted=(2.43894, -1.27678), range=1.528, pts=4
I0419 20:59:54.596092 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0494095m maha_sq=0.105435 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43894, -1.27678) lm_pos=(2.415, -1.32) delta=(0.0239371, 0.043224) -> 1 candidate(s)
I0419 20:59:54.597545 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291945902425.
I0419 20:59:54.621796 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11819, 1.75823)
I0419 20:59:54.622045 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291946212170.
I0419 20:59:54.677205 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:54.677290 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:54.677350 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:54.677366 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:54.678073 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:54.678182 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291946492157.
I0419 20:59:54.680647 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:54.680748 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:54.680773 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291946782401.
I0419 20:59:54.710860 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27202, 0.85798), points=4, range=1.52925, residual=0.0117941, extent=0.0255892
I0419 20:59:54.711064 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27202, 0.85798), tracking=(1.57052, 0.85798), map_predicted=(2.43544, -1.27696), range=1.52925, pts=4
I0419 20:59:54.711135 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.047645m maha_sq=0.0981743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43544, -1.27696) lm_pos=(2.415, -1.32) delta=(0.0204449, 0.0430354) -> 1 candidate(s)
I0419 20:59:54.712952 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291947099259.
I0419 20:59:54.730661 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 20:59:54.738427 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11645, 1.75725)
I0419 20:59:54.738848 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291947374886.
I0419 20:59:54.867156 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00245987 range=0.952 variance=0.000517033 t_weight=5802.34 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803957, -2.00551, -4.62488deg) obs_actual=(-1.03656, -0.599065) obs_expected=(-1.04393, -0.600619) delta=(0.00736599, 0.00155403) |delta|=0.00752814m
I0419 20:59:54.867296 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291947692627.
I0419 20:59:54.869177 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:54.869299 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:54.869380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291947980601.
I0419 20:59:54.871928 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12167, 1.76616), points=4, range=3.58175, residual=0.0167791, extent=0.0393887
I0419 20:59:54.872009 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12167, 1.76616), tracking=(-3.42017, -1.76616), map_predicted=(-2.74746, -3.4896), range=3.58175, pts=4
I0419 20:59:54.872035 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64648m maha_sq=297.521 (gate chi2=5.99) pose_sigma=(0.150045, 0.150045, rho=0) det_map=(-2.74746, -3.4896) lm_pos=(-0.285, -2.52) delta=(-2.46246, -0.9696) -> 0 candidate(s)
I0419 20:59:54.872109 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291948259046.
I0419 20:59:54.874845 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.11444, 1.7621)
I0419 20:59:54.874995 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291948539934.
I0419 20:59:54.878402 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600637s, prior_pose=(0.804526, -2.00466), yaw=-4.6248 deg
I0419 20:59:54.878551 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:54.887316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291948857343.
I0419 20:59:54.942219 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291949137235.
I0419 20:59:54.943373 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:54.943454 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:54.943500 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:54.944913 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12127, 1.75397), points=4, range=3.58225, residual=0.0144798, extent=0.0351
I0419 20:59:54.945005 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12127, 1.75397), tracking=(-3.41977, -1.75397), map_predicted=(-2.74667, -3.47881), range=3.58225, pts=4
I0419 20:59:54.945032 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64181m maha_sq=297.329 (gate chi2=5.99) pose_sigma=(0.150058, 0.150058, rho=0) det_map=(-2.74667, -3.47881) lm_pos=(-0.285, -2.52) delta=(-2.46167, -0.958807) -> 0 candidate(s)
I0419 20:59:54.945118 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:54.945188 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291949417879.
I0419 20:59:54.974886 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0567972, -0.671569)
I0419 20:59:54.975232 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291949741871.
I0419 20:59:55.002441 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291950012837.
I0419 20:59:55.027057 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:55.129168 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291950295990.
I0419 20:59:55.131214 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12109, 1.76582), points=4, range=3.58175, residual=0.015777, extent=0.036554
I0419 20:59:55.131326 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12109, 1.76582), tracking=(-3.41959, -1.76582), map_predicted=(-2.7455, -3.48993), range=3.58175, pts=4
I0419 20:59:55.131349 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64478m maha_sq=297.721 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7455, -3.48993) lm_pos=(-0.285, -2.52) delta=(-2.4605, -0.969931) -> 0 candidate(s)
I0419 20:59:55.131404 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00106426 range=0.956667 variance=0.000527681 t_weight=5685.25 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805355, -2.00564, -4.62584deg) obs_actual=(-1.04037, -0.600726) obs_expected=(-1.04532, -0.600617) delta=(0.0049493, -0.000109076) |delta|=0.0049505m
I0419 20:59:55.131457 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291950615734.
I0419 20:59:55.133154 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474297, -0.435691)
I0419 20:59:55.133873 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:55.133927 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:55.133975 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.73295 deg, rms_residual=0.00116591m, sigma_yaw=0.00155697 rad, N=2
I0419 20:59:55.134003 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.800213, -2.00751, -4.73295deg) inliers=2 rms=0.00116591m
I0419 20:59:55.134033 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291950898471.
I0419 20:59:55.136538 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291951220749.
I0419 20:59:55.150573 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291951496072.
I0419 20:59:55.209619 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520197s, prior_pose=(0.797509, -2.00552), yaw=-4.62127 deg
I0419 20:59:55.209726 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:55.210440 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11993, 1.76517), points=4, range=3.5795, residual=0.01707, extent=0.0393679
I0419 20:59:55.210497 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11993, 1.76517), tracking=(-3.41843, -1.76517), map_predicted=(-2.75202, -3.48954), range=3.5795, pts=4
I0419 20:59:55.210557 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6507m maha_sq=297.047 (gate chi2=5.99) pose_sigma=(0.150389, 0.150389, rho=0) det_map=(-2.75202, -3.48954) lm_pos=(-0.285, -2.52) delta=(-2.46702, -0.969536) -> 0 candidate(s)
I0419 20:59:55.210633 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291951775945.
I0419 20:59:55.211789 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.47513, -0.435152)
I0419 20:59:55.213233 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291952094814.
I0419 20:59:55.230767 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:55.230919 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:55.231015 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:55.231043 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:55.238633 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:55.238889 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291952379278.
I0419 20:59:55.266251 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:55.266458 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:55.266502 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291952654936.
I0419 20:59:55.377377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291952981046.
I0419 20:59:55.378574 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.473206, -0.43603)
I0419 20:59:55.378666 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.469379, -0.436368), points=17, range=0.643529, residual=0.0121159, extent=0.0379042
I0419 20:59:55.378690 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:55.378701 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.469379, -0.436368), tracking=(0.767879, -0.436368), map_predicted=(1.53225, -2.50513), range=0.643529, pts=17
I0419 20:59:55.378720 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.213267m maha_sq=1.97048 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53225, -2.50513) lm_pos=(1.745, -2.52) delta=(-0.212748, 0.0148672) -> 1 candidate(s)
I0419 20:59:55.380102 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291953262086.
I0419 20:59:55.381210 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803559, -2.00721), yaw=-4.60961 deg backend=(0.802216, -2.00708)
I0419 20:59:55.382856 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00218616 range=0.955857 variance=0.000609631 t_weight=4921.01 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803559, -2.00721, -4.60961deg) obs_actual=(-1.03685, -0.599985) obs_expected=(-1.04383, -0.598612) delta=(0.00698142, -0.00137229) |delta|=0.00711502m
I0419 20:59:55.382956 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291953532871.
I0419 20:59:55.386350 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:55.386495 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:55.386605 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291953859760.
I0419 20:59:55.414834 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.745268, 0.599872)
I0419 20:59:55.415189 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291954138810.
I0419 20:59:55.500103 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.478973, -0.436178), points=19, range=0.646053, residual=0.0145179, extent=0.0473267
I0419 20:59:55.500204 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.478973, -0.436178), tracking=(0.777473, -0.436178), map_predicted=(1.54136, -2.50376), range=0.646053, pts=19
I0419 20:59:55.500234 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.204282m maha_sq=1.8013 (gate chi2=5.99) pose_sigma=(0.15007, 0.15007, rho=0) det_map=(1.54136, -2.50376) lm_pos=(1.745, -2.52) delta=(-0.203635, 0.016242) -> 1 candidate(s)
I0419 20:59:55.501214 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291954456917.
I0419 20:59:55.502225 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0794012s, prior_pose=(0.801575, -2.00634), yaw=-4.62276 deg
I0419 20:59:55.502302 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 20:59:55.503943 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291954735256.
I0419 20:59:55.505748 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291955016756.
I0419 20:59:55.523138 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:55.523304 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:55.523425 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:55.534137 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.745298, 0.601676)
I0419 20:59:55.534322 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:55.534521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291955332469.
I0419 20:59:55.554751 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473013, -0.437129), points=19, range=0.644842, residual=0.013575, extent=0.0471514
I0419 20:59:55.554911 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473013, -0.437129), tracking=(0.771513, -0.437129), map_predicted=(1.53522, -2.50454), range=0.644842, pts=19
I0419 20:59:55.554975 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210347m maha_sq=1.91378 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53522, -2.50454) lm_pos=(1.745, -2.52) delta=(-0.209778, 0.0154599) -> 1 candidate(s)
I0419 20:59:55.640894 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291955619453.
I0419 20:59:55.642014 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:55.643033 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291955893643.
I0419 20:59:55.645048 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:55.646049 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291956214721.
I0419 20:59:55.650247 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.744356, 0.599873)
I0419 20:59:55.650496 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=9.84085e-06 range=0.956 variance=0.000497136 t_weight=6034.56 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805101, -2.00667, -4.63508deg) obs_actual=(-1.04544, -0.599465) obs_expected=(-1.04505, -0.599746) delta=(-0.000384045, 0.000280892) |delta|=0.000475805m
I0419 20:59:55.650604 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291956492634.
I0419 20:59:55.670293 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.469545, -0.436457), points=20, range=0.6445, residual=0.0151556, extent=0.0464764
I0419 20:59:55.670425 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.469545, -0.436457), tracking=(0.768045, -0.436457), map_predicted=(1.53536, -2.50376), range=0.6445, pts=20
I0419 20:59:55.670469 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210263m maha_sq=1.9085 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53536, -2.50376) lm_pos=(1.745, -2.52) delta=(-0.209635, 0.0162402) -> 1 candidate(s)
I0419 20:59:55.678536 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:55.678676 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:55.678787 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.49603 deg, rms_residual=0.00192697m, sigma_yaw=0.0025627 rad, N=2
I0419 20:59:55.678864 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.800665, -2.00585, -4.49603deg) inliers=2 rms=0.00192697m
I0419 20:59:55.678925 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291956777155.
I0419 20:59:55.745253 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291957056944.
I0419 20:59:55.748274 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291957374449.
I0419 20:59:55.758419 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557505s, prior_pose=(0.803157, -2.00601), yaw=-4.63525 deg
I0419 20:59:55.758522 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:55.766258 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.747897, 0.600565)
I0419 20:59:55.766433 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291957658169.
I0419 20:59:55.789829 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470555, -0.43739), points=20, range=0.6458, residual=0.0151582, extent=0.0471888
I0419 20:59:55.789921 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470555, -0.43739), tracking=(0.769055, -0.43739), map_predicted=(1.53519, -2.50391), range=0.6458, pts=20
I0419 20:59:55.789950 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210428m maha_sq=1.9099 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(1.53519, -2.50391) lm_pos=(1.745, -2.52) delta=(-0.209812, 0.0160881) -> 1 candidate(s)
I0419 20:59:55.794463 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291957939293.
I0419 20:59:55.817996 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:55.818096 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:55.818159 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:55.818173 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:55.874645 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:55.874787 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291958220059.
I0419 20:59:55.877278 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:55.877445 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:55.877472 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291958531983.
I0419 20:59:55.883680 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.744835, 0.599533)
I0419 20:59:55.883862 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291958829513.
I0419 20:59:55.906646 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:55.914584 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0596348, -0.670166), points=19, range=0.674, residual=0.0118341, extent=0.0364102
I0419 20:59:55.914696 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0596348, -0.670166), tracking=(-0.238865, 0.670166), map_predicted=(0.618744, -1.31811), range=0.674, pts=19
I0419 20:59:55.914736 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00419423m maha_sq=0.000762025 (gate chi2=5.99) pose_sigma=(0.150029, 0.150029, rho=0) det_map=(0.618744, -1.31811) lm_pos=(0.615, -1.32) delta=(0.00374411, 0.00189028) -> 1 candidate(s)
I0419 20:59:55.914867 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291959139251.
I0419 20:59:55.942440 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000123898 range=0.958714 variance=0.000544337 t_weight=5511.29 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802721, -2.00537, -4.63105deg) obs_actual=(-1.04099, -0.601229) obs_expected=(-1.04262, -0.600768) delta=(0.00162544, -0.000461624) |delta|=0.00168972m
I0419 20:59:55.942579 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291959418816.
I0419 20:59:56.016151 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:56.016268 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:56.016348 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291959742407.
I0419 20:59:56.018887 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.75028, 0.601752)
I0419 20:59:56.019075 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291960018722.
I0419 20:59:56.030277 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0606932, -0.671007), points=18, range=0.673778, residual=0.0108719, extent=0.0335639
I0419 20:59:56.030462 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0606932, -0.671007), tracking=(-0.237807, 0.671007), map_predicted=(0.622059, -1.31808), range=0.673778, pts=18
I0419 20:59:56.030511 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0073152m maha_sq=0.00232111 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.622059, -1.31808) lm_pos=(0.615, -1.32) delta=(0.00705879, 0.0019198) -> 1 candidate(s)
I0419 20:59:56.030656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291960295753.
I0419 20:59:56.054397 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519826s, prior_pose=(0.802983, -2.00631), yaw=-4.63444 deg
I0419 20:59:56.054589 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 20:59:56.062788 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291960615024.
I0419 20:59:56.174443 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291960893848.
I0419 20:59:56.175765 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:56.175835 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:56.176138 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:56.176791 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.744706, 0.599432)
I0419 20:59:56.176851 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:56.176926 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291961175134.
I0419 20:59:56.179596 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0565485, -0.668493), points=18, range=0.671889, residual=0.0106184, extent=0.0335843
I0419 20:59:56.179673 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0565485, -0.668493), tracking=(-0.241952, 0.668493), map_predicted=(0.616432, -1.32013), range=0.671889, pts=18
I0419 20:59:56.179698 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0014376m maha_sq=8.96185e-05 (gate chi2=5.99) pose_sigma=(0.15004, 0.15004, rho=0) det_map=(0.616432, -1.32013) lm_pos=(0.615, -1.32) delta=(0.00143204, -0.000126289) -> 1 candidate(s)
I0419 20:59:56.179768 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291961459018.
I0419 20:59:56.183224 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291961777865.
I0419 20:59:56.198354 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:56.206264 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291962057383.
I0419 20:59:56.281003 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.804103, -2.00546), yaw=-4.62439 deg backend=(0.803082, -2.00644)
I0419 20:59:56.282893 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.743385, 0.599799)
I0419 20:59:56.283059 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=7.46692e-05 range=0.9552 variance=0.00050498 t_weight=5940.83 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804103, -2.00546, -4.62439deg) obs_actual=(-1.04423, -0.599373) obs_expected=(-1.04407, -0.600676) delta=(-0.000151809, 0.00130281) |delta|=0.00131162m
I0419 20:59:56.283183 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291962375603.
I0419 20:59:56.285995 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:56.286142 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11847, 1.76435), points=4, range=3.58575, residual=0.0150634, extent=0.0371241
I0419 20:59:56.286192 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:56.286229 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11847, 1.76435), tracking=(-3.41697, -1.76435), map_predicted=(-2.74468, -3.48879), range=3.58575, pts=4
I0419 20:59:56.286264 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64359m maha_sq=297.517 (gate chi2=5.99) pose_sigma=(0.150055, 0.150055, rho=0) det_map=(-2.74468, -3.48879) lm_pos=(-0.285, -2.52) delta=(-2.45968, -0.968793) -> 0 candidate(s)
I0419 20:59:56.286332 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.75535 deg, rms_residual=0.000110825m, sigma_yaw=0.000147788 rad, N=2
I0419 20:59:56.286379 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.796281, -2.0085, -4.75535deg) inliers=2 rms=0.000110825m
I0419 20:59:56.286428 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291962655673.
I0419 20:59:56.293938 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291962933623.
I0419 20:59:56.327064 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291963261840.
I0419 20:59:56.346117 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799656s, prior_pose=(0.804724, -2.00476), yaw=-4.62312 deg
I0419 20:59:56.346278 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=251, threshold=230, above_threshold=23, candidates=23
I0419 20:59:56.441030 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.746108, 0.60056)
I0419 20:59:56.441247 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291963541524.
I0419 20:59:56.443018 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11295, 1.76125), points=4, range=3.58, residual=0.0174829, extent=0.0419263
I0419 20:59:56.443081 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11295, 1.76125), tracking=(-3.41145, -1.76125), map_predicted=(-2.73941, -3.48543), range=3.58, pts=4
I0419 20:59:56.443104 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63746m maha_sq=295.366 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73941, -3.48543) lm_pos=(-0.285, -2.52) delta=(-2.45441, -0.965433) -> 0 candidate(s)
I0419 20:59:56.443171 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291963822116.
I0419 20:59:56.444782 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:56.444823 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:56.444860 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:56.444875 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 20:59:56.445684 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:56.445772 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291964133398.
I0419 20:59:56.448062 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:56.448136 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:56.448158 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291964419506.
I0419 20:59:56.470726 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.744456, 0.598327)
I0419 20:59:56.471071 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291964698793.
I0419 20:59:56.552295 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:56.563278 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.745989, 0.599758), points=6, range=0.955833, residual=0.0077873, extent=0.0224425
I0419 20:59:56.563445 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.745989, 0.599758), tracking=(-1.04449, -0.599758), map_predicted=(-0.283196, -2.51917), range=0.955833, pts=6
I0419 20:59:56.563508 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00198752m maha_sq=0.000171188 (gate chi2=5.99) pose_sigma=(0.150223, 0.150223, rho=0) det_map=(-0.283196, -2.51917) lm_pos=(-0.285, -2.52) delta=(0.00180388, 0.000834408) -> 1 candidate(s)
I0419 20:59:56.563689 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291965019840.
I0419 20:59:56.568236 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00252488 range=0.955714 variance=0.000573984 t_weight=5226.63 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805315, -2.00533, -4.60938deg) obs_actual=(-1.03781, -0.600062) obs_expected=(-1.04543, -0.60063) delta=(0.00761462, 0.000567675) |delta|=0.00763575m
I0419 20:59:56.568461 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291965298232.
I0419 20:59:56.570604 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:56.570701 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:56.570794 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291965660865.
I0419 20:59:56.590767 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.743991, 0.599853)
I0419 20:59:56.591498 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291965900988.
I0419 20:59:56.701356 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 20:59:56.701538 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.748785, 0.599155), points=6, range=0.957167, residual=0.00801966, extent=0.0211307
I0419 20:59:56.701567 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.748785, 0.599155), tracking=(-1.04728, -0.599155), map_predicted=(-0.289122, -2.51907), range=0.957167, pts=6
I0419 20:59:56.701594 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0042249m maha_sq=0.000774917 (gate chi2=5.99) pose_sigma=(0.150074, 0.150074, rho=0) det_map=(-0.289122, -2.51907) lm_pos=(-0.285, -2.52) delta=(-0.00412153, 0.000928875) -> 1 candidate(s)
I0419 20:59:56.701740 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291966178743.
I0419 20:59:56.703199 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603558s, prior_pose=(0.80308, -2.00634), yaw=-4.62661 deg
I0419 20:59:56.703347 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 20:59:56.704176 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291966461634.
I0419 20:59:56.707231 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291966774787.
I0419 20:59:56.708431 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:56.708493 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:56.708530 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:56.710183 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.746197, 0.59944)
I0419 20:59:56.710263 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:56.710338 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291967060351.
I0419 20:59:56.735180 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291967340954.
I0419 20:59:56.807489 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.472708, -0.438167), points=18, range=0.647278, residual=0.0130475, extent=0.0390262
I0419 20:59:56.807597 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.472708, -0.438167), tracking=(0.771208, -0.438167), map_predicted=(1.53386, -2.50391), range=0.647278, pts=18
I0419 20:59:56.807626 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.21175m maha_sq=1.93597 (gate chi2=5.99) pose_sigma=(0.150182, 0.150182, rho=0) det_map=(1.53386, -2.50391) lm_pos=(1.745, -2.52) delta=(-0.211137, 0.0160929) -> 1 candidate(s)
I0419 20:59:56.808519 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291967660228.
I0419 20:59:56.809566 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:56.811149 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291967939763.
I0419 20:59:56.825975 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.743733, 0.599843)
I0419 20:59:56.826157 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000243937 range=0.9555 variance=0.000503867 t_weight=5953.95 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802045, -2.00442, -4.61321deg) obs_actual=(-1.0399, -0.600354) obs_expected=(-1.04206, -0.601337) delta=(0.0021553, 0.000982949) |delta|=0.00236886m
I0419 20:59:56.826237 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291968254469.
I0419 20:59:56.854518 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:56.854633 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:56.854701 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.69642 deg, rms_residual=0.000549338m, sigma_yaw=0.000731915 rad, N=2
I0419 20:59:56.854769 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801456, -2.00726, -4.69642deg) inliers=2 rms=0.000549338m
I0419 20:59:56.854840 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291968540185.
I0419 20:59:56.874545 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27008, 0.856677), points=3, range=1.532, residual=0.00423005, extent=0.00896005
I0419 20:59:56.874631 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27008, 0.856677), tracking=(1.56858, 0.856677), map_predicted=(2.43417, -1.27803), range=1.532, pts=3
I0419 20:59:56.874663 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0461387m maha_sq=0.0925495 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43417, -1.27803) lm_pos=(2.415, -1.32) delta=(0.0191709, 0.0419674) -> 1 candidate(s)
I0419 20:59:56.955629 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291968818254.
I0419 20:59:56.958238 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291969137127.
I0419 20:59:56.960414 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0515817s, prior_pose=(0.80235, -2.00659), yaw=-4.61035 deg
I0419 20:59:56.960515 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 20:59:56.961611 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.745807, 0.599127)
I0419 20:59:56.961755 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291969417002.
I0419 20:59:56.970567 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291969699540.
I0419 20:59:56.994174 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:56.994261 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:56.994288 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27215, 0.860763), points=3, range=1.52933, residual=0.0125473, extent=0.024657
I0419 20:59:56.994311 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27215, 0.860763), tracking=(1.57065, 0.860763), map_predicted=(2.43767, -1.27438), range=1.52933, pts=3
I0419 20:59:56.994357 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0509476m maha_sq=0.112168 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43767, -1.27438) lm_pos=(2.415, -1.32) delta=(0.0226728, 0.0456246) -> 1 candidate(s)
I0419 20:59:56.994400 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:56.994413 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:57.002141 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:57.002312 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291970016809.
I0419 20:59:57.058593 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:57.058880 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:57.058993 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:57.059019 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291970261604.
I0419 20:59:57.062059 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.742992, 0.598052)
I0419 20:59:57.062229 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291970575216.
I0419 20:59:57.081961 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:57.086459 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291970856943.
I0419 20:59:57.093112 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.800451, -2.00524), yaw=-4.63128 deg backend=(0.800847, -2.00567)
I0419 20:59:57.111039 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27201, 0.863355), points=4, range=1.53875, residual=0.00763005, extent=0.0186757
I0419 20:59:57.111614 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27201, 0.863355), tracking=(1.57051, 0.863355), map_predicted=(2.43554, -1.27151), range=1.53875, pts=4
I0419 20:59:57.112103 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.052662m maha_sq=0.120256 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(2.43554, -1.27151) lm_pos=(2.415, -1.32) delta=(0.0205392, 0.0484915) -> 1 candidate(s)
I0419 20:59:57.118192 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000126137 range=0.95825 variance=0.000526599 t_weight=5696.94 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800451, -2.00524, -4.63128deg) obs_actual=(-1.04204, -0.600883) obs_expected=(-1.04034, -0.600725) delta=(-0.00169766, -0.000157678) |delta|=0.00170497m
I0419 20:59:57.118345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291971175770.
I0419 20:59:57.204741 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:57.204869 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:57.204970 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291971494029.
I0419 20:59:57.206836 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.745924, 0.599508)
I0419 20:59:57.206957 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291971780959.
I0419 20:59:57.209393 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291972062055.
I0419 20:59:57.226548 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0767059s, prior_pose=(0.803811, -2.00581), yaw=-4.6204 deg
I0419 20:59:57.226656 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 20:59:57.234318 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0596609, -0.670415), points=19, range=0.673789, residual=0.0116323, extent=0.0360276
I0419 20:59:57.234431 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0596609, -0.670415), tracking=(-0.238839, 0.670415), map_predicted=(0.618429, -1.31811), range=0.673789, pts=19
I0419 20:59:57.234462 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00391712m maha_sq=0.000664186 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(0.618429, -1.31811) lm_pos=(0.615, -1.32) delta=(0.00342882, 0.00189394) -> 1 candidate(s)
I0419 20:59:57.234560 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291972338453.
I0419 20:59:57.262410 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291972618984.
I0419 20:59:57.299110 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 20:59:57.324160 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:57.324275 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:57.324333 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:57.325248 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.743924, 0.598808)
I0419 20:59:57.325343 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:57.325430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291972942138.
I0419 20:59:57.327965 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291973217610.
I0419 20:59:57.354856 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11383, 1.75577), points=5, range=3.5778, residual=0.0194517, extent=0.048556
I0419 20:59:57.355020 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11383, 1.75577), tracking=(-3.41233, -1.75577), map_predicted=(-2.74054, -3.47915), range=3.5778, pts=5
I0419 20:59:57.355062 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63621m maha_sq=294.184 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74054, -3.47915) lm_pos=(-0.285, -2.52) delta=(-2.45554, -0.959149) -> 0 candidate(s)
I0419 20:59:57.355233 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291973541494.
I0419 20:59:57.374490 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:57.382827 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291973816316.
I0419 20:59:57.481036 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.74386, 0.600241)
I0419 20:59:57.481210 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00226471 range=0.955857 variance=0.000595053 t_weight=5041.57 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804197, -2.00501, -4.62011deg) obs_actual=(-1.037, -0.600115) obs_expected=(-1.04418, -0.601046) delta=(0.00717897, 0.000931246) |delta|=0.00723912m
I0419 20:59:57.481274 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291974100207.
I0419 20:59:57.483228 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:57.483340 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:57.483387 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.4815 deg, rms_residual=0.00013982m, sigma_yaw=0.000186461 rad, N=2
I0419 20:59:57.483434 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803835, -2.00586, -4.4815deg) inliers=2 rms=0.00013982m
I0419 20:59:57.483479 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291974413493.
I0419 20:59:57.485908 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12026, 1.77135), points=3, range=3.58333, residual=0.0130721, extent=0.026896
I0419 20:59:57.486023 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12026, 1.77135), tracking=(-3.41876, -1.77135), map_predicted=(-2.74624, -3.49549), range=3.58333, pts=3
I0419 20:59:57.486086 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64751m maha_sq=299.247 (gate chi2=5.99) pose_sigma=(0.150021, 0.150021, rho=0) det_map=(-2.74624, -3.49549) lm_pos=(-0.285, -2.52) delta=(-2.46124, -0.975493) -> 0 candidate(s)
I0419 20:59:57.486173 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291974691576.
I0419 20:59:57.499068 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291974981116.
I0419 20:59:57.522538 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606378s, prior_pose=(0.804143, -2.00535), yaw=-4.61774 deg
I0419 20:59:57.522712 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:57.530581 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.743165, 0.599941)
I0419 20:59:57.530927 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291975298317.
I0419 20:59:57.617406 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291975579522.
I0419 20:59:57.618505 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:57.618588 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:57.618635 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:57.618650 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:57.620075 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11709, 1.77556), points=4, range=3.58175, residual=0.0175501, extent=0.0412817
I0419 20:59:57.620167 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11709, 1.77556), tracking=(-3.41559, -1.77556), map_predicted=(-2.74396, -3.50036), range=3.58175, pts=4
I0419 20:59:57.620191 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64718m maha_sq=297.34 (gate chi2=5.99) pose_sigma=(0.150046, 0.150046, rho=0) det_map=(-2.74396, -3.50036) lm_pos=(-0.285, -2.52) delta=(-2.45896, -0.980359) -> 0 candidate(s)
I0419 20:59:57.620215 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:57.620275 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291975860241.
I0419 20:59:57.622056 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:57.622157 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:57.622182 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291976172661.
I0419 20:59:57.646188 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.74841, 0.600249)
I0419 20:59:57.646476 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291976455957.
I0419 20:59:57.670334 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:57.744369 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291976741463.
I0419 20:59:57.746249 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11198, 1.76667), points=5, range=3.5754, residual=0.0192033, extent=0.0480236
I0419 20:59:57.746356 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11198, 1.76667), tracking=(-3.41048, -1.76667), map_predicted=(-2.73899, -3.49207), range=3.5754, pts=5
I0419 20:59:57.746379 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63951m maha_sq=295.045 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73899, -3.49207) lm_pos=(-0.285, -2.52) delta=(-2.45399, -0.972068) -> 0 candidate(s)
I0419 20:59:57.746428 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000110271 range=0.95725 variance=0.000542544 t_weight=5529.51 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802251, -2.00477, -4.60269deg) obs_actual=(-1.04101, -0.60004) obs_expected=(-1.0424, -0.600819) delta=(0.00139093, 0.000778609) |delta|=0.00159402m
I0419 20:59:57.746469 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291977098095.
I0419 20:59:57.749342 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:57.749465 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:57.749570 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291977341707.
I0419 20:59:57.763415 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.743193, 0.599702)
I0419 20:59:57.763733 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291977625443.
I0419 20:59:57.795325 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291977942523.
I0419 20:59:57.878645 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0513853s, prior_pose=(0.802977, -2.006), yaw=-4.61882 deg
I0419 20:59:57.878825 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=249, threshold=230, above_threshold=20, candidates=20
I0419 20:59:57.879992 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11449, 1.77407), points=4, range=3.5795, residual=0.0164637, extent=0.0381814
I0419 20:59:57.880097 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11449, 1.77407), tracking=(-3.41299, -1.77407), map_predicted=(-2.74179, -3.49947), range=3.5795, pts=4
I0419 20:59:57.880128 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64484m maha_sq=296.959 (gate chi2=5.99) pose_sigma=(0.150132, 0.150132, rho=0) det_map=(-2.74179, -3.49947) lm_pos=(-0.285, -2.52) delta=(-2.45679, -0.979475) -> 0 candidate(s)
I0419 20:59:57.880277 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291978214261.
I0419 20:59:57.883548 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291978533320.
I0419 20:59:57.884747 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:57.884820 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:57.884868 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:57.885733 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.743194, 0.599701)
I0419 20:59:57.885824 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:57.885931 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291978817405.
I0419 20:59:57.910269 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291979097864.
I0419 20:59:58.000538 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291979382105.
I0419 20:59:58.001996 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471057, -0.436615), points=19, range=0.644158, residual=0.0139485, extent=0.0486075
I0419 20:59:58.002112 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:58.002133 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471057, -0.436615), tracking=(0.769557, -0.436615), map_predicted=(1.53349, -2.50259), range=0.644158, pts=19
I0419 20:59:58.002159 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.212229m maha_sq=1.94731 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53349, -2.50259) lm_pos=(1.745, -2.52) delta=(-0.211513, 0.0174106) -> 1 candidate(s)
I0419 20:59:58.003073 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291979701463.
I0419 20:59:58.004076 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802723, -2.00537), yaw=-4.63512 deg backend=(0.800868, -2.00568)
I0419 20:59:58.005709 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.741526, 0.598066)
I0419 20:59:58.005832 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00107058 range=0.952667 variance=0.000499353 t_weight=6007.77 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802723, -2.00537, -4.63512deg) obs_actual=(-1.03804, -0.598842) obs_expected=(-1.04258, -0.600849) delta=(0.00454095, 0.0020067) |delta|=0.00496458m
I0419 20:59:58.005901 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291979975049.
I0419 20:59:58.030699 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:58.030823 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:58.030901 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.66907 deg, rms_residual=3.55694e-06m, sigma_yaw=4.74261e-06 rad, N=2
I0419 20:59:58.030989 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.798507, -2.00753, -4.66907deg) inliers=2 rms=3.55694e-06m
I0419 20:59:58.031030 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291980300021.
I0419 20:59:58.058176 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291980576828.
I0419 20:59:58.108446 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27202, 0.85798), points=4, range=1.5295, residual=0.0113666, extent=0.0246549
I0419 20:59:58.108562 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27202, 0.85798), tracking=(1.57052, 0.85798), map_predicted=(2.43683, -1.27601), range=1.5295, pts=4
I0419 20:59:58.108596 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0491043m maha_sq=0.104178 (gate chi2=5.99) pose_sigma=(0.150109, 0.150109, rho=0) det_map=(2.43683, -1.27601) lm_pos=(2.415, -1.32) delta=(0.0218298, 0.0439852) -> 1 candidate(s)
I0419 20:59:58.109405 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291980855592.
I0419 20:59:58.110481 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0793152s, prior_pose=(0.802552, -2.00526), yaw=-4.60056 deg
I0419 20:59:58.110556 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=249, threshold=230, above_threshold=23, candidates=23
I0419 20:59:58.117798 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.743517, 0.60057)
I0419 20:59:58.118014 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291981172254.
I0419 20:59:58.147044 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291981465229.
I0419 20:59:58.166821 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:58.166904 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:58.166960 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:58.166975 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:58.173821 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:58.173974 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291981733665.
I0419 20:59:58.257090 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0595999, -0.669668), points=19, range=0.673579, residual=0.0120512, extent=0.0366411
I0419 20:59:58.257205 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0595999, -0.669668), tracking=(-0.2389, 0.669668), map_predicted=(0.618055, -1.31908), range=0.673579, pts=19
I0419 20:59:58.257241 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00319114m maha_sq=0.00044096 (gate chi2=5.99) pose_sigma=(0.15004, 0.15004, rho=0) det_map=(0.618055, -1.31908) lm_pos=(0.615, -1.32) delta=(0.00305451, 0.00092375) -> 1 candidate(s)
I0419 20:59:58.257292 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:58.257337 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:58.257355 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291982056309.
I0419 20:59:58.259150 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.740017, 0.600997)
I0419 20:59:58.259341 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291982336731.
I0419 20:59:58.261114 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:58.261921 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291982613579.
I0419 20:59:58.294219 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000871587 range=0.954571 variance=0.000532718 t_weight=5631.49 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802006, -2.00674, -4.60856deg) obs_actual=(-1.03813, -0.600685) obs_expected=(-1.04225, -0.598936) delta=(0.00412641, -0.00174892) |delta|=0.00448174m
I0419 20:59:58.294381 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291982937250.
I0419 20:59:58.322317 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:58.322404 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0595514, -0.669238), points=18, range=0.672389, residual=0.0107697, extent=0.0336828
I0419 20:59:58.322459 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:58.322481 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0595514, -0.669238), tracking=(-0.238949, 0.669238), map_predicted=(0.617602, -1.32047), range=0.672389, pts=18
I0419 20:59:58.322506 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00264371m maha_sq=0.000303189 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.617602, -1.32047) lm_pos=(0.615, -1.32) delta=(0.00260163, -0.000469822) -> 1 candidate(s)
I0419 20:59:58.322624 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291983218385.
I0419 20:59:58.373430 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.743658, 0.599584)
I0419 20:59:58.373632 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291983500923.
I0419 20:59:58.381983 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291983813507.
I0419 20:59:58.405910 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0637069s, prior_pose=(0.80214, -2.00542), yaw=-4.62755 deg
I0419 20:59:58.406023 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 20:59:58.410903 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291984100743.
I0419 20:59:58.438611 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0595381, -0.668952), points=18, range=0.672111, residual=0.0109512, extent=0.0336828
I0419 20:59:58.438772 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0595381, -0.668952), tracking=(-0.238962, 0.668952), map_predicted=(0.61861, -1.3198), range=0.672111, pts=18
I0419 20:59:58.438812 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0036156m maha_sq=0.000566534 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(0.61861, -1.3198) lm_pos=(0.615, -1.32) delta=(0.00361024, 0.000196712) -> 1 candidate(s)
I0419 20:59:58.438975 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291984379163.
I0419 20:59:58.459097 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:58.459246 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:58.459333 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:58.519729 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.741748, 0.600594)
I0419 20:59:58.519843 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:58.519922 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291984661585.
I0419 20:59:58.520411 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:58.521823 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291984977014.
I0419 20:59:58.526417 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291985259228.
I0419 20:59:58.550460 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:58.558620 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.060709, -0.671006), points=18, range=0.674, residual=0.0110786, extent=0.0336232
I0419 20:59:58.558744 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.060709, -0.671006), tracking=(-0.237791, 0.671006), map_predicted=(0.620192, -1.31782), range=0.674, pts=18
I0419 20:59:58.558786 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00563169m maha_sq=0.00137422 (gate chi2=5.99) pose_sigma=(0.150067, 0.150067, rho=0) det_map=(0.620192, -1.31782) lm_pos=(0.615, -1.32) delta=(0.00519219, 0.00218107) -> 1 candidate(s)
I0419 20:59:58.558890 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291985579714.
I0419 20:59:58.587486 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.744032, 0.600657)
I0419 20:59:58.587710 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000109462 range=0.95625 variance=0.000535246 t_weight=5604.89 r_weight=0 yaml=(-0.285, -2.52) prior=(0.80303, -2.00583, -4.63109deg) obs_actual=(-1.04454, -0.600504) obs_expected=(-1.04296, -0.600335) delta=(-0.00157888, -0.000169153) |delta|=0.00158792m
I0419 20:59:58.587792 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291985868195.
I0419 20:59:58.640838 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:58.640964 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:58.641031 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.35176 deg, rms_residual=0.00303605m, sigma_yaw=0.00403174 rad, N=2
I0419 20:59:58.641094 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803075, -2.00436, -4.35176deg) inliers=2 rms=0.00303605m
I0419 20:59:58.641132 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291986180530.
I0419 20:59:58.646668 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291986459966.
I0419 20:59:58.674374 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0546862, -0.669852), points=18, range=0.673389, residual=0.0113155, extent=0.0340172
I0419 20:59:58.674499 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0546862, -0.669852), tracking=(-0.243814, 0.669852), map_predicted=(0.616162, -1.31748), range=0.673389, pts=18
I0419 20:59:58.674535 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00277642m maha_sq=0.000334218 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.616162, -1.31748) lm_pos=(0.615, -1.32) delta=(0.00116186, 0.00252163) -> 1 candidate(s)
I0419 20:59:58.674634 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291986739041.
I0419 20:59:58.698532 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521499s, prior_pose=(0.804627, -2.00555), yaw=-4.60529 deg
I0419 20:59:58.698732 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 20:59:58.702142 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.744518, 0.600446)
I0419 20:59:58.702333 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291987016005.
I0419 20:59:58.775149 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291987301854.
I0419 20:59:58.776646 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:58.776714 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:58.776765 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:58.776782 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:58.777729 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:58.777828 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291987618426.
I0419 20:59:58.790599 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0628163, -0.672486), points=19, range=0.675158, residual=0.0119654, extent=0.035653
I0419 20:59:58.790894 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0628163, -0.672486), tracking=(-0.235684, 0.672486), map_predicted=(0.619827, -1.31799), range=0.675158, pts=19
I0419 20:59:58.790956 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.005228m maha_sq=0.00118284 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(0.619827, -1.31799) lm_pos=(0.615, -1.32) delta=(0.00482703, 0.00200791) -> 1 candidate(s)
I0419 20:59:58.791019 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:58.791100 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:58.791122 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291987898616.
I0419 20:59:58.822046 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.745146, 0.602481)
I0419 20:59:58.822286 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291988213520.
I0419 20:59:58.842257 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:58.850865 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291988498053.
I0419 20:59:58.930778 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802178, -2.00591), yaw=-4.61406 deg backend=(0.803931, -2.0062)
I0419 20:59:58.933271 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=6.04361e-05 range=0.9576 variance=0.000518408 t_weight=5786.95 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802178, -2.00591, -4.61406deg) obs_actual=(-1.04151, -0.600755) obs_expected=(-1.0423, -0.599881) delta=(0.000793853, -0.0008736) |delta|=0.00118042m
I0419 20:59:58.933492 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291988865871.
I0419 20:59:58.936285 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:58.936473 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548799, -0.672177), points=18, range=0.675167, residual=0.0109131, extent=0.0336333
I0419 20:59:58.936499 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:58.936522 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0548799, -0.672177), tracking=(-0.24362, 0.672177), map_predicted=(0.613093, -1.31669), range=0.675167, pts=18
I0419 20:59:58.936544 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00382404m maha_sq=0.000633968 (gate chi2=5.99) pose_sigma=(0.150036, 0.150036, rho=0) det_map=(0.613093, -1.31669) lm_pos=(0.615, -1.32) delta=(-0.0019072, 0.00331449) -> 1 candidate(s)
I0419 20:59:58.936718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291989101545.
I0419 20:59:58.939798 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.744925, 0.601692)
I0419 20:59:58.939987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291989393956.
I0419 20:59:58.970026 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291989694461.
I0419 20:59:58.989881 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0792619s, prior_pose=(0.802405, -2.00567), yaw=-4.61347 deg
I0419 20:59:58.989997 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:59.050400 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291989972946.
I0419 20:59:59.052201 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11528, 1.76255), points=4, range=3.58175, residual=0.0153711, extent=0.0370872
I0419 20:59:59.052279 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11528, 1.76255), tracking=(-3.41378, -1.76255), map_predicted=(-2.742, -3.48843), range=3.58175, pts=4
I0419 20:59:59.052304 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64097m maha_sq=297.024 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.742, -3.48843) lm_pos=(-0.285, -2.52) delta=(-2.457, -0.968428) -> 0 candidate(s)
I0419 20:59:59.052364 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291990260316.
I0419 20:59:59.058199 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:59.058307 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:59.058369 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:59.059275 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.747681, 0.600913)
I0419 20:59:59.059343 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:59.059424 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291990571865.
I0419 20:59:59.114321 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291991137352.
I0419 20:59:59.182222 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:59.183329 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291991460906.
I0419 20:59:59.186153 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.749833, 0.602365)
I0419 20:59:59.186280 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547315, -0.67045), points=18, range=0.673389, residual=0.0108722, extent=0.0335839
I0419 20:59:59.186313 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547315, -0.67045), tracking=(-0.243768, 0.67045), map_predicted=(0.615274, -1.31763), range=0.673389, pts=18
I0419 20:59:59.186336 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00238421m maha_sq=0.000246394 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(0.615274, -1.31763) lm_pos=(0.615, -1.32) delta=(0.000273553, 0.00236847) -> 1 candidate(s)
I0419 20:59:59.186455 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291991735254.
I0419 20:59:59.202574 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:59.202670 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:59.202757 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00188379 range=0.956 variance=0.00057898 t_weight=5181.52 r_weight=0 yaml=(-0.285, -2.52) prior=(0.80422, -2.00555, -4.62227deg) obs_actual=(-1.03765, -0.59994) obs_expected=(-1.04422, -0.600558) delta=(0.00656459, 0.000618125) |delta|=0.00659362m
I0419 20:59:59.202841 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291992020782.
I0419 20:59:59.234592 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.49155 deg, rms_residual=0.00302076m, sigma_yaw=0.00401152 rad, N=2
I0419 20:59:59.234762 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801232, -2.00574, -4.49155deg) inliers=2 rms=0.00302076m
I0419 20:59:59.234874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291992337041.
I0419 20:59:59.313184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291992616249.
I0419 20:59:59.314359 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557618s, prior_pose=(0.798804, -2.00586), yaw=-4.60235 deg
I0419 20:59:59.314488 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 20:59:59.315771 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.743031, 0.600436)
I0419 20:59:59.315907 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11829, 1.77024), points=5, range=3.5822, residual=0.0178659, extent=0.0461864
I0419 20:59:59.315966 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11829, 1.77024), tracking=(-3.41679, -1.77024), map_predicted=(-2.74901, -3.49623), range=3.5822, pts=5
I0419 20:59:59.316012 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65035m maha_sq=298.085 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74901, -3.49623) lm_pos=(-0.285, -2.52) delta=(-2.46401, -0.976226) -> 0 candidate(s)
I0419 20:59:59.316131 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291992938154.
I0419 20:59:59.318226 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:59.319133 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291993181248.
I0419 20:59:59.341910 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:59.342001 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 20:59:59.342060 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 20:59:59.349745 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:59.349900 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291993492426.
I0419 20:59:59.382805 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291993820073.
I0419 20:59:59.459846 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.746159, 0.600587)
I0419 20:59:59.459995 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.74156, 0.600475), points=7, range=0.957857, residual=0.0101026, extent=0.0245669
I0419 20:59:59.460026 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.74156, 0.600475), tracking=(-1.04006, -0.600475), map_predicted=(-0.283171, -2.52073), range=0.957857, pts=7
I0419 20:59:59.460054 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00197027m maha_sq=0.000168216 (gate chi2=5.99) pose_sigma=(0.150091, 0.150091, rho=0) det_map=(-0.283171, -2.52073) lm_pos=(-0.285, -2.52) delta=(0.00182884, -0.000733009) -> 1 candidate(s)
I0419 20:59:59.460112 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:59.460160 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:59.460180 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291994096528.
I0419 20:59:59.461290 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:59.462934 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291994377285.
I0419 20:59:59.466217 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291994656882.
I0419 20:59:59.494446 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:59.494613 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:59.494729 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000950312 range=0.955167 variance=0.000552725 t_weight=5427.66 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802314, -2.00619, -4.61507deg) obs_actual=(-1.03793, -0.600871) obs_expected=(-1.04245, -0.599634) delta=(0.00451723, -0.00123696) |delta|=0.00468353m
I0419 20:59:59.494858 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291994939090.
I0419 20:59:59.584324 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.744248, 0.597875)
I0419 20:59:59.584514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291995254440.
I0419 20:59:59.585672 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26138, 0.858825), points=3, range=1.531, residual=0.0121312, extent=0.0255954
I0419 20:59:59.585762 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26138, 0.858825), tracking=(1.55988, 0.858825), map_predicted=(2.42591, -1.27579), range=1.531, pts=3
I0419 20:59:59.585793 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0455406m maha_sq=0.0896618 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.42591, -1.27579) lm_pos=(2.415, -1.32) delta=(0.0109083, 0.0442149) -> 1 candidate(s)
I0419 20:59:59.586678 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291995541269.
I0419 20:59:59.589905 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518786s, prior_pose=(0.801048, -2.00623), yaw=-4.62447 deg
I0419 20:59:59.590037 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=250, threshold=230, above_threshold=24, candidates=24
I0419 20:59:59.591150 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291995862094.
I0419 20:59:59.612775 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 20:59:59.616307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291996156769.
I0419 20:59:59.638854 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:59.638952 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:59.639010 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:59.641916 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.739966, 0.597021)
I0419 20:59:59.642025 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:59.642107 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291996414123.
I0419 20:59:59.696481 1219494 pose_graph_2d.cc:160] Inserted submap (1, 32).
I0419 20:59:59.698487 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0556466, -0.669646), points=18, range=0.673167, residual=0.0107427, extent=0.0338111
I0419 20:59:59.698614 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0556466, -0.669646), tracking=(-0.242853, 0.669646), map_predicted=(0.613596, -1.32041), range=0.673167, pts=18
I0419 20:59:59.698647 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0014634m maha_sq=9.27991e-05 (gate chi2=5.99) pose_sigma=(0.150085, 0.150085, rho=0) det_map=(0.613596, -1.32041) lm_pos=(0.615, -1.32) delta=(-0.00140421, -0.00041199) -> 1 candidate(s)
I0419 20:59:59.698731 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291996733938.
I0419 20:59:59.704084 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291997033943.
I0419 20:59:59.722697 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 20:59:59.730897 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291997302747.
I0419 20:59:59.733908 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802045, -2.00735), yaw=-4.62618 deg backend=(0.803258, -2.00561)
I0419 20:59:59.763151 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.746845, 0.599964)
I0419 20:59:59.763372 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291997626472.
I0419 20:59:59.851946 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 20:59:59.852077 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0566412, -0.669488), points=19, range=0.673684, residual=0.0117418, extent=0.0362056
I0419 20:59:59.852101 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 20:59:59.852120 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0566412, -0.669488), tracking=(-0.241859, 0.669488), map_predicted=(0.615482, -1.31991), range=0.673684, pts=19
I0419 20:59:59.852142 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.000490031m maha_sq=1.03986e-05 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(0.615482, -1.31991) lm_pos=(0.615, -1.32) delta=(0.000481983, 8.8448e-05) -> 1 candidate(s)
I0419 20:59:59.852239 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=8.12179e-05 range=0.9534 variance=0.000507377 t_weight=5912.76 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802559, -2.00673, -4.62593deg) obs_actual=(-1.04247, -0.597955) obs_expected=(-1.04262, -0.599315) delta=(0.000150353, 0.00135922) |delta|=0.00136751m
I0419 20:59:59.852291 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291997914725.
I0419 20:59:59.854462 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.90344 deg, rms_residual=0.00191792m, sigma_yaw=0.00256378 rad, N=2
I0419 20:59:59.854605 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.799491, -2.00997, -4.90344deg) inliers=2 rms=0.00191792m
I0419 20:59:59.854643 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291998175715.
I0419 20:59:59.857504 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291998498163.
I0419 20:59:59.870545 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0783826s, prior_pose=(0.801638, -2.0077), yaw=-4.62536 deg
I0419 20:59:59.870664 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 20:59:59.879945 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.744263, 0.59907)
I0419 20:59:59.880156 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291998792468.
I0419 20:59:59.900569 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 20:59:59.906875 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0576756, -0.670335), points=20, range=0.6749, residual=0.013459, extent=0.0434061
I0419 20:59:59.906993 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0576756, -0.670335), tracking=(-0.240824, 0.670335), map_predicted=(0.616461, -1.31916), range=0.6749, pts=20
I0419 20:59:59.907023 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00168507m maha_sq=0.000122827 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.616461, -1.31916) lm_pos=(0.615, -1.32) delta=(0.0014615, 0.000838732) -> 1 candidate(s)
I0419 20:59:59.907119 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291999059748.
I0419 20:59:59.961484 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 20:59:59.961591 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 20:59:59.961650 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 20:59:59.961910 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 20:59:59.962488 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 20:59:59.962584 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291999378556.
I0419 20:59:59.966109 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291999654859.
I0419 20:59:59.994551 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.741268, 0.598676)
I0419 20:59:59.994797 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 20:59:59.994987 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 20:59:59.995051 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122291999940316.
I0419 21:00:00.017942 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:00.025816 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0556171, -0.669069), points=19, range=0.672579, residual=0.0114577, extent=0.0362561
I0419 21:00:00.025911 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0556171, -0.669069), tracking=(-0.242883, 0.669069), map_predicted=(0.614195, -1.3204), range=0.672579, pts=19
I0419 21:00:00.025940 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.000900483m maha_sq=3.51518e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.614195, -1.3204) lm_pos=(0.615, -1.32) delta=(-0.000805211, -0.000403119) -> 1 candidate(s)
I0419 21:00:00.026019 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292000253692.
I0419 21:00:00.098634 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292000537162.
I0419 21:00:00.100674 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:00.100787 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:00.100858 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000326648 range=0.954714 variance=0.000538307 t_weight=5573.03 r_weight=0 yaml=(-0.285, -2.52) prior=(0.799094, -2.00777, -4.63429deg) obs_actual=(-1.03813, -0.600681) obs_expected=(-1.03916, -0.59814) delta=(0.0010348, -0.00254059) |delta|=0.00274325m
I0419 21:00:00.100922 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292000859152.
I0419 21:00:00.113857 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.741412, 0.600323)
I0419 21:00:00.114038 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292001133572.
I0419 21:00:00.141949 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11208, 1.76075), points=3, range=3.57567, residual=0.0142711, extent=0.0348793
I0419 21:00:00.142055 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11208, 1.76075), tracking=(-3.41058, -1.76075), map_predicted=(-2.74217, -3.4863), range=3.57567, pts=3
I0419 21:00:00.142083 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64035m maha_sq=297.04 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(-2.74217, -3.4863) lm_pos=(-0.285, -2.52) delta=(-2.45717, -0.966303) -> 0 candidate(s)
I0419 21:00:00.142174 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292001412071.
I0419 21:00:00.166656 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607605s, prior_pose=(0.799542, -2.00691), yaw=-4.63493 deg
I0419 21:00:00.166786 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 21:00:00.238942 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292002017453.
I0419 21:00:00.240132 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:00.240259 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:00.240306 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:00.241771 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.744446, 0.599218)
I0419 21:00:00.241860 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:00.241936 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292002294504.
I0419 21:00:00.262681 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.739588, 0.598881), points=4, range=0.954, residual=0.00884162, extent=0.0217535
I0419 21:00:00.262861 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.739588, 0.598881), tracking=(-1.03809, -0.598881), map_predicted=(-0.282032, -2.5202), range=0.954, pts=4
I0419 21:00:00.262913 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00297528m maha_sq=0.000384449 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.282032, -2.5202) lm_pos=(-0.285, -2.52) delta=(0.0029684, -0.000202258) -> 1 candidate(s)
I0419 21:00:00.263126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292002618909.
I0419 21:00:00.290504 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292002892680.
I0419 21:00:00.314440 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:00.389838 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292003181034.
I0419 21:00:00.391680 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.745667, 0.601188)
I0419 21:00:00.391819 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292003462585.
I0419 21:00:00.394394 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:00.394486 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:00.394562 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292003775860.
I0419 21:00:00.402776 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.478963, -0.436189), points=20, range=0.64565, residual=0.0144966, extent=0.0457748
I0419 21:00:00.402886 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.478963, -0.436189), tracking=(0.777463, -0.436189), map_predicted=(1.54167, -2.50527), range=0.64565, pts=20
I0419 21:00:00.402925 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.203859m maha_sq=1.79553 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.54167, -2.50527) lm_pos=(1.745, -2.52) delta=(-0.203326, 0.0147289) -> 1 candidate(s)
I0419 21:00:00.409881 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000698013 range=0.953167 variance=0.000520786 t_weight=5760.53 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801849, -2.00729, -4.65082deg) obs_actual=(-1.03773, -0.598588) obs_expected=(-1.0417, -0.599147) delta=(0.00397014, 0.000558782) |delta|=0.00400927m
I0419 21:00:00.410079 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292004092050.
I0419 21:00:00.438371 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.27785 deg, rms_residual=0.00356791m, sigma_yaw=0.00473469 rad, N=2
I0419 21:00:00.438536 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803344, -2.00336, -4.27785deg) inliers=2 rms=0.00356791m
I0419 21:00:00.438632 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292004375077.
I0419 21:00:00.496426 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0485233s, prior_pose=(0.800595, -2.00632), yaw=-4.62828 deg
I0419 21:00:00.496543 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 21:00:00.496676 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:00.497522 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.741443, 0.599747)
I0419 21:00:00.497656 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292004657137.
I0419 21:00:00.500329 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292004980948.
I0419 21:00:00.518560 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:00.518718 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:00.518777 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27548, 0.857623), points=3, range=1.535, residual=0.00573692, extent=0.00977451
I0419 21:00:00.518821 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27548, 0.857623), tracking=(1.57398, 0.857623), map_predicted=(2.43933, -1.27856), range=1.535, pts=3
I0419 21:00:00.518867 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0480535m maha_sq=0.100324 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43933, -1.27856) lm_pos=(2.415, -1.32) delta=(0.0243262, 0.0414412) -> 1 candidate(s)
I0419 21:00:00.518934 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:00.526444 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:00.526687 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292005257312.
I0419 21:00:00.554517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292005535361.
I0419 21:00:00.669991 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.746707, 0.60013)
I0419 21:00:00.670192 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292005853413.
I0419 21:00:00.671439 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:00.672350 1218972 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:00.672448 1218972 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:00.672480 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292006138008.
I0419 21:00:00.673555 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802529, -2.00682), yaw=-4.63799 deg backend=(0.802561, -2.00668)
I0419 21:00:00.675050 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0547286, -0.670249), points=18, range=0.673556, residual=0.0111951, extent=0.0336333
I0419 21:00:00.675109 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0547286, -0.670249), tracking=(-0.243771, 0.670249), map_predicted=(0.613752, -1.31905), range=0.673556, pts=18
I0419 21:00:00.675165 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00156672m maha_sq=0.000106338 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(0.613752, -1.31905) lm_pos=(0.615, -1.32) delta=(-0.00124839, 0.000946634) -> 1 candidate(s)
I0419 21:00:00.675247 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292006412488.
I0419 21:00:00.677742 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:00.677816 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:00.677888 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292006703151.
I0419 21:00:00.702240 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.738187, 0.599863)
I0419 21:00:00.702522 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00369462 range=0.9512 variance=0.000518633 t_weight=5784.43 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803062, -2.00712, -4.63724deg) obs_actual=(-1.03384, -0.59988) obs_expected=(-1.04304, -0.599163) delta=(0.00919406, -0.000717256) |delta|=0.00922199m
I0419 21:00:00.702673 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292007013642.
I0419 21:00:00.783957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292007301243.
I0419 21:00:00.785086 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839082s, prior_pose=(0.800526, -2.00875), yaw=-4.62073 deg
I0419 21:00:00.785181 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:00:00.786664 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0605001, -0.668883), points=18, range=0.672278, residual=0.0109506, extent=0.0336828
I0419 21:00:00.786758 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0605001, -0.668883), tracking=(-0.238, 0.668883), map_predicted=(0.618641, -1.32168), range=0.672278, pts=18
I0419 21:00:00.786784 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00400833m maha_sq=0.000695568 (gate chi2=5.99) pose_sigma=(0.150141, 0.150141, rho=0) det_map=(0.618641, -1.32168) lm_pos=(0.615, -1.32) delta=(0.00364078, -0.00167672) -> 1 candidate(s)
I0419 21:00:00.788638 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292007882102.
I0419 21:00:00.810422 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:00.810559 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:00.810648 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:00.817828 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.745552, 0.601304)
I0419 21:00:00.817942 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:00.818056 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292008173336.
I0419 21:00:00.933712 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292008498009.
I0419 21:00:00.935873 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11267, 1.76108), points=4, range=3.58, residual=0.0175645, extent=0.0426039
I0419 21:00:00.936008 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11267, 1.76108), tracking=(-3.41117, -1.76108), map_predicted=(-2.74004, -3.48537), range=3.58, pts=4
I0419 21:00:00.936038 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63802m maha_sq=295.457 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74004, -3.48537) lm_pos=(-0.285, -2.52) delta=(-2.45504, -0.965373) -> 0 candidate(s)
I0419 21:00:00.936120 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292008776736.
I0419 21:00:00.938409 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:00.939416 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292009058507.
I0419 21:00:00.941984 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.739499, 0.600577)
I0419 21:00:00.942119 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292009342079.
I0419 21:00:00.966236 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:00.966360 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:00.966517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292009657651.
I0419 21:00:01.027920 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11059, 1.75392), points=3, range=3.577, residual=0.0154895, extent=0.032526
I0419 21:00:01.028043 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11059, 1.75392), tracking=(-3.40909, -1.75392), map_predicted=(-2.73648, -3.47816), range=3.577, pts=3
I0419 21:00:01.028074 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63207m maha_sq=294.362 (gate chi2=5.99) pose_sigma=(0.150167, 0.150167, rho=0) det_map=(-2.73648, -3.47816) lm_pos=(-0.285, -2.52) delta=(-2.45148, -0.958164) -> 0 candidate(s)
I0419 21:00:01.028162 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292009940235.
I0419 21:00:01.029235 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:01.030872 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=2.19589e-05 range=0.954 variance=0.000559093 t_weight=5365.84 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803715, -2.00592, -4.63504deg) obs_actual=(-1.04302, -0.599981) obs_expected=(-1.04361, -0.600372) delta=(0.000594903, 0.000390901) |delta|=0.000711838m
I0419 21:00:01.030982 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292010260420.
I0419 21:00:01.046070 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597015s, prior_pose=(0.803715, -2.00592), yaw=-4.63504 deg
I0419 21:00:01.046187 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 21:00:01.057869 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.747471, 0.601043)
I0419 21:00:01.058043 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.55398 deg, rms_residual=0.00275887m, sigma_yaw=0.00366501 rad, N=2
I0419 21:00:01.058115 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801384, -2.00579, -4.55398deg) inliers=2 rms=0.00275887m
I0419 21:00:01.058194 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292010573380.
I0419 21:00:01.081969 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292010812740.
I0419 21:00:01.106755 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:01.106935 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:01.107059 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:01.195175 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11507, 1.7744), points=4, range=3.5795, residual=0.0175486, extent=0.0412685
I0419 21:00:01.195289 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11507, 1.7744), tracking=(-3.41357, -1.7744), map_predicted=(-2.74159, -3.49841), range=3.5795, pts=4
I0419 21:00:01.195322 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64426m maha_sq=296.409 (gate chi2=5.99) pose_sigma=(0.150121, 0.150121, rho=0) det_map=(-2.74159, -3.49841) lm_pos=(-0.285, -2.52) delta=(-2.45659, -0.978414) -> 0 candidate(s)
I0419 21:00:01.195345 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:01.195410 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292011139623.
I0419 21:00:01.197186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292011412560.
I0419 21:00:01.199661 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.74319, 0.599707)
I0419 21:00:01.199831 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292011700141.
I0419 21:00:01.201000 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:01.231235 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.743148, 0.598177), points=6, range=0.952167, residual=0.00939127, extent=0.0271498
I0419 21:00:01.231454 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.743148, 0.598177), tracking=(-1.04165, -0.598177), map_predicted=(-0.284376, -2.51828), range=0.952167, pts=6
I0419 21:00:01.231520 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00183256m maha_sq=0.000145533 (gate chi2=5.99) pose_sigma=(0.150133, 0.150133, rho=0) det_map=(-0.284376, -2.51828) lm_pos=(-0.285, -2.52) delta=(0.000624395, 0.00172291) -> 1 candidate(s)
I0419 21:00:01.231788 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292012301769.
I0419 21:00:01.318686 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:01.318806 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:01.318861 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:01.318917 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:01.318944 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292012612009.
I0419 21:00:01.321537 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.748406, 0.601214)
I0419 21:00:01.321725 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292012900587.
I0419 21:00:01.323609 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292013179762.
I0419 21:00:01.342607 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518654s, prior_pose=(0.80188, -2.00665), yaw=-4.64407 deg
I0419 21:00:01.342790 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 21:00:01.350736 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=5.44933e-05 range=0.9562 variance=0.000510615 t_weight=5875.27 r_weight=0 yaml=(-0.285, -2.52) prior=(0.80188, -2.00665, -4.64407deg) obs_actual=(-1.04073, -0.600126) obs_expected=(-1.04175, -0.599663) delta=(0.00101999, -0.000463115) |delta|=0.0011202m
I0419 21:00:01.350929 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292013499392.
I0419 21:00:01.370254 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.474043, -0.436821), points=18, range=0.645444, residual=0.0131736, extent=0.0473267
I0419 21:00:01.370407 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.474043, -0.436821), tracking=(0.772543, -0.436821), map_predicted=(1.53652, -2.50459), range=0.645444, pts=18
I0419 21:00:01.370456 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.20905m maha_sq=1.89112 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53652, -2.50459) lm_pos=(1.745, -2.52) delta=(-0.208481, 0.0154116) -> 1 candidate(s)
I0419 21:00:01.450035 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292013773725.
I0419 21:00:01.450868 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:01.451068 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:01.451114 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:01.451165 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:01.451910 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.741451, 0.599627)
I0419 21:00:01.451972 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:01.452031 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292014063229.
I0419 21:00:01.454437 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292014376860.
I0419 21:00:01.466481 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292014653333.
I0419 21:00:01.488792 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470867, -0.436427), points=19, range=0.643632, residual=0.0138118, extent=0.0457364
I0419 21:00:01.489012 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:01.489048 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470867, -0.436427), tracking=(0.769367, -0.436427), map_predicted=(1.53602, -2.50384), range=0.643632, pts=19
I0419 21:00:01.489136 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.209608m maha_sq=1.89983 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53602, -2.50384) lm_pos=(1.745, -2.52) delta=(-0.208985, 0.0161575) -> 1 candidate(s)
I0419 21:00:01.494668 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292014938445.
I0419 21:00:01.551170 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.801265, -2.00558), yaw=-4.6216 deg backend=(0.801857, -2.00659)
I0419 21:00:01.553553 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.743862, 0.599948)
I0419 21:00:01.553949 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292015219119.
I0419 21:00:01.556516 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:01.556615 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:01.556695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292015535256.
I0419 21:00:01.574729 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:01.581771 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292015811718.
I0419 21:00:01.606096 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.472331, -0.435236), points=19, range=0.642368, residual=0.0141399, extent=0.0484646
I0419 21:00:01.606248 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.472331, -0.435236), tracking=(0.770831, -0.435236), map_predicted=(1.53492, -2.50155), range=0.642368, pts=19
I0419 21:00:01.606298 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210886m maha_sq=1.92086 (gate chi2=5.99) pose_sigma=(0.150058, 0.150058, rho=0) det_map=(1.53492, -2.50155) lm_pos=(1.745, -2.52) delta=(-0.210077, 0.0184502) -> 1 candidate(s)
I0419 21:00:01.614876 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292016142086.
I0419 21:00:01.633854 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0797021s, prior_pose=(0.801662, -2.00563), yaw=-4.62101 deg
I0419 21:00:01.634011 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 21:00:01.707302 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.743327, 0.600061)
I0419 21:00:01.707476 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00157733 range=0.955333 variance=0.00061188 t_weight=4902.92 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801791, -2.00648, -4.65962deg) obs_actual=(-1.03545, -0.600279) obs_expected=(-1.04148, -0.600107) delta=(0.00603789, -0.00017257) |delta|=0.00604035m
I0419 21:00:01.707540 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292016416832.
I0419 21:00:01.709221 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.64155 deg, rms_residual=0.000292136m, sigma_yaw=0.000389363 rad, N=2
I0419 21:00:01.709293 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.803921, -2.00748, -4.64155deg) inliers=2 rms=0.000292136m
I0419 21:00:01.709326 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292016695486.
I0419 21:00:01.711156 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:01.711251 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:01.711301 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:01.712148 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:01.712335 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292016981529.
I0419 21:00:01.722764 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2705, 0.859643), points=3, range=1.52767, residual=0.0120166, extent=0.0237236
I0419 21:00:01.722894 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2705, 0.859643), tracking=(1.569, 0.859643), map_predicted=(2.43608, -1.27745), range=1.52767, pts=3
I0419 21:00:01.722939 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.047486m maha_sq=0.0974985 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43608, -1.27745) lm_pos=(2.415, -1.32) delta=(0.0210812, 0.04255) -> 1 candidate(s)
I0419 21:00:01.730283 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292017295588.
I0419 21:00:01.758713 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.744614, 0.60113)
I0419 21:00:01.758994 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292017578712.
I0419 21:00:01.845736 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:01.846596 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292017895813.
I0419 21:00:01.849293 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292018181386.
I0419 21:00:01.850383 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27036, 0.856862), points=4, range=1.5275, residual=0.0113632, extent=0.0246507
I0419 21:00:01.850474 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27036, 0.856862), tracking=(1.56886, 0.856862), map_predicted=(2.43169, -1.2807), range=1.5275, pts=4
I0419 21:00:01.850500 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0427017m maha_sq=0.0788941 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43169, -1.2807) lm_pos=(2.415, -1.32) delta=(0.0166937, 0.0393034) -> 1 candidate(s)
I0419 21:00:01.851282 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:01.851341 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:01.851392 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:01.851440 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:01.851457 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292018452016.
I0419 21:00:01.878472 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.750121, 0.601631)
I0419 21:00:01.878822 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292018778485.
I0419 21:00:01.975479 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292019053905.
I0419 21:00:01.976526 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557011s, prior_pose=(0.805906, -2.0063), yaw=-4.65159 deg
I0419 21:00:01.976612 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=248, threshold=230, above_threshold=24, candidates=24
I0419 21:00:01.977553 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00377053 range=0.953333 variance=0.00053738 t_weight=5582.64 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805906, -2.0063, -4.65159deg) obs_actual=(-1.03634, -0.600297) obs_expected=(-1.04565, -0.600474) delta=(0.00931837, 0.000176563) |delta|=0.00932004m
I0419 21:00:01.977694 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292019337974.
I0419 21:00:01.979357 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27216, 0.860762), points=3, range=1.529, residual=0.0132576, extent=0.0265323
I0419 21:00:01.979445 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27216, 0.860762), tracking=(1.57066, 0.860762), map_predicted=(2.43856, -1.27588), range=1.529, pts=3
I0419 21:00:01.979473 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0500157m maha_sq=0.107741 (gate chi2=5.99) pose_sigma=(0.150197, 0.150197, rho=0) det_map=(2.43856, -1.27588) lm_pos=(2.415, -1.32) delta=(0.023559, 0.0441197) -> 1 candidate(s)
I0419 21:00:01.980319 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292019660064.
I0419 21:00:01.987077 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:01.987207 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:01.987298 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:01.994486 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.74465, 0.600564)
I0419 21:00:01.994642 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:01.994787 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292019939204.
I0419 21:00:02.024019 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292020216920.
I0419 21:00:02.111027 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292020532168.
I0419 21:00:02.112089 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27202, 0.85798), points=4, range=1.5295, residual=0.0113666, extent=0.0246549
I0419 21:00:02.112161 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:02.112179 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27202, 0.85798), tracking=(1.57052, 0.85798), map_predicted=(2.43497, -1.27873), range=1.5295, pts=4
I0419 21:00:02.112198 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0458429m maha_sq=0.0909274 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43497, -1.27873) lm_pos=(2.415, -1.32) delta=(0.019969, 0.0412652) -> 1 candidate(s)
I0419 21:00:02.113689 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292020819533.
I0419 21:00:02.115468 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.74102, 0.60145)
I0419 21:00:02.115576 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292021142448.
I0419 21:00:02.142590 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:02.142747 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:02.142928 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292021417070.
I0419 21:00:02.162662 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:02.252348 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292021693275.
I0419 21:00:02.253726 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27712, 0.864128), points=3, range=1.538, residual=0.00818449, extent=0.0157767
I0419 21:00:02.253815 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27712, 0.864128), tracking=(1.57562, 0.864128), map_predicted=(2.4425, -1.27181), range=1.538, pts=3
I0419 21:00:02.253845 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0554804m maha_sq=0.133533 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.4425, -1.27181) lm_pos=(2.415, -1.32) delta=(0.0274998, 0.0481854) -> 1 candidate(s)
I0419 21:00:02.254762 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292022022573.
I0419 21:00:02.256418 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0530896s, prior_pose=(0.802931, -2.00586), yaw=-4.63939 deg
I0419 21:00:02.256485 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=249, threshold=230, above_threshold=20, candidates=20
I0419 21:00:02.257278 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.742155, 0.599396)
I0419 21:00:02.257364 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000124512 range=0.954 variance=0.000538371 t_weight=5572.37 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802931, -2.00586, -4.63939deg) obs_actual=(-1.04243, -0.598795) obs_expected=(-1.04278, -0.600453) delta=(0.000349025, 0.00165802) |delta|=0.00169436m
I0419 21:00:02.257423 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292022292156.
I0419 21:00:02.259804 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.70015 deg, rms_residual=0.000511101m, sigma_yaw=0.000681003 rad, N=2
I0419 21:00:02.259887 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801536, -2.00645, -4.70015deg) inliers=2 rms=0.000511101m
I0419 21:00:02.259922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292022581647.
I0419 21:00:02.282804 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:02.282939 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:02.283041 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:02.290374 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:02.290722 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292022892633.
I0419 21:00:02.362200 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0565297, -0.668361), points=19, range=0.672737, residual=0.0118222, extent=0.0357528
I0419 21:00:02.362329 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0565297, -0.668361), tracking=(-0.24197, 0.668361), map_predicted=(0.616339, -1.32026), range=0.672737, pts=19
I0419 21:00:02.362356 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00136473m maha_sq=8.06551e-05 (gate chi2=5.99) pose_sigma=(0.150053, 0.150053, rho=0) det_map=(0.616339, -1.32026) lm_pos=(0.615, -1.32) delta=(0.0013393, -0.000262224) -> 1 candidate(s)
I0419 21:00:02.362454 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292023182898.
I0419 21:00:02.364884 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.745553, 0.598694)
I0419 21:00:02.365049 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292023452925.
I0419 21:00:02.366508 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:02.374692 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292023741441.
I0419 21:00:02.375705 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.804314, -2.00504), yaw=-4.63927 deg backend=(0.803728, -2.00631)
I0419 21:00:02.403024 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292024019512.
I0419 21:00:02.485116 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:02.485473 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0596971, -0.670874), points=18, range=0.673889, residual=0.0107411, extent=0.0335738
I0419 21:00:02.485636 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:02.485780 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0596971, -0.670874), tracking=(-0.238803, 0.670874), map_predicted=(0.616463, -1.3179), range=0.673889, pts=18
I0419 21:00:02.485828 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.002556m maha_sq=0.000282258 (gate chi2=5.99) pose_sigma=(0.150314, 0.150314, rho=0) det_map=(0.616463, -1.3179) lm_pos=(0.615, -1.32) delta=(0.00146327, 0.0020957) -> 1 candidate(s)
I0419 21:00:02.485893 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:02.485946 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:02.485965 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292024341017.
I0419 21:00:02.488092 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(3.11632, 1.76914)
I0419 21:00:02.488296 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292024621379.
I0419 21:00:02.494038 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292024934487.
I0419 21:00:02.514319 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798004s, prior_pose=(0.801851, -2.00583), yaw=-4.64 deg
I0419 21:00:02.514431 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 21:00:02.522114 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00144468 range=0.958429 variance=0.000524263 t_weight=5722.32 r_weight=0 yaml=(-0.285, -2.52) prior=(0.8016, -2.00598, -4.6393deg) obs_actual=(-1.0472, -0.600856) obs_expected=(-1.04146, -0.600223) delta=(-0.00573331, -0.000633539) |delta|=0.0057682m
I0419 21:00:02.522256 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292025215928.
I0419 21:00:02.554302 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11644, 1.76321), points=4, range=3.58325, residual=0.0158343, extent=0.0382101
I0419 21:00:02.554410 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11644, 1.76321), tracking=(-3.41494, -1.76321), map_predicted=(-2.74476, -3.4872), range=3.58325, pts=4
I0419 21:00:02.554463 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64309m maha_sq=297.315 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74476, -3.4872) lm_pos=(-0.285, -2.52) delta=(-2.45976, -0.967204) -> 0 candidate(s)
I0419 21:00:02.554579 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292025538613.
I0419 21:00:02.610339 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:02.610427 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:02.610481 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:02.611343 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1195, 1.75896)
I0419 21:00:02.611431 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:02.611518 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292025818617.
I0419 21:00:02.613981 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292026108313.
I0419 21:00:02.638854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292026381979.
I0419 21:00:02.662256 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:02.670647 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11885, 1.75859), points=5, range=3.5818, residual=0.0175354, extent=0.0457569
I0419 21:00:02.670814 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11885, 1.75859), tracking=(-3.41735, -1.75859), map_predicted=(-2.74493, -3.48206), range=3.5818, pts=5
I0419 21:00:02.670871 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64136m maha_sq=295.908 (gate chi2=5.99) pose_sigma=(0.150081, 0.150081, rho=0) det_map=(-2.74493, -3.48206) lm_pos=(-0.285, -2.52) delta=(-2.45993, -0.96206) -> 0 candidate(s)
I0419 21:00:02.671082 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292026697366.
I0419 21:00:02.780339 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11798, 1.7581)
I0419 21:00:02.780525 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292026981368.
I0419 21:00:02.782394 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:02.782500 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:02.782588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292027298769.
I0419 21:00:02.784315 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:02.785341 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292027580371.
I0419 21:00:02.787849 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11923, 1.75283), points=4, range=3.58025, residual=0.0152595, extent=0.0365464
I0419 21:00:02.787952 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11923, 1.75283), tracking=(-3.41773, -1.75283), map_predicted=(-2.74682, -3.47809), range=3.58025, pts=4
I0419 21:00:02.787979 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64169m maha_sq=296.923 (gate chi2=5.99) pose_sigma=(0.150082, 0.150082, rho=0) det_map=(-2.74682, -3.47809) lm_pos=(-0.285, -2.52) delta=(-2.46182, -0.958094) -> 0 candidate(s)
I0419 21:00:02.788105 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292027853663.
I0419 21:00:02.810449 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608642s, prior_pose=(0.801305, -2.00701), yaw=-4.63232 deg
I0419 21:00:02.810583 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 21:00:02.810737 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.476245, -0.436193)
I0419 21:00:02.818634 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00108675 range=0.957 variance=0.000522924 t_weight=5736.98 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801305, -2.00701, -4.63232deg) obs_actual=(-1.04622, -0.600073) obs_expected=(-1.04133, -0.599045) delta=(-0.00489531, -0.00102766) |delta|=0.00500202m
I0419 21:00:02.818847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292028178831.
I0419 21:00:02.890827 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.47984 deg, rms_residual=0.00293976m, sigma_yaw=0.00390438 rad, N=2
I0419 21:00:02.890964 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802411, -2.00522, -4.47984deg) inliers=2 rms=0.00293976m
I0419 21:00:02.891001 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292028453144.
I0419 21:00:02.890988 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:02.892011 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:02.892103 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:02.892153 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:02.893613 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:02.893735 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292028740921.
I0419 21:00:02.906565 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0567787, -0.672835)
I0419 21:00:02.906767 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12234, 1.76055), points=5, range=3.585, residual=0.0161002, extent=0.0426445
I0419 21:00:02.906838 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12234, 1.76055), tracking=(-3.42084, -1.76055), map_predicted=(-2.74859, -3.48535), range=3.585, pts=5
I0419 21:00:02.906888 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64597m maha_sq=297.852 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74859, -3.48535) lm_pos=(-0.285, -2.52) delta=(-2.46359, -0.965352) -> 0 candidate(s)
I0419 21:00:02.907071 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292029056860.
I0419 21:00:02.934470 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292029333391.
I0419 21:00:02.954525 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:03.027806 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292029620035.
I0419 21:00:03.029753 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292029936718.
I0419 21:00:03.031400 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.47698, -0.436872)
I0419 21:00:03.032208 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:03.032256 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.744397, 0.599177), points=6, range=0.953667, residual=0.00990611, extent=0.02788
I0419 21:00:03.032276 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:03.032294 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.744397, 0.599177), tracking=(-1.0429, -0.599177), map_predicted=(-0.28528, -2.51892), range=0.953667, pts=6
I0419 21:00:03.032311 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00111707m maha_sq=5.40575e-05 (gate chi2=5.99) pose_sigma=(0.150125, 0.150125, rho=0) det_map=(-0.28528, -2.51892) lm_pos=(-0.285, -2.52) delta=(-0.000280152, 0.00108136) -> 1 candidate(s)
I0419 21:00:03.032352 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:03.032383 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:03.032400 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292030217357.
I0419 21:00:03.050752 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292030502086.
I0419 21:00:03.078563 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292030779327.
I0419 21:00:03.144444 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0510891s, prior_pose=(0.800854, -2.0071), yaw=-4.64292 deg
I0419 21:00:03.144582 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 21:00:03.145469 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000298806 range=0.9545 variance=0.000535513 t_weight=5602.11 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800854, -2.0071, -4.64292deg) obs_actual=(-1.04336, -0.599556) obs_expected=(-1.04077, -0.599115) delta=(-0.002589, -0.000440711) |delta|=0.00262624m
I0419 21:00:03.145571 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292031091360.
I0419 21:00:03.146886 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474914, -0.436234)
I0419 21:00:03.148711 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292031412703.
I0419 21:00:03.161783 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:03.161867 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:03.161899 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27795, 0.864687), points=3, range=1.53767, residual=0.0103105, extent=0.020096
I0419 21:00:03.161922 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27795, 0.864687), tracking=(1.57645, 0.864687), map_predicted=(2.44228, -1.27217), range=1.53767, pts=3
I0419 21:00:03.161947 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0550652m maha_sq=0.131317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44228, -1.27217) lm_pos=(2.415, -1.32) delta=(0.0272814, 0.047832) -> 1 candidate(s)
I0419 21:00:03.162014 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:03.170423 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:03.170567 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292031699958.
I0419 21:00:03.198694 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292031974752.
I0419 21:00:03.306849 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292032302092.
I0419 21:00:03.308044 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.475298, -0.437926)
I0419 21:00:03.308146 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:03.309145 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292032572332.
I0419 21:00:03.310156 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.803393, -2.00634), yaw=-4.63288 deg backend=(0.803903, -2.0071)
I0419 21:00:03.310894 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27396, 0.859284), points=4, range=1.532, residual=0.0110892, extent=0.0237302
I0419 21:00:03.310956 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27396, 0.859284), tracking=(1.57246, 0.859284), map_predicted=(2.44012, -1.27688), range=1.532, pts=4
I0419 21:00:03.310984 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0499045m maha_sq=0.10753 (gate chi2=5.99) pose_sigma=(0.15018, 0.15018, rho=0) det_map=(2.44012, -1.27688) lm_pos=(2.415, -1.32) delta=(0.0251159, 0.0431236) -> 1 candidate(s)
I0419 21:00:03.311817 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292032856736.
I0419 21:00:03.319001 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:03.319121 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:03.319275 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292033181882.
I0419 21:00:03.338168 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:03.341789 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292033413086.
I0419 21:00:03.417742 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.475455, -0.436753)
I0419 21:00:03.418756 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292033734508.
I0419 21:00:03.419767 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758996s, prior_pose=(0.800677, -2.00738), yaw=-4.61651 deg
I0419 21:00:03.419857 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:00:03.419939 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27465, 0.857064), points=3, range=1.53333, residual=0.00634085, extent=0.0113307
I0419 21:00:03.419967 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27465, 0.857064), tracking=(1.57315, 0.857064), map_predicted=(2.4377, -1.27971), range=1.53333, pts=3
I0419 21:00:03.419993 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0462479m maha_sq=0.0928975 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.4377, -1.27971) lm_pos=(2.415, -1.32) delta=(0.0227047, 0.040291) -> 1 candidate(s)
I0419 21:00:03.421589 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000168923 range=0.957 variance=0.000514139 t_weight=5834.99 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801693, -2.00638, -4.616deg) obs_actual=(-1.04084, -0.601107) obs_expected=(-1.04183, -0.599405) delta=(0.00099819, -0.00170195) |delta|=0.00197308m
I0419 21:00:03.421712 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292034062095.
I0419 21:00:03.434855 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.60815 deg, rms_residual=0.00239544m, sigma_yaw=0.00318376 rad, N=2
I0419 21:00:03.435082 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.804513, -2.00623, -4.60815deg) inliers=2 rms=0.00239544m
I0419 21:00:03.435156 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292034339690.
I0419 21:00:03.454382 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:03.454545 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:03.454643 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:03.462596 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:03.462852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292034616648.
I0419 21:00:03.486387 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.474199, -0.436865)
I0419 21:00:03.573213 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292034932440.
I0419 21:00:03.574340 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27672, 0.858458), points=3, range=1.53567, residual=0.00652029, extent=0.0119852
I0419 21:00:03.574424 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27672, 0.858458), tracking=(1.57522, 0.858458), map_predicted=(2.44246, -1.27844), range=1.53567, pts=3
I0419 21:00:03.574453 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0498089m maha_sq=0.107743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44246, -1.27844) lm_pos=(2.415, -1.32) delta=(0.0274568, 0.0415578) -> 1 candidate(s)
I0419 21:00:03.575363 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292035217360.
I0419 21:00:03.577281 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:03.578039 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292035494755.
I0419 21:00:03.583141 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292035816629.
I0419 21:00:03.602648 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.47612, -0.435983)
I0419 21:00:03.610323 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:03.610446 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:03.610553 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:03.610687 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:03.610790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292036095106.
I0419 21:00:03.696939 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0546953, -0.669985), points=18, range=0.673222, residual=0.0110378, extent=0.0335639
I0419 21:00:03.697052 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0546953, -0.669985), tracking=(-0.243805, 0.669985), map_predicted=(0.612168, -1.31998), range=0.673222, pts=18
I0419 21:00:03.697109 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00283225m maha_sq=0.000347336 (gate chi2=5.99) pose_sigma=(0.150122, 0.150122, rho=0) det_map=(0.612168, -1.31998) lm_pos=(0.615, -1.32) delta=(-0.00283218, 2.00948e-05) -> 1 candidate(s)
I0419 21:00:03.697207 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292036374395.
I0419 21:00:03.699738 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292036700786.
I0419 21:00:03.700736 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056184s, prior_pose=(0.801657, -2.0074), yaw=-4.6357 deg
I0419 21:00:03.700835 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 21:00:03.701822 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00127928 range=0.954167 variance=0.000504089 t_weight=5951.33 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801657, -2.0074, -4.6357deg) obs_actual=(-1.03707, -0.60162) obs_expected=(-1.04167, -0.598752) delta=(0.00460449, -0.00286834) |delta|=0.00542482m
I0419 21:00:03.701922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292037007163.
I0419 21:00:03.719498 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474599, -0.436019)
I0419 21:00:03.731777 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292037301272.
I0419 21:00:03.750303 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:03.750445 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:03.750545 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:03.838903 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12127, 1.75397), points=4, range=3.58175, residual=0.0142453, extent=0.0342267
I0419 21:00:03.839021 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12127, 1.75397), tracking=(-3.41977, -1.75397), map_predicted=(-2.74733, -3.48113), range=3.58175, pts=4
I0419 21:00:03.839054 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64326m maha_sq=297.508 (gate chi2=5.99) pose_sigma=(0.15012, 0.15012, rho=0) det_map=(-2.74733, -3.48113) lm_pos=(-0.285, -2.52) delta=(-2.46233, -0.961133) -> 0 candidate(s)
I0419 21:00:03.839079 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:03.839143 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292037575688.
I0419 21:00:03.841137 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292037857669.
I0419 21:00:03.844034 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292038140164.
I0419 21:00:03.845162 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.474061, -0.435463)
I0419 21:00:03.845256 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:03.846769 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292038458933.
I0419 21:00:03.874576 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11993, 1.76517), points=4, range=3.58075, residual=0.0153663, extent=0.0360405
I0419 21:00:03.874733 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11993, 1.76517), tracking=(-3.41843, -1.76517), map_predicted=(-2.74713, -3.49159), range=3.58075, pts=4
I0419 21:00:03.874790 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6469m maha_sq=298.363 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74713, -3.49159) lm_pos=(-0.285, -2.52) delta=(-2.46213, -0.971587) -> 0 candidate(s)
I0419 21:00:03.875000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292038738229.
I0419 21:00:03.968786 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:03.968899 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:03.968982 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292039026646.
I0419 21:00:03.970048 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:03.971601 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292039339155.
I0419 21:00:03.972600 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.472746, -0.435574)
I0419 21:00:03.973567 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292039615469.
I0419 21:00:03.986023 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0514597s, prior_pose=(0.801077, -2.00642), yaw=-4.62551 deg
I0419 21:00:03.986235 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:00:03.993970 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11681, 1.77539), points=4, range=3.583, residual=0.0153722, extent=0.0365688
I0419 21:00:03.994120 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11681, 1.77539), tracking=(-3.41531, -1.77539), map_predicted=(-2.74628, -3.50061), range=3.583, pts=4
I0419 21:00:03.994158 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64943m maha_sq=298.791 (gate chi2=5.99) pose_sigma=(0.150036, 0.150036, rho=0) det_map=(-2.74628, -3.50061) lm_pos=(-0.285, -2.52) delta=(-2.46128, -0.980606) -> 0 candidate(s)
I0419 21:00:03.994251 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00164944 range=0.9562 variance=0.000522389 t_weight=5742.85 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801077, -2.00642, -4.62551deg) obs_actual=(-1.04714, -0.598139) obs_expected=(-1.04112, -0.599494) delta=(-0.00601306, 0.00135459) |delta|=0.00616374m
I0419 21:00:03.994351 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292039933808.
I0419 21:00:04.102404 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.45091 deg, rms_residual=0.00357135m, sigma_yaw=0.00473923 rad, N=2
I0419 21:00:04.102540 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.80799, -2.00541, -4.45091deg) inliers=2 rms=0.00357135m
I0419 21:00:04.102581 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292040213839.
I0419 21:00:04.103593 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:04.103655 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:04.103704 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:04.104456 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:04.104563 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292040499676.
I0419 21:00:04.106434 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.473783, -0.43638)
I0419 21:00:04.107226 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292040782079.
I0419 21:00:04.113456 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.12079, 1.76567), points=4, range=3.58775, residual=0.0147925, extent=0.0360935
I0419 21:00:04.113591 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.12079, 1.76567), tracking=(-3.41929, -1.76567), map_predicted=(-2.74824, -3.49123), range=3.58775, pts=4
I0419 21:00:04.113649 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6478m maha_sq=298.678 (gate chi2=5.99) pose_sigma=(0.150024, 0.150024, rho=0) det_map=(-2.74824, -3.49123) lm_pos=(-0.285, -2.52) delta=(-2.46324, -0.971227) -> 0 candidate(s)
I0419 21:00:04.113806 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292041122751.
I0419 21:00:04.131093 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:04.138983 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292041380048.
I0419 21:00:04.227609 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.804256, -2.00632), yaw=-4.60895 deg backend=(0.802923, -2.00689)
I0419 21:00:04.229588 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292041658277.
I0419 21:00:04.230763 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.475695, -0.435703)
I0419 21:00:04.232364 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:04.232465 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:04.232518 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:04.232564 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:04.232585 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292041976024.
I0419 21:00:04.234413 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.742229, 0.600125), points=5, range=0.957, residual=0.00910276, extent=0.0245669
I0419 21:00:04.234494 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.742229, 0.600125), tracking=(-1.04073, -0.600125), map_predicted=(-0.281245, -2.52101), range=0.957, pts=5
I0419 21:00:04.234519 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00388792m maha_sq=0.000656336 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.281245, -2.52101) lm_pos=(-0.285, -2.52) delta=(0.00375525, -0.00100699) -> 1 candidate(s)
I0419 21:00:04.234635 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292042254854.
I0419 21:00:04.258643 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292042575579.
I0419 21:00:04.277786 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.079618s, prior_pose=(0.803503, -2.00718), yaw=-4.60836 deg
I0419 21:00:04.277976 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:00:04.374678 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000113873 range=0.954429 variance=0.000513859 t_weight=5838.18 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803423, -2.00651, -4.63511deg) obs_actual=(-1.04395, -0.598251) obs_expected=(-1.04337, -0.599764) delta=(-0.000577641, 0.00151285) |delta|=0.00161938m
I0419 21:00:04.374816 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292042857378.
I0419 21:00:04.375623 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:04.375779 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.474361, -0.435617)
I0419 21:00:04.376753 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292043140423.
I0419 21:00:04.378482 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:04.378582 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:04.378633 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:04.379421 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:04.379518 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292043453216.
I0419 21:00:04.380465 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470907, -0.435171), points=20, range=0.64305, residual=0.0149849, extent=0.0485349
I0419 21:00:04.380522 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470907, -0.435171), tracking=(0.769407, -0.435171), map_predicted=(1.53372, -2.50207), range=0.64305, pts=20
I0419 21:00:04.380551 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.212036m maha_sq=1.94126 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53372, -2.50207) lm_pos=(1.745, -2.52) delta=(-0.211277, 0.017929) -> 1 candidate(s)
I0419 21:00:04.382053 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292043732104.
I0419 21:00:04.402700 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292044019310.
I0419 21:00:04.490125 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.472526, -0.435379)
I0419 21:00:04.490249 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:04.491029 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292044297243.
I0419 21:00:04.493649 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292044619787.
I0419 21:00:04.494704 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27036, 0.856858), points=4, range=1.52675, residual=0.0128586, extent=0.0274682
I0419 21:00:04.494782 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27036, 0.856858), tracking=(1.56886, 0.856858), map_predicted=(2.4355, -1.27921), range=1.52675, pts=4
I0419 21:00:04.494809 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0456497m maha_sq=0.0900224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.4355, -1.27921) lm_pos=(2.415, -1.32) delta=(0.0204997, 0.0407879) -> 1 candidate(s)
I0419 21:00:04.495441 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:04.495494 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:04.495558 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292044897153.
I0419 21:00:04.513769 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:00:04.518091 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292045175644.
I0419 21:00:04.542215 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.473675, -0.435137)
I0419 21:00:04.596952 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:04.602958 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292045497740.
I0419 21:00:04.603876 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563739s, prior_pose=(0.800443, -2.00782), yaw=-4.64511 deg
I0419 21:00:04.603940 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:00:04.610080 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11121, 1.76026), points=4, range=3.57825, residual=0.01729, extent=0.0419198
I0419 21:00:04.610172 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11121, 1.76026), tracking=(-3.40971, -1.76026), map_predicted=(-2.74081, -3.48544), range=3.57825, pts=4
I0419 21:00:04.610206 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63877m maha_sq=295.523 (gate chi2=5.99) pose_sigma=(0.15006, 0.15006, rho=0) det_map=(-2.74081, -3.48544) lm_pos=(-0.285, -2.52) delta=(-2.45581, -0.965442) -> 0 candidate(s)
I0419 21:00:04.610270 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000277843 range=0.9535 variance=0.000499323 t_weight=6008.13 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800237, -2.00705, -4.64437deg) obs_actual=(-1.04246, -0.598132) obs_expected=(-1.04014, -0.599138) delta=(-0.00232013, 0.00100607) |delta|=0.00252887m
I0419 21:00:04.610338 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292046096201.
I0419 21:00:04.630300 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:04.630395 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:04.630467 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:04.638366 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:04.638476 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.43951 deg, rms_residual=0.00188298m, sigma_yaw=0.00250435 rad, N=2
I0419 21:00:04.638545 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.805495, -2.00446, -4.43951deg) inliers=2 rms=0.00188298m
I0419 21:00:04.638617 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292046378293.
I0419 21:00:04.659163 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.473625, -0.435051)
I0419 21:00:04.666929 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292046659512.
I0419 21:00:04.751171 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292046938689.
I0419 21:00:04.752439 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:04.754236 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11702, 1.76353), points=4, range=3.57625, residual=0.0169021, extent=0.039347
I0419 21:00:04.754330 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11702, 1.76353), tracking=(-3.41552, -1.76353), map_predicted=(-2.74756, -3.48807), range=3.57625, pts=4
I0419 21:00:04.754357 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64601m maha_sq=297.366 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(-2.74756, -3.48807) lm_pos=(-0.285, -2.52) delta=(-2.46256, -0.968071) -> 0 candidate(s)
I0419 21:00:04.754441 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292047255748.
I0419 21:00:04.756734 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292047536211.
I0419 21:00:04.778774 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.473867, -0.435305)
I0419 21:00:04.787060 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:04.787251 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:04.787470 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292047862743.
I0419 21:00:04.884343 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:04.884475 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:04.884506 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292048136639.
I0419 21:00:04.886485 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11354, 1.76157), points=4, range=3.5795, residual=0.0154095, extent=0.0370652
I0419 21:00:04.886586 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11354, 1.76157), tracking=(-3.41204, -1.76157), map_predicted=(-2.74301, -3.48485), range=3.5795, pts=4
I0419 21:00:04.886615 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64059m maha_sq=296.93 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74301, -3.48485) lm_pos=(-0.285, -2.52) delta=(-2.45801, -0.964845) -> 0 candidate(s)
I0419 21:00:04.886694 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292048454197.
I0419 21:00:04.888598 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516384s, prior_pose=(0.800161, -2.00629), yaw=-4.66164 deg
I0419 21:00:04.888670 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=249, threshold=230, above_threshold=23, candidates=23
I0419 21:00:04.889685 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292048741474.
I0419 21:00:04.894863 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.472408, -0.435077)
I0419 21:00:04.904242 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00382036 range=0.9572 variance=0.000551495 t_weight=5439.76 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800061, -2.00696, -4.66188deg) obs_actual=(-1.04914, -0.598846) obs_expected=(-1.03977, -0.599533) delta=(-0.00936219, 0.000687486) |delta|=0.00938739m
I0419 21:00:04.904950 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292049026375.
I0419 21:00:04.926201 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:04.926301 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:04.926357 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:04.930043 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:04.930230 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292049293999.
I0419 21:00:04.983615 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11437, 1.76802), points=5, range=3.577, residual=0.0191068, extent=0.0501328
I0419 21:00:04.983740 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11437, 1.76802), tracking=(-3.41287, -1.76802), map_predicted=(-2.74253, -3.49214), range=3.577, pts=5
I0419 21:00:04.983768 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64282m maha_sq=295.172 (gate chi2=5.99) pose_sigma=(0.150175, 0.150175, rho=0) det_map=(-2.74253, -3.49214) lm_pos=(-0.285, -2.52) delta=(-2.45753, -0.972136) -> 0 candidate(s)
I0419 21:00:04.990283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292049895220.
I0419 21:00:05.009743 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.473301, -0.4361)
I0419 21:00:05.009840 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:05.018453 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292050178457.
I0419 21:00:05.019517 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.802409, -2.0063), yaw=-4.64296 deg backend=(0.800507, -2.00691)
I0419 21:00:05.041903 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:05.050050 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292050495047.
I0419 21:00:05.122735 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:05.122859 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.748156, 0.599539), points=5, range=0.9566, residual=0.00849409, extent=0.0231165
I0419 21:00:05.122880 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:05.122897 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.748156, 0.599539), tracking=(-1.04666, -0.599539), map_predicted=(-0.286397, -2.51828), range=0.9566, pts=5
I0419 21:00:05.122922 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00221697m maha_sq=0.000212875 (gate chi2=5.99) pose_sigma=(0.150228, 0.150228, rho=0) det_map=(-0.286397, -2.51828) lm_pos=(-0.285, -2.52) delta=(-0.00139661, 0.00172175) -> 1 candidate(s)
I0419 21:00:05.123034 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292050775763.
I0419 21:00:05.124929 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.745335, 0.599926)
I0419 21:00:05.125123 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292051052152.
I0419 21:00:05.158028 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800806s, prior_pose=(0.80449, -2.00497), yaw=-4.62927 deg
I0419 21:00:05.158123 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 21:00:05.166152 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292051655781.
I0419 21:00:05.194280 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292051936568.
I0419 21:00:05.244699 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:05.244818 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:05.244850 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473808, -0.436584), points=19, range=0.646158, residual=0.0147241, extent=0.0480869
I0419 21:00:05.244870 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473808, -0.436584), tracking=(0.772308, -0.436584), map_predicted=(1.53555, -2.50351), range=0.646158, pts=19
I0419 21:00:05.244896 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210097m maha_sq=1.90099 (gate chi2=5.99) pose_sigma=(0.150225, 0.150225, rho=0) det_map=(1.53555, -2.50351) lm_pos=(1.745, -2.52) delta=(-0.209449, 0.0164881) -> 1 candidate(s)
I0419 21:00:05.244930 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:05.245839 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.743704, 0.600041)
I0419 21:00:05.245971 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:05.246081 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292052221400.
I0419 21:00:05.254098 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000818934 range=0.9548 variance=0.000525878 t_weight=5704.74 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800385, -2.00613, -4.64376deg) obs_actual=(-1.04428, -0.598505) obs_expected=(-1.04022, -0.600059) delta=(-0.00405682, 0.00155366) |delta|=0.00434415m
I0419 21:00:05.254231 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292052535458.
I0419 21:00:05.282601 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.58404 deg, rms_residual=0.000209663m, sigma_yaw=0.000279472 rad, N=2
I0419 21:00:05.282745 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802819, -2.00592, -4.58404deg) inliers=2 rms=0.000209663m
I0419 21:00:05.282792 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292052817155.
I0419 21:00:05.306382 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:05.314531 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292053140291.
I0419 21:00:05.334512 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471986, -0.437476), points=18, range=0.646111, residual=0.0132427, extent=0.0414661
I0419 21:00:05.334632 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471986, -0.437476), tracking=(0.770486, -0.437476), map_predicted=(1.53365, -2.50448), range=0.646111, pts=18
I0419 21:00:05.334659 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.211916m maha_sq=1.94318 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53365, -2.50448) lm_pos=(1.745, -2.52) delta=(-0.211347, 0.0155159) -> 1 candidate(s)
I0419 21:00:05.396049 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.747487, 0.600756)
I0419 21:00:05.396243 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292053419446.
I0419 21:00:05.398087 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:05.398176 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:05.398265 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292053694107.
I0419 21:00:05.400781 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292053994630.
I0419 21:00:05.430437 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292054297446.
I0419 21:00:05.454296 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060551s, prior_pose=(0.802342, -2.00698), yaw=-4.65522 deg
I0419 21:00:05.454401 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 21:00:05.454514 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471828, -0.436037), points=18, range=0.6445, residual=0.0151453, extent=0.0534522
I0419 21:00:05.454541 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471828, -0.436037), tracking=(0.770328, -0.436037), map_predicted=(1.53474, -2.5041), range=0.6445, pts=18
I0419 21:00:05.454567 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.210861m maha_sq=1.91939 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53474, -2.5041) lm_pos=(1.745, -2.52) delta=(-0.21026, 0.0159045) -> 1 candidate(s)
I0419 21:00:05.457746 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.746071, 0.599331)
I0419 21:00:05.457878 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:05.457976 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:05.458005 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292054573139.
I0419 21:00:05.514719 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292054876510.
I0419 21:00:05.515937 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:05.516031 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:05.516078 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:05.518348 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:05.518486 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292055179824.
I0419 21:00:05.549937 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00211336 range=0.9575 variance=0.000539509 t_weight=5560.61 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802371, -2.00602, -4.63963deg) obs_actual=(-1.04917, -0.599472) obs_expected=(-1.04223, -0.600252) delta=(-0.00693417, 0.000779704) |delta|=0.00697787m
I0419 21:00:05.550109 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292055493936.
I0419 21:00:05.570720 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27216, 0.860762), points=3, range=1.529, residual=0.0132576, extent=0.0265323
I0419 21:00:05.570853 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27216, 0.860762), tracking=(1.57066, 0.860762), map_predicted=(2.43842, -1.27469), range=1.529, pts=3
I0419 21:00:05.570899 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0510086m maha_sq=0.112236 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(2.43842, -1.27469) lm_pos=(2.415, -1.32) delta=(0.0234239, 0.0453122) -> 1 candidate(s)
I0419 21:00:05.578362 1218972 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0577227, -0.670833)
I0419 21:00:05.578615 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292055776771.
I0419 21:00:05.600795 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:05.600996 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:05.676174 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292056061760.
I0419 21:00:05.678244 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292056378047.
I0419 21:00:05.680756 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:05.680905 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:05.680996 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292056655165.
I0419 21:00:05.686888 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27119, 0.85742)
I0419 21:00:05.687100 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27382, 0.856506), points=3, range=1.53333, residual=0.00521684, extent=0.00976925
I0419 21:00:05.687168 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27382, 0.856506), tracking=(1.57232, 0.856506), map_predicted=(2.44036, -1.28014), range=1.53333, pts=3
I0419 21:00:05.687225 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0472402m maha_sq=0.0969813 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44036, -1.28014) lm_pos=(2.415, -1.32) delta=(0.0253594, 0.0398564) -> 1 candidate(s)
I0419 21:00:05.694890 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292056942042.
I0419 21:00:05.726154 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292057252781.
I0419 21:00:05.779670 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516604s, prior_pose=(0.803924, -2.00533), yaw=-4.62586 deg
I0419 21:00:05.779800 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:00:05.780408 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:05.780869 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292057537160.
I0419 21:00:05.783540 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.743358, 0.600449)
I0419 21:00:05.783735 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292057824950.
I0419 21:00:05.805615 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:05.805717 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:05.805755 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2705, 0.859641), points=3, range=1.527, residual=0.0132558, extent=0.0265285
I0419 21:00:05.805778 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2705, 0.859641), tracking=(1.569, 0.859641), map_predicted=(2.43799, -1.27483), range=1.527, pts=3
I0419 21:00:05.805804 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0506819m maha_sq=0.110914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43799, -1.27483) lm_pos=(2.415, -1.32) delta=(0.0229938, 0.0451656) -> 1 candidate(s)
I0419 21:00:05.805838 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:05.813859 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:05.814043 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292058133943.
I0419 21:00:05.842514 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00100543 range=0.957833 variance=0.000519145 t_weight=5778.73 r_weight=0 yaml=(-0.285, -2.52) prior=(0.80322, -2.00545, -4.62442deg) obs_actual=(-1.04791, -0.599653) obs_expected=(-1.04319, -0.60061) delta=(-0.00471853, 0.000957012) |delta|=0.00481461m
I0419 21:00:05.842653 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292058420290.
I0419 21:00:05.915979 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.82599 deg, rms_residual=0.000491172m, sigma_yaw=0.000655325 rad, N=2
I0419 21:00:05.916152 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.800426, -2.00771, -4.82599deg) inliers=2 rms=0.000491172m
I0419 21:00:05.916199 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292058737465.
I0419 21:00:05.917183 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:05.918506 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.74919, 0.600874)
I0419 21:00:05.918666 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292059017052.
I0419 21:00:05.919826 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.806286, -2.00562), yaw=-4.62813 deg backend=(0.803064, -2.00686)
I0419 21:00:05.921965 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27839, 0.859572), points=3, range=1.53633, residual=0.00847731, extent=0.0166057
I0419 21:00:05.922030 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27839, 0.859572), tracking=(1.57689, 0.859572), map_predicted=(2.44739, -1.27609), range=1.53633, pts=3
I0419 21:00:05.922056 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0545619m maha_sq=0.129013 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(2.44739, -1.27609) lm_pos=(2.415, -1.32) delta=(0.0323875, 0.0439096) -> 1 candidate(s)
I0419 21:00:05.930140 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292059295075.
I0419 21:00:05.961851 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:05.961956 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:05.962051 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292059609495.
I0419 21:00:05.986645 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292059859434.
I0419 21:00:06.044981 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.742328, 0.600553)
I0419 21:00:06.045212 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292060179561.
I0419 21:00:06.046224 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076849s, prior_pose=(0.807589, -2.00363), yaw=-4.62842 deg
I0419 21:00:06.046319 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=248, threshold=230, above_threshold=23, candidates=23
I0419 21:00:06.048027 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0566804, -0.670154), points=18, range=0.673833, residual=0.0107911, extent=0.0338602
I0419 21:00:06.048136 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0566804, -0.670154), tracking=(-0.24182, 0.670154), map_predicted=(0.618601, -1.31777), range=0.673833, pts=18
I0419 21:00:06.048172 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00423629m maha_sq=0.000776524 (gate chi2=5.99) pose_sigma=(0.150194, 0.150194, rho=0) det_map=(0.618601, -1.31777) lm_pos=(0.615, -1.32) delta=(0.00360146, 0.00223063) -> 1 candidate(s)
I0419 21:00:06.048230 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:06.048283 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:06.048305 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292060462436.
I0419 21:00:06.078887 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292060782846.
I0419 21:00:06.097945 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:06.098044 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:06.098104 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:06.105782 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:06.105967 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292061052978.
I0419 21:00:06.195847 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.745347, 0.60048)
I0419 21:00:06.196005 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00102306 range=0.957167 variance=0.000627289 t_weight=4782.48 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803259, -2.00568, -4.64943deg) obs_actual=(-1.04785, -0.600994) obs_expected=(-1.04299, -0.600843) delta=(-0.0048626, -0.000150685) |delta|=0.00486494m
I0419 21:00:06.196069 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292061340142.
I0419 21:00:06.198017 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0605754, -0.669679), points=18, range=0.672278, residual=0.0108394, extent=0.0335843
I0419 21:00:06.198155 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0605754, -0.669679), tracking=(-0.237925, 0.669679), map_predicted=(0.620401, -1.31892), range=0.672278, pts=18
I0419 21:00:06.198182 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00550875m maha_sq=0.00131633 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.620401, -1.31892) lm_pos=(0.615, -1.32) delta=(0.00540098, 0.00108433) -> 1 candidate(s)
I0419 21:00:06.198272 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292061660843.
I0419 21:00:06.199962 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:06.200054 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:06.200863 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292061935646.
I0419 21:00:06.226262 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292062256284.
I0419 21:00:06.253783 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.744987, 0.600354)
I0419 21:00:06.253868 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:06.253894 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:06.254007 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292062533805.
I0419 21:00:06.317777 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0605365, -0.669214), points=18, range=0.672222, residual=0.0108745, extent=0.0335145
I0419 21:00:06.317914 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0605365, -0.669214), tracking=(-0.237963, 0.669214), map_predicted=(0.619854, -1.31876), range=0.672222, pts=18
I0419 21:00:06.317942 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00500889m maha_sq=0.00108665 (gate chi2=5.99) pose_sigma=(0.150113, 0.150113, rho=0) det_map=(0.619854, -1.31876) lm_pos=(0.615, -1.32) delta=(0.00485367, 0.00123727) -> 1 candidate(s)
I0419 21:00:06.318028 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292062817076.
I0419 21:00:06.333683 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595329s, prior_pose=(0.801025, -2.00577), yaw=-4.63457 deg
I0419 21:00:06.333796 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=23, candidates=23
I0419 21:00:06.338884 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292063382248.
I0419 21:00:06.369869 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.74444, 0.600207)
I0419 21:00:06.370076 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292063693333.
I0419 21:00:06.390309 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:06.390565 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:06.390735 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:06.463783 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11524, 1.76851), points=5, range=3.579, residual=0.0178522, extent=0.0470767
I0419 21:00:06.463914 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11524, 1.76851), tracking=(-3.41374, -1.76851), map_predicted=(-2.74516, -3.49076), range=3.579, pts=5
I0419 21:00:06.463941 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64476m maha_sq=296.639 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(-2.74516, -3.49076) lm_pos=(-0.285, -2.52) delta=(-2.46016, -0.970761) -> 0 candidate(s)
I0419 21:00:06.463963 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:06.464027 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292063981859.
I0419 21:00:06.465914 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292064295147.
I0419 21:00:06.468397 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000155482 range=0.956 variance=0.000603273 t_weight=4972.87 r_weight=0 yaml=(-0.285, -2.52) prior=(0.801944, -2.00599, -4.66528deg) obs_actual=(-1.03973, -0.600144) obs_expected=(-1.04154, -0.600709) delta=(0.00180996, 0.000564819) |delta|=0.00189604m
I0419 21:00:06.468533 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292064572800.
I0419 21:00:06.482684 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:06.486431 1218972 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.742779, 0.600218)
I0419 21:00:06.486683 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.49801 deg, rms_residual=0.00252483m, sigma_yaw=0.00335515 rad, N=2
I0419 21:00:06.487076 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801981, -2.00524, -4.49801deg) inliers=2 rms=0.00252483m
I0419 21:00:06.487181 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292064852639.
I0419 21:00:06.518437 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.749047, 0.59937), points=4, range=0.95675, residual=0.00846186, extent=0.0204578
I0419 21:00:06.518592 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.749047, 0.59937), tracking=(-1.04755, -0.59937), map_predicted=(-0.291255, -2.51874), range=0.95675, pts=4
I0419 21:00:06.518648 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00638146m maha_sq=0.00176907 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.291255, -2.51874) lm_pos=(-0.285, -2.52) delta=(-0.00625511, 0.00126356) -> 1 candidate(s)
I0419 21:00:06.518823 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292065176393.
I0419 21:00:06.599587 1218972 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:06.599704 1218972 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:06.599797 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292065456706.
I0419 21:00:06.602499 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292065814839.
I0419 21:00:06.606917 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.743066, 0.599864)
I0419 21:00:06.607167 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292066060953.
I0419 21:00:06.630823 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0487217s, prior_pose=(0.799764, -2.0074), yaw=-4.65179 deg
I0419 21:00:06.630967 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:00:06.638437 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.742034, 0.599968), points=6, range=0.957167, residual=0.00870763, extent=0.0217669
I0419 21:00:06.638559 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.742034, 0.599968), tracking=(-1.04053, -0.599968), map_predicted=(-0.285999, -2.521), range=0.957167, pts=6
I0419 21:00:06.638615 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00141574m maha_sq=8.69688e-05 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(-0.285999, -2.521) lm_pos=(-0.285, -2.52) delta=(-0.000999115, -0.00100304) -> 1 candidate(s)
I0419 21:00:06.638790 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292066376381.
I0419 21:00:06.742769 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:06.742887 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:06.742911 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292066653058.
I0419 21:00:06.743995 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:06.744041 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:06.744089 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:06.744884 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:06.744975 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292066940341.
I0419 21:00:06.747489 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.741919, 0.600011)
I0419 21:00:06.747624 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292067219254.
I0419 21:00:06.748656 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:06.754781 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.738442, 0.598842), points=6, range=0.954167, residual=0.00975338, extent=0.0217401
I0419 21:00:06.754884 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.738442, 0.598842), tracking=(-1.03694, -0.598842), map_predicted=(-0.278884, -2.51903), range=0.954167, pts=6
I0419 21:00:06.754922 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00619258m maha_sq=0.00166366 (gate chi2=5.99) pose_sigma=(0.150025, 0.150025, rho=0) det_map=(-0.278884, -2.51903) lm_pos=(-0.285, -2.52) delta=(0.00611624, 0.000969351) -> 1 candidate(s)
I0419 21:00:06.754998 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00166366 range=0.954167 variance=0.000542889 t_weight=5525.99 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803077, -2.00598, -4.63702deg) obs_actual=(-1.03694, -0.598842) obs_expected=(-1.04296, -0.600303) delta=(0.00601786, 0.00146063) |delta|=0.00619258m
I0419 21:00:06.755080 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292067542454.
I0419 21:00:06.775206 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:06.784097 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292067824061.
I0419 21:00:06.867772 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.799533, -2.00706), yaw=-4.63287 deg backend=(0.803682, -2.00609)
I0419 21:00:06.869704 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292068097205.
I0419 21:00:06.872251 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.746904, 0.600284)
I0419 21:00:06.872364 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:06.872391 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:06.872464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292068420650.
I0419 21:00:06.874972 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.748565, 0.600375), points=6, range=0.9565, residual=0.0122837, extent=0.0300848
I0419 21:00:06.875082 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.748565, 0.600375), tracking=(-1.04706, -0.600375), map_predicted=(-0.290696, -2.51982), range=0.9565, pts=6
I0419 21:00:06.875105 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00569927m maha_sq=0.00140621 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.290696, -2.51982) lm_pos=(-0.285, -2.52) delta=(-0.00569643, 0.000179818) -> 1 candidate(s)
I0419 21:00:06.875190 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292068695597.
I0419 21:00:06.900619 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292068997633.
I0419 21:00:06.922465 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0794929s, prior_pose=(0.802643, -2.0079), yaw=-4.6322 deg
I0419 21:00:06.922643 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 21:00:07.010821 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292069302132.
I0419 21:00:07.013032 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11841, 1.75835)
I0419 21:00:07.013278 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292069576208.
I0419 21:00:07.015262 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:07.015352 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:07.015405 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:07.016163 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.743574, 0.600312), points=7, range=0.953429, residual=0.00935941, extent=0.0283679
I0419 21:00:07.016215 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.743574, 0.600312), tracking=(-1.04207, -0.600312), map_predicted=(-0.28378, -2.52265), range=0.953429, pts=7
I0419 21:00:07.016238 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00291457m maha_sq=0.000368411 (gate chi2=5.99) pose_sigma=(0.150075, 0.150075, rho=0) det_map=(-0.28378, -2.52265) lm_pos=(-0.285, -2.52) delta=(0.00122043, -0.00264675) -> 1 candidate(s)
I0419 21:00:07.016299 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:07.016363 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292069859644.
I0419 21:00:07.018988 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292070173892.
I0419 21:00:07.046379 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000509597 range=0.956333 variance=0.000509668 t_weight=5886.19 r_weight=0 yaml=(-0.285, -2.52) prior=(0.803502, -2.00926, -4.64946deg) obs_actual=(-1.04666, -0.598656) obs_expected=(-1.04352, -0.597288) delta=(-0.003139, -0.00136835) |delta|=0.00342428m
I0419 21:00:07.046670 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292070453526.
I0419 21:00:07.126029 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:07.126972 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1182, 1.75822)
I0419 21:00:07.127099 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.66509 deg, rms_residual=0.000632654m, sigma_yaw=0.000842828 rad, N=2
I0419 21:00:07.127149 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.802815, -2.00746, -4.66509deg) inliers=2 rms=0.000632654m
I0419 21:00:07.127182 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292070779393.
I0419 21:00:07.129770 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292071055943.
I0419 21:00:07.130827 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470339, -0.437222), points=17, range=0.644824, residual=0.0128722, extent=0.0417488
I0419 21:00:07.130898 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470339, -0.437222), tracking=(0.768839, -0.437222), map_predicted=(1.53092, -2.50595), range=0.644824, pts=17
I0419 21:00:07.130923 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.214537m maha_sq=1.99237 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53092, -2.50595) lm_pos=(1.745, -2.52) delta=(-0.214076, 0.0140502) -> 1 candidate(s)
I0419 21:00:07.134991 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:07.135416 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:07.135838 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292071340376.
I0419 21:00:07.171249 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292071701955.
I0419 21:00:07.276134 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11688, 1.75749)
I0419 21:00:07.276326 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292071934462.
I0419 21:00:07.276427 1218978 collated_trajectory_builder.cc:82] imu rate: 200.03 Hz 5.00e-03 s +/- 4.31e-03 s (pulsed at 99.79% real time)
I0419 21:00:07.276544 1218978 collated_trajectory_builder.cc:82] odom rate: 249.12 Hz 4.01e-03 s +/- 6.71e-04 s (pulsed at 100.59% real time)
I0419 21:00:07.276651 1218978 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.09e-03 s (pulsed at 100.48% real time)
I0419 21:00:07.276682 1218978 collated_trajectory_builder.cc:82] scan_2 rate: 34.03 Hz 2.94e-02 s +/- 2.13e-03 s (pulsed at 100.41% real time)
I0419 21:00:07.277278 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:07.277652 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564299s, prior_pose=(0.805996, -2.01018), yaw=-4.64237 deg
I0419 21:00:07.277724 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=249, threshold=230, above_threshold=21, candidates=21
I0419 21:00:07.278663 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292072221858.
I0419 21:00:07.280541 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27119, 0.857419), points=4, range=1.528, residual=0.0123074, extent=0.0265265
I0419 21:00:07.280665 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27119, 0.857419), tracking=(1.56969, 0.857419), map_predicted=(2.4383, -1.2821), range=1.528, pts=4
I0419 21:00:07.280695 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0444883m maha_sq=0.0854073 (gate chi2=5.99) pose_sigma=(0.15013, 0.15013, rho=0) det_map=(2.4383, -1.2821) lm_pos=(2.415, -1.32) delta=(0.0233003, 0.0378986) -> 1 candidate(s)
I0419 21:00:07.281461 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:07.281536 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:07.281561 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292072502331.
I0419 21:00:07.282603 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:07.282657 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:07.282699 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:07.284096 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:07.284178 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292072818278.
I0419 21:00:07.315120 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1171, 1.75761)
I0419 21:00:07.315480 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292073142410.
I0419 21:00:07.402897 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:07.403658 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000276727 range=0.954625 variance=0.00063136 t_weight=4751.64 r_weight=0 yaml=(-0.285, -2.52) prior=(0.802673, -2.00779, -4.64058deg) obs_actual=(-1.04372, -0.600829) obs_expected=(-1.04267, -0.598528) delta=(-0.0010555, -0.00230056) |delta|=0.00253113m
I0419 21:00:07.403748 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292073374310.
I0419 21:00:07.404850 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27478, 0.859843), points=4, range=1.533, residual=0.011091, extent=0.0237324
I0419 21:00:07.404893 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:07.404910 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27478, 0.859843), tracking=(1.57328, 0.859843), map_predicted=(2.44037, -1.27805), range=1.533, pts=4
I0419 21:00:07.404933 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0490204m maha_sq=0.103996 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44037, -1.27805) lm_pos=(2.415, -1.32) delta=(0.0253655, 0.0419475) -> 1 candidate(s)
I0419 21:00:07.406337 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292073699122.
I0419 21:00:07.408026 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292073972550.
I0419 21:00:07.428086 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.557254, -0.1892)
I0419 21:00:07.428182 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:07.428216 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:07.428306 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292074273997.
I0419 21:00:07.516297 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292074580522.
I0419 21:00:07.517601 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27119, 0.857418), points=4, range=1.528, residual=0.012429, extent=0.0265659
I0419 21:00:07.517679 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27119, 0.857418), tracking=(1.56969, 0.857418), map_predicted=(2.43514, -1.2781), range=1.528, pts=4
I0419 21:00:07.517709 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0464944m maha_sq=0.0934283 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43514, -1.2781) lm_pos=(2.415, -1.32) delta=(0.0201422, 0.0419049) -> 1 candidate(s)
I0419 21:00:07.518563 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292074862400.
I0419 21:00:07.520215 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521068s, prior_pose=(0.800277, -2.00595), yaw=-4.64079 deg
I0419 21:00:07.520275 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:00:07.521188 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11285, 1.76717)
I0419 21:00:07.521292 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292075182570.
I0419 21:00:07.546850 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292075462260.
I0419 21:00:07.566047 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:07.566207 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:07.566318 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:07.574990 1218972 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:07.575253 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292075742349.
I0419 21:00:07.667877 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27465, 0.857064), points=3, range=1.53367, residual=0.00593439, extent=0.0107441
I0419 21:00:07.667989 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27465, 0.857064), tracking=(1.57315, 0.857064), map_predicted=(2.44242, -1.279), range=1.53367, pts=3
I0419 21:00:07.668018 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.049319m maha_sq=0.105304 (gate chi2=5.99) pose_sigma=(0.150265, 0.150265, rho=0) det_map=(2.44242, -1.279) lm_pos=(2.415, -1.32) delta=(0.0274162, 0.0409965) -> 1 candidate(s)
I0419 21:00:07.668994 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292076056518.
I0419 21:00:07.671507 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1171, 1.75761)
I0419 21:00:07.671638 1218972 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=6.2177e-05 range=0.955857 variance=0.00058 t_weight=5172.41 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805505, -2.00491, -4.63948deg) obs_actual=(-1.04519, -0.600416) obs_expected=(-1.04527, -0.601612) delta=(7.57427e-05, 0.00119622) |delta|=0.00119861m
I0419 21:00:07.671710 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292076341261.
I0419 21:00:07.672658 1218972 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:07.673513 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.49659 deg, rms_residual=0.000594718m, sigma_yaw=0.000792329 rad, N=2
I0419 21:00:07.673600 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.805018, -2.00572, -4.49659deg) inliers=2 rms=0.000594718m
I0419 21:00:07.673636 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292076621181.
I0419 21:00:07.674613 1218972 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.805359, -2.00515), yaw=-4.63817 deg backend=(0.807212, -2.00659)
I0419 21:00:07.695158 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292076942079.
I0419 21:00:07.799340 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:07.799453 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548177, -0.671513), points=18, range=0.674556, residual=0.0109171, extent=0.0335738
I0419 21:00:07.799479 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:07.799496 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0548177, -0.671513), tracking=(-0.243682, 0.671513), map_predicted=(0.610587, -1.31657), range=0.674556, pts=18
I0419 21:00:07.799520 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00559124m maha_sq=0.00134794 (gate chi2=5.99) pose_sigma=(0.150455, 0.150455, rho=0) det_map=(0.610587, -1.31657) lm_pos=(0.615, -1.32) delta=(-0.00441329, 0.00343291) -> 1 candidate(s)
I0419 21:00:07.799602 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292077214839.
I0419 21:00:07.801522 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.12125, 1.75994)
I0419 21:00:07.801695 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292077575424.
I0419 21:00:07.804231 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292077816281.
I0419 21:00:07.805202 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0805063s, prior_pose=(0.799873, -2.00608), yaw=-4.6275 deg
I0419 21:00:07.805270 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=23, candidates=23
I0419 21:00:07.811112 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292078101852.
I0419 21:00:07.842185 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0546881, -0.669718), points=18, range=0.673222, residual=0.0113745, extent=0.0339683
I0419 21:00:07.842412 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0546881, -0.669718), tracking=(-0.243812, 0.669718), map_predicted=(0.610936, -1.31983), range=0.673222, pts=18
I0419 21:00:07.842476 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00406797m maha_sq=0.000717446 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.610936, -1.31983) lm_pos=(0.615, -1.32) delta=(-0.00406446, 0.000169078) -> 1 candidate(s)
I0419 21:00:07.842579 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:07.842700 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:07.842739 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292078412944.
I0419 21:00:07.923915 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:07.924022 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:07.924075 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:07.924762 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.12015, 1.75933)
I0419 21:00:07.924846 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:07.924921 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292078700836.
I0419 21:00:07.927739 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292078976169.
I0419 21:00:07.928879 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:07.930806 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000292805 range=0.957167 variance=0.000507906 t_weight=5906.6 r_weight=0 yaml=(-0.285, -2.52) prior=(0.805257, -2.00754, -4.6431deg) obs_actual=(-1.0427, -0.599748) obs_expected=(-1.0452, -0.599037) delta=(0.00249623, -0.000711094) |delta|=0.00259554m
I0419 21:00:07.930951 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292079301681.
I0419 21:00:07.950284 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:07.955214 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.122, 1.77234), points=3, range=3.586, residual=0.0122621, extent=0.0251196
I0419 21:00:07.955309 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.122, 1.77234), tracking=(-3.4205, -1.77234), map_predicted=(-2.74879, -3.49697), range=3.586, pts=3
I0419 21:00:07.955338 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65042m maha_sq=299.853 (gate chi2=5.99) pose_sigma=(0.150101, 0.150101, rho=0) det_map=(-2.74879, -3.49697) lm_pos=(-0.285, -2.52) delta=(-2.46379, -0.976971) -> 0 candidate(s)
I0419 21:00:07.955442 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292079547479.
I0419 21:00:08.031538 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11285, 1.76717)
I0419 21:00:08.031724 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292079861682.
I0419 21:00:08.033655 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:08.033730 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:08.033854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292080182244.
I0419 21:00:08.046546 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292080459352.
I0419 21:00:08.074473 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11768, 1.77588), points=4, range=3.5845, residual=0.0147806, extent=0.0355863
I0419 21:00:08.074573 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11768, 1.77588), tracking=(-3.41618, -1.77588), map_predicted=(-2.74768, -3.50159), range=3.5845, pts=4
I0419 21:00:08.074607 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6511m maha_sq=299.301 (gate chi2=5.99) pose_sigma=(0.150059, 0.150059, rho=0) det_map=(-2.74768, -3.50159) lm_pos=(-0.285, -2.52) delta=(-2.46268, -0.981592) -> 0 candidate(s)
I0419 21:00:08.074735 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292080739874.
I0419 21:00:08.094559 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568611s, prior_pose=(0.800551, -2.00691), yaw=-4.62437 deg
I0419 21:00:08.094652 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:00:08.102394 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1185, 1.77037)
I0419 21:00:08.102622 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292081018853.
I0419 21:00:08.163013 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292081334099.
I0419 21:00:08.164065 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:08.164165 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:08.164213 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:08.165872 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:08.166018 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292081634711.
I0419 21:00:08.189945 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.1179, 1.76402), points=4, range=3.578, residual=0.0158937, extent=0.0370578
I0419 21:00:08.190049 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.1179, 1.76402), tracking=(-3.4164, -1.76402), map_predicted=(-2.7436, -3.48951), range=3.578, pts=4
I0419 21:00:08.190083 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64285m maha_sq=297.25 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7436, -3.48951) lm_pos=(-0.285, -2.52) delta=(-2.4586, -0.969512) -> 0 candidate(s)
I0419 21:00:08.190212 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292081894327.
I0419 21:00:08.223009 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.11383, 1.76173)
I0419 21:00:08.223335 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00152116 range=0.955333 variance=0.000531003 t_weight=5649.69 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804031, -2.00665, -4.63165deg) obs_actual=(-1.0381, -0.59979) obs_expected=(-1.04402, -0.599616) delta=(0.00591765, -0.000174813) |delta|=0.00592023m
I0419 21:00:08.223501 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292082221783.
I0419 21:00:08.242373 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:08.324194 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.53246 deg, rms_residual=0.00107747m, sigma_yaw=0.00143457 rad, N=2
I0419 21:00:08.324306 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.80461, -2.0071, -4.53246deg) inliers=2 rms=0.00107747m
I0419 21:00:08.324340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292082501013.
I0419 21:00:08.326340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292082814156.
I0419 21:00:08.328797 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:08.328894 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.11905, 1.76468), points=4, range=3.57875, residual=0.0167709, extent=0.0393679
I0419 21:00:08.328915 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:08.328929 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.11905, 1.76468), tracking=(-3.41755, -1.76468), map_predicted=(-2.74723, -3.48923), range=3.57875, pts=4
I0419 21:00:08.328944 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64612m maha_sq=297.351 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(-2.74723, -3.48923) lm_pos=(-0.285, -2.52) delta=(-2.46223, -0.969232) -> 0 candidate(s)
I0419 21:00:08.329007 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292083101822.
I0419 21:00:08.338707 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11994, 1.7592)
I0419 21:00:08.338968 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292083378963.
I0419 21:00:08.370677 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292083696742.
I0419 21:00:08.446482 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0521197s, prior_pose=(0.799447, -2.0071), yaw=-4.64661 deg
I0419 21:00:08.446579 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:00:08.447655 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292084023630.
I0419 21:00:08.449930 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.744203, 0.599734), points=6, range=0.953667, residual=0.0100438, extent=0.0278658
I0419 21:00:08.449996 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.744203, 0.599734), tracking=(-1.0427, -0.599734), map_predicted=(-0.287893, -2.52006), range=0.953667, pts=6
I0419 21:00:08.450021 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0028935m maha_sq=0.000363029 (gate chi2=5.99) pose_sigma=(0.150046, 0.150046, rho=0) det_map=(-0.287893, -2.52006) lm_pos=(-0.285, -2.52) delta=(-0.00289279, -6.42403e-05) -> 1 candidate(s)
I0419 21:00:08.450063 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:08.450109 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:08.450130 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292084260217.
I0419 21:00:08.451072 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:08.451112 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:08.451149 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:08.458185 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.11619, 1.76307)
I0419 21:00:08.458292 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:08.458413 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292084574992.
I0419 21:00:08.487330 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292084861762.
I0419 21:00:08.506675 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:00:08.597929 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00244387 range=0.958333 variance=0.000577767 t_weight=5192.4 r_weight=0 yaml=(-0.285, -2.52) prior=(0.804214, -2.00522, -4.65666deg) obs_actual=(-1.05129, -0.60056) obs_expected=(-1.04383, -0.601508) delta=(-0.00745951, 0.000948307) |delta|=0.00751955m
I0419 21:00:08.598078 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292085140648.
I0419 21:00:08.599466 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:08.600833 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292085462225.
I0419 21:00:08.602028 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.804707, -2.00504), yaw=-4.65567 deg backend=(0.807055, -2.00635)
I0419 21:00:08.602874 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.477963, -0.435278), points=20, range=0.64405, residual=0.0146991, extent=0.0464005
I0419 21:00:08.602937 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.477963, -0.435278), tracking=(0.776463, -0.435278), map_predicted=(1.54328, -2.50191), range=0.64405, pts=20
I0419 21:00:08.602962 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.202533m maha_sq=1.77089 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(1.54328, -2.50191) lm_pos=(1.745, -2.52) delta=(-0.201723, 0.018092) -> 1 candidate(s)
I0419 21:00:08.603925 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11176, 1.76655)
I0419 21:00:08.604059 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292085742422.
I0419 21:00:08.607252 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:08.607376 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:08.607456 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292086015421.
I0419 21:00:08.634312 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292086333702.
I0419 21:00:08.722338 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292086615353.
I0419 21:00:08.722548 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:08.723428 1218972 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0804887s, prior_pose=(0.806801, -2.00514), yaw=-4.64119 deg
I0419 21:00:08.723572 1218972 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 21:00:08.723664 1218972 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473114, -0.435961), points=18, range=0.644611, residual=0.0129537, extent=0.0431551
I0419 21:00:08.723687 1218972 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473114, -0.435961), tracking=(0.771614, -0.435961), map_predicted=(1.54061, -2.50211), range=0.644611, pts=18
I0419 21:00:08.723706 1218972 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.205173m maha_sq=1.82209 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.54061, -2.50211) lm_pos=(1.745, -2.52) delta=(-0.204391, 0.0178938) -> 1 candidate(s)
I0419 21:00:08.725270 1218972 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11732, 1.75773)
I0419 21:00:08.725476 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292086900518.
I0419 21:00:08.727531 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292087223825.
I0419 21:00:08.742120 1218972 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:08.742214 1218972 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:08.742269 1218972 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:08.750342 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:08.750489 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292087498493.
I0419 21:00:08.832589 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292087788193.
I0419 21:00:08.833654 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.469861, -0.43676), points=20, range=0.6453, residual=0.0153975, extent=0.0485456
I0419 21:00:08.833721 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.469861, -0.43676), tracking=(0.768361, -0.43676), map_predicted=(1.53124, -2.50486), range=0.6453, pts=20
I0419 21:00:08.833750 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.214293m maha_sq=1.98172 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.53124, -2.50486) lm_pos=(1.745, -2.52) delta=(-0.213757, 0.0151389) -> 1 candidate(s)
I0419 21:00:08.834535 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11688, 1.75749)
I0419 21:00:08.834614 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000271485 range=0.954429 variance=0.000533846 t_weight=5619.6 r_weight=0 yaml=(-0.285, -2.52) prior=(0.800748, -2.00735, -4.64187deg) obs_actual=(-1.04275, -0.600258) obs_expected=(-1.0407, -0.598833) delta=(-0.00205523, -0.00142457) |delta|=0.00250067m
I0419 21:00:08.834666 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292088094174.
I0419 21:00:08.836232 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:08.837852 1218972 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.69067 deg, rms_residual=0.000933608m, sigma_yaw=0.00124636 rad, N=2
I0419 21:00:08.837931 1218972 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.801855, -2.00709, -4.69067deg) inliers=2 rms=0.000933608m
I0419 21:00:08.837967 1218972 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292088374512.
I0419 21:00:08.866755 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292088661686.
I0419 21:00:08.895622 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:08.895747 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:08.895887 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292088948055.
I0419 21:00:08.978567 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470764, -0.436342), points=18, range=0.645111, residual=0.0139484, extent=0.045937
I0419 21:00:08.978675 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470764, -0.436342), tracking=(0.769264, -0.436342), map_predicted=(1.53148, -2.50273), range=0.645111, pts=18
I0419 21:00:08.978708 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.214218m maha_sq=1.97968 (gate chi2=5.99) pose_sigma=(0.150167, 0.150167, rho=0) det_map=(1.53148, -2.50273) lm_pos=(1.745, -2.52) delta=(-0.213521, 0.0172674) -> 1 candidate(s)
I0419 21:00:08.979624 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.11841, 1.75834)
I0419 21:00:08.979772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292089260360.
I0419 21:00:08.982486 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292089575359.
I0419 21:00:08.983525 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599371s, prior_pose=(0.801608, -2.00491), yaw=-4.6376 deg
I0419 21:00:08.983596 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:00:08.988878 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292089881284.
I0419 21:00:09.014833 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:09.015066 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:09.015115 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292090139152.
I0419 21:00:09.038544 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:09.038722 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:09.038784 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27507, 0.857342), points=3, range=1.534, residual=0.00609454, extent=0.0113353
I0419 21:00:09.038830 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.27507, 0.857342), tracking=(1.57357, 0.857342), map_predicted=(2.44058, -1.27779), range=1.534, pts=3
I0419 21:00:09.038877 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0493611m maha_sq=0.105839 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44058, -1.27779) lm_pos=(2.415, -1.32) delta=(0.0255849, 0.0422129) -> 1 candidate(s)
I0419 21:00:09.038944 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:09.134678 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.12767, 1.75755)
I0419 21:00:09.134802 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:09.134876 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292090421724.
I0419 21:00:09.136848 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292090733954.
I0419 21:00:09.138731 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:09.139604 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.000901897 range=0.96025 variance=0.000554903 t_weight=5406.35 r_weight=0 yaml=(-0.285, -2.52) prior=(0.807512, -2.00521, -4.49478deg) obs_actual=(-1.04862, -0.594261) obs_expected=(-1.04881, -0.598826) delta=(0.000188695, 0.00456541) |delta|=0.00456931m
I0419 21:00:09.139729 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292091022632.
I0419 21:00:09.140735 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:09.142336 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292091334671.
I0419 21:00:09.154603 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26055, 0.847572), points=3, range=1.512, residual=0.0132425, extent=0.0264994
I0419 21:00:09.154754 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26055, 0.847572), tracking=(1.55905, 0.847572), map_predicted=(2.43059, -1.27966), range=1.512, pts=3
I0419 21:00:09.154809 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0432451m maha_sq=0.0807575 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43059, -1.27966) lm_pos=(2.415, -1.32) delta=(0.0155873, 0.0403383) -> 1 candidate(s)
I0419 21:00:09.162461 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.15544, 1.73711)
I0419 21:00:09.162758 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292091616536.
I0419 21:00:09.245191 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:09.245306 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:09.245394 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292091936181.
I0419 21:00:09.247902 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292092180119.
I0419 21:00:09.250772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292092498370.
I0419 21:00:09.270253 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518996s, prior_pose=(0.830544, -2.00742), yaw=-4.13822 deg
I0419 21:00:09.270342 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=250, threshold=230, above_threshold=25, candidates=25
I0419 21:00:09.270459 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24718, 0.846506), points=4, range=1.502, residual=0.0127674, extent=0.0291051
I0419 21:00:09.270491 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.24718, 0.846506), tracking=(1.54568, 0.846506), map_predicted=(2.43328, -1.27466), range=1.502, pts=4
I0419 21:00:09.270516 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0488876m maha_sq=0.102534 (gate chi2=5.99) pose_sigma=(0.150549, 0.150549, rho=0) det_map=(2.43328, -1.27466) lm_pos=(2.415, -1.32) delta=(0.0182845, 0.0453396) -> 1 candidate(s)
I0419 21:00:09.278496 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.16539, 1.73662)
I0419 21:00:09.278829 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292092777084.
I0419 21:00:09.384683 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292093101074.
I0419 21:00:09.386037 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:09.386184 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:09.386286 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:09.387310 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:09.387524 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292093380077.
I0419 21:00:09.390605 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 21 -> 20 (threshold=0.03, iters=3)
I0419 21:00:09.390787 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292093700562.
I0419 21:00:09.397707 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.18919, 1.73161)
I0419 21:00:09.397820 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0136714, -0.671141), points=19, range=0.672474, residual=0.0113115, extent=0.0356044
I0419 21:00:09.397856 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0136714, -0.671141), tracking=(-0.284829, 0.671141), map_predicted=(0.610994, -1.3179), range=0.672474, pts=19
I0419 21:00:09.397881 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00452505m maha_sq=0.000881391 (gate chi2=5.99) pose_sigma=(0.150557, 0.150557, rho=0) det_map=(0.610994, -1.3179) lm_pos=(0.615, -1.32) delta=(-0.00400586, 0.00210456) -> 1 candidate(s)
I0419 21:00:09.397956 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00175364 range=0.9975 variance=0.000541667 t_weight=5538.46 r_weight=0 yaml=(-0.285, -2.52) prior=(0.847589, -2.00752, -4.06009deg) obs_actual=(-1.09984, -0.591473) obs_expected=(-1.09346, -0.591385) delta=(-0.00637907, -8.71027e-05) |delta|=0.00637966m
I0419 21:00:09.398051 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292093972398.
I0419 21:00:09.418622 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:09.427026 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.70345 deg, rms_residual=0.00391109m, sigma_yaw=0.00518774 rad, N=2
I0419 21:00:09.427241 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.856196, -2.0056, -3.70345deg) inliers=2 rms=0.00391109m
I0419 21:00:09.427340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292094259636.
I0419 21:00:09.517393 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.854621, -2.00704), yaw=-4.03402 deg backend=(0.847066, -2.00977)
I0419 21:00:09.519407 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292094621433.
I0419 21:00:09.521936 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:09.522074 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:09.522161 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292094857251.
I0419 21:00:09.524044 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.20599, 1.72264)
I0419 21:00:09.524120 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44243e-05, -0.67088), points=19, range=0.672316, residual=0.0115388, extent=0.0356567
I0419 21:00:09.524151 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.44243e-05, -0.67088), tracking=(-0.298514, 0.67088), map_predicted=(0.609778, -1.31771), range=0.672316, pts=19
I0419 21:00:09.524170 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00570238m maha_sq=0.00140953 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.609778, -1.31771) lm_pos=(0.615, -1.32) delta=(-0.00522175, 0.00229139) -> 1 candidate(s)
I0419 21:00:09.524245 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292095140949.
I0419 21:00:09.542256 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292095413422.
I0419 21:00:09.565987 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795984s, prior_pose=(0.86687, -2.00822), yaw=-3.95042 deg
I0419 21:00:09.566179 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=251, threshold=230, above_threshold=25, candidates=25
I0419 21:00:09.650311 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292095698430.
I0419 21:00:09.652257 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:09.652354 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:09.652382 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292096043896.
I0419 21:00:09.654112 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:09.654179 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:09.654225 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:09.654994 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.22156, 1.71897)
I0419 21:00:09.655040 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0126736, -0.670632), points=19, range=0.672526, residual=0.0117869, extent=0.0366411
I0419 21:00:09.655064 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0126736, -0.670632), tracking=(-0.311174, 0.670632), map_predicted=(0.611399, -1.3169), range=0.672526, pts=19
I0419 21:00:09.655083 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00475266m maha_sq=0.000973003 (gate chi2=5.99) pose_sigma=(0.150463, 0.150463, rho=0) det_map=(0.611399, -1.3169) lm_pos=(0.615, -1.32) delta=(-0.00360148, 0.00310115) -> 1 candidate(s)
I0419 21:00:09.655102 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:09.655158 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292096335421.
I0419 21:00:09.662420 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292096615259.
I0419 21:00:09.682797 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:09.695308 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00908683 range=1.02883 variance=0.000525063 t_weight=5713.6 r_weight=0 yaml=(-0.285, -2.52) prior=(0.884339, -2.00727, -3.92154deg) obs_actual=(-1.1453, -0.58705) obs_expected=(-1.13154, -0.591503) delta=(-0.013762, 0.00445331) |delta|=0.0144646m
I0419 21:00:09.695691 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292096941632.
I0419 21:00:09.785655 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:09.786942 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292097213803.
I0419 21:00:09.790033 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.2398, 1.71058)
I0419 21:00:09.790172 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0292388, -0.669242), points=18, range=0.671, residual=0.0106624, extent=0.0334749
I0419 21:00:09.790207 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0292388, -0.669242), tracking=(-0.327739, 0.669242), map_predicted=(0.620114, -1.31759), range=0.671, pts=18
I0419 21:00:09.790231 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00565433m maha_sq=0.00138208 (gate chi2=5.99) pose_sigma=(0.150276, 0.150276, rho=0) det_map=(0.620114, -1.31759) lm_pos=(0.615, -1.32) delta=(0.00511372, 0.00241274) -> 1 candidate(s)
I0419 21:00:09.790333 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292097497404.
I0419 21:00:09.792459 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:09.792569 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:09.792644 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292097776154.
I0419 21:00:09.809861 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292098093412.
I0419 21:00:09.926601 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292098375725.
I0419 21:00:09.927812 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560646s, prior_pose=(0.911198, -2.00796), yaw=-3.78281 deg
I0419 21:00:09.927917 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=253, threshold=230, above_threshold=27, candidates=27
I0419 21:00:09.928979 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.25923, 1.70873)
I0419 21:00:09.929061 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0428929, -0.669677), points=20, range=0.67265, residual=0.0126789, extent=0.039892
I0419 21:00:09.929128 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0428929, -0.669677), tracking=(-0.341393, 0.669677), map_predicted=(0.614731, -1.31722), range=0.67265, pts=20
I0419 21:00:09.929159 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00279036m maha_sq=0.000337103 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.614731, -1.31722) lm_pos=(0.615, -1.32) delta=(-0.000269392, 0.00277732) -> 1 candidate(s)
I0419 21:00:09.929247 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292098656124.
I0419 21:00:09.933302 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:09.933405 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:09.933452 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:09.935408 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:09.935597 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292099254959.
I0419 21:00:10.035674 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.27244, 1.72173)
I0419 21:00:10.035794 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.893373, 0.591299), points=4, range=1.06825, residual=0.00840617, extent=0.0202516
I0419 21:00:10.035836 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.893373, 0.591299), tracking=(-1.19187, -0.591299), map_predicted=(-0.301743, -2.51632), range=1.06825, pts=4
I0419 21:00:10.035856 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0171426m maha_sq=0.0126774 (gate chi2=5.99) pose_sigma=(0.150521, 0.150521, rho=0) det_map=(-0.301743, -2.51632) lm_pos=(-0.285, -2.52) delta=(-0.0167429, 0.00368043) -> 1 candidate(s)
I0419 21:00:10.035945 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292099866676.
I0419 21:00:10.036952 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:10.038507 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292100135571.
I0419 21:00:10.043735 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.00816606 range=1.0718 variance=0.000511965 t_weight=5859.78 r_weight=0 yaml=(-0.285, -2.52) prior=(0.935784, -2.00665, -3.9191deg) obs_actual=(-1.19312, -0.586519) obs_expected=(-1.18284, -0.595589) delta=(-0.0102792, 0.00906945) |delta|=0.0137083m
I0419 21:00:10.043958 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292100425376.
I0419 21:00:10.070781 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:10.070904 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:10.070991 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.65204 deg, rms_residual=0.000857081m, sigma_yaw=0.00114147 rad, N=2
I0419 21:00:10.071079 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.94286, -2.00938, -3.65204deg) inliers=2 rms=0.000857081m
I0419 21:00:10.071130 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292100700897.
I0419 21:00:10.171324 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.29376, 1.71462)
I0419 21:00:10.171444 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908092, 0.587826), points=5, range=1.0794, residual=0.00807003, extent=0.0219456
I0419 21:00:10.171470 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.908092, 0.587826), tracking=(-1.20659, -0.587826), map_predicted=(-0.306039, -2.51461), range=1.0794, pts=5
I0419 21:00:10.171499 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0217188m maha_sq=0.0204062 (gate chi2=5.99) pose_sigma=(0.150322, 0.150322, rho=0) det_map=(-0.306039, -2.51461) lm_pos=(-0.285, -2.52) delta=(-0.0210385, 0.00539322) -> 1 candidate(s)
I0419 21:00:10.171576 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292101014410.
I0419 21:00:10.172462 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:10.173347 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292101304810.
I0419 21:00:10.174916 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0485522s, prior_pose=(0.946716, -2.00769), yaw=-3.78866 deg
I0419 21:00:10.174996 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=252, threshold=230, above_threshold=27, candidates=27
I0419 21:00:10.175985 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292101621769.
I0419 21:00:10.190829 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292101894896.
I0419 21:00:10.210325 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:10.210469 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:10.210573 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:10.210644 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:10.223163 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.31413, 1.71299)
I0419 21:00:10.223392 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:10.223562 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292102221477.
I0419 21:00:10.299216 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.292089, -0.451047), points=26, range=0.539885, residual=0.014512, extent=0.0495146
I0419 21:00:10.299355 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.292089, -0.451047), tracking=(0.590589, -0.451047), map_predicted=(1.52157, -2.49713), range=0.539885, pts=26
I0419 21:00:10.299387 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.224601m maha_sq=2.16537 (gate chi2=5.99) pose_sigma=(0.150511, 0.150511, rho=0) det_map=(1.52157, -2.49713) lm_pos=(1.745, -2.52) delta=(-0.223433, 0.0228684) -> 1 candidate(s)
I0419 21:00:10.300289 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:10.300387 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:10.300412 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292102461856.
I0419 21:00:10.303604 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292102784991.
I0419 21:00:10.304893 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:10.306778 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292103061952.
I0419 21:00:10.308033 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.977675, -2.00851), yaw=-3.73415 deg backend=(0.959977, -2.016)
I0419 21:00:10.334404 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.33244, 1.71019)
I0419 21:00:10.362496 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09943, 0.833502), points=4, range=1.377, residual=0.00732217, extent=0.0149888
I0419 21:00:10.362634 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09943, 0.833502), tracking=(1.39793, 0.833502), map_predicted=(2.42692, -1.26782), range=1.377, pts=4
I0419 21:00:10.362663 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0535219m maha_sq=0.123662 (gate chi2=5.99) pose_sigma=(0.150462, 0.150462, rho=0) det_map=(2.42692, -1.26782) lm_pos=(2.415, -1.32) delta=(0.0119195, 0.0521778) -> 1 candidate(s)
I0419 21:00:10.424701 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:10.424821 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:10.426759 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.0174361 range=1.1175 variance=0.000514807 t_weight=5827.43 r_weight=0 yaml=(-0.285, -2.52) prior=(0.982921, -2.0093, -3.69265deg) obs_actual=(-1.25232, -0.588316) obs_expected=(-1.2324, -0.591301) delta=(-0.0199219, 0.0029849) |delta|=0.0201442m
I0419 21:00:10.426903 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292103936842.
I0419 21:00:10.429652 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292104260368.
I0419 21:00:10.446549 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802164s, prior_pose=(0.990545, -2.00884), yaw=-3.69165 deg
I0419 21:00:10.447372 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:00:10.454053 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.35274, 1.69605)
I0419 21:00:10.454231 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292104535641.
I0419 21:00:10.482610 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.35617, 1.68555), points=4, range=3.7605, residual=0.01859, extent=0.0458262
I0419 21:00:10.482777 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.35617, 1.68555), tracking=(-3.65467, -1.68555), map_predicted=(-2.7551, -3.45822), range=3.7605, pts=4
I0419 21:00:10.482837 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64229m maha_sq=295.532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7551, -3.45822) lm_pos=(-0.285, -2.52) delta=(-2.4701, -0.938223) -> 0 candidate(s)
I0419 21:00:10.483052 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292104817574.
I0419 21:00:10.557117 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:10.557237 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:10.557294 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:10.558149 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:10.560878 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292105417432.
I0419 21:00:10.569681 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.38208, 1.66789)
I0419 21:00:10.569873 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292105692200.
I0419 21:00:10.593897 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:10.601899 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292106011700.
I0419 21:00:10.622160 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.230982, -0.45978), points=26, range=0.516231, residual=0.0132373, extent=0.0464883
I0419 21:00:10.622332 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.230982, -0.45978), tracking=(0.529482, -0.45978), map_predicted=(1.51848, -2.49716), range=0.516231, pts=26
I0419 21:00:10.622467 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.227672m maha_sq=2.24326 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.51848, -2.49716) lm_pos=(1.745, -2.52) delta=(-0.226524, 0.0228352) -> 1 candidate(s)
I0419 21:00:10.714622 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:10.714748 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:10.714782 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:00:10.717365 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.41416, 1.62849)
I0419 21:00:10.717525 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292106898690.
I0419 21:00:10.720216 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292107177391.
I0419 21:00:10.737782 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555233s, prior_pose=(1.03386, -2.01175), yaw=-2.55277 deg
I0419 21:00:10.737880 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=253, threshold=230, above_threshold=32, candidates=32
I0419 21:00:10.746658 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.148828, -0.680596), points=18, range=0.698333, residual=0.011808, extent=0.038016
I0419 21:00:10.746752 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.148828, -0.680596), tracking=(-0.447328, 0.680596), map_predicted=(0.617291, -1.31191), range=0.698333, pts=18
I0419 21:00:10.746789 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00841185m maha_sq=0.00306627 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.617291, -1.31191) lm_pos=(0.615, -1.32) delta=(0.00229077, 0.00809392) -> 1 candidate(s)
I0419 21:00:10.805828 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292107773827.
I0419 21:00:10.807083 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:10.807154 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:10.807202 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:10.808487 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.45228, 1.59154)
I0419 21:00:10.808550 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:10.886848 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:10.953833 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.160988, -0.683682), points=17, range=0.704353, residual=0.0114235, extent=0.0360555
I0419 21:00:10.953979 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.160988, -0.683682), tracking=(-0.459488, 0.683682), map_predicted=(0.622978, -1.31227), range=0.704353, pts=17
I0419 21:00:10.954032 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0111082m maha_sq=0.00524207 (gate chi2=5.99) pose_sigma=(0.151561, 0.151561, rho=0) det_map=(0.622978, -1.31227) lm_pos=(0.615, -1.32) delta=(0.00797769, 0.00772966) -> 1 candidate(s)
I0419 21:00:10.956045 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.47972, 1.56751)
I0419 21:00:10.956265 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.0185487 range=1.17275 variance=0.000535321 t_weight=5604.11 r_weight=0 yaml=(-0.285, -2.52) prior=(1.06274, -2.0088, -1.63725deg) obs_actual=(-1.34662, -0.534035) obs_expected=(-1.33259, -0.549497) delta=(-0.0140329, 0.0154624) |delta|=0.0208808m
I0419 21:00:10.956394 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292109260151.
I0419 21:00:10.959103 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:10.959246 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:11.015237 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:00:11.111052 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05275s, prior_pose=(1.06634, -2.01006), yaw=-1.40646 deg
I0419 21:00:11.111164 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=253, threshold=230, above_threshold=32, candidates=32
I0419 21:00:11.111317 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03597, 0.775927), points=4, range=1.29025, residual=0.00994704, extent=0.0229418
I0419 21:00:11.111347 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.03597, 0.775927), tracking=(1.33447, 0.775927), map_predicted=(2.41945, -1.26712), range=1.29025, pts=4
I0419 21:00:11.111372 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0530696m maha_sq=0.120117 (gate chi2=5.99) pose_sigma=(0.151266, 0.151266, rho=0) det_map=(2.41945, -1.26712) lm_pos=(2.415, -1.32) delta=(0.00445123, 0.0528826) -> 1 candidate(s)
I0419 21:00:11.112255 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.49453, 1.56198)
I0419 21:00:11.112345 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.772337 deg, rms_residual=0.00231058m, sigma_yaw=0.00307131 rad, N=2
I0419 21:00:11.112402 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.08382, -2.00946, -0.772337deg) inliers=2 rms=0.00231058m
I0419 21:00:11.112435 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292110421030.
I0419 21:00:11.115067 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292110698864.
I0419 21:00:11.116178 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:11.116230 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:11.116271 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:11.117321 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:11.208822 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.51186, 1.55747)
I0419 21:00:11.208923 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.51253, 1.55166), points=4, range=3.84175, residual=0.0152637, extent=0.037126
I0419 21:00:11.208950 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.51253, 1.55166), tracking=(-3.81103, -1.55166), map_predicted=(-2.75023, -3.47821), range=3.84175, pts=4
I0419 21:00:11.208973 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64491m maha_sq=292.769 (gate chi2=5.99) pose_sigma=(0.15122, 0.15122, rho=0) det_map=(-2.75023, -3.47821) lm_pos=(-0.285, -2.52) delta=(-2.46523, -0.958215) -> 0 candidate(s)
I0419 21:00:11.210282 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:11.212314 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.09618, -2.00869), yaw=-1.23689 deg backend=(1.08038, -2.01901)
I0419 21:00:11.254271 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:11.254429 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:11.278612 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.53449, 1.56135)
I0419 21:00:11.372287 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0724736s, prior_pose=(1.10718, -2.0089), yaw=-1.2752 deg
I0419 21:00:11.372421 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:00:11.372591 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.110923, -0.474017), points=28, range=0.48775, residual=0.0123637, extent=0.0422578
I0419 21:00:11.372628 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.110923, -0.474017), tracking=(0.409423, -0.474017), map_predicted=(1.50595, -2.49192), range=0.48775, pts=28
I0419 21:00:11.372653 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.240694m maha_sq=2.43775 (gate chi2=5.99) pose_sigma=(0.152254, 0.152254, rho=0) det_map=(1.50595, -2.49192) lm_pos=(1.745, -2.52) delta=(-0.23905, 0.0280849) -> 1 candidate(s)
I0419 21:00:11.374519 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292113338558.
I0419 21:00:11.375808 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:00:11.388234 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:11.388456 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:11.388574 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:11.394397 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.55153, 1.55656)
I0419 21:00:11.394618 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:11.513262 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.96258, 0.772527), points=5, range=1.2308, residual=0.0104521, extent=0.0270796
I0419 21:00:11.513375 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:11.513391 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.96258, 0.772527), tracking=(1.26108, 0.772527), map_predicted=(2.4171, -1.26807), range=1.2308, pts=5
I0419 21:00:11.513412 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0519709m maha_sq=0.114185 (gate chi2=5.99) pose_sigma=(0.151928, 0.151928, rho=0) det_map=(2.4171, -1.26807) lm_pos=(2.415, -1.32) delta=(0.00210027, 0.0519285) -> 1 candidate(s)
I0419 21:00:11.515369 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=29, centroid=(0.0870638, -0.477115)
I0419 21:00:11.542636 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:11.542769 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:11.542925 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292115420116.
I0419 21:00:11.573906 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:11.608467 1218970 pose_graph_2d.cc:160] Inserted submap (1, 33).
I0419 21:00:11.610337 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(1.15321, 0.5296)
I0419 21:00:11.610497 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292115698700.
I0419 21:00:11.613276 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292116037427.
I0419 21:00:11.622670 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060133s, prior_pose=(1.15629, -2.01418), yaw=-1.17861 deg
I0419 21:00:11.622912 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:00:11.630756 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15642, 0.524969), points=3, range=1.27633, residual=0.0122333, extent=0.0251235
I0419 21:00:11.630889 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15642, 0.524969), tracking=(-1.45492, -0.524969), map_predicted=(-0.309122, -2.50911), range=1.27633, pts=3
I0419 21:00:11.630929 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0264649m maha_sq=0.0302998 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.309122, -2.50911) lm_pos=(-0.285, -2.52) delta=(-0.0241218, 0.0108871) -> 1 candidate(s)
I0419 21:00:11.631006 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:11.631070 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:11.631098 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292116299383.
I0419 21:00:11.658041 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.6058, 1.51204)
I0419 21:00:11.658237 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292116574808.
I0419 21:00:11.678023 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:11.678121 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:11.678189 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:11.736295 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:11.736477 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292116876682.
I0419 21:00:11.738533 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292117182644.
I0419 21:00:11.745913 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.2361, 0.508843)
I0419 21:00:11.746073 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.188795 range=1.33675 variance=0.000766499 t_weight=3913.9 r_weight=0 yaml=(-0.285, -2.52) prior=(1.18831, -2.00492, -0.698639deg) obs_actual=(-1.52792, -0.506447) obs_expected=(-1.46692, -0.533009) delta=(-0.0610077, 0.0265614) |delta|=0.066539m
I0419 21:00:11.746140 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292117455392.
I0419 21:00:11.770529 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:11.770718 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:00:11.776021 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292117753605.
I0419 21:00:11.806509 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.2765, -0.70487), points=17, range=0.760294, residual=0.0141934, extent=0.0436287
I0419 21:00:11.806620 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.2765, -0.70487), tracking=(-0.575, 0.70487), map_predicted=(0.631704, -1.29172), range=0.760294, pts=17
I0419 21:00:11.806651 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0328454m maha_sq=0.0466196 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.631704, -1.29172) lm_pos=(0.615, -1.32) delta=(0.016704, 0.0282807) -> 1 candidate(s)
I0419 21:00:11.806800 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292118060067.
I0419 21:00:11.863307 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:11.863571 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 17 -> 16 (threshold=0.03, iters=3)
I0419 21:00:11.863644 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:11.863761 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292118341886.
I0419 21:00:11.866621 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.286727, -0.711951)
I0419 21:00:11.866937 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292118620269.
I0419 21:00:11.894896 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292118943127.
I0419 21:00:11.916316 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0538546s, prior_pose=(1.22192, -2.0015), yaw=0.461922 deg
I0419 21:00:11.916644 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 21:00:11.918658 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 175
I0419 21:00:11.926509 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292119247497.
I0419 21:00:11.998106 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25172, 0.467959), points=4, range=1.3295, residual=0.0185842, extent=0.0455069
I0419 21:00:11.998224 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25172, 0.467959), tracking=(-1.55022, -0.467959), map_predicted=(-0.313073, -2.49301), range=1.3295, pts=4
I0419 21:00:11.998267 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0389424m maha_sq=0.0645514 (gate chi2=5.99) pose_sigma=(0.150594, 0.150594, rho=0) det_map=(-0.313073, -2.49301) lm_pos=(-0.285, -2.52) delta=(-0.0280728, 0.0269894) -> 1 candidate(s)
I0419 21:00:11.998358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292119501145.
I0419 21:00:11.999472 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:11.999547 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.917513, 0.717893)
I0419 21:00:11.999568 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:11.999619 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:12.000418 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:12.000528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292119819083.
I0419 21:00:12.009920 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292120092427.
I0419 21:00:12.042109 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.0242309 range=1.32767 variance=0.000526321 t_weight=5699.95 r_weight=0 yaml=(-0.285, -2.52) prior=(1.24096, -2.00402, 1.41551deg) obs_actual=(-1.54246, -0.454806) obs_expected=(-1.53824, -0.478126) delta=(-0.00422844, 0.02332) |delta|=0.0237002m
I0419 21:00:12.042248 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292120416541.
I0419 21:00:12.062316 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:12.070294 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292120696940.
I0419 21:00:12.123653 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.25159, -2.00397), yaw=1.50434 deg backend=(1.21888, -2.01976)
I0419 21:00:12.125635 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25176, 0.449427), points=3, range=1.32833, residual=0.00476105, extent=0.00869484
I0419 21:00:12.125773 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25176, 0.449427), tracking=(-1.55026, -0.449427), map_predicted=(-0.286343, -2.49394), range=1.32833, pts=3
I0419 21:00:12.125823 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.026095m maha_sq=0.0293121 (gate chi2=5.99) pose_sigma=(0.150795, 0.150795, rho=0) det_map=(-0.286343, -2.49394) lm_pos=(-0.285, -2.52) delta=(-0.00134342, 0.0260604) -> 1 candidate(s)
I0419 21:00:12.125905 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.20469 deg, rms_residual=0.00333584m, sigma_yaw=0.0044281 rad, N=2
I0419 21:00:12.125948 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.24483, -2.01394, 2.20469deg) inliers=2 rms=0.00333584m
I0419 21:00:12.125998 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292120976035.
I0419 21:00:12.127306 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.898097, 0.710747)
I0419 21:00:12.130164 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:12.130244 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:12.130321 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292121297450.
I0419 21:00:12.139585 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:12.155516 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292121549726.
I0419 21:00:12.187160 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292121865806.
I0419 21:00:12.209990 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798094s, prior_pose=(1.25747, -2.00134), yaw=1.70355 deg
I0419 21:00:12.210101 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:00:12.276793 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:12.276937 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:12.276997 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292122180007.
I0419 21:00:12.279086 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292122452796.
I0419 21:00:12.280938 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:12.281059 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.879778, 0.708176)
I0419 21:00:12.281105 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:12.281155 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:12.281972 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:12.282068 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292122739169.
I0419 21:00:12.294494 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0580896, -0.496958), points=28, range=0.500821, residual=0.0124046, extent=0.0394687
I0419 21:00:12.294588 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0580896, -0.496958), tracking=(0.24041, -0.496958), map_predicted=(1.51389, -2.50019), range=0.500821, pts=28
I0419 21:00:12.294620 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.231962m maha_sq=2.33077 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.51389, -2.50019) lm_pos=(1.745, -2.52) delta=(-0.231115, 0.0198053) -> 1 candidate(s)
I0419 21:00:12.306171 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292123055953.
I0419 21:00:12.334906 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292123340305.
I0419 21:00:12.413089 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:12.413203 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:12.414034 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292123613575.
I0419 21:00:12.416595 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292123904733.
I0419 21:00:12.418088 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.856302, 0.707522)
I0419 21:00:12.422610 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:12.422708 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:12.422791 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292124221852.
I0419 21:00:12.454572 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292124540315.
I0419 21:00:12.474085 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845585, 0.706962), points=6, range=1.09833, residual=0.0138564, extent=0.0355598
I0419 21:00:12.474225 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.845585, 0.706962), tracking=(1.14409, 0.706962), map_predicted=(2.4038, -1.27286), range=1.09833, pts=6
I0419 21:00:12.474277 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0484486m maha_sq=0.101406 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.4038, -1.27286) lm_pos=(2.415, -1.32) delta=(-0.0112019, 0.0471358) -> 1 candidate(s)
I0419 21:00:12.557184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292124813448.
I0419 21:00:12.558318 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606273s, prior_pose=(1.27872, -2.01586), yaw=1.84391 deg
I0419 21:00:12.558418 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:00:12.559386 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0235609 range=0.812875 variance=0.000634866 t_weight=4725.41 r_weight=0 yaml=(0.615, -1.32) prior=(1.27872, -2.01586, 1.84391deg) obs_actual=(-0.663314, 0.723692) obs_expected=(-0.640989, 0.716861) delta=(-0.0223251, 0.00683149) |delta|=0.0233469m
I0419 21:00:12.559492 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292125102520.
I0419 21:00:12.561980 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292125378381.
I0419 21:00:12.563127 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:12.563205 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.829482, 0.705891)
I0419 21:00:12.563221 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:12.563262 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:12.570101 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:12.570252 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292125695133.
I0419 21:00:12.601622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292126010341.
I0419 21:00:12.659195 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292126303749.
I0419 21:00:12.660418 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:12.662214 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292126579583.
I0419 21:00:12.679811 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.128539, -0.493916), points=27, range=0.510111, residual=0.0123535, extent=0.0387645
I0419 21:00:12.679940 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.128539, -0.493916), tracking=(0.169961, -0.493916), map_predicted=(1.48812, -2.50273), range=0.510111, pts=27
I0419 21:00:12.679970 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.257464m maha_sq=2.87157 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.48812, -2.50273) lm_pos=(1.745, -2.52) delta=(-0.256884, 0.0172701) -> 1 candidate(s)
I0419 21:00:12.686460 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.395197, -0.722727)
I0419 21:00:12.686679 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292126859095.
I0419 21:00:12.718632 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:12.718739 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:12.718890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292127181545.
I0419 21:00:12.798065 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292127459293.
I0419 21:00:12.800099 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292127731800.
I0419 21:00:12.801802 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481697s, prior_pose=(1.32863, -2.01539), yaw=1.89449 deg
I0419 21:00:12.801894 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:00:12.802878 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.36727, 0.448644)
I0419 21:00:12.802978 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:12.803043 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:12.803066 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292128023547.
I0419 21:00:12.834347 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292128337528.
I0419 21:00:12.854753 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:12.854902 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:12.854966 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.156045, -0.494752), points=26, range=0.519692, residual=0.0121281, extent=0.0380178
I0419 21:00:12.855003 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.156045, -0.494752), tracking=(0.142455, -0.494752), map_predicted=(1.50216, -2.50378), range=0.519692, pts=26
I0419 21:00:12.855041 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.243385m maha_sq=2.5667 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.50216, -2.50378) lm_pos=(1.745, -2.52) delta=(-0.242844, 0.0162217) -> 1 candidate(s)
I0419 21:00:12.855101 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:12.862130 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:12.862308 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292128616044.
I0419 21:00:12.947150 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292128931734.
I0419 21:00:12.949906 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292129213664.
I0419 21:00:12.951156 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:12.951319 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:12.952253 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.38638, 0.441558)
I0419 21:00:12.952407 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292129519143.
I0419 21:00:12.953423 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.3642, -2.01236), yaw=2.07257 deg backend=(1.34993, -2.01481)
I0419 21:00:12.982946 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292129819293.
I0419 21:00:13.080451 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:13.080586 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:13.080663 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292130100456.
I0419 21:00:13.081265 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:13.082688 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.455251, -0.728506), points=13, range=0.861846, residual=0.0126488, extent=0.0376807
I0419 21:00:13.082954 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.455251, -0.728506), tracking=(-0.753751, 0.728506), map_predicted=(0.584739, -1.31105), range=0.861846, pts=13
I0419 21:00:13.083113 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.031558m maha_sq=0.0431062 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.584739, -1.31105) lm_pos=(0.615, -1.32) delta=(-0.030261, 0.00895436) -> 1 candidate(s)
I0419 21:00:13.083290 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0431062 range=0.861846 variance=0.000603562 t_weight=4970.49 r_weight=0 yaml=(0.615, -1.32) prior=(1.36387, -2.01234, 2.03377deg) obs_actual=(-0.753751, 0.728506) obs_expected=(-0.723827, 0.718483) delta=(-0.0299241, 0.0100226) |delta|=0.031558m
I0419 21:00:13.083460 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292130378114.
I0419 21:00:13.086463 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292130699301.
I0419 21:00:13.090224 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.079808s, prior_pose=(1.37131, -2.01208), yaw=2.0426 deg
I0419 21:00:13.090409 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 21:00:13.098240 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.41534, 0.439471)
I0419 21:00:13.098404 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292130977997.
I0419 21:00:13.125943 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292131253376.
I0419 21:00:13.194720 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:13.194864 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:13.194933 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:13.195887 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:13.195976 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292131582904.
I0419 21:00:13.199148 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292131857419.
I0419 21:00:13.214560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292132140786.
I0419 21:00:13.234519 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57991, -0.528633)
I0419 21:00:13.234624 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.712649, 0.700274), points=8, range=0.99725, residual=0.0103363, extent=0.0312492
I0419 21:00:13.234649 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:13.234663 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.712649, 0.700274), tracking=(1.01115, 0.700274), map_predicted=(2.39592, -1.27003), range=0.99725, pts=8
I0419 21:00:13.234688 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0534935m maha_sq=0.123152 (gate chi2=5.99) pose_sigma=(0.150596, 0.150596, rho=0) det_map=(2.39592, -1.27003) lm_pos=(2.415, -1.32) delta=(-0.0190808, 0.0499747) -> 1 candidate(s)
I0419 21:00:13.245970 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292132453766.
I0419 21:00:13.328614 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292132733401.
I0419 21:00:13.330636 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:13.330744 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:13.330833 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292133056949.
I0419 21:00:13.334283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292133339244.
I0419 21:00:13.354012 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=37, centroid=(-0.272681, -0.495749)
I0419 21:00:13.362059 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292133613344.
I0419 21:00:13.381691 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0578087s, prior_pose=(1.43123, -2.00882), yaw=2.36018 deg
I0419 21:00:13.381811 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=252, threshold=230, above_threshold=48, candidates=48
I0419 21:00:13.390678 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:13.390828 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:13.390859 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292133899566.
I0419 21:00:13.454286 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292134217226.
I0419 21:00:13.455600 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:13.455717 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:13.455751 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.284637, -0.496214), points=27, range=0.569926, residual=0.015264, extent=0.042682
I0419 21:00:13.455771 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.284637, -0.496214), tracking=(0.0138625, -0.496214), map_predicted=(1.47986, -2.50253), range=0.569926, pts=27
I0419 21:00:13.455793 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.265711m maha_sq=3.04766 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.47986, -2.50253) lm_pos=(1.745, -2.52) delta=(-0.265136, 0.0174744) -> 1 candidate(s)
I0419 21:00:13.455823 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:13.457435 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:13.457553 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292134498600.
I0419 21:00:13.470611 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.661243, 0.69467)
I0419 21:00:13.478502 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292134778405.
I0419 21:00:13.510545 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292135099657.
I0419 21:00:13.530627 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:13.530781 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:13.592522 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292135381140.
I0419 21:00:13.597996 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292135575707.
I0419 21:00:13.598994 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292135696125.
I0419 21:00:13.600762 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.117313 range=0.940091 variance=0.000564401 t_weight=5315.37 r_weight=0 yaml=(2.415, -1.32) prior=(1.48407, -2.0049, 2.53417deg) obs_actual=(0.938868, 0.690676) obs_expected=(0.960306, 0.643073) delta=(-0.0214383, 0.0476031) |delta|=0.0522078m
I0419 21:00:13.600874 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292135900937.
I0419 21:00:13.601713 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:13.601795 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:13.601854 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292135983826.
I0419 21:00:13.618677 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.50195, -0.544187)
I0419 21:00:13.618877 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292136182085.
I0419 21:00:13.646346 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292136457034.
I0419 21:00:13.654433 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.575095, -0.742733), points=10, range=0.9414, residual=0.0100274, extent=0.0271947
I0419 21:00:13.654532 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.575095, -0.742733), tracking=(-0.873595, 0.742733), map_predicted=(0.588881, -1.30146), range=0.9414, pts=10
I0419 21:00:13.654564 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0320306m maha_sq=0.0445145 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.588881, -1.30146) lm_pos=(0.615, -1.32) delta=(-0.0261186, 0.0185412) -> 1 candidate(s)
I0419 21:00:13.720557 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520532s, prior_pose=(1.48859, -2.00529), yaw=2.61761 deg
I0419 21:00:13.720691 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:00:13.720834 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292136777623.
I0419 21:00:13.722755 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292137060021.
I0419 21:00:13.733808 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:13.733937 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:13.734000 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:13.734086 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292137332567.
I0419 21:00:13.742242 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:13.766635 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.4695, -0.54698)
I0419 21:00:13.766871 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292137661152.
I0419 21:00:13.794881 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292137939599.
I0419 21:00:13.887043 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:13.887212 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292138212997.
I0419 21:00:13.888975 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.52951, -2.0036), yaw=2.79714 deg backend=(1.52685, -2.0088)
I0419 21:00:13.889935 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.588159, 0.684565), points=11, range=0.901364, residual=0.00958833, extent=0.0284091
I0419 21:00:13.890008 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.588159, 0.684565), tracking=(0.886659, 0.684565), map_predicted=(2.38171, -1.27658), range=0.901364, pts=11
I0419 21:00:13.890033 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0547113m maha_sq=0.128951 (gate chi2=5.99) pose_sigma=(0.150584, 0.150584, rho=0) det_map=(2.38171, -1.27658) lm_pos=(2.415, -1.32) delta=(-0.033289, 0.0434186) -> 1 candidate(s)
I0419 21:00:13.890138 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292138540409.
I0419 21:00:13.892323 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292138818371.
I0419 21:00:13.893977 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57882, 0.413211)
I0419 21:00:13.894057 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:13.894085 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:13.922966 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:13.923213 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:13.923259 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292139221260.
I0419 21:00:14.022022 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292139420910.
I0419 21:00:14.023725 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798768s, prior_pose=(1.55304, -2.00279), yaw=2.86676 deg
I0419 21:00:14.023825 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=252, threshold=230, above_threshold=14, candidates=14
I0419 21:00:14.023942 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292139699564.
I0419 21:00:14.026556 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292140012899.
I0419 21:00:14.030570 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:14.030679 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.546568, 0.678887)
I0419 21:00:14.030720 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:14.030794 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:14.030915 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292140299021.
I0419 21:00:14.039026 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.191172, 0.493569), points=26, range=0.531885, residual=0.0139743, extent=0.0405578
I0419 21:00:14.039376 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.191172, 0.493569), tracking=(-0.107328, -0.493569), map_predicted=(1.49291, -2.50026), range=0.531885, pts=26
I0419 21:00:14.039426 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.252857m maha_sq=2.76455 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.49291, -2.50026) lm_pos=(1.745, -2.52) delta=(-0.252085, 0.0197441) -> 1 candidate(s)
I0419 21:00:14.039449 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:14.059116 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292140578975.
I0419 21:00:14.129972 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292140898873.
I0419 21:00:14.132659 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:14.132826 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292141180874.
I0419 21:00:14.147794 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.14542 range=0.855 variance=0.000565567 t_weight=5304.41 r_weight=0 yaml=(2.415, -1.32) prior=(1.59851, -1.99852, 3.1863deg) obs_actual=(0.816544, 0.677131) obs_expected=(0.852945, 0.632085) delta=(-0.0364012, 0.0450462) |delta|=0.0579155m
I0419 21:00:14.148572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292141466723.
I0419 21:00:14.178846 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292141779943.
I0419 21:00:14.186702 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.692263, -0.757621)
I0419 21:00:14.186852 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:14.186898 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:14.186959 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:14.269198 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292142060085.
I0419 21:00:14.271142 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292142342186.
I0419 21:00:14.272759 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.703828, -0.759793), points=8, range=1.03688, residual=0.00871415, extent=0.026573
I0419 21:00:14.272872 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.703828, -0.759793), tracking=(-1.00233, 0.759793), map_predicted=(0.584132, -1.29496), range=1.03688, pts=8
I0419 21:00:14.272897 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0397485m maha_sq=0.0678162 (gate chi2=5.99) pose_sigma=(0.150896, 0.150896, rho=0) det_map=(0.584132, -1.29496) lm_pos=(0.615, -1.32) delta=(-0.0308679, 0.0250424) -> 1 candidate(s)
I0419 21:00:14.273922 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593115s, prior_pose=(1.6274, -1.99748), yaw=3.20721 deg
I0419 21:00:14.273999 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:00:14.274112 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292142653200.
I0419 21:00:14.295045 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292142942143.
I0419 21:00:14.302507 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=26, centroid=(-0.130232, 0.494477)
I0419 21:00:14.322702 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:14.322845 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:14.322969 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:14.323144 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292143218843.
I0419 21:00:14.419011 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:14.420312 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292143540005.
I0419 21:00:14.422941 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292143817054.
I0419 21:00:14.424661 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:14.426201 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.73554, 0.395362)
I0419 21:00:14.426295 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0987912, 0.492832), points=26, range=0.504231, residual=0.0122938, extent=0.03871
I0419 21:00:14.426328 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0987912, 0.492832), tracking=(-0.199709, -0.492832), map_predicted=(1.48366, -2.49933), range=0.504231, pts=26
I0419 21:00:14.426352 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.262154m maha_sq=2.94209 (gate chi2=5.99) pose_sigma=(0.150919, 0.150919, rho=0) det_map=(1.48366, -2.49933) lm_pos=(1.745, -2.52) delta=(-0.261338, 0.020668) -> 1 candidate(s)
I0419 21:00:14.439509 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292144386895.
I0419 21:00:14.532145 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292144702080.
I0419 21:00:14.532634 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:14.533146 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:14.533231 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:14.534289 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292144979888.
I0419 21:00:14.539044 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.0751886, 0.492911)
I0419 21:00:14.558136 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0474359s, prior_pose=(1.68133, -1.99286), yaw=3.52609 deg
I0419 21:00:14.558310 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:00:14.687070 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788121, -0.760171), points=6, range=1.096, residual=0.00824071, extent=0.0215846
I0419 21:00:14.687201 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.788121, -0.760171), tracking=(-1.08662, 0.760171), map_predicted=(0.565233, -1.30061), range=1.096, pts=6
I0419 21:00:14.687232 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0534124m maha_sq=0.11961 (gate chi2=5.99) pose_sigma=(0.152737, 0.152737, rho=0) det_map=(0.565233, -1.30061) lm_pos=(0.615, -1.32) delta=(-0.0497671, 0.0193937) -> 1 candidate(s)
I0419 21:00:14.688472 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:14.688534 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:14.688717 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:14.689859 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:14.689918 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:14.693711 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.39458, 0.674231)
I0419 21:00:14.706601 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:14.768537 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.71674, -1.9901), yaw=3.17008 deg backend=(1.71406, -1.99513)
I0419 21:00:14.773764 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.829903, -0.753085), points=4, range=1.12225, residual=0.00656596, extent=0.0164447
I0419 21:00:14.773867 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.829903, -0.753085), tracking=(-1.1284, 0.753085), map_predicted=(0.548413, -1.30057), range=1.12225, pts=4
I0419 21:00:14.773900 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0693653m maha_sq=0.197683 (gate chi2=5.99) pose_sigma=(0.154402, 0.154402, rho=0) det_map=(0.548413, -1.30057) lm_pos=(0.615, -1.32) delta=(-0.066587, 0.0194348) -> 1 candidate(s)
I0419 21:00:14.778443 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:14.778586 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:14.802803 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=27, centroid=(-0.0173726, 0.497198)
I0419 21:00:14.821820 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:14.822165 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:14.822310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292148212444.
I0419 21:00:14.854393 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075906s, prior_pose=(1.73938, -1.98891), yaw=2.86202 deg
I0419 21:00:14.854538 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:00:14.854852 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292148537198.
I0419 21:00:14.950150 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:14.950278 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:14.950301 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20718, -0.543783), points=3, range=1.33033, residual=0.013294, extent=0.028086
I0419 21:00:14.950325 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.20718, -0.543783), tracking=(1.50568, -0.543783), map_predicted=(3.29369, -2.46492), range=1.33033, pts=3
I0419 21:00:14.950344 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.242647m maha_sq=2.48026 (gate chi2=5.99) pose_sigma=(0.151962, 0.151962, rho=0) det_map=(3.29369, -2.46492) lm_pos=(3.53, -2.52) delta=(-0.236314, 0.0550779) -> 1 candidate(s)
I0419 21:00:14.950425 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:14.951275 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:14.952267 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.20462, -0.540511)
I0419 21:00:14.953929 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:14.971117 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292149702245.
I0419 21:00:15.073320 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:15.078420 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=26, centroid=(0.0329844, 0.503262)
I0419 21:00:15.078540 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:15.078562 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.924071, -0.721964), points=4, range=1.175, residual=0.00739313, extent=0.0169572
I0419 21:00:15.078577 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:15.078589 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.924071, -0.721964), tracking=(-1.22257, 0.721964), map_predicted=(0.565383, -1.30355), range=1.175, pts=4
I0419 21:00:15.078603 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0522732m maha_sq=0.114919 (gate chi2=5.99) pose_sigma=(0.152523, 0.152523, rho=0) det_map=(0.565383, -1.30355) lm_pos=(0.615, -1.32) delta=(-0.0496167, 0.0164519) -> 1 candidate(s)
I0419 21:00:15.208719 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601443s, prior_pose=(1.82152, -1.98228), yaw=1.44665 deg
I0419 21:00:15.208885 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:00:15.215929 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.971789, -0.710359)
I0419 21:00:15.218050 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:15.218196 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:15.218258 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:15.220243 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0595847, 0.509783), points=25, range=0.5136, residual=0.0114675, extent=0.0362111
I0419 21:00:15.220363 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0595847, 0.509783), tracking=(-0.358085, -0.509783), map_predicted=(1.49335, -2.49762), range=0.5136, pts=25
I0419 21:00:15.220399 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.252644m maha_sq=2.59639 (gate chi2=5.99) pose_sigma=(0.154986, 0.154986, rho=0) det_map=(1.49335, -2.49762) lm_pos=(1.745, -2.52) delta=(-0.25165, 0.0223839) -> 1 candidate(s)
I0419 21:00:15.220429 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:15.318426 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:15.319564 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.00599, -0.736739)
I0419 21:00:15.321126 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:15.321230 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292152934593.
I0419 21:00:15.323889 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292153219916.
I0419 21:00:15.351312 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292153499072.
I0419 21:00:15.362674 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=25, centroid=(0.0960588, 0.509754)
I0419 21:00:15.362850 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:15.362892 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:15.379122 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292153783272.
I0419 21:00:15.451054 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292154100829.
I0419 21:00:15.451927 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02747, -0.703955), points=5, range=1.2436, residual=0.00738051, extent=0.0201288
I0419 21:00:15.451989 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02747, -0.703955), tracking=(-1.32597, 0.703955), map_predicted=(0.539154, -1.29204), range=1.2436, pts=5
I0419 21:00:15.452013 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0808363m maha_sq=0.283885 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.539154, -1.29204) lm_pos=(0.615, -1.32) delta=(-0.0758465, 0.027961) -> 1 candidate(s)
I0419 21:00:15.453573 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478025s, prior_pose=(1.88252, -1.98061), yaw=0.674523 deg
I0419 21:00:15.453634 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:00:15.478161 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.03954, -0.706667)
I0419 21:00:15.498582 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:15.498745 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:15.498871 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:15.507269 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:15.601589 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.242259 range=0.707222 variance=0.0005628 t_weight=5330.49 r_weight=0 yaml=(2.415, -1.32) prior=(1.90208, -1.98061, 0.683282deg) obs_actual=(0.453441, 0.689278) obs_expected=(0.52076, 0.654446) delta=(-0.0673187, 0.0348316) |delta|=0.0757961m
I0419 21:00:15.601739 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292155573874.
I0419 21:00:15.603193 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.147671, 0.511979)
I0419 21:00:15.604498 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.14433, 0.688921), points=18, range=0.705, residual=0.0117556, extent=0.0358103
I0419 21:00:15.604555 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:15.604570 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.14433, 0.688921), tracking=(0.44283, 0.688921), map_predicted=(2.34855, -1.28586), range=0.705, pts=18
I0419 21:00:15.604590 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.074706m maha_sq=0.23892 (gate chi2=5.99) pose_sigma=(0.150942, 0.150942, rho=0) det_map=(2.34855, -1.28586) lm_pos=(2.415, -1.32) delta=(-0.0664463, 0.0341448) -> 1 candidate(s)
I0419 21:00:15.604717 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292155855154.
I0419 21:00:15.606601 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.92337, -1.98034), yaw=0.785562 deg backend=(1.93279, -1.9993)
I0419 21:00:15.647034 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292156460238.
I0419 21:00:15.742167 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:15.742307 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:15.743382 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:15.744267 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(0.177229, 0.512027)
I0419 21:00:15.747695 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0782561s, prior_pose=(1.93043, -1.97924), yaw=0.839661 deg
I0419 21:00:15.747803 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:15.749450 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10062, -0.714741), points=3, range=1.31233, residual=0.00453889, extent=0.0110572
I0419 21:00:15.749526 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10062, -0.714741), tracking=(-1.39912, 0.714741), map_predicted=(0.533086, -1.28554), range=1.31233, pts=3
I0419 21:00:15.749552 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0888669m maha_sq=0.335742 (gate chi2=5.99) pose_sigma=(0.151767, 0.151767, rho=0) det_map=(0.533086, -1.28554) lm_pos=(0.615, -1.32) delta=(-0.0819135, 0.0344602) -> 1 candidate(s)
I0419 21:00:15.831266 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:15.831374 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:15.831440 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:15.832201 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.12632, -0.712949)
I0419 21:00:15.832286 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:15.879029 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:15.910522 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.980397, -0.519421), points=6, range=1.117, residual=0.0171923, extent=0.0367718
I0419 21:00:15.911136 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.980397, -0.519421), tracking=(1.2789, -0.519421), map_predicted=(3.2814, -2.47515), range=1.117, pts=6
I0419 21:00:15.911206 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.252613m maha_sq=2.55965 (gate chi2=5.99) pose_sigma=(0.155495, 0.155495, rho=0) det_map=(3.2814, -2.47515) lm_pos=(3.53, -2.52) delta=(-0.2486, 0.044849) -> 1 candidate(s)
I0419 21:00:16.004403 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.1434, -0.716761)
I0419 21:00:16.005400 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:16.006711 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:16.006793 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:16.008595 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:16.026404 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595205s, prior_pose=(2.02358, -1.97655), yaw=1.14054 deg
I0419 21:00:16.026600 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:16.039191 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.1728, -0.718694)
I0419 21:00:16.117489 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.269832, 0.507356), points=20, range=0.57605, residual=0.0114515, extent=0.0352512
I0419 21:00:16.117614 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.269832, 0.507356), tracking=(-0.568332, -0.507356), map_predicted=(1.48283, -2.49509), range=0.57605, pts=20
I0419 21:00:16.117646 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.263353m maha_sq=2.68727 (gate chi2=5.99) pose_sigma=(0.158884, 0.158884, rho=0) det_map=(1.48283, -2.49509) lm_pos=(1.745, -2.52) delta=(-0.262172, 0.0249117) -> 1 candidate(s)
I0419 21:00:16.118556 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:16.118603 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:16.118651 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:16.120064 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:16.149995 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.19171, -0.718373)
I0419 21:00:16.174461 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:16.242233 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:16.242333 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21924, -0.721363), points=3, range=1.41667, residual=0.00702188, extent=0.0165404
I0419 21:00:16.242355 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:16.242377 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.21924, -0.721363), tracking=(-1.51774, 0.721363), map_predicted=(0.533027, -1.29015), range=1.41667, pts=3
I0419 21:00:16.242398 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0872377m maha_sq=0.286573 (gate chi2=5.99) pose_sigma=(0.161345, 0.161345, rho=0) det_map=(0.533027, -1.29015) lm_pos=(0.615, -1.32) delta=(-0.0819726, 0.0298479) -> 1 candidate(s)
I0419 21:00:16.262542 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:16.269800 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.23189, -0.717602)
I0419 21:00:16.351114 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0522828s, prior_pose=(2.08288, -1.97485), yaw=1.36415 deg
I0419 21:00:16.351231 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:16.378250 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:16.378348 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:16.378408 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:16.386076 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.25747, -0.725988)
I0419 21:00:16.386222 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351261, 0.50622), points=21, range=0.618714, residual=0.0139807, extent=0.044445
I0419 21:00:16.386257 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.351261, 0.50622), tracking=(-0.649761, -0.50622), map_predicted=(1.45885, -2.49696), range=0.618714, pts=21
I0419 21:00:16.386286 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.287074m maha_sq=3.01952 (gate chi2=5.99) pose_sigma=(0.163288, 0.163288, rho=0) det_map=(1.45885, -2.49696) lm_pos=(1.745, -2.52) delta=(-0.286148, 0.0230413) -> 1 candidate(s)
I0419 21:00:16.386307 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:16.506700 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:16.508608 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.13378, -1.97263), yaw=1.57565 deg backend=(2.15362, -1.99749)
I0419 21:00:16.510355 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.28378, -0.726306)
I0419 21:00:16.534412 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:16.534583 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:16.554973 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0738204, 0.683236), points=18, range=0.688556, residual=0.0110029, extent=0.0344724
I0419 21:00:16.555136 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0738204, 0.683236), tracking=(0.22468, 0.683236), map_predicted=(2.35123, -1.2831), range=0.688556, pts=18
I0419 21:00:16.555191 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0736735m maha_sq=0.191488 (gate chi2=5.99) pose_sigma=(0.166696, 0.166696, rho=0) det_map=(2.35123, -1.2831) lm_pos=(2.415, -1.32) delta=(-0.0637693, 0.0368952) -> 1 candidate(s)
I0419 21:00:16.555261 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:16.656172 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795002s, prior_pose=(2.16398, -1.97154), yaw=1.58737 deg
I0419 21:00:16.656316 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:16.656409 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.0888899, 0.682771)
I0419 21:00:16.656502 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292166131985.
I0419 21:00:16.673815 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:16.673898 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:16.673954 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:16.682435 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:16.781927 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.116281, 0.682498)
I0419 21:00:16.782048 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786737, -0.538983), points=7, range=0.949857, residual=0.0136307, extent=0.0386865
I0419 21:00:16.782076 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786737, -0.538983), tracking=(1.08524, -0.538983), map_predicted=(3.30738, -2.50265), range=0.949857, pts=7
I0419 21:00:16.782099 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.223296m maha_sq=2.0558 (gate chi2=5.99) pose_sigma=(0.15369, 0.15369, rho=0) det_map=(3.30738, -2.50265) lm_pos=(3.53, -2.52) delta=(-0.222621, 0.0173524) -> 1 candidate(s)
I0419 21:00:16.784715 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:16.818670 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292168179436.
I0419 21:00:16.826854 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:16.826995 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:16.893285 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.143575, 0.680211)
I0419 21:00:16.895237 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750577, -0.538626), points=8, range=0.9205, residual=0.0138219, extent=0.0414289
I0419 21:00:16.895331 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.750577, -0.538626), tracking=(1.04908, -0.538626), map_predicted=(3.29313, -2.50637), range=0.9205, pts=8
I0419 21:00:16.895357 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.237257m maha_sq=2.40774 (gate chi2=5.99) pose_sigma=(0.150804, 0.150804, rho=0) det_map=(3.29313, -2.50637) lm_pos=(3.53, -2.52) delta=(-0.236865, 0.0136261) -> 1 candidate(s)
I0419 21:00:16.895439 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292168782342.
I0419 21:00:16.896852 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:16.910248 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599178s, prior_pose=(2.24776, -1.9983), yaw=1.65234 deg
I0419 21:00:16.910394 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:16.966987 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:16.967125 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.173107, 0.68577)
I0419 21:00:16.967165 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:16.967262 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:17.050598 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:17.052085 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292169942010.
I0419 21:00:17.055501 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.717038, -0.538653), points=8, range=0.896375, residual=0.012026, extent=0.0385744
I0419 21:00:17.055637 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.717038, -0.538653), tracking=(1.01554, -0.538653), map_predicted=(3.31314, -2.5106), range=0.896375, pts=8
I0419 21:00:17.055668 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.21706m maha_sq=2.01343 (gate chi2=5.99) pose_sigma=(0.151032, 0.151032, rho=0) det_map=(3.31314, -2.5106) lm_pos=(3.53, -2.52) delta=(-0.216856, 0.00939798) -> 1 candidate(s)
I0419 21:00:17.055747 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292170252667.
I0419 21:00:17.057655 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:17.086767 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.202889, 0.684966)
I0419 21:00:17.184989 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292171133469.
I0419 21:00:17.185901 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:17.185993 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:17.188724 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 13 -> 12 (threshold=0.03, iters=3)
I0419 21:00:17.188848 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.542796, 0.512044), points=12, range=0.751333, residual=0.0141271, extent=0.0395964
I0419 21:00:17.188879 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.542796, 0.512044), tracking=(-0.841296, -0.512044), map_predicted=(1.48983, -2.53872), range=0.751333, pts=12
I0419 21:00:17.188903 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[2] 'ref_3' eucl_dist=0.255861m maha_sq=2.78104 (gate chi2=5.99) pose_sigma=(0.15133, 0.15133, rho=0) det_map=(1.48983, -2.53872) lm_pos=(1.745, -2.52) delta=(-0.255175, -0.0187242) -> 1 candidate(s)
I0419 21:00:17.188985 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292171537083.
I0419 21:00:17.189899 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.226895, 0.684663)
I0419 21:00:17.202171 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478678s, prior_pose=(2.33451, -2.00513), yaw=1.47877 deg
I0419 21:00:17.202361 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:00:17.231241 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292172301358.
I0419 21:00:17.322351 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:17.322468 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:17.322521 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:17.322541 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:17.323220 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.346141, -0.587631)
I0419 21:00:17.323287 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:17.325033 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.255091, 0.685222), points=17, range=0.731824, residual=0.0116691, extent=0.0342432
I0419 21:00:17.325114 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.255091, 0.685222), tracking=(0.0434088, 0.685222), map_predicted=(2.37393, -1.31857), range=0.731824, pts=17
I0419 21:00:17.325142 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[3] 'ref_4' eucl_dist=0.0410911m maha_sq=0.0722707 (gate chi2=5.99) pose_sigma=(0.150959, 0.150959, rho=0) det_map=(2.37393, -1.31857) lm_pos=(2.415, -1.32) delta=(-0.0410664, 0.00142564) -> 1 candidate(s)
I0419 21:00:17.325198 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[3] 'ref_4' maha_sq=0.0722707 range=0.731824 variance=0.000574557 t_weight=5221.41 r_weight=0 yaml=(2.415, -1.32) prior=(2.34567, -2.00459, 1.26557deg) obs_actual=(0.0434088, 0.685222) obs_expected=(0.0844337, 0.68289) delta=(-0.0410249, 0.00233231) |delta|=0.0410911m
I0419 21:00:17.325265 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292172904992.
I0419 21:00:17.326242 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:17.326361 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:17.326387 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292173018291.
I0419 21:00:17.327248 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292173176916.
I0419 21:00:17.328752 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292173260718.
I0419 21:00:17.350158 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:17.358829 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(-0.338059, -0.677851)
I0419 21:00:17.359156 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292173578026.
I0419 21:00:17.453752 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(2.37249, -2.001), yaw=1.20446 deg backend=(2.32194, -1.98567)
I0419 21:00:17.455075 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:17.456763 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.284943, 0.685052), points=17, range=0.742588, residual=0.0116938, extent=0.03742
I0419 21:00:17.456920 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.284943, 0.685052), tracking=(0.0135573, 0.685052), map_predicted=(2.37164, -1.31582), range=0.742588, pts=17
I0419 21:00:17.456949 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0435567m maha_sq=0.0814388 (gate chi2=5.99) pose_sigma=(0.150733, 0.150733, rho=0) det_map=(2.37164, -1.31582) lm_pos=(2.415, -1.32) delta=(-0.0433553, 0.00418406) -> 1 candidate(s)
I0419 21:00:17.458729 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:17.458866 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:17.460916 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=13, centroid=(0.616269, 0.519992)
I0419 21:00:17.466343 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292174652601.
I0419 21:00:17.495909 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806034s, prior_pose=(2.40173, -1.99873), yaw=1.09672 deg
I0419 21:00:17.496119 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:00:17.496541 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292174946314.
I0419 21:00:17.575402 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.0883929 deg, rms_residual=0.00881471m, sigma_yaw=0.00969912 rad, N=2
I0419 21:00:17.575539 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(2.42939, -2.00233, 0.0883929deg) inliers=2 rms=0.00881471m
I0419 21:00:17.575580 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292175260996.
I0419 21:00:17.576447 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.286795, -0.675604), points=16, range=0.736437, residual=0.0122547, extent=0.0360314
I0419 21:00:17.576501 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.286795, -0.675604), tracking=(-0.0117046, 0.675604), map_predicted=(2.41087, -1.32504), range=0.736437, pts=16
I0419 21:00:17.576529 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.00651809m maha_sq=0.0018401 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.41087, -1.32504) lm_pos=(2.415, -1.32) delta=(-0.00413178, -0.00504122) -> 1 candidate(s)
I0419 21:00:17.578333 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:00:17.578393 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.49507, 0.681314)
I0419 21:00:17.578418 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:00:17.578465 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:00:17.578510 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292175533610.
I0419 21:00:17.579283 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:00:17.579363 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292175621160.
I0419 21:00:17.586477 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[3] 'ref_4' maha_sq=0.0119401 range=0.761067 variance=0.000579981 t_weight=5172.59 r_weight=0 yaml=(2.415, -1.32) prior=(2.43996, -2.00081, 0.978638deg) obs_actual=(-0.0294699, 0.684995) obs_expected=(-0.0133235, 0.681138) delta=(-0.0161465, 0.00385621) |delta|=0.0166006m
I0419 21:00:17.586603 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292175856601.
I0419 21:00:17.614871 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292176143562.
I0419 21:00:17.665627 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.572118, -0.531828)
I0419 21:00:17.665761 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.347981, 0.685345), points=15, range=0.7696, residual=0.0108232, extent=0.0316903
I0419 21:00:17.665789 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:00:17.665802 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.347981, 0.685345), tracking=(-0.0494812, 0.685345), map_predicted=(2.38841, -1.31686), range=0.7696, pts=15
I0419 21:00:17.665827 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[3] 'ref_4' eucl_dist=0.0267711m maha_sq=0.0310491 (gate chi2=5.99) pose_sigma=(0.150085, 0.150085, rho=0) det_map=(2.38841, -1.31686) lm_pos=(2.415, -1.32) delta=(-0.0265863, 0.00314054) -> 1 candidate(s)
I0419 21:00:17.665901 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292176422136.
I0419 21:00:17.670135 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292176696532.
I0419 21:00:17.702047 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292177014132.
I0419 21:00:17.709882 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.244405, -0.674385)
I0419 21:00:17.709967 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:17.709997 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:17.758716 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292177581672.
I0419 21:00:17.822517 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.227042, -0.671957), points=18, range=0.710944, residual=0.0121311, extent=0.0368777
I0419 21:00:17.822674 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.227042, -0.671957), tracking=(-0.0714584, 0.671957), map_predicted=(2.41033, -1.34102), range=0.710944, pts=18
I0419 21:00:17.822706 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0215346m maha_sq=0.0196948 (gate chi2=5.99) pose_sigma=(0.151531, 0.151531, rho=0) det_map=(2.41033, -1.34102) lm_pos=(2.415, -1.32) delta=(-0.00466611, -0.021023) -> 1 candidate(s)
I0419 21:00:17.823661 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0581192s, prior_pose=(2.48833, -2.01225), yaw=0.558044 deg
I0419 21:00:17.823731 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=250, threshold=230, above_threshold=26, candidates=26
I0419 21:00:17.823817 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.534475, -0.526589)
I0419 21:00:17.823921 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292177877390.
I0419 21:00:17.824774 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:17.846586 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:17.846694 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:00:17.846764 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:17.858712 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:17.878891 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.41131, 0.70365)
I0419 21:00:17.973872 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.505931, -0.522256), points=14, range=0.724357, residual=0.0143856, extent=0.045988
I0419 21:00:17.973991 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:17.974009 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.505931, -0.522256), tracking=(0.804431, -0.522256), map_predicted=(3.28496, -2.52134), range=0.724357, pts=14
I0419 21:00:17.974031 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.245039m maha_sq=2.51868 (gate chi2=5.99) pose_sigma=(0.152297, 0.152297, rho=0) det_map=(3.28496, -2.52134) lm_pos=(3.53, -2.52) delta=(-0.245036, -0.00133677) -> 1 candidate(s)
I0419 21:00:17.994135 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.37813, 0.712309)
I0419 21:00:18.002660 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:18.002816 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:18.099658 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518943s, prior_pose=(2.52073, -2.00089), yaw=-0.249533 deg
I0419 21:00:18.099797 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=249, threshold=230, above_threshold=17, candidates=17
I0419 21:00:18.099897 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35757, 0.71425), points=3, range=1.53267, residual=0.00491959, extent=0.00940139
I0419 21:00:18.099937 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35757, 0.71425), tracking=(1.65607, 0.71425), map_predicted=(4.1799, -1.29386), range=1.53267, pts=3
I0419 21:00:18.099963 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0437645m maha_sq=0.0776223 (gate chi2=5.99) pose_sigma=(0.155458, 0.155458, rho=0) det_map=(4.1799, -1.29386) lm_pos=(4.215, -1.32) delta=(-0.0351037, 0.0261355) -> 1 candidate(s)
I0419 21:00:18.100977 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:18.114581 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.34943, 0.719988)
I0419 21:00:18.142628 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:18.142771 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:18.142894 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:18.150794 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:18.244504 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.3094, 0.733274)
I0419 21:00:18.244632 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:18.245422 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0984559, -0.658629), points=19, range=0.666632, residual=0.0113747, extent=0.0357926
I0419 21:00:18.245484 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0984559, -0.658629), tracking=(-0.200044, 0.658629), map_predicted=(2.36378, -1.34018), range=0.666632, pts=19
I0419 21:00:18.245507 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0550511m maha_sq=0.11868 (gate chi2=5.99) pose_sigma=(0.158021, 0.158021, rho=0) det_map=(2.36378, -1.34018) lm_pos=(2.415, -1.32) delta=(-0.0512205, -0.0201765) -> 1 candidate(s)
I0419 21:00:18.246426 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.56639, -2.00114), yaw=-0.821949 deg backend=(2.5536, -1.98601)
I0419 21:00:18.364362 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:18.364481 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:18.368011 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.28407, 0.733882)
I0419 21:00:18.378659 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0808424s, prior_pose=(2.59821, -2.00094), yaw=-1.0155 deg
I0419 21:00:18.378834 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:00:18.388168 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0613637, -0.657089), points=19, range=0.660895, residual=0.0112694, extent=0.0351268
I0419 21:00:18.388381 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0613637, -0.657089), tracking=(-0.237136, 0.657089), map_predicted=(2.38604, -1.33998), range=0.660895, pts=19
I0419 21:00:18.388428 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.035179m maha_sq=0.0462265 (gate chi2=5.99) pose_sigma=(0.161891, 0.161891, rho=0) det_map=(2.38604, -1.33998) lm_pos=(2.415, -1.32) delta=(-0.0289564, -0.0199772) -> 1 candidate(s)
I0419 21:00:18.388484 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:18.488829 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:18.489049 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:18.489161 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:18.490320 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:18.491520 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.25783, 0.735988)
I0419 21:00:18.526317 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:18.534893 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0257768, -0.656247), points=19, range=0.658263, residual=0.0113161, extent=0.0353018
I0419 21:00:18.535028 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0257768, -0.656247), tracking=(-0.272723, 0.656247), map_predicted=(2.37479, -1.34079), range=0.658263, pts=19
I0419 21:00:18.535075 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0452661m maha_sq=0.0750077 (gate chi2=5.99) pose_sigma=(0.163565, 0.163565, rho=0) det_map=(2.37479, -1.34079) lm_pos=(2.415, -1.32) delta=(-0.0402078, -0.0207931) -> 1 candidate(s)
I0419 21:00:18.636909 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:18.637373 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:18.639655 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.339015, -0.507235)
I0419 21:00:18.670444 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555249s, prior_pose=(2.66877, -2.00115), yaw=-0.853116 deg
I0419 21:00:18.670583 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:00:18.678365 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00764249, -0.657237), points=18, range=0.658278, residual=0.0104316, extent=0.033971
I0419 21:00:18.678452 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00764249, -0.657237), tracking=(-0.306142, 0.657237), map_predicted=(2.37245, -1.33942), range=0.658278, pts=18
I0419 21:00:18.678480 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0467732m maha_sq=0.0780094 (gate chi2=5.99) pose_sigma=(0.165831, 0.165831, rho=0) det_map=(2.37245, -1.33942) lm_pos=(2.415, -1.32) delta=(-0.0425495, -0.0194237) -> 1 candidate(s)
I0419 21:00:18.678514 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:18.752766 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:18.752954 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:18.753021 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:18.754909 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:18.757822 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.304404, -0.51143)
I0419 21:00:18.818907 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:18.901719 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:18.902542 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.951685, 0.55127), points=7, range=1.097, residual=0.0111115, extent=0.0314407
I0419 21:00:18.902714 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.951685, 0.55127), tracking=(-1.25019, -0.55127), map_predicted=(1.47056, -2.53991), range=1.097, pts=7
I0419 21:00:18.902756 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.275157m maha_sq=2.5773 (gate chi2=5.99) pose_sigma=(0.169699, 0.169699, rho=0) det_map=(1.47056, -2.53991) lm_pos=(1.745, -2.52) delta=(-0.274436, -0.0199079) -> 1 candidate(s)
I0419 21:00:18.907951 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:18.908077 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:18.909263 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.265914, -0.514061)
I0419 21:00:18.998502 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0451516s, prior_pose=(2.74207, -2.00213), yaw=-0.413219 deg
I0419 21:00:18.998627 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:00:18.999835 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.986712, 0.545049), points=5, range=1.1248, residual=0.00849775, extent=0.0206574
I0419 21:00:18.999907 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.986712, 0.545049), tracking=(-1.28521, -0.545049), map_predicted=(1.45296, -2.53789), range=1.1248, pts=5
I0419 21:00:18.999934 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.292589m maha_sq=2.8574 (gate chi2=5.99) pose_sigma=(0.171556, 0.171556, rho=0) det_map=(1.45296, -2.53789) lm_pos=(1.745, -2.52) delta=(-0.292042, -0.0178937) -> 1 candidate(s)
I0419 21:00:18.999969 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:19.022109 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:19.022222 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:19.022289 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:19.034806 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.0851182, -0.660184)
I0419 21:00:19.035115 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:19.127208 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:19.128180 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01651, 0.539188), points=4, range=1.154, residual=0.0113038, extent=0.0266234
I0419 21:00:19.128327 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01651, 0.539188), tracking=(-1.31501, -0.539188), map_predicted=(1.45139, -2.53413), range=1.154, pts=4
I0419 21:00:19.128396 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.293951m maha_sq=2.82162 (gate chi2=5.99) pose_sigma=(0.173313, 0.173313, rho=0) det_map=(1.45139, -2.53413) lm_pos=(1.745, -2.52) delta=(-0.293612, -0.0141287) -> 1 candidate(s)
I0419 21:00:19.129562 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.77888, -2.00093), yaw=-0.186722 deg backend=(2.76609, -1.9858)
I0419 21:00:19.146416 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.110482, -0.660101)
I0419 21:00:19.162562 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:19.178418 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:19.178725 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:19.257628 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292192381964.
I0419 21:00:19.258834 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0792805s, prior_pose=(2.79619, -2.0004), yaw=-0.0956217 deg
I0419 21:00:19.258934 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:19.259027 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.07265, 0.70695)
I0419 21:00:19.266624 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05797, 0.537093), points=5, range=1.189, residual=0.0105045, extent=0.02769
I0419 21:00:19.266732 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.05797, 0.537093), tracking=(-1.35647, -0.537093), map_predicted=(1.46418, -2.53471), range=1.189, pts=5
I0419 21:00:19.266768 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.281201m maha_sq=3.34292 (gate chi2=5.99) pose_sigma=(0.151933, 0.151933, rho=0) det_map=(1.46418, -2.53471) lm_pos=(1.745, -2.52) delta=(-0.280816, -0.0147141) -> 1 candidate(s)
I0419 21:00:19.286991 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:19.318754 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:19.318853 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:19.318909 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:19.326526 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:19.397761 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.143013, -0.521155)
I0419 21:00:19.405805 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:19.414950 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:00:19.415126 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09637, 0.528822), points=5, range=1.215, residual=0.00747578, extent=0.0172783
I0419 21:00:19.415191 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09637, 0.528822), tracking=(-1.39487, -0.528822), map_predicted=(1.46553, -2.51546), range=1.215, pts=5
I0419 21:00:19.415244 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.279509m maha_sq=3.18526 (gate chi2=5.99) pose_sigma=(0.154949, 0.154949, rho=0) det_map=(1.46553, -2.51546) lm_pos=(1.745, -2.52) delta=(-0.279472, 0.0045401) -> 1 candidate(s)
I0419 21:00:19.473816 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:19.473929 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:19.537055 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.110556, -0.523591)
I0419 21:00:19.538268 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292195013657.
I0419 21:00:19.550213 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554195s, prior_pose=(2.90358, -1.98572), yaw=0.206827 deg
I0419 21:00:19.550336 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:00:19.591169 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.212693, -0.671126), points=16, range=0.704875, residual=0.0109258, extent=0.0315954
I0419 21:00:19.591430 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.212693, -0.671126), tracking=(-0.511193, 0.671126), map_predicted=(2.39837, -1.31683), range=0.704875, pts=16
I0419 21:00:19.591502 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0169247m maha_sq=0.0121611 (gate chi2=5.99) pose_sigma=(0.151649, 0.151649, rho=0) det_map=(2.39837, -1.31683) lm_pos=(2.415, -1.32) delta=(-0.0166257, 0.00316686) -> 1 candidate(s)
I0419 21:00:19.591563 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:19.610735 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:19.610859 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:19.610940 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:19.678064 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.221319, -0.671136)
I0419 21:00:19.678200 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:19.682924 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292196775044.
I0419 21:00:19.698618 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:19.782778 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.952217, 0.693932)
I0419 21:00:19.783046 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0390587, -0.525576), points=24, range=0.528083, residual=0.011612, extent=0.0390752
I0419 21:00:19.783123 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0390587, -0.525576), tracking=(0.337559, -0.525576), map_predicted=(3.28143, -2.50796), range=0.528083, pts=24
I0419 21:00:19.783190 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.24886m maha_sq=2.6452 (gate chi2=5.99) pose_sigma=(0.151148, 0.151148, rho=0) det_map=(3.28143, -2.50796) lm_pos=(3.53, -2.52) delta=(-0.248568, 0.012037) -> 1 candidate(s)
I0419 21:00:19.785298 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:19.785501 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:00:19.785564 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:19.846071 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484361s, prior_pose=(2.96302, -1.98462), yaw=0.455315 deg
I0419 21:00:19.846177 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:19.918243 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:19.918354 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.912322, 0.690189)
I0419 21:00:19.918371 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:19.918391 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00463601, -0.528123), points=24, range=0.528417, residual=0.0113421, extent=0.0372139
I0419 21:00:19.918407 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00463601, -0.528123), tracking=(0.303136, -0.528123), map_predicted=(3.28312, -2.50973), range=0.528417, pts=24
I0419 21:00:19.918427 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.247093m maha_sq=2.52366 (gate chi2=5.99) pose_sigma=(0.153729, 0.153729, rho=0) det_map=(3.28312, -2.50973) lm_pos=(3.53, -2.52) delta=(-0.24688, 0.0102699) -> 1 candidate(s)
I0419 21:00:19.918453 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:00:19.918467 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:19.919296 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:19.991479 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:20.002189 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292200016346.
I0419 21:00:20.051847 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.01595, -1.98288), yaw=0.627815 deg backend=(2.99137, -1.98372)
I0419 21:00:20.055166 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.0362643, -0.530034)
I0419 21:00:20.055291 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.869119, 0.689243), points=5, range=1.111, residual=0.00838608, extent=0.0227293
I0419 21:00:20.055323 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.869119, 0.689243), tracking=(1.16762, 0.689243), map_predicted=(4.17595, -1.28088), range=1.111, pts=5
I0419 21:00:20.055347 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0552722m maha_sq=0.13029 (gate chi2=5.99) pose_sigma=(0.151399, 0.151399, rho=0) det_map=(4.17595, -1.28088) lm_pos=(4.215, -1.32) delta=(-0.0390491, 0.0391176) -> 1 candidate(s)
I0419 21:00:20.058915 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:20.059027 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:20.138018 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0792278s, prior_pose=(3.03844, -1.98262), yaw=0.67046 deg
I0419 21:00:20.138129 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:00:20.181797 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29246, 0.517811)
I0419 21:00:20.198144 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:20.198228 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:20.198263 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.840414, 0.690692), points=7, range=1.08571, residual=0.0102203, extent=0.028259
I0419 21:00:20.198289 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.840414, 0.690692), tracking=(1.13891, 0.690692), map_predicted=(4.18131, -1.28038), range=1.08571, pts=7
I0419 21:00:20.198315 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0520099m maha_sq=0.111646 (gate chi2=5.99) pose_sigma=(0.15385, 0.15385, rho=0) det_map=(4.18131, -1.28038) lm_pos=(4.215, -1.32) delta=(-0.0336903, 0.0396231) -> 1 candidate(s)
I0419 21:00:20.198355 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:00:20.205811 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:20.205904 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:20.341868 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:20.342373 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:20.344164 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.807439, 0.687972)
I0419 21:00:20.347299 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.803771, 0.689502), points=5, range=1.0576, residual=0.00734288, extent=0.0183394
I0419 21:00:20.347435 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.803771, 0.689502), tracking=(1.10227, 0.689502), map_predicted=(4.17402, -1.27944), range=1.0576, pts=5
I0419 21:00:20.347463 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.057652m maha_sq=0.133725 (gate chi2=5.99) pose_sigma=(0.156039, 0.156039, rho=0) det_map=(4.17402, -1.27944) lm_pos=(4.215, -1.32) delta=(-0.0409756, 0.0405555) -> 1 candidate(s)
I0419 21:00:20.354661 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:20.354920 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:20.463387 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:20.463507 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:20.463528 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292204132399.
I0419 21:00:20.464386 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595117s, prior_pose=(3.10924, -1.98126), yaw=0.461415 deg
I0419 21:00:20.464439 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:20.465325 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.430776, -0.676018)
I0419 21:00:20.465425 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292204414052.
I0419 21:00:20.470068 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.0574475 range=0.807214 variance=0.000582976 t_weight=5146.01 r_weight=0 yaml=(2.415, -1.32) prior=(3.11926, -1.98118, 0.446142deg) obs_actual=(-0.734122, 0.677197) obs_expected=(-0.699085, 0.66664) delta=(-0.0350365, 0.0105565) |delta|=0.0365923m
I0419 21:00:20.470181 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292204695564.
I0419 21:00:20.489853 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:20.489959 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:20.490021 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:20.498378 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:20.498521 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292204979357.
I0419 21:00:20.518704 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.74816, 0.691558), points=8, range=1.02038, residual=0.00896525, extent=0.0230142
I0419 21:00:20.518805 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.74816, 0.691558), tracking=(1.04666, 0.691558), map_predicted=(4.17277, -1.2813), range=1.02038, pts=8
I0419 21:00:20.518834 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0572816m maha_sq=0.142465 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17277, -1.2813) lm_pos=(4.215, -1.32) delta=(-0.0422269, 0.0387049) -> 1 candidate(s)
I0419 21:00:20.529989 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292205294062.
I0419 21:00:20.575690 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292205573867.
I0419 21:00:20.578126 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.736213, 0.692503)
I0419 21:00:20.578241 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:20.587761 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292205872043.
I0419 21:00:20.610543 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:20.619374 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292206179370.
I0419 21:00:20.648502 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:20.649027 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:20.649204 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292206478004.
I0419 21:00:20.726089 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292206756856.
I0419 21:00:20.728183 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292207097946.
I0419 21:00:20.729836 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0497515s, prior_pose=(3.17063, -1.98017), yaw=0.457269 deg
I0419 21:00:20.729929 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:00:20.730036 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.212253, -0.531981), points=20, range=0.5717, residual=0.0107565, extent=0.0315591
I0419 21:00:20.730067 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.212253, -0.531981), tracking=(0.0862475, -0.531981), map_predicted=(3.26112, -2.51144), range=0.5717, pts=20
I0419 21:00:20.730087 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.269016m maha_sq=3.11082 (gate chi2=5.99) pose_sigma=(0.150715, 0.150715, rho=0) det_map=(3.26112, -2.51144) lm_pos=(3.53, -2.52) delta=(-0.268879, 0.0085575) -> 1 candidate(s)
I0419 21:00:20.738646 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292207378151.
I0419 21:00:20.754953 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.689719, 0.691636)
I0419 21:00:20.766613 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292207660379.
I0419 21:00:20.788374 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:20.788753 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:20.789026 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:20.794302 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:20.794530 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292207936522.
I0419 21:00:20.860260 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292208218618.
I0419 21:00:20.862916 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292208541710.
I0419 21:00:20.874670 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:20.882649 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292208820989.
I0419 21:00:20.883934 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.1944, -1.97889), yaw=0.472223 deg backend=(3.17765, -1.97975)
I0419 21:00:20.910310 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.550926, -0.682316), points=12, range=0.878917, residual=0.0109606, extent=0.0340061
I0419 21:00:20.910527 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.550926, -0.682316), tracking=(-0.849426, 0.682316), map_predicted=(2.33938, -1.30359), range=0.878917, pts=12
I0419 21:00:20.910586 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0773755m maha_sq=0.257025 (gate chi2=5.99) pose_sigma=(0.150761, 0.150761, rho=0) det_map=(2.33938, -1.30359) lm_pos=(2.415, -1.32) delta=(-0.075616, 0.0164069) -> 1 candidate(s)
I0419 21:00:20.910807 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292209095750.
I0419 21:00:20.934281 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.649505, 0.690358)
I0419 21:00:21.006161 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:21.006323 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:21.006443 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292209414381.
I0419 21:00:21.008575 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292209695905.
I0419 21:00:21.011381 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:21.011498 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:21.011524 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292209981783.
I0419 21:00:21.022725 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0807374s, prior_pose=(3.19274, -1.97807), yaw=0.458494 deg
I0419 21:00:21.022851 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=43, candidates=43
I0419 21:00:21.030638 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292210299021.
I0419 21:00:21.058619 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.475737 range=0.905727 variance=0.000572175 t_weight=5243.15 r_weight=0 yaml=(2.415, -1.32) prior=(3.20512, -1.97797, 0.51515deg) obs_actual=(-0.887021, 0.684986) obs_expected=(-0.784169, 0.665047) delta=(-0.102853, 0.0199394) |delta|=0.104768m
I0419 21:00:21.058885 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292210576769.
I0419 21:00:21.136029 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:21.136147 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.606643, 0.687615)
I0419 21:00:21.136171 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:21.136241 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:21.137234 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:21.138568 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.308236, -0.535595), points=18, range=0.615333, residual=0.0127411, extent=0.0313698
I0419 21:00:21.138695 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.308236, -0.535595), tracking=(-0.00973637, -0.535595), map_predicted=(3.18944, -2.51526), range=0.615333, pts=18
I0419 21:00:21.138731 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.340596m maha_sq=4.9664 (gate chi2=5.99) pose_sigma=(0.150869, 0.150869, rho=0) det_map=(3.18944, -2.51526) lm_pos=(3.53, -2.52) delta=(-0.340563, 0.00473952) -> 1 candidate(s)
I0419 21:00:21.141894 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:21.166576 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:21.166890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292211657034.
I0419 21:00:21.198730 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292211977675.
I0419 21:00:21.267244 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.284824, 0.529493)
I0419 21:00:21.268440 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292212258566.
I0419 21:00:21.269409 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:21.269496 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:21.271201 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292212541017.
I0419 21:00:21.286249 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.558975, 0.682079), points=11, range=0.881182, residual=0.00942968, extent=0.0262909
I0419 21:00:21.286775 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.558975, 0.682079), tracking=(0.857475, 0.682079), map_predicted=(4.10421, -1.28663), range=0.881182, pts=11
I0419 21:00:21.287129 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.115709m maha_sq=0.58127 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.10421, -1.28663) lm_pos=(4.215, -1.32) delta=(-0.110792, 0.0333738) -> 1 candidate(s)
I0419 21:00:21.287683 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292212853692.
I0419 21:00:21.314944 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601943s, prior_pose=(3.26588, -1.97836), yaw=0.700843 deg
I0419 21:00:21.315130 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:00:21.315480 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292213142960.
I0419 21:00:21.402798 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292213420068.
I0419 21:00:21.403929 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.235403, 0.526543)
I0419 21:00:21.405308 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:21.405413 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:21.405501 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:21.405578 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292213739383.
I0419 21:00:21.407413 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:21.408692 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292214016406.
I0419 21:00:21.434670 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292214337005.
I0419 21:00:21.462837 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.509483, 0.6781), points=12, range=0.851, residual=0.0119073, extent=0.035751
I0419 21:00:21.463068 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:21.463106 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.509483, 0.6781), tracking=(0.807983, 0.6781), map_predicted=(4.14561, -1.29267), range=0.851, pts=12
I0419 21:00:21.463152 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0745807m maha_sq=0.240949 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.14561, -1.29267) lm_pos=(4.215, -1.32) delta=(-0.0693917, 0.0273327) -> 1 candidate(s)
I0419 21:00:21.463366 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292214621527.
I0419 21:00:21.543260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292214909254.
I0419 21:00:21.544380 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.197833, 0.526638)
I0419 21:00:21.546720 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292215181944.
I0419 21:00:21.547809 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:21.547915 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:21.550462 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292215500236.
I0419 21:00:21.578016 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0831214 range=0.832692 variance=0.000546239 t_weight=5492.11 r_weight=0 yaml=(4.215, -1.32) prior=(3.40392, -1.98256, 0.726649deg) obs_actual=(0.783105, 0.677249) obs_expected=(0.819415, 0.652216) delta=(-0.0363109, 0.0250331) |delta|=0.0441037m
I0419 21:00:21.578286 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292215771929.
I0419 21:00:21.673367 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051848s, prior_pose=(3.41558, -1.9835), yaw=0.803909 deg
I0419 21:00:21.673532 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:00:21.673841 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292216098573.
I0419 21:00:21.674793 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.728083, -0.690872), points=9, range=1.00767, residual=0.0131827, extent=0.0388657
I0419 21:00:21.674863 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.728083, -0.690872), tracking=(-1.02658, 0.690872), map_predicted=(2.3794, -1.3071), range=1.00767, pts=9
I0419 21:00:21.674892 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0378615m maha_sq=0.0619912 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.3794, -1.3071) lm_pos=(2.415, -1.32) delta=(-0.035595, 0.0129032) -> 1 candidate(s)
I0419 21:00:21.676510 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292216378373.
I0419 21:00:21.681226 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.74064, -0.690571)
I0419 21:00:21.682446 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:21.682504 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:21.682564 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:21.682624 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:21.682674 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:21.682696 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292216659204.
I0419 21:00:21.683454 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:21.698195 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292216975541.
I0419 21:00:21.706336 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:21.726646 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.910942 deg, rms_residual=0.0156305m, sigma_yaw=0.0204152 rad, N=2
I0419 21:00:21.726826 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.45456, -1.97385, -0.910942deg) inliers=2 rms=0.0156305m
I0419 21:00:21.726892 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292217259688.
I0419 21:00:21.809568 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:21.809873 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:21.809991 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292217533510.
I0419 21:00:21.810806 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.130623, 0.526959)
I0419 21:00:21.810870 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776678, -0.689116), points=8, range=1.03587, residual=0.0110447, extent=0.0291124
I0419 21:00:21.810894 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.776678, -0.689116), tracking=(-1.07518, 0.689116), map_predicted=(2.36451, -1.30566), range=1.03587, pts=8
I0419 21:00:21.810912 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0524882m maha_sq=0.1194 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.36451, -1.30566) lm_pos=(2.415, -1.32) delta=(-0.0504912, 0.0143403) -> 1 candidate(s)
I0419 21:00:21.811864 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.45978, -1.98006), yaw=0.709053 deg backend=(3.39144, -1.97432)
I0419 21:00:21.812609 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292217821515.
I0419 21:00:21.814419 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292218137774.
I0419 21:00:21.822732 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:21.822857 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:21.843127 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292218422707.
I0419 21:00:21.893173 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0911635 range=0.791769 variance=0.000563382 t_weight=5324.98 r_weight=0 yaml=(4.215, -1.32) prior=(3.48515, -1.97681, 0.581276deg) obs_actual=(0.701153, 0.679011) obs_expected=(0.736471, 0.649373) delta=(-0.0353177, 0.0296382) |delta|=0.046106m
I0419 21:00:21.893483 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292218697748.
I0419 21:00:21.900298 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0780395s, prior_pose=(3.48515, -1.97681), yaw=0.581276 deg
I0419 21:00:21.900453 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:00:21.900709 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292218998959.
I0419 21:00:21.910503 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.0953754, 0.527813)
I0419 21:00:21.910719 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.815276, -0.688093), points=8, range=1.06475, residual=0.0118262, extent=0.0354018
I0419 21:00:21.910794 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.815276, -0.688093), tracking=(-1.11378, 0.688093), map_predicted=(2.37957, -1.29901), range=1.06475, pts=8
I0419 21:00:21.910857 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0411833m maha_sq=0.0724351 (gate chi2=5.99) pose_sigma=(0.151069, 0.151069, rho=0) det_map=(2.37957, -1.29901) lm_pos=(2.415, -1.32) delta=(-0.03543, 0.0209947) -> 1 candidate(s)
I0419 21:00:21.929844 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292219292655.
I0419 21:00:21.958860 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:21.959038 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:21.959139 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:21.959234 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292219584077.
I0419 21:00:21.970677 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:21.990125 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292219895731.
I0419 21:00:22.048367 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292220178699.
I0419 21:00:22.052321 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:22.052516 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292220500531.
I0419 21:00:22.053939 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(-0.0619115, 0.529292)
I0419 21:00:22.054076 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854663, -0.683871), points=6, range=1.09317, residual=0.00843966, extent=0.0232893
I0419 21:00:22.054132 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.854663, -0.683871), tracking=(-1.15316, 0.683871), map_predicted=(2.37708, -1.30492), range=1.09317, pts=6
I0419 21:00:22.054186 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0408106m maha_sq=0.072331 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.37708, -1.30492) lm_pos=(2.415, -1.32) delta=(-0.0379212, 0.0150826) -> 1 candidate(s)
I0419 21:00:22.078408 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292220778356.
I0419 21:00:22.106827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292221063248.
I0419 21:00:22.114537 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:22.114639 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:22.157243 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292221338060.
I0419 21:00:22.174180 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0954669 range=0.755875 variance=0.000582529 t_weight=5149.96 r_weight=0 yaml=(4.215, -1.32) prior=(3.55105, -1.98531, 0.0775801deg) obs_actual=(0.621023, 0.681234) obs_expected=(0.664848, 0.664412) delta=(-0.0438251, 0.0168219) |delta|=0.0469427m
I0419 21:00:22.174330 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292221736625.
I0419 21:00:22.176075 1218978 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.852 rad/s > flush threshold 3.
I0419 21:00:22.194440 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602761s, prior_pose=(3.56507, -1.98225), yaw=0.0546684 deg
I0419 21:00:22.194550 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:00:22.194749 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292221940821.
I0419 21:00:22.202541 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.0254463, 0.529617)
I0419 21:00:22.202638 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.895192, -0.677625), points=5, range=1.1216, residual=0.00768516, extent=0.0191388
I0419 21:00:22.202663 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.895192, -0.677625), tracking=(-1.19369, 0.677625), map_predicted=(2.37073, -1.30576), range=1.1216, pts=5
I0419 21:00:22.202687 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0465033m maha_sq=0.0939607 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.37073, -1.30576) lm_pos=(2.415, -1.32) delta=(-0.0442705, 0.0142364) -> 1 candidate(s)
I0419 21:00:22.222533 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292222220539.
I0419 21:00:22.254150 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:22.254235 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:22.254307 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:22.254380 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:22.254403 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292222537317.
I0419 21:00:22.321667 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:22.321797 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:00:22.321897 1218970 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.55% real time)
I0419 21:00:22.322070 1218970 collated_trajectory_builder.cc:82] odom rate: 248.61 Hz 4.02e-03 s +/- 7.39e-04 s (pulsed at 100.06% real time)
I0419 21:00:22.322228 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.31e-03 s (pulsed at 100.53% real time)
I0419 21:00:22.322273 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.29e-03 s (pulsed at 100.42% real time)
I0419 21:00:22.323458 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292222819534.
I0419 21:00:22.324496 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:22.326432 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.48302 deg, rms_residual=0.0124997m, sigma_yaw=0.0163931 rad, N=2
I0419 21:00:22.326581 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.60777, -1.97692, -1.48302deg) inliers=2 rms=0.0124997m
I0419 21:00:22.326635 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292223141152.
I0419 21:00:22.342352 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(0.278006, 0.682276)
I0419 21:00:22.342541 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:22.342764 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292223415808.
I0419 21:00:22.351114 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.936272, -0.677453), points=4, range=1.15175, residual=0.0105603, extent=0.0240631
I0419 21:00:22.351254 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.936272, -0.677453), tracking=(-1.23477, 0.677453), map_predicted=(2.38615, -1.29873), range=1.15175, pts=4
I0419 21:00:22.351302 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0358417m maha_sq=0.0550705 (gate chi2=5.99) pose_sigma=(0.150855, 0.150855, rho=0) det_map=(2.38615, -1.29873) lm_pos=(2.415, -1.32) delta=(-0.028851, 0.0212661) -> 1 candidate(s)
I0419 21:00:22.370762 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292223697832.
I0419 21:00:22.458949 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292224017367.
I0419 21:00:22.460029 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:22.460121 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:22.461675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292224297464.
I0419 21:00:22.464782 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0677811 range=0.726471 variance=0.000600843 t_weight=4992.99 r_weight=0 yaml=(4.215, -1.32) prior=(3.63877, -1.97721, -0.145833deg) obs_actual=(0.542278, 0.682018) obs_expected=(0.574558, 0.658672) delta=(-0.0322807, 0.0233461) |delta|=0.0398382m
I0419 21:00:22.464960 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292224575684.
I0419 21:00:22.470816 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.0403358, 0.531982)
I0419 21:00:22.490237 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0507219s, prior_pose=(3.64736, -1.97667), yaw=-0.167766 deg
I0419 21:00:22.490842 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:00:22.491333 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292224891823.
I0419 21:00:22.498838 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.969934, -0.674949), points=4, range=1.1785, residual=0.00838971, extent=0.0207285
I0419 21:00:22.499501 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.969934, -0.674949), tracking=(-1.26843, 0.674949), map_predicted=(2.3809, -1.29801), range=1.1785, pts=4
I0419 21:00:22.499788 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0405701m maha_sq=0.0714689 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.3809, -1.29801) lm_pos=(2.415, -1.32) delta=(-0.0340965, 0.0219856) -> 1 candidate(s)
I0419 21:00:22.519182 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292225181776.
I0419 21:00:22.595297 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:22.595472 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:22.595659 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292225459510.
I0419 21:00:22.596688 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:22.596763 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:22.598742 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292225781034.
I0419 21:00:22.605808 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.0176, 0.70128)
I0419 21:00:22.605993 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292226053758.
I0419 21:00:22.634835 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:22.635111 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292226341217.
I0419 21:00:22.642519 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01122, -0.670365), points=5, range=1.2112, residual=0.00814783, extent=0.0202159
I0419 21:00:22.642633 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01122, -0.670365), tracking=(-1.30972, 0.670365), map_predicted=(2.37499, -1.30017), range=1.2112, pts=5
I0419 21:00:22.642668 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0446555m maha_sq=0.0865949 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.37499, -1.30017) lm_pos=(2.415, -1.32) delta=(-0.0400092, 0.0198338) -> 1 candidate(s)
I0419 21:00:22.705004 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.67993, -1.97627), yaw=-0.30148 deg backend=(3.61881, -1.97601)
I0419 21:00:22.706507 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292226661310.
I0419 21:00:22.709008 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292226939311.
I0419 21:00:22.710979 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:22.711084 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:22.722975 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292227218715.
I0419 21:00:22.734177 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.03025, -0.67008)
I0419 21:00:22.755338 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0809205 range=0.701941 variance=0.000583466 t_weight=5141.69 r_weight=0 yaml=(4.215, -1.32) prior=(3.70813, -1.97532, -0.357561deg) obs_actual=(0.464845, 0.679678) obs_expected=(0.502774, 0.658468) delta=(-0.0379283, 0.0212094) |delta|=0.0434557m
I0419 21:00:22.755600 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292227543982.
I0419 21:00:22.782891 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798413s, prior_pose=(3.70813, -1.97532), yaw=-0.357561 deg
I0419 21:00:22.783052 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:22.783507 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292227820783.
I0419 21:00:22.881359 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.116387, 0.53219), points=21, range=0.54681, residual=0.0116246, extent=0.0372807
I0419 21:00:22.881513 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.116387, 0.53219), tracking=(-0.414887, -0.53219), map_predicted=(3.30024, -2.50376), range=0.54681, pts=21
I0419 21:00:22.881587 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.230336m maha_sq=2.27564 (gate chi2=5.99) pose_sigma=(0.15082, 0.15082, rho=0) det_map=(3.30024, -2.50376) lm_pos=(3.53, -2.52) delta=(-0.229763, 0.0162414) -> 1 candidate(s)
I0419 21:00:22.883389 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292228097977.
I0419 21:00:22.887445 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:22.887945 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:22.888057 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:22.888108 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:22.888131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292228417626.
I0419 21:00:22.889251 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.07065, -0.664669)
I0419 21:00:22.889338 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:22.889367 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:22.890730 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292228701088.
I0419 21:00:22.892624 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:22.902443 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.05504 deg, rms_residual=0.0119126m, sigma_yaw=0.0156352 rad, N=2
I0419 21:00:22.902882 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.75729, -1.97414, -2.05504deg) inliers=2 rms=0.0119126m
I0419 21:00:22.903060 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292229016468.
I0419 21:00:22.991539 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:22.991765 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292229298446.
I0419 21:00:22.993772 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07424, -0.503745), points=5, range=1.1804, residual=0.017249, extent=0.040752
I0419 21:00:22.993921 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.07424, -0.503745), tracking=(1.37274, -0.503745), map_predicted=(5.10411, -2.49191), range=1.1804, pts=5
I0419 21:00:22.993975 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0301277m maha_sq=0.0390275 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.10411, -2.49191) lm_pos=(5.115, -2.52) delta=(-0.0108869, 0.0280919) -> 1 candidate(s)
I0419 21:00:22.994120 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292229572474.
I0419 21:00:22.996654 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.06375, -0.502919)
I0419 21:00:22.996814 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292229862850.
I0419 21:00:22.997771 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:22.997838 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:23.018878 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292230180731.
I0419 21:00:23.047137 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.136944 range=0.688579 variance=0.00057951 t_weight=5176.79 r_weight=0 yaml=(4.215, -1.32) prior=(3.76959, -1.97369, -0.66237deg) obs_actual=(0.386143, 0.680929) obs_expected=(0.437824, 0.658799) delta=(-0.0516808, 0.0221292) |delta|=0.0562193m
I0419 21:00:23.047425 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292230462867.
I0419 21:00:23.126788 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600741s, prior_pose=(3.81512, -1.97362), yaw=-0.805809 deg
I0419 21:00:23.126924 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:00:23.127121 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292230781472.
I0419 21:00:23.129689 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.89517, 0.727482)
I0419 21:00:23.129810 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03838, -0.501733), points=5, range=1.1464, residual=0.0195718, extent=0.0470244
I0419 21:00:23.129834 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03838, -0.501733), tracking=(1.33688, -0.501733), map_predicted=(5.14503, -2.49498), range=1.1464, pts=5
I0419 21:00:23.129853 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0390876m maha_sq=0.0654224 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(5.14503, -2.49498) lm_pos=(5.115, -2.52) delta=(0.030029, 0.025022) -> 1 candidate(s)
I0419 21:00:23.129926 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292231055461.
I0419 21:00:23.134352 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:23.134479 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:23.134713 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292231334807.
I0419 21:00:23.142953 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:23.143101 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:23.166807 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292231658695.
I0419 21:00:23.266345 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292231936649.
I0419 21:00:23.268165 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:23.269490 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:23.269701 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292232214232.
I0419 21:00:23.272219 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.16935, -0.657095)
I0419 21:00:23.273870 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.999445, -0.501903), points=6, range=1.11333, residual=0.0159882, extent=0.0421945
I0419 21:00:23.273952 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.999445, -0.501903), tracking=(1.29795, -0.501903), map_predicted=(5.12898, -2.49774), range=1.11333, pts=6
I0419 21:00:23.273979 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0262882m maha_sq=0.0294075 (gate chi2=5.99) pose_sigma=(0.150957, 0.150957, rho=0) det_map=(5.12898, -2.49774) lm_pos=(5.115, -2.52) delta=(0.0139836, 0.0222604) -> 1 candidate(s)
I0419 21:00:23.274061 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292232541272.
I0419 21:00:23.282006 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292232811755.
I0419 21:00:23.292409 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:23.292599 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:23.311331 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292233101055.
I0419 21:00:23.371359 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.109496 range=0.682684 variance=0.000589366 t_weight=5090.22 r_weight=0 yaml=(4.215, -1.32) prior=(3.84462, -1.97693, -0.936978deg) obs_actual=(0.312372, 0.680405) obs_expected=(0.359585, 0.6629) delta=(-0.0472129, 0.0175042) |delta|=0.0503533m
I0419 21:00:23.371498 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292233419599.
I0419 21:00:23.372151 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.20032, -0.656237)
I0419 21:00:23.373729 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475988s, prior_pose=(3.85817, -1.97667), yaw=-0.961279 deg
I0419 21:00:23.373811 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:00:23.373957 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292233698702.
I0419 21:00:23.398029 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.970092, -0.503168), points=7, range=1.08971, residual=0.0126241, extent=0.034639
I0419 21:00:23.398149 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.970092, -0.503168), tracking=(1.26859, -0.503168), map_predicted=(5.11814, -2.50104), range=1.08971, pts=7
I0419 21:00:23.398217 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0192132m maha_sq=0.0159707 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11814, -2.50104) lm_pos=(5.115, -2.52) delta=(0.0031392, 0.0189551) -> 1 candidate(s)
I0419 21:00:23.398345 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292233975576.
I0419 21:00:23.430335 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:23.430483 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:23.430576 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:23.430629 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:23.430649 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292234298602.
I0419 21:00:23.438341 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:23.438450 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:23.499429 1218978 pose_graph_2d.cc:160] Inserted submap (1, 34).
I0419 21:00:23.500993 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292234578549.
I0419 21:00:23.501935 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.23134, -0.652407)
I0419 21:00:23.502027 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:23.502978 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.24009 deg, rms_residual=0.0104314m, sigma_yaw=0.0137178 rad, N=2
I0419 21:00:23.503031 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.90567, -1.97838, -2.24009deg) inliers=2 rms=0.0104314m
I0419 21:00:23.503062 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292234881500.
I0419 21:00:23.518622 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:23.518806 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292235181414.
I0419 21:00:23.527617 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.91627, -1.97407), yaw=-1.12515 deg backend=(3.83867, -1.97358)
I0419 21:00:23.545881 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0396774, 0.681058), points=18, range=0.683278, residual=0.0108575, extent=0.0342256
I0419 21:00:23.545991 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0396774, 0.681058), tracking=(0.258823, 0.681058), map_predicted=(4.18842, -1.29822), range=0.683278, pts=18
I0419 21:00:23.546023 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0343628m maha_sq=0.0508554 (gate chi2=5.99) pose_sigma=(0.150546, 0.150546, rho=0) det_map=(4.18842, -1.29822) lm_pos=(4.215, -1.32) delta=(-0.0265818, 0.0217763) -> 1 candidate(s)
I0419 21:00:23.546121 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292235453057.
I0419 21:00:23.574415 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292235737925.
I0419 21:00:23.641829 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.2585, -0.650478)
I0419 21:00:23.641920 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:23.641947 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:23.643100 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292236057128.
I0419 21:00:23.645857 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.104959 range=0.685158 variance=0.00058715 t_weight=5109.43 r_weight=0 yaml=(4.215, -1.32) prior=(3.92363, -1.9781, -1.11757deg) obs_actual=(0.232718, 0.682717) obs_expected=(0.278476, 0.663656) delta=(-0.0457573, 0.0190615) |delta|=0.0495689m
I0419 21:00:23.645991 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292236331813.
I0419 21:00:23.665669 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.078389s, prior_pose=(3.92363, -1.9781), yaw=-1.11757 deg
I0419 21:00:23.665823 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:23.666065 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292236652190.
I0419 21:00:23.694757 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0736352, 0.681446), points=18, range=0.686722, residual=0.0110362, extent=0.0345968
I0419 21:00:23.694888 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0736352, 0.681446), tracking=(0.224865, 0.681446), map_predicted=(4.17897, -1.32776), range=0.686722, pts=18
I0419 21:00:23.694942 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0368564m maha_sq=0.0572648 (gate chi2=5.99) pose_sigma=(0.152193, 0.152193, rho=0) det_map=(4.17897, -1.32776) lm_pos=(4.215, -1.32) delta=(-0.0360311, -0.00775602) -> 1 candidate(s)
I0419 21:00:23.695096 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292236941291.
I0419 21:00:23.702608 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.28891, -0.647313)
I0419 21:00:23.718140 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:23.755517 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:23.755628 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:23.755759 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292237212831.
I0419 21:00:23.756714 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:23.756769 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:23.757882 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292237503778.
I0419 21:00:23.782022 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292237814054.
I0419 21:00:23.814808 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:23.814992 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292238141088.
I0419 21:00:23.822204 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.32144, -0.649269)
I0419 21:00:23.839865 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.111114, 0.682322), points=17, range=0.692353, residual=0.0107606, extent=0.0325449
I0419 21:00:23.839963 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.111114, 0.682322), tracking=(0.187386, 0.682322), map_predicted=(4.17369, -1.31139), range=0.692353, pts=17
I0419 21:00:23.839996 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0422006m maha_sq=0.0772528 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17369, -1.31139) lm_pos=(4.215, -1.32) delta=(-0.0413133, 0.00860812) -> 1 candidate(s)
I0419 21:00:23.840134 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292238391170.
I0419 21:00:23.892007 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292238688825.
I0419 21:00:23.892987 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:23.893064 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:23.898033 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292238972714.
I0419 21:00:23.930527 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0777628 range=0.695556 variance=0.000563525 t_weight=5323.63 r_weight=0 yaml=(4.215, -1.32) prior=(3.99457, -1.98539, -1.32676deg) obs_actual=(0.164023, 0.68113) obs_expected=(0.204969, 0.670317) delta=(-0.0409457, 0.0108137) |delta|=0.0423495m
I0419 21:00:23.930665 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292239298667.
I0419 21:00:23.938160 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.34088, -0.644343)
I0419 21:00:23.957674 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600607s, prior_pose=(4.00902, -1.98471), yaw=-1.29941 deg
I0419 21:00:23.957767 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:23.957968 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292239573321.
I0419 21:00:24.005733 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292239901626.
I0419 21:00:24.006630 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.423421, 0.550086), points=13, range=0.692846, residual=0.00960409, extent=0.0268093
I0419 21:00:24.006695 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.423421, 0.550086), tracking=(-0.721921, -0.550086), map_predicted=(3.28615, -2.51722), range=0.692846, pts=13
I0419 21:00:24.006722 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.243862m maha_sq=2.5823 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.28615, -2.51722) lm_pos=(3.53, -2.52) delta=(-0.243846, 0.00278396) -> 1 candidate(s)
I0419 21:00:24.014534 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:24.014642 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:24.014720 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:24.014772 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:24.014791 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292240140895.
I0419 21:00:24.025817 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:24.025921 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:24.046296 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292240457243.
I0419 21:00:24.058164 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.37276, -0.640108)
I0419 21:00:24.058349 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:24.074599 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.38118 deg, rms_residual=0.0129862m, sigma_yaw=0.0170203 rad, N=2
I0419 21:00:24.074925 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.05901, -1.98602, -2.38118deg) inliers=2 rms=0.0129862m
I0419 21:00:24.075090 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292240741116.
I0419 21:00:24.106173 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:24.106336 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292241056623.
I0419 21:00:24.159672 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292241339882.
I0419 21:00:24.162346 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.773881, -0.499301), points=10, range=0.9185, residual=0.0134767, extent=0.043224
I0419 21:00:24.162439 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.773881, -0.499301), tracking=(1.07238, -0.499301), map_predicted=(5.1316, -2.51317), range=0.9185, pts=10
I0419 21:00:24.162465 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0179469m maha_sq=0.0137659 (gate chi2=5.99) pose_sigma=(0.150898, 0.150898, rho=0) det_map=(5.1316, -2.51317) lm_pos=(5.115, -2.52) delta=(0.0165968, 0.00682939) -> 1 candidate(s)
I0419 21:00:24.162572 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292241611566.
I0419 21:00:24.170775 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.362612, -0.619707)
I0419 21:00:24.170858 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:24.170881 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:24.194330 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0464915 range=0.714824 variance=0.000594178 t_weight=5048.99 r_weight=0 yaml=(4.215, -1.32) prior=(4.0726, -1.98608, -1.49419deg) obs_actual=(0.0957354, 0.684336) obs_expected=(0.124983, 0.669564) delta=(-0.029248, 0.0147728) |delta|=0.0327671m
I0419 21:00:24.194594 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292241936119.
I0419 21:00:24.201970 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292242013848.
I0419 21:00:24.222491 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292242216437.
I0419 21:00:24.230454 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292242295221.
I0419 21:00:24.286139 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0523874s, prior_pose=(4.0909, -1.99336), yaw=-1.45726 deg
I0419 21:00:24.286257 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:24.286485 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292242537722.
I0419 21:00:24.287402 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.389065, -0.679755)
I0419 21:00:24.287504 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 14 -> 13 (threshold=0.03, iters=3)
I0419 21:00:24.288653 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.227228, 0.685671), points=16, range=0.723562, residual=0.0114553, extent=0.0322611
I0419 21:00:24.288784 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.227228, 0.685671), tracking=(0.0712718, 0.685671), map_predicted=(4.17958, -1.30972), range=0.723562, pts=16
I0419 21:00:24.288811 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0368769m maha_sq=0.0589486 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17958, -1.30972) lm_pos=(4.215, -1.32) delta=(-0.0354162, 0.0102761) -> 1 candidate(s)
I0419 21:00:24.288920 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292242817162.
I0419 21:00:24.290577 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292242896554.
I0419 21:00:24.310741 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:24.310873 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:24.311110 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292243099465.
I0419 21:00:24.318477 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:24.318588 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:24.342056 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292243412153.
I0419 21:00:24.350903 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.4526, -0.639158)
I0419 21:00:24.371119 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292243699882.
I0419 21:00:24.457321 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:24.457433 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00138783 range=0.864455 variance=0.000742353 t_weight=4041.21 r_weight=0 yaml=(5.115, -2.52) prior=(4.13158, -1.99, -1.59304deg) obs_actual=(0.999937, -0.497154) obs_expected=(0.997776, -0.502458) delta=(0.00216123, 0.00530421) |delta|=0.00572761m
I0419 21:00:24.457520 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292243974690.
I0419 21:00:24.458380 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.524841, 0.553019), points=11, range=0.764636, residual=0.0101521, extent=0.0286876
I0419 21:00:24.458452 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.524841, 0.553019), tracking=(-0.823341, -0.553019), map_predicted=(3.29318, -2.51991), range=0.764636, pts=11
I0419 21:00:24.458477 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[4] 'ref_5' eucl_dist=0.236819m maha_sq=2.43388 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.29318, -2.51991) lm_pos=(3.53, -2.52) delta=(-0.236819, 8.61962e-05) -> 1 candidate(s)
I0419 21:00:24.458556 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292244052373.
I0419 21:00:24.459581 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.14428, -1.99219), yaw=-1.61294 deg backend=(4.02053, -1.9884)
I0419 21:00:24.460456 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292244255864.
I0419 21:00:24.461309 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.46547, -0.634668)
I0419 21:00:24.462476 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292244577347.
I0419 21:00:24.466708 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:24.466845 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:24.486402 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:24.486788 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:24.486922 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292244853795.
I0419 21:00:24.571199 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292245135493.
I0419 21:00:24.573608 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800909s, prior_pose=(4.1588, -1.98916), yaw=-1.65369 deg
I0419 21:00:24.573774 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:24.573909 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.669704, -0.495411)
I0419 21:00:24.574011 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.49408 deg, rms_residual=0.0130069m, sigma_yaw=0.0170469 rad, N=2
I0419 21:00:24.574052 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.17294, -1.99306, -2.49408deg) inliers=2 rms=0.0130069m
I0419 21:00:24.574091 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292245458728.
I0419 21:00:24.575853 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.561493, 0.556584), points=10, range=0.793, residual=0.00962483, extent=0.0251258
I0419 21:00:24.575960 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.561493, 0.556584), tracking=(-0.859993, -0.556584), map_predicted=(3.29557, -2.52159), range=0.793, pts=10
I0419 21:00:24.575989 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.234432m maha_sq=2.35642 (gate chi2=5.99) pose_sigma=(0.150962, 0.150962, rho=0) det_map=(3.29557, -2.52159) lm_pos=(3.53, -2.52) delta=(-0.234426, -0.00158919) -> 1 candidate(s)
I0419 21:00:24.577349 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292245741359.
I0419 21:00:24.607148 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:24.607301 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:24.607540 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292246059946.
I0419 21:00:24.614835 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:00:24.614952 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:00:24.615010 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[3] 'ref_4' maha_sq=0.0322893 range=1.64067 variance=0.00054517 t_weight=5502.87 r_weight=0 yaml=(2.415, -1.32) prior=(4.17843, -1.99869, -1.70269deg) obs_actual=(-1.80906, 0.633429) obs_expected=(-1.78282, 0.62599) delta=(-0.0262445, 0.00743896) |delta|=0.0272784m
I0419 21:00:24.615141 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292246137841.
I0419 21:00:24.637990 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.320282, 0.684176)
I0419 21:00:24.638212 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292246375602.
I0419 21:00:24.706315 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:24.706996 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292246613350.
I0419 21:00:24.709728 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.632859, -0.495842), points=13, range=0.805308, residual=0.0147084, extent=0.047214
I0419 21:00:24.709923 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:00:24.709944 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.632859, -0.495842), tracking=(0.931359, -0.495842), map_predicted=(5.12299, -2.51941), range=0.805308, pts=13
I0419 21:00:24.709968 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0080089m maha_sq=0.00274845 (gate chi2=5.99) pose_sigma=(0.150599, 0.150599, rho=0) det_map=(5.12299, -2.51941) lm_pos=(5.115, -2.52) delta=(0.00798715, 0.000589852) -> 1 candidate(s)
I0419 21:00:24.710078 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292246894469.
I0419 21:00:24.721879 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.346078, 0.686437)
I0419 21:00:24.722105 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292247213380.
I0419 21:00:24.749876 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292247492296.
I0419 21:00:24.758496 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:24.758605 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:24.799599 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292247815228.
I0419 21:00:24.800452 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.56647, -0.630243)
I0419 21:00:24.800590 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:24.810506 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45755, 0.750676), points=3, range=1.635, residual=0.00925343, extent=0.0186108
I0419 21:00:24.810617 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45755, 0.750676), tracking=(1.75605, 0.750676), map_predicted=(6.00032, -1.30355), range=1.635, pts=3
I0419 21:00:24.810649 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0220459m maha_sq=0.0210605 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00032, -1.30355) lm_pos=(6.015, -1.32) delta=(-0.0146825, 0.0164453) -> 1 candidate(s)
I0419 21:00:24.810750 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292248099443.
I0419 21:00:24.837931 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559683s, prior_pose=(4.23785, -1.99533), yaw=-1.84449 deg
I0419 21:00:24.838071 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=254, threshold=230, above_threshold=38, candidates=38
I0419 21:00:24.838299 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.000139079 range=0.778267 variance=0.000665206 t_weight=4509.88 r_weight=5000 yaml=(5.115, -2.52) prior=(4.23785, -1.99533, -1.84449deg) obs_actual=(0.894909, -0.497403) obs_expected=(0.893585, -0.496169) delta=(0.00132392, -0.00123364) |delta|=0.0018096m
I0419 21:00:24.838404 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292248374911.
I0419 21:00:24.849977 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292248494661.
I0419 21:00:24.866602 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.587184, -0.494049)
I0419 21:00:24.866814 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292248660630.
I0419 21:00:24.898685 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:00:24.898775 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:00:24.898887 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292248982374.
I0419 21:00:24.956701 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:00:24.956804 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:00:24.956866 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292249061889.
I0419 21:00:24.957835 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.569548, -0.492103), points=14, range=0.756571, residual=0.0145637, extent=0.0430132
I0419 21:00:24.957908 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.569548, -0.492103), tracking=(0.868048, -0.492103), map_predicted=(5.13859, -2.51475), range=0.756571, pts=14
I0419 21:00:24.957934 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0241642m maha_sq=0.0252213 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13859, -2.51475) lm_pos=(5.115, -2.52) delta=(0.023588, 0.00524539) -> 1 candidate(s)
I0419 21:00:24.958006 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292249261443.
I0419 21:00:24.958808 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.20741, -0.674779)
I0419 21:00:24.960436 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292249539521.
I0419 21:00:24.987550 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:24.987700 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:24.987761 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:24.987784 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292249861661.
I0419 21:00:25.014217 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292250136965.
I0419 21:00:25.084465 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292250458972.
I0419 21:00:25.085446 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.177257, -0.673596)
I0419 21:00:25.085542 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:25.085567 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:25.086699 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0494523 range=1.57425 variance=0.000569137 t_weight=5271.14 r_weight=0 yaml=(6.015, -1.32) prior=(4.28978, -1.99337, -2.20622deg) obs_actual=(1.67282, 0.761783) obs_expected=(1.69802, 0.739287) delta=(-0.0251938, 0.0224965) |delta|=0.0337761m
I0419 21:00:25.086890 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292250739688.
I0419 21:00:25.088455 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.700781, 0.565761), points=7, range=0.898857, residual=0.00909531, extent=0.0249437
I0419 21:00:25.088583 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.700781, 0.565761), tracking=(-0.999281, -0.565761), map_predicted=(3.28434, -2.52006), range=0.898857, pts=7
I0419 21:00:25.088613 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.245657m maha_sq=2.58256 (gate chi2=5.99) pose_sigma=(0.151127, 0.151127, rho=0) det_map=(3.28434, -2.52006) lm_pos=(3.53, -2.52) delta=(-0.245657, -5.84821e-05) -> 1 candidate(s)
I0419 21:00:25.106086 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292251055740.
I0419 21:00:25.134061 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519023s, prior_pose=(4.31243, -1.99258), yaw=-2.26964 deg
I0419 21:00:25.134184 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:00:25.134361 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.50216 deg, rms_residual=0.0109105m, sigma_yaw=0.0143387 rad, N=2
I0419 21:00:25.134404 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.31301, -2.00388, -2.50216deg) inliers=2 rms=0.0109105m
I0419 21:00:25.134436 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292251336402.
I0419 21:00:25.162156 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292251614261.
I0419 21:00:25.245730 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.148056, -0.672027)
I0419 21:00:25.246732 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:25.246799 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:25.246914 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292251897913.
I0419 21:00:25.247905 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:25.247951 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:25.249639 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292252216331.
I0419 21:00:25.250367 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.67165, -0.605684), points=3, range=1.78, residual=0.00604944, extent=0.0119733
I0419 21:00:25.250423 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.67165, -0.605684), tracking=(-1.97015, 0.605684), map_predicted=(2.39235, -1.33703), range=1.78, pts=3
I0419 21:00:25.250447 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0283413m maha_sq=0.0348611 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.39235, -1.33703) lm_pos=(2.415, -1.32) delta=(-0.0226537, -0.0170306) -> 1 candidate(s)
I0419 21:00:25.250523 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292252294279.
I0419 21:00:25.251606 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292252500528.
I0419 21:00:25.278602 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:25.278883 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292252777973.
I0419 21:00:25.290087 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.115538, -0.66664)
I0419 21:00:25.378404 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.33793, -2.01755), yaw=-2.99517 deg backend=(4.32889, -1.99667)
I0419 21:00:25.379458 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292253103126.
I0419 21:00:25.381273 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292253378613.
I0419 21:00:25.382730 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:25.382826 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:25.383810 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0556707 range=0.669111 variance=0.000642991 t_weight=4665.69 r_weight=0 yaml=(5.115, -2.52) prior=(4.35488, -2.01436, -3.04763deg) obs_actual=(0.755798, -0.48457) obs_expected=(0.785927, -0.464514) delta=(-0.0301288, -0.0200563) |delta|=0.0361939m
I0419 21:00:25.383914 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292253657750.
I0419 21:00:25.384744 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.766503, 0.574102), points=4, range=0.96125, residual=0.00963814, extent=0.0228069
I0419 21:00:25.384800 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.766503, 0.574102), tracking=(-1.065, -0.574102), map_predicted=(3.26086, -2.53103), range=0.96125, pts=4
I0419 21:00:25.384825 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.269364m maha_sq=3.14905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.26086, -2.53103) lm_pos=(3.53, -2.52) delta=(-0.269139, -0.0110261) -> 1 candidate(s)
I0419 21:00:25.398494 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292253973326.
I0419 21:00:25.406512 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0848226, -0.667584)
I0419 21:00:25.425699 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796458s, prior_pose=(4.36707, -2.01391), yaw=-3.08691 deg
I0419 21:00:25.425843 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:00:25.426215 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292254252260.
I0419 21:00:25.487435 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292254619574.
I0419 21:00:25.488245 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:25.490471 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:25.490563 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:25.490672 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292254854535.
I0419 21:00:25.494841 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:25.494946 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:25.514955 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292255139322.
I0419 21:00:25.522993 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0530057, -0.663362)
I0419 21:00:25.523128 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.802259, 0.576634), points=5, range=0.9898, residual=0.0079151, extent=0.0207871
I0419 21:00:25.523185 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.802259, 0.576634), tracking=(-1.10076, -0.576634), map_predicted=(3.27034, -2.52243), range=0.9898, pts=5
I0419 21:00:25.523234 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.259674m maha_sq=2.881 (gate chi2=5.99) pose_sigma=(0.151305, 0.151305, rho=0) det_map=(3.27034, -2.52243) lm_pos=(3.53, -2.52) delta=(-0.259663, -0.0024266) -> 1 candidate(s)
I0419 21:00:25.542855 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:25.543061 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:25.543113 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292255419890.
I0419 21:00:25.624662 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:25.624912 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292255732458.
I0419 21:00:25.627274 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292256015376.
I0419 21:00:25.629102 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292256097267.
I0419 21:00:25.631426 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00331927 range=1.46967 variance=0.000512065 t_weight=5858.63 r_weight=0 yaml=(6.015, -1.32) prior=(4.41721, -2.01099, -3.39765deg) obs_actual=(1.54569, 0.781852) obs_expected=(1.55403, 0.784469) delta=(-0.0083387, -0.0026171) |delta|=0.00873975m
I0419 21:00:25.631558 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292256307731.
I0419 21:00:25.642978 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:25.643154 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:25.662752 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.23332, 0.785699)
I0419 21:00:25.663100 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292256620168.
I0419 21:00:25.690596 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.378314, -0.48121), points=21, range=0.613905, residual=0.0138829, extent=0.0486822
I0419 21:00:25.690768 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.378314, -0.48121), tracking=(0.676814, -0.48121), map_predicted=(5.07789, -2.5336), range=0.613905, pts=21
I0419 21:00:25.690820 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0395255m maha_sq=0.0675512 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07789, -2.5336) lm_pos=(5.115, -2.52) delta=(-0.0371119, -0.0136006) -> 1 candidate(s)
I0419 21:00:25.691071 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292256894466.
I0419 21:00:25.770255 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056126s, prior_pose=(4.44474, -2.01474), yaw=-3.41206 deg
I0419 21:00:25.770418 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=25, candidates=25
I0419 21:00:25.770569 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.94413 deg, rms_residual=0.0112071m, sigma_yaw=0.0147229 rad, N=2
I0419 21:00:25.770620 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.46352, -2.0151, -2.94413deg) inliers=2 rms=0.0112071m
I0419 21:00:25.770656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292257181428.
I0419 21:00:25.773317 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292257501402.
I0419 21:00:25.774156 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292257575386.
I0419 21:00:25.778558 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:25.778636 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:25.778754 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292257780660.
I0419 21:00:25.786798 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.874233, 0.58227)
I0419 21:00:25.786921 1218978 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:00:25.786966 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:25.787003 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:25.806773 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292258061595.
I0419 21:00:25.875370 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19051, 0.78798), points=4, range=1.425, residual=0.00753727, extent=0.014757
I0419 21:00:25.875468 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19051, 0.78798), tracking=(1.48901, 0.78798), map_predicted=(5.98104, -1.31999), range=1.425, pts=4
I0419 21:00:25.875499 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0339567m maha_sq=0.0487987 (gate chi2=5.99) pose_sigma=(0.151974, 0.151974, rho=0) det_map=(5.98104, -1.31999) lm_pos=(6.015, -1.32) delta=(-0.0339567, 1.03694e-05) -> 1 candidate(s)
I0419 21:00:25.875586 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292258376225.
I0419 21:00:25.877460 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:25.877597 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292258653653.
I0419 21:00:25.906436 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292259053022.
I0419 21:00:25.927081 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.14224, 0.785036)
I0419 21:00:25.927335 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0720995 range=0.579044 variance=0.000629414 t_weight=4766.34 r_weight=0 yaml=(5.115, -2.52) prior=(4.48978, -2.01645, -3.699deg) obs_actual=(0.619126, -0.479679) obs_expected=(0.656401, -0.462168) delta=(-0.0372752, -0.0175106) |delta|=0.0411832m
I0419 21:00:25.927515 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292259262982.
I0419 21:00:25.933852 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:25.934199 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:25.954612 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292259540714.
I0419 21:00:26.010133 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292259820424.
I0419 21:00:26.011080 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0699, -0.65574), points=17, range=0.66, residual=0.0100056, extent=0.0339231
I0419 21:00:26.011171 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0699, -0.65574), tracking=(-0.3684, 0.65574), map_predicted=(4.22188, -1.34083), range=0.66, pts=17
I0419 21:00:26.011199 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0219332m maha_sq=0.0208832 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.22188, -1.34083) lm_pos=(4.215, -1.32) delta=(0.00687898, -0.0208266) -> 1 candidate(s)
I0419 21:00:26.015237 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0530965s, prior_pose=(4.54847, -2.01899), yaw=-3.73686 deg
I0419 21:00:26.015336 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:26.015576 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292260148691.
I0419 21:00:26.042042 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292260415166.
I0419 21:00:26.070940 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:26.071079 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.13091, 0.794324)
I0419 21:00:26.071100 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:26.071203 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:26.071307 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:26.071331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292260698934.
I0419 21:00:26.082686 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:26.082827 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:26.082928 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292260821486.
I0419 21:00:26.141894 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292261020345.
I0419 21:00:26.141882 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:26.143669 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292261295571.
I0419 21:00:26.145335 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:26.162180 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.262918, -0.479097), points=26, range=0.546769, residual=0.0134789, extent=0.0510891
I0419 21:00:26.162338 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:26.162361 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.262918, -0.479097), tracking=(0.561418, -0.479097), map_predicted=(5.08976, -2.53621), range=0.546769, pts=26
I0419 21:00:26.162385 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0299952m maha_sq=0.0383515 (gate chi2=5.99) pose_sigma=(0.151147, 0.151147, rho=0) det_map=(5.08976, -2.53621) lm_pos=(5.115, -2.52) delta=(-0.0252406, -0.0162058) -> 1 candidate(s)
I0419 21:00:26.162470 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292261617461.
I0419 21:00:26.171700 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.57299, -2.02042), yaw=-3.8618 deg backend=(4.4915, -2.00764)
I0419 21:00:26.190392 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292261897942.
I0419 21:00:26.220556 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.08316, 0.799037)
I0419 21:00:26.220732 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00230427 range=1.346 variance=0.000526867 t_weight=5694.04 r_weight=0 yaml=(6.015, -1.32) prior=(4.57299, -2.02042, -3.8618deg) obs_actual=(1.38497, 0.799051) obs_expected=(1.39156, 0.79595) delta=(-0.00659127, 0.00310085) |delta|=0.00728424m
I0419 21:00:26.220790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292262199770.
I0419 21:00:26.279400 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:26.279527 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:26.280776 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292262462448.
I0419 21:00:26.281690 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292262574180.
I0419 21:00:26.283516 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292262774770.
I0419 21:00:26.306828 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0769072s, prior_pose=(4.61794, -2.02009), yaw=-4.01272 deg
I0419 21:00:26.306941 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:26.307101 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06102, 0.801951), points=3, range=1.32467, residual=0.0111646, extent=0.0222348
I0419 21:00:26.307135 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06102, 0.801951), tracking=(1.35952, 0.801951), map_predicted=(6.03025, -1.31525), range=1.32467, pts=3
I0419 21:00:26.307163 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0159772m maha_sq=0.0110538 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.03025, -1.31525) lm_pos=(6.015, -1.32) delta=(0.0152533, 0.0047548) -> 1 candidate(s)
I0419 21:00:26.307260 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292263064570.
I0419 21:00:26.338449 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292263378395.
I0419 21:00:26.406131 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:26.406256 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.04062, 0.803276)
I0419 21:00:26.406275 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:26.406352 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.99392 deg, rms_residual=0.0136529m, sigma_yaw=0.0178784 rad, N=2
I0419 21:00:26.406389 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.63377, -2.01784, -3.99392deg) inliers=2 rms=0.0136529m
I0419 21:00:26.406420 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292263660932.
I0419 21:00:26.407227 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:26.407276 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:26.407346 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292263732790.
I0419 21:00:26.408428 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292263931868.
I0419 21:00:26.426653 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292264259530.
I0419 21:00:26.434024 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292264333715.
I0419 21:00:26.454501 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:26.454686 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292264539384.
I0419 21:00:26.462785 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0111713 range=0.684706 variance=0.000588699 t_weight=5095.99 r_weight=0 yaml=(4.215, -1.32) prior=(4.66981, -2.01978, -4.24133deg) obs_actual=(-0.49245, 0.654619) obs_expected=(-0.505322, 0.664223) delta=(0.0128723, -0.00960391) |delta|=0.0160602m
I0419 21:00:26.462946 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292264620722.
I0419 21:00:26.480414 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:26.483858 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.184388, -0.478159), points=29, range=0.512724, residual=0.0135083, extent=0.0514799
I0419 21:00:26.483969 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.184388, -0.478159), tracking=(0.482888, -0.478159), map_predicted=(5.11602, -2.53234), range=0.512724, pts=29
I0419 21:00:26.483999 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0123804m maha_sq=0.00663126 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11602, -2.53234) lm_pos=(5.115, -2.52) delta=(0.00101624, -0.0123387) -> 1 candidate(s)
I0419 21:00:26.484114 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292264820056.
I0419 21:00:26.546039 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:26.546247 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:26.546278 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292264904385.
I0419 21:00:26.547394 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.998653, 0.806255)
I0419 21:00:26.547502 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292265135803.
I0419 21:00:26.548306 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:26.548345 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:26.548403 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292265212242.
I0419 21:00:26.550262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292265414270.
I0419 21:00:26.550949 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292265494591.
I0419 21:00:26.574746 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292265740171.
I0419 21:00:26.602365 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604423s, prior_pose=(4.67951, -2.0148), yaw=-4.34616 deg
I0419 21:00:26.602473 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 21:00:26.602826 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292266018693.
I0419 21:00:26.684111 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292266296578.
I0419 21:00:26.685258 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292266374121.
I0419 21:00:26.686770 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:26.686940 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.959998, 0.810268)
I0419 21:00:26.687004 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:26.687081 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.14289, -0.477145), points=29, range=0.49769, residual=0.0130052, extent=0.0441519
I0419 21:00:26.687135 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.14289, -0.477145), tracking=(0.44139, -0.477145), map_predicted=(5.07524, -2.52656), range=0.49769, pts=29
I0419 21:00:26.687191 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0402927m maha_sq=0.0702806 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07524, -2.52656) lm_pos=(5.115, -2.52) delta=(-0.0397559, -0.00655512) -> 1 candidate(s)
I0419 21:00:26.687314 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292266618046.
I0419 21:00:26.688810 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:26.688879 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:26.688925 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292266697339.
I0419 21:00:26.690249 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0459249 range=0.496233 variance=0.000607809 t_weight=4935.76 r_weight=0 yaml=(5.115, -2.52) prior=(4.6906, -2.01816, -4.50851deg) obs_actual=(0.43167, -0.477338) obs_expected=(0.462537, -0.466926) delta=(-0.0308676, -0.0104122) |delta|=0.0325764m
I0419 21:00:26.690343 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292266892623.
I0419 21:00:26.718675 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292267177861.
I0419 21:00:26.746029 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:26.746266 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292267453753.
I0419 21:00:26.837688 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292267774060.
I0419 21:00:26.840975 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.913176, 0.812617)
I0419 21:00:26.841132 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.916296, 0.813025), points=5, range=1.2224, residual=0.00891147, extent=0.0229309
I0419 21:00:26.841168 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.916296, 0.813025), tracking=(1.2148, 0.813025), map_predicted=(5.99563, -1.30893), range=1.2224, pts=5
I0419 21:00:26.841194 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0223113m maha_sq=0.021202 (gate chi2=5.99) pose_sigma=(0.151449, 0.151449, rho=0) det_map=(5.99563, -1.30893) lm_pos=(6.015, -1.32) delta=(-0.0193707, 0.011071) -> 1 candidate(s)
I0419 21:00:26.841321 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292268059700.
I0419 21:00:26.842338 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:26.842406 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:26.843786 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292268337143.
I0419 21:00:26.866164 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292268651852.
I0419 21:00:26.948204 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476455s, prior_pose=(4.74161, -2.02519), yaw=-4.82883 deg
I0419 21:00:26.948351 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:00:26.948624 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292268938124.
I0419 21:00:26.950651 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292269261984.
I0419 21:00:26.952107 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.325076, -0.656296)
I0419 21:00:26.954044 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:26.954113 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:26.954172 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:26.954226 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:26.954246 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292269536045.
I0419 21:00:26.961699 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.330608, -0.653469), points=16, range=0.7335, residual=0.0111624, extent=0.0323043
I0419 21:00:26.961793 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.330608, -0.653469), tracking=(-0.629108, 0.653469), map_predicted=(4.18815, -1.32144), range=0.7335, pts=16
I0419 21:00:26.961858 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0268883m maha_sq=0.031348 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.18815, -1.32144) lm_pos=(4.215, -1.32) delta=(-0.0268497, -0.00144) -> 1 candidate(s)
I0419 21:00:26.961880 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:26.961905 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:26.982398 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.62794 deg, rms_residual=0.014692m, sigma_yaw=0.019213 rad, N=2
I0419 21:00:26.982513 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00373668 range=1.19417 variance=0.000604269 t_weight=4964.68 r_weight=0 yaml=(6.015, -1.32) prior=(4.77101, -2.02615, -4.86165deg) obs_actual=(1.17438, 0.816738) obs_expected=(1.17967, 0.809038) delta=(-0.00529125, 0.00769991) |delta|=0.0093427m
I0419 21:00:26.982577 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.78737, -2.02757, -4.62794deg) inliers=2 rms=0.014692m
I0419 21:00:26.982622 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292269818447.
I0419 21:00:26.990744 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:00:27.011068 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292270100927.
I0419 21:00:27.070016 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292270217913.
I0419 21:00:27.071208 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:27.071326 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292270414584.
I0419 21:00:27.072109 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292270502558.
I0419 21:00:27.073123 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.78798, -2.02746), yaw=-4.8435 deg backend=(4.70383, -2.02588)
I0419 21:00:27.074064 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292270700039.
I0419 21:00:27.082785 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.361941, -0.652857)
I0419 21:00:27.102002 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292271013508.
I0419 21:00:27.110478 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:27.110571 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:27.110688 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292271101011.
I0419 21:00:27.130079 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292271293982.
I0419 21:00:27.138111 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.373868, -0.651894), points=15, range=0.753867, residual=0.0124376, extent=0.036487
I0419 21:00:27.138204 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.373868, -0.651894), tracking=(-0.672368, 0.651894), map_predicted=(4.19263, -1.32176), range=0.753867, pts=15
I0419 21:00:27.138235 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0224378m maha_sq=0.0218003 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.19263, -1.32176) lm_pos=(4.215, -1.32) delta=(-0.0223683, -0.00176437) -> 1 candidate(s)
I0419 21:00:27.208889 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292271578929.
I0419 21:00:27.210763 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758626s, prior_pose=(4.80992, -2.0283), yaw=-4.93338 deg
I0419 21:00:27.210892 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=254, threshold=230, above_threshold=38, candidates=38
I0419 21:00:27.211122 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292271859637.
I0419 21:00:27.218746 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292272179946.
I0419 21:00:27.226609 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.396576, -0.653451)
I0419 21:00:27.250376 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:27.250475 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:27.250581 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00645583 range=1.13917 variance=0.000615029 t_weight=4877.82 r_weight=0 yaml=(6.015, -1.32) prior=(4.84556, -2.02991, -4.87533deg) obs_actual=(1.09376, 0.812023) obs_expected=(1.10487, 0.806726) delta=(-0.0111128, 0.00529673) |delta|=0.0123106m
I0419 21:00:27.250672 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292272498171.
I0419 21:00:27.258268 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:27.258389 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:27.278954 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292272777879.
I0419 21:00:27.376869 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.41092, -0.653298), points=13, range=0.773077, residual=0.0103125, extent=0.0295637
I0419 21:00:27.376982 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.41092, -0.653298), tracking=(-0.70942, 0.653298), map_predicted=(4.2286, -1.32291), range=0.773077, pts=13
I0419 21:00:27.377012 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0139107m maha_sq=0.00811176 (gate chi2=5.99) pose_sigma=(0.152673, 0.152673, rho=0) det_map=(4.2286, -1.32291) lm_pos=(4.215, -1.32) delta=(0.0136037, -0.00290619) -> 1 candidate(s)
I0419 21:00:27.377103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292272857268.
I0419 21:00:27.378283 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292273053080.
I0419 21:00:27.380714 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:27.380864 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292273338916.
I0419 21:00:27.382622 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292273626571.
I0419 21:00:27.384099 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.434318, -0.65607)
I0419 21:00:27.384229 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292273735900.
I0419 21:00:27.395677 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:27.395993 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:27.396028 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292273938854.
I0419 21:00:27.403071 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:27.403455 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:27.403673 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292274023300.
I0419 21:00:27.462774 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292274217308.
I0419 21:00:27.463706 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292274299663.
I0419 21:00:27.465497 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292274538975.
I0419 21:00:27.467168 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.456584, -0.658079), points=14, range=0.804357, residual=0.0142229, extent=0.0442601
I0419 21:00:27.467322 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.456584, -0.658079), tracking=(-0.755084, 0.658079), map_predicted=(4.20824, -1.31704), range=0.804357, pts=14
I0419 21:00:27.467381 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00737835m maha_sq=0.00232048 (gate chi2=5.99) pose_sigma=(0.151054, 0.151054, rho=0) det_map=(4.20824, -1.31704) lm_pos=(4.215, -1.32) delta=(-0.00675673, 0.00296423) -> 1 candidate(s)
I0419 21:00:27.467485 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292274616166.
I0419 21:00:27.482462 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604118s, prior_pose=(4.90844, -2.03324), yaw=-4.57442 deg
I0419 21:00:27.482573 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=253, threshold=230, above_threshold=37, candidates=37
I0419 21:00:27.482816 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0367639 range=0.488033 variance=0.000607144 t_weight=4941.17 r_weight=0 yaml=(5.115, -2.52) prior=(4.90844, -2.03324, -4.57442deg) obs_actual=(0.218597, -0.481652) obs_expected=(0.244725, -0.468736) delta=(-0.0261286, -0.0129154) |delta|=0.0291463m
I0419 21:00:27.482910 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292274821426.
I0419 21:00:27.491199 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292274906582.
I0419 21:00:27.510802 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.738777, 0.803787)
I0419 21:00:27.511039 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292275100824.
I0419 21:00:27.518664 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292275180021.
I0419 21:00:27.542279 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:27.542363 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:27.542511 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292275417384.
I0419 21:00:27.600406 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:27.600509 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:00:27.600721 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:27.601830 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292275700951.
I0419 21:00:27.602787 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292275814313.
I0419 21:00:27.604519 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.19352 deg, rms_residual=0.0139885m, sigma_yaw=0.0183098 rad, N=2
I0419 21:00:27.604629 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.95741, -2.03683, -4.19352deg) inliers=2 rms=0.0139885m
I0419 21:00:27.604665 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292275994339.
I0419 21:00:27.610025 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292276095355.
I0419 21:00:27.630306 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:27.630478 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292276297721.
I0419 21:00:27.639134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292276386421.
I0419 21:00:27.658766 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.127672, -0.481935), points=28, range=0.49825, residual=0.0124987, extent=0.0392566
I0419 21:00:27.658901 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.127672, -0.481935), tracking=(0.170828, -0.481935), map_predicted=(5.08639, -2.53116), range=0.49825, pts=28
I0419 21:00:27.658933 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0307064m maha_sq=0.0408397 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08639, -2.53116) lm_pos=(5.115, -2.52) delta=(-0.0286079, -0.0111566) -> 1 candidate(s)
I0419 21:00:27.659036 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292276580402.
I0419 21:00:27.666339 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.507997, -0.663901)
I0419 21:00:27.666512 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292276658178.
I0419 21:00:27.735258 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0312351 range=0.500538 variance=0.000577513 t_weight=5194.69 r_weight=0 yaml=(5.115, -2.52) prior=(4.96466, -2.03713, -4.26179deg) obs_actual=(0.161637, -0.482407) obs_expected=(0.185804, -0.47036) delta=(-0.024167, -0.0120467) |delta|=0.0270031m
I0419 21:00:27.735435 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292276856683.
I0419 21:00:27.736269 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:27.736354 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:27.736406 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:27.736443 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:27.736461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292276980512.
I0419 21:00:27.737601 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292277177506.
I0419 21:00:27.738996 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292277254127.
I0419 21:00:27.746275 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292277456694.
I0419 21:00:27.754369 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292277538801.
I0419 21:00:27.774672 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0488108s, prior_pose=(4.99089, -2.03773), yaw=-4.21991 deg
I0419 21:00:27.774788 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:00:27.775043 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292277742235.
I0419 21:00:27.786079 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292277854979.
I0419 21:00:27.806290 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292278057046.
I0419 21:00:27.867200 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.543265, -0.666814)
I0419 21:00:27.867385 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292278141143.
I0419 21:00:27.868461 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:27.868520 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:27.868600 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292278332522.
I0419 21:00:27.869375 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.549117, -0.668055), points=12, range=0.8675, residual=0.0122577, extent=0.0355796
I0419 21:00:27.869441 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.549117, -0.668055), tracking=(-0.847617, 0.668055), map_predicted=(4.2064, -1.30965), range=0.8675, pts=12
I0419 21:00:27.869467 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0134595m maha_sq=0.00784433 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.2064, -1.30965) lm_pos=(4.215, -1.32) delta=(-0.00860022, 0.0103534) -> 1 candidate(s)
I0419 21:00:27.869488 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:27.869514 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:27.869551 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292278454354.
I0419 21:00:27.871433 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292278700409.
I0419 21:00:27.873764 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.00477705 range=0.870846 variance=0.000611785 t_weight=4903.68 r_weight=0 yaml=(4.215, -1.32) prior=(5.01313, -2.03866, -4.17074deg) obs_actual=(-0.852686, 0.668246) obs_expected=(-0.848283, 0.658706) delta=(-0.00440304, 0.00954041) |delta|=0.0105074m
I0419 21:00:27.873852 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292278733896.
I0419 21:00:27.894349 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292278937925.
I0419 21:00:27.902602 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292279017673.
I0419 21:00:27.921689 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:27.921849 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292279211927.
I0419 21:00:27.930461 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292279299371.
I0419 21:00:28.008971 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.03327, -2.03893), yaw=-3.97263 deg backend=(4.91772, -2.03996)
I0419 21:00:28.010106 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(2.41361, 0.894411)
I0419 21:00:28.010281 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292279498659.
I0419 21:00:28.011363 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292279618508.
I0419 21:00:28.012624 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292279817073.
I0419 21:00:28.014235 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:28.014357 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:28.014400 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:28.014451 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:28.014472 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292279896875.
I0419 21:00:28.015681 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292280097499.
I0419 21:00:28.022738 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292280221766.
I0419 21:00:28.041878 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.600934, 0.780739), points=10, range=0.9891, residual=0.0131877, extent=0.0389179
I0419 21:00:28.041963 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.600934, 0.780739), tracking=(0.899434, 0.780739), map_predicted=(6.00979, -1.32022), range=0.9891, pts=10
I0419 21:00:28.041996 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0052159m maha_sq=0.00116278 (gate chi2=5.99) pose_sigma=(0.150909, 0.150909, rho=0) det_map=(6.00979, -1.32022) lm_pos=(6.015, -1.32) delta=(-0.00521146, -0.000215209) -> 1 candidate(s)
I0419 21:00:28.042125 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292280412663.
I0419 21:00:28.050972 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292280500448.
I0419 21:00:28.070349 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800273s, prior_pose=(5.06135, -2.04063), yaw=-3.73981 deg
I0419 21:00:28.070547 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1373, max_intensity=254, threshold=230, above_threshold=41, candidates=41
I0419 21:00:28.070858 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(2.39555, 0.879801)
I0419 21:00:28.071066 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00749078 range=0.9834 variance=0.000604928 t_weight=4959.27 r_weight=0 yaml=(6.015, -1.32) prior=(5.06135, -2.04063, -3.73981deg) obs_actual=(0.891544, 0.77985) obs_expected=(0.90462, 0.781294) delta=(-0.0130764, -0.00144313) |delta|=0.0131558m
I0419 21:00:28.071266 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292280697148.
I0419 21:00:28.133176 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292280778381.
I0419 21:00:28.134699 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292280983079.
I0419 21:00:28.135970 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292281099390.
I0419 21:00:28.138154 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=46, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:28.138247 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:28.138335 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292281295504.
I0419 21:00:28.139195 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:28.139278 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:28.139320 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292281374627.
I0419 21:00:28.158318 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292281572463.
I0419 21:00:28.166982 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292281662611.
I0419 21:00:28.191506 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.86374 deg, rms_residual=0.00705353m, sigma_yaw=0.00931708 rad, N=2
I0419 21:00:28.191793 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.11314, -2.04269, -2.86374deg) inliers=2 rms=0.00705353m
I0419 21:00:28.191874 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292281902301.
I0419 21:00:28.198333 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292281974921.
I0419 21:00:28.290702 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:28.290884 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292282178313.
I0419 21:00:28.291726 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292282258583.
I0419 21:00:28.292735 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.3436, 0.852992)
I0419 21:00:28.292824 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.274988, -0.487676), points=10, range=0.5599, residual=0.00538655, extent=0.0146552
I0419 21:00:28.292851 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.274988, -0.487676), tracking=(0.0235122, -0.487676), map_predicted=(5.13036, -2.53058), range=0.5599, pts=10
I0419 21:00:28.292871 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0186459m maha_sq=0.0151412 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13036, -2.53058) lm_pos=(5.115, -2.52) delta=(0.0153551, -0.0105778) -> 1 candidate(s)
I0419 21:00:28.292958 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292282462280.
I0419 21:00:28.294622 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292282541291.
I0419 21:00:28.295734 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00591961 range=0.9488 variance=0.000578641 t_weight=5184.56 r_weight=0 yaml=(6.015, -1.32) prior=(5.13831, -2.04061, -3.00725deg) obs_actual=(0.848829, 0.769117) obs_expected=(0.83768, 0.765607) delta=(0.0111486, 0.00351061) |delta|=0.0116883m
I0419 21:00:28.295836 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292282772339.
I0419 21:00:28.296607 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:28.296660 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:28.296702 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:28.296741 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:28.296762 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292282861650.
I0419 21:00:28.311195 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292283102624.
I0419 21:00:28.314008 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292283133604.
I0419 21:00:28.335345 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292283342795.
I0419 21:00:28.407074 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292283461502.
I0419 21:00:28.408478 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558908s, prior_pose=(5.12455, -2.03804), yaw=-2.78184 deg
I0419 21:00:28.408615 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:00:28.408812 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292283661532.
I0419 21:00:28.410027 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292283740389.
I0419 21:00:28.411948 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.47864, -0.400817)
I0419 21:00:28.412091 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292283935895.
I0419 21:00:28.413283 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292284059890.
I0419 21:00:28.421931 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:28.422029 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:28.422217 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292284213586.
I0419 21:00:28.430042 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:28.430167 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:28.430325 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292284292741.
I0419 21:00:28.451192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292284501889.
I0419 21:00:28.462702 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.260592, 0.482938), points=29, range=0.549724, residual=0.0162221, extent=0.0479641
I0419 21:00:28.462853 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.260592, 0.482938), tracking=(-0.0379084, -0.482938), map_predicted=(5.09814, -2.52253), range=0.549724, pts=29
I0419 21:00:28.462904 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.017045m maha_sq=0.0125253 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.09814, -2.52253) lm_pos=(5.115, -2.52) delta=(-0.0168565, -0.0025282) -> 1 candidate(s)
I0419 21:00:28.463070 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292284616904.
I0419 21:00:28.534277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292284814044.
I0419 21:00:28.535399 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.000567232 range=0.546 variance=0.000751342 t_weight=3992.85 r_weight=0 yaml=(5.115, -2.52) prior=(5.17021, -2.0432, -2.38029deg) obs_actual=(-0.037178, -0.481824) obs_expected=(-0.0353596, -0.478681) delta=(-0.00181845, -0.00314359) |delta|=0.00363165m
I0419 21:00:28.535535 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292284894000.
I0419 21:00:28.536688 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.501719, 0.757951)
I0419 21:00:28.536784 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:28.536859 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292285094264.
I0419 21:00:28.538867 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292285217731.
I0419 21:00:28.539943 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292285380152.
I0419 21:00:28.550289 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292285493268.
I0419 21:00:28.571013 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292285700887.
I0419 21:00:28.578971 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:28.579119 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:28.579214 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:28.579327 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:28.579375 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292285781542.
I0419 21:00:28.598445 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292285973995.
I0419 21:00:28.688359 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292286055497.
I0419 21:00:28.689467 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292286259190.
I0419 21:00:28.690487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292286374921.
I0419 21:00:28.692174 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520615s, prior_pose=(5.21671, -2.04945), yaw=-2.03847 deg
I0419 21:00:28.692288 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:00:28.692356 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.41774, -0.417707)
I0419 21:00:28.692454 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292286576112.
I0419 21:00:28.693532 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.743219, -0.707287), points=10, range=1.0264, residual=0.0115752, extent=0.034759
I0419 21:00:28.693624 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.743219, -0.707287), tracking=(-1.04172, 0.707287), map_predicted=(4.20081, -1.30556), range=1.0264, pts=10
I0419 21:00:28.693658 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0202449m maha_sq=0.0177539 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20081, -1.30556) lm_pos=(4.215, -1.32) delta=(-0.0141895, 0.0144399) -> 1 candidate(s)
I0419 21:00:28.693789 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292286653615.
I0419 21:00:28.695392 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292286861417.
I0419 21:00:28.698474 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.00771469 range=1.0314 variance=0.00064163 t_weight=4675.59 r_weight=0 yaml=(4.215, -1.32) prior=(5.2307, -2.04975, -2.0071deg) obs_actual=(-1.04514, 0.706407) obs_expected=(-1.04063, 0.693732) delta=(-0.00450466, 0.0126754) |delta|=0.0134521m
I0419 21:00:28.698638 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292286951879.
I0419 21:00:28.718226 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:28.718355 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:00:28.718509 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292287177356.
I0419 21:00:28.725890 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:28.725987 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:28.726080 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292287253437.
I0419 21:00:28.818658 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292287460048.
I0419 21:00:28.819669 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292287540176.
I0419 21:00:28.820719 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=12, centroid=(0.438678, 0.752124)
I0419 21:00:28.820876 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292287741055.
I0419 21:00:28.822525 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292287822037.
I0419 21:00:28.823596 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:28.823701 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292288057585.
I0419 21:00:28.824599 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.70524 deg, rms_residual=0.0143005m, sigma_yaw=0.0187106 rad, N=2
I0419 21:00:28.824661 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.27498, -2.05356, -1.70524deg) inliers=2 rms=0.0143005m
I0419 21:00:28.824692 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292288134379.
I0419 21:00:28.825685 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.26229, -2.05187), yaw=-1.81472 deg backend=(5.13735, -2.05109)
I0419 21:00:28.834264 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.425183, 0.748888), points=12, range=0.864083, residual=0.0127759, extent=0.0349063
I0419 21:00:28.834388 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.425183, 0.748888), tracking=(0.723683, 0.748888), map_predicted=(6.00933, -1.32627), range=0.864083, pts=12
I0419 21:00:28.834440 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00845831m maha_sq=0.00305226 (gate chi2=5.99) pose_sigma=(0.151104, 0.151104, rho=0) det_map=(6.00933, -1.32627) lm_pos=(6.015, -1.32) delta=(-0.00567185, -0.00627481) -> 1 candidate(s)
I0419 21:00:28.834610 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292288335911.
I0419 21:00:28.843394 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292288422398.
I0419 21:00:28.862958 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0103946 range=0.8585 variance=0.000551915 t_weight=5435.62 r_weight=0 yaml=(6.015, -1.32) prior=(5.26229, -2.05187, -1.81472deg) obs_actual=(0.715073, 0.748909) obs_expected=(0.729154, 0.755339) delta=(-0.0140809, -0.00642979) |delta|=0.0154795m
I0419 21:00:28.863195 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292288620030.
I0419 21:00:28.950043 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:28.950191 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:28.950282 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:28.950345 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:28.950368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292288737301.
I0419 21:00:28.951663 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292288940299.
I0419 21:00:28.952802 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292289023606.
I0419 21:00:28.954784 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.36605, -0.432894)
I0419 21:00:28.954944 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292289220292.
I0419 21:00:28.955936 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292289298510.
I0419 21:00:28.956934 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760875s, prior_pose=(5.28871, -2.05167), yaw=-1.68723 deg
I0419 21:00:28.957000 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:00:28.957144 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292289498176.
I0419 21:00:28.962677 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292289614651.
I0419 21:00:28.982343 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292289814714.
I0419 21:00:28.991775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292289901624.
I0419 21:00:29.074203 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:29.074311 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:29.074343 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.379233, 0.744261), points=12, range=0.836833, residual=0.010206, extent=0.0268874
I0419 21:00:29.074363 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.379233, 0.744261), tracking=(0.677733, 0.744261), map_predicted=(6.00508, -1.32584), range=0.836833, pts=12
I0419 21:00:29.074381 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:29.074389 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0115137m maha_sq=0.00571766 (gate chi2=5.99) pose_sigma=(0.150461, 0.150461, rho=0) det_map=(6.00508, -1.32584) lm_pos=(6.015, -1.32) delta=(-0.00992026, -0.0058441) -> 1 candidate(s)
I0419 21:00:29.074548 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290097010.
I0419 21:00:29.075495 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:29.075594 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:29.075654 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290179018.
I0419 21:00:29.076680 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=13, centroid=(0.379218, 0.744124)
I0419 21:00:29.076810 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0117099 range=1.39933 variance=0.000532124 t_weight=5637.78 r_weight=0 yaml=(6.915, -2.52) prior=(5.30732, -2.05136, -1.56159deg) obs_actual=(1.6322, -0.43549) obs_expected=(1.61986, -0.424655) delta=(0.0123407, -0.0108356) |delta|=0.0164227m
I0419 21:00:29.076861 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290379195.
I0419 21:00:29.078725 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290501122.
I0419 21:00:29.079836 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290696801.
I0419 21:00:29.080902 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290780186.
I0419 21:00:29.098275 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:29.098572 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292290974771.
I0419 21:00:29.106412 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292291056304.
I0419 21:00:29.126581 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292291256427.
I0419 21:00:29.191103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292291394076.
I0419 21:00:29.192237 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292291539106.
I0419 21:00:29.193154 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:29.193223 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.866439, -0.724843), points=7, range=1.12743, residual=0.0109695, extent=0.030246
I0419 21:00:29.193252 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:29.193266 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.866439, -0.724843), tracking=(-1.16494, 0.724843), map_predicted=(4.19778, -1.29234), range=1.12743, pts=7
I0419 21:00:29.193286 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0325812m maha_sq=0.0459993 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.19778, -1.29234) lm_pos=(4.215, -1.32) delta=(-0.0172176, 0.0276602) -> 1 candidate(s)
I0419 21:00:29.193334 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:29.193363 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:29.193380 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292291661657.
I0419 21:00:29.195114 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.29221, -0.444939)
I0419 21:00:29.195257 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.78219 deg, rms_residual=0.00981353m, sigma_yaw=0.0129157 rad, N=2
I0419 21:00:29.195288 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00028384 range=0.816929 variance=0.000578734 t_weight=5183.73 r_weight=0 yaml=(6.015, -1.32) prior=(5.35692, -2.04758, -1.27762deg) obs_actual=(0.639813, 0.740318) obs_expected=(0.641697, 0.742073) delta=(-0.00188358, -0.0017548) |delta|=0.00257433m
I0419 21:00:29.195319 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.34658, -2.03221, -1.78219deg) inliers=2 rms=0.00981353m
I0419 21:00:29.195348 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292291859256.
I0419 21:00:29.196244 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292291936864.
I0419 21:00:29.214378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292292139152.
I0419 21:00:29.226632 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292292259377.
I0419 21:00:29.245658 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593157s, prior_pose=(5.36873, -2.04984), yaw=-1.19696 deg
I0419 21:00:29.245784 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:00:29.246238 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292292452413.
I0419 21:00:29.254101 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292292535224.
I0419 21:00:29.292984 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292292740158.
I0419 21:00:29.294318 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292292812717.
I0419 21:00:29.302366 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:29.302462 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.25205, -0.451571)
I0419 21:00:29.302487 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:29.302579 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293019605.
I0419 21:00:29.313717 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0243769, 0.477948), points=29, range=0.479379, residual=0.0124096, extent=0.0391587
I0419 21:00:29.313802 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0243769, 0.477948), tracking=(-0.274123, -0.477948), map_predicted=(5.10399, -2.51935), range=0.479379, pts=29
I0419 21:00:29.313831 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0110296m maha_sq=0.00521867 (gate chi2=5.99) pose_sigma=(0.150752, 0.150752, rho=0) det_map=(5.10399, -2.51935) lm_pos=(5.115, -2.52) delta=(-0.0110102, 0.000654396) -> 1 candidate(s)
I0419 21:00:29.313853 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:29.313879 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:29.313932 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293131827.
I0419 21:00:29.333714 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292293331402.
I0419 21:00:29.342634 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0162492 range=0.47971 variance=0.000609954 t_weight=4918.41 r_weight=0 yaml=(5.115, -2.52) prior=(5.386, -2.04601, -0.949448deg) obs_actual=(-0.282479, -0.478079) obs_expected=(-0.263104, -0.47842) delta=(-0.0193753, 0.000341249) |delta|=0.0193783m
I0419 21:00:29.342768 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293419931.
I0419 21:00:29.362429 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293616953.
I0419 21:00:29.370028 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293694444.
I0419 21:00:29.389705 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:29.389873 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293892008.
I0419 21:00:29.456089 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292293993054.
I0419 21:00:29.457273 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292294220618.
I0419 21:00:29.458031 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.926608, -0.733475)
I0419 21:00:29.458156 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292294298436.
I0419 21:00:29.459900 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292294497894.
I0419 21:00:29.460613 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:29.460667 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:29.460760 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:29.460793 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:29.460811 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292294578504.
I0419 21:00:29.478446 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21345, -0.461747), points=4, range=1.29275, residual=0.0125096, extent=0.027412
I0419 21:00:29.478566 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.21345, -0.461747), tracking=(1.51195, -0.461747), map_predicted=(6.929, -2.52748), range=1.29275, pts=4
I0419 21:00:29.478605 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0158757m maha_sq=0.0108997 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.929, -2.52748) lm_pos=(6.915, -2.52) delta=(0.0140019, -0.00748226) -> 1 candidate(s)
I0419 21:00:29.478713 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292294779122.
I0419 21:00:29.490307 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.049823 range=1.1876 variance=0.000530093 t_weight=5659.38 r_weight=0 yaml=(4.215, -1.32) prior=(5.42029, -2.03676, -0.709385deg) obs_actual=(-1.23143, 0.731057) obs_expected=(-1.21407, 0.701786) delta=(-0.0173633, 0.0292705) |delta|=0.034033m
I0419 21:00:29.490475 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292294895608.
I0419 21:00:29.510627 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.850591 deg, rms_residual=0.0048797m, sigma_yaw=0.00646421 rad, N=2
I0419 21:00:29.510776 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.43374, -2.04001, -0.850591deg) inliers=2 rms=0.0048797m
I0419 21:00:29.510833 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292295099665.
I0419 21:00:29.518600 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292295177195.
I0419 21:00:29.597223 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481409s, prior_pose=(5.42542, -2.02966), yaw=-0.548572 deg
I0419 21:00:29.597316 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:00:29.597486 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292295377017.
I0419 21:00:29.598428 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=30, centroid=(0.0369528, 0.478088)
I0419 21:00:29.598562 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292295500907.
I0419 21:00:29.599728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292295739760.
I0419 21:00:29.601122 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292295772794.
I0419 21:00:29.602105 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:29.602159 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:29.602224 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292295982730.
I0419 21:00:29.606560 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.967588, -0.736485), points=4, range=1.219, residual=0.0102241, extent=0.0229165
I0419 21:00:29.606650 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.967588, -0.736485), tracking=(-1.26609, 0.736485), map_predicted=(4.18137, -1.28905), range=1.219, pts=4
I0419 21:00:29.606688 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0457036m maha_sq=0.0905558 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.18137, -1.28905) lm_pos=(4.215, -1.32) delta=(-0.0336288, 0.0309504) -> 1 candidate(s)
I0419 21:00:29.606729 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:29.606763 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:29.606850 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292296059242.
I0419 21:00:29.626283 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00788784 range=0.768 variance=0.000550632 t_weight=5448.29 r_weight=0 yaml=(6.015, -1.32) prior=(5.45897, -2.03954, -0.379172deg) obs_actual=(0.538879, 0.728845) obs_expected=(0.551253, 0.723201) delta=(-0.0123735, 0.00564382) |delta|=0.0135998m
I0419 21:00:29.626510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292296254571.
I0419 21:00:29.634799 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292296339811.
I0419 21:00:29.654717 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292296538061.
I0419 21:00:29.746275 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.983518, -0.736626)
I0419 21:00:29.746485 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292296659851.
I0419 21:00:29.747510 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:29.747624 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292296856629.
I0419 21:00:29.748612 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292296977974.
I0419 21:00:29.749629 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.47958, -2.04489), yaw=-0.381866 deg backend=(5.3666, -2.05018)
I0419 21:00:29.750429 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292297135034.
I0419 21:00:29.751317 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292297261897.
I0419 21:00:29.752360 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292297463481.
I0419 21:00:29.758284 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:29.758433 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:29.758524 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:29.758622 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:29.758663 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292297573244.
I0419 21:00:29.774868 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292297740373.
I0419 21:00:29.782694 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292297819356.
I0419 21:00:29.835366 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.12003, -0.473467)
I0419 21:00:29.835479 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.194029, 0.724023), points=15, range=0.750533, residual=0.0111494, extent=0.0311249
I0419 21:00:29.835506 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.194029, 0.724023), tracking=(0.492529, 0.724023), map_predicted=(6.01795, -1.32621), range=0.750533, pts=15
I0419 21:00:29.835530 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00687692m maha_sq=0.00199013 (gate chi2=5.99) pose_sigma=(0.152315, 0.152315, rho=0) det_map=(6.01795, -1.32621) lm_pos=(6.015, -1.32) delta=(0.00295126, -0.00621145) -> 1 candidate(s)
I0419 21:00:29.835625 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292298019847.
I0419 21:00:29.836531 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292298096451.
I0419 21:00:29.837566 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0727374s, prior_pose=(5.52135, -2.04745), yaw=-0.322688 deg
I0419 21:00:29.837661 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:00:29.837783 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00381338 range=0.746733 variance=0.000567668 t_weight=5284.78 r_weight=0 yaml=(6.015, -1.32) prior=(5.52135, -2.04745, -0.322688deg) obs_actual=(0.485233, 0.721888) obs_expected=(0.489543, 0.730218) delta=(-0.00431014, -0.00832997) |delta|=0.009379m
I0419 21:00:29.837837 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292298300618.
I0419 21:00:29.842121 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292298414511.
I0419 21:00:29.862277 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292298616771.
I0419 21:00:29.870234 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292298694745.
I0419 21:00:29.890996 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:29.891121 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:00:29.891304 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292298901806.
I0419 21:00:29.902297 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:29.902424 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:29.902554 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292299014058.
I0419 21:00:29.918404 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.165251, 0.720475)
I0419 21:00:29.918783 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292299176015.
I0419 21:00:29.985014 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292299292091.
I0419 21:00:29.986681 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292299492819.
I0419 21:00:29.988039 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292299584084.
I0419 21:00:29.990332 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:29.990492 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.800828 deg, rms_residual=0.00707199m, sigma_yaw=0.00934123 rad, N=2
I0419 21:00:29.990549 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.55051, -2.02695, -0.800828deg) inliers=2 rms=0.00707199m
I0419 21:00:29.990586 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292299772092.
I0419 21:00:29.991853 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05511, -0.745646), points=5, range=1.2942, residual=0.0109013, extent=0.0283129
I0419 21:00:29.991967 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.05511, -0.745646), tracking=(-1.35361, 0.745646), map_predicted=(4.20054, -1.29839), range=1.2942, pts=5
I0419 21:00:29.992000 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0260003m maha_sq=0.0292828 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20054, -1.29839) lm_pos=(4.215, -1.32) delta=(-0.0144582, 0.0216096) -> 1 candidate(s)
I0419 21:00:29.992087 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292299908984.
I0419 21:00:30.007941 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0152149 range=0.733312 variance=0.000555716 t_weight=5398.45 r_weight=0 yaml=(6.015, -1.32) prior=(5.55341, -2.04539, -0.0573156deg) obs_actual=(0.444386, 0.716957) obs_expected=(0.460868, 0.725852) delta=(-0.0164826, -0.00889463) |delta|=0.0187294m
I0419 21:00:30.009348 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292300064918.
I0419 21:00:30.018427 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292300172632.
I0419 21:00:30.038949 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.138676, 0.718868)
I0419 21:00:30.039294 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292300380852.
I0419 21:00:30.047089 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:30.047364 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:30.047515 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:30.047641 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:30.047722 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292300460081.
I0419 21:00:30.117990 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292300662572.
I0419 21:00:30.119385 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292300772582.
I0419 21:00:30.120776 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292300982352.
I0419 21:00:30.122828 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292301057052.
I0419 21:00:30.125803 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590844s, prior_pose=(5.58405, -2.03852), yaw=0.159497 deg
I0419 21:00:30.125923 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:00:30.126164 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292301253416.
I0419 21:00:30.134465 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.197191, 0.475924), points=26, range=0.514769, residual=0.0122933, extent=0.0409153
I0419 21:00:30.134605 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.197191, 0.475924), tracking=(-0.495691, -0.475924), map_predicted=(5.08968, -2.51582), range=0.514769, pts=26
I0419 21:00:30.134655 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0256577m maha_sq=0.0285199 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08968, -2.51582) lm_pos=(5.115, -2.52) delta=(-0.0253154, 0.00417735) -> 1 candidate(s)
I0419 21:00:30.134815 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292301335253.
I0419 21:00:30.158919 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.110542, 0.717975)
I0419 21:00:30.159210 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[7] 'ref_8' maha_sq=0.00532279 range=0.7265 variance=0.000557523 t_weight=5380.95 r_weight=5000 yaml=(6.015, -1.32) prior=(5.60013, -2.04175, 0.202584deg) obs_actual=(0.406737, 0.717041) obs_expected=(0.417424, 0.720279) delta=(-0.010687, -0.00323768) |delta|=0.0111667m
I0419 21:00:30.159380 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292301580490.
I0419 21:00:30.167351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292301661476.
I0419 21:00:30.186633 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:30.186795 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:30.187055 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292301856851.
I0419 21:00:30.252990 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:30.253113 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:30.253180 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292301937393.
I0419 21:00:30.254472 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292302142631.
I0419 21:00:30.255476 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 28 -> 27 (threshold=0.03, iters=3)
I0419 21:00:30.255614 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292302221235.
I0419 21:00:30.257589 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:00:30.257725 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292302411835.
I0419 21:00:30.258745 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292302536490.
I0419 21:00:30.274185 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(0.0815619, 0.715706)
I0419 21:00:30.274324 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:30.274441 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292302737152.
I0419 21:00:30.281805 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.231438, 0.477977), points=25, range=0.53248, residual=0.0125127, extent=0.037764
I0419 21:00:30.281903 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.231438, 0.477977), tracking=(-0.529938, -0.477977), map_predicted=(5.10704, -2.51297), range=0.53248, pts=25
I0419 21:00:30.281931 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0106252m maha_sq=0.00484662 (gate chi2=5.99) pose_sigma=(0.150681, 0.150681, rho=0) det_map=(5.10704, -2.51297) lm_pos=(5.115, -2.52) delta=(-0.00796322, 0.00703435) -> 1 candidate(s)
I0419 21:00:30.282042 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292302814077.
I0419 21:00:30.302037 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.0106106 deg, rms_residual=0.00136727m, sigma_yaw=0.00181971 rad, N=2
I0419 21:00:30.302173 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.63977, -2.03224, 0.0106106deg) inliers=2 rms=0.00136727m
I0419 21:00:30.302213 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303015298.
I0419 21:00:30.309994 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.12754 range=1.377 variance=0.000541097 t_weight=5544.3 r_weight=0 yaml=(4.215, -1.32) prior=(5.63425, -2.03198, 0.326097deg) obs_actual=(-1.4512, 0.760547) obs_expected=(-1.41517, 0.720047) delta=(-0.0360334, 0.0405) |delta|=0.0542094m
I0419 21:00:30.310146 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303094251.
I0419 21:00:30.351548 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303298231.
I0419 21:00:30.352571 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:30.352626 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:30.352675 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:30.352730 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:30.352753 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303419498.
I0419 21:00:30.362138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303615760.
I0419 21:00:30.369992 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303693410.
I0419 21:00:30.390285 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.0529445, 0.712408)
I0419 21:00:30.390501 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303898115.
I0419 21:00:30.398212 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292303976280.
I0419 21:00:30.421981 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0523102s, prior_pose=(5.66916, -2.03937), yaw=0.497471 deg
I0419 21:00:30.422084 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:30.422338 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292304216512.
I0419 21:00:30.430034 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292304294851.
I0419 21:00:30.449887 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.950603, -0.496586), points=5, range=1.0672, residual=0.0145135, extent=0.0361793
I0419 21:00:30.449993 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.950603, -0.496586), tracking=(1.2491, -0.496586), map_predicted=(6.92253, -2.52509), range=1.0672, pts=5
I0419 21:00:30.450029 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00908397m maha_sq=0.00356235 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92253, -2.52509) lm_pos=(6.915, -2.52) delta=(0.00752548, -0.0050878) -> 1 candidate(s)
I0419 21:00:30.450167 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292304493095.
I0419 21:00:30.517442 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.019435 range=0.5545 variance=0.000606642 t_weight=4945.26 r_weight=0 yaml=(5.115, -2.52) prior=(5.67106, -2.03318, 0.492363deg) obs_actual=(-0.580369, -0.475229) obs_expected=(-0.560225, -0.48202) delta=(-0.0201442, 0.00679092) |delta|=0.0212581m
I0419 21:00:30.517616 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292304575227.
I0419 21:00:30.518535 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:30.518776 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:30.518905 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:30.518987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292304780822.
I0419 21:00:30.520021 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:30.520095 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:30.520139 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292304935674.
I0419 21:00:30.521811 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.0237565, 0.710351)
I0419 21:00:30.521946 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292305098904.
I0419 21:00:30.522709 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292305177993.
I0419 21:00:30.539063 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292305381492.
I0419 21:00:30.547452 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292305461375.
I0419 21:00:30.567075 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:30.567349 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292305660718.
I0419 21:00:30.578804 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292305773296.
I0419 21:00:30.648514 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.70557, -2.03715), yaw=0.631733 deg backend=(5.57658, -2.04747)
I0419 21:00:30.650414 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00410005, 0.706999), points=17, range=0.708647, residual=0.0117927, extent=0.0355439
I0419 21:00:30.650578 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00410005, 0.706999), tracking=(0.3026, 0.706999), map_predicted=(6.00036, -1.32686), range=0.708647, pts=17
I0419 21:00:30.650614 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0161699m maha_sq=0.0112536 (gate chi2=5.99) pose_sigma=(0.150523, 0.150523, rho=0) det_map=(6.00036, -1.32686) lm_pos=(6.015, -1.32) delta=(-0.014643, -0.00685907) -> 1 candidate(s)
I0419 21:00:30.650739 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292305941813.
I0419 21:00:30.651945 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292306056426.
I0419 21:00:30.653584 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.903836, -0.500976)
I0419 21:00:30.653757 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.249885 deg, rms_residual=0.00406405m, sigma_yaw=0.00538953 rad, N=2
I0419 21:00:30.653817 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00122638 range=1.0334 variance=0.000529823 t_weight=5662.27 r_weight=0 yaml=(6.915, -2.52) prior=(5.70557, -2.03715, 0.631733deg) obs_actual=(1.20577, -0.501176) obs_expected=(1.20403, -0.496154) delta=(0.00174048, -0.00502136) |delta|=0.00531444m
I0419 21:00:30.653855 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.71386, -2.01682, -0.249885deg) inliers=2 rms=0.00406405m
I0419 21:00:30.653885 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292306257646.
I0419 21:00:30.655627 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:30.655735 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:30.655787 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:30.655843 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:30.655865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292306334411.
I0419 21:00:30.657505 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292306532603.
I0419 21:00:30.662714 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292306622225.
I0419 21:00:30.682755 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292306821607.
I0419 21:00:30.694583 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292306938528.
I0419 21:00:30.714242 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080391s, prior_pose=(5.72499, -2.02758), yaw=0.726253 deg
I0419 21:00:30.714344 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:30.714543 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292307138321.
I0419 21:00:30.777207 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292307214624.
I0419 21:00:30.778622 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.868671, -0.506173)
I0419 21:00:30.778962 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292307421767.
I0419 21:00:30.779896 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25748, -0.768075), points=3, range=1.47067, residual=0.00640306, extent=0.0117063
I0419 21:00:30.780113 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25748, -0.768075), tracking=(-1.55598, 0.768075), map_predicted=(4.17458, -1.27849), range=1.47067, pts=3
I0419 21:00:30.780279 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0579366m maha_sq=0.145814 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17458, -1.27849) lm_pos=(4.215, -1.32) delta=(-0.0404216, 0.041506) -> 1 candidate(s)
I0419 21:00:30.780509 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292307499985.
I0419 21:00:30.782367 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:30.782600 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:30.782815 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00293769 range=0.712125 variance=0.000548576 t_weight=5468.71 r_weight=0 yaml=(6.015, -1.32) prior=(5.75811, -2.03233, 0.85037deg) obs_actual=(0.259218, 0.709641) obs_expected=(0.267433, 0.708439) delta=(-0.00821562, 0.00120192) |delta|=0.00830307m
I0419 21:00:30.782996 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292307698360.
I0419 21:00:30.783939 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:30.784148 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:30.784327 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292307812223.
I0419 21:00:30.802399 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308018549.
I0419 21:00:30.810524 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308099580.
I0419 21:00:30.830426 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308298336.
I0419 21:00:30.841755 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308411468.
I0419 21:00:30.889708 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.845526, -0.51135)
I0419 21:00:30.889849 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:30.889941 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308576173.
I0419 21:00:30.890822 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308696227.
I0419 21:00:30.891987 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292308897663.
I0419 21:00:30.898164 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292308976747.
I0419 21:00:30.918517 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.829585, -0.511687), points=8, range=0.9725, residual=0.00939341, extent=0.0261688
I0419 21:00:30.918669 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.829585, -0.511687), tracking=(1.12809, -0.511687), map_predicted=(6.93961, -2.52202), range=0.9725, pts=8
I0419 21:00:30.918702 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0246955m maha_sq=0.0264736 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93961, -2.52202) lm_pos=(6.915, -2.52) delta=(0.0246131, -0.00201662) -> 1 candidate(s)
I0419 21:00:30.918795 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292309180332.
I0419 21:00:30.933993 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:30.934087 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:30.934150 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:30.934176 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0162241 range=0.626706 variance=0.000586384 t_weight=5116.1 r_weight=0 yaml=(5.115, -2.52) prior=(5.80274, -2.03016, 1.00324deg) obs_actual=(-0.71454, -0.471506) obs_expected=(-0.696213, -0.477724) delta=(-0.0183274, 0.00621797) |delta|=0.0193534m
I0419 21:00:30.934221 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:30.934240 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292309336328.
I0419 21:00:30.950486 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292309499726.
I0419 21:00:30.958388 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292309577407.
I0419 21:00:30.978659 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.80893, -0.513649)
I0419 21:00:30.978812 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.52447 deg, rms_residual=0.00794601m, sigma_yaw=0.0104836 rad, N=2
I0419 21:00:30.978864 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.80303, -2.02323, 0.52447deg) inliers=2 rms=0.00794601m
I0419 21:00:30.978895 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292309779871.
I0419 21:00:31.045955 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292309863229.
I0419 21:00:31.047158 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641081s, prior_pose=(5.81461, -2.02531), yaw=1.19503 deg
I0419 21:00:31.047260 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:31.047446 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292310140807.
I0419 21:00:31.048199 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292310179432.
I0419 21:00:31.049990 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292310373063.
I0419 21:00:31.050932 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292310452522.
I0419 21:00:31.066728 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:31.066902 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:31.067106 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292310659611.
I0419 21:00:31.078624 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.457799, 0.467088), points=18, range=0.650889, residual=0.0142207, extent=0.0408893
I0419 21:00:31.078750 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.457799, 0.467088), tracking=(-0.756299, -0.467088), map_predicted=(5.08617, -2.50824), range=0.650889, pts=18
I0419 21:00:31.078799 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0311367m maha_sq=0.0414452 (gate chi2=5.99) pose_sigma=(0.150846, 0.150846, rho=0) det_map=(5.08617, -2.50824) lm_pos=(5.115, -2.52) delta=(-0.0288322, 0.0117558) -> 1 candidate(s)
I0419 21:00:31.078830 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:31.078903 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:31.079303 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292310779257.
I0419 21:00:31.094825 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.778051, -0.519833)
I0419 21:00:31.095082 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[7] 'ref_8' maha_sq=0.0197136 range=0.718313 variance=0.00055334 t_weight=5421.62 r_weight=5000 yaml=(6.015, -1.32) prior=(5.83136, -2.02364, 1.33707deg) obs_actual=(0.180941, 0.708696) obs_expected=(0.200007, 0.699159) delta=(-0.019066, 0.00953687) |delta|=0.0213182m
I0419 21:00:31.095237 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292310939230.
I0419 21:00:31.106218 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292311052935.
I0419 21:00:31.157235 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292311217939.
I0419 21:00:31.158195 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292311340237.
I0419 21:00:31.159188 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:31.159299 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292311540874.
I0419 21:00:31.162868 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292311619263.
I0419 21:00:31.182742 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292311818929.
I0419 21:00:31.194356 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292311933074.
I0419 21:00:31.214481 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.741287, -0.520348)
I0419 21:00:31.214808 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292312136501.
I0419 21:00:31.222893 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:31.223021 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36524, -0.780298), points=3, range=1.56667, residual=0.0113692, extent=0.0228899
I0419 21:00:31.223057 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:31.223163 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36524, -0.780298), tracking=(-1.66374, 0.780298), map_predicted=(4.17384, -1.2926), range=1.56667, pts=3
I0419 21:00:31.223207 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0494452m maha_sq=0.105765 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17384, -1.2926) lm_pos=(4.215, -1.32) delta=(-0.041159, 0.0273999) -> 1 candidate(s)
I0419 21:00:31.223305 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:31.223430 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:31.223466 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292312222114.
I0419 21:00:31.242164 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0290444 range=0.724688 variance=0.000601841 t_weight=4984.71 r_weight=0 yaml=(6.015, -1.32) prior=(5.85849, -2.02668, 1.58172deg) obs_actual=(0.15044, 0.706533) obs_expected=(0.175959, 0.702087) delta=(-0.0255188, 0.00444608) |delta|=0.0259033m
I0419 21:00:31.242452 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292312412726.
I0419 21:00:31.328725 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292312542236.
I0419 21:00:31.329914 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292312702917.
I0419 21:00:31.330852 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292312816717.
I0419 21:00:31.332460 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0474074s, prior_pose=(5.8989, -2.02834), yaw=1.50434 deg
I0419 21:00:31.332551 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:00:31.332729 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292313016310.
I0419 21:00:31.333459 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.18163 deg, rms_residual=0.0101668m, sigma_yaw=0.0133745 rad, N=2
I0419 21:00:31.333525 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.91513, -2.02517, 2.18163deg) inliers=2 rms=0.0101668m
I0419 21:00:31.333554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292313095527.
I0419 21:00:31.334626 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.71411, -0.518752)
I0419 21:00:31.334739 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292313293542.
I0419 21:00:31.342999 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292313421206.
I0419 21:00:31.362056 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:31.362172 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:31.362215 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.62988, 0.666793), points=3, range=1.757, residual=0.00863634, extent=0.0173311
I0419 21:00:31.362251 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.62988, 0.666793), tracking=(1.92838, 0.666793), map_predicted=(7.81849, -1.3122), range=1.757, pts=3
I0419 21:00:31.362330 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0085457m maha_sq=0.00316461 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81849, -1.3122) lm_pos=(7.815, -1.32) delta=(0.00348792, 0.00780149) -> 1 candidate(s)
I0419 21:00:31.362484 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292313614091.
I0419 21:00:31.370116 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:31.370224 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:31.370280 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0289751 range=0.713437 variance=0.000603083 t_weight=4974.44 r_weight=0 yaml=(5.115, -2.52) prior=(5.90773, -2.02791, 1.46deg) obs_actual=(-0.830873, -0.472278) obs_expected=(-0.805006, -0.471734) delta=(-0.0258673, -0.000543298) |delta|=0.0258731m
I0419 21:00:31.370404 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292313694162.
I0419 21:00:31.466521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292313936776.
I0419 21:00:31.467290 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292313975099.
I0419 21:00:31.468385 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.198945, 0.713076)
I0419 21:00:31.468508 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292314172764.
I0419 21:00:31.470072 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292314262342.
I0419 21:00:31.471160 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:00:31.471252 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292314459310.
I0419 21:00:31.472193 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292314574896.
I0419 21:00:31.473242 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(5.95099, -2.02735), yaw=1.46164 deg backend=(5.82392, -2.03678)
I0419 21:00:31.478436 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.673017, -0.517921), points=10, range=0.8536, residual=0.0140194, extent=0.0415498
I0419 21:00:31.478564 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.673017, -0.517921), tracking=(0.971517, -0.517921), map_predicted=(6.9354, -2.52032), range=0.8536, pts=10
I0419 21:00:31.478634 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0204033m maha_sq=0.0176049 (gate chi2=5.99) pose_sigma=(0.15168, 0.15168, rho=0) det_map=(6.9354, -2.52032) lm_pos=(6.915, -2.52) delta=(0.0204007, -0.00032425) -> 1 candidate(s)
I0419 21:00:31.478807 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292314776058.
I0419 21:00:31.486879 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00966281 range=0.8187 variance=0.00091289 t_weight=3286.27 r_weight=3137.16 yaml=(6.015, -1.32) prior=(5.95099, -2.02735, 1.46164deg) obs_actual=(0.0952319, 0.712703) obs_expected=(0.0820331, 0.70549) delta=(0.0131988, 0.00721291) |delta|=0.0150411m
I0419 21:00:31.487192 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292314859641.
I0419 21:00:31.506439 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.225116, 0.713818)
I0419 21:00:31.506839 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292315056503.
I0419 21:00:31.562470 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:31.562572 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:31.562644 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:31.562687 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:31.562708 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292315181338.
I0419 21:00:31.563733 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292315337757.
I0419 21:00:31.564599 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292315453051.
I0419 21:00:31.566262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292315622019.
I0419 21:00:31.574568 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.5813, 0.476302), points=14, range=0.7515, residual=0.011043, extent=0.0364382
I0419 21:00:31.574662 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.5813, 0.476302), tracking=(-0.8798, -0.476302), map_predicted=(5.09961, -2.5206), range=0.7515, pts=14
I0419 21:00:31.574704 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[6] 'ref_7' eucl_dist=0.0154044m maha_sq=0.0102899 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.09961, -2.5206) lm_pos=(5.115, -2.52) delta=(-0.0153928, -0.000599201) -> 1 candidate(s)
I0419 21:00:31.574829 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292315740110.
I0419 21:00:31.594209 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754873s, prior_pose=(5.96914, -2.0258), yaw=1.21149 deg
I0419 21:00:31.594403 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:31.594761 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[7] 'ref_8' maha_sq=0.00597854 range=0.7576 variance=0.000586539 t_weight=5114.75 r_weight=5000 yaml=(6.015, -1.32) prior=(5.96914, -2.0258, 1.21149deg) obs_actual=(0.0537659, 0.714106) obs_expected=(0.0607724, 0.704675) delta=(-0.00700653, 0.00943039) |delta|=0.0117483m
I0419 21:00:31.594937 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292315936211.
I0419 21:00:31.606902 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.437261, -0.704301)
I0419 21:00:31.607205 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.04757 deg, rms_residual=0.00883854m, sigma_yaw=0.0116475 rad, N=2
I0419 21:00:31.607342 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.98738, -2.02227, 2.04757deg) inliers=2 rms=0.00883854m
I0419 21:00:31.607414 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292316058701.
I0419 21:00:31.627215 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292316260489.
I0419 21:00:31.634884 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292316340030.
I0419 21:00:31.734135 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:31.734282 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:31.734398 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292316523546.
I0419 21:00:31.735224 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:31.735286 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:31.735332 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292316612430.
I0419 21:00:31.736321 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292316811750.
I0419 21:00:31.737840 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.47894, -0.769878)
I0419 21:00:31.737950 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.48331, -0.769425), points=3, range=1.66733, residual=0.00803383, extent=0.0162172
I0419 21:00:31.737982 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.48331, -0.769425), tracking=(-1.78181, 0.769425), map_predicted=(4.20625, -1.30017), range=1.66733, pts=3
I0419 21:00:31.738005 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0216734m maha_sq=0.0202617 (gate chi2=5.99) pose_sigma=(0.150415, 0.150415, rho=0) det_map=(4.20625, -1.30017) lm_pos=(4.215, -1.32) delta=(-0.0087456, 0.0198306) -> 1 candidate(s)
I0419 21:00:31.738080 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292316941174.
I0419 21:00:31.739054 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00217833 range=0.765813 variance=0.000649544 t_weight=4618.63 r_weight=0 yaml=(6.015, -1.32) prior=(6.00671, -2.02489, 1.42982deg) obs_actual=(0.0253192, 0.711547) obs_expected=(0.0258734, 0.704468) delta=(-0.00055425, 0.00707957) |delta|=0.00710123m
I0419 21:00:31.739144 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292317101734.
I0419 21:00:31.740008 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292317218379.
I0419 21:00:31.743115 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:31.743353 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292317419992.
I0419 21:00:31.751922 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292317500899.
I0419 21:00:31.775939 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292317741607.
I0419 21:00:31.830204 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292317782538.
I0419 21:00:31.831454 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.592666, -0.522666)
I0419 21:00:31.831604 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292318068483.
I0419 21:00:31.832384 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:31.832432 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.647203, 0.472326), points=10, range=0.8014, residual=0.0105768, extent=0.0320642
I0419 21:00:31.832453 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:31.832504 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.647203, 0.472326), tracking=(-0.945703, -0.472326), map_predicted=(5.07812, -2.5244), range=0.8014, pts=10
I0419 21:00:31.832528 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[6] 'ref_7' eucl_dist=0.0371404m maha_sq=0.0598366 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07812, -2.5244) lm_pos=(5.115, -2.52) delta=(-0.0368785, -0.00440252) -> 1 candidate(s)
I0419 21:00:31.832580 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:00:31.832618 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:31.832635 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292318142347.
I0419 21:00:31.834262 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[7] 'ref_8' maha_sq=0.00875151 range=0.775 variance=0.000597442 t_weight=5021.4 r_weight=5000 yaml=(6.015, -1.32) prior=(6.04284, -2.01854, 1.41527deg) obs_actual=(-0.0092717, 0.713396) obs_expected=(-0.0105799, 0.699014) delta=(0.0013082, 0.0143816) |delta|=0.014441m
I0419 21:00:31.834357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292318300096.
I0419 21:00:31.838542 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292318379699.
I0419 21:00:31.859270 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292318580790.
I0419 21:00:31.866863 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292318659953.
I0419 21:00:31.890841 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598367s, prior_pose=(6.03396, -2.02645), yaw=1.5212 deg
I0419 21:00:31.891024 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=253, threshold=230, above_threshold=30, candidates=30
I0419 21:00:31.891281 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=14, centroid=(-0.318506, 0.712883)
I0419 21:00:31.891577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292318898463.
I0419 21:00:31.898602 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.38062 deg, rms_residual=0.00844959m, sigma_yaw=0.00902968 rad, N=3
I0419 21:00:31.898819 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.06546, -2.01448, 2.38062deg) inliers=3 rms=0.00844959m
I0419 21:00:31.898901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292318977246.
I0419 21:00:31.982875 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:31.982911 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292319175944.
I0419 21:00:31.985277 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.276756, -0.699539), points=15, range=0.754067, residual=0.0116974, extent=0.0310662
I0419 21:00:31.985656 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.276756, -0.699539), tracking=(-0.0217443, 0.699539), map_predicted=(6.02328, -1.31588), range=0.754067, pts=15
I0419 21:00:31.985922 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00924686m maha_sq=0.00370533 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02328, -1.31588) lm_pos=(6.015, -1.32) delta=(0.00827614, 0.00412432) -> 1 candidate(s)
I0419 21:00:31.986299 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292319299021.
I0419 21:00:31.988464 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:31.988829 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:31.989289 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0299625 range=1.6275 variance=0.000533803 t_weight=5620.05 r_weight=5000 yaml=(7.815, -1.32) prior=(6.06546, -2.01448, 1.67521deg) obs_actual=(1.78666, 0.662568) obs_expected=(1.76909, 0.643037) delta=(0.0175698, 0.0195308) |delta|=0.0262707m
I0419 21:00:31.989630 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292319499428.
I0419 21:00:31.993255 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:00:31.993386 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:00:31.993481 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292319580570.
I0419 21:00:31.995278 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292319779587.
I0419 21:00:31.996122 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.262566, -0.699126)
I0419 21:00:31.996255 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292319889007.
I0419 21:00:32.007315 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292320066164.
I0419 21:00:32.018661 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292320179875.
I0419 21:00:32.038668 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.363626, 0.716144), points=13, range=0.800846, residual=0.0116722, extent=0.0344699
I0419 21:00:32.038815 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:00:32.038846 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.363626, 0.716144), tracking=(-0.0651256, 0.716144), map_predicted=(5.98546, -1.30855), range=0.800846, pts=13
I0419 21:00:32.038892 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[7] 'ref_8' eucl_dist=0.0316808m maha_sq=0.0434918 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98546, -1.30855) lm_pos=(6.015, -1.32) delta=(-0.0295408, 0.0114461) -> 1 candidate(s)
I0419 21:00:32.039055 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292320377960.
I0419 21:00:32.111021 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[6] 'ref_7' maha_sq=0.0321836 range=0.855182 variance=0.000573766 t_weight=5228.61 r_weight=5000 yaml=(5.115, -2.52) prior=(6.08458, -2.02693, 1.71389deg) obs_actual=(-1.00996, -0.472343) obs_expected=(-0.98389, -0.463849) delta=(-0.0260697, -0.00849478) |delta|=0.0274188m
I0419 21:00:32.111163 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292320463083.
I0419 21:00:32.112239 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.337786, 0.589018)
I0419 21:00:32.112345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292320662926.
I0419 21:00:32.113176 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292320740182.
I0419 21:00:32.114982 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292320916508.
I0419 21:00:32.115862 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:32.115921 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:32.115971 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:32.116006 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:32.116027 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292321054112.
I0419 21:00:32.121783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292321212580.
I0419 21:00:32.133780 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.730821, 0.480204)
I0419 21:00:32.133975 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292321333057.
I0419 21:00:32.150875 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.389603, 0.715113), points=10, range=0.8124, residual=0.0144571, extent=0.0414491
I0419 21:00:32.150972 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.389603, 0.715113), tracking=(-0.0911025, 0.715113), map_predicted=(5.99455, -1.3115), range=0.8124, pts=10
I0419 21:00:32.151007 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[7] 'ref_8' eucl_dist=0.0221441m maha_sq=0.0211815 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99455, -1.3115) lm_pos=(6.015, -1.32) delta=(-0.0204489, 0.00849726) -> 1 candidate(s)
I0419 21:00:32.151103 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292321503808.
I0419 21:00:32.162714 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292321619322.
I0419 21:00:32.234076 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0487413s, prior_pose=(6.12882, -2.01825), yaw=1.24846 deg
I0419 21:00:32.234195 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=252, threshold=230, above_threshold=25, candidates=25
I0419 21:00:32.234402 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0142867 range=0.718643 variance=0.000632703 t_weight=4741.56 r_weight=5000 yaml=(6.915, -2.52) prior=(6.12882, -2.01825, 1.24846deg) obs_actual=(0.793463, -0.518456) obs_expected=(0.775059, -0.518761) delta=(0.0184041, 0.000304644) |delta|=0.0184066m
I0419 21:00:32.234496 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292321820470.
I0419 21:00:32.235339 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.01602 deg, rms_residual=0.00841236m, sigma_yaw=0.0110921 rad, N=2
I0419 21:00:32.235386 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.14115, -2.00544, 2.01602deg) inliers=2 rms=0.00841236m
I0419 21:00:32.235416 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292321895614.
I0419 21:00:32.236323 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.4103, 0.692916)
I0419 21:00:32.236405 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322093641.
I0419 21:00:32.241959 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322217429.
I0419 21:00:32.246054 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:32.246234 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:32.246574 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322456398.
I0419 21:00:32.250552 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:32.250684 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:32.250753 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322500594.
I0419 21:00:32.270383 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322699102.
I0419 21:00:32.281703 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322812106.
I0419 21:00:32.298454 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.46742, -0.508533), points=16, range=0.692437, residual=0.0125215, extent=0.0391446
I0419 21:00:32.298563 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.46742, -0.508533), tracking=(0.76592, -0.508533), map_predicted=(6.92056, -2.51381), range=0.692437, pts=16
I0419 21:00:32.298593 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00831762m maha_sq=0.00299574 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92056, -2.51381) lm_pos=(6.915, -2.52) delta=(0.0055608, 0.0061855) -> 1 candidate(s)
I0419 21:00:32.298698 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292322980304.
I0419 21:00:32.357713 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0256594 range=0.915125 variance=0.000581825 t_weight=5156.19 r_weight=0 yaml=(5.115, -2.52) prior=(6.14896, -2.01795, 0.52886deg) obs_actual=(-1.06247, -0.497144) obs_expected=(-1.03855, -0.492482) delta=(-0.0239194, -0.00466194) |delta|=0.0243695m
I0419 21:00:32.357859 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323100455.
I0419 21:00:32.358937 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.462779, -0.507852)
I0419 21:00:32.359051 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:32.359146 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323291459.
I0419 21:00:32.360060 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323382970.
I0419 21:00:32.361028 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.16462, -2.01312), yaw=0.368532 deg backend=(6.04991, -2.03016)
I0419 21:00:32.361778 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323577544.
I0419 21:00:32.366248 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323656616.
I0419 21:00:32.386673 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323860889.
I0419 21:00:32.398134 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:32.398404 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:32.398641 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:32.398811 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:32.398844 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292323976485.
I0419 21:00:32.415642 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292324142118.
I0419 21:00:32.426600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292324260468.
I0419 21:00:32.488832 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.434472, -0.499623)
I0419 21:00:32.488976 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.436801, -0.499436), points=17, range=0.662176, residual=0.0128376, extent=0.0423555
I0419 21:00:32.489004 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.436801, -0.499436), tracking=(0.735301, -0.499436), map_predicted=(6.91905, -2.50811), range=0.662176, pts=17
I0419 21:00:32.489030 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0125555m maha_sq=0.00673649 (gate chi2=5.99) pose_sigma=(0.150998, 0.150998, rho=0) det_map=(6.91905, -2.50811) lm_pos=(6.915, -2.52) delta=(0.00404603, 0.0118858) -> 1 candidate(s)
I0419 21:00:32.489137 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292324457220.
I0419 21:00:32.490002 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0382498 range=0.952143 variance=0.000562669 t_weight=5331.73 r_weight=0 yaml=(5.115, -2.52) prior=(6.18382, -2.00857, -0.00808687deg) obs_actual=(-1.09838, -0.509556) obs_expected=(-1.06874, -0.511576) delta=(-0.0296321, 0.00202019) |delta|=0.0297009m
I0419 21:00:32.490088 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292324534240.
I0419 21:00:32.491007 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075767s, prior_pose=(6.18382, -2.00857), yaw=-0.00808687 deg
I0419 21:00:32.491082 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=254, threshold=230, above_threshold=23, candidates=23
I0419 21:00:32.491219 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292324734155.
I0419 21:00:32.492769 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.708929 deg, rms_residual=0.00457805m, sigma_yaw=0.00606703 rad, N=2
I0419 21:00:32.492864 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.21213, -1.99875, 0.708929deg) inliers=2 rms=0.00457805m
I0419 21:00:32.492905 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292324856921.
I0419 21:00:32.506820 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292325057908.
I0419 21:00:32.514604 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292325136249.
I0419 21:00:32.534853 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:32.534978 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:32.535207 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292325341016.
I0419 21:00:32.542696 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:32.542824 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:32.542970 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292325419001.
I0419 21:00:32.562958 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.406014, -0.496676)
I0419 21:00:32.563283 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292325621960.
I0419 21:00:32.656522 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.825631, 0.515197), points=7, range=0.976714, residual=0.012021, extent=0.0302361
I0419 21:00:32.656623 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.825631, 0.515197), tracking=(-1.12413, -0.515197), map_predicted=(5.10028, -2.51438), range=0.976714, pts=7
I0419 21:00:32.656653 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0157549m maha_sq=0.0106572 (gate chi2=5.99) pose_sigma=(0.150657, 0.150657, rho=0) det_map=(5.10028, -2.51438) lm_pos=(5.115, -2.52) delta=(-0.0147169, 0.00562388) -> 1 candidate(s)
I0419 21:00:32.656731 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292325733734.
I0419 21:00:32.657851 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292325941514.
I0419 21:00:32.658830 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.000700329 range=0.691235 variance=0.000556235 t_weight=5393.41 r_weight=0 yaml=(6.015, -1.32) prior=(6.22858, -2.00838, -0.467925deg) obs_actual=(-0.215283, 0.685707) obs_expected=(-0.219199, 0.68661) delta=(0.00391567, -0.000902489) |delta|=0.00401833m
I0419 21:00:32.658944 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326015187.
I0419 21:00:32.660614 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:32.660732 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326213432.
I0419 21:00:32.661644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326333424.
I0419 21:00:32.662644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326532481.
I0419 21:00:32.664175 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326614528.
I0419 21:00:32.682544 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326814836.
I0419 21:00:32.690837 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.0549037, -0.684803)
I0419 21:00:32.691118 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:32.691192 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:32.691325 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:32.691483 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:32.691530 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292326898969.
I0419 21:00:32.759187 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327181146.
I0419 21:00:32.760056 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.871362, 0.521806), points=7, range=1.01314, residual=0.0106049, extent=0.0297772
I0419 21:00:32.760159 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.871362, 0.521806), tracking=(-1.16986, -0.521806), map_predicted=(5.06742, -2.51458), range=1.01314, pts=7
I0419 21:00:32.760186 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0478853m maha_sq=0.0994229 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.06742, -2.51458) lm_pos=(5.115, -2.52) delta=(-0.0475773, 0.00542253) -> 1 candidate(s)
I0419 21:00:32.760279 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327215512.
I0419 21:00:32.761379 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327382680.
I0419 21:00:32.762934 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00597844 range=0.684389 variance=0.000573474 t_weight=5231.28 r_weight=0 yaml=(6.015, -1.32) prior=(6.25791, -2.01449, -0.881399deg) obs_actual=(-0.260789, 0.681303) obs_expected=(-0.253561, 0.690671) delta=(-0.00722775, -0.00936772) |delta|=0.0118319m
I0419 21:00:32.763046 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327494328.
I0419 21:00:32.770313 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0515287s, prior_pose=(6.25791, -2.01449), yaw=-0.881399 deg
I0419 21:00:32.770440 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:00:32.770816 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327696433.
I0419 21:00:32.778388 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.424731 deg, rms_residual=0.00758996m, sigma_yaw=0.0100186 rad, N=2
I0419 21:00:32.778585 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.29132, -1.99354, 0.424731deg) inliers=2 rms=0.00758996m
I0419 21:00:32.778652 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327776117.
I0419 21:00:32.798913 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292327975147.
I0419 21:00:32.810925 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328098769.
I0419 21:00:32.831090 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:32.831233 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:32.831504 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328301199.
I0419 21:00:32.924454 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0148686, -0.682593)
I0419 21:00:32.924587 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:32.924625 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:32.924678 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328372859.
I0419 21:00:32.925781 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328576487.
I0419 21:00:32.926816 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.901381, 0.527371), points=4, range=1.0485, residual=0.0134551, extent=0.0327509
I0419 21:00:32.926915 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.901381, 0.527371), tracking=(-1.19988, -0.527371), map_predicted=(5.09697, -2.52092), range=1.0485, pts=4
I0419 21:00:32.926942 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.018053m maha_sq=0.0140882 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.09697, -2.52092) lm_pos=(5.115, -2.52) delta=(-0.0180294, -0.000921158) -> 1 candidate(s)
I0419 21:00:32.927050 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328700876.
I0419 21:00:32.928755 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328857825.
I0419 21:00:32.929957 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00540967 range=0.680938 variance=0.000529153 t_weight=5669.44 r_weight=0 yaml=(6.015, -1.32) prior=(6.3143, -2.00779, -1.01113deg) obs_actual=(-0.300483, 0.680034) obs_expected=(-0.311391, 0.682403) delta=(0.0109072, -0.00236933) |delta|=0.0111615m
I0419 21:00:32.930075 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292328972364.
I0419 21:00:32.931053 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:32.931157 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292329146456.
I0419 21:00:32.932757 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292329252245.
I0419 21:00:32.946063 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292329455477.
I0419 21:00:32.958371 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292329577185.
I0419 21:00:32.999033 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1767, 0.745978)
I0419 21:00:32.999229 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292329738043.
I0419 21:00:33.000116 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:33.000187 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:33.000241 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:33.000298 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:33.000322 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292329851774.
I0419 21:00:33.006057 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330055049.
I0419 21:00:33.013800 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.937731, 0.530501), points=7, range=1.08171, residual=0.0126941, extent=0.0321028
I0419 21:00:33.013890 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.937731, 0.530501), tracking=(-1.23623, -0.530501), map_predicted=(5.08209, -2.51409), range=1.08171, pts=7
I0419 21:00:33.013919 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0334403m maha_sq=0.0478391 (gate chi2=5.99) pose_sigma=(0.150864, 0.150864, rho=0) det_map=(5.08209, -2.51409) lm_pos=(5.115, -2.52) delta=(-0.0329138, 0.00591029) -> 1 candidate(s)
I0419 21:00:33.014070 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330133386.
I0419 21:00:33.034183 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330335286.
I0419 21:00:33.041805 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00328446 range=0.682444 variance=0.000562804 t_weight=5330.46 r_weight=0 yaml=(6.015, -1.32) prior=(6.33018, -2.01212, -1.31622deg) obs_actual=(-0.338086, 0.679661) obs_expected=(-0.330992, 0.684703) delta=(-0.0070944, -0.00504166) |delta|=0.00870338m
I0419 21:00:33.041950 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330413068.
I0419 21:00:33.062111 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484277s, prior_pose=(6.34602, -2.00664), yaw=-1.35429 deg
I0419 21:00:33.062227 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:33.062494 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330617663.
I0419 21:00:33.074501 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.133443 deg, rms_residual=0.00646831m, sigma_yaw=0.00855066 rad, N=2
I0419 21:00:33.074649 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.36232, -1.99528, -0.133443deg) inliers=2 rms=0.00646831m
I0419 21:00:33.074692 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330739742.
I0419 21:00:33.090801 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292330901559.
I0419 21:00:33.151556 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331013903.
I0419 21:00:33.152669 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:33.152757 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1458, 0.746438)
I0419 21:00:33.152777 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:33.152864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331213568.
I0419 21:00:33.153564 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:33.153635 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:33.153683 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331294837.
I0419 21:00:33.155582 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331498927.
I0419 21:00:33.160214 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.971316, 0.531011), points=6, range=1.10933, residual=0.0108272, extent=0.0285765
I0419 21:00:33.160391 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.971316, 0.531011), tracking=(-1.26982, -0.531011), map_predicted=(5.08667, -2.50728), range=1.10933, pts=6
I0419 21:00:33.160457 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0310518m maha_sq=0.0417898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08667, -2.50728) lm_pos=(5.115, -2.52) delta=(-0.0283291, 0.0127153) -> 1 candidate(s)
I0419 21:00:33.160627 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331596647.
I0419 21:00:33.182505 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331819418.
I0419 21:00:33.191393 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00104881 range=0.685188 variance=0.000543419 t_weight=5520.6 r_weight=0 yaml=(6.015, -1.32) prior=(6.37765, -2.01136, -1.29894deg) obs_actual=(-0.374902, 0.679313) obs_expected=(-0.378233, 0.682964) delta=(0.00333129, -0.00365129) |delta|=0.00494261m
I0419 21:00:33.191552 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292331909451.
I0419 21:00:33.209858 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:33.210063 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332094056.
I0419 21:00:33.222602 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332220550.
I0419 21:00:33.282373 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.38281, -2.00551), yaw=-1.29183 deg backend=(6.2574, -2.02584)
I0419 21:00:33.283337 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332382129.
I0419 21:00:33.284574 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332494604.
I0419 21:00:33.285766 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.11516, 0.741149)
I0419 21:00:33.285928 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332699050.
I0419 21:00:33.287488 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:33.287592 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:33.287650 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:33.287719 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:33.287746 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332775344.
I0419 21:00:33.298691 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292332978324.
I0419 21:00:33.305933 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02101, 0.523937), points=6, range=1.14417, residual=0.0126196, extent=0.0325477
I0419 21:00:33.306020 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02101, 0.523937), tracking=(-1.31951, -0.523937), map_predicted=(5.06338, -2.50886), range=1.14417, pts=6
I0419 21:00:33.306051 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0528068m maha_sq=0.120628 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.06338, -2.50886) lm_pos=(5.115, -2.52) delta=(-0.0516193, 0.0111358) -> 1 candidate(s)
I0419 21:00:33.306170 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333055322.
I0419 21:00:33.326016 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333253374.
I0419 21:00:33.335297 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00026929 range=0.691833 variance=0.000595106 t_weight=5041.12 r_weight=0 yaml=(6.015, -1.32) prior=(6.41023, -2.00573, -1.10442deg) obs_actual=(-0.408311, 0.680475) obs_expected=(-0.408376, 0.677982) delta=(6.49057e-05, 0.002493) |delta|=0.00249385m
I0419 21:00:33.335445 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333347518.
I0419 21:00:33.354525 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0766007s, prior_pose=(6.41023, -2.00573), yaw=-1.10442 deg
I0419 21:00:33.354629 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:33.354920 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333541351.
I0419 21:00:33.401100 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.6053 deg, rms_residual=0.00937357m, sigma_yaw=0.0123438 rad, N=2
I0419 21:00:33.401305 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.44325, -1.98869, 0.6053deg) inliers=2 rms=0.00937357m
I0419 21:00:33.401355 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333658309.
I0419 21:00:33.401676 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:33.402884 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333859972.
I0419 21:00:33.404204 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292333939541.
I0419 21:00:33.414350 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:33.414448 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.07516, 0.734289)
I0419 21:00:33.414471 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:33.414598 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292334137415.
I0419 21:00:33.427196 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:33.427333 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:33.427408 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292334263764.
I0419 21:00:33.446704 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292334459613.
I0419 21:00:33.454279 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06807, 0.520922), points=4, range=1.183, residual=0.0122599, extent=0.0267771
I0419 21:00:33.454386 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06807, 0.520922), tracking=(-1.36657, -0.520922), map_predicted=(5.07206, -2.50537), range=1.183, pts=4
I0419 21:00:33.454417 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0453694m maha_sq=0.0880567 (gate chi2=5.99) pose_sigma=(0.150882, 0.150882, rho=0) det_map=(5.07206, -2.50537) lm_pos=(5.115, -2.52) delta=(-0.0429447, 0.0146332) -> 1 candidate(s)
I0419 21:00:33.454506 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292334537983.
I0419 21:00:33.474347 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292334736832.
I0419 21:00:33.486366 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.000177614 range=0.699437 variance=0.00054891 t_weight=5465.37 r_weight=0 yaml=(6.015, -1.32) prior=(6.4475, -2.00835, -0.99921deg) obs_actual=(-0.443604, 0.682551) obs_expected=(-0.444437, 0.680708) delta=(0.000833594, 0.00184362) |delta|=0.00202332m
I0419 21:00:33.488322 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292334857201.
I0419 21:00:33.538568 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:33.538740 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335058243.
I0419 21:00:33.539644 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335134450.
I0419 21:00:33.541419 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335337113.
I0419 21:00:33.543320 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335422205.
I0419 21:00:33.562000 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.03345, 0.728031)
I0419 21:00:33.562209 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335615587.
I0419 21:00:33.570515 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:33.570868 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:33.570953 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:33.571008 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:33.571029 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335694801.
I0419 21:00:33.593772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292335932395.
I0419 21:00:33.601581 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10042, 0.515059), points=5, range=1.21, residual=0.0137536, extent=0.0331142
I0419 21:00:33.601668 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10042, 0.515059), tracking=(-1.39892, -0.515059), map_predicted=(5.07537, -2.50234), range=1.21, pts=5
I0419 21:00:33.601699 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0433876m maha_sq=0.0813142 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07537, -2.50234) lm_pos=(5.115, -2.52) delta=(-0.0396305, 0.017661) -> 1 candidate(s)
I0419 21:00:33.601795 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292336011744.
I0419 21:00:33.619266 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292336183283.
I0419 21:00:33.675032 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0073405 range=0.709813 variance=0.000589298 t_weight=5090.81 r_weight=0 yaml=(6.015, -1.32) prior=(6.49619, -2.00806, -0.699334deg) obs_actual=(-0.476703, 0.684787) obs_expected=(-0.489551, 0.682133) delta=(0.0128486, 0.00265427) |delta|=0.0131199m
I0419 21:00:33.675190 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292336296595.
I0419 21:00:33.676222 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563548s, prior_pose=(6.49619, -2.00806), yaw=-0.699334 deg
I0419 21:00:33.676278 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:00:33.676445 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292336495943.
I0419 21:00:33.677265 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.923916 deg, rms_residual=0.010481m, sigma_yaw=0.0137821 rad, N=2
I0419 21:00:33.677321 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.51742, -1.99187, 0.923916deg) inliers=2 rms=0.010481m
I0419 21:00:33.677348 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292336617725.
I0419 21:00:33.679684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292336790616.
I0419 21:00:33.689975 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292336894048.
I0419 21:00:33.714134 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:33.714229 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.00451, 0.722088)
I0419 21:00:33.714250 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:33.714359 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337136665.
I0419 21:00:33.718616 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:33.718732 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:33.718801 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337180924.
I0419 21:00:33.738695 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337380356.
I0419 21:00:33.750880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337502105.
I0419 21:00:33.761675 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:33.830503 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0878478, -0.50223), points=28, range=0.510143, residual=0.0132427, extent=0.0526039
I0419 21:00:33.830626 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0878478, -0.50223), tracking=(0.386348, -0.50223), map_predicted=(6.90676, -2.51145), range=0.510143, pts=28
I0419 21:00:33.830677 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0118767m maha_sq=0.0060578 (gate chi2=5.99) pose_sigma=(0.150592, 0.150592, rho=0) det_map=(6.90676, -2.51145) lm_pos=(6.915, -2.52) delta=(-0.00824296, 0.00855038) -> 1 candidate(s)
I0419 21:00:33.830776 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337691935.
I0419 21:00:33.831645 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.112918 range=1.2555 variance=0.000547797 t_weight=5476.48 r_weight=0 yaml=(5.115, -2.52) prior=(6.52473, -2.00592, -0.491735deg) obs_actual=(-1.45192, -0.505507) obs_expected=(-1.40527, -0.526157) delta=(-0.0466485, 0.0206501) |delta|=0.0510148m
I0419 21:00:33.831765 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337773316.
I0419 21:00:33.832788 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:33.832873 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292337979286.
I0419 21:00:33.834421 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292338059312.
I0419 21:00:33.835543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292338251624.
I0419 21:00:33.837963 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292338374437.
I0419 21:00:33.854604 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.968071, 0.719194)
I0419 21:00:33.854898 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292338541061.
I0419 21:00:33.866142 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:33.866250 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:33.866326 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:33.866415 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:33.866443 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292338654815.
I0419 21:00:33.886996 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292338860027.
I0419 21:00:33.940383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292338939319.
I0419 21:00:33.942159 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292339133391.
I0419 21:00:33.943140 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.250692, -0.69497), points=15, range=0.740667, residual=0.011421, extent=0.036321
I0419 21:00:33.943230 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.250692, -0.69497), tracking=(-0.549192, 0.69497), map_predicted=(6.02649, -1.31307), range=0.740667, pts=15
I0419 21:00:33.943254 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0134216m maha_sq=0.00780872 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02649, -1.31307) lm_pos=(6.015, -1.32) delta=(0.011492, 0.0069336) -> 1 candidate(s)
I0419 21:00:33.943338 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292339258185.
I0419 21:00:33.945287 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478217s, prior_pose=(6.58457, -2.00505), yaw=-0.17073 deg
I0419 21:00:33.945379 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 21:00:33.945597 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0457577 range=1.18625 variance=0.000605005 t_weight=4958.63 r_weight=0 yaml=(7.815, -1.32) prior=(6.58457, -2.00505, -0.17073deg) obs_actual=(1.24763, 0.715168) obs_expected=(1.22838, 0.688714) delta=(0.0192488, 0.0264541) |delta|=0.032716m
I0419 21:00:33.945698 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292339417536.
I0419 21:00:33.955019 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292339540142.
I0419 21:00:33.974093 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292339734174.
I0419 21:00:33.981760 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292339812116.
I0419 21:00:34.002794 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:34.002899 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.929487, 0.713153)
I0419 21:00:34.002926 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:34.003031 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.31128 deg, rms_residual=0.00947879m, sigma_yaw=0.0124806 rad, N=2
I0419 21:00:34.003105 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.59439, -2.01897, -0.31128deg) inliers=2 rms=0.00947879m
I0419 21:00:34.003139 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292340021801.
I0419 21:00:34.013679 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:34.013770 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:34.013862 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292340132263.
I0419 21:00:34.058264 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292340299999.
I0419 21:00:34.059790 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292340417029.
I0419 21:00:34.062299 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292340617139.
I0419 21:00:34.069819 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.286638, -0.697676), points=15, range=0.7572, residual=0.0133628, extent=0.0424132
I0419 21:00:34.069911 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.286638, -0.697676), tracking=(-0.585138, 0.697676), map_predicted=(6.02395, -1.31109), range=0.7572, pts=15
I0419 21:00:34.069942 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0126346m maha_sq=0.00682933 (gate chi2=5.99) pose_sigma=(0.150853, 0.150853, rho=0) det_map=(6.02395, -1.31109) lm_pos=(6.015, -1.32) delta=(0.00895358, 0.00891441) -> 1 candidate(s)
I0419 21:00:34.070046 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292340694079.
I0419 21:00:34.090579 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:34.090775 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292340900402.
I0419 21:00:34.102069 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00257081 range=0.756857 variance=0.000592896 t_weight=5059.91 r_weight=0 yaml=(6.015, -1.32) prior=(6.60968, -2.00826, 0.0486075deg) obs_actual=(-0.590125, 0.69537) obs_expected=(-0.594099, 0.688769) delta=(0.00397415, 0.00660102) |delta|=0.00770502m
I0419 21:00:34.102218 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292341016360.
I0419 21:00:34.103348 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.62465, -2.0015), yaw=0.0860332 deg backend=(6.49537, -2.02223)
I0419 21:00:34.122725 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292341221596.
I0419 21:00:34.130851 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292341299906.
I0419 21:00:34.154708 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.892575, 0.70568)
I0419 21:00:34.154925 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292341542020.
I0419 21:00:34.223804 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:34.223919 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:34.223979 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:34.224035 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:34.224057 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292341619544.
I0419 21:00:34.225059 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292341775016.
I0419 21:00:34.225980 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292341903203.
I0419 21:00:34.227684 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292342101363.
I0419 21:00:34.228403 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292342177167.
I0419 21:00:34.237666 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0753783s, prior_pose=(6.64723, -2.00416), yaw=0.247833 deg
I0419 21:00:34.237769 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:00:34.238044 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292342373327.
I0419 21:00:34.249889 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.32864, -0.70201), points=14, range=0.778214, residual=0.0131933, extent=0.0429026
I0419 21:00:34.250007 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.32864, -0.70201), tracking=(-0.62714, 0.70201), map_predicted=(6.02696, -1.30941), range=0.778214, pts=14
I0419 21:00:34.250041 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0159742m maha_sq=0.0109166 (gate chi2=5.99) pose_sigma=(0.150867, 0.150867, rho=0) det_map=(6.02696, -1.30941) lm_pos=(6.015, -1.32) delta=(0.0119569, 0.0105928) -> 1 candidate(s)
I0419 21:00:34.250165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292342494168.
I0419 21:00:34.266227 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292342653653.
I0419 21:00:34.278337 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00538152 range=0.782 variance=0.000592492 t_weight=5063.36 r_weight=0 yaml=(6.015, -1.32) prior=(6.65829, -2.00765, 0.343064deg) obs_actual=(-0.635972, 0.702171) obs_expected=(-0.63916, 0.691489) delta=(0.0031889, 0.0106819) |delta|=0.0111478m
I0419 21:00:34.278501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292342777094.
I0419 21:00:34.350549 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:34.350667 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.855142, 0.702744)
I0419 21:00:34.350688 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:34.350801 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292342958683.
I0419 21:00:34.351679 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:34.351765 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:34.351823 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292343053696.
I0419 21:00:34.352977 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292343255431.
I0419 21:00:34.354585 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292343376433.
I0419 21:00:34.355754 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292343538903.
I0419 21:00:34.366617 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292343660037.
I0419 21:00:34.385892 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:34.386085 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292343853699.
I0419 21:00:34.394523 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292343938953.
I0419 21:00:34.414804 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292344138686.
I0419 21:00:34.512179 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292344251949.
I0419 21:00:34.513540 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.103001, -0.509963)
I0419 21:00:34.513620 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.102332, -0.510429), points=26, range=0.520385, residual=0.0115343, extent=0.0380278
I0419 21:00:34.513675 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.102332, -0.510429), tracking=(0.196168, -0.510429), map_predicted=(6.89516, -2.52551), range=0.520385, pts=26
I0419 21:00:34.513702 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0205955m maha_sq=0.0183906 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.89516, -2.52551) lm_pos=(6.915, -2.52) delta=(-0.0198438, -0.00551338) -> 1 candidate(s)
I0419 21:00:34.513756 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.457123 deg, rms_residual=0.00896334m, sigma_yaw=0.01181 rad, N=2
I0419 21:00:34.513799 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.70939, -2.01832, 0.457123deg) inliers=2 rms=0.00896334m
I0419 21:00:34.513829 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292344419700.
I0419 21:00:34.514716 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:34.514765 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:34.514810 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:34.514897 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:34.514917 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292344540712.
I0419 21:00:34.516777 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0173885 range=0.522423 variance=0.000579609 t_weight=5175.9 r_weight=0 yaml=(6.915, -2.52) prior=(6.70604, -2.0173, 0.63127deg) obs_actual=(0.183875, -0.509908) obs_expected=(0.203409, -0.504968) delta=(-0.019534, -0.00493991) |delta|=0.0201489m
I0419 21:00:34.516866 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292344738240.
I0419 21:00:34.517874 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292344818940.
I0419 21:00:34.519164 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292345017887.
I0419 21:00:34.520870 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292345138111.
I0419 21:00:34.534510 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601791s, prior_pose=(6.71974, -2.01767), yaw=0.708948 deg
I0419 21:00:34.534660 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 21:00:34.535231 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292345340031.
I0419 21:00:34.545717 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292345451895.
I0419 21:00:34.586027 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.792892, 0.69092)
I0419 21:00:34.586248 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292345621518.
I0419 21:00:34.587208 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292345702089.
I0419 21:00:34.596047 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:34.596197 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:34.596428 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292345948286.
I0419 21:00:34.602623 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:34.602730 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:34.602819 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292346021850.
I0419 21:00:34.621938 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292346213870.
I0419 21:00:34.629892 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.42108, -0.710042), points=13, range=0.829154, residual=0.0139822, extent=0.0426059
I0419 21:00:34.629989 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.42108, -0.710042), tracking=(-0.71958, 0.710042), map_predicted=(6.00988, -1.31858), range=0.829154, pts=13
I0419 21:00:34.630017 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00531002m maha_sq=0.00121863 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00988, -1.31858) lm_pos=(6.015, -1.32) delta=(-0.00511764, 0.00141635) -> 1 candidate(s)
I0419 21:00:34.630172 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292346295040.
I0419 21:00:34.650645 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292346498023.
I0419 21:00:34.659056 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.000408864 range=0.834385 variance=0.000643727 t_weight=4660.36 r_weight=0 yaml=(6.015, -1.32) prior=(6.75193, -2.0172, 0.940083deg) obs_actual=(-0.726413, 0.712103) obs_expected=(-0.725391, 0.709202) delta=(-0.00102216, 0.00290135) |delta|=0.00307614m
I0419 21:00:34.659297 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292346580866.
I0419 21:00:34.677968 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:34.678174 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292346774081.
I0419 21:00:34.736042 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292346853038.
I0419 21:00:34.737424 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.75605, 0.686694)
I0419 21:00:34.737627 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292347099884.
I0419 21:00:34.738404 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292347178877.
I0419 21:00:34.740407 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292347372877.
I0419 21:00:34.745934 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:34.746141 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:34.746224 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:34.746299 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:34.746322 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292347453680.
I0419 21:00:34.766840 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292347659233.
I0419 21:00:34.778992 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292347781578.
I0419 21:00:34.795253 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292347944486.
I0419 21:00:34.806107 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292348052103.
I0419 21:00:34.877000 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480991s, prior_pose=(6.79934, -2.01421), yaw=1.14185 deg
I0419 21:00:34.877192 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:00:34.877394 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.727007, 0.683864), points=10, range=0.996, residual=0.010625, extent=0.0328605
I0419 21:00:34.877429 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.727007, 0.683864), tracking=(1.02551, 0.683864), map_predicted=(7.81101, -1.31005), range=0.996, pts=10
I0419 21:00:34.877516 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0107223m maha_sq=0.00496511 (gate chi2=5.99) pose_sigma=(0.150308, 0.150308, rho=0) det_map=(7.81101, -1.31005) lm_pos=(7.815, -1.32) delta=(-0.00398841, 0.00995291) -> 1 candidate(s)
I0419 21:00:34.877630 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292348262569.
I0419 21:00:34.878074 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:34.878744 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292348378374.
I0419 21:00:34.880134 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.714401, 0.685811)
I0419 21:00:34.880329 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0150845 range=0.990333 variance=0.000560039 t_weight=5356.77 r_weight=0 yaml=(7.815, -1.32) prior=(6.79934, -2.01421, 1.14185deg) obs_actual=(1.01518, 0.686027) obs_expected=(1.0293, 0.673833) delta=(-0.0141128, 0.0121934) |delta|=0.0186507m
I0419 21:00:34.880400 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292348533243.
I0419 21:00:34.882294 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292348661374.
I0419 21:00:34.887003 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:34.887171 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:34.887343 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292348860121.
I0419 21:00:34.894120 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:34.894281 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:34.894368 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292348934888.
I0419 21:00:34.914551 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292349133400.
I0419 21:00:34.926684 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292349256216.
I0419 21:00:34.946420 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292349453137.
I0419 21:00:35.006283 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292349532423.
I0419 21:00:35.007390 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:35.007484 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292349735623.
I0419 21:00:35.008235 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292349815392.
I0419 21:00:35.009227 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.84002, -2.01361), yaw=0.901759 deg backend=(6.70458, -2.01692)
I0419 21:00:35.010077 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(-0.251798, -0.512331)
I0419 21:00:35.010188 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292350013913.
I0419 21:00:35.010987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292350100737.
I0419 21:00:35.030437 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.25554, -0.512404), points=21, range=0.574095, residual=0.0119273, extent=0.0337016
I0419 21:00:35.030534 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.25554, -0.512404), tracking=(0.0429602, -0.512404), map_predicted=(6.89104, -2.52527), range=0.574095, pts=21
I0419 21:00:35.030570 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0245365m maha_sq=0.02609 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.89104, -2.52527) lm_pos=(6.915, -2.52) delta=(-0.0239631, -0.00527375) -> 1 candidate(s)
I0419 21:00:35.030645 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.703621 deg, rms_residual=0.00634523m, sigma_yaw=0.00838934 rad, N=2
I0419 21:00:35.030680 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.86194, -2.01324, 0.703621deg) inliers=2 rms=0.00634523m
I0419 21:00:35.030714 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292350298780.
I0419 21:00:35.042575 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:35.042673 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:35.042733 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:35.042774 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:35.042794 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292350421520.
I0419 21:00:35.058774 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0699979 range=0.585857 variance=0.000816139 t_weight=3675.84 r_weight=0 yaml=(6.915, -2.52) prior=(6.85551, -2.01337, 0.781827deg) obs_actual=(0.0126194, -0.513398) obs_expected=(0.05257, -0.507395) delta=(-0.0399505, -0.00600302) |delta|=0.040399m
I0419 21:00:35.059139 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292350581120.
I0419 21:00:35.069984 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292350694884.
I0419 21:00:35.127978 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292350893014.
I0419 21:00:35.128857 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292350981446.
I0419 21:00:35.129837 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0751531s, prior_pose=(6.87798, -2.01228), yaw=0.694744 deg
I0419 21:00:35.129933 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=255, threshold=230, above_threshold=42, candidates=42
I0419 21:00:35.130142 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292351173051.
I0419 21:00:35.131608 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292351263650.
I0419 21:00:35.150302 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.292108, -0.512696)
I0419 21:00:35.150497 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292351498979.
I0419 21:00:35.158057 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292351576129.
I0419 21:00:35.178287 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:35.178409 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:35.178519 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292351776346.
I0419 21:00:35.188143 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:35.188266 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:35.188333 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292351875954.
I0419 21:00:35.205899 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292352053242.
I0419 21:00:35.275864 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.602773, -0.709879), points=9, range=0.928667, residual=0.0106093, extent=0.0282558
I0419 21:00:35.275975 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.602773, -0.709879), tracking=(-0.901273, 0.709879), map_predicted=(6.00116, -1.30292), range=0.928667, pts=9
I0419 21:00:35.276003 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0219821m maha_sq=0.0208528 (gate chi2=5.99) pose_sigma=(0.150378, 0.150378, rho=0) det_map=(6.00116, -1.30292) lm_pos=(6.015, -1.32) delta=(-0.0138358, 0.0170816) -> 1 candidate(s)
I0419 21:00:35.276078 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292352143902.
I0419 21:00:35.277359 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292352374001.
I0419 21:00:35.278399 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0179243 range=0.932545 variance=0.00061043 t_weight=4914.57 r_weight=0 yaml=(6.015, -1.32) prior=(6.90574, -2.00859, 0.267031deg) obs_actual=(-0.900227, 0.70863) obs_expected=(-0.887517, 0.692734) delta=(-0.0127099, 0.0158964) |delta|=0.0203528m
I0419 21:00:35.278537 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292352454527.
I0419 21:00:35.280485 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.59058, 0.693467)
I0419 21:00:35.280579 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:35.280659 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292352655437.
I0419 21:00:35.282370 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292352779595.
I0419 21:00:35.294466 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292352935844.
I0419 21:00:35.306759 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292353061105.
I0419 21:00:35.325937 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292353254527.
I0419 21:00:35.333896 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:35.333988 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:35.334053 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:35.334123 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:35.334174 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292353332732.
I0419 21:00:35.353977 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:35.386590 1218530 pose_graph_2d.cc:160] Inserted submap (1, 35).
I0419 21:00:35.387691 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292353540523.
I0419 21:00:35.388682 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 31 -> 25 (threshold=0.03, iters=3)
I0419 21:00:35.388846 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292353619485.
I0419 21:00:35.389940 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292353870500.
I0419 21:00:35.391408 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292353909662.
I0419 21:00:35.413964 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595058s, prior_pose=(6.9604, -2.01074), yaw=-0.152841 deg
I0419 21:00:35.414067 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:00:35.414139 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.547177, 0.698165)
I0419 21:00:35.414175 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.543475, 0.69767), points=12, range=0.887083, residual=0.0118745, extent=0.0354453
I0419 21:00:35.414196 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.543475, 0.69767), tracking=(0.841975, 0.69767), map_predicted=(7.80424, -1.31532), range=0.887083, pts=12
I0419 21:00:35.414219 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0117395m maha_sq=0.00596978 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.80424, -1.31532) lm_pos=(7.815, -1.32) delta=(-0.0107642, 0.00468488) -> 1 candidate(s)
I0419 21:00:35.414299 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292354135581.
I0419 21:00:35.421981 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292354214067.
I0419 21:00:35.441978 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00385224 range=0.883182 variance=0.000559997 t_weight=5357.17 r_weight=0 yaml=(7.815, -1.32) prior=(6.96837, -2.01187, -0.250312deg) obs_actual=(0.834686, 0.698735) obs_expected=(0.843602, 0.695567) delta=(-0.00891587, 0.00316817) |delta|=0.00946203m
I0419 21:00:35.442116 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292354414756.
I0419 21:00:35.451560 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292354509487.
I0419 21:00:35.469808 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:35.469926 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:35.470024 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292354693723.
I0419 21:00:35.532122 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:35.532262 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:35.532369 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292354825895.
I0419 21:00:35.533646 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292355012662.
I0419 21:00:35.534512 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292355095338.
I0419 21:00:35.536402 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292355293343.
I0419 21:00:35.538497 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292355380102.
I0419 21:00:35.562507 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.502937, 0.70067)
I0419 21:00:35.562623 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:35.562702 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292355620138.
I0419 21:00:35.570511 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292355699575.
I0419 21:00:35.590494 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292355899142.
I0419 21:00:35.600780 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.205212, 0.512135), points=23, range=0.553217, residual=0.0116308, extent=0.0368984
I0419 21:00:35.600903 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.205212, 0.512135), tracking=(-0.0932882, -0.512135), map_predicted=(6.9005, -2.52378), range=0.553217, pts=23
I0419 21:00:35.600936 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0149828m maha_sq=0.0097314 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.9005, -2.52378) lm_pos=(6.915, -2.52) delta=(-0.0144969, -0.00378474) -> 1 candidate(s)
I0419 21:00:35.600996 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.0964093 deg, rms_residual=0.00582549m, sigma_yaw=0.00770745 rad, N=2
I0419 21:00:35.601030 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.01265, -2.01268, -0.0964093deg) inliers=2 rms=0.00582549m
I0419 21:00:35.601063 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292356000872.
I0419 21:00:35.649138 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292356186395.
I0419 21:00:35.650271 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:35.650377 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:35.650435 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:35.650458 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0106448 range=0.550792 variance=0.000568436 t_weight=5277.64 r_weight=0 yaml=(6.915, -2.52) prior=(7.00419, -2.01173, -0.701012deg) obs_actual=(-0.0983291, -0.512432) obs_expected=(-0.0829694, -0.509327) delta=(-0.0153597, -0.00310465) |delta|=0.0156703m
I0419 21:00:35.650501 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:35.650516 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292356261788.
I0419 21:00:35.651722 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292356503120.
I0419 21:00:35.658718 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292356580406.
I0419 21:00:35.678404 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292356776392.
I0419 21:00:35.688163 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292356867808.
I0419 21:00:35.705787 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0471691s, prior_pose=(7.03186, -2.01368), yaw=-0.919037 deg
I0419 21:00:35.706007 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:00:35.706136 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.459063, 0.702393)
I0419 21:00:35.706336 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292357052097.
I0419 21:00:35.718930 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292357182794.
I0419 21:00:35.734556 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292357338777.
I0419 21:00:35.808691 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292357454753.
I0419 21:00:35.809937 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:35.810123 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:35.810300 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292357670028.
I0419 21:00:35.811252 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:35.811414 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:35.811537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292357733556.
I0419 21:00:35.813309 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.434433, 0.704302), points=14, range=0.827714, residual=0.0107435, extent=0.0313849
I0419 21:00:35.813498 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.434433, 0.704302), tracking=(0.732933, 0.704302), map_predicted=(7.80576, -1.32131), range=0.827714, pts=14
I0419 21:00:35.813562 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00932814m maha_sq=0.00373398 (gate chi2=5.99) pose_sigma=(0.150817, 0.150817, rho=0) det_map=(7.80576, -1.32131) lm_pos=(7.815, -1.32) delta=(-0.00923603, -0.00130765) -> 1 candidate(s)
I0419 21:00:35.813707 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292357945361.
I0419 21:00:35.814625 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292358020944.
I0419 21:00:35.827032 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00891935 range=0.822917 variance=0.000532988 t_weight=5628.65 r_weight=0 yaml=(7.815, -1.32) prior=(7.0614, -2.01352, -0.938122deg) obs_actual=(0.72897, 0.70012) obs_expected=(0.742147, 0.70576) delta=(-0.0131766, -0.00564061) |delta|=0.0143332m
I0419 21:00:35.827180 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292358265663.
I0419 21:00:35.834466 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292358338857.
I0419 21:00:35.853905 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.422711, 0.701165)
I0419 21:00:35.854012 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:35.854127 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292358534145.
I0419 21:00:35.866389 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292358657482.
I0419 21:00:35.912379 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.08139, -2.0154), yaw=-0.897806 deg backend=(6.95397, -2.00856)
I0419 21:00:35.913363 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292358812358.
I0419 21:00:35.914284 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292358937478.
I0419 21:00:35.915347 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292359137220.
I0419 21:00:35.921978 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:35.922065 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:35.922128 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:35.922197 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:35.922219 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292359215471.
I0419 21:00:35.942201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292359416250.
I0419 21:00:35.950153 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292359494709.
I0419 21:00:35.969895 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.392767, 0.698922), points=15, range=0.803133, residual=0.0115702, extent=0.0359064
I0419 21:00:35.969998 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.392767, 0.698922), tracking=(0.691267, 0.698922), map_predicted=(7.8065, -1.32216), range=0.803133, pts=15
I0419 21:00:35.970038 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0087726m maha_sq=0.00329557 (gate chi2=5.99) pose_sigma=(0.150921, 0.150921, rho=0) det_map=(7.8065, -1.32216) lm_pos=(7.815, -1.32) delta=(-0.00850129, -0.00216485) -> 1 candidate(s)
I0419 21:00:35.970165 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292359693528.
I0419 21:00:35.982687 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292359817920.
I0419 21:00:36.002174 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0801359s, prior_pose=(7.10543, -2.01126), yaw=-0.809055 deg
I0419 21:00:36.002322 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:00:36.002432 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.385791, 0.698322)
I0419 21:00:36.002564 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0140839 range=0.797857 variance=0.000552654 t_weight=5428.35 r_weight=0 yaml=(7.815, -1.32) prior=(7.10543, -2.01126, -0.809055deg) obs_actual=(0.681882, 0.698782) obs_expected=(0.699737, 0.701207) delta=(-0.0178547, -0.00242485) |delta|=0.0180186m
I0419 21:00:36.002733 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292360016830.
I0419 21:00:36.069557 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292360095427.
I0419 21:00:36.070776 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292360301141.
I0419 21:00:36.071668 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292360379554.
I0419 21:00:36.073287 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:36.073378 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:36.073450 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292360578412.
I0419 21:00:36.074317 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:36.074371 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:36.074399 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.235465 deg, rms_residual=0.0105161m, sigma_yaw=0.0138276 rad, N=2
I0419 21:00:36.074430 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.14529, -2.01672, -0.235465deg) inliers=2 rms=0.0105161m
I0419 21:00:36.074453 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292360700189.
I0419 21:00:36.094905 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292360940492.
I0419 21:00:36.098328 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292360973945.
I0419 21:00:36.118746 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292361177528.
I0419 21:00:36.130584 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292361296835.
I0419 21:00:36.203199 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.349642, 0.696131)
I0419 21:00:36.203358 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:36.203491 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292361500490.
I0419 21:00:36.204643 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858559, -0.703531), points=7, range=1.10986, residual=0.0090937, extent=0.0257673
I0419 21:00:36.204720 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.858559, -0.703531), tracking=(-1.15706, 0.703531), map_predicted=(6.00129, -1.29979), range=1.10986, pts=7
I0419 21:00:36.204751 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0244249m maha_sq=0.0258946 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00129, -1.29979) lm_pos=(6.015, -1.32) delta=(-0.013713, 0.020212) -> 1 candidate(s)
I0419 21:00:36.204869 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292361579065.
I0419 21:00:36.206159 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.012797 range=0.771929 variance=0.000548144 t_weight=5473.01 r_weight=0 yaml=(7.815, -1.32) prior=(7.15224, -2.01326, -0.493687deg) obs_actual=(0.641673, 0.690744) obs_expected=(0.656761, 0.698947) delta=(-0.0150882, -0.00820337) |delta|=0.0171741m
I0419 21:00:36.206314 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292361782075.
I0419 21:00:36.208166 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292361860779.
I0419 21:00:36.209445 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292362060774.
I0419 21:00:36.218677 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:36.218792 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:36.218891 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:36.218986 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:36.219025 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292362178069.
I0419 21:00:36.234998 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292362340088.
I0419 21:00:36.246308 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292362454596.
I0419 21:00:36.267493 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292362660296.
I0419 21:00:36.361927 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292362740040.
I0419 21:00:36.362025 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:36.362915 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596971s, prior_pose=(7.19942, -2.01429), yaw=-0.156703 deg
I0419 21:00:36.362972 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:00:36.363036 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.314624, 0.69036)
I0419 21:00:36.363101 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292362937059.
I0419 21:00:36.363906 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292363018859.
I0419 21:00:36.365557 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23125, -0.512095), points=3, range=1.33633, residual=0.0071715, extent=0.0151448
I0419 21:00:36.365620 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.23125, -0.512095), tracking=(1.52975, -0.512095), map_predicted=(8.73764, -2.52808), range=1.33633, pts=3
I0419 21:00:36.365645 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0240385m maha_sq=0.0248795 (gate chi2=5.99) pose_sigma=(0.150681, 0.150681, rho=0) det_map=(8.73764, -2.52808) lm_pos=(8.715, -2.52) delta=(0.0226411, -0.00807641) -> 1 candidate(s)
I0419 21:00:36.365705 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292363261642.
I0419 21:00:36.366519 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.000615383 range=0.509 variance=0.000570459 t_weight=5258.92 r_weight=0 yaml=(6.915, -2.52) prior=(7.20853, -2.01408, -0.0711957deg) obs_actual=(-0.295552, -0.50896) obs_expected=(-0.2929, -0.506284) delta=(-0.00265226, -0.00267632) |delta|=0.00376791m
I0419 21:00:36.366624 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292363340157.
I0419 21:00:36.367507 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:36.367549 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:36.367609 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292363533304.
I0419 21:00:36.369122 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:36.369184 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:36.369220 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292363659527.
I0419 21:00:36.382825 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292363818963.
I0419 21:00:36.394894 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292363938722.
I0419 21:00:36.457273 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292364141981.
I0419 21:00:36.458447 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292364220991.
I0419 21:00:36.459591 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.278074, 0.68822)
I0419 21:00:36.459664 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:36.459738 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292364457301.
I0419 21:00:36.461239 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.16254 deg, rms_residual=0.0117412m, sigma_yaw=0.0154137 rad, N=2
I0419 21:00:36.461305 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.24592, -2.01671, 0.16254deg) inliers=2 rms=0.0117412m
I0419 21:00:36.461338 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292364535999.
I0419 21:00:36.470359 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292364699170.
I0419 21:00:36.478194 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.942126, -0.709933), points=4, range=1.18225, residual=0.00755729, extent=0.0182067
I0419 21:00:36.478286 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.942126, -0.709933), tracking=(-1.24063, 0.709933), map_predicted=(5.98564, -1.29403), range=1.18225, pts=4
I0419 21:00:36.478314 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0391982m maha_sq=0.0667547 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98564, -1.29403) lm_pos=(6.015, -1.32) delta=(-0.0293582, 0.0259729) -> 1 candidate(s)
I0419 21:00:36.478399 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292364777123.
I0419 21:00:36.498384 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.00663802 range=0.736133 variance=0.000539159 t_weight=5564.22 r_weight=0 yaml=(7.815, -1.32) prior=(7.24245, -2.00615, 0.067748deg) obs_actual=(0.560962, 0.68668) obs_expected=(0.573365, 0.685474) delta=(-0.0124029, 0.00120525) |delta|=0.0124613m
I0419 21:00:36.498514 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292364977927.
I0419 21:00:36.510463 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:36.510567 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:36.510636 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:36.510684 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:36.510707 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292365099334.
I0419 21:00:36.530375 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292365293277.
I0419 21:00:36.599327 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292365387426.
I0419 21:00:36.600608 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292365579602.
I0419 21:00:36.601673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292365655280.
I0419 21:00:36.603343 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478287s, prior_pose=(7.25937, -1.99958), yaw=-0.057403 deg
I0419 21:00:36.603416 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:00:36.603526 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.04152, 0.69631)
I0419 21:00:36.603600 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292365865713.
I0419 21:00:36.604568 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292365977001.
I0419 21:00:36.618445 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292366178302.
I0419 21:00:36.626626 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292366258918.
I0419 21:00:36.646277 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:36.646400 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:36.646574 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292366454077.
I0419 21:00:36.658864 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:36.658996 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:36.659076 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292366579782.
I0419 21:00:36.727645 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292366775298.
I0419 21:00:36.728770 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0824015, 0.515227), points=26, range=0.522962, residual=0.0123518, extent=0.041948
I0419 21:00:36.728861 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0824015, 0.515227), tracking=(-0.380901, -0.515227), map_predicted=(6.89147, -2.49172), range=0.522962, pts=26
I0419 21:00:36.728897 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.036784m maha_sq=0.0586138 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.89147, -2.49172) lm_pos=(6.915, -2.52) delta=(-0.0235274, 0.0282758) -> 1 candidate(s)
I0419 21:00:36.729031 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292366853721.
I0419 21:00:36.730295 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292367052553.
I0419 21:00:36.732033 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.01272, -0.697462)
I0419 21:00:36.732183 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292367131706.
I0419 21:00:36.734020 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:36.734129 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0787083 range=0.713529 variance=0.00057097 t_weight=5254.21 r_weight=0 yaml=(7.815, -1.32) prior=(7.28373, -1.97965, -0.298824deg) obs_actual=(0.49174, 0.685076) obs_expected=(0.527826, 0.662412) delta=(-0.0360864, 0.0226638) |delta|=0.0426131m
I0419 21:00:36.734215 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292367332625.
I0419 21:00:36.746424 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292367457167.
I0419 21:00:36.747845 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.28754, -1.98103), yaw=-0.38371 deg backend=(7.29372, -2.01147)
I0419 21:00:36.762655 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292367620043.
I0419 21:00:36.774566 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292367736237.
I0419 21:00:36.793807 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292367914909.
I0419 21:00:36.877220 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:36.877333 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:36.877393 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:36.877436 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:36.877456 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292368062768.
I0419 21:00:36.878495 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292368213196.
I0419 21:00:36.879429 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.118745, 0.520796)
I0419 21:00:36.879559 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292368341335.
I0419 21:00:36.881376 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292368537661.
I0419 21:00:36.882323 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292368660334.
I0419 21:00:36.883332 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755336s, prior_pose=(7.33388, -1.99436), yaw=-0.61604 deg
I0419 21:00:36.883390 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:00:36.883559 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292368818104.
I0419 21:00:36.890327 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292368895432.
I0419 21:00:36.910269 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09574, -0.491671), points=4, range=1.1955, residual=0.0125529, extent=0.0280034
I0419 21:00:36.910400 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.09574, -0.491671), tracking=(1.39424, -0.491671), map_predicted=(8.73646, -2.5105), range=1.1955, pts=4
I0419 21:00:36.910458 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0234655m maha_sq=0.0238179 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.73646, -2.5105) lm_pos=(8.715, -2.52) delta=(0.0214575, 0.00949769) -> 1 candidate(s)
I0419 21:00:36.910634 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292369093140.
I0419 21:00:36.922640 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.00420747 range=0.54228 variance=0.000602924 t_weight=4975.75 r_weight=0 yaml=(6.915, -2.52) prior=(7.34908, -1.99979, -0.784611deg) obs_actual=(-0.436217, -0.522847) obs_expected=(-0.426914, -0.52611) delta=(-0.0093037, 0.00326286) |delta|=0.00985926m
I0419 21:00:36.922842 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292369216313.
I0419 21:00:36.998037 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:36.998174 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:36.998323 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292369418515.
I0419 21:00:36.999390 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:36.999482 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:36.999550 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292369502193.
I0419 21:00:37.000656 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.07834, -0.489499)
I0419 21:00:37.000841 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292369693602.
I0419 21:00:37.002962 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292369819067.
I0419 21:00:37.004165 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292369988331.
I0419 21:00:37.010085 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292370093997.
I0419 21:00:37.030303 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:37.030609 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292370296406.
I0419 21:00:37.038882 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.59277 deg, rms_residual=0.0162114m, sigma_yaw=0.0211579 rad, N=2
I0419 21:00:37.039062 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.40128, -2.01935, -1.59277deg) inliers=2 rms=0.0162114m
I0419 21:00:37.039131 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292370380662.
I0419 21:00:37.058894 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0925175, 0.694963), points=17, range=0.700765, residual=0.0106678, extent=0.0333073
I0419 21:00:37.059091 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0925175, 0.694963), tracking=(0.391018, 0.694963), map_predicted=(7.78363, -1.31813), range=0.700765, pts=17
I0419 21:00:37.059149 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0314263m maha_sq=0.0428445 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78363, -1.31813) lm_pos=(7.815, -1.32) delta=(-0.0313703, 0.00187486) -> 1 candidate(s)
I0419 21:00:37.059368 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292370573531.
I0419 21:00:37.143499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292370700841.
I0419 21:00:37.144598 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0349292 range=0.701333 variance=0.000575596 t_weight=5211.99 r_weight=0 yaml=(7.815, -1.32) prior=(7.38787, -1.99587, -1.44948deg) obs_actual=(0.382789, 0.694906) obs_expected=(0.409892, 0.686454) delta=(-0.0271031, 0.00845187) |delta|=0.0283904m
I0419 21:00:37.144704 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292370900905.
I0419 21:00:37.145416 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.722869, 0.207278)
I0419 21:00:37.145467 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:37.145491 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:37.145530 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:37.145570 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:37.145591 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292370980407.
I0419 21:00:37.147235 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292371175160.
I0419 21:00:37.148034 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292371254158.
I0419 21:00:37.149149 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292371457847.
I0419 21:00:37.155143 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292371541576.
I0419 21:00:37.174316 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561447s, prior_pose=(7.41608, -1.99969), yaw=-1.68123 deg
I0419 21:00:37.174475 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:37.174877 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292371736607.
I0419 21:00:37.186769 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292371853779.
I0419 21:00:37.281742 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292372056765.
I0419 21:00:37.282650 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.210748, 0.532487)
I0419 21:00:37.282783 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292372138632.
I0419 21:00:37.283798 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:37.283842 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:37.283865 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0414906, 0.695), points=17, range=0.697, residual=0.0108853, extent=0.0329228
I0419 21:00:37.283885 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0414906, 0.695), tracking=(0.339991, 0.695), map_predicted=(7.78582, -1.32344), range=0.697, pts=17
I0419 21:00:37.283902 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0293859m maha_sq=0.0374542 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78582, -1.32344) lm_pos=(7.815, -1.32) delta=(-0.0291839, -0.0034394) -> 1 candidate(s)
I0419 21:00:37.283972 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292372334977.
I0419 21:00:37.285455 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:37.285533 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:37.285595 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292372459872.
I0419 21:00:37.286772 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0358249 range=1.1174 variance=0.000528273 t_weight=5678.89 r_weight=0 yaml=(8.715, -2.52) prior=(7.44311, -2.0114, -1.78596deg) obs_actual=(1.31584, -0.468997) obs_expected=(1.28712, -0.468717) delta=(0.0287212, -0.000279721) |delta|=0.0287226m
I0419 21:00:37.286885 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292372694963.
I0419 21:00:37.287704 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292372739023.
I0419 21:00:37.294485 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292372936549.
I0419 21:00:37.307029 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373059496.
I0419 21:00:37.322990 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0204682, 0.697871)
I0419 21:00:37.323148 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:37.323357 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373221682.
I0419 21:00:37.323549 1218970 collated_trajectory_builder.cc:82] imu rate: 200.05 Hz 5.00e-03 s +/- 4.29e-03 s (pulsed at 100.44% real time)
I0419 21:00:37.323771 1218970 collated_trajectory_builder.cc:82] odom rate: 248.54 Hz 4.02e-03 s +/- 7.46e-04 s (pulsed at 100.27% real time)
I0419 21:00:37.323979 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.43e-03 s (pulsed at 100.37% real time)
I0419 21:00:37.324039 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.17e-03 s (pulsed at 100.27% real time)
I0419 21:00:37.410102 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373338767.
I0419 21:00:37.411216 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373502001.
I0419 21:00:37.412173 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373612346.
I0419 21:00:37.413959 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00203489, 0.694142), points=18, range=0.696, residual=0.0118642, extent=0.0388925
I0419 21:00:37.414034 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00203489, 0.694142), tracking=(0.300535, 0.694142), map_predicted=(7.80252, -1.32679), range=0.696, pts=18
I0419 21:00:37.414060 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0142051m maha_sq=0.00861278 (gate chi2=5.99) pose_sigma=(0.151164, 0.151164, rho=0) det_map=(7.80252, -1.32679) lm_pos=(7.815, -1.32) delta=(-0.0124792, -0.00678635) -> 1 candidate(s)
I0419 21:00:37.414151 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373820136.
I0419 21:00:37.414891 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:37.414939 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:37.414988 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:37.415009 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.36936 deg, rms_residual=0.017141m, sigma_yaw=0.022344 rad, N=2
I0419 21:00:37.415040 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.49517, -2.01957, -2.36936deg) inliers=2 rms=0.017141m
I0419 21:00:37.415063 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:37.415077 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292373903044.
I0419 21:00:37.416004 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.021416 range=1.0816 variance=0.000508844 t_weight=5895.71 r_weight=0 yaml=(8.715, -2.52) prior=(7.47635, -2.00926, -2.13364deg) obs_actual=(1.27892, -0.462398) obs_expected=(1.25681, -0.464272) delta=(0.0221189, 0.00187432) |delta|=0.0221981m
I0419 21:00:37.416076 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292374094297.
I0419 21:00:37.422647 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292374216132.
I0419 21:00:37.442826 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.0141878, 0.698196)
I0419 21:00:37.443164 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292374420122.
I0419 21:00:37.451292 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292374501720.
I0419 21:00:37.536033 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477979s, prior_pose=(7.49743, -2.00597), yaw=-2.36904 deg
I0419 21:00:37.536140 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:37.536345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292374694111.
I0419 21:00:37.537211 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292374782503.
I0419 21:00:37.538254 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292374975107.
I0419 21:00:37.540283 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292375101231.
I0419 21:00:37.541586 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:37.541662 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:37.541692 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:00:37.541769 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292375299592.
I0419 21:00:37.542618 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25992, -0.639658), points=3, range=1.41, residual=0.00651124, extent=0.0121715
I0419 21:00:37.542675 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25992, -0.639658), tracking=(-1.55842, 0.639658), map_predicted=(5.97815, -1.29538), range=1.41, pts=3
I0419 21:00:37.542706 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0443151m maha_sq=0.0853202 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.97815, -1.29538) lm_pos=(6.015, -1.32) delta=(-0.0368478, 0.0246184) -> 1 candidate(s)
I0419 21:00:37.542732 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:37.542761 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:37.542811 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292375377844.
I0419 21:00:37.558598 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.0489423, 0.699631)
I0419 21:00:37.558859 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292375575560.
I0419 21:00:37.566059 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.03849 range=1.414 variance=0.000490918 t_weight=6110.99 r_weight=0 yaml=(6.015, -1.32) prior=(7.52218, -2.00771, -2.58123deg) obs_actual=(-1.56393, 0.630923) obs_expected=(-1.53662, 0.619138) delta=(-0.0273134, 0.0117856) |delta|=0.0297476m
I0419 21:00:37.566210 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292375654894.
I0419 21:00:37.588500 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292375857813.
I0419 21:00:37.672456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292375975168.
I0419 21:00:37.673537 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:37.673641 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292376177569.
I0419 21:00:37.674434 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292376256388.
I0419 21:00:37.675391 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.54042, -2.01002), yaw=-2.78549 deg backend=(7.50424, -2.01307)
I0419 21:00:37.676137 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292376453228.
I0419 21:00:37.676932 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292376532776.
I0419 21:00:37.677940 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.0818285, 0.701148)
I0419 21:00:37.678045 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292376741716.
I0419 21:00:37.682542 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:37.682655 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.324858, 0.544135), points=17, range=0.633294, residual=0.0112376, extent=0.0367169
I0419 21:00:37.682695 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:37.682719 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.324858, 0.544135), tracking=(-0.623358, -0.544135), map_predicted=(6.90051, -2.51674), range=0.633294, pts=17
I0419 21:00:37.682755 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0148548m maha_sq=0.00946346 (gate chi2=5.99) pose_sigma=(0.150852, 0.150852, rho=0) det_map=(6.90051, -2.51674) lm_pos=(6.915, -2.52) delta=(-0.0144931, 0.00325809) -> 1 candidate(s)
I0419 21:00:37.682842 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:37.682933 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:37.682971 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292376818083.
I0419 21:00:37.706465 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292377052101.
I0419 21:00:37.714012 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0204894 range=0.635722 variance=0.000573693 t_weight=5229.28 r_weight=0 yaml=(6.915, -2.52) prior=(7.55054, -2.00476, -2.89322deg) obs_actual=(-0.630121, -0.542817) obs_expected=(-0.608719, -0.546657) delta=(-0.0214013, 0.00384075) |delta|=0.0217432m
I0419 21:00:37.714213 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292377132464.
I0419 21:00:37.782418 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.11283 deg, rms_residual=0.0122371m, sigma_yaw=0.0160542 rad, N=2
I0419 21:00:37.782575 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.55784, -1.99383, -4.11283deg) inliers=2 rms=0.0122371m
I0419 21:00:37.782619 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292377337645.
I0419 21:00:37.782861 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:37.783782 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292377453994.
I0419 21:00:37.784880 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795912s, prior_pose=(7.55194, -2.00149), yaw=-3.00684 deg
I0419 21:00:37.785007 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:37.785238 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292377613995.
I0419 21:00:37.787288 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292377740707.
I0419 21:00:37.791872 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.113952, 0.699476)
I0419 21:00:37.792090 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292377909047.
I0419 21:00:37.802446 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292378014279.
I0419 21:00:37.823098 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:37.823310 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:37.823523 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292378221860.
I0419 21:00:37.834708 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:37.834909 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:37.835047 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292378338726.
I0419 21:00:37.854727 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.126574, 0.699956), points=17, range=0.712941, residual=0.0111186, extent=0.0345391
I0419 21:00:37.854890 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.126574, 0.699956), tracking=(0.171926, 0.699956), map_predicted=(7.79302, -1.3172), range=0.712941, pts=17
I0419 21:00:37.854946 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0221589m maha_sq=0.0212918 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79302, -1.3172) lm_pos=(7.815, -1.32) delta=(-0.0219814, 0.00279872) -> 1 candidate(s)
I0419 21:00:37.855100 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292378538756.
I0419 21:00:37.941767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292378617766.
I0419 21:00:37.942889 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00650749 range=0.969167 variance=0.000609274 t_weight=4923.89 r_weight=0 yaml=(8.715, -2.52) prior=(7.59477, -2.00484, -2.98621deg) obs_actual=(1.15779, -0.456865) obs_expected=(1.14555, -0.456103) delta=(0.0122394, -0.000762027) |delta|=0.0122631m
I0419 21:00:37.943010 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292378816780.
I0419 21:00:37.943730 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292378895693.
I0419 21:00:37.945339 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.141996, 0.697776)
I0419 21:00:37.945428 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:37.945504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292379103127.
I0419 21:00:37.946277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292379183506.
I0419 21:00:37.947763 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292379381833.
I0419 21:00:37.949952 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292379494082.
I0419 21:00:37.966720 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292379661655.
I0419 21:00:37.977782 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:37.977873 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:37.977936 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:37.977981 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:37.978034 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292379773643.
I0419 21:00:38.035840 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292379971802.
I0419 21:00:38.036811 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.407244, 0.54531), points=16, range=0.682187, residual=0.0108686, extent=0.0340134
I0419 21:00:38.036900 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.407244, 0.54531), tracking=(-0.705744, -0.54531), map_predicted=(6.89524, -2.51403), range=0.682187, pts=16
I0419 21:00:38.036928 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0206422m maha_sq=0.0184821 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.89524, -2.51403) lm_pos=(6.915, -2.52) delta=(-0.0197614, 0.0059656) -> 1 candidate(s)
I0419 21:00:38.036999 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292380063041.
I0419 21:00:38.038002 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.173197, 0.703387)
I0419 21:00:38.038127 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292380262376.
I0419 21:00:38.039777 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0931027 range=1.53133 variance=0.000539739 t_weight=5558.25 r_weight=0 yaml=(6.015, -1.32) prior=(7.63962, -2.00471, -2.86562deg) obs_actual=(-1.6938, 0.630964) obs_expected=(-1.65682, 0.60263) delta=(-0.0369754, 0.0283342) |delta|=0.0465833m
I0419 21:00:38.039873 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292380375493.
I0419 21:00:38.058420 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608264s, prior_pose=(7.63962, -2.00471), yaw=-2.86562 deg
I0419 21:00:38.058525 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:00:38.058730 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292380580066.
I0419 21:00:38.066226 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292380656784.
I0419 21:00:38.088016 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.42651 deg, rms_residual=0.0141092m, sigma_yaw=0.0184649 rad, N=2
I0419 21:00:38.088136 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.65052, -2.00517, -3.42651deg) inliers=2 rms=0.0141092m
I0419 21:00:38.088186 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292380873367.
I0419 21:00:38.097888 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292380973379.
I0419 21:00:38.118402 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:38.118536 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:38.118683 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292381177118.
I0419 21:00:38.193974 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:38.194159 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:38.194244 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292381255039.
I0419 21:00:38.195327 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.60944, 0.793675)
I0419 21:00:38.195464 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292381452201.
I0419 21:00:38.196326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292381532997.
I0419 21:00:38.198114 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780405, -0.462717), points=8, range=0.904125, residual=0.0123788, extent=0.0377306
I0419 21:00:38.198208 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780405, -0.462717), tracking=(1.07891, -0.462717), map_predicted=(8.72975, -2.52446), range=0.904125, pts=8
I0419 21:00:38.198239 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.015412m maha_sq=0.0101344 (gate chi2=5.99) pose_sigma=(0.151127, 0.151127, rho=0) det_map=(8.72975, -2.52446) lm_pos=(8.715, -2.52) delta=(0.0147528, -0.00445931) -> 1 candidate(s)
I0419 21:00:38.198318 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292381732918.
I0419 21:00:38.199201 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0230279 range=0.713571 variance=0.000539632 t_weight=5559.34 r_weight=0 yaml=(6.915, -2.52) prior=(7.67343, -2.01227, -2.65447deg) obs_actual=(-0.757008, -0.544777) obs_expected=(-0.734107, -0.542309) delta=(-0.0229012, -0.00246814) |delta|=0.0230338m
I0419 21:00:38.199287 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292381857839.
I0419 21:00:38.206212 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:38.206432 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382054485.
I0419 21:00:38.215054 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382141434.
I0419 21:00:38.234439 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382334607.
I0419 21:00:38.242276 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.343604, -0.583323)
I0419 21:00:38.242553 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382415045.
I0419 21:00:38.295532 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382612295.
I0419 21:00:38.296795 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:38.296871 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:38.296937 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:38.297003 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:38.297032 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382733578.
I0419 21:00:38.298409 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292382935333.
I0419 21:00:38.303586 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292383019156.
I0419 21:00:38.321718 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.740959, -0.467483), points=9, range=0.874444, residual=0.00915155, extent=0.0299282
I0419 21:00:38.321830 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.740959, -0.467483), tracking=(1.03946, -0.467483), map_predicted=(8.72495, -2.52391), range=0.874444, pts=9
I0419 21:00:38.321863 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.010691m maha_sq=0.00496345 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72495, -2.52391) lm_pos=(8.715, -2.52) delta=(0.00994974, -0.00391157) -> 1 candidate(s)
I0419 21:00:38.321985 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292383212041.
I0419 21:00:38.331403 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.548605, -0.240483)
I0419 21:00:38.331665 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0385946 range=0.739769 variance=0.000540339 t_weight=5552.07 r_weight=0 yaml=(6.915, -2.52) prior=(7.70708, -2.01113, -2.5229deg) obs_actual=(-0.798723, -0.542687) obs_expected=(-0.768908, -0.543247) delta=(-0.0298147, 0.000559748) |delta|=0.02982m
I0419 21:00:38.331813 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292383301544.
I0419 21:00:38.350353 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478188s, prior_pose=(7.72177, -2.01164), yaw=-2.46078 deg
I0419 21:00:38.350505 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:38.350865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292383497344.
I0419 21:00:38.362568 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292383613676.
I0419 21:00:38.382261 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292383812454.
I0419 21:00:38.474512 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.0581 deg, rms_residual=0.00378503m, sigma_yaw=0.00502136 rad, N=2
I0419 21:00:38.474611 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.74778, -2.01047, -2.0581deg) inliers=2 rms=0.00378503m
I0419 21:00:38.474650 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292383894748.
I0419 21:00:38.475948 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:38.476025 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:38.476136 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384101502.
I0419 21:00:38.477020 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(-0.337274, -0.696583)
I0419 21:00:38.477100 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:38.477138 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:38.477196 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384216672.
I0419 21:00:38.478873 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384373459.
I0419 21:00:38.479754 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.54001, 0.539948), points=11, range=0.762545, residual=0.00974354, extent=0.0268201
I0419 21:00:38.479861 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.54001, 0.539948), tracking=(-0.83851, -0.539948), map_predicted=(6.88418, -2.514), range=0.762545, pts=11
I0419 21:00:38.479889 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0314002m maha_sq=0.0428042 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.88418, -2.514) lm_pos=(6.915, -2.52) delta=(-0.0308219, 0.00599842) -> 1 candidate(s)
I0419 21:00:38.479961 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384461571.
I0419 21:00:38.481003 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384662040.
I0419 21:00:38.482510 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00411957 range=0.7656 variance=0.000571965 t_weight=5245.08 r_weight=0 yaml=(7.815, -1.32) prior=(7.75742, -2.01099, -2.36364deg) obs_actual=(0.0195033, 0.695088) obs_expected=(0.0290351, 0.692772) delta=(-0.00953178, 0.00231568) |delta|=0.00980904m
I0419 21:00:38.482599 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384773998.
I0419 21:00:38.498265 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:38.498637 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292384972869.
I0419 21:00:38.506887 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.51371, -0.650334)
I0419 21:00:38.507292 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292385058984.
I0419 21:00:38.578701 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.76934, -2.01299), yaw=-2.22247 deg backend=(7.72639, -2.02121)
I0419 21:00:38.579850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292385260734.
I0419 21:00:38.580802 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292385339271.
I0419 21:00:38.581983 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292385541624.
I0419 21:00:38.583573 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:38.583634 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:38.583691 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:38.583740 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:38.583762 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292385661883.
I0419 21:00:38.586858 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292385862432.
I0419 21:00:38.594501 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.289574, -0.690537), points=15, range=0.749533, residual=0.0103312, extent=0.0306633
I0419 21:00:38.594604 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.289574, -0.690537), tracking=(-0.00892627, 0.690537), map_predicted=(7.79845, -1.32202), range=0.749533, pts=15
I0419 21:00:38.594640 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0166778m maha_sq=0.0120694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79845, -1.32202) lm_pos=(7.815, -1.32) delta=(-0.0165544, -0.00202479) -> 1 candidate(s)
I0419 21:00:38.594822 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292385939149.
I0419 21:00:38.613798 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.652373, -0.472434)
I0419 21:00:38.614051 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0143032 range=0.774562 variance=0.000584777 t_weight=5130.16 r_weight=0 yaml=(7.815, -1.32) prior=(7.79577, -2.01153, -2.11959deg) obs_actual=(-0.0199024, 0.704075) obs_expected=(-0.00635716, 0.691772) delta=(-0.0135452, 0.0123033) |delta|=0.0182987m
I0419 21:00:38.614173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292386132795.
I0419 21:00:38.622601 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292386219639.
I0419 21:00:38.642040 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754151s, prior_pose=(7.79577, -2.01153), yaw=-2.11959 deg
I0419 21:00:38.642139 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:00:38.642377 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292386416034.
I0419 21:00:38.717533 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292386539138.
I0419 21:00:38.718757 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292386738102.
I0419 21:00:38.719694 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.65566 deg, rms_residual=0.00530226m, sigma_yaw=0.00702005 rad, N=2
I0419 21:00:38.719801 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.8295, -2.00929, -1.65566deg) inliers=2 rms=0.00530226m
I0419 21:00:38.719838 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292386813987.
I0419 21:00:38.721627 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:00:38.721719 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.62687, -0.473682)
I0419 21:00:38.721740 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:00:38.721836 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292387013984.
I0419 21:00:38.722755 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:38.722833 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:38.722880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292387139152.
I0419 21:00:38.732260 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47306, 0.775006), points=3, range=1.65933, residual=0.0104681, extent=0.0213094
I0419 21:00:38.732368 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.47306, 0.775006), tracking=(1.77156, 0.775006), map_predicted=(9.61888, -1.30469), range=1.65933, pts=3
I0419 21:00:38.732399 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0157957m maha_sq=0.0107995 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61888, -1.30469) lm_pos=(9.615, -1.32) delta=(0.00387546, 0.0153129) -> 1 candidate(s)
I0419 21:00:38.732558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292387302118.
I0419 21:00:38.742462 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0227397 range=0.820625 variance=0.000604674 t_weight=4961.35 r_weight=0 yaml=(6.915, -2.52) prior=(7.82366, -2.01798, -2.1343deg) obs_actual=(-0.912121, -0.538618) obs_expected=(-0.889333, -0.535515) delta=(-0.0227882, -0.00310298) |delta|=0.0229985m
I0419 21:00:38.742594 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292387418644.
I0419 21:00:38.762130 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292387615857.
I0419 21:00:38.774370 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.57057, -0.653232)
I0419 21:00:38.774597 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292387738765.
I0419 21:00:38.824666 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:00:38.824905 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292387897597.
I0419 21:00:38.826150 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292388012048.
I0419 21:00:38.827395 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 21 -> 19 (threshold=0.03, iters=3)
I0419 21:00:38.827538 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292388216618.
I0419 21:00:38.830282 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292388295514.
I0419 21:00:38.850685 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.387044, 0.697015)
I0419 21:00:38.850836 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.380715, 0.703684), points=14, range=0.803786, residual=0.0182238, extent=0.0433651
I0419 21:00:38.850908 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.380715, 0.703684), tracking=(-0.0822152, 0.703684), map_predicted=(7.79145, -1.31279), range=0.803786, pts=14
I0419 21:00:38.850965 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[9] 'ref_10' eucl_dist=0.0246336m maha_sq=0.0260734 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79145, -1.31279) lm_pos=(7.815, -1.32) delta=(-0.0235542, 0.00721196) -> 1 candidate(s)
I0419 21:00:38.851167 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292388497362.
I0419 21:00:38.862177 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:38.862303 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:38.862428 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:38.862547 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:38.862591 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292388612660.
I0419 21:00:38.879053 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0107098 range=0.749545 variance=0.000568789 t_weight=5274.36 r_weight=0 yaml=(8.715, -2.52) prior=(7.86727, -2.01546, -1.99696deg) obs_actual=(0.880504, -0.476877) obs_expected=(0.8648, -0.474691) delta=(0.0157046, -0.00218647) |delta|=0.0158561m
I0419 21:00:38.879356 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292388779644.
I0419 21:00:38.891505 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292388903104.
I0419 21:00:38.910965 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292389096997.
I0419 21:00:38.985925 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.671889, 0.535979)
I0419 21:00:38.986178 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292389184822.
I0419 21:00:38.987685 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594325s, prior_pose=(7.87151, -2.01543), yaw=-2.00016 deg
I0419 21:00:38.987797 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=245, threshold=230, above_threshold=18, candidates=18
I0419 21:00:38.987994 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292389373969.
I0419 21:00:38.989579 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292389461323.
I0419 21:00:38.992183 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292389661005.
I0419 21:00:38.994267 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292389787881.
I0419 21:00:39.000804 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:39.000939 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:39.001168 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292389987676.
I0419 21:00:39.006315 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.697374, 0.535599), points=7, range=0.877857, residual=0.00942204, extent=0.0268384
I0419 21:00:39.006448 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.697374, 0.535599), tracking=(-0.995874, -0.535599), map_predicted=(6.89002, -2.51394), range=0.877857, pts=7
I0419 21:00:39.006502 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0257095m maha_sq=0.0282742 (gate chi2=5.99) pose_sigma=(0.151144, 0.151144, rho=0) det_map=(6.89002, -2.51394) lm_pos=(6.915, -2.52) delta=(-0.0249846, 0.00606209) -> 1 candidate(s)
I0419 21:00:39.006548 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:39.006628 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:39.006688 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.00915 deg, rms_residual=0.00262521m, sigma_yaw=0.00348807 rad, N=2
I0419 21:00:39.006773 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.91858, -2.00412, -1.00915deg) inliers=2 rms=0.00262521m
I0419 21:00:39.006834 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390054656.
I0419 21:00:39.026026 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.39114, 0.765815)
I0419 21:00:39.026331 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390254463.
I0419 21:00:39.046927 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00789703 range=0.707824 variance=0.000578453 t_weight=5186.25 r_weight=0 yaml=(7.815, -1.32) prior=(7.90275, -2.01095, -1.86033deg) obs_actual=(-0.122865, 0.683238) obs_expected=(-0.110136, 0.687737) delta=(-0.0127281, -0.00449952) |delta|=0.0135m
I0419 21:00:39.047344 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390460865.
I0419 21:00:39.121526 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390542946.
I0419 21:00:39.122510 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390659216.
I0419 21:00:39.123440 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:39.123557 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390858721.
I0419 21:00:39.125126 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292390941085.
I0419 21:00:39.126129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292391132663.
I0419 21:00:39.126999 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292391253118.
I0419 21:00:39.146996 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.36919, 0.764153)
I0419 21:00:39.147243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292391460175.
I0419 21:00:39.154875 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:39.154994 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.729644, 0.531702), points=8, range=0.907, residual=0.0124673, extent=0.0310988
I0419 21:00:39.155043 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:39.155077 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.729644, 0.531702), tracking=(-1.02814, -0.531702), map_predicted=(6.8926, -2.50976), range=0.907, pts=8
I0419 21:00:39.155119 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0246329m maha_sq=0.0262664 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.8926, -2.50976) lm_pos=(6.915, -2.52) delta=(-0.0224019, 0.0102437) -> 1 candidate(s)
I0419 21:00:39.155223 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:39.155318 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:39.155359 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292391540845.
I0419 21:00:39.175256 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292391742997.
I0419 21:00:39.247336 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0184685 range=0.698937 variance=0.000536877 t_weight=5587.88 r_weight=0 yaml=(7.815, -1.32) prior=(7.93326, -2.00966, -1.71167deg) obs_actual=(-0.159367, 0.683793) obs_expected=(-0.138807, 0.685816) delta=(-0.0205593, -0.00202305) |delta|=0.0206586m
I0419 21:00:39.247478 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292391813690.
I0419 21:00:39.247489 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:39.248553 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292392020377.
I0419 21:00:39.249465 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292392100897.
I0419 21:00:39.251130 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525167s, prior_pose=(7.95326, -2.00727), yaw=-1.65901 deg
I0419 21:00:39.251221 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=248, threshold=230, above_threshold=17, candidates=17
I0419 21:00:39.251355 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292392338857.
I0419 21:00:39.252246 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292392414750.
I0419 21:00:39.262341 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.32835, 0.759197)
I0419 21:00:39.263060 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292392617537.
I0419 21:00:39.270633 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292392698673.
I0419 21:00:39.290570 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:39.290731 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:39.290912 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292392894516.
I0419 21:00:39.302959 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.7853, 0.531321), points=7, range=0.945714, residual=0.00991558, extent=0.0299351
I0419 21:00:39.303153 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.7853, 0.531321), tracking=(-1.0838, -0.531321), map_predicted=(6.87373, -2.50747), range=0.945714, pts=7
I0419 21:00:39.303220 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[8] 'ref_9' eucl_dist=0.0431263m maha_sq=0.0807041 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.87373, -2.50747) lm_pos=(6.915, -2.52) delta=(-0.0412664, 0.0125286) -> 1 candidate(s)
I0419 21:00:39.303270 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:00:39.303350 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:00:39.303478 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292393020158.
I0419 21:00:39.383129 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.66273 deg, rms_residual=0.00964485m, sigma_yaw=0.0126965 rad, N=2
I0419 21:00:39.383253 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.97613, -2.02208, -1.66273deg) inliers=2 rms=0.00964485m
I0419 21:00:39.383291 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292393182959.
I0419 21:00:39.384147 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00326141 range=0.691889 variance=0.000555542 t_weight=5400.13 r_weight=0 yaml=(7.815, -1.32) prior=(7.99993, -2.00138, -1.50794deg) obs_actual=(-0.198346, 0.683715) obs_expected=(-0.202796, 0.676273) delta=(0.00444983, 0.00744262) |delta|=0.00867142m
I0419 21:00:39.384219 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292393293680.
I0419 21:00:39.385175 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292393491858.
I0419 21:00:39.386926 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292393580227.
I0419 21:00:39.388001 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.30055, 0.753357)
I0419 21:00:39.388104 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:39.388186 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292393776233.
I0419 21:00:39.390600 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292393898755.
I0419 21:00:39.392359 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.01911, -2.0056), yaw=-1.38708 deg backend=(7.9387, -2.02394)
I0419 21:00:39.410545 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292394099105.
I0419 21:00:39.418390 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292394179102.
I0419 21:00:39.442723 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292394421278.
I0419 21:00:39.503367 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:39.503464 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:39.503520 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:39.503561 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:39.503580 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292394498255.
I0419 21:00:39.504498 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.406007, -0.486618), points=18, range=0.636889, residual=0.0137117, extent=0.0409514
I0419 21:00:39.504552 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.406007, -0.486618), tracking=(0.704507, -0.486618), map_predicted=(8.73343, -2.51632), range=0.636889, pts=18
I0419 21:00:39.504581 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0187922m maha_sq=0.0152724 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.73343, -2.51632) lm_pos=(8.715, -2.52) delta=(0.0184284, 0.00367958) -> 1 candidate(s)
I0419 21:00:39.504644 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292394662507.
I0419 21:00:39.505442 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0324905 range=0.9924 variance=0.000481198 t_weight=6234.44 r_weight=0 yaml=(6.915, -2.52) prior=(8.04007, -2.01394, -1.29193deg) obs_actual=(-1.14048, -0.527825) obs_expected=(-1.11338, -0.531295) delta=(-0.027104, 0.00347089) |delta|=0.0273253m
I0419 21:00:39.505508 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292394775285.
I0419 21:00:39.507069 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27854, 0.748109)
I0419 21:00:39.507179 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292394980517.
I0419 21:00:39.507951 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395057001.
I0419 21:00:39.525542 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754412s, prior_pose=(8.05089, -2.00908), yaw=-1.2292 deg
I0419 21:00:39.525645 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=252, threshold=230, above_threshold=21, candidates=21
I0419 21:00:39.525842 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395252667.
I0419 21:00:39.534240 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395337894.
I0419 21:00:39.554057 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395533378.
I0419 21:00:39.566339 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395657746.
I0419 21:00:39.619715 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:39.619814 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:39.619926 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395855728.
I0419 21:00:39.620891 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:39.620965 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:39.621024 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292395933665.
I0419 21:00:39.622121 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.24765, 0.74224)
I0419 21:00:39.622205 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.362852, -0.488782), points=17, range=0.610059, residual=0.0115348, extent=0.0399676
I0419 21:00:39.622233 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.362852, -0.488782), tracking=(0.661352, -0.488782), map_predicted=(8.702, -2.51967), range=0.610059, pts=17
I0419 21:00:39.622254 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0130007m maha_sq=0.00732719 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.702, -2.51967) lm_pos=(8.715, -2.52) delta=(-0.0129965, 0.000332479) -> 1 candidate(s)
I0419 21:00:39.622318 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292396135584.
I0419 21:00:39.623970 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.279807 deg, rms_residual=0.0070037m, sigma_yaw=0.00925186 rad, N=2
I0419 21:00:39.624048 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0773187 range=1.0234 variance=0.000506443 t_weight=5923.67 r_weight=0 yaml=(6.915, -2.52) prior=(8.06238, -2.02072, -1.07977deg) obs_actual=(-1.18004, -0.524446) obs_expected=(-1.13777, -0.520816) delta=(-0.0422692, -0.00362946) |delta|=0.0424247m
I0419 21:00:39.624090 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.08826, -1.9954, 0.279807deg) inliers=2 rms=0.0070037m
I0419 21:00:39.624125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292396215430.
I0419 21:00:39.642562 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292396419299.
I0419 21:00:39.654557 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292396538590.
I0419 21:00:39.674719 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:39.675043 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292396739827.
I0419 21:00:39.682478 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292396818613.
I0419 21:00:39.702951 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292397019587.
I0419 21:00:39.780251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292397136708.
I0419 21:00:39.781316 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.331681, -0.491538)
I0419 21:00:39.781468 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292397296188.
I0419 21:00:39.782456 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:39.782521 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:39.782567 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:39.782613 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:39.782641 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292397421198.
I0419 21:00:39.784411 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292397621656.
I0419 21:00:39.785245 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00894259, -0.682752), points=17, range=0.683941, residual=0.0103343, extent=0.0327123
I0419 21:00:39.785315 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00894259, -0.682752), tracking=(-0.307443, 0.682752), map_predicted=(7.79802, -1.3306), range=0.683941, pts=17
I0419 21:00:39.785344 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0200148m maha_sq=0.0173842 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79802, -1.3306) lm_pos=(7.815, -1.32) delta=(-0.0169758, -0.0106026) -> 1 candidate(s)
I0419 21:00:39.785418 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292397699737.
I0419 21:00:39.790880 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0198439 range=1.41433 variance=0.000534763 t_weight=5609.96 r_weight=0 yaml=(9.615, -1.32) prior=(8.0939, -2.01845, -0.966938deg) obs_actual=(1.49878, 0.74274) obs_expected=(1.5091, 0.724015) delta=(-0.0103184, 0.0187251) |delta|=0.0213799m
I0419 21:00:39.791090 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292397895956.
I0419 21:00:39.806538 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292398057781.
I0419 21:00:39.818779 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560195s, prior_pose=(8.10729, -2.02037), yaw=-0.963937 deg
I0419 21:00:39.818902 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:00:39.819209 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292398181851.
I0419 21:00:39.831496 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292398298125.
I0419 21:00:39.898931 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19028, 0.73894)
I0419 21:00:39.899113 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292398499076.
I0419 21:00:39.899832 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292398575920.
I0419 21:00:39.900815 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:39.900884 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:39.900954 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292398774033.
I0419 21:00:39.902498 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:39.902576 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:39.902652 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292398853019.
I0419 21:00:39.906044 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292399055220.
I0419 21:00:39.918450 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292399179006.
I0419 21:00:39.937798 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.270634, -0.493201), points=20, range=0.5627, residual=0.0111338, extent=0.0405396
I0419 21:00:39.937929 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.270634, -0.493201), tracking=(0.569134, -0.493201), map_predicted=(8.70528, -2.52249), range=0.5627, pts=20
I0419 21:00:39.937963 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0100358m maha_sq=0.00433348 (gate chi2=5.99) pose_sigma=(0.150614, 0.150614, rho=0) det_map=(8.70528, -2.52249) lm_pos=(8.715, -2.52) delta=(-0.00972284, -0.00248658) -> 1 candidate(s)
I0419 21:00:39.938158 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292399372876.
I0419 21:00:39.946734 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292399460769.
I0419 21:00:39.966308 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:39.966524 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00982788 range=0.56075 variance=0.000556853 t_weight=5387.42 r_weight=0 yaml=(8.715, -2.52) prior=(8.14202, -2.02259, -0.677818deg) obs_actual=(0.564317, -0.494608) obs_expected=(0.578827, -0.490599) delta=(-0.0145097, -0.00400851) |delta|=0.0150532m
I0419 21:00:39.966671 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292399658169.
I0419 21:00:40.032985 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292399740046.
I0419 21:00:40.034090 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.15489, 0.735722)
I0419 21:00:40.034224 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.534781 deg, rms_residual=0.0151251m, sigma_yaw=0.0197681 rad, N=2
I0419 21:00:40.034276 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.15844, -2.03108, -0.534781deg) inliers=2 rms=0.0151251m
I0419 21:00:40.034315 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292399935806.
I0419 21:00:40.035267 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292400058706.
I0419 21:00:40.037057 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292400256240.
I0419 21:00:40.037926 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:40.038015 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:40.038071 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:40.038142 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:40.038170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292400334730.
I0419 21:00:40.054713 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292400541725.
I0419 21:00:40.062779 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292400622280.
I0419 21:00:40.082954 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292400822265.
I0419 21:00:40.094230 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292400937321.
I0419 21:00:40.140246 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0509871s, prior_pose=(8.20465, -2.02096), yaw=-0.452106 deg
I0419 21:00:40.140354 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:40.140480 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218663, -0.498791), points=22, range=0.546318, residual=0.0120476, extent=0.0426951
I0419 21:00:40.140507 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.218663, -0.498791), tracking=(0.517163, -0.498791), map_predicted=(8.71786, -2.52381), range=0.546318, pts=22
I0419 21:00:40.140533 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00476861m maha_sq=0.000964907 (gate chi2=5.99) pose_sigma=(0.151621, 0.151621, rho=0) det_map=(8.71786, -2.52381) lm_pos=(8.715, -2.52) delta=(0.00286189, -0.00381434) -> 1 candidate(s)
I0419 21:00:40.140621 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292401132151.
I0419 21:00:40.141479 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0641518 range=1.1405 variance=0.000539929 t_weight=5556.29 r_weight=0 yaml=(6.915, -2.52) prior=(8.20465, -2.02096, -0.452106deg) obs_actual=(-1.32409, -0.507608) obs_expected=(-1.28567, -0.509202) delta=(-0.0384124, 0.00159459) |delta|=0.0384454m
I0419 21:00:40.141566 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292401213311.
I0419 21:00:40.142623 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.11775, 0.725828)
I0419 21:00:40.142735 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292401417488.
I0419 21:00:40.154345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292401538547.
I0419 21:00:40.170009 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:40.170123 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:40.170255 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292401695611.
I0419 21:00:40.182379 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:40.182548 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:40.182633 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292401819664.
I0419 21:00:40.202528 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402018984.
I0419 21:00:40.210422 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402098514.
I0419 21:00:40.232038 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402302878.
I0419 21:00:40.306564 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402411973.
I0419 21:00:40.307544 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08781, 0.719987), points=3, range=1.3, residual=0.00987508, extent=0.0204351
I0419 21:00:40.307617 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:40.307633 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.08781, 0.719987), tracking=(1.38631, 0.719987), map_predicted=(9.60873, -1.31053), range=1.3, pts=3
I0419 21:00:40.307655 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0113524m maha_sq=0.00558763 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60873, -1.31053) lm_pos=(9.615, -1.32) delta=(-0.00626638, 0.00946625) -> 1 candidate(s)
I0419 21:00:40.307752 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402581470.
I0419 21:00:40.308878 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402697786.
I0419 21:00:40.309998 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.2392, -2.01701), yaw=-0.145836 deg backend=(8.18803, -2.02626)
I0419 21:00:40.310958 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.07476, 0.718835)
I0419 21:00:40.311053 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00167781 range=0.531095 variance=0.000540993 t_weight=5545.36 r_weight=0 yaml=(8.715, -2.52) prior=(8.2392, -2.01701, -0.145836deg) obs_actual=(0.470907, -0.502974) obs_expected=(0.477074, -0.50178) delta=(-0.00616691, -0.00119425) |delta|=0.00628148m
I0419 21:00:40.311122 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292402899279.
I0419 21:00:40.311793 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292402976469.
I0419 21:00:40.318077 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292403175139.
I0419 21:00:40.330374 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:40.330519 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:40.330588 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:40.330700 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:40.330722 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292403299232.
I0419 21:00:40.350421 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292403497477.
I0419 21:00:40.358261 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292403575490.
I0419 21:00:40.424194 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.532244 deg, rms_residual=0.00612489m, sigma_yaw=0.00810037 rad, N=2
I0419 21:00:40.424335 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.27335, -2.01535, -0.532244deg) inliers=2 rms=0.00612489m
I0419 21:00:40.424378 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292403774430.
I0419 21:00:40.425397 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292403853378.
I0419 21:00:40.426338 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.07535s, prior_pose=(8.26069, -2.01363), yaw=0.0388947 deg
I0419 21:00:40.426421 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:40.426604 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292404052732.
I0419 21:00:40.428170 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292404176980.
I0419 21:00:40.437870 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.03992, 0.716158)
I0419 21:00:40.438217 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04645, 0.716958), points=3, range=1.26267, residual=0.0116833, extent=0.0228273
I0419 21:00:40.438378 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04645, 0.716958), tracking=(1.34495, 0.716958), map_predicted=(9.61727, -1.29732), range=1.26267, pts=3
I0419 21:00:40.438697 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0227951m maha_sq=0.0224928 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61727, -1.29732) lm_pos=(9.615, -1.32) delta=(0.00227172, 0.0226816) -> 1 candidate(s)
I0419 21:00:40.438966 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292404373608.
I0419 21:00:40.445964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292404453565.
I0419 21:00:40.465894 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:40.466023 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:40.466187 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292404652600.
I0419 21:00:40.474584 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:40.474674 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:40.474709 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00938251 range=0.7198 variance=0.000565689 t_weight=5303.26 r_weight=0 yaml=(7.815, -1.32) prior=(8.28318, -2.01985, 0.099983deg) obs_actual=(-0.480237, 0.694337) obs_expected=(-0.466955, 0.700662) delta=(-0.0132818, -0.00632527) |delta|=0.014711m
I0419 21:00:40.474822 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292404741381.
I0419 21:00:40.494078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292404934021.
I0419 21:00:40.538875 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292405058701.
I0419 21:00:40.540086 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292405252560.
I0419 21:00:40.541008 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292405342657.
I0419 21:00:40.554745 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:40.554934 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292405541921.
I0419 21:00:40.563377 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292405624583.
I0419 21:00:40.582731 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.998718, 0.7145)
I0419 21:00:40.583038 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292405819150.
I0419 21:00:40.594326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292405937827.
I0419 21:00:40.614915 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292406142079.
I0419 21:00:40.622639 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:40.622925 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226679, -0.694138), points=15, range=0.730067, residual=0.0112374, extent=0.0395812
I0419 21:00:40.623070 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:40.623104 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.226679, -0.694138), tracking=(-0.525179, 0.694138), map_predicted=(7.79533, -1.32975), range=0.730067, pts=15
I0419 21:00:40.623132 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0219567m maha_sq=0.0209019 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79533, -1.32975) lm_pos=(7.815, -1.32) delta=(-0.0196733, -0.00974978) -> 1 candidate(s)
I0419 21:00:40.623194 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:40.623271 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:40.623291 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292406222060.
I0419 21:00:40.662775 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0322189 range=1.216 variance=0.000585112 t_weight=5127.22 r_weight=0 yaml=(9.615, -1.32) prior=(8.32663, -2.01628, 0.0212396deg) obs_actual=(1.27472, 0.719399) obs_expected=(1.28863, 0.695804) delta=(-0.0139055, 0.0235956) |delta|=0.0273883m
I0419 21:00:40.662940 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292406414658.
I0419 21:00:40.662932 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:40.663719 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292406497043.
I0419 21:00:40.673027 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292406715760.
I0419 21:00:40.682294 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292406814326.
I0419 21:00:40.710415 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06867s, prior_pose=(8.34701, -2.01036), yaw=-0.16002 deg
I0419 21:00:40.710819 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:00:40.711102 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407101358.
I0419 21:00:40.711917 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407101534.
I0419 21:00:40.730165 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.950501, 0.724917)
I0419 21:00:40.730501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407297493.
I0419 21:00:40.738698 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407377651.
I0419 21:00:40.758450 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:40.758541 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:40.758942 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407577787.
I0419 21:00:40.829989 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:40.830106 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:40.830173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407698762.
I0419 21:00:40.831250 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0404743, -0.504558), points=25, range=0.50588, residual=0.0113859, extent=0.0406427
I0419 21:00:40.831327 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0404743, -0.504558), tracking=(0.338974, -0.504558), map_predicted=(8.72068, -2.51716), range=0.50588, pts=25
I0419 21:00:40.831354 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00634902m maha_sq=0.00174797 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72068, -2.51716) lm_pos=(8.715, -2.52) delta=(0.00567754, 0.00284175) -> 1 candidate(s)
I0419 21:00:40.831467 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292407853122.
I0419 21:00:40.832391 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292407977405.
I0419 21:00:40.834369 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.003 deg, rms_residual=0.014197m, sigma_yaw=0.0185776 rad, N=2
I0419 21:00:40.834470 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00044317 range=0.507731 variance=0.000567328 t_weight=5287.95 r_weight=0 yaml=(8.715, -2.52) prior=(8.38936, -2.01407, -0.534697deg) obs_actual=(0.330928, -0.506026) obs_expected=(0.330343, -0.502874) delta=(0.000584282, -0.00315239) |delta|=0.00320608m
I0419 21:00:40.834502 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.38446, -2.01962, -1.003deg) inliers=2 rms=0.014197m
I0419 21:00:40.834527 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292408176818.
I0419 21:00:40.835500 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292408262802.
I0419 21:00:40.847611 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:40.847779 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292408470246.
I0419 21:00:40.857800 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292408572532.
I0419 21:00:40.877815 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.907389, 0.734725)
I0419 21:00:40.878006 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292408772655.
I0419 21:00:40.888085 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292408870978.
I0419 21:00:40.928254 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292409052177.
I0419 21:00:40.929200 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:40.929309 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:40.929376 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:40.929425 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:40.929457 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292409150479.
I0419 21:00:40.934665 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292409340153.
I0419 21:00:40.946201 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23485, 0.530533), points=3, range=1.34267, residual=0.00446846, extent=0.00836125
I0419 21:00:40.946301 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23485, 0.530533), tracking=(-1.53335, -0.530533), map_predicted=(6.87291, -2.52184), range=1.34267, pts=3
I0419 21:00:40.946331 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0421298m maha_sq=0.0762817 (gate chi2=5.99) pose_sigma=(0.150924, 0.150924, rho=0) det_map=(6.87291, -2.52184) lm_pos=(6.915, -2.52) delta=(-0.0420895, -0.00184353) -> 1 candidate(s)
I0419 21:00:40.946427 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292409457274.
I0419 21:00:40.966687 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292409661539.
I0419 21:00:40.975134 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0155886 range=0.763333 variance=0.000578836 t_weight=5182.82 r_weight=0 yaml=(7.815, -1.32) prior=(8.41588, -2.01997, -1.06758deg) obs_actual=(-0.632276, 0.684274) obs_expected=(-0.613821, 0.688654) delta=(-0.0184548, -0.0043801) |delta|=0.0189675m
I0419 21:00:40.975502 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292409743325.
I0419 21:00:40.993809 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.047672s, prior_pose=(8.4272, -2.01933), yaw=-1.20824 deg
I0419 21:00:40.993921 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:00:40.994190 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292409933994.
I0419 21:00:40.999248 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:41.005919 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292410052726.
I0419 21:00:41.022337 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.856896, 0.746285)
I0419 21:00:41.022567 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292410219000.
I0419 21:00:41.077054 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292410331969.
I0419 21:00:41.078294 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:41.078361 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:41.078467 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292410534589.
I0419 21:00:41.079239 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:41.079296 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:41.079344 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292410615111.
I0419 21:00:41.082353 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292410818158.
I0419 21:00:41.094533 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292410939844.
I0419 21:00:41.114305 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292411137238.
I0419 21:00:41.122387 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292411219599.
I0419 21:00:41.146289 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.830878, 0.7525), points=6, range=1.115, residual=0.0154474, extent=0.0339461
I0419 21:00:41.146432 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:41.146456 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.830878, 0.7525), tracking=(1.12938, 0.7525), map_predicted=(9.61729, -1.30732), range=1.115, pts=6
I0419 21:00:41.146485 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0128865m maha_sq=0.00715951 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61729, -1.30732) lm_pos=(9.615, -1.32) delta=(0.00229163, 0.0126811) -> 1 candidate(s)
I0419 21:00:41.146642 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292411456879.
I0419 21:00:41.150666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292411500376.
I0419 21:00:41.238368 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.47047, -2.02335), yaw=-1.91228 deg backend=(8.41982, -2.02326)
I0419 21:00:41.239465 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0554323, -0.499492)
I0419 21:00:41.239578 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0134675 range=1.1116 variance=0.000623937 t_weight=4808.18 r_weight=0 yaml=(9.615, -1.32) prior=(8.47047, -2.02335, -1.91228deg) obs_actual=(1.10904, 0.754694) obs_expected=(1.12042, 0.741149) delta=(-0.0113817, 0.0135451) |delta|=0.0176921m
I0419 21:00:41.239722 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292411698375.
I0419 21:00:41.240759 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292411821681.
I0419 21:00:41.241792 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292411974745.
I0419 21:00:41.243580 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:41.243670 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:41.243716 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:41.243762 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:41.243784 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292412095916.
I0419 21:00:41.244865 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292412295548.
I0419 21:00:41.245923 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292412373354.
I0419 21:00:41.257985 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.12618 deg, rms_residual=0.0133895m, sigma_yaw=0.0175395 rad, N=2
I0419 21:00:41.258226 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.50416, -2.02262, -2.12618deg) inliers=2 rms=0.0133895m
I0419 21:00:41.258277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292412573114.
I0419 21:00:41.271060 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292412704391.
I0419 21:00:41.286527 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0763036s, prior_pose=(8.5041, -2.01681), yaw=-1.98491 deg
I0419 21:00:41.287081 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=254, threshold=230, above_threshold=29, candidates=29
I0419 21:00:41.287688 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292412858952.
I0419 21:00:41.330183 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292412981694.
I0419 21:00:41.331398 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0968592, -0.498186)
I0419 21:00:41.331491 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0953166, -0.498001), points=23, range=0.507609, residual=0.0101062, extent=0.0326321
I0419 21:00:41.331519 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0953166, -0.498001), tracking=(0.203183, -0.498001), map_predicted=(8.68861, -2.52394), range=0.507609, pts=23
I0419 21:00:41.331545 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0266865m maha_sq=0.0309187 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.68861, -2.52394) lm_pos=(8.715, -2.52) delta=(-0.0263942, -0.00393906) -> 1 candidate(s)
I0419 21:00:41.331624 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292413194819.
I0419 21:00:41.332347 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.151526 range=1.43667 variance=0.000502848 t_weight=5966.02 r_weight=0 yaml=(6.915, -2.52) prior=(8.50243, -2.01933, -1.94393deg) obs_actual=(-1.6283, -0.548552) obs_expected=(-1.56954, -0.554228) delta=(-0.0587649, 0.00567591) |delta|=0.0590384m
I0419 21:00:41.332472 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292413258485.
I0419 21:00:41.346324 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:41.346422 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:41.346561 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292413458163.
I0419 21:00:41.354739 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:41.354925 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:41.355062 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292413542165.
I0419 21:00:41.374902 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292413741926.
I0419 21:00:41.386516 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292413859497.
I0419 21:00:41.406662 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292414060634.
I0419 21:00:41.413712 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292414131650.
I0419 21:00:41.472077 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:41.472460 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292414336177.
I0419 21:00:41.473665 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292414461965.
I0419 21:00:41.474969 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.138967, -0.501003)
I0419 21:00:41.475293 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292414622315.
I0419 21:00:41.477097 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292414735344.
I0419 21:00:41.491035 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.149628, -0.499672), points=21, range=0.520762, residual=0.0101696, extent=0.0305689
I0419 21:00:41.491173 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.149628, -0.499672), tracking=(0.148872, -0.499672), map_predicted=(8.70619, -2.52048), range=0.520762, pts=21
I0419 21:00:41.491206 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00882421m maha_sq=0.00338034 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.70619, -2.52048) lm_pos=(8.715, -2.52) delta=(-0.00881136, -0.000476022) -> 1 candidate(s)
I0419 21:00:41.491324 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292414903381.
I0419 21:00:41.501912 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:41.502012 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:41.502084 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:41.502182 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:41.502206 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292415014485.
I0419 21:00:41.522146 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00503692 range=0.524818 variance=0.000552678 t_weight=5428.12 r_weight=0 yaml=(8.715, -2.52) prior=(8.58234, -2.01891, -1.8227deg) obs_actual=(0.138803, -0.501363) obs_expected=(0.148531, -0.496615) delta=(-0.00972809, -0.00474796) |delta|=0.0108249m
I0419 21:00:41.522303 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292415216271.
I0419 21:00:41.533974 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292415334491.
I0419 21:00:41.550490 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292415495748.
I0419 21:00:41.608574 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292415622065.
I0419 21:00:41.609717 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059958s, prior_pose=(8.5915, -2.02161), yaw=-1.6879 deg
I0419 21:00:41.609812 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=253, threshold=230, above_threshold=32, candidates=32
I0419 21:00:41.610033 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292415815851.
I0419 21:00:41.610939 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292415942532.
I0419 21:00:41.612744 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292416102763.
I0419 21:00:41.621762 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.523246, -0.690082)
I0419 21:00:41.621944 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292416214362.
I0419 21:00:41.638792 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:41.638883 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:41.639038 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292416381095.
I0419 21:00:41.649753 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:41.650081 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:41.650207 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292416492321.
I0419 21:00:41.670336 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292416694447.
I0419 21:00:41.682282 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.53563, -0.693835), points=11, range=0.878182, residual=0.0097432, extent=0.0287734
I0419 21:00:41.682421 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.53563, -0.693835), tracking=(-0.83413, 0.693835), map_predicted=(7.79952, -1.30675), range=0.878182, pts=11
I0419 21:00:41.682475 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0203762m maha_sq=0.018021 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79952, -1.30675) lm_pos=(7.815, -1.32) delta=(-0.015481, 0.0132487) -> 1 candidate(s)
I0419 21:00:41.682713 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292416816167.
I0419 21:00:41.763909 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292416974185.
I0419 21:00:41.765110 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0359192 range=0.883583 variance=0.000548912 t_weight=5465.35 r_weight=0 yaml=(7.815, -1.32) prior=(8.61592, -2.02133, -1.54893deg) obs_actual=(-0.844914, 0.69308) obs_expected=(-0.819588, 0.679424) delta=(-0.0253263, 0.0136557) |delta|=0.0287732m
I0419 21:00:41.765228 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292417097080.
I0419 21:00:41.766453 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:41.766568 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292417333437.
I0419 21:00:41.768011 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292417378562.
I0419 21:00:41.769258 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.31661 deg, rms_residual=0.0157145m, sigma_yaw=0.0205227 rad, N=2
I0419 21:00:41.769325 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.64458, -2.02952, -1.31661deg) inliers=2 rms=0.0157145m
I0419 21:00:41.769357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292417573501.
I0419 21:00:41.770344 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.560771, -0.696557)
I0419 21:00:41.770445 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292417700392.
I0419 21:00:41.786954 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292417856064.
I0419 21:00:41.798511 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:41.798676 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:41.798795 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:41.798926 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:41.798967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292417977371.
I0419 21:00:41.818795 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292418176400.
I0419 21:00:41.876632 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292418258588.
I0419 21:00:41.877813 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292418462072.
I0419 21:00:41.878706 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292418540582.
I0419 21:00:41.880373 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475118s, prior_pose=(8.68267, -2.02613), yaw=-1.23951 deg
I0419 21:00:41.880483 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 21:00:41.880610 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.623215, 0.736086), points=10, range=0.9685, residual=0.0143774, extent=0.0448363
I0419 21:00:41.880679 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.623215, 0.736086), tracking=(0.921715, 0.736086), map_predicted=(9.62009, -1.31015), range=0.9685, pts=10
I0419 21:00:41.880703 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0110862m maha_sq=0.00527885 (gate chi2=5.99) pose_sigma=(0.150423, 0.150423, rho=0) det_map=(9.62009, -1.31015) lm_pos=(9.615, -1.32) delta=(0.0050946, 0.00984628) -> 1 candidate(s)
I0419 21:00:41.880791 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292418733706.
I0419 21:00:41.886665 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.592085, -0.698965)
I0419 21:00:41.886929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292418858639.
I0419 21:00:41.906715 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00667626 range=0.962917 variance=0.000659624 t_weight=4548.04 r_weight=0 yaml=(9.615, -1.32) prior=(8.68267, -2.02613, -1.23951deg) obs_actual=(0.924952, 0.735551) obs_expected=(0.916835, 0.726132) delta=(0.00811782, 0.00941917) |delta|=0.0124346m
I0419 21:00:41.906898 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292419055632.
I0419 21:00:41.914350 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292419133742.
I0419 21:00:41.938759 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=41, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:41.938910 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:41.939157 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292419376809.
I0419 21:00:41.946261 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:41.946419 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:41.946549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292419454932.
I0419 21:00:42.042186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292419620901.
I0419 21:00:42.043120 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292419733851.
I0419 21:00:42.044116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292419942193.
I0419 21:00:42.045514 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292420020967.
I0419 21:00:42.046511 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:42.046582 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292420218645.
I0419 21:00:42.047314 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.630966, -0.704804)
I0419 21:00:42.047401 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292420342727.
I0419 21:00:42.048317 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.71984, -2.02403), yaw=-0.90468 deg backend=(8.65846, -2.02568)
I0419 21:00:42.050734 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292420499463.
I0419 21:00:42.062476 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292420615072.
I0419 21:00:42.082650 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292420815604.
I0419 21:00:42.171895 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:42.171989 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.648188, -0.707336), points=8, range=0.95925, residual=0.00834405, extent=0.0237726
I0419 21:00:42.172010 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:42.172012 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:42.172022 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.648188, -0.707336), tracking=(-0.946688, 0.707336), map_predicted=(7.80042, -1.30488), range=0.95925, pts=8
I0419 21:00:42.172088 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0210086m maha_sq=0.0188512 (gate chi2=5.99) pose_sigma=(0.151312, 0.151312, rho=0) det_map=(7.80042, -1.30488) lm_pos=(7.815, -1.32) delta=(-0.014583, 0.0151228) -> 1 candidate(s)
I0419 21:00:42.172145 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:42.172184 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:42.172201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292420936044.
I0419 21:00:42.173030 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292421096631.
I0419 21:00:42.173903 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0356512 range=0.964857 variance=0.000500871 t_weight=5989.56 r_weight=0 yaml=(7.815, -1.32) prior=(8.73738, -2.02505, -0.780714deg) obs_actual=(-0.956285, 0.707426) obs_expected=(-0.9319, 0.692414) delta=(-0.0243852, 0.0150123) |delta|=0.0286358m
I0419 21:00:42.173983 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292421175588.
I0419 21:00:42.175626 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292421376608.
I0419 21:00:42.176643 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292421499278.
I0419 21:00:42.177549 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762946s, prior_pose=(8.749, -2.02665), yaw=-0.706114 deg
I0419 21:00:42.177619 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:00:42.177671 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.549725, 0.720689)
I0419 21:00:42.177736 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292421698990.
I0419 21:00:42.179201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292421779371.
I0419 21:00:42.198619 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292421977479.
I0419 21:00:42.210635 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292422098736.
I0419 21:00:42.268908 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:42.269047 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:42.269434 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292422258705.
I0419 21:00:42.270445 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:42.270510 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:42.270555 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292422381540.
I0419 21:00:42.271430 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292422577039.
I0419 21:00:42.272975 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292422696668.
I0419 21:00:42.285953 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.515619, 0.716163), points=12, range=0.885417, residual=0.0127428, extent=0.0378795
I0419 21:00:42.286068 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.515619, 0.716163), tracking=(0.814119, 0.716163), map_predicted=(9.60417, -1.31902), range=0.885417, pts=12
I0419 21:00:42.286110 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0108762m maha_sq=0.00511935 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60417, -1.31902) lm_pos=(9.615, -1.32) delta=(-0.0108323, 0.00097637) -> 1 candidate(s)
I0419 21:00:42.286197 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292422854484.
I0419 21:00:42.298858 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292422980400.
I0419 21:00:42.314023 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.44123, -0.489226)
I0419 21:00:42.314133 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:42.314195 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00213714 range=0.878154 variance=0.000602066 t_weight=4982.84 r_weight=0 yaml=(9.615, -1.32) prior=(8.79745, -2.0276, -0.453664deg) obs_actual=(0.804854, 0.714227) obs_expected=(0.811927, 0.714047) delta=(-0.00707305, 0.000180336) |delta|=0.00707535m
I0419 21:00:42.314247 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292423136507.
I0419 21:00:42.326332 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292423257222.
I0419 21:00:42.346830 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292423462179.
I0419 21:00:42.415068 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292423544923.
I0419 21:00:42.416194 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292423735018.
I0419 21:00:42.417030 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:42.417128 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:42.417184 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:42.417207 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.385306 deg, rms_residual=0.0128712m, sigma_yaw=0.016872 rad, N=2
I0419 21:00:42.417275 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.82735, -2.03038, -0.385306deg) inliers=2 rms=0.0128712m
I0419 21:00:42.417302 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:42.417318 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292423861512.
I0419 21:00:42.419005 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292424058186.
I0419 21:00:42.419843 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292424138181.
I0419 21:00:42.434228 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292424337886.
I0419 21:00:42.446712 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292424461257.
I0419 21:00:42.461984 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055817s, prior_pose=(8.83919, -2.02866), yaw=-0.35488 deg
I0419 21:00:42.462100 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:00:42.462258 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292424616356.
I0419 21:00:42.474336 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(-0.171253, 0.501885)
I0419 21:00:42.474438 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.168773, 0.501819), points=21, range=0.530381, residual=0.0106945, extent=0.032311
I0419 21:00:42.474469 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.168773, 0.501819), tracking=(-0.129727, -0.501819), map_predicted=(8.70636, -2.52966), range=0.530381, pts=21
I0419 21:00:42.474496 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0129656m maha_sq=0.00729432 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.70636, -2.52966) lm_pos=(8.715, -2.52) delta=(-0.00864332, -0.0096644) -> 1 candidate(s)
I0419 21:00:42.474596 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292424738412.
I0419 21:00:42.517381 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292424901701.
I0419 21:00:42.518527 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00128537 range=0.526478 variance=0.000555919 t_weight=5396.47 r_weight=0 yaml=(8.715, -2.52) prior=(8.85802, -2.0252, -0.260775deg) obs_actual=(-0.137637, -0.499899) obs_expected=(-0.140762, -0.495442) delta=(0.00312569, -0.00445708) |delta|=0.00544385m
I0419 21:00:42.518656 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292425016002.
I0419 21:00:42.522188 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:42.522310 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:42.522467 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292425213883.
I0419 21:00:42.534066 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:42.534369 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:42.534593 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292425335859.
I0419 21:00:42.550015 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292425495551.
I0419 21:00:42.562260 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292425616692.
I0419 21:00:42.578667 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292425776528.
I0419 21:00:42.590519 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292425895879.
I0419 21:00:42.610766 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:42.611039 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426100263.
I0419 21:00:42.700232 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426179822.
I0419 21:00:42.701352 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.34339, -0.49781)
I0419 21:00:42.701517 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426377530.
I0419 21:00:42.702342 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.790368, -0.717911), points=5, range=1.0692, residual=0.00616811, extent=0.0159686
I0419 21:00:42.702425 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.790368, -0.717911), tracking=(-1.08887, 0.717911), map_predicted=(7.79113, -1.30422), range=1.0692, pts=5
I0419 21:00:42.702453 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0286152m maha_sq=0.0356142 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79113, -1.30422) lm_pos=(7.815, -1.32) delta=(-0.0238711, 0.0157796) -> 1 candidate(s)
I0419 21:00:42.702531 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426492640.
I0419 21:00:42.704303 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.000813456 range=0.820923 variance=0.000553895 t_weight=5416.18 r_weight=0 yaml=(9.615, -1.32) prior=(8.89327, -2.02512, -0.0353288deg) obs_actual=(0.716934, 0.705586) obs_expected=(0.721295, 0.705565) delta=(-0.00436096, 2.18264e-05) |delta|=0.00436101m
I0419 21:00:42.704420 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426698008.
I0419 21:00:42.705133 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:42.705192 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:42.705237 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:42.705284 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:42.705307 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426779113.
I0419 21:00:42.706338 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292426978336.
I0419 21:00:42.707862 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292427061282.
I0419 21:00:42.727146 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292427260738.
I0419 21:00:42.738416 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292427371738.
I0419 21:00:42.840349 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480435s, prior_pose=(8.90946, -2.02225), yaw=0.100858 deg
I0419 21:00:42.840468 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:00:42.840619 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292427541717.
I0419 21:00:42.841588 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292427655406.
I0419 21:00:42.842581 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.30761, -0.508496)
I0419 21:00:42.842700 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292427852004.
I0419 21:00:42.844329 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.327039 deg, rms_residual=0.0108776m, sigma_yaw=0.0142961 rad, N=2
I0419 21:00:42.844439 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.94022, -2.02771, 0.327039deg) inliers=2 rms=0.0108776m
I0419 21:00:42.844471 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292427979510.
I0419 21:00:42.845526 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:42.845587 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:42.845610 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30147, -0.510477), points=3, range=1.39567, residual=0.00566533, extent=0.0113958
I0419 21:00:42.845631 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.30147, -0.510477), tracking=(1.59997, -0.510477), map_predicted=(10.5272, -2.53016), range=1.39567, pts=3
I0419 21:00:42.845651 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0158709m maha_sq=0.0109487 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5272, -2.53016) lm_pos=(10.515, -2.52) delta=(0.012189, -0.0101643) -> 1 candidate(s)
I0419 21:00:42.845726 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292428181044.
I0419 21:00:42.846482 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:42.846540 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:42.846568 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0190689 range=0.505348 variance=0.000536693 t_weight=5589.79 r_weight=0 yaml=(8.715, -2.52) prior=(8.92592, -2.02379, 0.146946deg) obs_actual=(-0.232595, -0.500457) obs_expected=(-0.212191, -0.495665) delta=(-0.0204039, -0.00479217) |delta|=0.0209591m
I0419 21:00:42.846624 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292428258714.
I0419 21:00:42.848263 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292428462209.
I0419 21:00:42.854734 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292428540265.
I0419 21:00:42.875160 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292428741932.
I0419 21:00:42.974987 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292428860228.
I0419 21:00:42.976037 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:42.976131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429023561.
I0419 21:00:42.976984 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429140539.
I0419 21:00:42.977955 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.97359, -2.02283), yaw=0.359556 deg backend=(8.92314, -2.02376)
I0419 21:00:42.978636 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.2614, -0.520305)
I0419 21:00:42.978735 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429334851.
I0419 21:00:42.979537 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429413824.
I0419 21:00:42.980455 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.342427, 0.696825), points=16, range=0.777188, residual=0.0119094, extent=0.0358263
I0419 21:00:42.980502 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.342427, 0.696825), tracking=(0.640927, 0.696825), map_predicted=(9.61013, -1.322), range=0.777188, pts=16
I0419 21:00:42.980527 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.00526106m maha_sq=0.00119915 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61013, -1.322) lm_pos=(9.615, -1.32) delta=(-0.00486691, -0.00199797) -> 1 candidate(s)
I0419 21:00:42.980592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429612483.
I0419 21:00:42.982017 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:42.982079 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:42.982118 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:42.982159 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:42.982179 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429733553.
I0419 21:00:42.990937 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0175678 range=1.35125 variance=0.00053397 t_weight=5618.29 r_weight=0 yaml=(10.515, -2.52) prior=(8.98106, -2.01841, 0.434354deg) obs_actual=(1.54822, -0.521916) obs_expected=(1.53009, -0.513207) delta=(0.0181331, -0.00870902) |delta|=0.0201161m
I0419 21:00:42.991155 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292429901288.
I0419 21:00:43.002756 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430020720.
I0419 21:00:43.088865 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430212089.
I0419 21:00:43.090428 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430300950.
I0419 21:00:43.091661 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759665s, prior_pose=(8.98143, -2.02246), yaw=0.588027 deg
I0419 21:00:43.091756 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:00:43.091953 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430493218.
I0419 21:00:43.093936 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430612646.
I0419 21:00:43.095148 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.21718, -0.522897)
I0419 21:00:43.095315 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430774737.
I0419 21:00:43.096310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292430895408.
I0419 21:00:43.110378 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:43.110461 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:43.110491 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.302719, 0.693391), points=17, range=0.757706, residual=0.0119489, extent=0.0378339
I0419 21:00:43.110512 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.302719, 0.693391), tracking=(0.601219, 0.693391), map_predicted=(9.60508, -1.31936), range=0.757706, pts=17
I0419 21:00:43.110534 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.00993575m maha_sq=0.00420578 (gate chi2=5.99) pose_sigma=(0.151295, 0.151295, rho=0) det_map=(9.60508, -1.31936) lm_pos=(9.615, -1.32) delta=(-0.00991509, 0.000640491) -> 1 candidate(s)
I0419 21:00:43.110594 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.0480904 deg, rms_residual=0.0101507m, sigma_yaw=0.0133536 rad, N=2
I0419 21:00:43.110638 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.00827, -2.00577, 0.0480904deg) inliers=2 rms=0.0101507m
I0419 21:00:43.110677 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292431099350.
I0419 21:00:43.118134 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:43.118227 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:43.118297 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292431176561.
I0419 21:00:43.137907 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0165667 range=0.7545 variance=0.000591225 t_weight=5074.21 r_weight=0 yaml=(9.615, -1.32) prior=(9.01179, -2.01954, 0.651317deg) obs_actual=(0.591575, 0.693181) obs_expected=(0.611126, 0.692638) delta=(-0.0195512, 0.000543687) |delta|=0.0195587m
I0419 21:00:43.138082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292431373452.
I0419 21:00:43.218562 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292431494296.
I0419 21:00:43.219727 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292431699062.
I0419 21:00:43.220706 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292431780914.
I0419 21:00:43.222577 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:43.222743 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292431974522.
I0419 21:00:43.224011 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432052178.
I0419 21:00:43.227032 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17617, -0.529808)
I0419 21:00:43.227262 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432262211.
I0419 21:00:43.239125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432380387.
I0419 21:00:43.255024 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432542068.
I0419 21:00:43.266384 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:43.266530 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.959439, -0.733979), points=5, range=1.2068, residual=0.00670174, extent=0.0166753
I0419 21:00:43.266577 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:43.266611 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.959439, -0.733979), tracking=(-1.25794, 0.733979), map_predicted=(7.78429, -1.29785), range=1.2068, pts=5
I0419 21:00:43.266654 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0378668m maha_sq=0.062326 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.78429, -1.29785) lm_pos=(7.815, -1.32) delta=(-0.0307142, 0.0221478) -> 1 candidate(s)
I0419 21:00:43.266762 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:43.266894 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:43.266933 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432654233.
I0419 21:00:43.357285 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0204501 range=0.738765 variance=0.000579093 t_weight=5180.52 r_weight=0 yaml=(9.615, -1.32) prior=(9.05062, -2.01739, 0.901042deg) obs_actual=(0.553768, 0.691859) obs_expected=(0.575273, 0.688425) delta=(-0.0215049, 0.00343496) |delta|=0.0217775m
I0419 21:00:43.357443 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432861059.
I0419 21:00:43.358374 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292432981131.
I0419 21:00:43.359525 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292433137804.
I0419 21:00:43.361406 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292433253626.
I0419 21:00:43.362527 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594223s, prior_pose=(9.06378, -2.01327), yaw=0.913648 deg
I0419 21:00:43.362600 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:00:43.362756 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292433455282.
I0419 21:00:43.363740 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292433535334.
I0419 21:00:43.374390 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13781, -0.536607)
I0419 21:00:43.374879 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292433735227.
I0419 21:00:43.387184 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292433860409.
I0419 21:00:43.402339 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:43.402513 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:43.402781 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292434016760.
I0419 21:00:43.498921 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:43.499009 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:43.499861 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292434140650.
I0419 21:00:43.502679 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216604, 0.690413), points=17, range=0.724706, residual=0.0114557, extent=0.0349014
I0419 21:00:43.502808 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.216604, 0.690413), tracking=(0.515104, 0.690413), map_predicted=(9.59587, -1.30875), range=0.724706, pts=17
I0419 21:00:43.502863 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0221901m maha_sq=0.0213443 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59587, -1.30875) lm_pos=(9.615, -1.32) delta=(-0.0191255, 0.0112523) -> 1 candidate(s)
I0419 21:00:43.503048 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292434301995.
I0419 21:00:43.505045 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292434421151.
I0419 21:00:43.508818 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0292169 range=0.723765 variance=0.000573965 t_weight=5226.8 r_weight=0 yaml=(9.615, -1.32) prior=(9.10282, -2.00706, 1.10642deg) obs_actual=(0.504958, 0.693291) obs_expected=(0.525355, 0.677038) delta=(-0.0203976, 0.0162525) |delta|=0.0260808m
I0419 21:00:43.509006 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292434617163.
I0419 21:00:43.510721 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.21978 deg, rms_residual=0.0147832m, sigma_yaw=0.0193299 rad, N=2
I0419 21:00:43.510824 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.1359, -2.02478, 1.21978deg) inliers=2 rms=0.0147832m
I0419 21:00:43.510866 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292434694784.
I0419 21:00:43.512594 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:43.512714 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292434892402.
I0419 21:00:43.521405 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292435019470.
I0419 21:00:43.522987 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.10002, -0.542451)
I0419 21:00:43.523164 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292435220678.
I0419 21:00:43.531227 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292435300463.
I0419 21:00:43.626319 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:43.626459 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292435497321.
I0419 21:00:43.627276 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:43.627337 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:43.627382 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:43.627417 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:43.627435 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292435575979.
I0419 21:00:43.628432 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292435778298.
I0419 21:00:43.630029 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.155085, 0.499473), points=22, range=0.524545, residual=0.0109598, extent=0.0341582
I0419 21:00:43.630095 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.155085, 0.499473), tracking=(-0.453585, -0.499473), map_predicted=(8.68953, -2.50888), range=0.524545, pts=22
I0419 21:00:43.630121 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0277864m maha_sq=0.0329918 (gate chi2=5.99) pose_sigma=(0.151163, 0.151163, rho=0) det_map=(8.68953, -2.50888) lm_pos=(8.715, -2.52) delta=(-0.0254661, 0.0111158) -> 1 candidate(s)
I0419 21:00:43.630179 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292435897181.
I0419 21:00:43.631336 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292436096463.
I0419 21:00:43.632360 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.24247 range=1.299 variance=0.00054499 t_weight=5504.69 r_weight=0 yaml=(7.815, -1.32) prior=(9.13182, -1.99938, 1.28268deg) obs_actual=(-1.3634, 0.750276) obs_expected=(-1.30129, 0.70869) delta=(-0.0621151, 0.0415865) |delta|=0.0747511m
I0419 21:00:43.632436 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292436214124.
I0419 21:00:43.638245 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481571s, prior_pose=(9.15523, -2.00703), yaw=1.35617 deg
I0419 21:00:43.638334 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:43.638502 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292436378752.
I0419 21:00:43.646708 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292436461087.
I0419 21:00:43.665957 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.05129, -0.551128)
I0419 21:00:43.666157 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292436653993.
I0419 21:00:43.735760 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292436779012.
I0419 21:00:43.736833 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:43.736902 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:43.736928 1218530 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:00:43.737040 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292436981955.
I0419 21:00:43.737869 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:43.737936 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:43.737982 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437059103.
I0419 21:00:43.739679 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437258849.
I0419 21:00:43.740681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437380619.
I0419 21:00:43.754190 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02749, -0.555931), points=5, range=1.164, residual=0.0119235, extent=0.0292942
I0419 21:00:43.754293 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02749, -0.555931), tracking=(1.32599, -0.555931), map_predicted=(10.5301, -2.53209), range=1.164, pts=5
I0419 21:00:43.754326 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.019309m maha_sq=0.0161394 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5301, -2.53209) lm_pos=(10.515, -2.52) delta=(0.0150573, -0.0120877) -> 1 candidate(s)
I0419 21:00:43.754452 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437536972.
I0419 21:00:43.766626 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00496084 range=0.541818 variance=0.0005808 t_weight=5165.29 r_weight=0 yaml=(8.715, -2.52) prior=(9.19903, -2.00601, 1.54875deg) obs_actual=(-0.507956, -0.497363) obs_expected=(-0.497743, -0.500724) delta=(-0.0102131, 0.00336152) |delta|=0.0107521m
I0419 21:00:43.766745 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437658636.
I0419 21:00:43.786235 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:43.786417 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437855006.
I0419 21:00:43.794072 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.43773 deg, rms_residual=0.0180293m, sigma_yaw=0.0234747 rad, N=2
I0419 21:00:43.794186 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.22816, -2.02381, 1.43773deg) inliers=2 rms=0.0180293m
I0419 21:00:43.794227 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292437936072.
I0419 21:00:43.855476 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.20304, -2.00991), yaw=1.64415 deg backend=(9.12395, -2.01434)
I0419 21:00:43.856442 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.00635, -0.557785)
I0419 21:00:43.856624 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292438138655.
I0419 21:00:43.857543 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292438216870.
I0419 21:00:43.858582 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292438414966.
I0419 21:00:43.860159 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:43.860232 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:43.860325 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:43.860357 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:43.860374 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292438532971.
I0419 21:00:43.874256 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292438737048.
I0419 21:00:43.881881 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292438813906.
I0419 21:00:43.902426 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0914033, 0.678887), points=19, range=0.686526, residual=0.0116001, extent=0.037027
I0419 21:00:43.902534 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0914033, 0.678887), tracking=(0.389903, 0.678887), map_predicted=(9.60442, -1.32048), range=0.686526, pts=19
I0419 21:00:43.902567 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.010589m maha_sq=0.0047646 (gate chi2=5.99) pose_sigma=(0.151532, 0.151532, rho=0) det_map=(9.60442, -1.32048) lm_pos=(9.615, -1.32) delta=(-0.0105779, -0.000484311) -> 1 candidate(s)
I0419 21:00:43.902667 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292439020128.
I0419 21:00:43.914398 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292439138739.
I0419 21:00:43.929454 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758564s, prior_pose=(9.23604, -2.01128), yaw=1.80016 deg
I0419 21:00:43.929548 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:43.929723 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0171037 range=0.683947 variance=0.000576256 t_weight=5206.02 r_weight=0 yaml=(9.615, -1.32) prior=(9.23604, -2.01128, 1.80016deg) obs_actual=(0.380686, 0.677472) obs_expected=(0.400491, 0.679039) delta=(-0.0198049, -0.00156727) |delta|=0.0198668m
I0419 21:00:43.929781 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292439291535.
I0419 21:00:44.004618 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292439419670.
I0419 21:00:44.005693 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.962192, -0.562979)
I0419 21:00:44.005856 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292439617429.
I0419 21:00:44.006603 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292439695048.
I0419 21:00:44.008246 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:44.008335 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:44.008416 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292439897812.
I0419 21:00:44.009253 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:44.009315 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:44.009351 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292439976552.
I0419 21:00:44.018428 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292440177163.
I0419 21:00:44.031834 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292440304516.
I0419 21:00:44.050443 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292440494427.
I0419 21:00:44.058447 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292440575056.
I0419 21:00:44.143424 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0413182, 0.675846), points=20, range=0.6784, residual=0.012583, extent=0.0388519
I0419 21:00:44.143541 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:44.143558 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0413182, 0.675846), tracking=(0.339818, 0.675846), map_predicted=(9.58184, -1.31461), range=0.6784, pts=20
I0419 21:00:44.143584 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.033597m maha_sq=0.0482613 (gate chi2=5.99) pose_sigma=(0.150976, 0.150976, rho=0) det_map=(9.58184, -1.31461) lm_pos=(9.615, -1.32) delta=(-0.033161, 0.00539498) -> 1 candidate(s)
I0419 21:00:44.143679 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292440775148.
I0419 21:00:44.144593 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292440867878.
I0419 21:00:44.145628 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.919342, -0.566991)
I0419 21:00:44.145733 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0027348 range=1.08014 variance=0.000633046 t_weight=4738.99 r_weight=0 yaml=(10.515, -2.52) prior=(9.26702, -2.00245, 2.10087deg) obs_actual=(1.22166, -0.567524) obs_expected=(1.22816, -0.562948) delta=(-0.00650541, -0.00457645) |delta|=0.00795388m
I0419 21:00:44.145799 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441053695.
I0419 21:00:44.147333 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441180413.
I0419 21:00:44.148402 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441378907.
I0419 21:00:44.149205 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:44.149255 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:44.149295 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:44.149338 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:44.149358 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441456305.
I0419 21:00:44.166046 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.34827 deg, rms_residual=0.012653m, sigma_yaw=0.0165907 rad, N=2
I0419 21:00:44.166173 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.30234, -1.98725, 1.34827deg) inliers=2 rms=0.012653m
I0419 21:00:44.166215 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441654969.
I0419 21:00:44.174595 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441741581.
I0419 21:00:44.194582 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292441938200.
I0419 21:00:44.257534 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292442056836.
I0419 21:00:44.258544 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598553s, prior_pose=(9.32177, -1.99888), yaw=2.1558 deg
I0419 21:00:44.258630 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:44.258742 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0087317, 0.669422), points=21, range=0.671524, residual=0.013517, extent=0.0432879
I0419 21:00:44.258767 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0087317, 0.669422), tracking=(0.307232, 0.669422), map_predicted=(9.60361, -1.31838), range=0.671524, pts=21
I0419 21:00:44.258786 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0115096m maha_sq=0.00572997 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60361, -1.31838) lm_pos=(9.615, -1.32) delta=(-0.0113944, 0.00162476) -> 1 candidate(s)
I0419 21:00:44.258873 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292442253522.
I0419 21:00:44.259770 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292442341129.
I0419 21:00:44.261533 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.869632, -0.574297)
I0419 21:00:44.261659 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0261144 range=1.04217 variance=0.00071346 t_weight=4204.86 r_weight=0 yaml=(10.515, -2.52) prior=(9.33969, -2.0052, 2.26631deg) obs_actual=(1.17393, -0.575752) obs_expected=(1.15403, -0.560871) delta=(0.0198982, -0.0148806) |delta|=0.0248469m
I0419 21:00:44.261723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292442538046.
I0419 21:00:44.266209 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292442655737.
I0419 21:00:44.282155 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:44.282279 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:44.282498 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292442816509.
I0419 21:00:44.293934 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:44.294021 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:44.294106 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292442934625.
I0419 21:00:44.314481 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292443138651.
I0419 21:00:44.321770 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292443213231.
I0419 21:00:44.390574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292443412952.
I0419 21:00:44.391546 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292443574953.
I0419 21:00:44.392535 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:44.392627 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292443742972.
I0419 21:00:44.394344 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292443821703.
I0419 21:00:44.402252 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.828463, -0.578846)
I0419 21:00:44.402329 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832147, -0.579055), points=6, range=1.01067, residual=0.0106915, extent=0.0297464
I0419 21:00:44.402359 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.832147, -0.579055), tracking=(1.13065, -0.579055), map_predicted=(10.5245, -2.52483), range=1.01067, pts=6
I0419 21:00:44.402386 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0106857m maha_sq=0.00495054 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5245, -2.52483) lm_pos=(10.515, -2.52) delta=(0.00953319, -0.00482718) -> 1 candidate(s)
I0419 21:00:44.402493 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292444017982.
I0419 21:00:44.413574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292444131570.
I0419 21:00:44.430501 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00329495 range=1.00233 variance=0.000567176 t_weight=5289.36 r_weight=0 yaml=(10.515, -2.52) prior=(9.37893, -1.99355, 2.56315deg) obs_actual=(1.11956, -0.579878) obs_expected=(1.11139, -0.576731) delta=(0.00817388, -0.00314703) |delta|=0.00875877m
I0419 21:00:44.430788 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292444292645.
I0419 21:00:44.442487 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:44.442655 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:44.442770 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:44.442884 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:44.442929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292444415829.
I0419 21:00:44.462379 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292444612739.
I0419 21:00:44.563738 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292444737634.
I0419 21:00:44.564635 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292444898614.
I0419 21:00:44.565491 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292444980427.
I0419 21:00:44.567193 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483875s, prior_pose=(9.40937, -1.99013), yaw=2.73018 deg
I0419 21:00:44.567278 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:44.567440 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292445221509.
I0419 21:00:44.568265 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292445299745.
I0419 21:00:44.569305 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.77904, -0.581656)
I0419 21:00:44.569398 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.63557 deg, rms_residual=0.00588453m, sigma_yaw=0.00778496 rad, N=2
I0419 21:00:44.569437 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.42008, -1.99297, 2.63557deg) inliers=2 rms=0.00588453m
I0419 21:00:44.569463 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292445499117.
I0419 21:00:44.570803 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.44449, 0.489301), points=15, range=0.6636, residual=0.0111209, extent=0.030166
I0419 21:00:44.570868 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.44449, 0.489301), tracking=(-0.74299, -0.489301), map_predicted=(8.70402, -2.51552), range=0.6636, pts=15
I0419 21:00:44.570894 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0118553m maha_sq=0.0060194 (gate chi2=5.99) pose_sigma=(0.150962, 0.150962, rho=0) det_map=(8.70402, -2.51552) lm_pos=(8.715, -2.52) delta=(-0.0109752, 0.00448265) -> 1 candidate(s)
I0419 21:00:44.570958 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292445577500.
I0419 21:00:44.578549 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:44.578662 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:44.578837 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292445776274.
I0419 21:00:44.586309 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:44.586539 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:44.586647 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.115772 range=1.52533 variance=0.000542187 t_weight=5533.15 r_weight=0 yaml=(7.815, -1.32) prior=(9.42223, -1.99051, 2.79931deg) obs_actual=(-1.6148, 0.777942) obs_expected=(-1.57257, 0.748207) delta=(-0.0422317, 0.0297343) |delta|=0.0516493m
I0419 21:00:44.587857 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292445853916.
I0419 21:00:44.687223 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292446062333.
I0419 21:00:44.688246 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292446181470.
I0419 21:00:44.689373 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292446374983.
I0419 21:00:44.690879 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292446453919.
I0419 21:00:44.691862 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:44.691941 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292446654209.
I0419 21:00:44.692694 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292446780040.
I0419 21:00:44.693707 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.4532, -1.99007), yaw=2.92101 deg backend=(9.39024, -2.00104)
I0419 21:00:44.694765 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.736376, -0.587431)
I0419 21:00:44.694893 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292446938354.
I0419 21:00:44.707027 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292447061268.
I0419 21:00:44.726434 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.728532, -0.586373), points=10, range=0.933, residual=0.0133881, extent=0.0409992
I0419 21:00:44.726605 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.728532, -0.586373), tracking=(1.02703, -0.586373), map_predicted=(10.5088, -2.52335), range=0.933, pts=10
I0419 21:00:44.726670 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00706724m maha_sq=0.00215973 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5088, -2.52335) lm_pos=(10.515, -2.52) delta=(-0.00622344, -0.00334883) -> 1 candidate(s)
I0419 21:00:44.726859 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292447255863.
I0419 21:00:44.830003 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:44.830097 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:44.830149 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:44.830184 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:44.830204 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292447338080.
I0419 21:00:44.831213 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00504545 range=0.928875 variance=0.000612533 t_weight=4897.69 r_weight=0 yaml=(10.515, -2.52) prior=(9.46281, -1.98822, 2.96557deg) obs_actual=(1.01281, -0.588195) obs_expected=(1.02327, -0.585502) delta=(-0.0104576, -0.00269308) |delta|=0.0107988m
I0419 21:00:44.831300 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292447536742.
I0419 21:00:44.832170 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292447697863.
I0419 21:00:44.833772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292447813237.
I0419 21:00:44.834719 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292447931605.
I0419 21:00:44.835644 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0794694s, prior_pose=(9.47532, -1.98844), yaw=2.98791 deg
I0419 21:00:44.835700 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:00:44.835837 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292448132774.
I0419 21:00:44.837316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292448220914.
I0419 21:00:44.842301 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.692485, -0.58926)
I0419 21:00:44.842460 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292448419490.
I0419 21:00:44.854424 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292448539449.
I0419 21:00:44.935564 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:44.935662 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:44.935762 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292448699007.
I0419 21:00:44.936790 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:44.936851 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:44.936898 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292448812922.
I0419 21:00:44.937888 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292449022555.
I0419 21:00:44.939287 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.558177, 0.489446), points=12, range=0.74075, residual=0.0103399, extent=0.0327208
I0419 21:00:44.939368 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.558177, 0.489446), tracking=(-0.856677, -0.489446), map_predicted=(8.68966, -2.52175), range=0.74075, pts=12
I0419 21:00:44.939390 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.025399m maha_sq=0.0275742 (gate chi2=5.99) pose_sigma=(0.151162, 0.151162, rho=0) det_map=(8.68966, -2.52175) lm_pos=(8.715, -2.52) delta=(-0.0253385, -0.00175209) -> 1 candidate(s)
I0419 21:00:44.939441 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292449102234.
I0419 21:00:44.940480 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292449293791.
I0419 21:00:44.942085 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0300145 range=0.747769 variance=0.000556318 t_weight=5392.6 r_weight=0 yaml=(8.715, -2.52) prior=(9.51929, -1.98775, 3.02735deg) obs_actual=(-0.857087, -0.494144) obs_expected=(-0.831282, -0.489035) delta=(-0.0258054, -0.00510926) |delta|=0.0263064m
I0419 21:00:44.942204 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292449415955.
I0419 21:00:44.958246 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:44.958474 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292449576740.
I0419 21:00:44.970371 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292449698411.
I0419 21:00:44.990032 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.653982, -0.583774)
I0419 21:00:44.990334 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.5208 deg, rms_residual=0.0116591m, sigma_yaw=0.0153076 rad, N=2
I0419 21:00:44.990468 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.53971, -1.98756, 2.5208deg) inliers=2 rms=0.0116591m
I0419 21:00:44.990543 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292449892707.
I0419 21:00:45.073356 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292450019104.
I0419 21:00:45.073473 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:45.074368 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292450181576.
I0419 21:00:45.075188 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:45.075246 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:45.075290 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:45.075328 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:45.075347 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292450292429.
I0419 21:00:45.076957 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292450464656.
I0419 21:00:45.077850 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292450581867.
I0419 21:00:45.078832 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.230167, 0.674768), points=18, range=0.714611, residual=0.012272, extent=0.0360053
I0419 21:00:45.078881 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.230167, 0.674768), tracking=(0.0683335, 0.674768), map_predicted=(9.59428, -1.31012), range=0.714611, pts=18
I0419 21:00:45.078907 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0229494m maha_sq=0.0228112 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59428, -1.31012) lm_pos=(9.615, -1.32) delta=(-0.0207159, 0.00987555) -> 1 candidate(s)
I0419 21:00:45.078963 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292450777022.
I0419 21:00:45.090119 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=10, centroid=(0.600472, 0.499352)
I0419 21:00:45.090484 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292450892321.
I0419 21:00:45.106936 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597209s, prior_pose=(9.56911, -1.98703), yaw=2.52762 deg
I0419 21:00:45.107151 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:45.107609 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00176391 range=0.8505 variance=0.000609831 t_weight=4919.4 r_weight=0 yaml=(10.515, -2.52) prior=(9.56911, -1.98703, 2.52762deg) obs_actual=(0.925255, -0.579301) obs_expected=(0.921461, -0.574166) delta=(0.00379382, -0.00513523) |delta|=0.00638464m
I0419 21:00:45.107774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451061865.
I0419 21:00:45.118752 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451177176.
I0419 21:00:45.208343 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451341655.
I0419 21:00:45.209410 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451455374.
I0419 21:00:45.210426 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:45.210489 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:45.210578 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451652795.
I0419 21:00:45.212350 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:45.212422 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:45.212464 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451741888.
I0419 21:00:45.213449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292451932068.
I0419 21:00:45.214377 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(-0.335866, -0.66625)
I0419 21:00:45.214481 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452093863.
I0419 21:00:45.222570 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.28866, 0.674474), points=17, range=0.730529, residual=0.0138742, extent=0.0379448
I0419 21:00:45.222657 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.28866, 0.674474), tracking=(0.00983972, 0.674474), map_predicted=(9.59571, -1.30781), range=0.730529, pts=17
I0419 21:00:45.222685 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0228179m maha_sq=0.0221966 (gate chi2=5.99) pose_sigma=(0.151082, 0.151082, rho=0) det_map=(9.59571, -1.30781) lm_pos=(9.615, -1.32) delta=(-0.0192868, 0.0121933) -> 1 candidate(s)
I0419 21:00:45.222760 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452217867.
I0419 21:00:45.234720 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452339821.
I0419 21:00:45.254846 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:45.255029 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00110586 range=0.82125 variance=0.000574141 t_weight=5225.19 r_weight=0 yaml=(10.515, -2.52) prior=(9.61106, -1.98218, 2.13985deg) obs_actual=(0.887, -0.574553) obs_expected=(0.883224, -0.571199) delta=(0.00377687, -0.0033544) |delta|=0.00505141m
I0419 21:00:45.255134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452538756.
I0419 21:00:45.361826 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452654820.
I0419 21:00:45.363019 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452827720.
I0419 21:00:45.363957 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.75893 deg, rms_residual=0.0094824m, sigma_yaw=0.0124853 rad, N=2
I0419 21:00:45.364022 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.64317, -1.97494, 2.75893deg) inliers=2 rms=0.0094824m
I0419 21:00:45.364053 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292452934124.
I0419 21:00:45.365778 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453094552.
I0419 21:00:45.366972 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.297562, -0.663169)
I0419 21:00:45.367022 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:45.367043 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:45.367079 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:45.367185 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:45.367204 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453215355.
I0419 21:00:45.368388 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453416718.
I0419 21:00:45.370100 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453501916.
I0419 21:00:45.371341 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.331926, 0.672974), points=15, range=0.7482, residual=0.0121775, extent=0.0341664
I0419 21:00:45.371433 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.331926, 0.672974), tracking=(-0.0334258, 0.672974), map_predicted=(9.59608, -1.30761), range=0.7482, pts=15
I0419 21:00:45.371460 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.022611m maha_sq=0.0221445 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59608, -1.30761) lm_pos=(9.615, -1.32) delta=(-0.0189166, 0.0123863) -> 1 candidate(s)
I0419 21:00:45.371523 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453700922.
I0419 21:00:45.379133 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453785555.
I0419 21:00:45.446082 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0474761s, prior_pose=(9.65289, -1.97749), yaw=1.78485 deg
I0419 21:00:45.446236 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1369, max_intensity=255, threshold=230, above_threshold=39, candidates=39
I0419 21:00:45.446455 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.000638933 range=0.791923 variance=0.000569121 t_weight=5271.28 r_weight=0 yaml=(10.515, -2.52) prior=(9.65289, -1.97749, 1.78485deg) obs_actual=(0.843695, -0.572786) obs_expected=(0.844793, -0.569103) delta=(-0.00109816, -0.0036832) |delta|=0.00384343m
I0419 21:00:45.446514 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292453976677.
I0419 21:00:45.447459 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.690257, 0.512256)
I0419 21:00:45.447593 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454098160.
I0419 21:00:45.448652 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454292818.
I0419 21:00:45.450309 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454382626.
I0419 21:00:45.458443 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=42, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:00:45.458595 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:00:45.458778 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454575095.
I0419 21:00:45.470609 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:45.470717 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:45.470803 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454700854.
I0419 21:00:45.490306 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454895853.
I0419 21:00:45.498289 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.716395, 0.515923)
I0419 21:00:45.498492 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292454977097.
I0419 21:00:45.518599 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.365262, 0.672775), points=11, range=0.764545, residual=0.012455, extent=0.0363786
I0419 21:00:45.518710 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.365262, 0.672775), tracking=(-0.066762, 0.672775), map_predicted=(9.59851, -1.30443), range=0.764545, pts=11
I0419 21:00:45.518746 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0226774m maha_sq=0.0222676 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59851, -1.30443) lm_pos=(9.615, -1.32) delta=(-0.0164907, 0.0155667) -> 1 candidate(s)
I0419 21:00:45.518896 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292455180345.
I0419 21:00:45.593763 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292455294288.
I0419 21:00:45.594744 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 8 -> 6 (threshold=0.03, iters=3)
I0419 21:00:45.594822 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:45.594887 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.000752881 range=0.759571 variance=0.000582727 t_weight=5148.21 r_weight=0 yaml=(10.515, -2.52) prior=(9.70396, -1.97568, 1.49213deg) obs_actual=(0.799679, -0.568062) obs_expected=(0.796595, -0.565257) delta=(0.00308389, -0.00280502) |delta|=0.00416876m
I0419 21:00:45.594945 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292455460285.
I0419 21:00:45.595754 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292455580887.
I0419 21:00:45.596772 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.71092, -1.97665), yaw=1.45196 deg backend=(9.64041, -1.98246)
I0419 21:00:45.597584 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292455776904.
I0419 21:00:45.598378 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292455863175.
I0419 21:00:45.605978 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292456054460.
I0419 21:00:45.617972 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.61515, -0.719113)
I0419 21:00:45.618076 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:45.618109 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:45.618182 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:45.618212 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.15638 deg, rms_residual=0.00937818m, sigma_yaw=0.0123498 rad, N=2
I0419 21:00:45.618270 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.73812, -1.96772, 2.15638deg) inliers=2 rms=0.00937818m
I0419 21:00:45.618305 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:45.618373 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292456174254.
I0419 21:00:45.634809 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292456339674.
I0419 21:00:45.646135 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292456452446.
I0419 21:00:45.749560 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292456654149.
I0419 21:00:45.750612 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292456779843.
I0419 21:00:45.751653 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760925s, prior_pose=(9.73913, -1.9735), yaw=1.33039 deg
I0419 21:00:45.751763 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:00:45.751915 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292456935179.
I0419 21:00:45.753595 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.183638, -0.654609), points=18, range=0.680444, residual=0.0115463, extent=0.0340775
I0419 21:00:45.753700 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.183638, -0.654609), tracking=(-0.114862, 0.654609), map_predicted=(9.62399, -1.31911), range=0.680444, pts=18
I0419 21:00:45.753729 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.00903061m maha_sq=0.00348499 (gate chi2=5.99) pose_sigma=(0.151099, 0.151099, rho=0) det_map=(9.62399, -1.31911) lm_pos=(9.615, -1.32) delta=(0.00898616, 0.000894888) -> 1 candidate(s)
I0419 21:00:45.753826 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292457058300.
I0419 21:00:45.754933 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292457219424.
I0419 21:00:45.755837 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0605316 range=0.9435 variance=0.000519229 t_weight=5777.8 r_weight=0 yaml=(8.715, -2.52) prior=(9.75362, -1.97095, 1.29594deg) obs_actual=(-1.08777, -0.5204) obs_expected=(-1.05078, -0.52542) delta=(-0.036989, 0.00502039) |delta|=0.0373282m
I0419 21:00:45.755935 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292457342098.
I0419 21:00:45.757665 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:45.757732 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:45.757810 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292457540776.
I0419 21:00:45.762475 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:45.762596 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:45.762684 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292457618027.
I0419 21:00:45.782377 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292457818599.
I0419 21:00:45.854573 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.80047, 0.524778)
I0419 21:00:45.854753 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292457980947.
I0419 21:00:45.855765 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292458106780.
I0419 21:00:45.856623 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292458218790.
I0419 21:00:45.858321 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:45.858441 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292458415609.
I0419 21:00:45.859246 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292458492400.
I0419 21:00:45.870901 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292458703254.
I0419 21:00:45.882146 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292458815790.
I0419 21:00:45.899108 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292458982198.
I0419 21:00:45.909797 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:45.909878 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:45.909945 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:45.910009 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:45.910033 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292459093770.
I0419 21:00:45.985433 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.388109, -0.557569), points=18, range=0.6825, residual=0.014726, extent=0.0472992
I0419 21:00:45.985528 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.388109, -0.557569), tracking=(0.686609, -0.557569), map_predicted=(10.5019, -2.5089), range=0.6825, pts=18
I0419 21:00:45.985559 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0172076m maha_sq=0.0127525 (gate chi2=5.99) pose_sigma=(0.150219, 0.150219, rho=0) det_map=(10.5019, -2.5089) lm_pos=(10.515, -2.52) delta=(-0.0131458, 0.0111037) -> 1 candidate(s)
I0419 21:00:45.985663 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292459297104.
I0419 21:00:45.986666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292459414161.
I0419 21:00:45.987843 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.024644 range=0.676889 variance=0.000619914 t_weight=4839.38 r_weight=0 yaml=(10.515, -2.52) prior=(9.80484, -1.96439, 1.08161deg) obs_actual=(0.67894, -0.556865) obs_expected=(0.699543, -0.568919) delta=(-0.0206031, 0.0120531) |delta|=0.0238698m
I0419 21:00:45.987970 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292459574123.
I0419 21:00:45.989684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292459698951.
I0419 21:00:45.990654 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595463s, prior_pose=(9.82325, -1.96196), yaw=1.04494 deg
I0419 21:00:45.990723 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:00:45.990855 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292459892567.
I0419 21:00:45.998219 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0926512, -0.652411)
I0419 21:00:45.998447 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292459974337.
I0419 21:00:46.018437 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292460174448.
I0419 21:00:46.026723 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292460253058.
I0419 21:00:46.046612 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:46.046746 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:46.046926 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292460459094.
I0419 21:00:46.146687 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:46.146790 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:46.146858 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292460541678.
I0419 21:00:46.147890 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292460738312.
I0419 21:00:46.148720 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292460863448.
I0419 21:00:46.150468 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292461062742.
I0419 21:00:46.151262 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.894268, 0.53027), points=4, range=1.03775, residual=0.00552266, extent=0.011679
I0419 21:00:46.151324 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.894268, 0.53027), tracking=(-1.19277, -0.53027), map_predicted=(8.68894, -2.50705), range=1.03775, pts=4
I0419 21:00:46.151350 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0290983m maha_sq=0.0368416 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.68894, -2.50705) lm_pos=(8.715, -2.52) delta=(-0.026058, 0.0129495) -> 1 candidate(s)
I0419 21:00:46.151412 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292461177602.
I0419 21:00:46.152336 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:46.152402 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292461340234.
I0419 21:00:46.153877 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0287934 range=1.04625 variance=0.00051243 t_weight=5854.46 r_weight=0 yaml=(8.715, -2.52) prior=(9.88632, -1.95622, 0.902115deg) obs_actual=(-1.20264, -0.532566) obs_expected=(-1.18005, -0.545268) delta=(-0.0225844, 0.0127017) |delta|=0.0259111m
I0419 21:00:46.153975 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292461453991.
I0419 21:00:46.166298 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292461653071.
I0419 21:00:46.174458 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292461733988.
I0419 21:00:46.274478 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.318645, -0.553491)
I0419 21:00:46.274727 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292461936591.
I0419 21:00:46.275595 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:46.275647 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:46.275695 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:46.275745 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:46.275764 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292462018663.
I0419 21:00:46.276750 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292462212992.
I0419 21:00:46.278380 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292462338661.
I0419 21:00:46.279338 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292462496907.
I0419 21:00:46.280364 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292462621771.
I0419 21:00:46.281921 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440482s, prior_pose=(9.92355, -1.95333), yaw=0.712124 deg
I0419 21:00:46.282007 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:00:46.282137 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292462779143.
I0419 21:00:46.294691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292462936229.
I0419 21:00:46.310829 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292463095710.
I0419 21:00:46.414861 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.951676, 0.53295), points=5, range=1.0884, residual=0.00760723, extent=0.0188591
I0419 21:00:46.414955 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.951676, 0.53295), tracking=(-1.25018, -0.53295), map_predicted=(8.69284, -2.49792), range=1.0884, pts=5
I0419 21:00:46.414984 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0312858m maha_sq=0.0419704 (gate chi2=5.99) pose_sigma=(0.151026, 0.151026, rho=0) det_map=(8.69284, -2.49792) lm_pos=(8.715, -2.52) delta=(-0.0221647, 0.0220801) -> 1 candidate(s)
I0419 21:00:46.415053 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.09102 deg, rms_residual=0.00823939m, sigma_yaw=0.0108665 rad, N=2
I0419 21:00:46.415095 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.93995, -1.94838, 2.09102deg) inliers=2 rms=0.00823939m
I0419 21:00:46.415129 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292463220872.
I0419 21:00:46.416159 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:46.416211 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:46.416293 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292463412970.
I0419 21:00:46.417194 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:46.417303 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:46.417369 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.070313 range=1.1005 variance=0.000486237 t_weight=6169.83 r_weight=0 yaml=(8.715, -2.52) prior=(9.93714, -1.95141, 0.622817deg) obs_actual=(-1.26262, -0.534415) obs_expected=(-1.22825, -0.55527) delta=(-0.0343701, 0.0208548) |delta|=0.0402024m
I0419 21:00:46.417443 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292463501719.
I0419 21:00:46.419453 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292463692428.
I0419 21:00:46.420307 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.968722, 0.535733)
I0419 21:00:46.420442 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292463781544.
I0419 21:00:46.422297 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292463974237.
I0419 21:00:46.424674 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292464096113.
I0419 21:00:46.426172 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:46.426267 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292464258537.
I0419 21:00:46.442145 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292464416051.
I0419 21:00:46.511755 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.96971, -1.95105), yaw=0.635363 deg backend=(9.88818, -1.98218)
I0419 21:00:46.512791 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292464573032.
I0419 21:00:46.512887 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:46.513852 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292464696139.
I0419 21:00:46.514783 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292464853464.
I0419 21:00:46.516269 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:46.516321 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:46.516362 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:46.516391 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:46.516409 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292464975756.
I0419 21:00:46.518713 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292465177925.
I0419 21:00:46.526803 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292465257376.
I0419 21:00:46.546916 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22495, -0.554303), points=23, range=0.596696, residual=0.0136396, extent=0.0462001
I0419 21:00:46.547091 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.22495, -0.554303), tracking=(0.52345, -0.554303), map_predicted=(10.5234, -2.50006), range=0.596696, pts=23
I0419 21:00:46.547235 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0216342m maha_sq=0.0199984 (gate chi2=5.99) pose_sigma=(0.150943, 0.150943, rho=0) det_map=(10.5234, -2.50006) lm_pos=(10.515, -2.52) delta=(0.00839443, 0.0199392) -> 1 candidate(s)
I0419 21:00:46.547428 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292465459928.
I0419 21:00:46.554634 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292465539095.
I0419 21:00:46.575174 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076893s, prior_pose=(9.99512, -1.95035), yaw=0.500588 deg
I0419 21:00:46.575345 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:00:46.575738 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292465744686.
I0419 21:00:46.656632 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0769948, -0.650439)
I0419 21:00:46.656817 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0161891 range=0.655056 variance=0.000550628 t_weight=5448.33 r_weight=0 yaml=(9.615, -1.32) prior=(10.0058, -1.94948, 0.445143deg) obs_actual=(-0.375288, 0.648784) obs_expected=(-0.385865, 0.632499) delta=(0.0105773, 0.0162844) |delta|=0.019418m
I0419 21:00:46.656880 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292465861089.
I0419 21:00:46.657989 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292466051531.
I0419 21:00:46.658918 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292466140470.
I0419 21:00:46.660614 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:46.660697 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:46.660768 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292466341868.
I0419 21:00:46.661623 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:46.661690 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:46.661737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292466421270.
I0419 21:00:46.662740 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292466621098.
I0419 21:00:46.673893 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292466734004.
I0419 21:00:46.690145 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292466895176.
I0419 21:00:46.702658 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467017944.
I0419 21:00:46.772624 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:46.772794 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467211418.
I0419 21:00:46.773761 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467373457.
I0419 21:00:46.774665 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467493794.
I0419 21:00:46.776341 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467642403.
I0419 21:00:46.780207 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.156844, -0.552648)
I0419 21:00:46.780354 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467795820.
I0419 21:00:46.791271 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:46.791376 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.137598, -0.647284), points=18, range=0.663944, residual=0.0116238, extent=0.0360812
I0419 21:00:46.791395 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:46.791414 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.137598, -0.647284), tracking=(-0.436098, 0.647284), map_predicted=(9.60456, -1.30235), range=0.663944, pts=18
I0419 21:00:46.791438 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0205018m maha_sq=0.0182186 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60456, -1.30235) lm_pos=(9.615, -1.32) delta=(-0.0104364, 0.0176467) -> 1 candidate(s)
I0419 21:00:46.791491 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:46.791535 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:46.791553 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292467893914.
I0419 21:00:46.809844 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292468093346.
I0419 21:00:46.821957 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292468214159.
I0419 21:00:46.838102 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0514503 range=0.56825 variance=0.000594897 t_weight=5042.89 r_weight=0 yaml=(10.515, -2.52) prior=(10.0478, -1.94909, 0.110166deg) obs_actual=(0.439153, -0.550289) obs_expected=(0.466082, -0.571809) delta=(-0.0269287, 0.0215194) |delta|=0.0344709m
I0419 21:00:46.838238 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292468374562.
I0419 21:00:46.901157 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292468475499.
I0419 21:00:46.902356 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060643s, prior_pose=(10.0637, -1.9502), yaw=0.0827507 deg
I0419 21:00:46.902454 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:46.902679 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292468699776.
I0419 21:00:46.903399 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292468781019.
I0419 21:00:46.905354 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292469016380.
I0419 21:00:46.910142 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292469096317.
I0419 21:00:46.925844 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:46.925940 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:46.926108 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292469253710.
I0419 21:00:46.934753 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:46.934868 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:46.934964 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292469341935.
I0419 21:00:46.958446 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292469578371.
I0419 21:00:46.970263 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.190379, -0.652899)
I0419 21:00:46.970482 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292469698656.
I0419 21:00:47.033067 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292469881020.
I0419 21:00:47.034047 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292469976852.
I0419 21:00:47.035142 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:47.035236 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292470134520.
I0419 21:00:47.036911 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292470256279.
I0419 21:00:47.046559 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0784132, -0.551828), points=24, range=0.558458, residual=0.0123048, extent=0.0407914
I0419 21:00:47.046663 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0784132, -0.551828), tracking=(0.376913, -0.551828), map_predicted=(10.5008, -2.49994), range=0.558458, pts=24
I0419 21:00:47.046693 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0245984m maha_sq=0.0262119 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5008, -2.49994) lm_pos=(10.515, -2.52) delta=(-0.0142304, 0.0200643) -> 1 candidate(s)
I0419 21:00:47.046799 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292470460421.
I0419 21:00:47.054549 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292470538690.
I0419 21:00:47.074784 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0164437 range=0.55696 variance=0.000595999 t_weight=5033.57 r_weight=0 yaml=(10.515, -2.52) prior=(10.1387, -1.95007, -0.0625515deg) obs_actual=(0.369504, -0.551361) obs_expected=(0.376953, -0.56952) delta=(-0.00744951, 0.0181592) |delta|=0.0196278m
I0419 21:00:47.074945 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292470739400.
I0419 21:00:47.086658 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:47.086776 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:47.086854 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:47.086943 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:47.086967 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292470861924.
I0419 21:00:47.106504 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292471058206.
I0419 21:00:47.186195 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292471135759.
I0419 21:00:47.187490 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.87734, -0.538323)
I0419 21:00:47.187811 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292471332694.
I0419 21:00:47.189224 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292471444116.
I0419 21:00:47.191217 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483064s, prior_pose=(10.1657, -1.95018), yaw=-0.0831139 deg
I0419 21:00:47.191293 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:00:47.191494 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292471618823.
I0419 21:00:47.192744 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292471742678.
I0419 21:00:47.195040 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292471941073.
I0419 21:00:47.203871 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292472031729.
I0419 21:00:47.218603 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:47.222524 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:47.222643 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:47.222769 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292472220548.
I0419 21:00:47.230882 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19853, 0.548307), points=3, range=1.316, residual=0.00510677, extent=0.0091369
I0419 21:00:47.231240 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19853, 0.548307), tracking=(-1.49703, -0.548307), map_predicted=(8.68102, -2.49706), range=1.316, pts=3
I0419 21:00:47.231434 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0410035m maha_sq=0.0731175 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.68102, -2.49706) lm_pos=(8.715, -2.52) delta=(-0.0339846, 0.022942) -> 1 candidate(s)
I0419 21:00:47.231601 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:47.231781 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:47.231986 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292472301387.
I0419 21:00:47.301808 1219494 pose_graph_2d.cc:160] Inserted submap (1, 36).
I0419 21:00:47.303089 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292472497427.
I0419 21:00:47.304420 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0745578 range=1.32667 variance=0.000515961 t_weight=5814.39 r_weight=0 yaml=(8.715, -2.52) prior=(10.1912, -1.95226, -0.16331deg) obs_actual=(-1.50955, -0.549778) obs_expected=(-1.47456, -0.571947) delta=(-0.0349931, 0.0221698) |delta|=0.0414249m
I0419 21:00:47.304847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292472637649.
I0419 21:00:47.306119 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292472774166.
I0419 21:00:47.308089 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.06612 deg, rms_residual=0.0106265m, sigma_yaw=0.0139707 rad, N=2
I0419 21:00:47.308394 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.215, -1.95155, 1.06612deg) inliers=2 rms=0.0106265m
I0419 21:00:47.308614 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292472897653.
I0419 21:00:47.309870 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:47.310187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292473075056.
I0419 21:00:47.322222 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.294677, -0.654327)
I0419 21:00:47.322443 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292473218258.
I0419 21:00:47.323479 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.2187, -1.95328), yaw=-0.278302 deg backend=(10.1341, -1.97573)
I0419 21:00:47.338042 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292473373054.
I0419 21:00:47.351264 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292473507024.
I0419 21:00:47.371320 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292473708239.
I0419 21:00:47.443677 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:47.444024 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:47.444232 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:47.444414 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:47.444552 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292473779206.
I0419 21:00:47.445847 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292473990960.
I0419 21:00:47.446892 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292474092996.
I0419 21:00:47.448586 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292474252293.
I0419 21:00:47.449537 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.326343, -0.652059), points=17, range=0.732765, residual=0.0147488, extent=0.0468893
I0419 21:00:47.449605 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.326343, -0.652059), tracking=(-0.624843, 0.652059), map_predicted=(9.6256, -1.29749), range=0.732765, pts=17
I0419 21:00:47.449631 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0248797m maha_sq=0.0267317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6256, -1.29749) lm_pos=(9.615, -1.32) delta=(0.0105985, 0.0225093) -> 1 candidate(s)
I0419 21:00:47.449690 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292474389641.
I0419 21:00:47.457882 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795429s, prior_pose=(10.2467, -1.95313), yaw=-0.329047 deg
I0419 21:00:47.458118 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:00:47.458355 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292474574635.
I0419 21:00:47.466836 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292474660974.
I0419 21:00:47.483073 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0133286 range=0.551923 variance=0.000582707 t_weight=5148.38 r_weight=0 yaml=(10.515, -2.52) prior=(10.2571, -1.95291, -0.367632deg) obs_actual=(0.253616, -0.5498) obs_expected=(0.261579, -0.565428) delta=(-0.00796334, 0.0156284) |delta|=0.0175402m
I0419 21:00:47.483234 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292474824878.
I0419 21:00:47.497862 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.27503, 0.56102)
I0419 21:00:47.498193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292474973394.
I0419 21:00:47.577790 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:47.577936 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:47.578047 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292475138610.
I0419 21:00:47.578935 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:47.578999 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:47.579039 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292475257802.
I0419 21:00:47.580087 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292475456123.
I0419 21:00:47.585909 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292475557636.
I0419 21:00:47.587184 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292475736115.
I0419 21:00:47.590693 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292475901732.
I0419 21:00:47.601867 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:47.602049 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292476013602.
I0419 21:00:47.613847 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292476133505.
I0419 21:00:47.630753 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292476302074.
I0419 21:00:47.696997 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292476413103.
I0419 21:00:47.698256 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292476613493.
I0419 21:00:47.699136 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:47.699222 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:47.699329 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:47.699386 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:47.699407 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292476734421.
I0419 21:00:47.701037 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.100872, -0.548649)
I0419 21:00:47.701217 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292476899090.
I0419 21:00:47.702425 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477020060.
I0419 21:00:47.722103 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.107343, -0.547956), points=25, range=0.55872, residual=0.0121088, extent=0.0404124
I0419 21:00:47.722206 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.107343, -0.547956), tracking=(0.191157, -0.547956), map_predicted=(10.4912, -2.50358), range=0.55872, pts=25
I0419 21:00:47.722239 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0288767m maha_sq=0.0361301 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4912, -2.50358) lm_pos=(10.515, -2.52) delta=(-0.0237519, 0.0164229) -> 1 candidate(s)
I0419 21:00:47.722345 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477216444.
I0419 21:00:47.729957 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477293350.
I0419 21:00:47.749733 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059361s, prior_pose=(10.3159, -1.95381), yaw=-0.608194 deg
I0419 21:00:47.749854 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:47.750150 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477492700.
I0419 21:00:47.762181 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0330936 range=0.778286 variance=0.000602928 t_weight=4975.72 r_weight=0 yaml=(9.615, -1.32) prior=(10.3159, -1.95381, -0.608194deg) obs_actual=(-0.721972, 0.649922) obs_expected=(-0.707544, 0.626334) delta=(-0.0144274, 0.0235883) |delta|=0.0276507m
I0419 21:00:47.762329 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477616548.
I0419 21:00:47.827231 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477777451.
I0419 21:00:47.828274 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292477904728.
I0419 21:00:47.829344 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:47.829427 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:47.829514 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292478101116.
I0419 21:00:47.830971 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:47.831032 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:47.831090 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292478182108.
I0419 21:00:47.838925 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292478379990.
I0419 21:00:47.850893 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292478498425.
I0419 21:00:47.865962 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.151875, -0.550657)
I0419 21:00:47.866180 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292478654576.
I0419 21:00:47.878315 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292478776324.
I0419 21:00:47.898300 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:47.898600 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292478974786.
I0419 21:00:47.987711 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479053605.
I0419 21:00:47.988075 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:47.988919 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479253098.
I0419 21:00:47.989776 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479345550.
I0419 21:00:47.991511 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479539912.
I0419 21:00:47.992302 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:47.992375 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:47.992424 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:47.992456 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:47.992475 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479656687.
I0419 21:00:47.993587 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479880446.
I0419 21:00:47.995054 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.493763, -0.651211), points=13, range=0.820308, residual=0.0134028, extent=0.0402122
I0419 21:00:47.995118 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.493763, -0.651211), tracking=(-0.792263, 0.651211), map_predicted=(9.60281, -1.29243), range=0.820308, pts=13
I0419 21:00:47.995146 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0301385m maha_sq=0.0389065 (gate chi2=5.99) pose_sigma=(0.150748, 0.150748, rho=0) det_map=(9.60281, -1.29243) lm_pos=(9.615, -1.32) delta=(-0.0121853, 0.0275654) -> 1 candidate(s)
I0419 21:00:47.995208 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292479938869.
I0419 21:00:48.013973 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292480134162.
I0419 21:00:48.026225 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.509095, -0.653378)
I0419 21:00:48.026383 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292480258431.
I0419 21:00:48.089938 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0473396s, prior_pose=(10.3989, -1.9532), yaw=-0.71015 deg
I0419 21:00:48.090077 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=254, threshold=230, above_threshold=23, candidates=23
I0419 21:00:48.090281 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0262191 range=0.58819 variance=0.000580438 t_weight=5168.51 r_weight=0 yaml=(10.515, -2.52) prior=(10.3989, -1.9532, -0.71015deg) obs_actual=(0.101771, -0.552863) obs_expected=(0.123149, -0.565316) delta=(-0.0213781, 0.0124526) |delta|=0.0247405m
I0419 21:00:48.090342 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292480412265.
I0419 21:00:48.091190 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292480533238.
I0419 21:00:48.092250 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292480736198.
I0419 21:00:48.093869 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292480859549.
I0419 21:00:48.101799 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:48.101889 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:48.101999 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292481012990.
I0419 21:00:48.113917 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:48.114027 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:48.114082 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292481134849.
I0419 21:00:48.132776 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292481319837.
I0419 21:00:48.142674 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292481421791.
I0419 21:00:48.162570 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292481619892.
I0419 21:00:48.229636 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292481697383.
I0419 21:00:48.230860 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.241817, -0.551663)
I0419 21:00:48.230983 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:48.231076 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292481908427.
I0419 21:00:48.231946 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292482020151.
I0419 21:00:48.233108 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.4469, -1.96266), yaw=-0.835892 deg backend=(10.3819, -1.97712)
I0419 21:00:48.233855 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292482193904.
I0419 21:00:48.235021 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292482296938.
I0419 21:00:48.249923 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292482492914.
I0419 21:00:48.262415 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:48.262521 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.5765, -0.655392), points=11, range=0.875, residual=0.0109632, extent=0.0301115
I0419 21:00:48.262573 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:48.262593 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.5765, -0.655392), tracking=(-0.875, 0.655392), map_predicted=(9.6005, -1.29598), range=0.875, pts=11
I0419 21:00:48.262619 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0280577m maha_sq=0.0335056 (gate chi2=5.99) pose_sigma=(0.151431, 0.151431, rho=0) det_map=(9.6005, -1.29598) lm_pos=(9.615, -1.32) delta=(-0.0145017, 0.0240195) -> 1 candidate(s)
I0419 21:00:48.262674 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:48.262714 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:48.262732 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292482619499.
I0419 21:00:48.277971 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292482773878.
I0419 21:00:48.290359 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292482899131.
I0419 21:00:48.360062 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:48.366164 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.181086 range=0.613053 variance=0.000542153 t_weight=5533.49 r_weight=0 yaml=(10.515, -2.52) prior=(10.4774, -1.90919, -0.540952deg) obs_actual=(0.0226088, -0.547414) obs_expected=(0.0433394, -0.610424) delta=(-0.0207306, 0.0630098) |delta|=0.0663324m
I0419 21:00:48.366320 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292483098441.
I0419 21:00:48.367224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292483190553.
I0419 21:00:48.368213 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755723s, prior_pose=(10.4774, -1.90919), yaw=-0.540952 deg
I0419 21:00:48.368307 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1367, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:00:48.368422 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(-0.328421, -0.544995)
I0419 21:00:48.368501 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292483375222.
I0419 21:00:48.370322 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292483534966.
I0419 21:00:48.371284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292483654926.
I0419 21:00:48.378715 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292483781285.
I0419 21:00:48.394881 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:48.395000 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:48.395138 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292483939372.
I0419 21:00:48.406304 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:48.406399 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:48.406493 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292484058136.
I0419 21:00:48.411126 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:48.426326 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292484256774.
I0419 21:00:48.497480 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292484379574.
I0419 21:00:48.498611 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292484536345.
I0419 21:00:48.499504 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=30, centroid=(-0.295826, 0.549884)
I0419 21:00:48.499610 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.286194, 0.551551), points=23, range=0.626478, residual=0.0218934, extent=0.0564355
I0419 21:00:48.499640 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.286194, 0.551551), tracking=(-0.0123062, -0.551551), map_predicted=(10.5093, -2.50229), range=0.626478, pts=23
I0419 21:00:48.499665 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0185911m maha_sq=0.0147616 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5093, -2.50229) lm_pos=(10.515, -2.52) delta=(-0.00565636, 0.0177098) -> 1 candidate(s)
I0419 21:00:48.499738 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292484654733.
I0419 21:00:48.501507 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:48.501646 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292484851929.
I0419 21:00:48.502704 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00626865 range=0.617529 variance=0.000575939 t_weight=5208.88 r_weight=0 yaml=(10.515, -2.52) prior=(10.5422, -1.95862, -0.958166deg) obs_actual=(-0.0211109, -0.550203) obs_expected=(-0.0177718, -0.561757) delta=(-0.00333911, 0.0115545) |delta|=0.0120273m
I0419 21:00:48.502838 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292484980876.
I0419 21:00:48.514305 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292485138337.
I0419 21:00:48.522614 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292485220382.
I0419 21:00:48.554222 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292485536623.
I0419 21:00:48.619695 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:48.619829 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:48.619901 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:48.619972 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:48.619998 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292485819495.
I0419 21:00:48.622653 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292486141189.
I0419 21:00:48.630236 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556289s, prior_pose=(10.5761, -1.96906), yaw=-1.16427 deg
I0419 21:00:48.630364 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=237, threshold=230, above_threshold=2, candidates=2
I0419 21:00:48.642642 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(-0.231913, 0.550839)
I0419 21:00:48.642804 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.02166 deg, rms_residual=0.00748806m, sigma_yaw=0.00988539 rad, N=2
I0419 21:00:48.642879 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.5982, -1.97767, -1.02166deg) inliers=2 rms=0.00748806m
I0419 21:00:48.642913 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292486422064.
I0419 21:00:48.674454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292486735483.
I0419 21:00:48.689816 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:48.689915 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:48.690045 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292486892861.
I0419 21:00:48.757568 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292487022677.
I0419 21:00:48.759300 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.723808, -0.644728), points=8, range=0.97125, residual=0.0101658, extent=0.0247093
I0419 21:00:48.759402 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.723808, -0.644728), tracking=(-1.02231, 0.644728), map_predicted=(9.5952, -1.30739), range=0.97125, pts=8
I0419 21:00:48.759431 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0234761m maha_sq=0.0239081 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.5952, -1.30739) lm_pos=(9.615, -1.32) delta=(-0.019801, 0.0126114) -> 1 candidate(s)
I0419 21:00:48.759526 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292487294859.
I0419 21:00:48.762180 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00124951 range=0.586391 variance=0.000604976 t_weight=4958.88 r_weight=0 yaml=(10.515, -2.52) prior=(10.617, -1.97524, -1.24816deg) obs_actual=(-0.0932883, -0.551194) obs_expected=(-0.0900596, -0.546855) delta=(-0.00322874, -0.00433833) |delta|=0.00540795m
I0419 21:00:48.762328 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292487582304.
I0419 21:00:48.790536 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292487898268.
I0419 21:00:48.817729 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292488171990.
I0419 21:00:48.884198 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.761536, -0.642752)
I0419 21:00:48.884344 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:48.884384 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:48.884451 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292488460402.
I0419 21:00:48.885524 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292488658511.
I0419 21:00:48.887291 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292488780009.
I0419 21:00:48.894559 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292488940358.
I0419 21:00:48.905936 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292489052103.
I0419 21:00:48.926779 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481787s, prior_pose=(10.667, -1.97944), yaw=-1.34909 deg
I0419 21:00:48.926931 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=237, threshold=230, above_threshold=3, candidates=3
I0419 21:00:48.927045 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:48.927237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292489261796.
I0419 21:00:48.938699 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292489377456.
I0419 21:00:48.955123 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292489540835.
I0419 21:00:49.055800 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.802663, -0.64226), points=6, range=1.0265, residual=0.0082709, extent=0.0226343
I0419 21:00:49.055918 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.802663, -0.64226), tracking=(-1.10116, 0.64226), map_predicted=(9.59245, -1.31231), range=1.0265, pts=6
I0419 21:00:49.055948 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0238252m maha_sq=0.0243833 (gate chi2=5.99) pose_sigma=(0.150864, 0.150864, rho=0) det_map=(9.59245, -1.31231) lm_pos=(9.615, -1.32) delta=(-0.022549, 0.00769298) -> 1 candidate(s)
I0419 21:00:49.056031 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292489661911.
I0419 21:00:49.056975 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:49.057031 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:49.057139 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292489815671.
I0419 21:00:49.057957 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:49.058012 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:49.058058 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:49.058086 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0219654 range=1.02787 variance=0.000526933 t_weight=5693.32 r_weight=0 yaml=(9.615, -1.32) prior=(10.6785, -1.97977, -1.32054deg) obs_actual=(-1.10004, 0.641364) obs_expected=(-1.07844, 0.635089) delta=(-0.0215968, 0.00627491) |delta|=0.0224899m
I0419 21:00:49.058141 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:49.058161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292489941118.
I0419 21:00:49.060122 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292490132885.
I0419 21:00:49.061218 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292490259703.
I0419 21:00:49.062158 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.35305, -0.503635)
I0419 21:00:49.062309 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292490413199.
I0419 21:00:49.063972 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292490536190.
I0419 21:00:49.075032 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292490740465.
I0419 21:00:49.082410 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292490814583.
I0419 21:00:49.157413 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.7208, -1.98277), yaw=-1.29684 deg backend=(10.6951, -1.96971)
I0419 21:00:49.158421 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292491018448.
I0419 21:00:49.159447 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292491136703.
I0419 21:00:49.160341 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292491294469.
I0419 21:00:49.162302 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:49.162395 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:49.162472 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292491414800.
I0419 21:00:49.163602 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32035, -0.504633), points=3, range=1.41033, residual=0.00685523, extent=0.01372
I0419 21:00:49.163671 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.32035, -0.504633), tracking=(1.61885, -0.504633), map_predicted=(12.3433, -2.52209), range=1.41033, pts=3
I0419 21:00:49.163704 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0283475m maha_sq=0.0349052 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3433, -2.52209) lm_pos=(12.315, -2.52) delta=(0.0282705, -0.002088) -> 1 candidate(s)
I0419 21:00:49.163792 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292491581127.
I0419 21:00:49.170717 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292491693789.
I0419 21:00:49.190726 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0360464 range=1.397 variance=0.00062743 t_weight=4781.41 r_weight=0 yaml=(12.315, -2.52) prior=(10.7484, -1.98468, -1.19477deg) obs_actual=(1.60622, -0.506349) obs_expected=(1.57742, -0.50254) delta=(0.0288058, -0.00380977) |delta|=0.0290567m
I0419 21:00:49.191044 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292491895216.
I0419 21:00:49.202843 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292492019152.
I0419 21:00:49.218696 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760985s, prior_pose=(10.7484, -1.98468), yaw=-1.19477 deg
I0419 21:00:49.219161 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=239, threshold=230, above_threshold=3, candidates=3
I0419 21:00:49.219308 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:49.219523 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292492175785.
I0419 21:00:49.326103 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(-0.0624303, 0.547692)
I0419 21:00:49.326297 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.27126 deg, rms_residual=0.00918563m, sigma_yaw=0.0120993 rad, N=2
I0419 21:00:49.326340 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.7679, -1.98566, -1.27126deg) inliers=2 rms=0.00918563m
I0419 21:00:49.326404 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292492302425.
I0419 21:00:49.327476 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292492501554.
I0419 21:00:49.328608 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292492580056.
I0419 21:00:49.330549 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:49.330636 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:49.330713 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292492778312.
I0419 21:00:49.331638 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:49.331705 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:49.331754 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:49.331794 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:49.331809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292492861878.
I0419 21:00:49.333276 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292493054773.
I0419 21:00:49.335078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292493177028.
I0419 21:00:49.337060 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292493366055.
I0419 21:00:49.346517 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.024666, 0.546667), points=25, range=0.5482, residual=0.0123905, extent=0.0385411
I0419 21:00:49.346596 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.024666, 0.546667), tracking=(-0.273834, -0.546667), map_predicted=(10.5065, -2.52638), range=0.5482, pts=25
I0419 21:00:49.346625 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.010661m maha_sq=0.00492316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5065, -2.52638) lm_pos=(10.515, -2.52) delta=(-0.00853993, -0.00638167) -> 1 candidate(s)
I0419 21:00:49.346724 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292493460558.
I0419 21:00:49.421520 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292493654026.
I0419 21:00:49.421651 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:49.422484 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0049137 range=0.549083 variance=0.0005668 t_weight=5292.87 r_weight=0 yaml=(10.515, -2.52) prior=(10.8052, -1.98589, -1.00418deg) obs_actual=(-0.276133, -0.548685) obs_expected=(-0.280794, -0.539114) delta=(0.00466158, -0.00957147) |delta|=0.0106463m
I0419 21:00:49.422716 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292493742126.
I0419 21:00:49.423730 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292493933576.
I0419 21:00:49.425316 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292494055661.
I0419 21:00:49.426241 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292494215722.
I0419 21:00:49.434139 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.933013, -0.650833)
I0419 21:00:49.434253 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:49.434298 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:49.434356 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292494335521.
I0419 21:00:49.453810 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292494533527.
I0419 21:00:49.462647 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292494616091.
I0419 21:00:49.481983 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292494813167.
I0419 21:00:49.553747 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292494936005.
I0419 21:00:49.554735 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608251s, prior_pose=(10.8376, -1.98493), yaw=-0.893009 deg
I0419 21:00:49.554805 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=236, threshold=230, above_threshold=4, candidates=4
I0419 21:00:49.554853 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:49.554914 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292495141778.
I0419 21:00:49.555840 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292495221556.
I0419 21:00:49.557586 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292495416511.
I0419 21:00:49.558619 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0341961, 0.545953), points=25, range=0.54768, residual=0.0119471, extent=0.0387202
I0419 21:00:49.558674 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0341961, 0.545953), tracking=(-0.332696, -0.545953), map_predicted=(10.5094, -2.5266), range=0.54768, pts=25
I0419 21:00:49.558701 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00864997m maha_sq=0.00324252 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5094, -2.5266) lm_pos=(10.515, -2.52) delta=(-0.00558621, -0.00660426) -> 1 candidate(s)
I0419 21:00:49.558755 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292495536660.
I0419 21:00:49.570741 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:00:49.570876 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:00:49.570997 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292495702165.
I0419 21:00:49.586118 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:49.586334 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:49.586436 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:49.586467 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00243087 range=0.54792 variance=0.000576343 t_weight=5205.23 r_weight=0 yaml=(10.515, -2.52) prior=(10.8607, -1.98628, -0.827486deg) obs_actual=(-0.33587, -0.545895) obs_expected=(-0.337953, -0.538661) delta=(0.00208263, -0.00723389) |delta|=0.00752772m
I0419 21:00:49.586524 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:49.586541 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292495856377.
I0419 21:00:49.601996 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292496015141.
I0419 21:00:49.610047 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292496095444.
I0419 21:00:49.683837 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.18456, -0.519153)
I0419 21:00:49.685190 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292496298923.
I0419 21:00:49.686533 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292496419815.
I0419 21:00:49.687661 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292496578160.
I0419 21:00:49.689967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292496694573.
I0419 21:00:49.691473 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292496861906.
I0419 21:00:49.703689 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292497030544.
I0419 21:00:49.718952 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292497184668.
I0419 21:00:49.731112 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:49.731235 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:49.731308 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292497306712.
I0419 21:00:49.746031 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292497455241.
I0419 21:00:49.811311 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0928189, 0.544826), points=26, range=0.553846, residual=0.0126978, extent=0.0431896
I0419 21:00:49.811416 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0928189, 0.544826), tracking=(-0.391319, -0.544826), map_predicted=(10.5122, -2.52813), range=0.553846, pts=26
I0419 21:00:49.811447 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00859234m maha_sq=0.00316578 (gate chi2=5.99) pose_sigma=(0.150754, 0.150754, rho=0) det_map=(10.5122, -2.52813) lm_pos=(10.515, -2.52) delta=(-0.00278554, -0.00812829) -> 1 candidate(s)
I0419 21:00:49.811524 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292497581298.
I0419 21:00:49.812490 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292497782365.
I0419 21:00:49.813438 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00708878 range=0.5555 variance=0.000606423 t_weight=4947.04 r_weight=0 yaml=(10.515, -2.52) prior=(10.9103, -1.98822, -0.713351deg) obs_actual=(-0.398645, -0.544639) obs_expected=(-0.388635, -0.536664) delta=(-0.0100097, -0.00797504) |delta|=0.0127983m
I0419 21:00:49.813521 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292497859434.
I0419 21:00:49.815073 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476367s, prior_pose=(10.9239, -1.98901), yaw=-0.673735 deg
I0419 21:00:49.815135 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=238, threshold=230, above_threshold=5, candidates=5
I0419 21:00:49.815176 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:49.815223 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292498057665.
I0419 21:00:49.818221 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.04282, -0.657251)
I0419 21:00:49.818351 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292498177507.
I0419 21:00:49.834939 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292498338137.
I0419 21:00:49.846710 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292498460312.
I0419 21:00:49.866428 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:49.866525 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:49.866652 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292498660640.
I0419 21:00:49.875000 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:49.875077 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:49.875151 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:49.875221 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:49.875241 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292498745556.
I0419 21:00:49.940577 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292498935945.
I0419 21:00:49.941545 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.994973 deg, rms_residual=0.0162476m, sigma_yaw=0.0212041 rad, N=2
I0419 21:00:49.941627 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.9692, -1.99306, -0.994973deg) inliers=2 rms=0.0162476m
I0419 21:00:49.941663 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292499058083.
I0419 21:00:49.942656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292499258224.
I0419 21:00:49.944119 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292499334054.
I0419 21:00:49.953663 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:00:49.966537 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.08425, -0.662229)
I0419 21:00:49.967118 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292499656331.
I0419 21:00:49.969604 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.9707, -1.99001), yaw=-0.498144 deg backend=(10.9424, -1.97419)
I0419 21:00:49.995253 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292499940619.
I0419 21:00:50.108273 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10853, -0.661689), points=3, range=1.28833, residual=0.00707632, extent=0.0143957
I0419 21:00:50.108379 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10853, -0.661689), tracking=(-1.40703, 0.661689), map_predicted=(9.58454, -1.31912), range=1.28833, pts=3
I0419 21:00:50.108409 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0304723m maha_sq=0.039741 (gate chi2=5.99) pose_sigma=(0.151158, 0.151158, rho=0) det_map=(9.58454, -1.31912) lm_pos=(9.615, -1.32) delta=(-0.0304594, 0.000884043) -> 1 candidate(s)
I0419 21:00:50.108500 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292500212690.
I0419 21:00:50.109537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292500418805.
I0419 21:00:50.110438 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0589906 range=1.2946 variance=0.000538004 t_weight=5576.17 r_weight=0 yaml=(9.615, -1.32) prior=(10.986, -1.99249, -0.476829deg) obs_actual=(-1.41336, 0.663268) obs_expected=(-1.37656, 0.661058) delta=(-0.0367987, 0.00220958) |delta|=0.036865m
I0419 21:00:50.110514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292500546944.
I0419 21:00:50.111984 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:50.112032 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:50.112074 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292500701203.
I0419 21:00:50.112933 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292500860637.
I0419 21:00:50.113847 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0808916s, prior_pose=(11.0013, -1.99166), yaw=-0.491071 deg
I0419 21:00:50.113900 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=239, threshold=230, above_threshold=4, candidates=4
I0419 21:00:50.115289 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.12712, -0.666117)
I0419 21:00:50.115379 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292501098626.
I0419 21:00:50.130012 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292501293429.
I0419 21:00:50.138267 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292501378128.
I0419 21:00:50.230157 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:50.230261 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:50.230293 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:50.230417 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292501572912.
I0419 21:00:50.231482 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292501703016.
I0419 21:00:50.232383 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292501859801.
I0419 21:00:50.234134 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292501978935.
I0419 21:00:50.235183 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292502182355.
I0419 21:00:50.236039 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:50.236116 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15881, -0.673537), points=4, range=1.33775, residual=0.00735074, extent=0.0160256
I0419 21:00:50.236142 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:50.236157 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15881, -0.673537), tracking=(-1.45731, 0.673537), map_predicted=(9.59421, -1.31086), range=1.33775, pts=4
I0419 21:00:50.236181 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0227108m maha_sq=0.022402 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59421, -1.31086) lm_pos=(9.615, -1.32) delta=(-0.0207906, 0.00913942) -> 1 candidate(s)
I0419 21:00:50.236227 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:50.236258 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:50.236276 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292502263021.
I0419 21:00:50.247259 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292502463909.
I0419 21:00:50.258325 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.241284, 0.546042)
I0419 21:00:50.258574 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0281352 range=1.34825 variance=0.000579646 t_weight=5175.57 r_weight=0 yaml=(9.615, -1.32) prior=(11.0596, -1.99048, -0.141088deg) obs_actual=(-1.46994, 0.676328) obs_expected=(-1.44626, 0.666916) delta=(-0.0236805, 0.0094119) |delta|=0.0254824m
I0419 21:00:50.258687 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292502577412.
I0419 21:00:50.278641 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292502777524.
I0419 21:00:50.366258 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292502859585.
I0419 21:00:50.367379 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292503060612.
I0419 21:00:50.368219 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292503182694.
I0419 21:00:50.369861 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292503338884.
I0419 21:00:50.370746 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292503461447.
I0419 21:00:50.371671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292503621866.
I0419 21:00:50.378539 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:50.378684 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:50.378808 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292503777243.
I0419 21:00:50.394200 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593523s, prior_pose=(11.0957, -1.99071), yaw=0.234369 deg
I0419 21:00:50.394387 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=240, threshold=230, above_threshold=3, candidates=3
I0419 21:00:50.406543 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292504052751.
I0419 21:00:50.509917 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292504255191.
I0419 21:00:50.510798 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.296661, 0.540517)
I0419 21:00:50.510861 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.293316, 0.540099), points=22, range=0.616682, residual=0.0135388, extent=0.0450332
I0419 21:00:50.510885 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.293316, 0.540099), tracking=(-0.591816, -0.540099), map_predicted=(10.5221, -2.53379), range=0.616682, pts=22
I0419 21:00:50.510906 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0155251m maha_sq=0.0104261 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5221, -2.53379) lm_pos=(10.515, -2.52) delta=(0.00713602, -0.0137879) -> 1 candidate(s)
I0419 21:00:50.510982 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292504334734.
I0419 21:00:50.511898 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:50.511940 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:50.512007 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292504539480.
I0419 21:00:50.513495 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:50.513568 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0113598 range=0.619286 variance=0.000614697 t_weight=4880.46 r_weight=0 yaml=(10.515, -2.52) prior=(11.1212, -1.98983, 0.432236deg) obs_actual=(-0.600077, -0.538386) obs_expected=(-0.610135, -0.525579) delta=(0.0100583, -0.012807) |delta|=0.0162846m
I0419 21:00:50.513630 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292504617839.
I0419 21:00:50.514604 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292504818145.
I0419 21:00:50.515491 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292504932390.
I0419 21:00:50.516983 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292505092952.
I0419 21:00:50.522586 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292505216208.
I0419 21:00:50.542035 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:50.542174 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:50.542351 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:50.542496 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:50.542546 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292505413405.
I0419 21:00:50.640740 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292505496269.
I0419 21:00:50.641865 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292505775624.
I0419 21:00:50.642624 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.338805, 0.536839)
I0419 21:00:50.642745 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292505820439.
I0419 21:00:50.644224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292505975883.
I0419 21:00:50.645141 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.540963 deg, rms_residual=0.0160822m, sigma_yaw=0.0209928 rad, N=2
I0419 21:00:50.645205 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.1653, -1.99045, 0.540963deg) inliers=2 rms=0.0160822m
I0419 21:00:50.645233 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292506099803.
I0419 21:00:50.646200 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292506298839.
I0419 21:00:50.647619 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292506375600.
I0419 21:00:50.658366 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.873474, -0.560035), points=6, range=1.0365, residual=0.00636791, extent=0.017047
I0419 21:00:50.658535 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.873474, -0.560035), tracking=(1.17197, -0.560035), map_predicted=(12.3462, -2.53315), range=1.0365, pts=6
I0419 21:00:50.658594 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0338703m maha_sq=0.0498947 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3462, -2.53315) lm_pos=(12.315, -2.52) delta=(0.0312143, -0.0131478) -> 1 candidate(s)
I0419 21:00:50.658773 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292506576446.
I0419 21:00:50.671013 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292506699510.
I0419 21:00:50.769639 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0528002s, prior_pose=(11.1795, -1.99115), yaw=0.927962 deg
I0419 21:00:50.769771 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=244, threshold=230, above_threshold=7, candidates=7
I0419 21:00:50.769841 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:50.769881 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:50.769909 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0601449 range=1.03233 variance=0.000510939 t_weight=5871.54 r_weight=0 yaml=(12.315, -2.52) prior=(11.1795, -1.99115, 0.927962deg) obs_actual=(1.15987, -0.564732) obs_expected=(1.1268, -0.547175) delta=(0.0330708, -0.0175571) |delta|=0.0374424m
I0419 21:00:50.769958 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292506903602.
I0419 21:00:50.770913 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292506971847.
I0419 21:00:50.772038 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292507180192.
I0419 21:00:50.773773 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292507291453.
I0419 21:00:50.774730 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:50.774801 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.847441, -0.568009)
I0419 21:00:50.774817 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:50.774884 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292507455841.
I0419 21:00:50.775660 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:50.775756 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292507578960.
I0419 21:00:50.777783 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292507772907.
I0419 21:00:50.788357 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292507873612.
I0419 21:00:50.806113 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292508054308.
I0419 21:00:50.870095 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292508133675.
I0419 21:00:50.870267 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:50.871086 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:50.871142 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:50.871186 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:50.871224 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:50.871243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292508333653.
I0419 21:00:50.872148 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292508420310.
I0419 21:00:50.873143 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.2247, -1.9883), yaw=1.29538 deg backend=(11.2, -1.97245)
I0419 21:00:50.873872 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.71314, 0.632005), points=3, range=1.829, residual=0.00727862, extent=0.0139431
I0419 21:00:50.873921 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.71314, 0.632005), tracking=(2.01164, 0.632005), map_predicted=(13.2215, -1.31099), range=1.829, pts=3
I0419 21:00:50.873948 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0111121m maha_sq=0.0052866 (gate chi2=5.99) pose_sigma=(0.150981, 0.150981, rho=0) det_map=(13.2215, -1.31099) lm_pos=(13.215, -1.32) delta=(0.00649685, 0.00901497) -> 1 candidate(s)
I0419 21:00:50.874011 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292508618910.
I0419 21:00:50.874778 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292508741128.
I0419 21:00:50.894481 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.798188, -0.5693)
I0419 21:00:50.894761 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0269426 range=0.980429 variance=0.000530339 t_weight=5656.76 r_weight=0 yaml=(12.315, -2.52) prior=(11.2247, -1.9883, 1.29538deg) obs_actual=(1.0992, -0.569354) obs_expected=(1.07804, -0.556208) delta=(0.0211585, -0.0131459) |delta|=0.0249098m
I0419 21:00:50.894834 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292508936115.
I0419 21:00:50.902637 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292509018465.
I0419 21:00:50.922638 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292509220455.
I0419 21:00:50.934082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292509333474.
I0419 21:00:50.998668 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292509499665.
I0419 21:00:50.999655 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292509623648.
I0419 21:00:51.000500 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0794749s, prior_pose=(11.2538, -1.98487), yaw=1.37684 deg
I0419 21:00:51.000576 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=242, threshold=230, above_threshold=8, candidates=8
I0419 21:00:51.000622 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:51.000651 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:51.000680 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292509813214.
I0419 21:00:51.002193 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292509911027.
I0419 21:00:51.010533 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292510101093.
I0419 21:00:51.021808 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292510212591.
I0419 21:00:51.039559 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:51.039655 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.749028, -0.575658)
I0419 21:00:51.039675 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:51.039768 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292510390062.
I0419 21:00:51.050714 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:51.050876 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292510500553.
I0419 21:00:51.074753 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292510741019.
I0419 21:00:51.141359 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37781, -0.719791), points=3, range=1.549, residual=0.0106534, extent=0.021025
I0419 21:00:51.141481 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.37781, -0.719791), tracking=(-1.67631, 0.719791), map_predicted=(9.59023, -1.31117), range=1.549, pts=3
I0419 21:00:51.141562 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0262925m maha_sq=0.02963 (gate chi2=5.99) pose_sigma=(0.150773, 0.150773, rho=0) det_map=(9.59023, -1.31117) lm_pos=(9.615, -1.32) delta=(-0.0247665, 0.00882716) -> 1 candidate(s)
I0419 21:00:51.141650 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292510774889.
I0419 21:00:51.142760 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292510979012.
I0419 21:00:51.143571 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.026959 range=0.732933 variance=0.000607399 t_weight=4939.1 r_weight=0 yaml=(10.515, -2.52) prior=(11.2866, -1.98223, 1.65557deg) obs_actual=(-0.807175, -0.529742) obs_expected=(-0.786856, -0.515249) delta=(-0.0203196, -0.0144937) |delta|=0.024959m
I0419 21:00:51.143632 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292511095068.
I0419 21:00:51.145159 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:51.145213 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:51.145259 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:51.145289 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:51.145308 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292511267264.
I0419 21:00:51.146072 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292511376611.
I0419 21:00:51.158660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292511581375.
I0419 21:00:51.166319 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292511658195.
I0419 21:00:51.187590 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.706113, -0.580527)
I0419 21:00:51.187810 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292511870360.
I0419 21:00:51.198734 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292511981403.
I0419 21:00:51.263497 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292512136119.
I0419 21:00:51.264456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292512257527.
I0419 21:00:51.265487 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292512457647.
I0419 21:00:51.266970 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292512577123.
I0419 21:00:51.274390 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603998s, prior_pose=(11.3293, -1.97195), yaw=1.89516 deg
I0419 21:00:51.274492 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=250, threshold=230, above_threshold=11, candidates=11
I0419 21:00:51.274581 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:51.274622 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:51.274715 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292512740117.
I0419 21:00:51.285861 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292512852981.
I0419 21:00:51.306419 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292513058811.
I0419 21:00:51.315054 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.375822, -0.662007), points=5, range=0.7612, residual=0.00379165, extent=0.00933243
I0419 21:00:51.315222 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.375822, -0.662007), tracking=(0.0773217, 0.662007), map_predicted=(11.3976, -1.30609), range=0.7612, pts=5
I0419 21:00:51.315274 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0222864m maha_sq=0.0216383 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.3976, -1.30609) lm_pos=(11.415, -1.32) delta=(-0.0174149, 0.013907) -> 1 candidate(s)
I0419 21:00:51.315446 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292513139588.
I0419 21:00:51.334277 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:51.334384 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.658601, -0.582605)
I0419 21:00:51.334409 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:51.334527 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292513336799.
I0419 21:00:51.399149 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:51.399307 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.000326082 range=0.761 variance=0.000509361 t_weight=5889.73 r_weight=0 yaml=(11.415, -1.32) prior=(11.3616, -1.98515, 1.98337deg) obs_actual=(0.07682, 0.665636) obs_expected=(0.0763579, 0.662904) delta=(0.000462118, 0.00273233) |delta|=0.00277114m
I0419 21:00:51.399392 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292513459415.
I0419 21:00:51.400449 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292513613454.
I0419 21:00:51.401398 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292513734176.
I0419 21:00:51.403117 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292513935787.
I0419 21:00:51.403983 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292514014890.
I0419 21:00:51.422549 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:51.422647 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:51.422721 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:51.422822 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:51.422855 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292514220447.
I0419 21:00:51.430624 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.16238 deg, rms_residual=0.0181233m, sigma_yaw=0.0235942 rad, N=2
I0419 21:00:51.430806 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.3832, -1.97547, 2.16238deg) inliers=2 rms=0.0181233m
I0419 21:00:51.430852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292514300914.
I0419 21:00:51.450865 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292514499967.
I0419 21:00:51.462196 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.61272, 0.524742)
I0419 21:00:51.462459 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292514614516.
I0419 21:00:51.560741 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292514820299.
I0419 21:00:51.561599 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.619348, 0.52577), points=13, range=0.815385, residual=0.0138424, extent=0.0421063
I0419 21:00:51.561677 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.619348, 0.52577), tracking=(-0.917848, -0.52577), map_predicted=(10.4921, -2.53748), range=0.815385, pts=13
I0419 21:00:51.561703 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0288141m maha_sq=0.0358901 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4921, -2.53748) lm_pos=(10.515, -2.52) delta=(-0.0229066, -0.0174798) -> 1 candidate(s)
I0419 21:00:51.561785 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292514901062.
I0419 21:00:51.562863 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292515172718.
I0419 21:00:51.564344 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0350474 range=0.820917 variance=0.000615789 t_weight=4871.8 r_weight=0 yaml=(10.515, -2.52) prior=(11.4039, -1.97632, 2.21276deg) obs_actual=(-0.933194, -0.52466) obs_expected=(-0.909218, -0.50895) delta=(-0.0239762, -0.0157108) |delta|=0.0286651m
I0419 21:00:51.564451 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292515218211.
I0419 21:00:51.565362 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292515375509.
I0419 21:00:51.566375 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292515497974.
I0419 21:00:51.570271 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479386s, prior_pose=(11.4181, -1.97439), yaw=2.21597 deg
I0419 21:00:51.570417 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=254, threshold=230, above_threshold=15, candidates=15
I0419 21:00:51.570554 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:51.570611 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:51.570695 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292515697597.
I0419 21:00:51.581825 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292515812428.
I0419 21:00:51.598471 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292515974063.
I0419 21:00:51.693392 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.658671, 0.526935)
I0419 21:00:51.693593 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292516100679.
I0419 21:00:51.694482 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:51.694540 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:51.694625 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292516256876.
I0419 21:00:51.695436 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:51.695534 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292516380506.
I0419 21:00:51.697196 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292516575587.
I0419 21:00:51.698086 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.288972, -0.664495), points=18, range=0.726222, residual=0.0123876, extent=0.0393452
I0419 21:00:51.698158 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.288972, -0.664495), tracking=(-0.00952808, 0.664495), map_predicted=(11.4073, -1.30766), range=0.726222, pts=18
I0419 21:00:51.698189 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.01454m maha_sq=0.00915538 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.4073, -1.30766) lm_pos=(11.415, -1.32) delta=(-0.00769392, 0.0123376) -> 1 candidate(s)
I0419 21:00:51.698261 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292516698676.
I0419 21:00:51.699110 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292516855236.
I0419 21:00:51.700609 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.00523102 range=0.721056 variance=0.000586187 t_weight=5117.82 r_weight=0 yaml=(11.415, -1.32) prior=(11.4552, -1.97138, 2.04527deg) obs_actual=(-0.019222, 0.663206) obs_expected=(-0.0168888, 0.652394) delta=(-0.0023332, 0.0108122) |delta|=0.0110611m
I0419 21:00:51.700686 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292516972868.
I0419 21:00:51.714442 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:51.714519 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:51.714572 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:51.714826 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:51.714859 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292517139483.
I0419 21:00:51.727171 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292517261783.
I0419 21:00:51.823872 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.4646, -1.96921), yaw=1.98991 deg backend=(11.4397, -1.96538)
I0419 21:00:51.824982 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292517452764.
I0419 21:00:51.826048 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.699376, 0.531749)
I0419 21:00:51.826202 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292517576207.
I0419 21:00:51.828202 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292517736803.
I0419 21:00:51.831882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292517862178.
I0419 21:00:51.834149 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292518054506.
I0419 21:00:51.835929 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.96841 deg, rms_residual=0.0196906m, sigma_yaw=0.0255825 rad, N=2
I0419 21:00:51.836105 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.4997, -1.96637, 1.96841deg) inliers=2 rms=0.0196906m
I0419 21:00:51.836187 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292518132932.
I0419 21:00:51.838282 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.511789, -0.581812), points=14, range=0.775929, residual=0.0127296, extent=0.0456559
I0419 21:00:51.838373 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.511789, -0.581812), tracking=(0.810289, -0.581812), map_predicted=(12.3215, -2.52311), range=0.775929, pts=14
I0419 21:00:51.838403 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00721927m maha_sq=0.00222414 (gate chi2=5.99) pose_sigma=(0.151098, 0.151098, rho=0) det_map=(12.3215, -2.52311) lm_pos=(12.315, -2.52) delta=(0.00651338, -0.00311348) -> 1 candidate(s)
I0419 21:00:51.838505 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292518333668.
I0419 21:00:51.845819 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292518452250.
I0419 21:00:51.862462 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756908s, prior_pose=(11.4929, -1.96764), yaw=1.84165 deg
I0419 21:00:51.862627 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:00:51.862780 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:51.862838 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:51.862888 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.000382891 range=0.770429 variance=0.00057496 t_weight=5217.76 r_weight=0 yaml=(12.315, -2.52) prior=(11.4929, -1.96764, 1.84165deg) obs_actual=(0.801732, -0.580546) obs_expected=(0.803879, -0.578491) delta=(-0.00214708, -0.00205554) |delta|=0.00297241m
I0419 21:00:51.862999 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292518619086.
I0419 21:00:51.977038 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292518742641.
I0419 21:00:51.978554 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292518939866.
I0419 21:00:51.979471 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.739471, 0.537636)
I0419 21:00:51.979655 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519021060.
I0419 21:00:51.981669 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:51.981767 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:51.981876 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519223079.
I0419 21:00:51.982860 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:51.982975 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519338851.
I0419 21:00:51.983932 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519501439.
I0419 21:00:51.985839 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519613977.
I0419 21:00:51.986841 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.4128, 0.626547), points=3, range=1.53867, residual=0.0131117, extent=0.0265519
I0419 21:00:51.986924 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.4128, 0.626547), tracking=(1.7113, 0.626547), map_predicted=(13.2217, -1.29621), range=1.53867, pts=3
I0419 21:00:51.986960 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.024706m maha_sq=0.0263597 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2217, -1.29621) lm_pos=(13.215, -1.32) delta=(0.00666624, 0.0237897) -> 1 candidate(s)
I0419 21:00:51.987159 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519781078.
I0419 21:00:51.990947 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292519894936.
I0419 21:00:52.060817 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:52.061007 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:52.061111 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:52.061163 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0104371 range=0.740286 variance=0.000561148 t_weight=5346.18 r_weight=0 yaml=(12.315, -2.52) prior=(11.5537, -1.96898, 1.43878deg) obs_actual=(0.762265, -0.574352) obs_expected=(0.747178, -0.569956) delta=(0.0150868, -0.00439622) |delta|=0.0157142m
I0419 21:00:52.061233 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:52.061265 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292520093026.
I0419 21:00:52.062320 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292520219966.
I0419 21:00:52.063400 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292520377470.
I0419 21:00:52.065157 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.770165, 0.546816)
I0419 21:00:52.065347 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292520499094.
I0419 21:00:52.066277 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292520657354.
I0419 21:00:52.079255 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292520781159.
I0419 21:00:52.098881 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292520980095.
I0419 21:00:52.106945 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292521059447.
I0419 21:00:52.126740 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292521257728.
I0419 21:00:52.224777 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.796628, 0.556912), points=6, range=0.975333, residual=0.0105747, extent=0.026113
I0419 21:00:52.224874 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.796628, 0.556912), tracking=(-1.09513, -0.556912), map_predicted=(10.4901, -2.54626), range=0.975333, pts=6
I0419 21:00:52.224905 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0361553m maha_sq=0.0566032 (gate chi2=5.99) pose_sigma=(0.150112, 0.150112, rho=0) det_map=(10.4901, -2.54626) lm_pos=(10.515, -2.52) delta=(-0.0248502, -0.0262616) -> 1 candidate(s)
I0419 21:00:52.224992 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292521372585.
I0419 21:00:52.225890 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592804s, prior_pose=(11.5767, -1.97276), yaw=0.871312 deg
I0419 21:00:52.225955 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:00:52.226029 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:52.226063 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:52.226111 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292521572899.
I0419 21:00:52.227008 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.397693 deg, rms_residual=0.024416m, sigma_yaw=0.0315283 rad, N=2
I0419 21:00:52.227049 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0706266 range=0.978125 variance=0.000547667 t_weight=5477.78 r_weight=0 yaml=(10.515, -2.52) prior=(11.5767, -1.97276, 0.871312deg) obs_actual=(-1.10009, -0.557772) obs_expected=(-1.06988, -0.531031) delta=(-0.0302112, -0.0267406) |delta|=0.0403457m
I0419 21:00:52.227092 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.5965, -1.97414, 0.397693deg) inliers=2 rms=0.024416m
I0419 21:00:52.227124 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292521702798.
I0419 21:00:52.228607 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292521858542.
I0419 21:00:52.229467 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.816012, 0.56078)
I0419 21:00:52.229578 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292521978001.
I0419 21:00:52.230463 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:52.230501 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:52.230566 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292522140952.
I0419 21:00:52.232026 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:52.232105 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292522254607.
I0419 21:00:52.246809 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292522457090.
I0419 21:00:52.254693 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292522536144.
I0419 21:00:52.355507 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292522738729.
I0419 21:00:52.355691 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:52.355672 1218530 collated_trajectory_builder.cc:82] imu rate: 200.01 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 99.96% real time)
I0419 21:00:52.355815 1218530 collated_trajectory_builder.cc:82] odom rate: 248.81 Hz 4.02e-03 s +/- 7.43e-04 s (pulsed at 100.66% real time)
I0419 21:00:52.355924 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.27e-03 s (pulsed at 100.45% real time)
I0419 21:00:52.355957 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.35e-03 s (pulsed at 100.50% real time)
I0419 21:00:52.356798 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292522854722.
I0419 21:00:52.357807 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:52.357874 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30495, 0.662514), points=3, range=1.46133, residual=0.00554913, extent=0.0103994
I0419 21:00:52.357894 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:52.357913 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30495, 0.662514), tracking=(1.60345, 0.662514), map_predicted=(13.2136, -1.30069), range=1.46133, pts=3
I0419 21:00:52.357932 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0193633m maha_sq=0.0162951 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2136, -1.30069) lm_pos=(13.215, -1.32) delta=(-0.00143173, 0.0193103) -> 1 candidate(s)
I0419 21:00:52.357975 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:52.358007 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:52.358024 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523022495.
I0419 21:00:52.359458 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.74925, -0.651116)
I0419 21:00:52.359560 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523132106.
I0419 21:00:52.360510 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00578651 range=0.676824 variance=0.000575628 t_weight=5211.7 r_weight=0 yaml=(12.315, -2.52) prior=(11.6257, -1.9728, 0.125492deg) obs_actual=(0.680428, -0.557367) obs_expected=(0.688075, -0.548704) delta=(-0.00764689, -0.00866328) |delta|=0.0115554m
I0419 21:00:52.360577 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523298338.
I0419 21:00:52.361390 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523412544.
I0419 21:00:52.363041 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523620786.
I0419 21:00:52.374400 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523735769.
I0419 21:00:52.395397 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292523941102.
I0419 21:00:52.478353 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292524054598.
I0419 21:00:52.479625 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292524216807.
I0419 21:00:52.480414 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.77692, -0.635068)
I0419 21:00:52.480548 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292524299508.
I0419 21:00:52.482159 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.045328s, prior_pose=(11.6661, -1.96933), yaw=-0.431957 deg
I0419 21:00:52.482237 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:00:52.482331 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24407, 0.673117), points=3, range=1.42067, residual=0.013338, extent=0.0282346
I0419 21:00:52.482360 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.24407, 0.673117), tracking=(1.54257, 0.673117), map_predicted=(13.2137, -1.30786), range=1.42067, pts=3
I0419 21:00:52.482383 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0122081m maha_sq=0.00634934 (gate chi2=5.99) pose_sigma=(0.151062, 0.151062, rho=0) det_map=(13.2137, -1.30786) lm_pos=(13.215, -1.32) delta=(-0.00128754, 0.01214) -> 1 candidate(s)
I0419 21:00:52.482404 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:52.482429 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:52.482471 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292524507878.
I0419 21:00:52.483302 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292524656647.
I0419 21:00:52.484138 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0104364 range=1.41867 variance=0.000501158 t_weight=5986.13 r_weight=0 yaml=(13.215, -1.32) prior=(11.6661, -1.96933, -0.431957deg) obs_actual=(1.54784, 0.675984) obs_expected=(1.54395, 0.660988) delta=(0.00389179, 0.0149967) |delta|=0.0154935m
I0419 21:00:52.484222 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292524781417.
I0419 21:00:52.490105 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292524896890.
I0419 21:00:52.507956 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:52.508059 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:52.508147 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.644366 deg, rms_residual=0.0133529m, sigma_yaw=0.0174924 rad, N=2
I0419 21:00:52.508180 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.6796, -1.97319, -0.644366deg) inliers=2 rms=0.0133529m
I0419 21:00:52.508210 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292525075165.
I0419 21:00:52.518270 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:52.518405 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292525178517.
I0419 21:00:52.582980 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292525373411.
I0419 21:00:52.583920 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292525471106.
I0419 21:00:52.584993 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292525654097.
I0419 21:00:52.587087 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292525778412.
I0419 21:00:52.598531 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.31799, -0.548673)
I0419 21:00:52.598619 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:52.598654 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:52.598730 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:52.598776 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:52.598795 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292525980673.
I0419 21:00:52.606739 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292526061309.
I0419 21:00:52.607849 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.707, -1.97431), yaw=-1.08937 deg backend=(11.6934, -1.95643)
I0419 21:00:52.626533 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19887, 0.696818), points=4, range=1.38225, residual=0.0103125, extent=0.0224813
I0419 21:00:52.626653 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19887, 0.696818), tracking=(1.49737, 0.696818), map_predicted=(13.2173, -1.30608), range=1.38225, pts=4
I0419 21:00:52.626684 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0141136m maha_sq=0.00855886 (gate chi2=5.99) pose_sigma=(0.150646, 0.150646, rho=0) det_map=(13.2173, -1.30608) lm_pos=(13.215, -1.32) delta=(0.00234301, 0.0139177) -> 1 candidate(s)
I0419 21:00:52.626780 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292526259484.
I0419 21:00:52.638420 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292526378933.
I0419 21:00:52.655023 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0237433 range=0.6247 variance=0.000634565 t_weight=4727.65 r_weight=0 yaml=(12.315, -2.52) prior=(11.707, -1.97431, -1.08937deg) obs_actual=(0.597395, -0.544701) obs_expected=(0.618264, -0.534035) delta=(-0.0208692, -0.0106661) |delta|=0.0234369m
I0419 21:00:52.655161 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292526545317.
I0419 21:00:52.718652 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292526662394.
I0419 21:00:52.719789 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292526866665.
I0419 21:00:52.720542 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292526935162.
I0419 21:00:52.722323 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292527139796.
I0419 21:00:52.726414 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292527260504.
I0419 21:00:52.741817 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075246s, prior_pose=(11.7253, -1.97308), yaw=-1.38618 deg
I0419 21:00:52.741940 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=254, threshold=230, above_threshold=25, candidates=25
I0419 21:00:52.742048 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.283527, -0.544403)
I0419 21:00:52.742094 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:52.742123 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:52.742177 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292527414854.
I0419 21:00:52.754103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292527536438.
I0419 21:00:52.774287 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292527737868.
I0419 21:00:52.782714 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292527822179.
I0419 21:00:52.847048 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:52.847154 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:52.847260 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292528020254.
I0419 21:00:52.848105 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.969534, 0.615665), points=5, range=1.146, residual=0.00802557, extent=0.0208127
I0419 21:00:52.848193 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:52.848215 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.969534, 0.615665), tracking=(-1.26803, -0.615665), map_predicted=(10.458, -2.5574), range=1.146, pts=5
I0419 21:00:52.848242 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0681681m maha_sq=0.201844 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.458, -2.5574) lm_pos=(10.515, -2.52) delta=(-0.0569905, -0.0374029) -> 1 candidate(s)
I0419 21:00:52.848304 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292528131791.
I0419 21:00:52.849375 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292528296094.
I0419 21:00:52.851027 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.107496 range=1.1488 variance=0.000616944 t_weight=4862.68 r_weight=0 yaml=(10.515, -2.52) prior=(11.7609, -1.97919, -1.93924deg) obs_actual=(-1.26372, -0.616848) obs_expected=(-1.22688, -0.582661) delta=(-0.036839, -0.0341871) |delta|=0.050258m
I0419 21:00:52.851166 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292528417384.
I0419 21:00:52.862236 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292528612651.
I0419 21:00:52.874516 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292528736716.
I0419 21:00:52.890831 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:52.890990 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:52.891106 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:52.891230 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:52.891325 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292528901853.
I0419 21:00:52.902267 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.987107, 0.622787)
I0419 21:00:52.902616 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292529015069.
I0419 21:00:52.918040 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292529174370.
I0419 21:00:53.002751 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292529299063.
I0419 21:00:53.003880 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292529494673.
I0419 21:00:53.004905 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292529617641.
I0419 21:00:53.006649 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292529778532.
I0419 21:00:53.007596 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292529895151.
I0419 21:00:53.008533 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07653, 0.735268), points=4, range=1.30075, residual=0.00762403, extent=0.0172452
I0419 21:00:53.008607 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.07653, 0.735268), tracking=(1.37503, 0.735268), map_predicted=(13.2062, -1.29709), range=1.30075, pts=4
I0419 21:00:53.008633 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0245575m maha_sq=0.0261915 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2062, -1.29709) lm_pos=(13.215, -1.32) delta=(-0.00884756, 0.0229083) -> 1 candidate(s)
I0419 21:00:53.008687 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.81437 deg, rms_residual=0.0180807m, sigma_yaw=0.0235401 rad, N=2
I0419 21:00:53.008719 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.8164, -1.9724, -2.81437deg) inliers=2 rms=0.0180807m
I0419 21:00:53.008751 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292530062361.
I0419 21:00:53.034901 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564666s, prior_pose=(11.8151, -1.97284), yaw=-2.68561 deg
I0419 21:00:53.035038 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:00:53.035410 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292530343198.
I0419 21:00:53.050428 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:53.050565 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:53.050624 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.127936 range=1.198 variance=0.000629057 t_weight=4769.04 r_weight=0 yaml=(10.515, -2.52) prior=(11.8151, -1.97284, -2.68561deg) obs_actual=(-1.31942, -0.635856) obs_expected=(-1.27302, -0.607474) delta=(-0.046406, -0.0283819) |delta|=0.0543971m
I0419 21:00:53.050755 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292530497496.
I0419 21:00:53.145527 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.05425, 0.738183)
I0419 21:00:53.145741 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292530659604.
I0419 21:00:53.146564 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292530774227.
I0419 21:00:53.147595 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:53.147665 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:53.147751 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292530976644.
I0419 21:00:53.149215 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292531054789.
I0419 21:00:53.150499 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:53.150599 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292531261130.
I0419 21:00:53.151465 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292531373751.
I0419 21:00:53.154477 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292531539523.
I0419 21:00:53.167060 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292531662041.
I0419 21:00:53.186867 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292531857344.
I0419 21:00:53.275321 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:53.275417 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:53.275468 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:53.275503 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:53.275521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292531975897.
I0419 21:00:53.276506 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00832, 0.741583), points=4, range=1.2505, residual=0.00533117, extent=0.0110729
I0419 21:00:53.276568 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00832, 0.741583), tracking=(1.30682, 0.741583), map_predicted=(13.2057, -1.30498), range=1.2505, pts=4
I0419 21:00:53.276595 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0176439m maha_sq=0.0135394 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2057, -1.30498) lm_pos=(13.215, -1.32) delta=(-0.00926044, 0.0150183) -> 1 candidate(s)
I0419 21:00:53.276678 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292532136608.
I0419 21:00:53.277551 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292532263044.
I0419 21:00:53.279246 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292532418853.
I0419 21:00:53.280928 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.145928, -0.534967)
I0419 21:00:53.281019 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0335344 range=0.554625 variance=0.000581524 t_weight=5158.86 r_weight=0 yaml=(12.315, -2.52) prior=(11.8738, -1.9733, -3.20243deg) obs_actual=(0.446905, -0.534991) obs_expected=(0.471068, -0.5212) delta=(-0.0241631, -0.0137901) |delta|=0.0278213m
I0419 21:00:53.281129 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292532701928.
I0419 21:00:53.282586 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292532815442.
I0419 21:00:53.302556 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533014962.
I0419 21:00:53.314507 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533135635.
I0419 21:00:53.412005 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479181s, prior_pose=(11.9095, -1.97162), yaw=-3.16247 deg
I0419 21:00:53.412117 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:53.412321 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533294623.
I0419 21:00:53.415481 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533614355.
I0419 21:00:53.418265 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:53.418388 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:53.418478 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533693773.
I0419 21:00:53.420548 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:53.420650 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:53.420781 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533932476.
I0419 21:00:53.421904 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292533981693.
I0419 21:00:53.424295 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292534183230.
I0419 21:00:53.450800 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292534495951.
I0419 21:00:53.545177 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.13536, 0.637983)
I0419 21:00:53.545269 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:53.545337 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292534575239.
I0419 21:00:53.546435 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292534778330.
I0419 21:00:53.547358 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292534894043.
I0419 21:00:53.548334 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.9417, -1.97135), yaw=-2.91636 deg backend=(11.9331, -1.96156)
I0419 21:00:53.549175 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292535094579.
I0419 21:00:53.550850 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.07051, -0.541421), points=23, range=0.54513, residual=0.0117452, extent=0.0362299
I0419 21:00:53.550915 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.07051, -0.541421), tracking=(0.36901, -0.541421), map_predicted=(12.2827, -2.53084), range=0.54513, pts=23
I0419 21:00:53.550982 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.034109m maha_sq=0.0504292 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2827, -2.53084) lm_pos=(12.315, -2.52) delta=(-0.0323393, -0.010844) -> 1 candidate(s)
I0419 21:00:53.551055 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292535374563.
I0419 21:00:53.566689 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:53.566834 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:53.566941 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:53.567063 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:53.567109 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292535656205.
I0419 21:00:53.578514 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292535772912.
I0419 21:00:53.665315 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0599526 range=0.541625 variance=0.000562774 t_weight=5330.73 r_weight=0 yaml=(12.315, -2.52) prior=(11.956, -1.97099, -2.7721deg) obs_actual=(0.348875, -0.539479) obs_expected=(0.385138, -0.531) delta=(-0.0362634, -0.00847927) |delta|=0.0372416m
I0419 21:00:53.665457 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292535932934.
I0419 21:00:53.667299 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0805091s, prior_pose=(11.956, -1.97099), yaw=-2.7721 deg
I0419 21:00:53.667428 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:53.667644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292536257040.
I0419 21:00:53.670411 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.0299536, -0.54107)
I0419 21:00:53.670616 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292536534632.
I0419 21:00:53.671510 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292536656348.
I0419 21:00:53.682401 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:53.682552 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:53.682760 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292536817485.
I0419 21:00:53.694482 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292536937692.
I0419 21:00:53.711150 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292537097888.
I0419 21:00:53.734241 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:53.789000 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292537261040.
I0419 21:00:53.789743 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:53.790115 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:53.790223 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:53.790277 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292537420547.
I0419 21:00:53.791070 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292537538023.
I0419 21:00:53.792827 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292537693184.
I0419 21:00:53.802207 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.839022, 0.718681), points=5, range=1.1068, residual=0.00890851, extent=0.0248899
I0419 21:00:53.802325 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.839022, 0.718681), tracking=(1.13752, 0.718681), map_predicted=(13.1915, -1.30487), range=1.1068, pts=5
I0419 21:00:53.802596 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0279478m maha_sq=0.0339084 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1915, -1.30487) lm_pos=(13.215, -1.32) delta=(-0.0234973, 0.0151313) -> 1 candidate(s)
I0419 21:00:53.802752 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292538014534.
I0419 21:00:53.814669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292538138095.
I0419 21:00:53.830603 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:53.830940 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0166404 range=1.0954 variance=0.000534547 t_weight=5612.23 r_weight=0 yaml=(13.215, -1.32) prior=(12.0416, -1.97499, -2.26947deg) obs_actual=(1.13181, 0.713809) obs_expected=(1.14656, 0.700939) delta=(-0.0147535, 0.0128701) |delta|=0.0195781m
I0419 21:00:53.831079 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292538297974.
I0419 21:00:53.842921 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.25114, 0.616984)
I0419 21:00:53.909780 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292538655490.
I0419 21:00:53.911590 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292538900383.
I0419 21:00:53.918591 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0526856s, prior_pose=(12.0836, -1.97492), yaw=-2.0697 deg
I0419 21:00:53.918699 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:53.918915 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292539182346.
I0419 21:00:53.946667 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.12761 deg, rms_residual=0.0116086m, sigma_yaw=0.0152422 rad, N=2
I0419 21:00:53.946795 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.0935, -1.97683, -2.12761deg) inliers=2 rms=0.0116086m
I0419 21:00:53.946834 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292539460605.
I0419 21:00:53.957760 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:53.957852 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:53.957916 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:53.958010 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:53.958031 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292539573048.
I0419 21:00:53.978988 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:53.979094 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:53.979241 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292539784384.
I0419 21:00:54.046094 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292539894979.
I0419 21:00:54.047220 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292540082990.
I0419 21:00:54.048121 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292540179920.
I0419 21:00:54.049969 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.087375, -0.546465)
I0419 21:00:54.050096 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781367, 0.706617), points=5, range=1.0504, residual=0.00984745, extent=0.0234239
I0419 21:00:54.050125 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.781367, 0.706617), tracking=(1.07987, 0.706617), map_predicted=(13.2081, -1.30492), range=1.0504, pts=5
I0419 21:00:54.050150 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0165892m maha_sq=0.0117932 (gate chi2=5.99) pose_sigma=(0.150951, 0.150951, rho=0) det_map=(13.2081, -1.30492) lm_pos=(13.215, -1.32) delta=(-0.00690955, 0.0150818) -> 1 candidate(s)
I0419 21:00:54.050238 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292540338001.
I0419 21:00:54.066088 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292540654129.
I0419 21:00:54.078282 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0414074 range=0.791833 variance=0.000567415 t_weight=5287.13 r_weight=0 yaml=(11.415, -1.32) prior=(12.1197, -1.97606, -1.84084deg) obs_actual=(-0.750261, 0.651836) obs_expected=(-0.725428, 0.633082) delta=(-0.0248334, 0.0187538) |delta|=0.0311192m
I0419 21:00:54.078433 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292540776993.
I0419 21:00:54.094316 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292540936672.
I0419 21:00:54.105612 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292541051393.
I0419 21:00:54.165906 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:54.166016 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:54.166090 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292541218939.
I0419 21:00:54.167966 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292541532994.
I0419 21:00:54.169517 1218530 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:00:54.182528 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.68841, -0.478837)
I0419 21:00:54.182760 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292541820667.
I0419 21:00:54.210403 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.048026s, prior_pose=(12.1574, -1.97815), yaw=-1.64267 deg
I0419 21:00:54.210587 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=254, threshold=230, above_threshold=32, candidates=32
I0419 21:00:54.210856 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292542100781.
I0419 21:00:54.242710 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292542419532.
I0419 21:00:54.306680 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:54.306813 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292542497282.
I0419 21:00:54.307806 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:54.307858 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:54.307956 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292542696363.
I0419 21:00:54.308772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292542817083.
I0419 21:00:54.310444 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.16575, -0.55064), points=22, range=0.575545, residual=0.011373, extent=0.0352166
I0419 21:00:54.310510 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.16575, -0.55064), tracking=(0.13275, -0.55064), map_predicted=(12.2982, -2.53059), range=0.575545, pts=22
I0419 21:00:54.310536 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0198238m maha_sq=0.0167981 (gate chi2=5.99) pose_sigma=(0.151102, 0.151102, rho=0) det_map=(12.2982, -2.53059) lm_pos=(12.315, -2.52) delta=(-0.0167598, -0.0105874) -> 1 candidate(s)
I0419 21:00:54.310626 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292543017763.
I0419 21:00:54.311364 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.521759, -0.657777)
I0419 21:00:54.311455 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292543102169.
I0419 21:00:54.330335 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:54.330430 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:54.330502 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:54.330533 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0362937 range=0.581136 variance=0.00056763 t_weight=5285.13 r_weight=0 yaml=(12.315, -2.52) prior=(12.1811, -1.97642, -1.61498deg) obs_actual=(0.124474, -0.554605) obs_expected=(0.149205, -0.539584) delta=(-0.0247304, -0.0150204) |delta|=0.0289346m
I0419 21:00:54.330617 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:54.330641 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292543296738.
I0419 21:00:54.342396 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292543418690.
I0419 21:00:54.358109 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292543574331.
I0419 21:00:54.370081 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292543695063.
I0419 21:00:54.443135 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.2145, -1.9758), yaw=-1.47143 deg backend=(12.1978, -1.96794)
I0419 21:00:54.444231 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292543851960.
I0419 21:00:54.445281 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292543978776.
I0419 21:00:54.446380 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292544178925.
I0419 21:00:54.447948 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.43207, 0.595617)
I0419 21:00:54.448081 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292544295490.
I0419 21:00:54.449262 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292544452950.
I0419 21:00:54.457916 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292544573000.
I0419 21:00:54.477995 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.660923, 0.696436), points=9, range=0.958222, residual=0.0093806, extent=0.0252763
I0419 21:00:54.478091 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.660923, 0.696436), tracking=(0.959423, 0.696436), map_predicted=(13.2149, -1.30065), range=0.958222, pts=9
I0419 21:00:54.478125 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0193486m maha_sq=0.0160766 (gate chi2=5.99) pose_sigma=(0.150833, 0.150833, rho=0) det_map=(13.2149, -1.30065) lm_pos=(13.215, -1.32) delta=(-8.29903e-05, 0.0193484) -> 1 candidate(s)
I0419 21:00:54.478150 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:54.478183 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:54.478276 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292544773444.
I0419 21:00:54.486614 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292544860755.
I0419 21:00:54.505654 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757158s, prior_pose=(12.2395, -1.97455), yaw=-1.33493 deg
I0419 21:00:54.505841 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:00:54.506091 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.58283 deg, rms_residual=0.0166554m, sigma_yaw=0.0217247 rad, N=2
I0419 21:00:54.506130 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0315581 range=0.600714 variance=0.000576149 t_weight=5206.99 r_weight=0 yaml=(12.315, -2.52) prior=(12.2395, -1.97455, -1.33493deg) obs_actual=(0.0632852, -0.554016) obs_expected=(0.0881574, -0.543546) delta=(-0.0248722, -0.0104697) |delta|=0.0269859m
I0419 21:00:54.506204 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.257, -1.97777, -1.58283deg) inliers=2 rms=0.0166554m
I0419 21:00:54.506240 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292545052648.
I0419 21:00:54.579907 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292545179516.
I0419 21:00:54.581061 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292545339104.
I0419 21:00:54.581966 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47409, 0.590586)
I0419 21:00:54.582062 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:54.582125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292545453255.
I0419 21:00:54.584038 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:54.584156 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:54.584266 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292545618803.
I0419 21:00:54.585216 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292545740150.
I0419 21:00:54.592141 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292545912863.
I0419 21:00:54.606312 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292546057648.
I0419 21:00:54.622851 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:54.622967 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:54.623040 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:54.623137 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:54.623165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292546221177.
I0419 21:00:54.633754 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292546332065.
I0419 21:00:54.695026 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=10, centroid=(0.606179, 0.695204)
I0419 21:00:54.695223 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292546500622.
I0419 21:00:54.696142 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.621557, -0.660686), points=10, range=0.9033, residual=0.0127303, extent=0.0373382
I0419 21:00:54.696231 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.621557, -0.660686), tracking=(-0.920057, 0.660686), map_predicted=(11.3721, -1.29545), range=0.9033, pts=10
I0419 21:00:54.696262 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0494457m maha_sq=0.105805 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.3721, -1.29545) lm_pos=(11.415, -1.32) delta=(-0.0429191, 0.0245526) -> 1 candidate(s)
I0419 21:00:54.696344 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292546657264.
I0419 21:00:54.697486 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292546816401.
I0419 21:00:54.699142 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0676291 range=0.911222 variance=0.000525229 t_weight=5711.79 r_weight=0 yaml=(11.415, -1.32) prior=(12.2961, -1.97711, -1.19526deg) obs_actual=(-0.927591, 0.660957) obs_expected=(-0.894662, 0.638583) delta=(-0.0329296, 0.0223736) |delta|=0.0398113m
I0419 21:00:54.699326 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292546935134.
I0419 21:00:54.709992 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292547093498.
I0419 21:00:54.722530 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292547217803.
I0419 21:00:54.742388 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292547417531.
I0419 21:00:54.753846 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.52921, 0.587003)
I0419 21:00:54.754068 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292547532333.
I0419 21:00:54.770303 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:54.770453 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:54.770586 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292547694932.
I0419 21:00:54.836120 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292547816510.
I0419 21:00:54.837311 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060283s, prior_pose=(12.3391, -1.97907), yaw=-1.22174 deg
I0419 21:00:54.837407 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:00:54.837610 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292548020361.
I0419 21:00:54.838485 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 30 -> 22 (threshold=0.03, iters=3)
I0419 21:00:54.838542 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.285818, 0.55083), points=22, range=0.6245, residual=0.0200943, extent=0.0557612
I0419 21:00:54.838570 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.285818, 0.55083), tracking=(-0.012682, -0.55083), map_predicted=(12.3147, -2.52951), range=0.6245, pts=22
I0419 21:00:54.838598 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.00950986m maha_sq=0.00387503 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3147, -2.52951) lm_pos=(12.315, -2.52) delta=(-0.000299133, -0.00950516) -> 1 candidate(s)
I0419 21:00:54.838685 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292548095733.
I0419 21:00:54.840596 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292548297136.
I0419 21:00:54.841454 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:54.841559 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0275944 range=0.937125 variance=0.000554983 t_weight=5405.57 r_weight=0 yaml=(11.415, -1.32) prior=(12.3517, -1.98116, -1.26497deg) obs_actual=(-0.971623, 0.654869) obs_expected=(-0.951021, 0.640318) delta=(-0.0206021, 0.0145513) |delta|=0.0252228m
I0419 21:00:54.841643 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292548377045.
I0419 21:00:54.858758 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:54.858894 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.542297, 0.694038)
I0419 21:00:54.858915 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:00:54.859035 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292548582675.
I0419 21:00:54.870472 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292548697146.
I0419 21:00:54.886108 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292548854745.
I0419 21:00:54.897857 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292548972674.
I0419 21:00:54.958971 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:54.959081 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:54.959148 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:54.959192 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:54.959208 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292549180350.
I0419 21:00:54.960067 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.57279 deg, rms_residual=0.0161696m, sigma_yaw=0.0211044 rad, N=2
I0419 21:00:54.960150 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.3887, -1.98491, -1.57279deg) inliers=2 rms=0.0161696m
I0419 21:00:54.960186 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292549262148.
I0419 21:00:54.961225 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292549462131.
I0419 21:00:54.962858 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292549575037.
I0419 21:00:54.978530 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292549777354.
I0419 21:00:54.987603 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292549858490.
I0419 21:00:55.006699 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.49517, 0.696248)
I0419 21:00:55.007045 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.491729, 0.695742), points=12, range=0.854417, residual=0.0110676, extent=0.0340158
I0419 21:00:55.007104 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.491729, 0.695742), tracking=(0.790229, 0.695742), map_predicted=(13.2127, -1.31054), range=0.854417, pts=12
I0419 21:00:55.007197 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00973554m maha_sq=0.00406329 (gate chi2=5.99) pose_sigma=(0.150865, 0.150865, rho=0) det_map=(13.2127, -1.31054) lm_pos=(13.215, -1.32) delta=(-0.002289, 0.00946262) -> 1 candidate(s)
I0419 21:00:55.007441 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292550060194.
I0419 21:00:55.020125 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292550182794.
I0419 21:00:55.034161 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0112737 range=0.847615 variance=0.000560311 t_weight=5354.17 r_weight=0 yaml=(13.215, -1.32) prior=(12.4029, -1.98339, -1.63901deg) obs_actual=(0.779598, 0.695624) obs_expected=(0.792787, 0.686348) delta=(-0.0131888, 0.00927528) |delta|=0.0161238m
I0419 21:00:55.034474 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292550333705.
I0419 21:00:55.117353 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292550458214.
I0419 21:00:55.118460 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:55.118552 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:55.118598 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292550616685.
I0419 21:00:55.119500 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292550738624.
I0419 21:00:55.121179 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478504s, prior_pose=(12.4278, -1.98187), yaw=-1.83085 deg
I0419 21:00:55.121268 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:00:55.121407 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292550936718.
I0419 21:00:55.122316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292551024269.
I0419 21:00:55.123355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292551218567.
I0419 21:00:55.134588 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:55.134775 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292551340141.
I0419 21:00:55.150115 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:55.150216 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:55.150345 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292551494982.
I0419 21:00:55.162453 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.772127, -0.63796)
I0419 21:00:55.162714 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292551619899.
I0419 21:00:55.228422 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292551820943.
I0419 21:00:55.228628 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:55.229411 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292551900872.
I0419 21:00:55.230430 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:55.230502 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:55.230552 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:55.230587 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:55.230605 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292552101584.
I0419 21:00:55.232277 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785757, -0.63551), points=6, range=1.01233, residual=0.00886277, extent=0.0245205
I0419 21:00:55.232360 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.785757, -0.63551), tracking=(-1.08426, 0.63551), map_predicted=(11.4028, -1.30672), range=1.01233, pts=6
I0419 21:00:55.232393 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0180359m maha_sq=0.0139031 (gate chi2=5.99) pose_sigma=(0.151221, 0.151221, rho=0) det_map=(11.4028, -1.30672) lm_pos=(11.415, -1.32) delta=(-0.0122076, 0.0132766) -> 1 candidate(s)
I0419 21:00:55.232479 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292552221457.
I0419 21:00:55.238588 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292552380798.
I0419 21:00:55.250764 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.025666 range=1.01933 variance=0.000582234 t_weight=5152.57 r_weight=0 yaml=(11.415, -1.32) prior=(12.4615, -1.98388, -2.22656deg) obs_actual=(-1.093, 0.634198) obs_expected=(-1.07154, 0.622717) delta=(-0.0214621, 0.0114807) |delta|=0.0243399m
I0419 21:00:55.250976 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292552502065.
I0419 21:00:55.252094 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.4746, -1.98484), yaw=-2.27391 deg backend=(12.447, -1.9707)
I0419 21:00:55.270488 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292552699888.
I0419 21:00:55.282261 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292552816496.
I0419 21:00:55.297982 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292552973855.
I0419 21:00:55.362762 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.81097, -0.629785)
I0419 21:00:55.362965 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292553107844.
I0419 21:00:55.363826 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292553265257.
I0419 21:00:55.364701 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292553376905.
I0419 21:00:55.366436 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:55.366518 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:55.366564 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292553581864.
I0419 21:00:55.370290 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292553698139.
I0419 21:00:55.386684 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0749929s, prior_pose=(12.4925, -1.98225), yaw=-2.40205 deg
I0419 21:00:55.386826 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:00:55.387012 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292553857773.
I0419 21:00:55.398913 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.124541, 0.55024), points=23, range=0.564783, residual=0.0114952, extent=0.0374709
I0419 21:00:55.399045 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.124541, 0.55024), tracking=(-0.173959, -0.55024), map_predicted=(12.3054, -2.52032), range=0.564783, pts=23
I0419 21:00:55.399076 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00962804m maha_sq=0.00397522 (gate chi2=5.99) pose_sigma=(0.150845, 0.150845, rho=0) det_map=(12.3054, -2.52032) lm_pos=(12.315, -2.52) delta=(-0.00962275, -0.000319385) -> 1 candidate(s)
I0419 21:00:55.399161 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292553981453.
I0419 21:00:55.418373 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292554178262.
I0419 21:00:55.426441 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:55.426566 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0153807 range=0.56392 variance=0.000599091 t_weight=5007.58 r_weight=0 yaml=(12.315, -2.52) prior=(12.5031, -1.97816, -2.48951deg) obs_actual=(-0.183192, -0.550295) obs_expected=(-0.16436, -0.549503) delta=(-0.0188322, -0.000792418) |delta|=0.0188489m
I0419 21:00:55.426635 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292554257396.
I0419 21:00:55.492596 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:55.492743 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.354177, 0.702499)
I0419 21:00:55.492764 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:55.492882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292554455223.
I0419 21:00:55.493873 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292554577337.
I0419 21:00:55.494948 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292554733454.
I0419 21:00:55.496615 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292554852816.
I0419 21:00:55.506405 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:55.506582 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:55.506688 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:55.506747 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:55.506769 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292555058083.
I0419 21:00:55.514444 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292555138813.
I0419 21:00:55.533988 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.69986 deg, rms_residual=0.013383m, sigma_yaw=0.0175312 rad, N=2
I0419 21:00:55.534085 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.5408, -1.97202, -3.69986deg) inliers=2 rms=0.013383m
I0419 21:00:55.534122 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292555332384.
I0419 21:00:55.547375 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292555468288.
I0419 21:00:55.562750 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292555621143.
I0419 21:00:55.601220 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:00:55.629109 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292555743529.
I0419 21:00:55.630211 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.306531, 0.704881)
I0419 21:00:55.630291 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.303827, 0.704321), points=13, range=0.768692, residual=0.00980534, extent=0.0308543
I0419 21:00:55.630316 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.303827, 0.704321), tracking=(0.602327, 0.704321), map_predicted=(13.1909, -1.30544), range=0.768692, pts=13
I0419 21:00:55.630339 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0281525m maha_sq=0.0344056 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1909, -1.30544) lm_pos=(13.215, -1.32) delta=(-0.0240972, 0.0145565) -> 1 candidate(s)
I0419 21:00:55.630430 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292555933185.
I0419 21:00:55.631295 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292556020427.
I0419 21:00:55.633152 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0381004 range=0.765286 variance=0.000553527 t_weight=5419.79 r_weight=0 yaml=(13.215, -1.32) prior=(12.5633, -1.97649, -2.95446deg) obs_actual=(0.591704, 0.704915) obs_expected=(0.617, 0.689209) delta=(-0.0252954, 0.0157058) |delta|=0.0297746m
I0419 21:00:55.633296 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292556228152.
I0419 21:00:55.634169 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292556309382.
I0419 21:00:55.650377 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:55.650503 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:55.650602 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292556499411.
I0419 21:00:55.662636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292556620192.
I0419 21:00:55.677985 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0547932s, prior_pose=(12.5758, -1.97596), yaw=-3.06925 deg
I0419 21:00:55.678079 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:00:55.678292 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292556776084.
I0419 21:00:55.690521 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292556898317.
I0419 21:00:55.767517 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292557096522.
I0419 21:00:55.768513 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:55.768661 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292557217672.
I0419 21:00:55.769527 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:55.769644 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:55.769739 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292557372465.
I0419 21:00:55.771363 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292557496874.
I0419 21:00:55.772382 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.249441, 0.707564)
I0419 21:00:55.772516 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292557670907.
I0419 21:00:55.782766 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292557820686.
I0419 21:00:55.798242 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:55.798368 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24317, -0.442262), points=3, range=1.322, residual=0.00676749, extent=0.0142499
I0419 21:00:55.798391 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:55.798410 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.24317, -0.442262), tracking=(1.54167, -0.442262), map_predicted=(14.1215, -2.50775), range=1.322, pts=3
I0419 21:00:55.798445 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0138544m maha_sq=0.00825581 (gate chi2=5.99) pose_sigma=(0.150782, 0.150782, rho=0) det_map=(14.1215, -2.50775) lm_pos=(14.115, -2.52) delta=(0.00647492, 0.0122483) -> 1 candidate(s)
I0419 21:00:55.798547 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:55.798668 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:55.798693 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292557976112.
I0419 21:00:55.809906 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292558093632.
I0419 21:00:55.826400 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0100185 range=1.314 variance=0.000504216 t_weight=5949.83 r_weight=0 yaml=(14.115, -2.52) prior=(12.6087, -1.97507, -3.39117deg) obs_actual=(1.53461, -0.439749) obs_expected=(1.53593, -0.454872) delta=(-0.00132738, 0.015123) |delta|=0.0151812m
I0419 21:00:55.826576 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292558258773.
I0419 21:00:55.895679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292558377289.
I0419 21:00:55.896868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292558578817.
I0419 21:00:55.898002 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292558698004.
I0419 21:00:55.899772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292558870929.
I0419 21:00:55.901796 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292559012951.
I0419 21:00:55.915252 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292559147013.
I0419 21:00:55.926537 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292559260318.
I0419 21:00:55.946631 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:55.946753 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:55.946851 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292559460841.
I0419 21:00:55.954375 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0236288, 0.559178)
I0419 21:00:55.954569 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292559539495.
I0419 21:00:56.016949 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480758s, prior_pose=(12.6524, -1.97586), yaw=-3.82031 deg
I0419 21:00:56.017059 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:00:56.017266 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292559741076.
I0419 21:00:56.018112 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0301859, 0.56029), points=22, range=0.561682, residual=0.0105948, extent=0.0345085
I0419 21:00:56.018172 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0301859, 0.56029), tracking=(-0.328686, -0.56029), map_predicted=(12.2872, -2.513), range=0.561682, pts=22
I0419 21:00:56.018198 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0287054m maha_sq=0.0357559 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2872, -2.513) lm_pos=(12.315, -2.52) delta=(-0.0278396, 0.00699681) -> 1 candidate(s)
I0419 21:00:56.018257 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292559853502.
I0419 21:00:56.019229 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292560028370.
I0419 21:00:56.020744 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:56.020852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292560132318.
I0419 21:00:56.034472 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:56.034577 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:56.034713 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0100716 range=1.2568 variance=0.000590197 t_weight=5083.05 r_weight=0 yaml=(14.115, -2.52) prior=(12.6657, -1.97689, -3.98101deg) obs_actual=(1.48508, -0.42602) obs_expected=(1.48347, -0.441184) delta=(0.001611, 0.0151644) |delta|=0.0152497m
I0419 21:00:56.034823 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292560339671.
I0419 21:00:56.046697 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292560458332.
I0419 21:00:56.063014 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292560621392.
I0419 21:00:56.074765 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292560738857.
I0419 21:00:56.098555 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:00:56.098904 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:56.099195 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:00:56.099438 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:56.099576 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292560973477.
I0419 21:00:56.194520 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292561019917.
I0419 21:00:56.195648 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292561216366.
I0419 21:00:56.196512 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292561336944.
I0419 21:00:56.197503 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.7052, -1.98023), yaw=-4.08467 deg backend=(12.7113, -1.98511)
I0419 21:00:56.198148 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15441, -0.423933)
I0419 21:00:56.198274 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292561495637.
I0419 21:00:56.199189 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292561617855.
I0419 21:00:56.200344 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292561817615.
I0419 21:00:56.201854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292561894332.
I0419 21:00:56.210377 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.106753, 0.707286), points=15, range=0.715133, residual=0.00960818, extent=0.0293712
I0419 21:00:56.210459 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.106753, 0.707286), tracking=(0.405253, 0.707286), map_predicted=(13.176, -1.3028), range=0.715133, pts=15
I0419 21:00:56.210489 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0425853m maha_sq=0.0787451 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.176, -1.3028) lm_pos=(13.215, -1.32) delta=(-0.0389586, 0.0171971) -> 1 candidate(s)
I0419 21:00:56.210548 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-5.68652 deg, rms_residual=0.0144897m, sigma_yaw=0.0189534 rad, N=2
I0419 21:00:56.210611 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.733, -1.97206, -5.68652deg) inliers=2 rms=0.0144897m
I0419 21:00:56.210649 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292562099302.
I0419 21:00:56.222491 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292562220324.
I0419 21:00:56.295809 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:00:56.295907 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:00:56.295958 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292562375759.
I0419 21:00:56.296872 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0698891 range=0.578364 variance=0.000569279 t_weight=5269.83 r_weight=0 yaml=(12.315, -2.52) prior=(12.7236, -1.97754, -4.33767deg) obs_actual=(-0.406428, -0.568276) obs_expected=(-0.36643, -0.571809) delta=(-0.0399976, 0.00353266) |delta|=0.0401533m
I0419 21:00:56.296964 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292562499260.
I0419 21:00:56.297853 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0763946s, prior_pose=(12.7236, -1.97754), yaw=-4.33767 deg
I0419 21:00:56.297920 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:00:56.298053 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292562658278.
I0419 21:00:56.299553 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292562781093.
I0419 21:00:56.302192 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563005134.
I0419 21:00:56.310158 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.121486, 0.567312)
I0419 21:00:56.310281 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:56.310417 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563097832.
I0419 21:00:56.326205 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:56.326314 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:56.326470 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563256842.
I0419 21:00:56.338352 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563378384.
I0419 21:00:56.358191 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563574296.
I0419 21:00:56.432881 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563699682.
I0419 21:00:56.433882 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:56.433992 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:56.434063 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:56.434121 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:56.434145 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292563854314.
I0419 21:00:56.435037 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292563981080.
I0419 21:00:56.436828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292564140332.
I0419 21:00:56.437774 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292564255013.
I0419 21:00:56.446102 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292564454046.
I0419 21:00:56.458689 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292564574313.
I0419 21:00:56.474730 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.0359751, 0.705614)
I0419 21:00:56.474836 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0328255, 0.70478), points=18, range=0.706611, residual=0.0116638, extent=0.0372401
I0419 21:00:56.474876 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0328255, 0.70478), tracking=(0.331325, 0.70478), map_predicted=(13.1636, -1.29974), range=0.706611, pts=18
I0419 21:00:56.474941 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.055294m maha_sq=0.132508 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1636, -1.29974) lm_pos=(13.215, -1.32) delta=(-0.0514489, 0.0202591) -> 1 candidate(s)
I0419 21:00:56.475075 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292564741062.
I0419 21:00:56.487353 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292564861153.
I0419 21:00:56.578879 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0861226 range=0.707375 variance=0.000545358 t_weight=5500.97 r_weight=0 yaml=(13.215, -1.32) prior=(12.8006, -1.98035, -4.21406deg) obs_actual=(0.323163, 0.70622) obs_expected=(0.364712, 0.689009) delta=(-0.0415488, 0.0172105) |delta|=0.0449722m
I0419 21:00:56.579002 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292565016202.
I0419 21:00:56.580055 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292565214889.
I0419 21:00:56.580924 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:56.580991 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:56.581049 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292565300507.
I0419 21:00:56.582841 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292565458159.
I0419 21:00:56.583918 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597513s, prior_pose=(12.8168, -1.98039), yaw=-4.1791 deg
I0419 21:00:56.584018 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:00:56.584198 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292565613715.
I0419 21:00:56.585378 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292565737254.
I0419 21:00:56.595182 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292565939967.
I0419 21:00:56.602689 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:56.603035 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292566016433.
I0419 21:00:56.622614 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:56.622773 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.00617298, 0.703607)
I0419 21:00:56.622817 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:00:56.623068 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292566218569.
I0419 21:00:56.715111 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292566335366.
I0419 21:00:56.715402 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:56.716116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292566496280.
I0419 21:00:56.716961 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.223983, 0.566122), points=19, range=0.610211, residual=0.0112687, extent=0.0352038
I0419 21:00:56.717056 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.223983, 0.566122), tracking=(-0.522483, -0.566122), map_predicted=(12.2825, -2.51287), range=0.610211, pts=19
I0419 21:00:56.717105 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0332441m maha_sq=0.0479231 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2825, -2.51287) lm_pos=(12.315, -2.52) delta=(-0.0324703, 0.0071306) -> 1 candidate(s)
I0419 21:00:56.717163 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292566620310.
I0419 21:00:56.718693 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:00:56.718763 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:56.718818 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:00:56.718848 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[15] 'ref_16' maha_sq=0.0542717 range=0.704118 variance=0.000560067 t_weight=5356.5 r_weight=5000 yaml=(13.215, -1.32) prior=(12.8559, -1.98496, -4.07286deg) obs_actual=(0.27806, 0.70238) obs_expected=(0.310939, 0.688787) delta=(-0.0328792, 0.0135933) |delta|=0.0355784m
I0419 21:00:56.718890 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:56.718906 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292566780442.
I0419 21:00:56.719786 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292566901470.
I0419 21:00:56.720791 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292567092951.
I0419 21:00:56.722442 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292567217671.
I0419 21:00:56.738082 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292567373567.
I0419 21:00:56.750847 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292567499359.
I0419 21:00:56.845332 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.0449751, 0.701252)
I0419 21:00:56.845541 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292567660018.
I0419 21:00:56.846500 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292567778287.
I0419 21:00:56.847560 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292567977044.
I0419 21:00:56.849049 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292568095708.
I0419 21:00:56.849931 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:56.849979 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:56.850015 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292568251488.
I0419 21:00:56.850775 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292568344130.
I0419 21:00:56.858367 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.048329s, prior_pose=(12.9071, -1.98585), yaw=-3.89862 deg
I0419 21:00:56.858527 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:56.858642 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0727057, 0.701336), points=17, range=0.704765, residual=0.0109243, extent=0.0330559
I0419 21:00:56.858671 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0727057, 0.701336), tracking=(0.225794, 0.701336), map_predicted=(13.18, -1.30149), range=0.704765, pts=17
I0419 21:00:56.858695 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0395726m maha_sq=0.0670888 (gate chi2=5.99) pose_sigma=(0.150948, 0.150948, rho=0) det_map=(13.18, -1.30149) lm_pos=(13.215, -1.32) delta=(-0.0349767, 0.0185101) -> 1 candidate(s)
I0419 21:00:56.858768 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292568578998.
I0419 21:00:56.866294 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292568656606.
I0419 21:00:56.886718 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0806085 range=0.7035 variance=0.000539938 t_weight=5556.19 r_weight=0 yaml=(13.215, -1.32) prior=(12.9071, -1.98585, -3.89862deg) obs_actual=(0.220946, 0.698512) obs_expected=(0.261949, 0.685247) delta=(-0.0410029, 0.0132657) |delta|=0.0430954m
I0419 21:00:56.886929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292568859440.
I0419 21:00:56.983022 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:56.983177 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292569021578.
I0419 21:00:56.984042 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:56.984088 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.0838532, 0.699627)
I0419 21:00:56.984107 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:56.984182 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292569181011.
I0419 21:00:56.984970 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292569259009.
I0419 21:00:56.986817 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292569413476.
I0419 21:00:56.987848 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292569536400.
I0419 21:00:56.988857 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:56.988911 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:56.988960 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:56.988994 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:56.989012 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292569738774.
I0419 21:00:56.990474 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292569814893.
I0419 21:00:57.002012 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292570013231.
I0419 21:00:57.013928 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292570134660.
I0419 21:00:57.071614 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.9557, -1.98816), yaw=-3.6013 deg backend=(12.9443, -2.0016)
I0419 21:00:57.072553 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.58367 deg, rms_residual=0.0131151m, sigma_yaw=0.0171863 rad, N=2
I0419 21:00:57.072615 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.9661, -1.99004, -4.58367deg) inliers=2 rms=0.0131151m
I0419 21:00:57.072655 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292570300623.
I0419 21:00:57.073513 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.341872, 0.563234)
I0419 21:00:57.073598 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292570412122.
I0419 21:00:57.074563 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.892019, -0.447982), points=6, range=0.995833, residual=0.00809697, extent=0.0213888
I0419 21:00:57.074613 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.892019, -0.447982), tracking=(1.19052, -0.447982), map_predicted=(14.1157, -2.51004), range=0.995833, pts=6
I0419 21:00:57.074638 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00998196m maha_sq=0.00432926 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1157, -2.51004) lm_pos=(14.115, -2.52) delta=(0.000684203, 0.00995848) -> 1 candidate(s)
I0419 21:00:57.074708 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292570616345.
I0419 21:00:57.076220 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0315864 range=0.664353 variance=0.000587626 t_weight=5105.28 r_weight=0 yaml=(12.315, -2.52) prior=(12.9711, -1.98964, -3.51438deg) obs_actual=(-0.648351, -0.561613) obs_expected=(-0.622336, -0.569579) delta=(-0.0260156, 0.00796578) |delta|=0.0272078m
I0419 21:00:57.076329 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292570738388.
I0419 21:00:57.090876 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292570893061.
I0419 21:00:57.102245 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292571012850.
I0419 21:00:57.122395 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:57.122507 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:57.122596 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292571219186.
I0419 21:00:57.129904 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292571294608.
I0419 21:00:57.150521 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759532s, prior_pose=(12.9842, -2.00542), yaw=-3.52115 deg
I0419 21:00:57.150651 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:57.150995 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292571497920.
I0419 21:00:57.245644 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.38292, 0.563986)
I0419 21:00:57.245832 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292571620707.
I0419 21:00:57.246924 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292571780001.
I0419 21:00:57.247934 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:57.248020 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292571903320.
I0419 21:00:57.249737 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:57.249830 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:57.249918 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292572102190.
I0419 21:00:57.250589 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292572181704.
I0419 21:00:57.251595 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.168162, 0.695775), points=17, range=0.717882, residual=0.0122509, extent=0.0349183
I0419 21:00:57.251657 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.168162, 0.695775), tracking=(0.130338, 0.695775), map_predicted=(13.1827, -1.31228), range=0.717882, pts=17
I0419 21:00:57.251685 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0332029m maha_sq=0.0477493 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1827, -1.31228) lm_pos=(13.215, -1.32) delta=(-0.0322931, 0.00771949) -> 1 candidate(s)
I0419 21:00:57.251742 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292572381883.
I0419 21:00:57.253250 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292572460078.
I0419 21:00:57.270882 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:57.271064 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:57.271238 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:57.271292 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0356277 range=0.720647 variance=0.000599653 t_weight=5002.89 r_weight=0 yaml=(13.215, -1.32) prior=(13.0261, -1.99823, -3.26243deg) obs_actual=(0.122642, 0.696622) obs_expected=(0.149966, 0.687881) delta=(-0.0273238, 0.00874054) |delta|=0.0286878m
I0419 21:00:57.271435 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:57.271479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292572699810.
I0419 21:00:57.279078 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.419539, 0.561671)
I0419 21:00:57.279398 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292572780864.
I0419 21:00:57.373492 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292572974929.
I0419 21:00:57.374569 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292573101602.
I0419 21:00:57.375604 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292573258601.
I0419 21:00:57.377332 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292573375186.
I0419 21:00:57.378397 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292573541428.
I0419 21:00:57.379251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292573653812.
I0419 21:00:57.382766 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.61536, 0.805383)
I0419 21:00:57.383000 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292573820581.
I0419 21:00:57.394987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292573936225.
I0419 21:00:57.414486 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.778196, -0.462948), points=7, range=0.903286, residual=0.00947788, extent=0.027866
I0419 21:00:57.414654 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.778196, -0.462948), tracking=(1.0767, -0.462948), map_predicted=(14.1199, -2.51941), range=0.903286, pts=7
I0419 21:00:57.414719 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00493244m maha_sq=0.00105616 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1199, -2.51941) lm_pos=(14.115, -2.52) delta=(0.00489703, 0.000589986) -> 1 candidate(s)
I0419 21:00:57.414770 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:57.414830 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:57.415000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292574134830.
I0419 21:00:57.516958 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0217509 range=0.728267 variance=0.000657231 t_weight=4564.6 r_weight=0 yaml=(12.315, -2.52) prior=(13.079, -1.99906, -2.99914deg) obs_actual=(-0.758234, -0.559257) obs_expected=(-0.735704, -0.560202) delta=(-0.0225294, 0.000945576) |delta|=0.0225493m
I0419 21:00:57.517100 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292574299365.
I0419 21:00:57.517886 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601085s, prior_pose=(13.079, -1.99906), yaw=-2.99914 deg
I0419 21:00:57.517958 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:57.518115 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292574421666.
I0419 21:00:57.519061 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.80794 deg, rms_residual=0.0191755m, sigma_yaw=0.0249299 rad, N=2
I0419 21:00:57.519158 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.0984, -1.99931, -1.80794deg) inliers=2 rms=0.0191755m
I0419 21:00:57.519191 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292574535479.
I0419 21:00:57.520932 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292574738924.
I0419 21:00:57.521836 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.43515, -0.616587)
I0419 21:00:57.521911 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:57.521989 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292574863121.
I0419 21:00:57.523012 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:57.523062 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:57.523137 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292575019897.
I0419 21:00:57.524703 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292575137475.
I0419 21:00:57.534317 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292575333803.
I0419 21:00:57.542807 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.50389, 0.557906), points=13, range=0.750308, residual=0.0134544, extent=0.0445281
I0419 21:00:57.542940 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.50389, 0.557906), tracking=(-0.80239, -0.557906), map_predicted=(12.2784, -2.51807), range=0.750308, pts=13
I0419 21:00:57.542989 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0366712m maha_sq=0.058165 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2784, -2.51807) lm_pos=(12.315, -2.52) delta=(-0.0366202, 0.00193458) -> 1 candidate(s)
I0419 21:00:57.543170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292575419584.
I0419 21:00:57.627557 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:57.627668 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:57.627739 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:57.627782 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:57.627803 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292575614125.
I0419 21:00:57.628614 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00655433 range=0.778933 variance=0.000579577 t_weight=5176.19 r_weight=0 yaml=(13.215, -1.32) prior=(13.1289, -2.00292, -2.75559deg) obs_actual=(0.0462075, 0.696386) obs_expected=(0.0531987, 0.686267) delta=(-0.00699127, 0.010119) |delta|=0.0122992m
I0419 21:00:57.628701 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292575740433.
I0419 21:00:57.629865 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.715771, -0.466243)
I0419 21:00:57.630066 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292575902261.
I0419 21:00:57.633018 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292576021043.
I0419 21:00:57.634745 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292576182136.
I0419 21:00:57.636412 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292576300276.
I0419 21:00:57.651219 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292576496549.
I0419 21:00:57.662216 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292576613634.
I0419 21:00:57.678134 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.295037, 0.700619)
I0419 21:00:57.678292 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.297102, 0.699807), points=15, range=0.760267, residual=0.0112378, extent=0.0311348
I0419 21:00:57.678344 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.297102, 0.699807), tracking=(0.00139815, 0.699807), map_predicted=(13.1807, -1.31028), range=0.760267, pts=15
I0419 21:00:57.678395 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0356032m maha_sq=0.0549555 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1807, -1.31028) lm_pos=(13.215, -1.32) delta=(-0.0342515, 0.00971731) -> 1 candidate(s)
I0419 21:00:57.678613 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292576772220.
I0419 21:00:57.775903 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292576895282.
I0419 21:00:57.776983 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:00:57.777091 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:00:57.777138 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00317361 range=0.8306 variance=0.00054883 t_weight=5466.18 r_weight=4233.28 yaml=(14.115, -2.52) prior=(13.1652, -2.00833, -2.70839deg) obs_actual=(0.980508, -0.470148) obs_expected=(0.97291, -0.466223) delta=(0.0075986, -0.00392546) |delta|=0.00855266m
I0419 21:00:57.777225 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292577059334.
I0419 21:00:57.778126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292577181734.
I0419 21:00:57.779811 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480521s, prior_pose=(13.1814, -2.00747), yaw=-2.66831 deg
I0419 21:00:57.779904 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:00:57.780081 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292577375803.
I0419 21:00:57.781002 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.41899 deg, rms_residual=0.00791215m, sigma_yaw=0.0104394 rad, N=2
I0419 21:00:57.781062 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.1957, -2.00703, -2.41899deg) inliers=2 rms=0.00791215m
I0419 21:00:57.781131 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292577497110.
I0419 21:00:57.782155 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292577652320.
I0419 21:00:57.783782 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.52623, -0.626993)
I0419 21:00:57.783846 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:57.783923 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292577776525.
I0419 21:00:57.795917 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:00:57.796012 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:00:57.796159 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292577954555.
I0419 21:00:57.806166 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292578054602.
I0419 21:00:57.879542 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.654734, -0.471318), points=11, range=0.802545, residual=0.0121141, extent=0.0296479
I0419 21:00:57.879662 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.654734, -0.471318), tracking=(0.953234, -0.471318), map_predicted=(14.1416, -2.51983), range=0.802545, pts=11
I0419 21:00:57.879696 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0266332m maha_sq=0.030224 (gate chi2=5.99) pose_sigma=(0.151265, 0.151265, rho=0) det_map=(14.1416, -2.51983) lm_pos=(14.115, -2.52) delta=(0.0266326, 0.000167102) -> 1 candidate(s)
I0419 21:00:57.879776 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292578254730.
I0419 21:00:57.880640 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.024748 range=0.811889 variance=0.000600419 t_weight=4996.51 r_weight=0 yaml=(12.315, -2.52) prior=(13.2098, -2.00751, -2.4922deg) obs_actual=(-0.894989, -0.556169) obs_expected=(-0.871664, -0.550913) delta=(-0.0233251, -0.0052564) |delta|=0.02391m
I0419 21:00:57.880754 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292578343097.
I0419 21:00:57.881877 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 21:00:57.881963 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:57.882022 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:00:57.882082 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:57.882104 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292578533183.
I0419 21:00:57.883562 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.602432, 0.556586)
I0419 21:00:57.884300 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292578656768.
I0419 21:00:57.885557 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292578820355.
I0419 21:00:57.894284 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292578934895.
I0419 21:00:57.895957 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.2227, -2.01261), yaw=-2.47581 deg backend=(13.2156, -2.01448)
I0419 21:00:57.915084 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292579140791.
I0419 21:00:57.926883 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292579257358.
I0419 21:00:57.942857 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-0.311019, 0.536923)
I0419 21:00:57.943006 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45471, 0.787096), points=3, range=1.65633, residual=0.00694788, extent=0.0146206
I0419 21:00:57.943071 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45471, 0.787096), tracking=(1.75321, 0.787096), map_predicted=(15.0082, -1.30198), range=1.65633, pts=3
I0419 21:00:57.943128 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0192429m maha_sq=0.0160703 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0082, -1.30198) lm_pos=(15.015, -1.32) delta=(-0.00675424, 0.0180186) -> 1 candidate(s)
I0419 21:00:57.943430 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292579419346.
I0419 21:00:58.033776 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.040866 range=0.841143 variance=0.00054204 t_weight=5534.65 r_weight=0 yaml=(12.315, -2.52) prior=(13.2357, -2.01461, -2.43658deg) obs_actual=(-0.926741, -0.556316) obs_expected=(-0.898386, -0.544079) delta=(-0.0283554, -0.0122366) |delta|=0.0308831m
I0419 21:00:58.033921 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292579537066.
I0419 21:00:58.034929 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292579701654.
I0419 21:00:58.035790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292579814195.
I0419 21:00:58.037405 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:58.037463 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:58.037511 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292580020378.
I0419 21:00:58.038491 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292580137949.
I0419 21:00:58.039397 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762284s, prior_pose=(13.254, -2.01268), yaw=-2.413 deg
I0419 21:00:58.039464 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:00:58.039528 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(-0.384488, 0.689126)
I0419 21:00:58.039619 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292580299350.
I0419 21:00:58.042701 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.08006 deg, rms_residual=0.0107622m, sigma_yaw=0.0141466 rad, N=2
I0419 21:00:58.042850 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.2859, -2.0079, -2.08006deg) inliers=2 rms=0.0107622m
I0419 21:00:58.042902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292580419517.
I0419 21:00:58.058351 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.384391, 0.686449), points=5, range=0.7898, residual=0.0115294, extent=0.0285158
I0419 21:00:58.058447 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.384391, 0.686449), tracking=(-0.0858909, 0.686449), map_predicted=(13.2013, -1.3275), range=0.7898, pts=5
I0419 21:00:58.058485 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[15] 'ref_16' eucl_dist=0.0156227m maha_sq=0.0105778 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2013, -1.3275) lm_pos=(13.215, -1.32) delta=(-0.0137034, -0.00750226) -> 1 candidate(s)
I0419 21:00:58.058611 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292580578360.
I0419 21:00:58.069914 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:58.070114 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292580692661.
I0419 21:00:58.132130 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:00:58.132274 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:00:58.132294 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:58.132364 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00264248 range=0.735583 variance=0.000588869 t_weight=5094.51 r_weight=0 yaml=(14.115, -2.52) prior=(13.2774, -2.0137, -2.36818deg) obs_actual=(0.864855, -0.47486) obs_expected=(0.857846, -0.471253) delta=(0.00700876, -0.00360732) |delta|=0.00788261m
I0419 21:00:58.132433 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292580895930.
I0419 21:00:58.133381 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581016900.
I0419 21:00:58.134373 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581182210.
I0419 21:00:58.136112 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581295529.
I0419 21:00:58.150421 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.39655, 0.779419)
I0419 21:00:58.150525 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:58.150586 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:58.150653 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:58.150704 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:58.150725 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581500021.
I0419 21:00:58.161824 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581612629.
I0419 21:00:58.178205 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581776402.
I0419 21:00:58.186920 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292581862198.
I0419 21:00:58.206343 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38414, 0.780437), points=3, range=1.581, residual=0.0153413, extent=0.0313765
I0419 21:00:58.206466 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.38414, 0.780437), tracking=(1.68264, 0.780437), map_predicted=(15.0191, -1.29948), range=1.581, pts=3
I0419 21:00:58.206499 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0209165m maha_sq=0.0188392 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0191, -1.29948) lm_pos=(15.015, -1.32) delta=(0.00406321, 0.0205181) -> 1 candidate(s)
I0419 21:00:58.206593 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582057764.
I0419 21:00:58.264801 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582177487.
I0419 21:00:58.265918 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.000998933 range=0.703857 variance=0.000565175 t_weight=5308.09 r_weight=0 yaml=(14.115, -2.52) prior=(13.3185, -2.01358, -2.26768deg) obs_actual=(0.812429, -0.477787) obs_expected=(0.815937, -0.474511) delta=(-0.00350818, -0.00327617) |delta|=0.00480006m
I0419 21:00:58.266029 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582346840.
I0419 21:00:58.266886 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582457794.
I0419 21:00:58.268561 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582661797.
I0419 21:00:58.277933 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582773045.
I0419 21:00:58.293859 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.35614, 0.775055)
I0419 21:00:58.293988 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:58.294026 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:58.294095 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292582933738.
I0419 21:00:58.306064 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583053001.
I0419 21:00:58.326642 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601017s, prior_pose=(13.3439, -2.01342), yaw=-2.20719 deg
I0419 21:00:58.326763 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 21:00:58.326984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583262814.
I0419 21:00:58.338815 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.81276 deg, rms_residual=0.00797825m, sigma_yaw=0.0105257 rad, N=2
I0419 21:00:58.338941 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.3733, -2.00575, -1.81276deg) inliers=2 rms=0.00797825m
I0419 21:00:58.338992 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583381272.
I0419 21:00:58.429136 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3517, 0.777777), points=3, range=1.554, residual=0.0106591, extent=0.0210375
I0419 21:00:58.429277 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3517, 0.777777), tracking=(1.6502, 0.777777), map_predicted=(15.0458, -1.29709), range=1.554, pts=3
I0419 21:00:58.429317 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0383711m maha_sq=0.0623316 (gate chi2=5.99) pose_sigma=(0.15173, 0.15173, rho=0) det_map=(15.0458, -1.29709) lm_pos=(15.015, -1.32) delta=(0.0307843, 0.0229057) -> 1 candidate(s)
I0419 21:00:58.429404 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583542297.
I0419 21:00:58.430256 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:58.430379 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583661265.
I0419 21:00:58.431357 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:58.431411 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:58.431485 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.000347516 range=0.6704 variance=0.000567222 t_weight=5288.93 r_weight=0 yaml=(14.115, -2.52) prior=(13.367, -2.01098, -2.19894deg) obs_actual=(0.764395, -0.480989) obs_expected=(0.767025, -0.479941) delta=(-0.00263034, -0.00104764) |delta|=0.0028313m
I0419 21:00:58.431574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583859248.
I0419 21:00:58.432986 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292583926887.
I0419 21:00:58.433908 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584100443.
I0419 21:00:58.434792 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584220248.
I0419 21:00:58.442832 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.450746, -0.480404)
I0419 21:00:58.442960 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:58.443019 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:58.443121 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:58.443187 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:58.443230 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584420238.
I0419 21:00:58.454488 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584536868.
I0419 21:00:58.471326 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584703383.
I0419 21:00:58.574081 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584823914.
I0419 21:00:58.575095 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29591, 0.768381), points=5, range=1.5066, residual=0.0132301, extent=0.0313534
I0419 21:00:58.575178 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.29591, 0.768381), tracking=(1.59441, 0.768381), map_predicted=(15.013, -1.31631), range=1.5066, pts=5
I0419 21:00:58.575207 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00421554m maha_sq=0.000767412 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.013, -1.31631) lm_pos=(15.015, -1.32) delta=(-0.00203463, 0.00369203) -> 1 candidate(s)
I0419 21:00:58.575347 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292584980662.
I0419 21:00:58.576577 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585138543.
I0419 21:00:58.578717 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00288004 range=0.643222 variance=0.000619439 t_weight=4843.09 r_weight=0 yaml=(14.115, -2.52) prior=(13.4108, -2.02023, -1.97415deg) obs_actual=(0.718523, -0.483086) obs_expected=(0.720949, -0.475213) delta=(-0.00242636, -0.00787353) |delta|=0.00823891m
I0419 21:00:58.578825 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585296993.
I0419 21:00:58.579789 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585418969.
I0419 21:00:58.580724 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.412046, -0.483721)
I0419 21:00:58.580822 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585573055.
I0419 21:00:58.582865 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585696581.
I0419 21:00:58.590447 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:58.590583 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:58.590708 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585895627.
I0419 21:00:58.598992 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292585977772.
I0419 21:00:58.697024 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477842s, prior_pose=(13.4311, -2.01712), yaw=-1.73547 deg
I0419 21:00:58.697232 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 21:00:58.697479 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292586174423.
I0419 21:00:58.698450 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292586292536.
I0419 21:00:58.699647 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292586460699.
I0419 21:00:58.701221 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:58.701344 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292586578889.
I0419 21:00:58.702394 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:58.702471 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:58.702499 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.372517, -0.486836), points=19, range=0.615842, residual=0.0132927, extent=0.0456104
I0419 21:00:58.702518 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.372517, -0.486836), tracking=(0.671017, -0.486836), map_predicted=(14.1043, -2.51912), range=0.615842, pts=19
I0419 21:00:58.702535 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0107363m maha_sq=0.00498758 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1043, -2.51912) lm_pos=(14.115, -2.52) delta=(-0.0107004, 0.000878028) -> 1 candidate(s)
I0419 21:00:58.702576 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.29836 deg, rms_residual=0.0160331m, sigma_yaw=0.02093 rad, N=2
I0419 21:00:58.702611 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.4456, -2.03091, -1.29836deg) inliers=2 rms=0.0160331m
I0419 21:00:58.702634 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292586778290.
I0419 21:00:58.703590 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0299648, -0.687523)
I0419 21:00:58.703691 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0866818 range=1.0215 variance=0.000477835 t_weight=6278.32 r_weight=0 yaml=(12.315, -2.52) prior=(13.4474, -2.01344, -1.6262deg) obs_actual=(-1.16194, -0.543023) obs_expected=(-1.11754, -0.538491) delta=(-0.0443985, -0.00453156) |delta|=0.0446291m
I0419 21:00:58.703747 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292586899382.
I0419 21:00:58.707512 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292587062526.
I0419 21:00:58.718269 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292587173120.
I0419 21:00:58.738204 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:58.738299 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:58.738373 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:58.738459 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:58.738492 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292587376504.
I0419 21:00:58.821830 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292587454902.
I0419 21:00:58.823304 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292587655706.
I0419 21:00:58.824357 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292587773000.
I0419 21:00:58.825459 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.4932, -2.0117), yaw=-1.41937 deg backend=(13.4659, -2.02185)
I0419 21:00:58.826447 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292587944088.
I0419 21:00:58.827447 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588058856.
I0419 21:00:58.828441 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.21404, 0.756112)
I0419 21:00:58.828496 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2203, 0.757575), points=4, range=1.43025, residual=0.014666, extent=0.0334091
I0419 21:00:58.828519 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2203, 0.757575), tracking=(1.5188, 0.757575), map_predicted=(15.0303, -1.29198), range=1.43025, pts=4
I0419 21:00:58.828537 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0319381m maha_sq=0.0439841 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0303, -1.29198) lm_pos=(15.015, -1.32) delta=(0.0153261, 0.0280206) -> 1 candidate(s)
I0419 21:00:58.828594 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588225067.
I0419 21:00:58.834769 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588338802.
I0419 21:00:58.854581 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00345314 range=0.587636 variance=0.000632643 t_weight=4742.01 r_weight=0 yaml=(14.115, -2.52) prior=(13.5023, -2.017, -1.3378deg) obs_actual=(0.615897, -0.491698) obs_expected=(0.624266, -0.48856) delta=(-0.00836872, -0.00313763) |delta|=0.00893757m
I0419 21:00:58.854815 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588534976.
I0419 21:00:58.866853 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588660279.
I0419 21:00:58.926842 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:58.926950 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:58.927012 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588813097.
I0419 21:00:58.927942 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292588940391.
I0419 21:00:58.928880 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760629s, prior_pose=(13.5205, -2.01133), yaw=-1.25188 deg
I0419 21:00:58.928977 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:00:58.929168 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292589099431.
I0419 21:00:58.930826 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292589258470.
I0419 21:00:58.942386 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292589418267.
I0419 21:00:58.954555 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:00:58.954747 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292589541418.
I0419 21:00:58.971124 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:58.971273 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.285102, -0.495142)
I0419 21:00:58.971318 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:58.971374 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18547, 0.750373), points=4, range=1.3985, residual=0.0109207, extent=0.0242754
I0419 21:00:58.971419 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18547, 0.750373), tracking=(1.48397, 0.750373), map_predicted=(15.0449, -1.2909), range=1.3985, pts=4
I0419 21:00:58.971462 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0417568m maha_sq=0.0741249 (gate chi2=5.99) pose_sigma=(0.151426, 0.151426, rho=0) det_map=(15.0449, -1.2909) lm_pos=(15.015, -1.32) delta=(0.029949, 0.0290979) -> 1 candidate(s)
I0419 21:00:58.971637 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292589702658.
I0419 21:00:58.982647 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.0730355 deg, rms_residual=0.00911597m, sigma_yaw=0.0120087 rad, N=2
I0419 21:00:58.982843 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.563, -1.99811, -0.0730355deg) inliers=2 rms=0.00911597m
I0419 21:00:58.982923 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292589816538.
I0419 21:00:59.002959 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0038789 range=0.566435 variance=0.000664619 t_weight=4513.86 r_weight=0 yaml=(14.115, -2.52) prior=(13.5468, -2.01262, -1.10113deg) obs_actual=(0.568652, -0.493929) obs_expected=(0.577812, -0.496369) delta=(-0.00915976, 0.00243971) |delta|=0.0094791m
I0419 21:00:59.003278 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292590018755.
I0419 21:00:59.104617 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292590141504.
I0419 21:00:59.107262 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:59.107406 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:59.107574 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:59.107667 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:59.107712 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292590294065.
I0419 21:00:59.110116 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292590420113.
I0419 21:00:59.114140 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292590581662.
I0419 21:00:59.115552 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292590695703.
I0419 21:00:59.117030 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292590899258.
I0419 21:00:59.118850 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292591057352.
I0419 21:00:59.119943 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.237103, -0.498682)
I0419 21:00:59.120047 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292591173565.
I0419 21:00:59.129359 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:00:59.130542 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0842278, -0.685591), points=17, range=0.692765, residual=0.0124462, extent=0.0404588
I0419 21:00:59.130883 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0842278, -0.685591), tracking=(-0.382728, 0.685591), map_predicted=(13.2016, -1.33289), range=0.692765, pts=17
I0419 21:00:59.131148 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0185928m maha_sq=0.0149703 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2016, -1.33289) lm_pos=(13.215, -1.32) delta=(-0.0133976, -0.0128918) -> 1 candidate(s)
I0419 21:00:59.131490 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292591298540.
I0419 21:00:59.203795 1237626 pose_graph_2d.cc:160] Inserted submap (1, 37).
I0419 21:00:59.204741 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0199361 range=1.344 variance=0.000708233 t_weight=4235.9 r_weight=0 yaml=(15.015, -1.32) prior=(13.5823, -2.01656, -0.784072deg) obs_actual=(1.42943, 0.736752) obs_expected=(1.42302, 0.716095) delta=(0.00641331, 0.0206563) |delta|=0.021629m
I0419 21:00:59.204860 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292591461327.
I0419 21:00:59.205862 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292591579828.
I0419 21:00:59.206902 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:59.206979 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:59.207026 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292591743398.
I0419 21:00:59.208595 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292591856827.
I0419 21:00:59.209672 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602721s, prior_pose=(13.5943, -2.0215), yaw=-0.702263 deg
I0419 21:00:59.209745 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:00:59.209949 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292592064048.
I0419 21:00:59.218115 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292592173751.
I0419 21:00:59.234052 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292592334452.
I0419 21:00:59.247481 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:59.247852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292592466563.
I0419 21:00:59.265878 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:59.266185 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.191686, -0.501194)
I0419 21:00:59.266294 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:59.266533 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292592652706.
I0419 21:00:59.340778 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292592741237.
I0419 21:00:59.342393 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292592942783.
I0419 21:00:59.343462 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 17 -> 16 (threshold=0.03, iters=3)
I0419 21:00:59.343626 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.132483, -0.686645), points=16, range=0.700938, residual=0.0116591, extent=0.0347472
I0419 21:00:59.343690 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.132483, -0.686645), tracking=(-0.430983, 0.686645), map_predicted=(13.2041, -1.32575), range=0.700938, pts=16
I0419 21:00:59.343745 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.012297m maha_sq=0.00655377 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2041, -1.32575) lm_pos=(13.215, -1.32) delta=(-0.0108698, -0.00575008) -> 1 candidate(s)
I0419 21:00:59.343839 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292593038255.
I0419 21:00:59.345988 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:59.346155 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:59.346273 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:59.346354 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:59.346406 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292593222192.
I0419 21:00:59.347482 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00994494 range=0.703059 variance=0.000593948 t_weight=5050.95 r_weight=0 yaml=(13.215, -1.32) prior=(13.636, -2.02132, -0.518048deg) obs_actual=(-0.438334, 0.687059) obs_expected=(-0.427333, 0.697483) delta=(-0.0110004, -0.010424) |delta|=0.0151548m
I0419 21:00:59.347688 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292593335285.
I0419 21:00:59.351554 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292593503464.
I0419 21:00:59.362514 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292593619188.
I0419 21:00:59.383450 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292593820379.
I0419 21:00:59.396386 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.784277, -0.277729)
I0419 21:00:59.396677 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292593954138.
I0419 21:00:59.465399 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.384245 deg, rms_residual=0.0185408m, sigma_yaw=0.0241246 rad, N=2
I0419 21:00:59.465497 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6595, -2.02526, -0.384245deg) inliers=2 rms=0.0185408m
I0419 21:00:59.465531 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292594137440.
I0419 21:00:59.466432 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292594213800.
I0419 21:00:59.467506 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292594381247.
I0419 21:00:59.469307 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292594540335.
I0419 21:00:59.470289 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:59.470351 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:59.470409 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292594695509.
I0419 21:00:59.482414 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292594819592.
I0419 21:00:59.501987 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476406s, prior_pose=(13.6825, -2.02565), yaw=-0.188814 deg
I0419 21:00:59.502074 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:00:59.502233 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03368, 0.725984), points=7, range=1.26071, residual=0.0124625, extent=0.0332776
I0419 21:00:59.502262 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.03368, 0.725984), tracking=(1.33218, 0.725984), map_predicted=(15.0171, -1.30406), range=1.26071, pts=7
I0419 21:00:59.502288 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0160712m maha_sq=0.0110481 (gate chi2=5.99) pose_sigma=(0.150858, 0.150858, rho=0) det_map=(15.0171, -1.30406) lm_pos=(15.015, -1.32) delta=(0.00206568, 0.0159379) -> 1 candidate(s)
I0419 21:00:59.502401 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292595016741.
I0419 21:00:59.510080 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292595094398.
I0419 21:00:59.530202 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.039376 range=0.51732 variance=0.000571522 t_weight=5249.14 r_weight=0 yaml=(14.115, -2.52) prior=(13.6825, -2.02565, -0.188814deg) obs_actual=(0.406789, -0.505611) obs_expected=(0.434128, -0.49292) delta=(-0.0273388, -0.0126908) |delta|=0.0301407m
I0419 21:00:59.530427 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292595293307.
I0419 21:00:59.602113 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:00:59.607646 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.197951, -0.697926)
I0419 21:00:59.607810 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:59.607911 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292595419183.
I0419 21:00:59.609380 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:59.609455 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:00:59.609567 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292595574664.
I0419 21:00:59.610963 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292595697651.
I0419 21:00:59.613396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292595900633.
I0419 21:00:59.614429 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292595981027.
I0419 21:00:59.618239 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:59.618341 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:59.618407 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:59.618451 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:59.618472 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292596177241.
I0419 21:00:59.630535 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292596300584.
I0419 21:00:59.646684 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292596457465.
I0419 21:00:59.658849 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292596581299.
I0419 21:00:59.718255 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.7381, -2.01644), yaw=-0.0245671 deg backend=(13.7199, -2.01875)
I0419 21:00:59.719225 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.978997, 0.719968), points=5, range=1.2172, residual=0.0118326, extent=0.0291486
I0419 21:00:59.719295 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.978997, 0.719968), tracking=(1.2775, 0.719968), map_predicted=(15.0159, -1.29702), range=1.2172, pts=5
I0419 21:00:59.719326 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0230001m maha_sq=0.022597 (gate chi2=5.99) pose_sigma=(0.151024, 0.151024, rho=0) det_map=(15.0159, -1.29702) lm_pos=(15.015, -1.32) delta=(0.000866029, 0.0229838) -> 1 candidate(s)
I0419 21:00:59.719408 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292596740989.
I0419 21:00:59.720237 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.241138, -0.700181)
I0419 21:00:59.720332 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292596877970.
I0419 21:00:59.721369 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0249631 range=1.2108 variance=0.000584095 t_weight=5136.15 r_weight=0 yaml=(15.015, -1.32) prior=(13.7381, -2.01644, -0.0245671deg) obs_actual=(1.27584, 0.720976) obs_expected=(1.27664, 0.696984) delta=(-0.000802996, 0.0239918) |delta|=0.0240052m
I0419 21:00:59.721509 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292597053278.
I0419 21:00:59.722987 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292597139711.
I0419 21:00:59.734117 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292597334124.
I0419 21:00:59.746289 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292597456046.
I0419 21:00:59.762548 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:00:59.762640 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:00:59.762703 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292597620553.
I0419 21:00:59.773881 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292597733732.
I0419 21:00:59.790984 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761419s, prior_pose=(13.7716, -2.01358), yaw=0.0455768 deg
I0419 21:00:59.791308 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:00:59.791580 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292597901130.
I0419 21:00:59.850888 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292598056072.
I0419 21:00:59.852002 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292598221739.
I0419 21:00:59.852777 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.285959, -0.701269)
I0419 21:00:59.852842 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:00:59.852890 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292598332152.
I0419 21:00:59.854540 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:00:59.854604 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:00:59.854667 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292598532454.
I0419 21:00:59.862504 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292598620238.
I0419 21:00:59.882442 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00296697, -0.511436), points=26, range=0.511385, residual=0.0114663, extent=0.0378413
I0419 21:00:59.882565 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00296697, -0.511436), tracking=(0.295533, -0.511436), map_predicted=(14.0927, -2.53036), range=0.511385, pts=26
I0419 21:00:59.882596 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0245726m maha_sq=0.0261809 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0927, -2.53036) lm_pos=(14.115, -2.52) delta=(-0.0222832, -0.0103572) -> 1 candidate(s)
I0419 21:00:59.882730 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292598819589.
I0419 21:00:59.894007 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0624579 range=1.327 variance=0.000577571 t_weight=5194.16 r_weight=0 yaml=(12.315, -2.52) prior=(13.81, -2.02029, 0.173902deg) obs_actual=(-1.5347, -0.497359) obs_expected=(-1.49653, -0.495174) delta=(-0.0381654, -0.00218501) |delta|=0.0382279m
I0419 21:00:59.894133 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292598934951.
I0419 21:00:59.910391 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:00:59.910482 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:00:59.910544 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:00:59.910565 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.0869326 deg, rms_residual=0.016745m, sigma_yaw=0.0218391 rad, N=2
I0419 21:00:59.910589 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8191, -2.02137, -0.0869326deg) inliers=2 rms=0.016745m
I0419 21:00:59.910620 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:00:59.910637 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292599099482.
I0419 21:00:59.922611 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292599220101.
I0419 21:00:59.980911 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292599380640.
I0419 21:00:59.982023 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292599502773.
I0419 21:00:59.983022 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.890269, 0.717462)
I0419 21:00:59.983127 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292599700712.
I0419 21:00:59.984645 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292599813531.
I0419 21:00:59.999735 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292599979515.
I0419 21:01:00.010049 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292600094407.
I0419 21:01:00.026635 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292600255810.
I0419 21:01:00.038465 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292600380446.
I0419 21:01:00.058604 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0505415, -0.509228), points=26, range=0.511885, residual=0.0114215, extent=0.0389192
I0419 21:01:00.058728 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0505415, -0.509228), tracking=(0.247958, -0.509228), map_predicted=(14.091, -2.57192), range=0.511885, pts=26
I0419 21:01:00.058775 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0572099m maha_sq=0.141921 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.091, -2.57192) lm_pos=(14.115, -2.52) delta=(-0.0240369, -0.0519154) -> 1 candidate(s)
I0419 21:01:00.058811 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:00.058902 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:00.059011 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292600572369.
I0419 21:01:00.134351 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292600700173.
I0419 21:01:00.135231 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598945s, prior_pose=(13.8747, -2.05148), yaw=-0.362992 deg
I0419 21:01:00.135332 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:01:00.135516 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0781056 range=0.512308 variance=0.000568236 t_weight=5279.5 r_weight=0 yaml=(14.115, -2.52) prior=(13.8747, -2.05148, -0.362992deg) obs_actual=(0.243442, -0.50943) obs_expected=(0.243291, -0.466983) delta=(0.0001511, -0.0424469) |delta|=0.0424471m
I0419 21:01:00.135591 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292600854755.
I0419 21:01:00.136488 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.374247, -0.693992)
I0419 21:01:00.136613 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292600980308.
I0419 21:01:00.138394 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292601181218.
I0419 21:01:00.139216 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:00.139293 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292601257848.
I0419 21:01:00.145789 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:00.145849 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:00.145952 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292601453127.
I0419 21:01:00.158206 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292601577054.
I0419 21:01:00.175277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292601742562.
I0419 21:01:00.186596 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292601854674.
I0419 21:01:00.274398 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:00.274502 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:00.274567 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:00.274616 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:00.274636 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292602054394.
I0419 21:01:00.275517 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292602137610.
I0419 21:01:00.276629 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.791286, 0.743774)
I0419 21:01:00.276760 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292602339304.
I0419 21:01:00.278237 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.421529, -0.687798), points=13, range=0.808692, residual=0.0118119, extent=0.0330937
I0419 21:01:00.278311 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.421529, -0.687798), tracking=(-0.720029, 0.687798), map_predicted=(13.2073, -1.32313), range=0.808692, pts=13
I0419 21:01:00.278337 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.008337m maha_sq=0.00296026 (gate chi2=5.99) pose_sigma=(0.151323, 0.151323, rho=0) det_map=(13.2073, -1.32313) lm_pos=(13.215, -1.32) delta=(-0.00772517, -0.00313486) -> 1 candidate(s)
I0419 21:01:00.278404 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292602452472.
I0419 21:01:00.279490 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292602621728.
I0419 21:01:00.280315 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0277755 range=0.812538 variance=0.000591466 t_weight=5072.14 r_weight=0 yaml=(13.215, -1.32) prior=(13.9106, -2.02804, -1.37705deg) obs_actual=(-0.737268, 0.68642) obs_expected=(-0.712382, 0.691118) delta=(-0.0248859, -0.00469776) |delta|=0.0253254m
I0419 21:01:00.280397 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292602734402.
I0419 21:01:00.295106 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292602938877.
I0419 21:01:00.306193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292603052387.
I0419 21:01:00.323156 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292603220390.
I0419 21:01:00.422384 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292603304724.
I0419 21:01:00.423724 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:00.423812 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:00.423880 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292603532601.
I0419 21:01:00.424774 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292603622176.
I0419 21:01:00.426651 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0512828s, prior_pose=(13.9491, -2.02407), yaw=-1.47643 deg
I0419 21:01:00.426752 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=254, threshold=230, above_threshold=31, candidates=31
I0419 21:01:00.426942 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292603817552.
I0419 21:01:00.427889 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292603938192.
I0419 21:01:00.429044 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.152019, -0.507734)
I0419 21:01:00.429167 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292604099415.
I0419 21:01:00.430786 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:00.430895 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292604213291.
I0419 21:01:00.438269 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:00.438357 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:00.438387 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.732847, 0.737096), points=8, range=1.03825, residual=0.00839233, extent=0.0237813
I0419 21:01:00.438413 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.732847, 0.737096), tracking=(1.03135, 0.737096), map_predicted=(15.0154, -1.31203), range=1.03825, pts=8
I0419 21:01:00.438436 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00797695m maha_sq=0.00276391 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0154, -1.31203) lm_pos=(15.015, -1.32) delta=(0.000355597, 0.00796902) -> 1 candidate(s)
I0419 21:01:00.438537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292604377396.
I0419 21:01:00.450572 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292604499894.
I0419 21:01:00.512161 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.37822 deg, rms_residual=0.0146819m, sigma_yaw=0.0192 rad, N=2
I0419 21:01:00.512251 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00553937 range=1.03163 variance=0.000528501 t_weight=5676.43 r_weight=0 yaml=(15.015, -1.32) prior=(13.9763, -2.02358, -1.22929deg) obs_actual=(1.02031, 0.736625) obs_expected=(1.02338, 0.725701) delta=(-0.00307027, 0.0109249) |delta|=0.0113481m
I0419 21:01:00.512290 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9861, -2.02013, -1.37822deg) inliers=2 rms=0.0146819m
I0419 21:01:00.512323 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292604693569.
I0419 21:01:00.513236 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292604821874.
I0419 21:01:00.514179 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:00.514250 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:00.514294 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:00.514343 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:00.514365 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292604978840.
I0419 21:01:00.515954 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292605101163.
I0419 21:01:00.526556 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292605259442.
I0419 21:01:00.538539 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292605376503.
I0419 21:01:00.540750 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.0044, -2.02248), yaw=-1.13379 deg backend=(13.9942, -2.01504)
I0419 21:01:00.558104 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.696087, 0.733468)
I0419 21:01:00.558419 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292605572832.
I0419 21:01:00.567024 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292605662094.
I0419 21:01:00.586534 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292605853889.
I0419 21:01:00.682391 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292605978131.
I0419 21:01:00.683557 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292606136420.
I0419 21:01:00.684409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292606259760.
I0419 21:01:00.686157 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.227839, -0.505704), points=22, range=0.554273, residual=0.0110798, extent=0.0339388
I0419 21:01:00.686257 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.227839, -0.505704), tracking=(0.0706609, -0.505704), map_predicted=(14.0934, -2.52907), range=0.554273, pts=22
I0419 21:01:00.686288 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0234349m maha_sq=0.0235457 (gate chi2=5.99) pose_sigma=(0.150895, 0.150895, rho=0) det_map=(14.0934, -2.52907) lm_pos=(14.115, -2.52) delta=(-0.0216069, -0.00907403) -> 1 candidate(s)
I0419 21:01:00.686311 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:00.686338 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:00.686399 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292606459247.
I0419 21:01:00.687280 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292606580669.
I0419 21:01:00.688191 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757624s, prior_pose=(14.0322, -2.02213), yaw=-1.0764 deg
I0419 21:01:00.688297 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1338, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:01:00.688463 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0326021 range=0.558304 variance=0.000574476 t_weight=5222.15 r_weight=0 yaml=(14.115, -2.52) prior=(14.0322, -2.02213, -1.0764deg) obs_actual=(0.0671245, -0.507575) obs_expected=(0.0920935, -0.496225) delta=(-0.024969, -0.0113501) |delta|=0.0274277m
I0419 21:01:00.688544 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292606735755.
I0419 21:01:00.690099 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292606876858.
I0419 21:01:00.706840 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.302054, -0.483387)
I0419 21:01:00.707002 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292607064030.
I0419 21:01:00.714011 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:00.714206 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292607132234.
I0419 21:01:00.800621 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:01:00.800729 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:01:00.800858 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292607334925.
I0419 21:01:00.801797 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292607458590.
I0419 21:01:00.802935 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292607615945.
I0419 21:01:00.804594 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292607737156.
I0419 21:01:00.805735 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:00.805809 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:00.805866 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:00.805904 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:00.805922 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292607897614.
I0419 21:01:00.806769 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.590524, -0.703635)
I0419 21:01:00.806874 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292608017298.
I0419 21:01:00.822316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292608216871.
I0419 21:01:00.834200 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.595816, -0.703761), points=10, range=0.9243, residual=0.0105194, extent=0.030193
I0419 21:01:00.834280 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.595816, -0.703761), tracking=(-0.894316, 0.703761), map_predicted=(13.2049, -1.30894), range=0.9243, pts=10
I0419 21:01:00.834307 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0150023m maha_sq=0.00976136 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2049, -1.30894) lm_pos=(13.215, -1.32) delta=(-0.0101379, 0.0110586) -> 1 candidate(s)
I0419 21:01:00.834408 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292608338135.
I0419 21:01:00.850034 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292608494450.
I0419 21:01:00.908046 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0122261 range=0.929636 variance=0.000602837 t_weight=4976.47 r_weight=0 yaml=(13.215, -1.32) prior=(14.105, -2.0226, -0.790966deg) obs_actual=(-0.910112, 0.703505) obs_expected=(-0.899572, 0.690251) delta=(-0.0105407, 0.0132545) |delta|=0.0169348m
I0419 21:01:00.908188 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292608622049.
I0419 21:01:00.909247 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292608777404.
I0419 21:01:00.910472 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292608898948.
I0419 21:01:00.912415 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292609102595.
I0419 21:01:00.921854 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292609211835.
I0419 21:01:00.938097 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.5005, -0.480307)
I0419 21:01:00.938218 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:00.938257 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:00.938378 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292609376014.
I0419 21:01:00.949906 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292609494049.
I0419 21:01:00.966325 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556399s, prior_pose=(14.1301, -2.01959), yaw=-0.685362 deg
I0419 21:01:00.966428 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1334, max_intensity=254, threshold=230, above_threshold=11, candidates=11
I0419 21:01:00.966611 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292609658994.
I0419 21:01:00.978724 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292609777448.
I0419 21:01:01.047586 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292609943592.
I0419 21:01:01.047716 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:01.048743 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:01.048857 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292610098110.
I0419 21:01:01.049729 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:01.049818 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:01.049904 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292610257601.
I0419 21:01:01.051576 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.654431, -0.712046), points=10, range=0.97, residual=0.0120737, extent=0.0329611
I0419 21:01:01.051662 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.654431, -0.712046), tracking=(-0.952931, 0.712046), map_predicted=(13.2065, -1.30219), range=0.97, pts=10
I0419 21:01:01.051692 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0197442m maha_sq=0.0166627 (gate chi2=5.99) pose_sigma=(0.151001, 0.151001, rho=0) det_map=(13.2065, -1.30219) lm_pos=(13.215, -1.32) delta=(-0.00851574, 0.0178134) -> 1 candidate(s)
I0419 21:01:01.051765 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292610379543.
I0419 21:01:01.056056 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292610554363.
I0419 21:01:01.066247 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.141527 deg, rms_residual=0.00869429m, sigma_yaw=0.0114595 rad, N=2
I0419 21:01:01.066355 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0271189 range=0.9763 variance=0.000601213 t_weight=4989.91 r_weight=0 yaml=(13.215, -1.32) prior=(14.154, -2.02142, -0.433547deg) obs_actual=(-0.961234, 0.712712) obs_expected=(-0.944281, 0.694298) delta=(-0.016953, 0.018414) |delta|=0.0250296m
I0419 21:01:01.066406 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.1728, -2.02338, 0.141527deg) inliers=2 rms=0.00869429m
I0419 21:01:01.066442 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292610657390.
I0419 21:01:01.086181 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.46611, -0.490556)
I0419 21:01:01.086282 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:01.086334 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:01.086408 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:01.086457 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:01.086479 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292610856479.
I0419 21:01:01.098603 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292610979756.
I0419 21:01:01.114254 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292611137396.
I0419 21:01:01.173622 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292611256140.
I0419 21:01:01.174817 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292611421643.
I0419 21:01:01.175809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292611542069.
I0419 21:01:01.177578 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292611737855.
I0419 21:01:01.183053 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292611824224.
I0419 21:01:01.201722 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292612012642.
I0419 21:01:01.214100 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292612134636.
I0419 21:01:01.232543 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.41044, -0.497153)
I0419 21:01:01.232641 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:01.232664 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.501228, 0.706993), points=11, range=0.867273, residual=0.00959644, extent=0.0322541
I0419 21:01:01.232686 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.501228, 0.706993), tracking=(0.799728, 0.706993), map_predicted=(15.0144, -1.31851), range=0.867273, pts=11
I0419 21:01:01.232712 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00159488m maha_sq=0.000110421 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0144, -1.31851) lm_pos=(15.015, -1.32) delta=(-0.000556698, 0.00149457) -> 1 candidate(s)
I0419 21:01:01.232733 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:01.232760 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:01.232812 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292612319944.
I0419 21:01:01.242743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292612421458.
I0419 21:01:01.305944 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0486155s, prior_pose=(14.2259, -2.02139), yaw=-0.0824011 deg
I0419 21:01:01.306090 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1332, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:01:01.306226 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00382837 range=0.862182 variance=0.000534515 t_weight=5612.57 r_weight=0 yaml=(15.015, -1.32) prior=(14.2259, -2.02139, -0.0824011deg) obs_actual=(0.797082, 0.705452) obs_expected=(0.788093, 0.702526) delta=(0.00898904, 0.00292616) |delta|=0.00945332m
I0419 21:01:01.306336 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292612620791.
I0419 21:01:01.307327 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292612733118.
I0419 21:01:01.308264 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292612899607.
I0419 21:01:01.309831 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:01.309970 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292613020161.
I0419 21:01:01.322132 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:01.322271 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:01:01.322389 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292613216384.
I0419 21:01:01.336272 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292613353273.
I0419 21:01:01.350871 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.37686, -0.503396)
I0419 21:01:01.351119 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292613503468.
I0419 21:01:01.362566 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292613619907.
I0419 21:01:01.377648 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:01.377749 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:01.377807 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:01.377849 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:01.377868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292613772628.
I0419 21:01:01.438776 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292613897045.
I0419 21:01:01.440044 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292614098771.
I0419 21:01:01.440910 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.775385, -0.723037), points=7, range=1.05443, residual=0.0141745, extent=0.0352405
I0419 21:01:01.441015 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.775385, -0.723037), tracking=(-1.07389, 0.723037), map_predicted=(13.185, -1.29986), range=1.05443, pts=7
I0419 21:01:01.441047 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0361553m maha_sq=0.0564578 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.185, -1.29986) lm_pos=(13.215, -1.32) delta=(-0.030025, 0.0201422) -> 1 candidate(s)
I0419 21:01:01.441154 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292614191068.
I0419 21:01:01.442104 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.2766, -2.02108), yaw=0.192369 deg backend=(14.2542, -2.01176)
I0419 21:01:01.442971 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292614379425.
I0419 21:01:01.450830 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0282807 range=1.05988 variance=0.000562978 t_weight=5328.8 r_weight=0 yaml=(13.215, -1.32) prior=(14.2766, -2.02108, 0.192369deg) obs_actual=(-1.07873, 0.721198) obs_expected=(-1.05928, 0.704637) delta=(-0.0194408, 0.0165617) |delta|=0.0255389m
I0419 21:01:01.450968 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292614501865.
I0419 21:01:01.466894 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.21178, 0.690299)
I0419 21:01:01.467139 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292614659948.
I0419 21:01:01.479066 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292614784377.
I0419 21:01:01.498353 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292614978261.
I0419 21:01:01.510850 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292615102025.
I0419 21:01:01.576716 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:01.577036 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:01.577157 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292615261094.
I0419 21:01:01.578325 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292615383013.
I0419 21:01:01.579344 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075224s, prior_pose=(14.3048, -2.014), yaw=0.302659 deg
I0419 21:01:01.579438 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1325, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:01:01.579579 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292615536617.
I0419 21:01:01.581278 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.698056 deg, rms_residual=0.0105717m, sigma_yaw=0.0138997 rad, N=2
I0419 21:01:01.581513 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3224, -2.02165, 0.698056deg) inliers=2 rms=0.0105717m
I0419 21:01:01.581677 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292615666218.
I0419 21:01:01.586369 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.20319, 0.687618)
I0419 21:01:01.586812 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292615857310.
I0419 21:01:01.598001 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.822105, -0.723888), points=6, range=1.0975, residual=0.0106046, extent=0.0299198
I0419 21:01:01.598132 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:01.598156 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.822105, -0.723888), tracking=(-1.12061, 0.723888), map_predicted=(13.1888, -1.29651), range=1.0975, pts=6
I0419 21:01:01.598186 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0352105m maha_sq=0.0537456 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1888, -1.29651) lm_pos=(13.215, -1.32) delta=(-0.0262291, 0.0234908) -> 1 candidate(s)
I0419 21:01:01.598359 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292615972303.
I0419 21:01:01.613655 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:01.613765 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:01.613852 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00454205 range=0.803923 variance=0.000539654 t_weight=5559.11 r_weight=0 yaml=(15.015, -1.32) prior=(14.3294, -2.01567, 0.389103deg) obs_actual=(0.689938, 0.701301) obs_expected=(0.690353, 0.691001) delta=(-0.00041511, 0.0102993) |delta|=0.0103077m
I0419 21:01:01.613945 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292616132153.
I0419 21:01:01.626106 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292616254318.
I0419 21:01:01.642990 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292616421624.
I0419 21:01:01.715126 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292616537741.
I0419 21:01:01.716281 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:01.716401 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:01.716456 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:01.716517 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:01.716538 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292616737529.
I0419 21:01:01.717593 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292616861025.
I0419 21:01:01.719372 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.14484, 0.683125)
I0419 21:01:01.719542 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292617056773.
I0419 21:01:01.720446 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292617134073.
I0419 21:01:01.730101 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292617294537.
I0419 21:01:01.742803 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292617420247.
I0419 21:01:01.762939 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.346361, 0.697162), points=14, range=0.780643, residual=0.0116439, extent=0.0375936
I0419 21:01:01.763091 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.346361, 0.697162), tracking=(0.644861, 0.697162), map_predicted=(15.0106, -1.31772), range=0.780643, pts=14
I0419 21:01:01.763145 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00498917m maha_sq=0.0010787 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0106, -1.31772) lm_pos=(15.015, -1.32) delta=(-0.00443543, 0.00228447) -> 1 candidate(s)
I0419 21:01:01.763314 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292617622217.
I0419 21:01:01.774817 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292617741896.
I0419 21:01:01.832907 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000985834 range=0.775538 variance=0.0005374 t_weight=5582.43 r_weight=0 yaml=(15.015, -1.32) prior=(14.3861, -2.01985, 0.489891deg) obs_actual=(0.639342, 0.696218) obs_expected=(0.634875, 0.69445) delta=(0.00446647, 0.00176817) |delta|=0.00480373m
I0419 21:01:01.834110 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292617938787.
I0419 21:01:01.835390 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292618053028.
I0419 21:01:01.836478 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:01.836568 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:01.836639 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292618179018.
I0419 21:01:01.838632 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.00739403, 0.50789)
I0419 21:01:01.838806 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292618296741.
I0419 21:01:01.850138 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559247s, prior_pose=(14.3954, -2.01639), yaw=0.596353 deg
I0419 21:01:01.850247 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1321, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:01:01.850451 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292618498034.
I0419 21:01:01.858423 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292618577444.
I0419 21:01:01.878109 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292618775984.
I0419 21:01:01.890475 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:01.890671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292618896496.
I0419 21:01:01.910588 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:01.910708 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:01.910866 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292619100723.
I0419 21:01:01.986330 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292619179139.
I0419 21:01:01.987661 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292619372958.
I0419 21:01:01.988569 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.929937, -0.730896), points=6, range=1.18, residual=0.0105841, extent=0.0286572
I0419 21:01:01.988649 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.929937, -0.730896), tracking=(-1.22844, 0.730896), map_predicted=(13.1892, -1.30196), range=1.18, pts=6
I0419 21:01:01.988679 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0314974m maha_sq=0.0429998 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1892, -1.30196) lm_pos=(13.215, -1.32) delta=(-0.0258213, 0.0180374) -> 1 candidate(s)
I0419 21:01:01.988807 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292619460988.
I0419 21:01:01.990511 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.289738, 0.693661)
I0419 21:01:01.990587 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:01.990610 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:01.990662 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:01.990684 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=8.63796e-05 range=0.7518 variance=0.000566877 t_weight=5292.16 r_weight=0 yaml=(15.015, -1.32) prior=(14.4395, -2.0194, 0.721894deg) obs_actual=(0.585504, 0.692865) obs_expected=(0.584314, 0.692089) delta=(0.00119019, 0.000775781) |delta|=0.0014207m
I0419 21:01:01.990741 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:01.990759 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292619659390.
I0419 21:01:01.991670 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292619771829.
I0419 21:01:01.994426 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.393876 deg, rms_residual=0.00903915m, sigma_yaw=0.0119087 rad, N=2
I0419 21:01:01.994823 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4351, -2.00858, 0.393876deg) inliers=2 rms=0.00903915m
I0419 21:01:01.994880 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292619937733.
I0419 21:01:02.006347 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292620055289.
I0419 21:01:02.023149 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292620225385.
I0419 21:01:02.038527 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292620376728.
I0419 21:01:02.107355 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292620532377.
I0419 21:01:02.108440 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292620656468.
I0419 21:01:02.109637 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292620859779.
I0419 21:01:02.111315 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0755162, 0.505293), points=27, range=0.512222, residual=0.0124618, extent=0.0440681
I0419 21:01:02.111392 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0755162, 0.505293), tracking=(-0.374016, -0.505293), map_predicted=(14.1082, -2.52821), range=0.512222, pts=27
I0419 21:01:02.111420 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0106553m maha_sq=0.00485125 (gate chi2=5.99) pose_sigma=(0.151052, 0.151052, rho=0) det_map=(14.1082, -2.52821) lm_pos=(14.115, -2.52) delta=(-0.00678605, -0.00821499) -> 1 candidate(s)
I0419 21:01:02.111506 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292620976147.
I0419 21:01:02.113929 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.14138, -0.528178)
I0419 21:01:02.114023 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:02.114105 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:02.114167 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292621134469.
I0419 21:01:02.122722 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0174159 range=0.51296 variance=0.000555304 t_weight=5402.45 r_weight=0 yaml=(14.115, -2.52) prior=(14.4742, -2.0171, 0.901059deg) obs_actual=(-0.385347, -0.505471) obs_expected=(-0.367102, -0.497186) delta=(-0.0182449, -0.00828564) |delta|=0.0200382m
I0419 21:01:02.122860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292621221540.
I0419 21:01:02.142324 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442934s, prior_pose=(14.49, -2.01648), yaw=0.9319 deg
I0419 21:01:02.142423 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1319, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:01:02.142627 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292621419081.
I0419 21:01:02.155048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292621544330.
I0419 21:01:02.170217 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292621696784.
I0419 21:01:02.229712 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:02.229880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292621857503.
I0419 21:01:02.231026 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:02.231129 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:02.231243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292622033868.
I0419 21:01:02.232278 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292622131353.
I0419 21:01:02.234131 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.212268, 0.690612)
I0419 21:01:02.234309 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292622300148.
I0419 21:01:02.242477 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292622419439.
I0419 21:01:02.262532 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:02.262624 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:02.262699 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:02.262773 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:02.262794 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292622621091.
I0419 21:01:02.270323 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292622697566.
I0419 21:01:02.290443 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292622898818.
I0419 21:01:02.301815 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.133682, 0.504687), points=24, range=0.522625, residual=0.0110892, extent=0.0352995
I0419 21:01:02.302034 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.133682, 0.504687), tracking=(-0.432182, -0.504687), map_predicted=(14.1002, -2.52458), range=0.522625, pts=24
I0419 21:01:02.302119 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0155346m maha_sq=0.0104675 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1002, -2.52458) lm_pos=(14.115, -2.52) delta=(-0.0148452, -0.00457668) -> 1 candidate(s)
I0419 21:01:02.302312 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292623011760.
I0419 21:01:02.377246 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.5418, -2.01578), yaw=0.95998 deg backend=(14.5214, -2.01408)
I0419 21:01:02.378145 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292623181580.
I0419 21:01:02.379257 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0388082 range=1.27075 variance=0.000562015 t_weight=5337.93 r_weight=0 yaml=(13.215, -1.32) prior=(14.5418, -2.01578, 0.95998deg) obs_actual=(-1.33952, 0.734965) obs_expected=(-1.31495, 0.717907) delta=(-0.0245766, 0.0170583) |delta|=0.0299165m
I0419 21:01:02.379391 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292623296643.
I0419 21:01:02.380308 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(0.178108, 0.688559)
I0419 21:01:02.380453 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292623493999.
I0419 21:01:02.382162 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292623617795.
I0419 21:01:02.383090 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292623771707.
I0419 21:01:02.390040 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292623893781.
I0419 21:01:02.406585 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:02.406714 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:02.406816 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624060998.
I0419 21:01:02.418243 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624175892.
I0419 21:01:02.437698 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755542s, prior_pose=(14.569, -2.01357), yaw=1.02753 deg
I0419 21:01:02.437795 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1310, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:02.437984 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.218688 deg, rms_residual=0.0108748m, sigma_yaw=0.0142924 rad, N=2
I0419 21:01:02.438050 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5627, -1.99854, 0.218688deg) inliers=2 rms=0.0108748m
I0419 21:01:02.438084 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624373337.
I0419 21:01:02.499576 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624499524.
I0419 21:01:02.499892 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:02.500607 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(0.139758, 0.686854)
I0419 21:01:02.500721 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04931, -0.534645), points=4, range=1.1745, residual=0.00792149, extent=0.0181573
I0419 21:01:02.500756 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04931, -0.534645), tracking=(1.34781, -0.534645), map_predicted=(15.937, -2.5219), range=1.1745, pts=4
I0419 21:01:02.500787 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0220712m maha_sq=0.0211595 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.937, -2.5219) lm_pos=(15.915, -2.52) delta=(0.0219894, -0.00189915) -> 1 candidate(s)
I0419 21:01:02.500860 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624655570.
I0419 21:01:02.502002 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:02.502125 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0142687 range=0.54368 variance=0.000582371 t_weight=5151.36 r_weight=0 yaml=(14.115, -2.52) prior=(14.5803, -2.01015, 0.970042deg) obs_actual=(-0.49099, -0.507976) obs_expected=(-0.473889, -0.5019) delta=(-0.0171009, -0.00607578) |delta|=0.0181482m
I0419 21:01:02.502193 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624782268.
I0419 21:01:02.503880 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:02.503957 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:02.504041 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292624942971.
I0419 21:01:02.506032 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625054801.
I0419 21:01:02.525962 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625252818.
I0419 21:01:02.534837 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625341695.
I0419 21:01:02.554483 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:02.554585 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:02.554653 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:02.554703 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:02.554726 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625538106.
I0419 21:01:02.566339 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625657034.
I0419 21:01:02.625540 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625819098.
I0419 21:01:02.626443 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.11786, -0.737535)
I0419 21:01:02.626564 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292625932948.
I0419 21:01:02.627534 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00776, -0.537715), points=5, range=1.139, residual=0.00911948, extent=0.0214285
I0419 21:01:02.627631 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00776, -0.537715), tracking=(1.30626, -0.537715), map_predicted=(15.9281, -2.52375), range=1.139, pts=5
I0419 21:01:02.627661 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0135935m maha_sq=0.00801985 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9281, -2.52375) lm_pos=(15.915, -2.52) delta=(0.0130663, -0.00374888) -> 1 candidate(s)
I0419 21:01:02.627727 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292626142319.
I0419 21:01:02.629180 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00932735 range=0.558455 variance=0.00057247 t_weight=5240.45 r_weight=0 yaml=(14.115, -2.52) prior=(14.6228, -2.00491, 1.04331deg) obs_actual=(-0.531791, -0.50598) obs_expected=(-0.517045, -0.50576) delta=(-0.0147452, -0.000220328) |delta|=0.0147469m
I0419 21:01:02.629256 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292626217025.
I0419 21:01:02.641943 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292626413734.
I0419 21:01:02.655429 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292626547614.
I0419 21:01:02.670308 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292626697667.
I0419 21:01:02.682626 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292626820450.
I0419 21:01:02.701663 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:02.701761 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:02.701830 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627011387.
I0419 21:01:02.757544 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.14822, -0.739326)
I0419 21:01:02.757748 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627144949.
I0419 21:01:02.758590 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597667s, prior_pose=(14.6491, -2.00341), yaw=1.02287 deg
I0419 21:01:02.758656 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1306, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:01:02.758781 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.399726 deg, rms_residual=0.0118809m, sigma_yaw=0.0155942 rad, N=2
I0419 21:01:02.758810 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6514, -1.996, 0.399726deg) inliers=2 rms=0.0118809m
I0419 21:01:02.758839 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627295334.
I0419 21:01:02.759779 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627422115.
I0419 21:01:02.762205 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.960568, -0.541621), points=5, range=1.0998, residual=0.00840204, extent=0.0195078
I0419 21:01:02.762305 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.960568, -0.541621), tracking=(1.25907, -0.541621), map_predicted=(15.9371, -2.52482), range=1.0998, pts=5
I0419 21:01:02.762332 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0226665m maha_sq=0.0218984 (gate chi2=5.99) pose_sigma=(0.151446, 0.151446, rho=0) det_map=(15.9371, -2.52482) lm_pos=(15.915, -2.52) delta=(0.0221477, -0.00482212) -> 1 candidate(s)
I0419 21:01:02.762449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627617239.
I0419 21:01:02.770047 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:02.770182 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00905841 range=0.579238 variance=0.000566957 t_weight=5291.4 r_weight=0 yaml=(14.115, -2.52) prior=(14.6682, -2.00679, 1.06914deg) obs_actual=(-0.576573, -0.506766) obs_expected=(-0.562672, -0.502801) delta=(-0.0139006, -0.00396509) |delta|=0.0144551m
I0419 21:01:02.770248 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627695818.
I0419 21:01:02.790071 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:02.790174 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:02.790288 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292627896081.
I0419 21:01:02.801273 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:02.802573 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292628019737.
I0419 21:01:02.818246 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292628176276.
I0419 21:01:02.830199 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.18303, -0.739227)
I0419 21:01:02.830441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292628297748.
I0419 21:01:02.886024 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:02.886132 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:02.886206 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:02.886269 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:02.886291 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292628499939.
I0419 21:01:02.887192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292628579720.
I0419 21:01:02.888463 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292628778363.
I0419 21:01:02.890192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292628894015.
I0419 21:01:02.906806 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0167109, 0.676533), points=17, range=0.678059, residual=0.010586, extent=0.0320424
I0419 21:01:02.906913 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0167109, 0.676533), tracking=(0.315211, 0.676533), map_predicted=(15.008, -1.31378), range=0.678059, pts=17
I0419 21:01:02.906950 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00935361m maha_sq=0.0037959 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.008, -1.31378) lm_pos=(15.015, -1.32) delta=(-0.00698599, 0.00621981) -> 1 candidate(s)
I0419 21:01:02.907114 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629061918.
I0419 21:01:02.917856 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629172270.
I0419 21:01:02.934737 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0360744 range=1.0555 variance=0.000575029 t_weight=5217.12 r_weight=0 yaml=(15.915, -2.52) prior=(14.7253, -2.00034, 1.31901deg) obs_actual=(1.20657, -0.546807) obs_expected=(1.17747, -0.546913) delta=(0.0290963, 0.000106875) |delta|=0.0290965m
I0419 21:01:02.934909 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629341291.
I0419 21:01:02.946058 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.21632, -0.740494)
I0419 21:01:02.946352 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629453410.
I0419 21:01:02.966224 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629656371.
I0419 21:01:03.042932 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629779887.
I0419 21:01:03.043989 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:03.044066 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:03.044130 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292629936241.
I0419 21:01:03.045025 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292630061252.
I0419 21:01:03.046676 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439637s, prior_pose=(14.7505, -2.00128), yaw=1.38697 deg
I0419 21:01:03.046774 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:01:03.046931 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292630219524.
I0419 21:01:03.047755 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.2791 deg, rms_residual=0.0163293m, sigma_yaw=0.0213084 rad, N=2
I0419 21:01:03.047809 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.7704, -2.01611, 1.2791deg) inliers=2 rms=0.0163293m
I0419 21:01:03.047838 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292630335855.
I0419 21:01:03.054497 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0236943, 0.678266), points=18, range=0.680222, residual=0.0115228, extent=0.0355873
I0419 21:01:03.054589 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0236943, 0.678266), tracking=(0.274806, 0.678266), map_predicted=(15.0088, -1.31656), range=0.680222, pts=18
I0419 21:01:03.054636 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00704848m maha_sq=0.00215355 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0088, -1.31656) lm_pos=(15.015, -1.32) delta=(-0.00615294, 0.00343836) -> 1 candidate(s)
I0419 21:01:03.054760 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292630538976.
I0419 21:01:03.067097 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.2513, -0.74444)
I0419 21:01:03.067282 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:03.067442 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292630662035.
I0419 21:01:03.083004 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:03.083132 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:03.083269 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00350466 range=0.68 variance=0.000556361 t_weight=5392.18 r_weight=0 yaml=(15.015, -1.32) prior=(14.7581, -1.99929, 1.43284deg) obs_actual=(0.266892, 0.67841) obs_expected=(0.273797, 0.672655) delta=(-0.00690548, 0.00575493) |delta|=0.00898915m
I0419 21:01:03.083412 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292630821736.
I0419 21:01:03.094233 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292630933030.
I0419 21:01:03.163286 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292631142829.
I0419 21:01:03.164218 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292631213157.
I0419 21:01:03.165237 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:03.165310 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:03.165356 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:03.165395 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:03.165416 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292631420476.
I0419 21:01:03.166940 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292631542241.
I0419 21:01:03.170274 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292631697049.
I0419 21:01:03.190469 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.27977, -0.746339)
I0419 21:01:03.190864 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292631896613.
I0419 21:01:03.192471 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.792, -1.99683), yaw=1.58311 deg backend=(14.7899, -2.00599)
I0419 21:01:03.202521 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632015026.
I0419 21:01:03.210958 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632096658.
I0419 21:01:03.230366 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.812055, -0.553924), points=6, range=0.9805, residual=0.00938448, extent=0.0255348
I0419 21:01:03.230523 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.812055, -0.553924), tracking=(1.11055, -0.553924), map_predicted=(15.9175, -2.51986), range=0.9805, pts=6
I0419 21:01:03.230585 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0024552m maha_sq=0.000261666 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9175, -2.51986) lm_pos=(15.915, -2.52) delta=(0.00245133, 0.000137901) -> 1 candidate(s)
I0419 21:01:03.230886 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632293576.
I0419 21:01:03.323697 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0242583 range=0.660176 variance=0.000567555 t_weight=5285.83 r_weight=0 yaml=(14.115, -2.52) prior=(14.8028, -1.9962, 1.59961deg) obs_actual=(-0.725889, -0.503283) obs_expected=(-0.702135, -0.504398) delta=(-0.0237533, 0.00111538) |delta|=0.0237795m
I0419 21:01:03.323828 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632415730.
I0419 21:01:03.324862 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632576377.
I0419 21:01:03.325925 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632700593.
I0419 21:01:03.327513 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:03.327579 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:03.327626 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292632894873.
I0419 21:01:03.328408 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.445485, 0.506321)
I0419 21:01:03.328513 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292633020975.
I0419 21:01:03.329293 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0764637s, prior_pose=(14.8218, -1.99783), yaw=1.56044 deg
I0419 21:01:03.329348 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1296, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:01:03.329490 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292633180367.
I0419 21:01:03.331080 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292633293754.
I0419 21:01:03.346298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292633452867.
I0419 21:01:03.358587 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:03.358868 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292633576995.
I0419 21:01:03.452498 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:03.452601 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:03.452630 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.118413, 0.67725), points=17, range=0.689059, residual=0.0111886, extent=0.0333632
I0419 21:01:03.452652 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.118413, 0.67725), tracking=(0.180087, 0.67725), map_predicted=(15.0066, -1.31275), range=0.689059, pts=17
I0419 21:01:03.452678 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0110654m maha_sq=0.00525123 (gate chi2=5.99) pose_sigma=(0.150848, 0.150848, rho=0) det_map=(15.0066, -1.31275) lm_pos=(15.015, -1.32) delta=(-0.00836106, 0.00724821) -> 1 candidate(s)
I0419 21:01:03.452761 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292633773003.
I0419 21:01:03.453864 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.73571 deg, rms_residual=0.0151522m, sigma_yaw=0.0198028 rad, N=2
I0419 21:01:03.453953 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.876, -2.00323, 1.73571deg) inliers=2 rms=0.0151522m
I0419 21:01:03.453992 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292633910437.
I0419 21:01:03.454965 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000184931 range=0.937857 variance=0.000547268 t_weight=5481.77 r_weight=0 yaml=(15.915, -2.52) prior=(14.845, -1.99463, 1.55118deg) obs_actual=(1.05697, -0.55553) obs_expected=(1.05543, -0.554145) delta=(0.00153132, -0.00138463) |delta|=0.0020645m
I0419 21:01:03.455075 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292634054380.
I0419 21:01:03.456516 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.481053, 0.505327)
I0419 21:01:03.456617 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292634175300.
I0419 21:01:03.457516 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:03.457568 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:03.457608 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:03.457638 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:03.457655 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292634332995.
I0419 21:01:03.458441 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292634459999.
I0419 21:01:03.463199 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292634622134.
I0419 21:01:03.478734 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292634775622.
I0419 21:01:03.495184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292634941340.
I0419 21:01:03.588501 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292635062342.
I0419 21:01:03.589743 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292635220038.
I0419 21:01:03.590611 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.516906, 0.507806)
I0419 21:01:03.590705 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38168, -0.742394), points=3, range=1.57333, residual=0.0112595, extent=0.0238251
I0419 21:01:03.590732 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.38168, -0.742394), tracking=(-1.68018, 0.742394), map_predicted=(13.1773, -1.29249), range=1.57333, pts=3
I0419 21:01:03.590756 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0466558m maha_sq=0.0941767 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1773, -1.29249) lm_pos=(13.215, -1.32) delta=(-0.0376848, 0.0275067) -> 1 candidate(s)
I0419 21:01:03.590847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292635334128.
I0419 21:01:03.592634 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0128286 range=0.703375 variance=0.000544367 t_weight=5510.99 r_weight=0 yaml=(15.015, -1.32) prior=(14.8983, -1.98919, 1.49894deg) obs_actual=(0.124631, 0.680402) obs_expected=(0.134212, 0.665905) delta=(-0.00958074, 0.014497) |delta|=0.0173768m
I0419 21:01:03.592816 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292635540707.
I0419 21:01:03.593734 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292635655327.
I0419 21:01:03.594776 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:03.594853 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:03.594908 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292635819806.
I0419 21:01:03.596462 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292635935249.
I0419 21:01:03.610466 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560022s, prior_pose=(14.9105, -1.98976), yaw=1.51349 deg
I0419 21:01:03.610625 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1286, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:01:03.610879 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292636100729.
I0419 21:01:03.622920 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292636221032.
I0419 21:01:03.689499 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292636419788.
I0419 21:01:03.690428 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.42567, -0.744794)
I0419 21:01:03.690518 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:03.690591 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292636541616.
I0419 21:01:03.691542 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:03.691639 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:03.691751 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292636696516.
I0419 21:01:03.693502 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292636823647.
I0419 21:01:03.700033 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.217047, 0.681458), points=16, range=0.715875, residual=0.0110832, extent=0.031578
I0419 21:01:03.700147 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.217047, 0.681458), tracking=(0.0814526, 0.681458), map_predicted=(14.9982, -1.30814), range=0.715875, pts=16
I0419 21:01:03.700174 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0205421m maha_sq=0.0182986 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9982, -1.30814) lm_pos=(15.015, -1.32) delta=(-0.0167696, 0.0118642) -> 1 candidate(s)
I0419 21:01:03.700294 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292636994604.
I0419 21:01:03.710506 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292637098727.
I0419 21:01:03.730790 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:03.730927 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:03.731019 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:01:03.731053 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00449997 range=0.8624 variance=0.000626489 t_weight=4788.59 r_weight=5000 yaml=(15.915, -2.52) prior=(14.951, -1.99063, 1.56582deg) obs_actual=(0.959195, -0.557581) obs_expected=(0.949125, -0.555513) delta=(0.0100692, -0.00206867) |delta|=0.0102795m
I0419 21:01:03.731146 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:03.731175 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292637302012.
I0419 21:01:03.742406 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292637416690.
I0419 21:01:03.758853 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.648128, -0.558354)
I0419 21:01:03.759081 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.44116 deg, rms_residual=0.0102491m, sigma_yaw=0.0134812 rad, N=2
I0419 21:01:03.759181 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.9655, -1.99441, 1.44116deg) inliers=2 rms=0.0102491m
I0419 21:01:03.759228 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292637582133.
I0419 21:01:03.820463 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292637694298.
I0419 21:01:03.821602 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292637858785.
I0419 21:01:03.822778 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292637992177.
I0419 21:01:03.824535 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292638173112.
I0419 21:01:03.830235 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.46278, -0.742641)
I0419 21:01:03.830312 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.352246, -0.676584), points=13, range=0.764615, residual=0.010534, extent=0.0322589
I0419 21:01:03.830341 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.352246, -0.676584), tracking=(0.0537456, 0.676584), map_predicted=(15.0197, -1.31064), range=0.764615, pts=13
I0419 21:01:03.830364 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0104998m maha_sq=0.00478281 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0197, -1.31064) lm_pos=(15.015, -1.32) delta=(0.0047496, 0.00936417) -> 1 candidate(s)
I0419 21:01:03.830464 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292638298668.
I0419 21:01:03.846491 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0144714 range=0.731 variance=0.00056167 t_weight=5341.21 r_weight=0 yaml=(15.015, -1.32) prior=(14.9856, -1.98849, 1.65511deg) obs_actual=(0.0369486, 0.681325) obs_expected=(0.0487275, 0.667361) delta=(-0.0117789, 0.013964) |delta|=0.0182684m
I0419 21:01:03.846699 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292638457551.
I0419 21:01:03.858573 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292638579539.
I0419 21:01:03.878284 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:03.878428 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:03.878561 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292638775374.
I0419 21:01:03.891762 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292638893672.
I0419 21:01:03.972806 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0473613s, prior_pose=(15.0087, -1.98559), yaw=1.63508 deg
I0419 21:01:03.972904 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1278, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:01:03.973107 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292639053152.
I0419 21:01:03.973196 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:03.974021 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292639173864.
I0419 21:01:03.974973 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.594164, -0.56045)
I0419 21:01:03.975086 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292639339112.
I0419 21:01:03.976567 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:03.976665 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292639460675.
I0419 21:01:03.977656 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:03.977715 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:03.977739 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.295598, 0.679775), points=16, range=0.742562, residual=0.0110886, extent=0.0326722
I0419 21:01:03.977758 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.295598, 0.679775), tracking=(0.00290209, 0.679775), map_predicted=(15.004, -1.3078), range=0.742562, pts=16
I0419 21:01:03.977777 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[17] 'ref_18' eucl_dist=0.0164196m maha_sq=0.0116905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.004, -1.3078) lm_pos=(15.015, -1.32) delta=(-0.0109922, 0.0121974) -> 1 candidate(s)
I0419 21:01:03.977840 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292639617983.
I0419 21:01:03.978675 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292639777549.
I0419 21:01:03.994835 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0114052 range=0.804273 variance=0.00061302 t_weight=4893.81 r_weight=0 yaml=(15.915, -2.52) prior=(15.035, -1.9853, 1.76452deg) obs_actual=(0.879507, -0.560999) obs_expected=(0.863168, -0.561544) delta=(0.0163383, 0.000544662) |delta|=0.0163474m
I0419 21:01:03.995059 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292639938984.
I0419 21:01:04.007198 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292640062052.
I0419 21:01:04.022334 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.314348, 0.67919)
I0419 21:01:04.022539 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:04.022590 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:04.022701 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:04.022778 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:04.022809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292640214536.
I0419 21:01:04.094135 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292640334069.
I0419 21:01:04.095302 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.33614 deg, rms_residual=0.00896481m, sigma_yaw=0.00960069 rad, N=3
I0419 21:01:04.095404 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.0549, -1.99007, 1.33614deg) inliers=3 rms=0.00896481m
I0419 21:01:04.095448 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292640540533.
I0419 21:01:04.096269 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292640616799.
I0419 21:01:04.097216 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.064, -1.98402), yaw=1.74708 deg backend=(15.0513, -1.99223)
I0419 21:01:04.098137 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292640818470.
I0419 21:01:04.098995 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.686844, 0.508202), points=8, range=0.856375, residual=0.00951356, extent=0.0304637
I0419 21:01:04.099049 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.686844, 0.508202), tracking=(-0.985344, -0.508202), map_predicted=(14.0946, -2.52203), range=0.856375, pts=8
I0419 21:01:04.099076 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0204783m maha_sq=0.0182063 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0946, -2.52203) lm_pos=(14.115, -2.52) delta=(-0.0203773, -0.00203119) -> 1 candidate(s)
I0419 21:01:04.099154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292640932441.
I0419 21:01:04.110430 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[17] 'ref_18' maha_sq=0.013237 range=0.760133 variance=0.00056783 t_weight=5283.27 r_weight=5000 yaml=(15.015, -1.32) prior=(15.064, -1.98402, 1.74708deg) obs_actual=(-0.03809, 0.679978) obs_expected=(-0.0287474, 0.665211) delta=(-0.00934266, 0.014767) |delta|=0.0174742m
I0419 21:01:04.110569 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292641097892.
I0419 21:01:04.122502 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.698936, 0.506167)
I0419 21:01:04.122718 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292641219313.
I0419 21:01:04.142835 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292641422186.
I0419 21:01:04.150620 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292641494518.
I0419 21:01:04.222792 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:01:04.222920 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:01:04.223017 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292641695508.
I0419 21:01:04.224027 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292641818321.
I0419 21:01:04.225494 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760323s, prior_pose=(15.0814, -1.98409), yaw=1.86399 deg
I0419 21:01:04.225582 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1280, max_intensity=252, threshold=230, above_threshold=40, candidates=40
I0419 21:01:04.225698 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.317389, 0.553451)
I0419 21:01:04.225782 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292641979636.
I0419 21:01:04.227617 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.722796, 0.502937), points=9, range=0.884, residual=0.0113466, extent=0.0308639
I0419 21:01:04.227687 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.722796, 0.502937), tracking=(-1.0213, -0.502937), map_predicted=(14.0952, -2.52539), range=0.884, pts=9
I0419 21:01:04.227717 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.020554m maha_sq=0.0179985 (gate chi2=5.99) pose_sigma=(0.151324, 0.151324, rho=0) det_map=(14.0952, -2.52539) lm_pos=(14.115, -2.52) delta=(-0.0198345, -0.00539044) -> 1 candidate(s)
I0419 21:01:04.227789 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292642101489.
I0419 21:01:04.228799 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[17] 'ref_18' maha_sq=0.00381851 range=0.772941 variance=0.000818007 t_weight=3667.45 r_weight=5000 yaml=(15.015, -1.32) prior=(15.0987, -1.98787, 1.95721deg) obs_actual=(-0.0676518, 0.676854) obs_expected=(-0.0608301, 0.670335) delta=(-0.00682166, 0.00651958) |delta|=0.00943611m
I0419 21:01:04.228875 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292642260297.
I0419 21:01:04.242162 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:04.242408 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292642416482.
I0419 21:01:04.258502 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:04.258589 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=3
I0419 21:01:04.258704 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292642580588.
I0419 21:01:04.270673 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292642700735.
I0419 21:01:04.286463 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.41232, 0.618959)
I0419 21:01:04.286676 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292642856095.
I0419 21:01:04.346668 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292642979268.
I0419 21:01:04.347954 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:04.348040 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:04.348160 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:04.348235 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:04.348254 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292643179773.
I0419 21:01:04.349400 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292643292738.
I0419 21:01:04.351248 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40549, 0.623306), points=3, range=1.53233, residual=0.0101209, extent=0.0200831
I0419 21:01:04.351356 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40549, 0.623306), tracking=(1.70399, 0.623306), map_predicted=(16.8132, -1.29185), range=1.53233, pts=3
I0419 21:01:04.351383 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0282074m maha_sq=0.0338884 (gate chi2=5.99) pose_sigma=(0.151303, 0.151303, rho=0) det_map=(16.8132, -1.29185) lm_pos=(16.815, -1.32) delta=(-0.00184154, 0.0281473) -> 1 candidate(s)
I0419 21:01:04.351445 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292643459342.
I0419 21:01:04.358304 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.83124 deg, rms_residual=0.011044m, sigma_yaw=0.0145117 rad, N=2
I0419 21:01:04.358435 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.1544, -1.97214, 2.83124deg) inliers=2 rms=0.011044m
I0419 21:01:04.358471 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292643577233.
I0419 21:01:04.373711 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00613148 range=0.724214 variance=0.000547507 t_weight=5479.38 r_weight=0 yaml=(15.915, -2.52) prior=(15.1324, -1.97538, 2.03876deg) obs_actual=(0.754707, -0.563315) obs_expected=(0.762704, -0.572111) delta=(-0.00799728, 0.00879539) |delta|=0.0118876m
I0419 21:01:04.373847 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292643732691.
I0419 21:01:04.386525 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292643856955.
I0419 21:01:04.406210 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644053259.
I0419 21:01:04.418646 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.181243, -0.664883)
I0419 21:01:04.418962 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644179087.
I0419 21:01:04.486352 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644333629.
I0419 21:01:04.488022 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644452020.
I0419 21:01:04.490288 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:04.490440 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:04.490538 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644614098.
I0419 21:01:04.493985 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644734129.
I0419 21:01:04.495293 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605159s, prior_pose=(15.1753, -1.97296), yaw=1.98062 deg
I0419 21:01:04.495412 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1253, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 21:01:04.495556 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35813, 0.621314), points=3, range=1.49, residual=0.00744645, extent=0.0148
I0419 21:01:04.495584 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35813, 0.621314), tracking=(1.65663, 0.621314), map_predicted=(16.8094, -1.29477), range=1.49, pts=3
I0419 21:01:04.495607 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0258451m maha_sq=0.0289969 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8094, -1.29477) lm_pos=(16.815, -1.32) delta=(-0.00558432, 0.0252346) -> 1 candidate(s)
I0419 21:01:04.495716 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292644938788.
I0419 21:01:04.506492 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645058706.
I0419 21:01:04.522795 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00816048 range=0.696133 variance=0.000568231 t_weight=5279.54 r_weight=0 yaml=(15.915, -2.52) prior=(15.1906, -1.97043, 1.92617deg) obs_actual=(0.709424, -0.560359) obs_expected=(0.705486, -0.57361) delta=(0.00393866, 0.0132513) |delta|=0.0138243m
I0419 21:01:04.522984 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645220629.
I0419 21:01:04.534195 1218978 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:01:04.534314 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:04.534482 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645334804.
I0419 21:01:04.550778 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:04.550905 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.33228, 0.625947)
I0419 21:01:04.550948 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:04.551146 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645496524.
I0419 21:01:04.638101 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645614475.
I0419 21:01:04.639236 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645818266.
I0419 21:01:04.640090 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292645939515.
I0419 21:01:04.641670 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:04.641736 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:04.641775 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:04.641816 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:04.641834 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646099100.
I0419 21:01:04.642645 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646221003.
I0419 21:01:04.643452 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30058, 0.631979), points=3, range=1.45133, residual=0.0120138, extent=0.0254393
I0419 21:01:04.643496 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30058, 0.631979), tracking=(1.59908, 0.631979), map_predicted=(16.794, -1.28803), range=1.45133, pts=3
I0419 21:01:04.643520 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0382563m maha_sq=0.0632968 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.794, -1.28803) lm_pos=(16.815, -1.32) delta=(-0.021011, 0.0319701) -> 1 candidate(s)
I0419 21:01:04.643579 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646379623.
I0419 21:01:04.650103 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.62875 deg, rms_residual=0.00944343m, sigma_yaw=0.0124347 rad, N=2
I0419 21:01:04.650275 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2391, -1.96085, 2.62875deg) inliers=2 rms=0.00944343m
I0419 21:01:04.650346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646492855.
I0419 21:01:04.670574 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.30038, 0.634191)
I0419 21:01:04.670825 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00515486 range=0.672667 variance=0.000617021 t_weight=4862.07 r_weight=0 yaml=(15.915, -2.52) prior=(15.2295, -1.97081, 1.70933deg) obs_actual=(0.669415, -0.55849) obs_expected=(0.668839, -0.569392) delta=(0.000575672, 0.0109011) |delta|=0.0109163m
I0419 21:01:04.670981 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646696887.
I0419 21:01:04.682103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646812119.
I0419 21:01:04.775453 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292646975864.
I0419 21:01:04.776608 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647100788.
I0419 21:01:04.779171 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647302781.
I0419 21:01:04.782354 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647382237.
I0419 21:01:04.784600 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:04.784735 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:04.784853 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647580251.
I0419 21:01:04.786576 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647694544.
I0419 21:01:04.788686 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0471249s, prior_pose=(15.2684, -1.96911), yaw=1.47552 deg
I0419 21:01:04.788839 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1237, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:01:04.788946 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2674, 0.641117), points=4, range=1.415, residual=0.0128956, extent=0.0296803
I0419 21:01:04.788983 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2674, 0.641117), tracking=(1.5659, 0.641117), map_predicted=(16.8173, -1.28788), range=1.415, pts=4
I0419 21:01:04.789120 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0321994m maha_sq=0.0441982 (gate chi2=5.99) pose_sigma=(0.151052, 0.151052, rho=0) det_map=(16.8173, -1.28788) lm_pos=(16.815, -1.32) delta=(0.00229736, 0.0321174) -> 1 candidate(s)
I0419 21:01:04.789237 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647853486.
I0419 21:01:04.797911 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.896215, 0.520883)
I0419 21:01:04.798159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292647972686.
I0419 21:01:04.815034 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00675998 range=0.647824 variance=0.000568493 t_weight=5277.11 r_weight=0 yaml=(15.915, -2.52) prior=(15.2684, -1.96911, 1.47552deg) obs_actual=(0.628001, -0.555589) obs_expected=(0.632176, -0.567358) delta=(-0.00417521, 0.011769) |delta|=0.0124877m
I0419 21:01:04.815287 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292648141693.
I0419 21:01:04.892328 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:04.892483 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292648261981.
I0419 21:01:04.893500 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:04.893576 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:04.893683 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292648462490.
I0419 21:01:04.894573 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292648579283.
I0419 21:01:04.896225 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292648736510.
I0419 21:01:04.897104 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292648852225.
I0419 21:01:04.906363 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:04.906507 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:04.906613 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:04.906718 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:04.906762 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292649055696.
I0419 21:01:04.919023 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292649180100.
I0419 21:01:04.943074 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292649420085.
I0419 21:01:04.946480 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.93929, 0.531402)
I0419 21:01:04.946645 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0170357, -0.650926), points=18, range=0.652278, residual=0.0104662, extent=0.0327472
I0419 21:01:04.946707 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0170357, -0.650926), tracking=(-0.281464, 0.650926), map_predicted=(15.01, -1.33009), range=0.652278, pts=18
I0419 21:01:04.946832 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0112417m maha_sq=0.0054838 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.01, -1.33009) lm_pos=(15.015, -1.32) delta=(-0.004953, -0.0100917) -> 1 candidate(s)
I0419 21:01:04.947007 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292649456070.
I0419 21:01:05.039511 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3166, -1.96633), yaw=0.857174 deg backend=(15.307, -1.97799)
I0419 21:01:05.040443 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.368474 deg, rms_residual=0.00725028m, sigma_yaw=0.00957448 rad, N=2
I0419 21:01:05.040501 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0355715 range=1.37025 variance=0.000614223 t_weight=4884.22 r_weight=0 yaml=(16.815, -1.32) prior=(15.3166, -1.96633, 0.857174deg) obs_actual=(1.50907, 0.652721) obs_expected=(1.50792, 0.623839) delta=(0.0011559, 0.0288818) |delta|=0.0289049m
I0419 21:01:05.040539 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3145, -1.97661, 0.368474deg) inliers=2 rms=0.00725028m
I0419 21:01:05.040573 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292649619152.
I0419 21:01:05.041481 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292649732627.
I0419 21:01:05.042578 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292649934269.
I0419 21:01:05.044234 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650056508.
I0419 21:01:05.045437 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650214053.
I0419 21:01:05.046396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650338938.
I0419 21:01:05.050689 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:05.050956 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:05.051142 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650498390.
I0419 21:01:05.063482 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650625574.
I0419 21:01:05.082319 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759844s, prior_pose=(15.3447, -1.96411), yaw=0.728366 deg
I0419 21:01:05.082512 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1224, max_intensity=254, threshold=230, above_threshold=23, candidates=23
I0419 21:01:05.082942 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650816352.
I0419 21:01:05.175720 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.977824, 0.538276)
I0419 21:01:05.175833 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.980839, 0.538093), points=5, range=1.1162, residual=0.00799563, extent=0.0198206
I0419 21:01:05.175860 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.980839, 0.538093), tracking=(-1.27934, -0.538093), map_predicted=(14.0803, -2.51699), range=1.1162, pts=5
I0419 21:01:05.175886 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0348338m maha_sq=0.0522148 (gate chi2=5.99) pose_sigma=(0.150726, 0.150726, rho=0) det_map=(14.0803, -2.51699) lm_pos=(14.115, -2.52) delta=(-0.0347037, 0.00300777) -> 1 candidate(s)
I0419 21:01:05.176004 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292650932449.
I0419 21:01:05.177009 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651095314.
I0419 21:01:05.177965 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:05.178043 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00143993 range=0.651158 variance=0.000575865 t_weight=5209.56 r_weight=0 yaml=(15.015, -1.32) prior=(15.3542, -1.9661, 0.574383deg) obs_actual=(-0.338114, 0.647538) obs_expected=(-0.332682, 0.649469) delta=(-0.00543127, -0.00193108) |delta|=0.00576435m
I0419 21:01:05.178119 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651220959.
I0419 21:01:05.179605 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:05.179670 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:05.179759 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651375524.
I0419 21:01:05.180774 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651501612.
I0419 21:01:05.181696 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651658656.
I0419 21:01:05.183219 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651786583.
I0419 21:01:05.199162 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:05.199316 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:05.199448 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:05.199584 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:05.199627 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292651982688.
I0419 21:01:05.211110 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292652098295.
I0419 21:01:05.304018 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292652258522.
I0419 21:01:05.304922 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.01963, 0.545941)
I0419 21:01:05.305006 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01963, 0.545941), points=5, range=1.1566, residual=0.00583765, extent=0.0151681
I0419 21:01:05.305029 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01963, 0.545941), tracking=(-1.31813, -0.545941), map_predicted=(14.0788, -2.51801), range=1.1566, pts=5
I0419 21:01:05.305053 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0362273m maha_sq=0.0570803 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0788, -2.51801) lm_pos=(14.115, -2.52) delta=(-0.0361727, 0.00198964) -> 1 candidate(s)
I0419 21:01:05.305158 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292652374962.
I0419 21:01:05.306277 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292652580169.
I0419 21:01:05.307996 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.43713 deg, rms_residual=0.0118396m, sigma_yaw=0.0155408 rad, N=2
I0419 21:01:05.308079 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000974687 range=0.655765 variance=0.000545429 t_weight=5500.26 r_weight=0 yaml=(15.015, -1.32) prior=(15.4058, -1.96745, 0.278578deg) obs_actual=(-0.38294, 0.648553) obs_expected=(-0.387644, 0.649341) delta=(0.00470374, -0.000787908) |delta|=0.00476928m
I0419 21:01:05.308130 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.4212, -1.94927, 1.43713deg) inliers=2 rms=0.0118396m
I0419 21:01:05.308161 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292652694941.
I0419 21:01:05.309094 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292652858756.
I0419 21:01:05.309953 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292652972055.
I0419 21:01:05.314630 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292653137785.
I0419 21:01:05.331037 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292653301974.
I0419 21:01:05.346969 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:05.347117 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:05.347268 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292653459580.
I0419 21:01:05.440501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292653577523.
I0419 21:01:05.440869 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:05.441489 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596718s, prior_pose=(15.4323, -1.96938), yaw=0.110577 deg
I0419 21:01:05.441558 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1212, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:01:05.441721 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292653734503.
I0419 21:01:05.442553 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.124315, -0.648633)
I0419 21:01:05.442672 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292653860026.
I0419 21:01:05.444284 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06933, 0.673947), points=4, range=1.2595, residual=0.0120184, extent=0.0264177
I0419 21:01:05.444347 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06933, 0.673947), tracking=(1.36783, 0.673947), map_predicted=(16.8114, -1.29667), range=1.2595, pts=4
I0419 21:01:05.444373 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0236024m maha_sq=0.0238304 (gate chi2=5.99) pose_sigma=(0.150889, 0.150889, rho=0) det_map=(16.8114, -1.29667) lm_pos=(16.815, -1.32) delta=(-0.00358624, 0.0233284) -> 1 candidate(s)
I0419 21:01:05.444439 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292654021191.
I0419 21:01:05.445281 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:05.445415 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292654172996.
I0419 21:01:05.446414 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:05.446461 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:05.446516 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0291748 range=1.2524 variance=0.000524554 t_weight=5719.15 r_weight=0 yaml=(16.815, -1.32) prior=(15.444, -1.9715, 0.0370965deg) obs_actual=(1.35772, 0.672629) obs_expected=(1.3714, 0.650616) delta=(-0.0136811, 0.0220128) |delta|=0.0259179m
I0419 21:01:05.446556 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292654341836.
I0419 21:01:05.448014 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292654453327.
I0419 21:01:05.462325 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292654615105.
I0419 21:01:05.475168 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292654742433.
I0419 21:01:05.548081 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:05.548182 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:05.548241 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:05.548286 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:05.548305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292654922724.
I0419 21:01:05.549137 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292655018541.
I0419 21:01:05.550186 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292655219570.
I0419 21:01:05.551626 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.170344, -0.646813)
I0419 21:01:05.551720 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292655331738.
I0419 21:01:05.552656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292655494011.
I0419 21:01:05.562775 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292655619744.
I0419 21:01:05.578402 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.118452, -0.545445), points=23, range=0.55787, residual=0.0113594, extent=0.0374495
I0419 21:01:05.578547 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.118452, -0.545445), tracking=(0.416952, -0.545445), map_predicted=(15.914, -2.51431), range=0.55787, pts=23
I0419 21:01:05.578604 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00578695m maha_sq=0.00142794 (gate chi2=5.99) pose_sigma=(0.151297, 0.151297, rho=0) det_map=(15.914, -2.51431) lm_pos=(15.915, -2.52) delta=(-0.00104057, 0.00569263) -> 1 candidate(s)
I0419 21:01:05.578747 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292655775763.
I0419 21:01:05.590796 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292655900957.
I0419 21:01:05.609722 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00990351 range=0.556333 variance=0.000592551 t_weight=5062.86 r_weight=0 yaml=(15.915, -2.52) prior=(15.5001, -1.96652, -0.323672deg) obs_actual=(0.4044, -0.54457) obs_expected=(0.418025, -0.551132) delta=(-0.013625, 0.00656178) |delta|=0.0151227m
I0419 21:01:05.609844 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292656091767.
I0419 21:01:05.671919 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292656175552.
I0419 21:01:05.673106 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:05.673200 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:05.673259 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292656377703.
I0419 21:01:05.674121 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292656493742.
I0419 21:01:05.675614 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484524s, prior_pose=(15.5265, -1.96542), yaw=-0.430704 deg
I0419 21:01:05.675696 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1204, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:01:05.675837 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.875317 deg, rms_residual=0.00882739m, sigma_yaw=0.0116329 rad, N=2
I0419 21:01:05.675871 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.5268, -1.97638, -0.875317deg) inliers=2 rms=0.00882739m
I0419 21:01:05.675899 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292656660076.
I0419 21:01:05.681962 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.218403, -0.649401)
I0419 21:01:05.682204 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292656814736.
I0419 21:01:05.698745 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292656981836.
I0419 21:01:05.709776 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:05.709919 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292657094009.
I0419 21:01:05.726393 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:05.726485 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:05.726605 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292657258912.
I0419 21:01:05.739055 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.233512, -0.644451), points=17, range=0.687412, residual=0.0114325, extent=0.032452
I0419 21:01:05.739149 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.233512, -0.644451), tracking=(-0.532012, 0.644451), map_predicted=(15.0142, -1.31763), range=0.687412, pts=17
I0419 21:01:05.739178 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00251365m maha_sq=0.00027391 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0142, -1.31763) lm_pos=(15.015, -1.32) delta=(-0.000831194, 0.00237224) -> 1 candidate(s)
I0419 21:01:05.739315 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292657384730.
I0419 21:01:05.795199 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0118163 range=1.17286 variance=0.000573581 t_weight=5230.3 r_weight=0 yaml=(16.815, -1.32) prior=(15.5513, -1.97339, -0.76649deg) obs_actual=(1.25237, 0.686657) obs_expected=(1.25489, 0.670233) delta=(-0.00251807, 0.0164248) |delta|=0.0166167m
I0419 21:01:05.795346 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292657537055.
I0419 21:01:05.796316 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292657660832.
I0419 21:01:05.797399 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:05.797474 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:05.797521 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:05.797582 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:05.797602 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292657869386.
I0419 21:01:05.799276 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292657939116.
I0419 21:01:05.814599 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292658140490.
I0419 21:01:05.825759 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.262649, -0.644526)
I0419 21:01:05.825960 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292658252851.
I0419 21:01:05.827347 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.579, -1.96636), yaw=-0.862571 deg backend=(15.5639, -1.97372)
I0419 21:01:05.842886 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292658422124.
I0419 21:01:05.858368 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292658577997.
I0419 21:01:05.874315 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292658733744.
I0419 21:01:05.964758 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292658858425.
I0419 21:01:05.965858 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908845, 0.691071), points=5, range=1.1384, residual=0.0114179, extent=0.0291451
I0419 21:01:05.965932 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.908845, 0.691071), tracking=(1.20735, 0.691071), map_predicted=(16.8115, -1.29623), range=1.1384, pts=5
I0419 21:01:05.965960 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.024018m maha_sq=0.0249857 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8115, -1.29623) lm_pos=(16.815, -1.32) delta=(-0.00346975, 0.023766) -> 1 candidate(s)
I0419 21:01:05.966044 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292659058865.
I0419 21:01:05.966826 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292659135680.
I0419 21:01:05.968564 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:05.968619 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:05.968647 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0175602 range=1.12986 variance=0.00060205 t_weight=4982.98 r_weight=0 yaml=(16.815, -1.32) prior=(15.604, -1.97059, -1.00471deg) obs_actual=(1.1953, 0.691555) obs_expected=(1.19938, 0.67172) delta=(-0.00407986, 0.0198357) |delta|=0.0202509m
I0419 21:01:05.968704 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292659375569.
I0419 21:01:05.969472 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292659456548.
I0419 21:01:05.970405 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754939s, prior_pose=(15.604, -1.97059), yaw=-1.00471 deg
I0419 21:01:05.970459 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1207, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:01:05.970629 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292659613364.
I0419 21:01:05.974021 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.309668, -0.644316)
I0419 21:01:05.974246 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292659734570.
I0419 21:01:05.991789 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292659899511.
I0419 21:01:06.002468 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:06.002827 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660016412.
I0419 21:01:06.080459 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:06.080564 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:06.080646 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.80592 deg, rms_residual=0.0062593m, sigma_yaw=0.00827666 rad, N=2
I0419 21:01:06.080677 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6364, -1.97028, -1.80592deg) inliers=2 rms=0.0062593m
I0419 21:01:06.080706 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660215528.
I0419 21:01:06.081630 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660337797.
I0419 21:01:06.082691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660495181.
I0419 21:01:06.084235 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.341745, -0.642664), points=15, range=0.726067, residual=0.0117418, extent=0.032308
I0419 21:01:06.084324 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.341745, -0.642664), tracking=(-0.640245, 0.642664), map_predicted=(15.0178, -1.31246), range=0.726067, pts=15
I0419 21:01:06.084350 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00802897m maha_sq=0.0027551 (gate chi2=5.99) pose_sigma=(0.15107, 0.15107, rho=0) det_map=(15.0178, -1.31246) lm_pos=(15.015, -1.32) delta=(0.00275619, 0.00754107) -> 1 candidate(s)
I0419 21:01:06.084425 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660622057.
I0419 21:01:06.085477 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:06.085559 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:06.085609 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:06.085632 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0280253 range=1.10033 variance=0.000579949 t_weight=5172.87 r_weight=0 yaml=(16.815, -1.32) prior=(15.6449, -1.96794, -1.15871deg) obs_actual=(1.15383, 0.69673) obs_expected=(1.15678, 0.671468) delta=(-0.00294906, 0.0252612) |delta|=0.0254327m
I0419 21:01:06.085685 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:06.085704 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660777454.
I0419 21:01:06.092245 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292660899802.
I0419 21:01:06.110052 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661092058.
I0419 21:01:06.122794 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.355295, -0.64091)
I0419 21:01:06.123143 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661220414.
I0419 21:01:06.138880 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661377469.
I0419 21:01:06.234526 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661502752.
I0419 21:01:06.235505 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661660382.
I0419 21:01:06.236348 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661772617.
I0419 21:01:06.238104 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292661985683.
I0419 21:01:06.239030 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.380441, -0.639429), points=14, range=0.745786, residual=0.0110893, extent=0.0325301
I0419 21:01:06.239094 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.380441, -0.639429), tracking=(-0.678941, 0.639429), map_predicted=(15.0261, -1.3058), range=0.745786, pts=14
I0419 21:01:06.239120 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0180415m maha_sq=0.014114 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0261, -1.3058) lm_pos=(15.015, -1.32) delta=(0.0111325, 0.0141973) -> 1 candidate(s)
I0419 21:01:06.239187 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292662100883.
I0419 21:01:06.240032 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:06.240077 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:06.240103 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0438208 range=1.06525 variance=0.000595085 t_weight=5041.29 r_weight=0 yaml=(16.815, -1.32) prior=(15.6892, -1.96168, -1.40478deg) obs_actual=(1.10433, 0.70044) obs_expected=(1.10974, 0.669091) delta=(-0.00540896, 0.0313494) |delta|=0.0318127m
I0419 21:01:06.240192 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292662260275.
I0419 21:01:06.241765 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292662376415.
I0419 21:01:06.254928 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556063s, prior_pose=(15.7002, -1.96584), yaw=-1.50297 deg
I0419 21:01:06.255095 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1209, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:01:06.255759 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292662541746.
I0419 21:01:06.266960 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.403584, -0.640996)
I0419 21:01:06.267262 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292662661592.
I0419 21:01:06.352046 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292662853245.
I0419 21:01:06.352916 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:06.353019 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292662981086.
I0419 21:01:06.353986 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:06.354060 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:06.354153 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292663140872.
I0419 21:01:06.355744 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292663258172.
I0419 21:01:06.356781 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.97327 deg, rms_residual=0.00999259m, sigma_yaw=0.0131483 rad, N=2
I0419 21:01:06.356868 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.7309, -1.97784, -1.97327deg) inliers=2 rms=0.00999259m
I0419 21:01:06.356902 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292663421117.
I0419 21:01:06.359228 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292663581221.
I0419 21:01:06.374646 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:06.374752 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.110046, -0.544936), points=22, range=0.555773, residual=0.0108598, extent=0.0340605
I0419 21:01:06.374775 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:06.374792 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.110046, -0.544936), tracking=(0.188454, -0.544936), map_predicted=(15.9083, -2.51327), range=0.555773, pts=22
I0419 21:01:06.374818 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00950279m maha_sq=0.00385199 (gate chi2=5.99) pose_sigma=(0.151303, 0.151303, rho=0) det_map=(15.9083, -2.51327) lm_pos=(15.915, -2.52) delta=(-0.00670877, 0.00673019) -> 1 candidate(s)
I0419 21:01:06.374884 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:06.374962 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:06.375006 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292663741069.
I0419 21:01:06.385897 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0561642 range=1.467 variance=0.000495597 t_weight=6053.31 r_weight=0 yaml=(14.115, -2.52) prior=(15.7363, -1.96292, -1.71997deg) obs_actual=(-1.63867, -0.596678) obs_expected=(-1.60383, -0.605488) delta=(-0.0348412, 0.00881) |delta|=0.0359378m
I0419 21:01:06.386143 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292663851581.
I0419 21:01:06.403477 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292664026475.
I0419 21:01:06.462415 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.448375, -0.638301)
I0419 21:01:06.462615 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292664138583.
I0419 21:01:06.463804 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292664301788.
I0419 21:01:06.464809 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292664418672.
I0419 21:01:06.466739 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292664617910.
I0419 21:01:06.471922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292664713504.
I0419 21:01:06.490335 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292664897463.
I0419 21:01:06.502457 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292665019330.
I0419 21:01:06.518386 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:06.518514 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:06.518620 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292665178293.
I0419 21:01:06.530961 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.485001, -0.635833), points=13, range=0.802538, residual=0.0127855, extent=0.0403728
I0419 21:01:06.531132 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.485001, -0.635833), tracking=(-0.783501, 0.635833), map_predicted=(15.0162, -1.30634), range=0.802538, pts=13
I0419 21:01:06.531180 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0137127m maha_sq=0.00813855 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0162, -1.30634) lm_pos=(15.015, -1.32) delta=(0.00119258, 0.0136607) -> 1 candidate(s)
I0419 21:01:06.531435 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292665301880.
I0419 21:01:06.607884 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479753s, prior_pose=(15.7921, -1.96558), yaw=-1.93406 deg
I0419 21:01:06.607995 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1216, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:01:06.608211 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0363831 range=0.993875 variance=0.000565103 t_weight=5308.76 r_weight=0 yaml=(16.815, -1.32) prior=(15.7921, -1.96558, -1.93406deg) obs_actual=(0.991852, 0.707573) obs_expected=(1.00053, 0.679736) delta=(-0.00867915, 0.027837) |delta|=0.0291586m
I0419 21:01:06.608335 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292665499083.
I0419 21:01:06.609308 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.496395, -0.636002)
I0419 21:01:06.609454 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292665614191.
I0419 21:01:06.610383 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292665781256.
I0419 21:01:06.612190 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:06.612329 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292665891598.
I0419 21:01:06.613305 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:06.613368 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:06.613469 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292666056549.
I0419 21:01:06.617890 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292666172423.
I0419 21:01:06.638978 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292666379888.
I0419 21:01:06.650331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292666496725.
I0419 21:01:06.666819 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:06.666965 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:06.667100 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:06.667227 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:06.667268 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292666655578.
I0419 21:01:06.747114 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292666780008.
I0419 21:01:06.748306 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292666978970.
I0419 21:01:06.749244 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.54091, -0.637023)
I0419 21:01:06.749388 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292667096440.
I0419 21:01:06.750423 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.8393, -1.97224), yaw=-2.06165 deg backend=(15.8245, -1.97596)
I0419 21:01:06.751088 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.207959, -0.548805), points=20, range=0.5876, residual=0.0104594, extent=0.0325369
I0419 21:01:06.751149 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.207959, -0.548805), tracking=(0.0905413, -0.548805), map_predicted=(15.9101, -2.52395), range=0.5876, pts=20
I0419 21:01:06.751174 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00631989m maha_sq=0.00171555 (gate chi2=5.99) pose_sigma=(0.150793, 0.150793, rho=0) det_map=(15.9101, -2.52395) lm_pos=(15.915, -2.52) delta=(-0.0049345, -0.00394863) -> 1 candidate(s)
I0419 21:01:06.751307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292667254313.
I0419 21:01:06.752225 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292667379307.
I0419 21:01:06.754570 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0127211 range=0.590474 variance=0.000533228 t_weight=5626.11 r_weight=0 yaml=(15.915, -2.52) prior=(15.8393, -1.97224, -2.06165deg) obs_actual=(0.0786715, -0.548616) obs_expected=(0.0953305, -0.544681) delta=(-0.016659, -0.0039352) |delta|=0.0171175m
I0419 21:01:06.754727 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292667539318.
I0419 21:01:06.766288 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292667652275.
I0419 21:01:06.786381 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.75774 deg, rms_residual=0.00928297m, sigma_yaw=0.012226 rad, N=2
I0419 21:01:06.786949 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8618, -1.97609, -2.75774deg) inliers=2 rms=0.00928297m
I0419 21:01:06.787324 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292667853693.
I0419 21:01:06.798326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292667973214.
I0419 21:01:06.889247 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:06.889359 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:06.889418 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292668141197.
I0419 21:01:06.889685 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:06.890276 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292668261956.
I0419 21:01:06.891134 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0769682s, prior_pose=(15.8643, -1.97442), yaw=-2.19494 deg
I0419 21:01:06.891223 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1219, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:01:06.891381 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292668421957.
I0419 21:01:06.892832 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.46258, 0.610807)
I0419 21:01:06.892941 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292668533995.
I0419 21:01:06.894053 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292668734165.
I0419 21:01:06.894894 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:06.894982 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292668856121.
I0419 21:01:06.902441 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:06.902557 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:06.902714 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292669016399.
I0419 21:01:06.913941 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.608892, -0.635985), points=12, range=0.883583, residual=0.0132577, extent=0.041994
I0419 21:01:06.914100 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.608892, -0.635985), tracking=(-0.907392, 0.635985), map_predicted=(15.0092, -1.30412), range=0.883583, pts=12
I0419 21:01:06.914135 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0169188m maha_sq=0.0123807 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0092, -1.30412) lm_pos=(15.015, -1.32) delta=(-0.00584069, 0.0158787) -> 1 candidate(s)
I0419 21:01:06.914242 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292669134012.
I0419 21:01:06.938400 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292669373688.
I0419 21:01:07.023288 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0175528 range=0.890583 variance=0.000601469 t_weight=4987.79 r_weight=0 yaml=(15.015, -1.32) prior=(15.9047, -1.9755, -2.40884deg) obs_actual=(-0.925215, 0.635818) obs_expected=(-0.916449, 0.617529) delta=(-0.00876652, 0.0182886) |delta|=0.0202811m
I0419 21:01:07.023424 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292669422222.
I0419 21:01:07.024475 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=2
I0419 21:01:07.024529 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:07.024580 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:07.024611 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:07.024632 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292669621816.
I0419 21:01:07.025374 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292669735851.
I0419 21:01:07.027055 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.556729, 0.708253)
I0419 21:01:07.027165 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292669894867.
I0419 21:01:07.027974 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670022909.
I0419 21:01:07.028837 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670177523.
I0419 21:01:07.030591 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670297916.
I0419 21:01:07.050390 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670497376.
I0419 21:01:07.062031 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670611997.
I0419 21:01:07.127576 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.525982, 0.706448), points=11, range=0.883364, residual=0.0115453, extent=0.0338834
I0419 21:01:07.127689 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.525982, 0.706448), tracking=(0.824482, 0.706448), map_predicted=(16.8001, -1.31102), range=0.883364, pts=11
I0419 21:01:07.127734 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0173551m maha_sq=0.0129311 (gate chi2=5.99) pose_sigma=(0.150714, 0.150714, rho=0) det_map=(16.8001, -1.31102) lm_pos=(16.815, -1.32) delta=(-0.0148515, 0.00897944) -> 1 candidate(s)
I0419 21:01:07.127861 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670779345.
I0419 21:01:07.129220 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292670894321.
I0419 21:01:07.130453 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:07.130569 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:07.130604 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00675271 range=0.6267 variance=0.000666842 t_weight=4498.82 r_weight=0 yaml=(15.915, -2.52) prior=(15.9446, -1.97955, -2.58592deg) obs_actual=(-0.0151949, -0.54878) obs_expected=(-0.00521857, -0.541236) delta=(-0.00997632, -0.007544) |delta|=0.0125076m
I0419 21:01:07.130668 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292671058572.
I0419 21:01:07.132524 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=29, centroid=(-0.290631, 0.545375)
I0419 21:01:07.132736 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292671180869.
I0419 21:01:07.138628 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601855s, prior_pose=(15.9598, -1.97849), yaw=-2.56424 deg
I0419 21:01:07.138763 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1223, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:01:07.138945 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292671381200.
I0419 21:01:07.146664 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292671460437.
I0419 21:01:07.166204 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292671656365.
I0419 21:01:07.178153 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:07.178310 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292671776209.
I0419 21:01:07.198388 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:07.198475 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:07.198575 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292671979134.
I0419 21:01:07.254390 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292672097005.
I0419 21:01:07.255242 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292672220701.
I0419 21:01:07.256129 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.81484 deg, rms_residual=0.00769895m, sigma_yaw=0.010161 rad, N=2
I0419 21:01:07.256184 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.9981, -1.98273, -1.81484deg) inliers=2 rms=0.00769895m
I0419 21:01:07.256214 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292672379247.
I0419 21:01:07.257788 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:07.257844 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:07.257956 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:07.257985 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:07.258004 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292672533172.
I0419 21:01:07.265875 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.715769, -0.636931), points=8, range=0.9605, residual=0.0113395, extent=0.034182
I0419 21:01:07.265974 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.715769, -0.636931), tracking=(-1.01427, 0.636931), map_predicted=(15.0126, -1.30219), range=0.9605, pts=8
I0419 21:01:07.266010 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0179776m maha_sq=0.0140052 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0126, -1.30219) lm_pos=(15.015, -1.32) delta=(-0.00242141, 0.0178137) -> 1 candidate(s)
I0419 21:01:07.266109 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292672653228.
I0419 21:01:07.282359 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=13, centroid=(0.465135, 0.702635)
I0419 21:01:07.282790 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292672818076.
I0419 21:01:07.298543 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0142912 range=0.972 variance=0.000574397 t_weight=5222.87 r_weight=0 yaml=(15.015, -1.32) prior=(16.0096, -1.98344, -2.34525deg) obs_actual=(-1.02589, 0.639749) obs_expected=(-1.0209, 0.622186) delta=(-0.004988, 0.0175625) |delta|=0.018257m
I0419 21:01:07.298720 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292672977334.
I0419 21:01:07.310472 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292673099769.
I0419 21:01:07.323043 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292673220935.
I0419 21:01:07.394874 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292673414969.
I0419 21:01:07.395031 1218978 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.32e-03 s (pulsed at 100.62% real time)
I0419 21:01:07.395167 1218978 collated_trajectory_builder.cc:82] odom rate: 248.59 Hz 4.02e-03 s +/- 7.30e-04 s (pulsed at 99.64% real time)
I0419 21:01:07.395278 1218978 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.16e-03 s (pulsed at 100.47% real time)
I0419 21:01:07.395311 1218978 collated_trajectory_builder.cc:82] scan_2 rate: 34.03 Hz 2.94e-02 s +/- 2.21e-03 s (pulsed at 100.60% real time)
I0419 21:01:07.396232 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292673532115.
I0419 21:01:07.403687 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292673817566.
I0419 21:01:07.406404 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:07.406514 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:07.406591 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292674059319.
I0419 21:01:07.414597 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292674139440.
I0419 21:01:07.430541 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477885s, prior_pose=(16.0487, -1.98681), yaw=-2.33492 deg
I0419 21:01:07.430691 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1228, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:01:07.430847 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.36757, -2.22719)
I0419 21:01:07.431037 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292674295451.
I0419 21:01:07.443393 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.173708, 0.542643), points=21, range=0.57081, residual=0.0109807, extent=0.0347204
I0419 21:01:07.443523 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.173708, 0.542643), tracking=(-0.124792, -0.542643), map_predicted=(15.9019, -2.52392), range=0.57081, pts=21
I0419 21:01:07.443579 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.013657m maha_sq=0.0080904 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9019, -2.52392) lm_pos=(15.915, -2.52) delta=(-0.0130826, -0.003919) -> 1 candidate(s)
I0419 21:01:07.443765 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292674422071.
I0419 21:01:07.459393 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292674582805.
I0419 21:01:07.547080 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:07.547222 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292674697357.
I0419 21:01:07.548189 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:07.548236 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:07.548326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292674899192.
I0419 21:01:07.549252 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0387755 range=1.02322 variance=0.000596428 t_weight=5029.94 r_weight=0 yaml=(15.015, -1.32) prior=(16.064, -1.98654, -2.23644deg) obs_actual=(-1.09785, 0.643409) obs_expected=(-1.07418, 0.625094) delta=(-0.0236668, 0.0183155) |delta|=0.0299262m
I0419 21:01:07.549341 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292675014081.
I0419 21:01:07.551805 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292675296337.
I0419 21:01:07.552649 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:07.552698 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:07.552753 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292675461559.
I0419 21:01:07.562077 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292675613761.
I0419 21:01:07.578548 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.3188, -2.23273)
I0419 21:01:07.578764 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:07.578893 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:07.578938 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292675775413.
I0419 21:01:07.591511 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292675903589.
I0419 21:01:07.689016 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.1022, -1.99114), yaw=-2.10422 deg backend=(16.0863, -1.98467)
I0419 21:01:07.690326 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292676055012.
I0419 21:01:07.691742 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292676179682.
I0419 21:01:07.692904 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.30112, -2.24165), points=3, range=3.20667, residual=0.0139748, extent=0.0288424
I0419 21:01:07.693064 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.30112, -2.24165), tracking=(2.59962, -2.24165), map_predicted=(18.6177, -4.32673), range=3.20667, pts=3
I0419 21:01:07.693186 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.25101m maha_sq=452.107 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6177, -4.32673) lm_pos=(15.915, -2.52) delta=(2.70274, -1.80673) -> 0 candidate(s)
I0419 21:01:07.695289 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292676454805.
I0419 21:01:07.697633 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292676781128.
I0419 21:01:07.699481 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:07.699572 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:07.706111 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292677056504.
I0419 21:01:07.722084 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762954s, prior_pose=(16.1289, -1.99155), yaw=-2.00898 deg
I0419 21:01:07.722182 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1215, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:01:07.722267 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.26691, -2.24721)
I0419 21:01:07.722368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292677217759.
I0419 21:01:07.777503 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0124131 range=1.07817 variance=0.000551757 t_weight=5437.17 r_weight=0 yaml=(15.015, -1.32) prior=(16.1435, -1.99088, -1.98674deg) obs_actual=(-1.15929, 0.646258) obs_expected=(-1.15103, 0.631354) delta=(-0.00825279, 0.0149035) |delta|=0.0170359m
I0419 21:01:07.777640 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292677340004.
I0419 21:01:07.778570 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292677498997.
I0419 21:01:07.779536 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:07.779656 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292677655510.
I0419 21:01:07.782557 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:07.782620 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:07.782754 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292677821629.
I0419 21:01:07.794215 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.067435, 0.542599), points=24, range=0.54775, residual=0.0116234, extent=0.0396116
I0419 21:01:07.794306 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.067435, 0.542599), tracking=(-0.231065, -0.542599), map_predicted=(15.9083, -2.5257), range=0.54775, pts=24
I0419 21:01:07.794337 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00879757m maha_sq=0.00335524 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9083, -2.5257) lm_pos=(15.915, -2.52) delta=(-0.00670062, -0.00570079) -> 1 candidate(s)
I0419 21:01:07.794440 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292677937647.
I0419 21:01:07.809850 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:07.810034 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292678094469.
I0419 21:01:07.826568 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.6557 deg, rms_residual=0.01193m, sigma_yaw=0.0156576 rad, N=2
I0419 21:01:07.826781 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.1776, -1.99346, -1.6557deg) inliers=2 rms=0.01193m
I0419 21:01:07.826853 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292678254847.
I0419 21:01:07.842962 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:07.843076 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:07.843278 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292678420896.
I0419 21:01:07.854842 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292678536287.
I0419 21:01:07.949549 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.21859, -2.26423)
I0419 21:01:07.949741 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292678699553.
I0419 21:01:07.950695 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292678822726.
I0419 21:01:07.953460 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292679141387.
I0419 21:01:07.955341 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:07.955412 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0101506 range=0.54252 variance=0.000604138 t_weight=4965.75 r_weight=0 yaml=(15.915, -2.52) prior=(16.1943, -1.99226, -1.72302deg) obs_actual=(-0.278035, -0.540243) obs_expected=(-0.263349, -0.535902) delta=(-0.0146859, -0.00434108) |delta|=0.0153141m
I0419 21:01:07.955468 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:07.955490 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292679418712.
I0419 21:01:07.962975 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292679620063.
I0419 21:01:07.971113 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0102455, 0.541953), points=22, range=0.542591, residual=0.0103614, extent=0.0334546
I0419 21:01:07.971338 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0102455, 0.541953), tracking=(-0.288254, -0.541953), map_predicted=(15.9055, -2.5268), range=0.542591, pts=22
I0419 21:01:07.971400 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0117103m maha_sq=0.0059519 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9055, -2.5268) lm_pos=(15.915, -2.52) delta=(-0.0095336, -0.00680004) -> 1 candidate(s)
I0419 21:01:07.971590 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292679701090.
I0419 21:01:07.991044 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:07.991284 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:07.991472 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292679896410.
I0419 21:01:08.069516 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292679984628.
I0419 21:01:08.070727 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555464s, prior_pose=(16.2238, -1.99277), yaw=-1.683 deg
I0419 21:01:08.070833 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1185, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:01:08.070927 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.16547, -2.26208)
I0419 21:01:08.071046 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292680175527.
I0419 21:01:08.072499 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292680294486.
I0419 21:01:08.075783 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:08.075964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292680578732.
I0419 21:01:08.076987 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:08.077051 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:08.077169 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292680762803.
I0419 21:01:08.086742 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292680860894.
I0419 21:01:08.118005 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292681173829.
I0419 21:01:08.184456 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:08.184574 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:08.185537 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.988691, -0.6523), points=8, range=1.184, residual=0.0114997, extent=0.0347085
I0419 21:01:08.185627 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.988691, -0.6523), tracking=(-1.28719, 0.6523), map_predicted=(14.9939, -1.30657), range=1.184, pts=8
I0419 21:01:08.185659 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0249693m maha_sq=0.0266709 (gate chi2=5.99) pose_sigma=(0.150944, 0.150944, rho=0) det_map=(14.9939, -1.30657) lm_pos=(15.015, -1.32) delta=(-0.0210522, 0.0134265) -> 1 candidate(s)
I0419 21:01:08.185809 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292681462477.
I0419 21:01:08.186869 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(2.20256, -4.05662)
I0419 21:01:08.186980 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:08.188831 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0034278 range=0.546917 variance=0.000565627 t_weight=5303.85 r_weight=0 yaml=(15.915, -2.52) prior=(16.2766, -1.99521, -1.64063deg) obs_actual=(-0.348471, -0.543631) obs_expected=(-0.346387, -0.534925) delta=(-0.00208416, -0.00870594) |delta|=0.00895194m
I0419 21:01:08.188967 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292681779650.
I0419 21:01:08.206133 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292682052135.
I0419 21:01:08.234304 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292682337286.
I0419 21:01:08.309607 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292682658126.
I0419 21:01:08.310213 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:08.310619 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.14775, -4.06781)
I0419 21:01:08.310696 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.17545, 0.682474), points=17, range=0.705882, residual=0.0106371, extent=0.0332936
I0419 21:01:08.310720 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.17545, 0.682474), tracking=(0.47395, 0.682474), map_predicted=(16.7959, -1.32685), range=0.705882, pts=17
I0419 21:01:08.310747 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0202688m maha_sq=0.0178228 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7959, -1.32685) lm_pos=(16.815, -1.32) delta=(-0.0190747, -0.00685416) -> 1 candidate(s)
I0419 21:01:08.310768 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:08.310789 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:08.311677 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292682937104.
I0419 21:01:08.313367 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436852s, prior_pose=(16.3174, -1.99589), yaw=-1.53469 deg
I0419 21:01:08.313439 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1190, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:01:08.322022 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292683214820.
I0419 21:01:08.353829 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:08.353981 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292683533568.
I0419 21:01:08.370359 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:08.370468 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:08.382164 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292683816517.
I0419 21:01:08.441421 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.10589, -4.07426)
I0419 21:01:08.442721 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:08.442826 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:08.442852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292684137182.
I0419 21:01:08.443800 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:08.443852 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.0326, -2.27734), points=3, range=3.048, residual=0.011872, extent=0.0245629
I0419 21:01:08.443876 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:08.443887 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.0326, -2.27734), tracking=(2.3311, -2.27734), map_predicted=(18.6141, -4.33045), range=3.048, pts=3
I0419 21:01:08.443907 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.25008m maha_sq=453.383 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6141, -4.33045) lm_pos=(15.915, -2.52) delta=(2.69912, -1.81045) -> 0 candidate(s)
I0419 21:01:08.445588 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.40716 deg, rms_residual=0.0149588m, sigma_yaw=0.0195551 rad, N=2
I0419 21:01:08.445665 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.3645, -1.99915, -1.40716deg) inliers=2 rms=0.0149588m
I0419 21:01:08.445700 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292684420117.
I0419 21:01:08.471382 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292684707514.
I0419 21:01:08.472591 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.371, -1.99632), yaw=-1.29496 deg backend=(16.3496, -1.99022)
I0419 21:01:08.498111 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(0.151909, 0.544426)
I0419 21:01:08.498612 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0210186 range=1.271 variance=0.000567578 t_weight=5285.62 r_weight=0 yaml=(15.015, -1.32) prior=(16.371, -1.99632, -1.29496deg) obs_actual=(-1.3884, 0.659189) obs_expected=(-1.37095, 0.645497) delta=(-0.017447, 0.0136918) |delta|=0.022178m
I0419 21:01:08.498682 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292684975414.
I0419 21:01:08.518802 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292685181904.
I0419 21:01:08.579422 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292685261326.
I0419 21:01:08.580520 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:01:08.581454 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292685573753.
I0419 21:01:08.583201 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.98256, -2.28739), points=3, range=3.021, residual=0.0137623, extent=0.0281546
I0419 21:01:08.583266 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.98256, -2.28739), tracking=(2.28106, -2.28739), map_predicted=(18.6309, -4.32963), range=3.021, pts=3
I0419 21:01:08.583290 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.2636m maha_sq=450.723 (gate chi2=5.99) pose_sigma=(0.150959, 0.150959, rho=0) det_map=(18.6309, -4.32963) lm_pos=(15.915, -2.52) delta=(2.71594, -1.80963) -> 0 candidate(s)
I0419 21:01:08.583362 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:08.583384 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:08.587792 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292685871408.
I0419 21:01:08.606426 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799622s, prior_pose=(16.3967, -1.99647), yaw=-1.16167 deg
I0419 21:01:08.606527 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1152, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:01:08.618677 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.12902, -0.66504)
I0419 21:01:08.618865 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292686181778.
I0419 21:01:08.646584 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:08.646859 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292686456348.
I0419 21:01:08.730747 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:08.730873 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:08.731945 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292686742495.
I0419 21:01:08.732964 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0569821, 0.674115), points=20, range=0.6788, residual=0.0135507, extent=0.0394191
I0419 21:01:08.733035 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0569821, 0.674115), tracking=(0.355482, 0.674115), map_predicted=(16.7869, -1.32836), range=0.6788, pts=20
I0419 21:01:08.733067 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0292727m maha_sq=0.0370624 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7869, -1.32836) lm_pos=(16.815, -1.32) delta=(-0.0280531, -0.00836127) -> 1 candidate(s)
I0419 21:01:08.734889 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292687060443.
I0419 21:01:08.735832 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0511764, 0.675029)
I0419 21:01:08.735893 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:08.735921 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:08.736815 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292687341467.
I0419 21:01:08.750509 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:08.766311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292687656471.
I0419 21:01:08.782104 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:08.842761 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0180191 range=1.3488 variance=0.000580697 t_weight=5166.21 r_weight=0 yaml=(15.015, -1.32) prior=(16.4651, -1.99576, -0.817238deg) obs_actual=(-1.47252, 0.670996) obs_expected=(-1.45959, 0.655013) delta=(-0.0129361, 0.0159826) |delta|=0.0205617m
I0419 21:01:08.842953 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292687944479.
I0419 21:01:08.844882 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292688215235.
I0419 21:01:08.846650 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.0185081, 0.66975)
I0419 21:01:08.846804 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292688378464.
I0419 21:01:08.851485 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19337, -0.672885), points=3, range=1.36433, residual=0.0115028, extent=0.0215699
I0419 21:01:08.851868 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.19337, -0.672885), tracking=(-1.49187, 0.672885), map_predicted=(14.9955, -1.30425), range=1.36433, pts=3
I0419 21:01:08.851941 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0250771m maha_sq=0.0272189 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9955, -1.30425) lm_pos=(15.015, -1.32) delta=(-0.0195106, 0.0157543) -> 1 candidate(s)
I0419 21:01:08.852174 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292688506873.
I0419 21:01:08.870191 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:08.870306 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:08.882192 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292688816285.
I0419 21:01:08.897717 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595118s, prior_pose=(16.4908, -1.99719), yaw=-0.644029 deg
I0419 21:01:08.897820 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1115, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:08.911265 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292689098728.
I0419 21:01:08.978614 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:08.978755 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:08.978830 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:08.978850 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292689412233.
I0419 21:01:08.979760 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:08.979811 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.0166155, 0.670162)
I0419 21:01:08.979833 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:08.981664 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22381, -0.673714), points=3, range=1.39233, residual=0.0102045, extent=0.0208913
I0419 21:01:08.981765 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.22381, -0.673714), tracking=(-1.52231, 0.673714), map_predicted=(15.0053, -1.30364), range=1.39233, pts=3
I0419 21:01:08.981794 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0190087m maha_sq=0.0154536 (gate chi2=5.99) pose_sigma=(0.151011, 0.151011, rho=0) det_map=(15.0053, -1.30364) lm_pos=(15.015, -1.32) delta=(-0.00967814, 0.0163605) -> 1 candidate(s)
I0419 21:01:08.981902 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292689692788.
I0419 21:01:08.998452 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292689978628.
I0419 21:01:09.018311 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:09.018458 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:09.030467 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292690299874.
I0419 21:01:09.126531 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.289018 deg, rms_residual=0.0134644m, sigma_yaw=0.0176359 rad, N=2
I0419 21:01:09.126662 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00714051 range=0.631588 variance=0.000553916 t_weight=5415.98 r_weight=0 yaml=(15.915, -2.52) prior=(16.5403, -1.99627, -0.44929deg) obs_actual=(-0.627294, -0.539966) obs_expected=(-0.621148, -0.528613) delta=(-0.0061461, -0.0113531) |delta|=0.01291m
I0419 21:01:09.126700 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.5531, -1.99398, -0.289018deg) inliers=2 rms=0.0134644m
I0419 21:01:09.126729 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292690539826.
I0419 21:01:09.127890 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.0137804, -2.36896)
I0419 21:01:09.128901 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2578, -0.678207), points=4, range=1.4265, residual=0.00722923, extent=0.0147718
I0419 21:01:09.128959 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.2578, -0.678207), tracking=(-1.5563, 0.678207), map_predicted=(14.9893, -1.30588), range=1.4265, pts=4
I0419 21:01:09.129031 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.029288m maha_sq=0.0372494 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9893, -1.30588) lm_pos=(15.015, -1.32) delta=(-0.025662, 0.0141154) -> 1 candidate(s)
I0419 21:01:09.129173 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292690857486.
I0419 21:01:09.132308 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292691175390.
I0419 21:01:09.133867 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=18, centroid=(-0.065669, 0.671776)
I0419 21:01:09.146642 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292691459574.
I0419 21:01:09.162611 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:09.162796 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:09.174261 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292691735629.
I0419 21:01:09.242882 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480028s, prior_pose=(16.5765, -1.99244), yaw=-0.296069 deg
I0419 21:01:09.243005 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1101, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:01:09.244010 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27389, -0.682072), points=3, range=1.445, residual=0.011566, extent=0.0282774
I0419 21:01:09.244068 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.27389, -0.682072), tracking=(-1.57239, 0.682072), map_predicted=(15.0076, -1.30225), range=1.445, pts=3
I0419 21:01:09.244132 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0192245m maha_sq=0.0158158 (gate chi2=5.99) pose_sigma=(0.150853, 0.150853, rho=0) det_map=(15.0076, -1.30225) lm_pos=(15.015, -1.32) delta=(-0.00737693, 0.0177528) -> 1 candidate(s)
I0419 21:01:09.244227 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292692022616.
I0419 21:01:09.245239 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.0208627, -2.39709)
I0419 21:01:09.246944 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:09.247067 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292692337355.
I0419 21:01:09.251295 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:01:09.251387 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:01:09.262985 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292692624369.
I0419 21:01:09.282224 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.0236858, -2.7139)
I0419 21:01:09.294911 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292692942156.
I0419 21:01:09.310578 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=4
I0419 21:01:09.310690 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.7232, -2.32877), points=3, range=2.897, residual=0.00730196, extent=0.0171104
I0419 21:01:09.310717 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:09.310741 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.7232, -2.32877), tracking=(2.0217, -2.32877), map_predicted=(18.6193, -4.32561), range=2.897, pts=3
I0419 21:01:09.310770 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25172m maha_sq=455.996 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6193, -4.32561) lm_pos=(15.915, -2.52) delta=(2.70434, -1.80561) -> 0 candidate(s)
I0419 21:01:09.374380 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292693222814.
I0419 21:01:09.375370 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-0.042941, -2.68365)
I0419 21:01:09.376504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292693500828.
I0419 21:01:09.377645 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.625, -1.99229), yaw=-0.0321121 deg backend=(16.6169, -1.98888)
I0419 21:01:09.382016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292693815321.
I0419 21:01:09.398065 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.0724809, -2.49095)
I0419 21:01:09.398212 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:09.412225 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292694098047.
I0419 21:01:09.426769 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.67341, -2.33164), points=4, range=2.87225, residual=0.0132806, extent=0.0320441
I0419 21:01:09.426862 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.67341, -2.33164), tracking=(1.97191, -2.33164), map_predicted=(18.6034, -4.32335), range=2.87225, pts=4
I0419 21:01:09.426919 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.23722m maha_sq=449.62 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6034, -4.32335) lm_pos=(15.915, -2.52) delta=(2.6884, -1.80335) -> 0 candidate(s)
I0419 21:01:09.438424 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.449694, 0.538982)
I0419 21:01:09.438612 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0893678 range=1.515 variance=0.000800773 t_weight=3746.38 r_weight=0 yaml=(15.015, -1.32) prior=(16.6309, -1.99224, 0.0152659deg) obs_actual=(-1.65784, 0.690131) obs_expected=(-1.61568, 0.67267) delta=(-0.04216, 0.0174606) |delta|=0.0456327m
I0419 21:01:09.438719 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292694379665.
I0419 21:01:09.529728 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:09.529820 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:09.530902 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292694698394.
I0419 21:01:09.531724 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755287s, prior_pose=(16.6505, -1.98944), yaw=-0.0520223 deg
I0419 21:01:09.531800 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1103, max_intensity=255, threshold=230, above_threshold=38, candidates=38
I0419 21:01:09.533668 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292694977163.
I0419 21:01:09.534643 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.0840832, -2.22241)
I0419 21:01:09.534708 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.65557, -2.33536), points=4, range=2.85975, residual=0.0118491, extent=0.0281214
I0419 21:01:09.534736 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.65557, -2.33536), tracking=(1.95407, -2.33536), map_predicted=(18.6215, -4.32361), range=2.85975, pts=4
I0419 21:01:09.534758 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25239m maha_sq=454.582 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6215, -4.32361) lm_pos=(15.915, -2.52) delta=(2.70648, -1.80361) -> 0 candidate(s)
I0419 21:01:09.535554 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:09.535620 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:09.535671 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:09.535691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292695256119.
I0419 21:01:09.546550 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:01:09.546653 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:01:09.558605 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292695580293.
I0419 21:01:09.574093 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.6303, -2.3355)
I0419 21:01:09.641953 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292695854440.
I0419 21:01:09.643229 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:09.643352 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.62675, -2.33768), points=4, range=2.84475, residual=0.0121806, extent=0.0289879
I0419 21:01:09.643373 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:09.643391 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.62675, -2.33768), tracking=(1.92525, -2.33768), map_predicted=(18.6249, -4.31931), range=2.84475, pts=4
I0419 21:01:09.643417 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25287m maha_sq=454.601 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6249, -4.31931) lm_pos=(15.915, -2.52) delta=(2.70991, -1.79931) -> 0 candidate(s)
I0419 21:01:09.644424 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292696180450.
I0419 21:01:09.647054 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.40719, -0.693948)
I0419 21:01:09.647199 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292696463442.
I0419 21:01:09.674526 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292696738443.
I0419 21:01:09.692175 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.6152, -4.15349), points=3, range=4.45067, residual=0.0164062, extent=0.0339739
I0419 21:01:09.692274 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.6152, -4.15349), tracking=(1.9137, -4.15349), map_predicted=(18.6502, -6.12819), range=4.45067, pts=3
I0419 21:01:09.692305 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52776m maha_sq=865.393 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6502, -6.12819) lm_pos=(15.915, -2.52) delta=(2.73525, -3.60819) -> 0 candidate(s)
I0419 21:01:09.706450 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=11, centroid=(0.530476, 0.537181)
I0419 21:01:09.706640 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[18] 'ref_19' maha_sq=0.0213528 range=0.755 variance=0.000525759 t_weight=5706.04 r_weight=5000 yaml=(15.915, -2.52) prior=(16.7196, -1.98257, 0.234402deg) obs_actual=(-0.828774, -0.536774) obs_expected=(-0.806758, -0.534136) delta=(-0.0220159, -0.00263847) |delta|=0.0221735m
I0419 21:01:09.706729 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292697059782.
I0419 21:01:09.768991 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:09.769673 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292697332144.
I0419 21:01:09.770779 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:09.770887 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:09.772747 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292697613080.
I0419 21:01:09.782538 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602758s, prior_pose=(16.7476, -1.98713), yaw=0.199432 deg
I0419 21:01:09.782647 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1111, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:01:09.782790 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.238063, -2.33045)
I0419 21:01:09.782829 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.241221, -2.32777), points=5, range=2.3426, residual=0.0124369, extent=0.0326679
I0419 21:01:09.782861 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.241221, -2.32777), tracking=(0.0572794, -2.32777), map_predicted=(16.813, -4.31469), range=2.3426, pts=5
I0419 21:01:09.782922 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00682m maha_sq=173.465 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.813, -4.31469) lm_pos=(15.915, -2.52) delta=(0.897998, -1.79469) -> 0 candidate(s)
I0419 21:01:09.798223 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292697976390.
I0419 21:01:09.821977 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:09.822206 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.789734 deg, rms_residual=0.00880337m, sigma_yaw=0.00940828 rad, N=3
I0419 21:01:09.822273 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.778, -1.98042, 0.789734deg) inliers=3 rms=0.00880337m
I0419 21:01:09.822319 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292698212716.
I0419 21:01:09.839097 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:09.839246 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.55306, -4.15381)
I0419 21:01:09.839285 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:01:09.839339 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.264974, 0.669699), points=16, range=0.723375, residual=0.0131225, extent=0.0367833
I0419 21:01:09.839378 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.264974, 0.669699), tracking=(0.0335257, 0.669699), map_predicted=(16.79, -1.31542), range=0.723375, pts=16
I0419 21:01:09.839418 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=0.0254226m maha_sq=0.0279664 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.79, -1.31542) lm_pos=(16.815, -1.32) delta=(-0.0250061, 0.0045834) -> 1 candidate(s)
I0419 21:01:09.916451 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292698499479.
I0419 21:01:09.918377 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292698812364.
I0419 21:01:09.920024 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.5383, -4.15113)
I0419 21:01:09.920105 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:01:09.920132 1219494 reflector_detector.cc:337] [Detect] RESULT: 6 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:09.921152 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292699102536.
I0419 21:01:09.926589 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.296578, -2.33145), points=5, range=2.3534, residual=0.0137127, extent=0.0370791
I0419 21:01:09.926680 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.296578, -2.33145), tracking=(0.0019215, -2.33145), map_predicted=(16.8103, -4.30932), range=2.3534, pts=5
I0419 21:01:09.926710 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00082m maha_sq=172.173 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8103, -4.30932) lm_pos=(15.915, -2.52) delta=(0.895328, -1.78932) -> 0 candidate(s)
I0419 21:01:09.939376 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00246316 range=0.732176 variance=0.000572928 t_weight=5236.26 r_weight=0 yaml=(16.815, -1.32) prior=(16.8073, -1.97598, 0.325435deg) obs_actual=(0.00964597, 0.663295) obs_expected=(0.0114228, 0.655922) delta=(-0.00177687, 0.0073725) |delta|=0.0075836m
I0419 21:01:09.939582 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292699381893.
I0419 21:01:09.954450 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.51106, -0.542524)
I0419 21:01:09.970626 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292699699385.
I0419 21:01:10.043007 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:10.043121 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:10.044080 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292699984826.
I0419 21:01:10.045186 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.318199, -2.33819), points=5, range=2.3566, residual=0.0132284, extent=0.0345182
I0419 21:01:10.045289 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.318199, -2.33819), tracking=(-0.0196988, -2.33819), map_predicted=(16.8178, -4.31717), range=2.3566, pts=5
I0419 21:01:10.045317 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01117m maha_sq=174.054 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8178, -4.31717) lm_pos=(15.915, -2.52) delta=(0.902773, -1.79717) -> 0 candidate(s)
I0419 21:01:10.047024 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.286632, -0.661789)
I0419 21:01:10.047196 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292700263498.
I0419 21:01:10.048199 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:10.048256 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:10.054515 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:10.054723 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292700540858.
I0419 21:01:10.074364 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477124s, prior_pose=(16.847, -1.9737), yaw=0.479153 deg
I0419 21:01:10.074468 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1120, max_intensity=255, threshold=230, above_threshold=44, candidates=44
I0419 21:01:10.074601 1232263 reflector_detector.cc:209] [Detect]   cluster[7]: points=10, centroid=(-0.39663, 0.653766)
I0419 21:01:10.087020 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292700860768.
I0419 21:01:10.102734 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.345785, -2.33705), points=5, range=2.3602, residual=0.0123565, extent=0.0333966
I0419 21:01:10.102926 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.345785, -2.33705), tracking=(-0.0472848, -2.33705), map_predicted=(16.8193, -4.31106), range=2.3602, pts=5
I0419 21:01:10.102994 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0064m maha_sq=173.392 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8193, -4.31106) lm_pos=(15.915, -2.52) delta=(0.904296, -1.79106) -> 0 candidate(s)
I0419 21:01:10.195514 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:10.195658 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:10.195720 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:10.195767 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292701139230.
I0419 21:01:10.196823 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=49, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=9
I0419 21:01:10.196887 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=25, centroid=(-0.371391, 0.666146)
I0419 21:01:10.196909 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=9, r_post=0.015, gain=250 -> after=6
I0419 21:01:10.197863 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292701453128.
I0419 21:01:10.200601 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.335556, 0.71961)
I0419 21:01:10.200691 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.676954, 0.535236), points=9, range=0.863222, residual=0.00842217, extent=0.0269851
I0419 21:01:10.200717 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.676954, 0.535236), tracking=(-0.975454, -0.535236), map_predicted=(15.9018, -2.51829), range=0.863222, pts=9
I0419 21:01:10.200740 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0133557m maha_sq=0.00765181 (gate chi2=5.99) pose_sigma=(0.150986, 0.150986, rho=0) det_map=(15.9018, -2.51829) lm_pos=(15.915, -2.52) delta=(-0.0132457, 0.00171093) -> 1 candidate(s)
I0419 21:01:10.200819 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292701734384.
I0419 21:01:10.201812 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:10.201876 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:10.203614 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292702020371.
I0419 21:01:10.222229 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=8, centroid=(-0.363645, 0.654067)
I0419 21:01:10.234300 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00424798 range=0.69721 variance=0.000586471 t_weight=5115.34 r_weight=0 yaml=(16.815, -1.32) prior=(16.8846, -1.97477, 0.540807deg) obs_actual=(-0.07288, 0.658284) obs_expected=(-0.0634066, 0.655398) delta=(-0.00947335, 0.00288556) |delta|=0.00990307m
I0419 21:01:10.234572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292702333638.
I0419 21:01:10.324327 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.9007, -1.97302), yaw=0.541689 deg backend=(16.8868, -1.98442)
I0419 21:01:10.325277 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42991, -0.551277), points=3, range=1.53433, residual=0.00604176, extent=0.0126725
I0419 21:01:10.325356 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.42991, -0.551277), tracking=(1.72841, -0.551277), map_predicted=(18.6342, -2.50793), range=1.53433, pts=3
I0419 21:01:10.325388 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17271m maha_sq=201.876 (gate chi2=5.99) pose_sigma=(0.151207, 0.151207, rho=0) det_map=(18.6342, -2.50793) lm_pos=(16.815, -1.32) delta=(1.8192, -1.18793) -> 0 candidate(s)
I0419 21:01:10.326455 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292702660522.
I0419 21:01:10.329005 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.58999, -0.696859)
I0419 21:01:10.329183 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292702898946.
I0419 21:01:10.331964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292703179518.
I0419 21:01:10.338721 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39445, -2.35164), points=4, range=2.73175, residual=0.0107408, extent=0.0251227
I0419 21:01:10.338868 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.39445, -2.35164), tracking=(1.69295, -2.35164), map_predicted=(18.6431, -4.30816), range=2.73175, pts=4
I0419 21:01:10.338929 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26193m maha_sq=452.402 (gate chi2=5.99) pose_sigma=(0.150972, 0.150972, rho=0) det_map=(18.6431, -4.30816) lm_pos=(15.915, -2.52) delta=(2.72813, -1.78816) -> 0 candidate(s)
I0419 21:01:10.350584 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-1.92843, 4.18312)
I0419 21:01:10.350863 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292703499457.
I0419 21:01:10.366991 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762855s, prior_pose=(16.9267, -1.97359), yaw=0.573705 deg
I0419 21:01:10.367139 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:01:10.462575 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292703817191.
I0419 21:01:10.463488 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:10.464509 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:10.464596 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.979664 deg, rms_residual=0.00109077m, sigma_yaw=0.00145225 rad, N=2
I0419 21:01:10.464648 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.9537, -1.96865, 0.979664deg) inliers=2 rms=0.00109077m
I0419 21:01:10.464684 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292704096180.
I0419 21:01:10.466305 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:10.466373 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.35745, -2.35906)
I0419 21:01:10.466392 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:10.466418 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35753, -4.15747), points=3, range=4.376, residual=0.0134447, extent=0.0281396
I0419 21:01:10.466441 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.35753, -4.15747), tracking=(1.65603, -4.15747), map_predicted=(18.6524, -6.1121), range=4.376, pts=3
I0419 21:01:10.466461 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51624m maha_sq=854.271 (gate chi2=5.99) pose_sigma=(0.150968, 0.150968, rho=0) det_map=(18.6524, -6.1121) lm_pos=(15.915, -2.52) delta=(2.73738, -3.5921) -> 0 candidate(s)
I0419 21:01:10.467257 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:10.467312 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:01:10.467367 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292704375023.
I0419 21:01:10.470142 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292704693022.
I0419 21:01:10.487159 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:10.487342 1218978 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:10.498581 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.87991, 4.18955)
I0419 21:01:10.498705 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.886, 4.18681), points=3, range=4.592, residual=0.0127889, extent=0.0267151
I0419 21:01:10.498744 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.886, 4.18681), tracking=(1.5875, -4.18681), map_predicted=(18.6012, -6.13964), range=4.592, pts=3
I0419 21:01:10.498775 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5075m maha_sq=860.34 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6012, -6.13964) lm_pos=(15.915, -2.52) delta=(2.68622, -3.61964) -> 0 candidate(s)
I0419 21:01:10.498925 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292704980272.
I0419 21:01:10.596091 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00109045 range=0.667632 variance=0.000573807 t_weight=5228.24 r_weight=0 yaml=(16.815, -1.32) prior=(16.9764, -1.97071, 0.653041deg) obs_actual=(-0.158972, 0.65167) obs_expected=(-0.154, 0.65251) delta=(-0.00497247, -0.000839348) |delta|=0.00504281m
I0419 21:01:10.596239 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292705260987.
I0419 21:01:10.598944 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292705573746.
I0419 21:01:10.599874 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.472472, -4.14683)
I0419 21:01:10.599942 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34505, -0.554845), points=3, range=1.44833, residual=0.0126586, extent=0.0254335
I0419 21:01:10.599987 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.34505, -0.554845), tracking=(1.64355, -0.554845), map_predicted=(18.6384, -2.50707), range=1.44833, pts=3
I0419 21:01:10.600010 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17575m maha_sq=204.596 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6384, -2.50707) lm_pos=(16.815, -1.32) delta=(1.82339, -1.18707) -> 0 candidate(s)
I0419 21:01:10.600903 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292705852683.
I0419 21:01:10.615581 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292706143589.
I0419 21:01:10.750586 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.106542, -0.654307)
I0419 21:01:10.750842 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292706462303.
I0419 21:01:10.751888 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596277s, prior_pose=(17.0134, -1.96546), yaw=0.569722 deg
I0419 21:01:10.752012 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:10.752125 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30126, -4.16931), points=4, range=4.36325, residual=0.0181003, extent=0.0429842
I0419 21:01:10.752179 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.30126, -4.16931), tracking=(1.59976, -4.16931), map_predicted=(18.6546, -6.11866), range=4.36325, pts=4
I0419 21:01:10.752259 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52279m maha_sq=862.068 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6546, -6.11866) lm_pos=(15.915, -2.52) delta=(2.73958, -3.59866) -> 0 candidate(s)
I0419 21:01:10.753345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292706738183.
I0419 21:01:10.756381 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:10.756503 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:10.756579 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:10.756603 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292707133718.
I0419 21:01:10.757345 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:10.757404 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.528379, -2.33527)
I0419 21:01:10.757426 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:10.759716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292707301732.
I0419 21:01:10.760752 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.533588, -4.14613), points=3, range=4.18033, residual=0.0101375, extent=0.0243945
I0419 21:01:10.760809 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.533588, -4.14613), tracking=(-0.235088, -4.14613), map_predicted=(16.851, -6.11363), range=4.18033, pts=3
I0419 21:01:10.760838 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71353m maha_sq=587.706 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.851, -6.11363) lm_pos=(15.915, -2.52) delta=(0.936042, -3.59363) -> 0 candidate(s)
I0419 21:01:10.761896 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292707612478.
I0419 21:01:10.831241 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.27437, -0.556289)
I0419 21:01:10.831350 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:10.831383 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:10.832418 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292707900865.
I0419 21:01:10.835048 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00269349 range=0.657105 variance=0.000568338 t_weight=5278.55 r_weight=0 yaml=(16.815, -1.32) prior=(17.068, -1.96473, 0.721455deg) obs_actual=(-0.238539, 0.652567) obs_expected=(-0.244912, 0.647862) delta=(0.00637261, 0.00470552) |delta|=0.00792162m
I0419 21:01:10.835171 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292708179275.
I0419 21:01:10.837559 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.570603, -2.33194), points=5, range=2.4034, residual=0.0132537, extent=0.0349725
I0419 21:01:10.837636 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:10.837661 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.570603, -2.33194), tracking=(-0.272103, -2.33194), map_predicted=(16.8253, -4.29991), range=2.4034, pts=5
I0419 21:01:10.837688 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99919m maha_sq=171.941 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8253, -4.29991) lm_pos=(15.915, -2.52) delta=(0.910331, -1.77991) -> 0 candidate(s)
I0419 21:01:10.850435 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-1.76665, 4.1959)
I0419 21:01:10.850636 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292708499472.
I0419 21:01:10.879127 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292708781887.
I0419 21:01:11.005378 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0369677, -0.65108), points=20, range=0.65405, residual=0.0119191, extent=0.0371807
I0419 21:01:11.005493 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0369677, -0.65108), tracking=(-0.261532, 0.65108), map_predicted=(16.8181, -1.31518), range=0.65405, pts=20
I0419 21:01:11.005523 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00573723m maha_sq=0.00141168 (gate chi2=5.99) pose_sigma=(0.150795, 0.150795, rho=0) det_map=(16.8181, -1.31518) lm_pos=(16.815, -1.32) delta=(0.00310526, 0.00482422) -> 1 candidate(s)
I0419 21:01:11.005605 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292709098368.
I0419 21:01:11.006505 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.20383, -2.36264)
I0419 21:01:11.007473 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292709372938.
I0419 21:01:11.009280 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.044219s, prior_pose=(17.1028, -1.96148), yaw=0.88058 deg
I0419 21:01:11.009366 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1087, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:01:11.010325 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292709655035.
I0419 21:01:11.011307 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18149, -4.16603), points=4, range=4.33175, residual=0.0159492, extent=0.0386408
I0419 21:01:11.011370 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.18149, -4.16603), tracking=(1.47999, -4.16603), map_predicted=(18.6466, -6.10427), range=4.33175, pts=4
I0419 21:01:11.011399 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50651m maha_sq=858.773 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6466, -6.10427) lm_pos=(15.915, -2.52) delta=(2.7316, -3.58427) -> 0 candidate(s)
I0419 21:01:11.011420 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:11.013149 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-1.71658, 4.19594)
I0419 21:01:11.013221 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:11.013264 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.62562 deg, rms_residual=0.00230756m, sigma_yaw=0.0030673 rad, N=2
I0419 21:01:11.013298 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.12, -1.95968, 1.62562deg) inliers=2 rms=0.00230756m
I0419 21:01:11.013324 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292709936653.
I0419 21:01:11.014400 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:11.014463 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:11.026579 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:11.026743 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:01:11.026899 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292710255289.
I0419 21:01:11.106892 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:11.124333 1218530 pose_graph_2d.cc:160] Inserted submap (1, 38).
I0419 21:01:11.126169 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.69369, 4.19211), points=3, range=4.52133, residual=0.0114099, extent=0.0277966
I0419 21:01:11.126266 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.69369, 4.19211), tracking=(1.39519, -4.19211), map_predicted=(18.5899, -6.12666), range=4.52133, pts=3
I0419 21:01:11.126295 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49033m maha_sq=847.824 (gate chi2=5.99) pose_sigma=(0.150718, 0.150718, rho=0) det_map=(18.5899, -6.12666) lm_pos=(15.915, -2.52) delta=(2.6749, -3.60666) -> 0 candidate(s)
I0419 21:01:11.126380 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292710539162.
I0419 21:01:11.127349 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.15581, -4.16769)
I0419 21:01:11.127414 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:11.127442 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:11.129251 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292710856710.
I0419 21:01:11.132385 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1449, -1.95873), yaw=1.05254 deg backend=(17.1384, -1.97672)
I0419 21:01:11.133177 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.13821, -4.17485)
I0419 21:01:11.142508 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.966579, 0.522984), points=5, range=1.0972, residual=0.00637735, extent=0.0155941
I0419 21:01:11.142988 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.966579, 0.522984), tracking=(-1.26508, -0.522984), map_predicted=(15.8896, -2.50486), range=1.0972, pts=5
I0419 21:01:11.143301 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0295325m maha_sq=0.037626 (gate chi2=5.99) pose_sigma=(0.150613, 0.150613, rho=0) det_map=(15.8896, -2.50486) lm_pos=(15.915, -2.52) delta=(-0.0253566, 0.0151397) -> 1 candidate(s)
I0419 21:01:11.143673 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.037626 range=1.0972 variance=0.000495767 t_weight=6051.23 r_weight=0 yaml=(15.915, -2.52) prior=(17.1449, -1.95873, 1.05254deg) obs_actual=(-1.26508, -0.522984) obs_expected=(-1.24001, -0.538587) delta=(-0.0250742, 0.0156029) |delta|=0.0295325m
I0419 21:01:11.144021 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292711416441.
I0419 21:01:11.244256 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292711706134.
I0419 21:01:11.245363 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.68099, -4.1434)
I0419 21:01:11.246296 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:01:11.248111 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1193, -4.1773), points=4, range=4.3205, residual=0.017672, extent=0.0413267
I0419 21:01:11.248241 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.1193, -4.1773), tracking=(1.4178, -4.1773), map_predicted=(18.6588, -6.1086), range=4.3205, pts=4
I0419 21:01:11.248273 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51734m maha_sq=851.416 (gate chi2=5.99) pose_sigma=(0.150876, 0.150876, rho=0) det_map=(18.6588, -6.1086) lm_pos=(15.915, -2.52) delta=(2.74377, -3.5886) -> 0 candidate(s)
I0419 21:01:11.249272 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292712341594.
I0419 21:01:11.250499 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795626s, prior_pose=(17.1665, -1.95731), yaw=1.02383 deg
I0419 21:01:11.250588 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1075, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 21:01:11.250666 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.10638, -4.17763)
I0419 21:01:11.265987 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292712654351.
I0419 21:01:11.291908 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-1.6182, 4.19737)
I0419 21:01:11.292080 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0590485, -0.65295), points=18, range=0.656667, residual=0.010874, extent=0.0345544
I0419 21:01:11.292135 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:11.292165 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0590485, -0.65295), tracking=(-0.357549, 0.65295), map_predicted=(16.8118, -1.31089), range=0.656667, pts=18
I0419 21:01:11.292212 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00967192m maha_sq=0.00405769 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8118, -1.31089) lm_pos=(16.815, -1.32) delta=(-0.00323616, 0.00911446) -> 1 candidate(s)
I0419 21:01:11.292315 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292712908830.
I0419 21:01:11.368144 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:11.368309 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:11.372066 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.02323, 0.523222)
I0419 21:01:11.372299 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292713555329.
I0419 21:01:11.373168 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:11.378816 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.723504, -2.34212), points=4, range=2.44875, residual=0.0109981, extent=0.0266971
I0419 21:01:11.378901 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:11.378949 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.723504, -2.34212), tracking=(-0.425004, -2.34212), map_predicted=(16.8238, -4.30461), range=2.44875, pts=4
I0419 21:01:11.378997 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00267m maha_sq=172.904 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8238, -4.30461) lm_pos=(15.915, -2.52) delta=(0.908751, -1.78461) -> 0 candidate(s)
I0419 21:01:11.380122 1218967 reflector_detector.cc:209] [Detect]   cluster[8]: points=1, centroid=(0.119207, 2.55923)
I0419 21:01:11.380312 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:11.380383 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:11.380421 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292713780173.
I0419 21:01:11.391039 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 107
I0419 21:01:11.406219 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292714055958.
I0419 21:01:11.425907 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.06879, -2.37262)
I0419 21:01:11.426010 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04645, -4.17123), points=3, range=4.303, residual=0.0130587, extent=0.0273413
I0419 21:01:11.426041 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.04645, -4.17123), tracking=(1.34495, -4.17123), map_predicted=(18.6418, -6.09793), range=4.303, pts=3
I0419 21:01:11.426069 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49857m maha_sq=859.02 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6418, -6.09793) lm_pos=(15.915, -2.52) delta=(2.72683, -3.57793) -> 0 candidate(s)
I0419 21:01:11.496600 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292714375191.
I0419 21:01:11.498462 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.153546, 2.51031)
I0419 21:01:11.498631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292714655991.
I0419 21:01:11.500419 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09129, -0.578187), points=5, range=1.2296, residual=0.0151157, extent=0.0377927
I0419 21:01:11.500485 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.09129, -0.578187), tracking=(1.38979, -0.578187), map_predicted=(18.6466, -2.50343), range=1.2296, pts=5
I0419 21:01:11.500516 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18062m maha_sq=202.659 (gate chi2=5.99) pose_sigma=(0.150905, 0.150905, rho=0) det_map=(18.6466, -2.50343) lm_pos=(16.815, -1.32) delta=(1.83156, -1.18343) -> 0 candidate(s)
I0419 21:01:11.510510 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.765271, -2.34369)
I0419 21:01:11.526017 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0461477 range=1.19675 variance=0.000524686 t_weight=5717.7 r_weight=0 yaml=(15.915, -2.52) prior=(17.2541, -1.95158, 1.19515deg) obs_actual=(-1.37858, -0.522898) obs_expected=(-1.35067, -0.540365) delta=(-0.0279059, 0.0174674) |delta|=0.0329219m
I0419 21:01:11.526124 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292715254334.
I0419 21:01:11.542124 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597632s, prior_pose=(17.2541, -1.95158), yaw=1.19515 deg
I0419 21:01:11.542214 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1078, max_intensity=251, threshold=230, above_threshold=22, candidates=22
I0419 21:01:11.554718 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(1.07828, 0.522013)
I0419 21:01:11.554821 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220898, 2.32954), points=5, range=2.341, residual=0.0106126, extent=0.0274322
I0419 21:01:11.554852 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.220898, 2.32954), tracking=(-0.519398, -2.32954), map_predicted=(16.7834, -4.29144), range=2.341, pts=5
I0419 21:01:11.554920 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.97285m maha_sq=167.949 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7834, -4.29144) lm_pos=(15.915, -2.52) delta=(0.868412, -1.77144) -> 0 candidate(s)
I0419 21:01:11.555011 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292715541386.
I0419 21:01:11.629199 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:11.630138 1218970 reflector_detector.cc:209] [Detect]   cluster[7]: points=2, centroid=(0.148446, 2.37035)
I0419 21:01:11.630205 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:11.630278 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292715853749.
I0419 21:01:11.631155 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:11.631202 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:11.632831 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:11.632877 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:01:11.633684 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.995017, -2.3728)
I0419 21:01:11.633739 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.983618, -4.17725), points=3, range=4.297, residual=0.016191, extent=0.0339677
I0419 21:01:11.633765 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.983618, -4.17725), tracking=(1.28212, -4.17725), map_predicted=(18.652, -6.09983), range=4.297, pts=3
I0419 21:01:11.633790 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50625m maha_sq=850.569 (gate chi2=5.99) pose_sigma=(0.150748, 0.150748, rho=0) det_map=(18.652, -6.09983) lm_pos=(15.915, -2.52) delta=(2.73698, -3.57983) -> 0 candidate(s)
I0419 21:01:11.641901 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292716413433.
I0419 21:01:11.658394 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:11.658483 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:11.674211 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.170906, 2.3939)
I0419 21:01:11.674326 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:11.737785 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:11.753655 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:11.773859 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11657, 0.52066), points=4, range=1.22925, residual=0.00716818, extent=0.0153479
I0419 21:01:11.773988 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11657, 0.52066), tracking=(-1.41507, -0.52066), map_predicted=(15.8928, -2.44035), range=1.22925, pts=4
I0419 21:01:11.774021 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0827016m maha_sq=0.274968 (gate chi2=5.99) pose_sigma=(0.156076, 0.156076, rho=0) det_map=(15.8928, -2.44035) lm_pos=(15.915, -2.52) delta=(-0.022247, 0.0796531) -> 1 candidate(s)
I0419 21:01:11.774103 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292717014760.
I0419 21:01:11.775930 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.171948, -0.660576)
I0419 21:01:11.778767 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292717617652.
I0419 21:01:11.779613 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.964711, -2.37773)
I0419 21:01:11.779657 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.839794, -2.33905), points=5, range=2.4868, residual=0.0118118, extent=0.0313268
I0419 21:01:11.779683 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.839794, -2.33905), tracking=(-0.541294, -2.33905), map_predicted=(16.8272, -4.25637), range=2.4868, pts=5
I0419 21:01:11.779703 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.96138m maha_sq=165.683 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8272, -4.25637) lm_pos=(15.915, -2.52) delta=(0.912164, -1.73637) -> 0 candidate(s)
I0419 21:01:11.789860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292717892859.
I0419 21:01:11.921679 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440552s, prior_pose=(17.3226, -1.93021), yaw=1.62388 deg
I0419 21:01:11.921823 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1076, max_intensity=252, threshold=230, above_threshold=19, candidates=19
I0419 21:01:11.921918 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.945809, -4.1798)
I0419 21:01:11.921958 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.862628, -4.14723), points=3, range=4.23433, residual=0.0121393, extent=0.0251319
I0419 21:01:11.921986 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.862628, -4.14723), tracking=(-0.564128, -4.14723), map_predicted=(16.8762, -6.09176), range=4.23433, pts=3
I0419 21:01:11.922012 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69883m maha_sq=574.243 (gate chi2=5.99) pose_sigma=(0.151011, 0.151011, rho=0) det_map=(16.8762, -6.09176) lm_pos=(15.915, -2.52) delta=(0.961177, -3.57176) -> 0 candidate(s)
I0419 21:01:11.925732 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:11.926708 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:11.926769 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.983094, -0.576498)
I0419 21:01:11.926786 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:11.927587 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.206779, -0.659136), points=17, range=0.693353, residual=0.0123846, extent=0.0371976
I0419 21:01:11.927644 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.206779, -0.659136), tracking=(-0.505279, 0.659136), map_predicted=(16.8055, -1.29384), range=0.693353, pts=17
I0419 21:01:11.927675 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0278415m maha_sq=0.0328004 (gate chi2=5.99) pose_sigma=(0.151796, 0.151796, rho=0) det_map=(16.8055, -1.29384) lm_pos=(16.815, -1.32) delta=(-0.0095401, 0.026156) -> 1 candidate(s)
I0419 21:01:11.938063 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:11.953711 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:11.953794 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:12.029362 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.31019, 2.32993)
I0419 21:01:12.030529 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.876331, -2.34386), points=4, range=2.5015, residual=0.00913017, extent=0.0223949
I0419 21:01:12.030602 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.876331, -2.34386), tracking=(-0.577831, -2.34386), map_predicted=(16.8216, -4.30594), range=2.5015, pts=4
I0419 21:01:12.030630 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00287m maha_sq=167.64 (gate chi2=5.99) pose_sigma=(0.152527, 0.152527, rho=0) det_map=(16.8216, -4.30594) lm_pos=(15.915, -2.52) delta=(0.906603, -1.78594) -> 0 candidate(s)
I0419 21:01:12.032555 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.3427, -1.94668), yaw=1.6241 deg backend=(17.3495, -1.9584)
I0419 21:01:12.034160 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-1.44462, 4.19558)
I0419 21:01:12.042164 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.913722, -2.38031), points=4, range=2.54625, residual=0.0117936, extent=0.0285874
I0419 21:01:12.042259 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.913722, -2.38031), tracking=(1.21222, -2.38031), map_predicted=(18.6218, -4.29167), range=2.54625, pts=4
I0419 21:01:12.042291 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2351m maha_sq=432.754 (gate chi2=5.99) pose_sigma=(0.15316, 0.15316, rho=0) det_map=(18.6218, -4.29167) lm_pos=(15.915, -2.52) delta=(2.70685, -1.77167) -> 0 candidate(s)
I0419 21:01:12.169391 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.90595, -4.14344)
I0419 21:01:12.170831 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244955, -0.660946), points=18, range=0.707833, residual=0.013852, extent=0.0418489
I0419 21:01:12.170933 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244955, -0.660946), tracking=(-0.543455, 0.660946), map_predicted=(16.7958, -1.29923), range=0.707833, pts=18
I0419 21:01:12.170970 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0282532m maha_sq=0.0326615 (gate chi2=5.99) pose_sigma=(0.154306, 0.154306, rho=0) det_map=(16.7958, -1.29923) lm_pos=(16.815, -1.32) delta=(-0.0191579, 0.0207657) -> 1 candidate(s)
I0419 21:01:12.171878 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757726s, prior_pose=(17.358, -1.94435), yaw=1.64099 deg
I0419 21:01:12.171975 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1078, max_intensity=253, threshold=230, above_threshold=22, candidates=22
I0419 21:01:12.174796 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.89299, -2.37784)
I0419 21:01:12.174937 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:12.175980 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:12.190233 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:12.190410 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:12.190461 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935972, -4.13642), points=3, range=4.244, residual=0.0135408, extent=0.0283784
I0419 21:01:12.190508 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.935972, -4.13642), tracking=(-0.637472, -4.13642), map_predicted=(16.8501, -6.0968), range=4.244, pts=3
I0419 21:01:12.190559 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69701m maha_sq=543.58 (gate chi2=5.99) pose_sigma=(0.155195, 0.155195, rho=0) det_map=(16.8501, -6.0968) lm_pos=(15.915, -2.52) delta=(0.935064, -3.5768) -> 0 candidate(s)
I0419 21:01:12.206305 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:12.206429 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:01:12.320641 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.262481, -0.662896)
I0419 21:01:12.321645 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:12.321727 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:12.322659 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.256406, -0.662167), points=18, range=0.712389, residual=0.0130113, extent=0.0400242
I0419 21:01:12.322747 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.256406, -0.662167), tracking=(-0.554906, 0.662167), map_predicted=(16.8076, -1.29926), range=0.712389, pts=18
I0419 21:01:12.322777 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0220229m maha_sq=0.019453 (gate chi2=5.99) pose_sigma=(0.155966, 0.155966, rho=0) det_map=(16.8076, -1.29926) lm_pos=(16.815, -1.32) delta=(-0.00739866, 0.0207429) -> 1 candidate(s)
I0419 21:01:12.325558 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.341362, 2.33051)
I0419 21:01:12.334686 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.913229, -2.33832), points=4, range=2.51275, residual=0.0111652, extent=0.0271392
I0419 21:01:12.334810 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.913229, -2.33832), tracking=(-0.614729, -2.33832), map_predicted=(16.8312, -4.29977), range=2.51275, pts=4
I0419 21:01:12.334856 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00177m maha_sq=159.827 (gate chi2=5.99) pose_sigma=(0.156089, 0.156089, rho=0) det_map=(16.8312, -4.29977) lm_pos=(15.915, -2.52) delta=(0.916242, -1.77977) -> 0 candidate(s)
I0419 21:01:12.346746 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-1.43026, 4.19345)
I0419 21:01:12.452059 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.888075, -4.17798), points=3, range=4.27133, residual=0.0138728, extent=0.0338565
I0419 21:01:12.452163 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.888075, -4.17798), tracking=(1.18658, -4.17798), map_predicted=(18.6789, -6.08932), range=4.27133, pts=3
I0419 21:01:12.452191 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51431m maha_sq=797.861 (gate chi2=5.99) pose_sigma=(0.156424, 0.156424, rho=0) det_map=(18.6789, -6.08932) lm_pos=(15.915, -2.52) delta=(2.76388, -3.56932) -> 0 candidate(s)
I0419 21:01:12.454913 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557421s, prior_pose=(17.3768, -1.94559), yaw=1.59008 deg
I0419 21:01:12.455013 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1079, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:01:12.455075 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.907083, -2.3427)
I0419 21:01:12.457641 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.931492, -0.578269), points=7, range=1.1, residual=0.0115924, extent=0.0314831
I0419 21:01:12.457718 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.931492, -0.578269), tracking=(1.22999, -0.578269), map_predicted=(18.6218, -2.48968), range=1.1, pts=7
I0419 21:01:12.457743 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.15235m maha_sq=184.624 (gate chi2=5.99) pose_sigma=(0.156533, 0.156533, rho=0) det_map=(18.6218, -2.48968) lm_pos=(16.815, -1.32) delta=(1.80678, -1.16968) -> 0 candidate(s)
I0419 21:01:12.467146 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:12.482184 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:12.482326 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.88828, -4.17896)
I0419 21:01:12.482372 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:12.595368 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:12.597281 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.935175, -0.577734)
I0419 21:01:12.597357 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:12.597381 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.90416, -2.34523), points=5, range=2.5126, residual=0.0113148, extent=0.0300604
I0419 21:01:12.597404 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:12.597421 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.90416, -2.34523), tracking=(-0.60566, -2.34523), map_predicted=(16.8339, -4.30399), range=2.5126, pts=5
I0419 21:01:12.597443 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00672m maha_sq=159.331 (gate chi2=5.99) pose_sigma=(0.156726, 0.156726, rho=0) det_map=(16.8339, -4.30399) lm_pos=(15.915, -2.52) delta=(0.918857, -1.78399) -> 0 candidate(s)
I0419 21:01:12.601642 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.870972, -4.18737), points=3, range=4.27567, residual=0.0121552, extent=0.0250483
I0419 21:01:12.601713 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.870972, -4.18737), tracking=(1.16947, -4.18737), map_predicted=(18.664, -6.09557), range=4.27567, pts=3
I0419 21:01:12.601738 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51018m maha_sq=794.767 (gate chi2=5.99) pose_sigma=(0.156732, 0.156732, rho=0) det_map=(18.664, -6.09557) lm_pos=(15.915, -2.52) delta=(2.749, -3.57557) -> 0 candidate(s)
I0419 21:01:12.614801 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.350545, 2.32243)
I0419 21:01:12.727119 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:12.728667 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.941333, -0.588205), points=4, range=1.1055, residual=0.010737, extent=0.023757
I0419 21:01:12.728765 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.941333, -0.588205), tracking=(1.23983, -0.588205), map_predicted=(18.6353, -2.49616), range=1.1055, pts=4
I0419 21:01:12.728796 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.16725m maha_sq=186.303 (gate chi2=5.99) pose_sigma=(0.156973, 0.156973, rho=0) det_map=(18.6353, -2.49616) lm_pos=(16.815, -1.32) delta=(1.82033, -1.17616) -> 0 candidate(s)
I0419 21:01:12.730690 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-1.38808, 4.20954)
I0419 21:01:12.733991 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.047681s, prior_pose=(17.3785, -1.94512), yaw=1.97979 deg
I0419 21:01:12.734062 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1073, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:01:12.735881 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.37381, 4.20738), points=3, range=4.42333, residual=0.01318, extent=0.0272576
I0419 21:01:12.735968 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.37381, 4.20738), tracking=(1.07531, -4.20738), map_predicted=(18.5985, -6.11284), range=4.42333, pts=3
I0419 21:01:12.736068 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.48438m maha_sq=781.566 (gate chi2=5.99) pose_sigma=(0.156978, 0.156978, rho=0) det_map=(18.5985, -6.11284) lm_pos=(15.915, -2.52) delta=(2.68349, -3.59284) -> 0 candidate(s)
I0419 21:01:12.746476 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.935693, -2.33551)
I0419 21:01:12.746721 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:12.864629 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:12.864717 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:12.865886 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:12.865962 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:12.866902 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:12.866981 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:01:12.869087 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.817226, -4.2043)
I0419 21:01:12.869210 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.933581, -0.598582), points=4, range=1.10525, residual=0.00930229, extent=0.0197295
I0419 21:01:12.869236 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.933581, -0.598582), tracking=(1.23208, -0.598582), map_predicted=(18.6322, -2.49116), range=1.10525, pts=4
I0419 21:01:12.869262 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.16187m maha_sq=185.169 (gate chi2=5.99) pose_sigma=(0.157156, 0.157156, rho=0) det_map=(18.6322, -2.49116) lm_pos=(16.815, -1.32) delta=(1.81716, -1.17116) -> 0 candidate(s)
I0419 21:01:12.871170 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:12.871246 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:12.874774 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.922814, -0.606261)
I0419 21:01:12.875835 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.397381, 2.31259), points=5, range=2.3488, residual=0.0118255, extent=0.0291473
I0419 21:01:12.875902 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.397381, 2.31259), tracking=(-0.695881, -2.31259), map_predicted=(16.7866, -4.28535), range=2.3488, pts=5
I0419 21:01:12.875928 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.96879m maha_sq=152.598 (gate chi2=5.99) pose_sigma=(0.157157, 0.157157, rho=0) det_map=(16.7866, -4.28535) lm_pos=(15.915, -2.52) delta=(0.871594, -1.76535) -> 0 candidate(s)
I0419 21:01:12.956403 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.3768, -1.94159), yaw=2.8103 deg backend=(17.3837, -1.95331)
I0419 21:01:12.959679 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.916026, -0.615885)
I0419 21:01:12.963258 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.985674, -2.32212), points=4, range=2.5245, residual=0.0102225, extent=0.0250827
I0419 21:01:12.963407 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.985674, -2.32212), tracking=(-0.687174, -2.32212), map_predicted=(16.8163, -4.2975), range=2.5245, pts=4
I0419 21:01:12.963433 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99296m maha_sq=156.18 (gate chi2=5.99) pose_sigma=(0.157299, 0.157299, rho=0) det_map=(16.8163, -4.2975) lm_pos=(15.915, -2.52) delta=(0.901343, -1.7775) -> 0 candidate(s)
I0419 21:01:12.982193 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.800864, -2.41674)
I0419 21:01:13.011246 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0763593s, prior_pose=(17.3769, -1.94158), yaw=3.39034 deg
I0419 21:01:13.011396 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1064, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:01:13.011556 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.701573, -4.23021), points=3, range=4.283, residual=0.0150965, extent=0.0313326
I0419 21:01:13.011667 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.701573, -4.23021), tracking=(1.00007, -4.23021), map_predicted=(18.6254, -6.10525), range=4.283, pts=3
I0419 21:01:13.011761 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49448m maha_sq=781.258 (gate chi2=5.99) pose_sigma=(0.157305, 0.157305, rho=0) det_map=(18.6254, -6.10525) lm_pos=(15.915, -2.52) delta=(2.71042, -3.58525) -> 0 candidate(s)
I0419 21:01:13.114490 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.669435, -4.22664)
I0419 21:01:13.115381 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:13.117129 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:13.117189 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:13.118055 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.16166, 4.26098)
I0419 21:01:13.118109 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475596, 2.28655), points=5, range=2.3344, residual=0.0112261, extent=0.0293165
I0419 21:01:13.118139 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.475596, 2.28655), tracking=(-0.774096, -2.28655), map_predicted=(16.7746, -4.28033), range=2.3344, pts=5
I0419 21:01:13.118165 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.959m maha_sq=150.63 (gate chi2=5.99) pose_sigma=(0.157449, 0.157449, rho=0) det_map=(16.7746, -4.28033) lm_pos=(15.915, -2.52) delta=(0.859613, -1.76033) -> 0 candidate(s)
I0419 21:01:13.120621 1218970 reflector_detector.cc:209] [Detect]   cluster[9]: points=1, centroid=(-0.174234, 0.297771)
I0419 21:01:13.120692 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:13.126595 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:13.126667 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:13.142683 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.28802, 2.48305), points=5, range=2.7946, residual=0.0151246, extent=0.0398369
I0419 21:01:13.142807 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.28802, 2.48305), tracking=(0.989521, -2.48305), map_predicted=(18.5717, -4.33483), range=2.7946, pts=5
I0419 21:01:13.142856 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.2174m maha_sq=403.694 (gate chi2=5.99) pose_sigma=(0.157459, 0.157459, rho=0) det_map=(18.5717, -4.33483) lm_pos=(15.915, -2.52) delta=(2.6567, -1.81483) -> 0 candidate(s)
I0419 21:01:13.238067 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.22965, -4.0857)
I0419 21:01:13.242084 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(-1.24014, 2.48736)
I0419 21:01:13.243095 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.511373, -4.26746), points=3, range=4.298, residual=0.0104336, extent=0.0254969
I0419 21:01:13.243265 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.511373, -4.26746), tracking=(0.809873, -4.26746), map_predicted=(18.6302, -6.10547), range=4.298, pts=3
I0419 21:01:13.243307 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49756m maha_sq=780.52 (gate chi2=5.99) pose_sigma=(0.157862, 0.157862, rho=0) det_map=(18.6302, -6.10547) lm_pos=(15.915, -2.52) delta=(2.71523, -3.58547) -> 0 candidate(s)
I0419 21:01:13.318248 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.196041, -0.710639)
I0419 21:01:13.320948 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.598036, 2.24495), points=5, range=2.3246, residual=0.0108172, extent=0.0279603
I0419 21:01:13.321098 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.598036, 2.24495), tracking=(-0.896536, -2.24495), map_predicted=(16.7721, -4.2847), range=2.3246, pts=5
I0419 21:01:13.321141 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.96184m maha_sq=150.149 (gate chi2=5.99) pose_sigma=(0.157975, 0.157975, rho=0) det_map=(16.7721, -4.2847) lm_pos=(15.915, -2.52) delta=(0.857115, -1.7647) -> 0 candidate(s)
I0419 21:01:13.322100 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592016s, prior_pose=(17.3839, -1.94604), yaw=7.11079 deg
I0419 21:01:13.322193 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1056, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:13.322260 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.61734, -2.49139)
I0419 21:01:13.398476 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:13.399425 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:13.400334 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=8
I0419 21:01:13.400388 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.286999, -0.535999)
I0419 21:01:13.400405 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=8, r_post=0.015, gain=250 -> after=4
I0419 21:01:13.400429 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.58586, -2.50438), points=4, range=2.56975, residual=0.0102713, extent=0.0245398
I0419 21:01:13.400452 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.58586, -2.50438), tracking=(0.88436, -2.50438), map_predicted=(18.5956, -4.3081), range=2.56975, pts=4
I0419 21:01:13.400473 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.22225m maha_sq=403.462 (gate chi2=5.99) pose_sigma=(0.158237, 0.158237, rho=0) det_map=(18.5956, -4.3081) lm_pos=(15.915, -2.52) delta=(2.6806, -1.7881) -> 0 candidate(s)
I0419 21:01:13.402222 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:13.402290 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:01:13.406554 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-0.818073, 4.30903)
I0419 21:01:13.480558 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:13.480680 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:13.481649 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.989835, 3.99469), points=3, range=4.11567, residual=0.0115302, extent=0.0240235
I0419 21:01:13.481730 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.989835, 3.99469), tracking=(-1.28834, -3.99469), map_predicted=(16.7359, -6.08756), range=4.11567, pts=3
I0419 21:01:13.481760 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.66077m maha_sq=513.912 (gate chi2=5.99) pose_sigma=(0.158416, 0.158416, rho=0) det_map=(16.7359, -6.08756) lm_pos=(15.915, -2.52) delta=(0.820859, -3.56756) -> 0 candidate(s)
I0419 21:01:13.484520 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.9193, -1.0712)
I0419 21:01:13.484645 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:13.567571 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.469862, -2.535), points=6, range=2.57583, residual=0.0159847, extent=0.0444936
I0419 21:01:13.567669 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.469862, -2.535), tracking=(0.768362, -2.535), map_predicted=(18.6107, -4.29478), range=2.57583, pts=6
I0419 21:01:13.567699 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.22752m maha_sq=398.17 (gate chi2=5.99) pose_sigma=(0.159108, 0.159108, rho=0) det_map=(18.6107, -4.29478) lm_pos=(15.915, -2.52) delta=(2.69574, -1.77478) -> 0 candidate(s)
I0419 21:01:13.568554 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.151896, -0.746237)
I0419 21:01:13.581878 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.135613, -0.755673)
I0419 21:01:13.581982 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.797273, 2.16111), points=5, range=2.303, residual=0.0105485, extent=0.0277125
I0419 21:01:13.582013 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.797273, 2.16111), tracking=(-1.09577, -2.16111), map_predicted=(16.7419, -4.273), range=2.303, pts=5
I0419 21:01:13.582037 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.93824m maha_sq=144.575 (gate chi2=5.99) pose_sigma=(0.159111, 0.159111, rho=0) det_map=(16.7419, -4.273) lm_pos=(15.915, -2.52) delta=(0.826906, -1.753) -> 0 candidate(s)
I0419 21:01:13.654356 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0435575s, prior_pose=(17.3962, -1.94292), yaw=12.1164 deg
I0419 21:01:13.654460 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1041, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 21:01:13.731307 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.117009, -0.766998)
I0419 21:01:13.731412 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.877359, 2.58465), points=3, range=2.72967, residual=0.00761843, extent=0.015911
I0419 21:01:13.731446 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:13.731458 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.877359, 2.58465), tracking=(0.578859, -2.58465), map_predicted=(18.5431, -4.32823), range=2.72967, pts=3
I0419 21:01:13.731485 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.19007m maha_sq=389.287 (gate chi2=5.99) pose_sigma=(0.1596, 0.1596, rho=0) det_map=(18.5431, -4.32823) lm_pos=(15.915, -2.52) delta=(2.62808, -1.80823) -> 0 candidate(s)
I0419 21:01:13.732345 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:01:13.732404 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 21:01:13.807741 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:13.808409 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.925978, 2.09616)
I0419 21:01:13.808501 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:13.809276 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:13.809326 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:13.883379 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.49705, 3.80043), points=4, range=4.081, residual=0.0166487, extent=0.0394429
I0419 21:01:13.883507 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.49705, 3.80043), tracking=(-1.79555, -3.80043), map_predicted=(16.6942, -6.08604), range=4.081, pts=4
I0419 21:01:13.883541 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.65017m maha_sq=498.237 (gate chi2=5.99) pose_sigma=(0.160073, 0.160073, rho=0) det_map=(16.6942, -6.08604) lm_pos=(15.915, -2.52) delta=(0.77917, -3.56604) -> 0 candidate(s)
I0419 21:01:13.884747 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(0.70742, -0.885319)
I0419 21:01:13.959156 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.3979, -1.94277), yaw=16.9605 deg backend=(17.4085, -1.9562)
I0419 21:01:13.961761 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.682088, -0.916163)
I0419 21:01:14.037870 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06127, 2.01002), points=4, range=2.2745, residual=0.00884564, extent=0.0201
I0419 21:01:14.037963 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06127, 2.01002), tracking=(-1.35977, -2.01002), map_predicted=(16.7352, -4.27708), range=2.2745, pts=4
I0419 21:01:14.037995 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.93908m maha_sq=142.785 (gate chi2=5.99) pose_sigma=(0.160315, 0.160315, rho=0) det_map=(16.7352, -4.27708) lm_pos=(15.915, -2.52) delta=(0.820194, -1.75708) -> 0 candidate(s)
I0419 21:01:14.112550 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.78576, 3.64785)
I0419 21:01:14.113492 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718451s, prior_pose=(17.4, -1.93887), yaw=19.691 deg
I0419 21:01:14.113554 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=249, threshold=230, above_threshold=13, candidates=13
I0419 21:01:14.187808 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.505204, 2.64009), points=4, range=2.689, residual=0.00989135, extent=0.0235683
I0419 21:01:14.187935 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.505204, 2.64009), tracking=(0.206704, -2.64009), map_predicted=(18.5392, -4.32998), range=2.689, pts=4
I0419 21:01:14.187970 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.18789m maha_sq=382.933 (gate chi2=5.99) pose_sigma=(0.160734, 0.160734, rho=0) det_map=(18.5392, -4.32998) lm_pos=(15.915, -2.52) delta=(2.62424, -1.80998) -> 0 candidate(s)
I0419 21:01:14.189096 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:14.189975 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-0.470085, 2.64351)
I0419 21:01:14.190037 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:14.263863 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:14.263972 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:14.264930 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:01:14.264990 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:14.339824 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.176956, -2.64146)
I0419 21:01:14.339938 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:14.340000 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.899344, -4.29245), points=4, range=4.3835, residual=0.0163331, extent=0.040087
I0419 21:01:14.340020 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:14.340036 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.899344, -4.29245), tracking=(-0.600844, -4.29245), map_predicted=(18.568, -6.11617), range=4.3835, pts=4
I0419 21:01:14.340058 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.46886m maha_sq=734.977 (gate chi2=5.99) pose_sigma=(0.161244, 0.161244, rho=0) det_map=(18.568, -6.11617) lm_pos=(15.915, -2.52) delta=(2.65297, -3.59617) -> 0 candidate(s)
I0419 21:01:14.488389 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.0672317, -0.839397)
I0419 21:01:14.488524 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.26649, 2.64661), points=3, range=2.662, residual=0.00818493, extent=0.0166139
I0419 21:01:14.488556 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.26649, 2.64661), tracking=(-0.0320099, -2.64661), map_predicted=(18.5391, -4.33137), range=2.662, pts=3
I0419 21:01:14.488583 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.18858m maha_sq=378.147 (gate chi2=5.99) pose_sigma=(0.161918, 0.161918, rho=0) det_map=(18.5391, -4.33137) lm_pos=(15.915, -2.52) delta=(2.62412, -1.81137) -> 0 candidate(s)
I0419 21:01:14.563701 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(2.25757, 3.33649)
I0419 21:01:14.639688 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.31344, 3.29372), points=3, range=4.02333, residual=0.0115974, extent=0.0237385
I0419 21:01:14.639793 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(2.31344, 3.29372), tracking=(-2.61194, -3.29372), map_predicted=(16.6946, -6.08412), range=4.02333, pts=3
I0419 21:01:14.639828 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.64839m maha_sq=486.809 (gate chi2=5.99) pose_sigma=(0.162415, 0.162415, rho=0) det_map=(16.6946, -6.08412) lm_pos=(15.915, -2.52) delta=(0.779593, -3.56412) -> 0 candidate(s)
I0419 21:01:14.639855 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:14.640617 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601895s, prior_pose=(17.399, -1.9399), yaw=28.7677 deg
I0419 21:01:14.640667 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1156, max_intensity=250, threshold=230, above_threshold=15, candidates=15
I0419 21:01:14.641574 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-0.111402, 2.63964)
I0419 21:01:14.714946 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:14.715939 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:14.716010 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=3
I0419 21:01:14.790251 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.789846, -0.216573)
I0419 21:01:14.790378 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47385, 1.65615), points=4, range=2.218, residual=0.00851578, extent=0.0193818
I0419 21:01:14.790413 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.47385, 1.65615), tracking=(-1.77235, -1.65615), map_predicted=(16.7505, -4.27651), range=2.218, pts=4
I0419 21:01:14.790442 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.94509m maha_sq=138.969 (gate chi2=5.99) pose_sigma=(0.163108, 0.163108, rho=0) det_map=(16.7505, -4.27651) lm_pos=(15.915, -2.52) delta=(0.835511, -1.75651) -> 0 candidate(s)
I0419 21:01:14.790501 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:14.866559 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.409199, -1.13445)
I0419 21:01:14.866660 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:14.866689 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:14.938931 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.375328, -1.16082), points=5, range=1.2176, residual=0.00919901, extent=0.0245119
I0419 21:01:14.939028 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.375328, -1.16082), tracking=(0.673828, -1.16082), map_predicted=(18.6155, -2.52761), range=1.2176, pts=5
I0419 21:01:14.939059 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=2.16799m maha_sq=171.538 (gate chi2=5.99) pose_sigma=(0.16387, 0.16387, rho=0) det_map=(18.6155, -2.52761) lm_pos=(16.815, -1.32) delta=(1.80051, -1.20761) -> 0 candidate(s)
I0419 21:01:14.939719 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(1.58643, 1.53198)
I0419 21:01:14.939769 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:15.016690 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.847511, -2.58289)
I0419 21:01:15.086958 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.280071, -1.21309), points=4, range=1.24275, residual=0.00816292, extent=0.0194422
I0419 21:01:15.087097 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.280071, -1.21309), tracking=(0.578571, -1.21309), map_predicted=(18.6183, -2.52132), range=1.24275, pts=4
I0419 21:01:15.087134 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=2.16677m maha_sq=170.731 (gate chi2=5.99) pose_sigma=(0.164221, 0.164221, rho=0) det_map=(18.6183, -2.52132) lm_pos=(16.815, -1.32) delta=(1.80326, -1.20132) -> 0 candidate(s)
I0419 21:01:15.087158 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:15.088949 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-0.319143, 0.906806)
I0419 21:01:15.160511 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0724654s, prior_pose=(17.4099, -1.93864), yaw=40.758 deg
I0419 21:01:15.160640 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1324, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:01:15.234709 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.164935, -1.25258)
I0419 21:01:15.234828 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:15.235847 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:15.235937 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:01:15.235971 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.349398, -0.864839), points=11, range=0.935545, residual=0.0115136, extent=0.0351156
I0419 21:01:15.236001 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.349398, -0.864839), tracking=(0.0508975, 0.864839), map_predicted=(16.8459, -1.27509), range=0.935545, pts=11
I0419 21:01:15.236028 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0545309m maha_sq=0.10697 (gate chi2=5.99) pose_sigma=(0.164982, 0.164982, rho=0) det_map=(16.8459, -1.27509) lm_pos=(16.815, -1.32) delta=(0.0309335, 0.0449081) -> 1 candidate(s)
I0419 21:01:15.312005 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.163493, -0.278848)
I0419 21:01:15.312153 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:15.312181 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:15.456360 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.4066, -1.93937), yaw=51.0161 deg backend=(17.4147, -1.95494)
I0419 21:01:15.456918 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.597905, -2.31194)
I0419 21:01:15.456986 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.473001, -0.87114), points=9, range=0.990889, residual=0.00819194, extent=0.0236309
I0419 21:01:15.457024 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.473001, -0.87114), tracking=(0.174501, 0.87114), map_predicted=(16.8392, -1.25569), range=0.990889, pts=9
I0419 21:01:15.457053 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0687266m maha_sq=0.169349 (gate chi2=5.99) pose_sigma=(0.165452, 0.165452, rho=0) det_map=(16.8392, -1.25569) lm_pos=(16.815, -1.32) delta=(0.0242363, 0.0643114) -> 1 candidate(s)
I0419 21:01:15.457098 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:15.457365 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:15.530174 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.9966, 0.793184)
I0419 21:01:15.530305 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:15.602800 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0999899s, prior_pose=(17.4119, -1.94006), yaw=55.966 deg
I0419 21:01:15.602911 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1267, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:01:15.602972 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.70133, 3.14428), points=3, range=4.14533, residual=0.0105738, extent=0.0257367
I0419 21:01:15.603001 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.70133, 3.14428), tracking=(-2.99983, -3.14428), map_predicted=(18.3387, -6.18584), range=4.14533, pts=3
I0419 21:01:15.603024 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.3946m maha_sq=674.805 (gate chi2=5.99) pose_sigma=(0.166292, 0.166292, rho=0) det_map=(18.3387, -6.18584) lm_pos=(15.915, -2.52) delta=(2.42366, -3.66584) -> 0 candidate(s)
I0419 21:01:15.635504 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:15.674485 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.268278, -2.41716)
I0419 21:01:15.675370 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:15.743449 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:15.743544 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:15.743584 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:15.818190 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.0543316, 0.838233)
I0419 21:01:15.819149 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:15.819207 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:15.820143 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0710402, 0.832968), points=5, range=0.8348, residual=0.00592459, extent=0.0122506
I0419 21:01:15.820241 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0710402, 0.832968), tracking=(0.36954, 0.832968), map_predicted=(16.8284, -1.23865), range=0.8348, pts=5
I0419 21:01:15.820271 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0824537m maha_sq=0.239842 (gate chi2=5.99) pose_sigma=(0.166939, 0.166939, rho=0) det_map=(16.8284, -1.23865) lm_pos=(16.815, -1.32) delta=(0.013423, 0.0813538) -> 1 candidate(s)
I0419 21:01:15.964924 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:15.965643 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.12422, 0.142328)
I0419 21:01:16.115046 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.548498, -1.3134), points=4, range=1.42125, residual=0.00762685, extent=0.0187079
I0419 21:01:16.115173 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.548498, -1.3134), tracking=(-0.249998, -1.3134), map_predicted=(18.6188, -2.52622), range=1.42125, pts=4
I0419 21:01:16.115204 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=2.16995m maha_sq=162.6 (gate chi2=5.99) pose_sigma=(0.168597, 0.168597, rho=0) det_map=(18.6188, -2.52622) lm_pos=(16.815, -1.32) delta=(1.80381, -1.20622) -> 0 candidate(s)
I0419 21:01:16.115885 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0711443s, prior_pose=(17.4167, -1.94095), yaw=74.816 deg
I0419 21:01:16.115942 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1148, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:01:16.115988 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.7519, 1.67709)
I0419 21:01:16.190671 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:16.191951 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:16.192039 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:16.268901 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:16.270226 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.10787, -0.352724)
I0419 21:01:16.344486 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:16.344607 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:16.420799 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.08068, -0.528433), points=5, range=2.1466, residual=0.00940073, extent=0.0249697
I0419 21:01:16.420926 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.08068, -0.528433), tracking=(-2.37918, 0.528433), map_predicted=(16.7004, -4.27432), range=2.1466, pts=5
I0419 21:01:16.420961 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.92211m maha_sq=125.152 (gate chi2=5.99) pose_sigma=(0.169975, 0.169975, rho=0) det_map=(16.7004, -4.27432) lm_pos=(15.915, -2.52) delta=(0.785407, -1.75432) -> 0 candidate(s)
I0419 21:01:16.422868 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(2.05334, 1.22566)
I0419 21:01:16.422973 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:16.502424 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=90.8049 deg, rms_residual=0.00254176m, sigma_yaw=0.00337757 rad, N=2
I0419 21:01:16.502583 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4445, -1.98673, 90.8049deg) inliers=2 rms=0.00254176m
I0419 21:01:16.502630 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292759499113.
I0419 21:01:16.503782 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:16.578712 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292760057186.
I0419 21:01:16.579654 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(2.15316, 1.01168)
I0419 21:01:16.580790 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292760380871.
I0419 21:01:16.656646 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720419s, prior_pose=(17.435, -1.95445), yaw=93.7016 deg
I0419 21:01:16.656761 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1068, max_intensity=248, threshold=230, above_threshold=14, candidates=14
I0419 21:01:16.658097 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.43493, 0.55011), points=8, range=0.6995, residual=0.00903623, extent=0.025147
I0419 21:01:16.658198 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.43493, 0.55011), tracking=(0.73343, 0.55011), map_predicted=(16.8387, -1.25806), range=0.6995, pts=8
I0419 21:01:16.658226 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0663278m maha_sq=0.18743 (gate chi2=5.99) pose_sigma=(0.151503, 0.151503, rho=0) det_map=(16.8387, -1.25806) lm_pos=(16.815, -1.32) delta=(0.0237317, 0.061937) -> 1 candidate(s)
I0419 21:01:16.658295 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.469207 range=1.70833 variance=0.000688142 t_weight=4359.56 r_weight=0 yaml=(15.915, -2.52) prior=(17.435, -1.95445, 93.7016deg) obs_actual=(-0.36489, 1.58204) obs_expected=(-0.466238, 1.55338) delta=(0.101349, 0.0286548) |delta|=0.105322m
I0419 21:01:16.658361 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292760936837.
I0419 21:01:16.739485 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:16.739581 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:16.739615 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:16.739710 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292761818414.
I0419 21:01:16.740749 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.90593, -1.04203)
I0419 21:01:16.817423 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:16.817570 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292762421838.
I0419 21:01:16.819406 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292762694418.
I0419 21:01:16.893589 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:16.893693 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:16.893793 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292763295654.
I0419 21:01:16.894384 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.80292, -1.23525), points=5, range=2.1854, residual=0.00957041, extent=0.0255136
I0419 21:01:16.894447 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.80292, -1.23525), tracking=(-2.10142, 1.23525), map_predicted=(16.6734, -4.29016), range=2.1854, pts=5
I0419 21:01:16.894513 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.92578m maha_sq=160.298 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.6734, -4.29016) lm_pos=(15.915, -2.52) delta=(0.758394, -1.77016) -> 0 candidate(s)
I0419 21:01:16.895638 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.40198, 1.61231)
I0419 21:01:16.895768 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292763579538.
I0419 21:01:16.967743 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4401, -1.97974), yaw=105.376 deg backend=(17.4247, -1.95748)
I0419 21:01:16.968391 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:16.968480 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:16.968534 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:16.968554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292763906403.
I0419 21:01:16.970274 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292764172513.
I0419 21:01:17.043208 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292764782137.
I0419 21:01:17.045174 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292765086595.
I0419 21:01:17.116983 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(4.0021, -0.544666)
I0419 21:01:17.117103 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:17.117141 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:17.117919 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.560045, 0.320116), points=12, range=0.64325, residual=0.00931422, extent=0.0238953
I0419 21:01:17.117970 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.560045, 0.320116), tracking=(0.858545, 0.320116), map_predicted=(16.8391, -1.28573), range=0.64325, pts=12
I0419 21:01:17.118000 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0419122m maha_sq=0.0760843 (gate chi2=5.99) pose_sigma=(0.15022, 0.15022, rho=0) det_map=(16.8391, -1.28573) lm_pos=(16.815, -1.32) delta=(0.0241255, 0.0342723) -> 1 candidate(s)
I0419 21:01:17.118064 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.219364 range=1.625 variance=0.000646363 t_weight=4641.35 r_weight=0 yaml=(15.915, -2.52) prior=(17.4409, -1.97668, 110.606deg) obs_actual=(0.0998238, 1.61818) obs_expected=(0.0284783, 1.61951) delta=(0.0713454, -0.00133215) |delta|=0.0713579m
I0419 21:01:17.118111 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292765661888.
I0419 21:01:17.118928 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0996848s, prior_pose=(17.4409, -1.97668), yaw=110.606 deg
I0419 21:01:17.118984 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1029, max_intensity=253, threshold=230, above_threshold=15, candidates=15
I0419 21:01:17.193814 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292766258292.
I0419 21:01:17.195572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292766566840.
I0419 21:01:17.270973 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:01:17.271063 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.93512, -0.914528)
I0419 21:01:17.271082 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:01:17.271112 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:17.272189 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292767094736.
I0419 21:01:17.350865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292768012907.
I0419 21:01:17.351863 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:17.351923 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:17.424693 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.600201, 0.157131), points=14, range=0.623, residual=0.0105505, extent=0.0296453
I0419 21:01:17.424796 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.600201, 0.157131), tracking=(0.898701, 0.157131), map_predicted=(16.8454, -1.3077), range=0.623, pts=14
I0419 21:01:17.424827 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0327742m maha_sq=0.0458566 (gate chi2=5.99) pose_sigma=(0.151255, 0.151255, rho=0) det_map=(16.8454, -1.3077) lm_pos=(16.815, -1.32) delta=(0.0303772, 0.0123034) -> 1 candidate(s)
I0419 21:01:17.424918 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292768572120.
I0419 21:01:17.425871 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.32279, -0.347113)
I0419 21:01:17.426921 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292768896817.
I0419 21:01:17.503329 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=125.829 deg, rms_residual=0.00038365m, sigma_yaw=0.000511272 rad, N=2
I0419 21:01:17.503476 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4411, -1.98737, 125.829deg) inliers=2 rms=0.00038365m
I0419 21:01:17.503522 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292769453524.
I0419 21:01:17.576164 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292770053483.
I0419 21:01:17.577157 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:17.578200 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292770338355.
I0419 21:01:17.650210 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.26665, -0.667824)
I0419 21:01:17.651312 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0886545s, prior_pose=(17.4391, -1.98725), yaw=128.537 deg
I0419 21:01:17.651391 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1250, max_intensity=246, threshold=230, above_threshold=21, candidates=21
I0419 21:01:17.651553 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.158725 range=1.5345 variance=0.000627295 t_weight=4782.44 r_weight=0 yaml=(15.915, -2.52) prior=(17.4391, -1.98725, 128.537deg) obs_actual=(0.592234, 1.51104) obs_expected=(0.532865, 1.5241) delta=(0.0593683, -0.0130605) |delta|=0.0607879m
I0419 21:01:17.651662 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292770940028.
I0419 21:01:17.725102 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.346071, 1.48906), points=5, range=1.5248, residual=0.0114492, extent=0.0274512
I0419 21:01:17.725208 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.346071, 1.48906), tracking=(0.644571, 1.48906), map_predicted=(15.8931, -2.4727), range=1.5248, pts=5
I0419 21:01:17.725240 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0521399m maha_sq=0.11667 (gate chi2=5.99) pose_sigma=(0.150622, 0.150622, rho=0) det_map=(15.8931, -2.4727) lm_pos=(15.915, -2.52) delta=(-0.0219417, 0.0472983) -> 1 candidate(s)
I0419 21:01:17.725337 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292771539812.
I0419 21:01:17.727293 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:17.727382 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:17.727421 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:17.727466 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:17.727545 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292771816534.
I0419 21:01:17.787461 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292772095026.
I0419 21:01:17.789491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292772376422.
I0419 21:01:17.853936 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.38991, -2.29371)
I0419 21:01:17.854986 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:17.855060 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:17.855162 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292772975188.
I0419 21:01:17.928738 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:17.928859 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:17.928915 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:17.928937 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292773573900.
I0419 21:01:17.929057 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:17.930755 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.593931, -0.124398), points=18, range=0.609111, residual=0.0116559, extent=0.0357072
I0419 21:01:17.930831 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.593931, -0.124398), tracking=(0.892431, -0.124398), map_predicted=(16.8556, -1.29003), range=0.609111, pts=18
I0419 21:01:17.930859 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0504398m maha_sq=0.11028 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8556, -1.29003) lm_pos=(16.815, -1.32) delta=(0.0405725, 0.0299675) -> 1 candidate(s)
I0419 21:01:17.930931 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292773865062.
I0419 21:01:18.003237 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.641034, -2.24787)
I0419 21:01:18.004316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292774452486.
I0419 21:01:18.076386 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292775055017.
I0419 21:01:18.077394 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.525256, -2.29028)
I0419 21:01:18.078598 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.0928, 2.30839), points=4, range=2.55475, residual=0.00925224, extent=0.0226524
I0419 21:01:18.078698 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.0928, 2.30839), tracking=(-0.794302, 2.30839), map_predicted=(16.6777, -4.29139), range=2.55475, pts=4
I0419 21:01:18.078735 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.92861m maha_sq=160.506 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.6777, -4.29139) lm_pos=(15.915, -2.52) delta=(0.762694, -1.77139) -> 0 candidate(s)
I0419 21:01:18.078802 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.292029 range=1.4675 variance=0.000641079 t_weight=4679.61 r_weight=0 yaml=(15.915, -2.52) prior=(17.4371, -1.9713, 142.887deg) obs_actual=(0.955759, 1.31823) obs_expected=(0.882745, 1.356) delta=(0.0730139, -0.0377735) |delta|=0.0822063m
I0419 21:01:18.078851 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292775339470.
I0419 21:01:18.137516 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056261s, prior_pose=(17.4374, -1.96942), yaw=145.358 deg
I0419 21:01:18.137652 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1328, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:01:18.137892 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292775617627.
I0419 21:01:18.138486 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:18.139739 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.00682, 2.33411)
I0419 21:01:18.139886 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292775933067.
I0419 21:01:18.197585 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292776220260.
I0419 21:01:18.198228 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:18.198295 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=3
I0419 21:01:18.198328 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:18.199618 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292776501042.
I0419 21:01:18.271936 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.15622, -3.94539)
I0419 21:01:18.272037 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.283134, -2.36276), points=4, range=2.38, residual=0.00851587, extent=0.0207977
I0419 21:01:18.272066 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.283134, -2.36276), tracking=(-0.581634, 2.36276), map_predicted=(16.7238, -4.29933), range=2.38, pts=4
I0419 21:01:18.272094 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.95453m maha_sq=163.498 (gate chi2=5.99) pose_sigma=(0.150753, 0.150753, rho=0) det_map=(16.7238, -4.29933) lm_pos=(15.915, -2.52) delta=(0.80881, -1.77933) -> 0 candidate(s)
I0419 21:01:18.273299 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292777100722.
I0419 21:01:18.346056 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:18.346172 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:18.346261 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292777693273.
I0419 21:01:18.347158 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.79354, -1.62913)
I0419 21:01:18.347234 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.79715, -1.62765), points=4, range=2.423, residual=0.00950162, extent=0.02339
I0419 21:01:18.347261 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.79715, -1.62765), tracking=(-2.09565, 1.62765), map_predicted=(18.4983, -4.40258), range=2.423, pts=4
I0419 21:01:18.347286 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.19652m maha_sq=441.141 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.4983, -4.40258) lm_pos=(15.915, -2.52) delta=(2.58333, -1.88258) -> 0 candidate(s)
I0419 21:01:18.348196 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=155.128 deg, rms_residual=0.0108549m, sigma_yaw=0.0142667 rad, N=2
I0419 21:01:18.348294 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4389, -1.95951, 155.128deg) inliers=2 rms=0.0108549m
I0419 21:01:18.348331 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292777976788.
I0419 21:01:18.422673 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4428, -1.97124), yaw=153.921 deg backend=(17.4462, -1.96267)
I0419 21:01:18.423681 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292778576963.
I0419 21:01:18.425596 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292778866532.
I0419 21:01:18.497784 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.922504, 1.07689)
I0419 21:01:18.497896 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.550009, 2.43079), points=5, range=2.4916, residual=0.0116334, extent=0.0306935
I0419 21:01:18.497929 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.550009, 2.43079), tracking=(-0.251509, 2.43079), map_predicted=(16.7192, -4.29852), range=2.4916, pts=5
I0419 21:01:18.497962 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.9519m maha_sq=162.579 (gate chi2=5.99) pose_sigma=(0.150728, 0.150728, rho=0) det_map=(16.7192, -4.29852) lm_pos=(15.915, -2.52) delta=(0.80424, -1.77852) -> 0 candidate(s)
I0419 21:01:18.498024 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.110673 range=1.418 variance=0.000610214 t_weight=4916.31 r_weight=0 yaml=(15.915, -2.52) prior=(17.4379, -1.96281, 156.99deg) obs_actual=(1.22581, 1.07935) obs_expected=(1.18394, 1.10814) delta=(0.0418709, -0.0287876) |delta|=0.0508123m
I0419 21:01:18.498076 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292779174444.
I0419 21:01:18.500249 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292779541018.
I0419 21:01:18.571290 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:01:18.571477 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292780053551.
I0419 21:01:18.572053 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(1.02827, -0.178181)
I0419 21:01:18.573251 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.116518s, prior_pose=(17.4343, -1.96125), yaw=158.974 deg
I0419 21:01:18.573333 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1242, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:01:18.573441 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.478707, -0.434706), points=19, range=0.649421, residual=0.0142881, extent=0.0473763
I0419 21:01:18.573474 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.478707, -0.434706), tracking=(0.777207, -0.434706), map_predicted=(16.8648, -1.27663), range=0.649421, pts=19
I0419 21:01:18.573496 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0660497m maha_sq=0.188532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8648, -1.27663) lm_pos=(16.815, -1.32) delta=(0.0498193, 0.0433659) -> 1 candidate(s)
I0419 21:01:18.573573 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292780339623.
I0419 21:01:18.648438 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292780917420.
I0419 21:01:18.649490 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:18.733501 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:01:18.733587 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-0.620284, 4.19209)
I0419 21:01:18.733606 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 21:01:18.733644 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:18.733726 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292781502293.
I0419 21:01:18.734664 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37513, -2.05154), points=6, range=2.47133, residual=0.0137449, extent=0.0389502
I0419 21:01:18.734730 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.37513, -2.05154), tracking=(-1.67363, 2.05154), map_predicted=(18.493, -4.38893), range=2.47133, pts=6
I0419 21:01:18.734764 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.18414m maha_sq=435.764 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.493, -4.38893) lm_pos=(15.915, -2.52) delta=(2.57795, -1.86893) -> 0 candidate(s)
I0419 21:01:18.735806 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:18.735903 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:18.735957 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:18.735982 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292781819029.
I0419 21:01:18.743568 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:18.804589 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:18.815985 1237626 pose_graph_2d.cc:160] Inserted submap (1, 39).
I0419 21:01:18.816864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292782413583.
I0419 21:01:18.818821 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.11709, 0.801699)
I0419 21:01:18.818908 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:18.818935 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:18.819003 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292782699064.
I0419 21:01:18.894088 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14906, 0.753352), points=3, range=1.37167, residual=0.00561869, extent=0.00997628
I0419 21:01:18.894232 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.14906, 0.753352), tracking=(1.44756, 0.753352), map_predicted=(15.8827, -2.44334), range=1.37167, pts=3
I0419 21:01:18.894270 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0831657m maha_sq=0.299772 (gate chi2=5.99) pose_sigma=(0.15023, 0.15023, rho=0) det_map=(15.8827, -2.44334) lm_pos=(15.915, -2.52) delta=(-0.0322561, 0.0766556) -> 1 candidate(s)
I0419 21:01:18.894359 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292783262765.
I0419 21:01:18.896242 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.0878428, 0.139673)
I0419 21:01:18.896394 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.536802 range=1.36867 variance=0.000510592 t_weight=5875.54 r_weight=0 yaml=(15.915, -2.52) prior=(17.4397, -1.95474, 169.929deg) obs_actual=(1.46054, 0.728471) obs_expected=(1.40239, 0.823186) delta=(0.0581478, -0.0947151) |delta|=0.11114m
I0419 21:01:18.896456 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292783581031.
I0419 21:01:18.975984 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.75975, 4.09598), points=3, range=4.45533, residual=0.0133393, extent=0.0277804
I0419 21:01:18.976142 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.75975, 4.09598), tracking=(-1.46125, 4.09598), map_predicted=(18.3699, -6.20262), range=4.45533, pts=3
I0419 21:01:18.976172 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.42588m maha_sq=826.632 (gate chi2=5.99) pose_sigma=(0.150324, 0.150324, rho=0) det_map=(18.3699, -6.20262) lm_pos=(15.915, -2.52) delta=(2.45493, -3.68262) -> 0 candidate(s)
I0419 21:01:18.976208 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:19.053200 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.930458, -0.537181)
I0419 21:01:19.054141 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292785059323.
I0419 21:01:19.055238 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.923954, -0.552725), points=4, range=1.0745, residual=0.00732562, extent=0.0153859
I0419 21:01:19.055334 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.923954, -0.552725), tracking=(-1.22245, 0.552725), map_predicted=(18.6108, -2.6068), range=1.0745, pts=4
I0419 21:01:19.055364 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.20927m maha_sq=212.142 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6108, -2.6068) lm_pos=(16.815, -1.32) delta=(1.79583, -1.2868) -> 0 candidate(s)
I0419 21:01:19.132429 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292785619130.
I0419 21:01:19.133392 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880171s, prior_pose=(17.4365, -1.95214), yaw=178.191 deg
I0419 21:01:19.133474 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1093, max_intensity=252, threshold=230, above_threshold=21, candidates=21
I0419 21:01:19.133550 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.77135, -0.497738)
I0419 21:01:19.134615 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292785937005.
I0419 21:01:19.209148 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23397, 0.545084), points=4, range=1.3435, residual=0.0129748, extent=0.0294249
I0419 21:01:19.209272 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23397, 0.545084), tracking=(1.53247, 0.545084), map_predicted=(15.904, -2.49567), range=1.3435, pts=4
I0419 21:01:19.209304 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0266936m maha_sq=0.0306262 (gate chi2=5.99) pose_sigma=(0.150425, 0.150425, rho=0) det_map=(15.904, -2.49567) lm_pos=(15.915, -2.52) delta=(-0.0109827, 0.0243296) -> 1 candidate(s)
I0419 21:01:19.209383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292786506780.
I0419 21:01:19.210075 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:01:19.210119 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.826116, -2.38787)
I0419 21:01:19.210140 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 21:01:19.210168 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:19.212148 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292786813118.
I0419 21:01:19.213757 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.382632, 4.16395), points=3, range=4.179, residual=0.0125842, extent=0.0262887
I0419 21:01:19.213835 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.382632, 4.16395), tracking=(0.681132, 4.16395), map_predicted=(16.8288, -6.12345), range=4.179, pts=3
I0419 21:01:19.213866 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71752m maha_sq=587.585 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8288, -6.12345) lm_pos=(15.915, -2.52) delta=(0.913843, -3.60345) -> 0 candidate(s)
I0419 21:01:19.213927 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292787093567.
I0419 21:01:19.288878 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.834987, -4.19776)
I0419 21:01:19.289964 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:19.290043 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:19.290117 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.159 deg, rms_residual=0.00785776m, sigma_yaw=0.0103684 rad, N=2
I0419 21:01:19.290156 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4325, -1.95109, -179.159deg) inliers=2 rms=0.00785776m
I0419 21:01:19.290190 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292787374391.
I0419 21:01:19.292948 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292787701263.
I0419 21:01:19.293751 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.97195, -4.15482)
I0419 21:01:19.293831 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852499, -4.19015), points=3, range=4.276, residual=0.0110048, extent=0.0264464
I0419 21:01:19.293857 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.852499, -4.19015), tracking=(-1.151, 4.19015), map_predicted=(18.6296, -6.12831), range=4.276, pts=3
I0419 21:01:19.293879 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51544m maha_sq=867.506 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6296, -6.12831) lm_pos=(15.915, -2.52) delta=(2.71464, -3.60831) -> 0 candidate(s)
I0419 21:01:19.297322 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292788258720.
I0419 21:01:19.298297 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.942912, -2.35346)
I0419 21:01:19.298357 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.90536, -0.586066), points=5, range=1.0788, residual=0.00561969, extent=0.0138937
I0419 21:01:19.298382 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.90536, -0.586066), tracking=(-1.20386, 0.586066), map_predicted=(18.6411, -2.52753), range=1.0788, pts=5
I0419 21:01:19.298404 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18926m maha_sq=208.514 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6411, -2.52753) lm_pos=(16.815, -1.32) delta=(1.82612, -1.20753) -> 0 candidate(s)
I0419 21:01:19.372463 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:19.372586 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0052532 range=1.353 variance=0.000539052 t_weight=5565.32 r_weight=0 yaml=(15.915, -2.52) prior=(17.4351, -1.95478, -179.696deg) obs_actual=(1.53271, 0.562456) obs_expected=(1.52305, 0.557134) delta=(0.00965691, 0.00532155) |delta|=0.0110261m
I0419 21:01:19.372654 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292788536373.
I0419 21:01:19.374454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292788832958.
I0419 21:01:19.376219 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0459186s, prior_pose=(17.4347, -1.95349), yaw=-179.738 deg
I0419 21:01:19.376298 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1121, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 21:01:19.376353 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.937306, -2.34942)
I0419 21:01:19.377190 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307792, -0.645228), points=16, range=0.718188, residual=0.0132605, extent=0.0428604
I0419 21:01:19.377245 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.307792, -0.645228), tracking=(0.606292, -0.645228), map_predicted=(16.8255, -1.31104), range=0.718188, pts=16
I0419 21:01:19.377270 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0137833m maha_sq=0.00820856 (gate chi2=5.99) pose_sigma=(0.150101, 0.150101, rho=0) det_map=(16.8255, -1.31104) lm_pos=(16.815, -1.32) delta=(0.0104721, 0.00896178) -> 1 candidate(s)
I0419 21:01:19.377334 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292789147990.
I0419 21:01:19.379959 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-1.45594, 4.18884)
I0419 21:01:19.380102 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292789457116.
I0419 21:01:19.380836 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:19.380878 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:19.380906 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:19.380923 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:19.381850 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.33904, 2.36246), points=5, range=2.3874, residual=0.00994235, extent=0.0278093
I0419 21:01:19.381901 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.33904, 2.36246), tracking=(0.63754, 2.36246), map_predicted=(16.8097, -4.31869), range=2.3874, pts=5
I0419 21:01:19.381925 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00893m maha_sq=174.21 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8097, -4.31869) lm_pos=(15.915, -2.52) delta=(0.894717, -1.79869) -> 0 candidate(s)
I0419 21:01:19.381947 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:19.381990 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292789705925.
I0419 21:01:19.455089 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.351706, 4.15872)
I0419 21:01:19.455291 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292790019760.
I0419 21:01:19.458081 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:19.458179 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.364577, 4.16674), points=4, range=4.1775, residual=0.0196061, extent=0.0485105
I0419 21:01:19.458200 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:19.458220 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.364577, 4.16674), tracking=(0.663077, 4.16674), map_predicted=(16.7921, -6.1048), range=4.1775, pts=4
I0419 21:01:19.458240 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.69055m maha_sq=570.262 (gate chi2=5.99) pose_sigma=(0.15046, 0.15046, rho=0) det_map=(16.7921, -6.1048) lm_pos=(15.915, -2.52) delta=(0.877129, -3.5848) -> 0 candidate(s)
I0419 21:01:19.458290 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:19.458343 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:19.458362 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292790318315.
I0419 21:01:19.460074 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.346265, 4.16661)
I0419 21:01:19.460199 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292790619595.
I0419 21:01:19.461367 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4294, -1.94184), yaw=-179.694 deg backend=(17.4363, -1.9414)
I0419 21:01:19.462724 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:19.462816 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292790894218.
I0419 21:01:19.463663 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.945648, -2.3504), points=3, range=2.53367, residual=0.00707383, extent=0.0147731
I0419 21:01:19.463752 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.945648, -2.3504), tracking=(0.647148, 2.3504), map_predicted=(16.7948, -4.29566), range=2.53367, pts=3
I0419 21:01:19.463778 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.98169m maha_sq=169.743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7948, -4.29566) lm_pos=(15.915, -2.52) delta=(0.879842, -1.77566) -> 0 candidate(s)
I0419 21:01:19.539227 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.211093, 2.33448)
I0419 21:01:19.539412 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292791217529.
I0419 21:01:19.542852 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.910213, -0.585461), points=5, range=1.0806, residual=0.0064474, extent=0.0166962
I0419 21:01:19.542943 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.910213, -0.585461), tracking=(-1.20871, 0.585461), map_predicted=(18.6435, -2.52372), range=1.0806, pts=5
I0419 21:01:19.542969 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18911m maha_sq=207.847 (gate chi2=5.99) pose_sigma=(0.150202, 0.150202, rho=0) det_map=(18.6435, -2.52372) lm_pos=(16.815, -1.32) delta=(1.82846, -1.20372) -> 0 candidate(s)
I0419 21:01:19.543807 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338828, 2.36099)
I0419 21:01:19.543900 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00837401 range=1.35067 variance=0.000556313 t_weight=5392.65 r_weight=0 yaml=(15.915, -2.52) prior=(17.4312, -1.94568, -179.649deg) obs_actual=(1.53277, 0.560316) obs_expected=(1.51968, 0.565023) delta=(0.0130932, -0.00470623) |delta|=0.0139134m
I0419 21:01:19.543969 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292791772671.
I0419 21:01:19.544807 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0680195s, prior_pose=(17.4312, -1.94568), yaw=-179.649 deg
I0419 21:01:19.544862 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1159, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:01:19.546829 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292792093443.
I0419 21:01:19.547612 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.907456, -0.587429), points=5, range=1.0784, residual=0.00766053, extent=0.0195343
I0419 21:01:19.547665 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.907456, -0.587429), tracking=(-1.20596, 0.587429), map_predicted=(18.642, -2.52683), range=1.0784, pts=5
I0419 21:01:19.547690 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18956m maha_sq=208.327 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.642, -2.52683) lm_pos=(16.815, -1.32) delta=(1.82695, -1.20683) -> 0 candidate(s)
I0419 21:01:19.548489 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.341945, 2.35833)
I0419 21:01:19.548579 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292792374955.
I0419 21:01:19.619745 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:19.619839 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:19.619884 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:19.620333 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:19.621013 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292792693341.
I0419 21:01:19.623464 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.22127, 0.558679)
I0419 21:01:19.623558 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22663, 0.558996), points=4, range=1.343, residual=0.0115028, extent=0.0249105
I0419 21:01:19.623586 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22663, 0.558996), tracking=(1.52513, 0.558996), map_predicted=(15.9086, -2.51786), range=1.343, pts=4
I0419 21:01:19.623608 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00671881m maha_sq=0.00194966 (gate chi2=5.99) pose_sigma=(0.150172, 0.150172, rho=0) det_map=(15.9086, -2.51786) lm_pos=(15.915, -2.52) delta=(-0.00636781, 0.00214325) -> 1 candidate(s)
I0419 21:01:19.623672 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292792942478.
I0419 21:01:19.625345 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:19.625415 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:19.625468 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292793253282.
I0419 21:01:19.627939 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.22936, 0.560234)
I0419 21:01:19.628017 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.45869, 4.19671), points=3, range=4.443, residual=0.0105525, extent=0.0258483
I0419 21:01:19.628043 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.45869, 4.19671), tracking=(-1.16019, 4.19671), map_predicted=(18.6192, -6.13817), range=4.443, pts=3
I0419 21:01:19.628067 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51705m maha_sq=865.995 (gate chi2=5.99) pose_sigma=(0.150104, 0.150104, rho=0) det_map=(18.6192, -6.13817) lm_pos=(15.915, -2.52) delta=(2.70418, -3.61817) -> 0 candidate(s)
I0419 21:01:19.628118 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292793536765.
I0419 21:01:19.701905 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.39 deg, rms_residual=0.00863672m, sigma_yaw=0.0113845 rad, N=2
I0419 21:01:19.702010 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4343, -1.95135, -179.39deg) inliers=2 rms=0.00863672m
I0419 21:01:19.702047 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292793859823.
I0419 21:01:19.703851 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.21854, 0.557433)
I0419 21:01:19.703913 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.45047, 4.19269), points=3, range=4.43533, residual=0.0125743, extent=0.0258733
I0419 21:01:19.703938 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.45047, 4.19269), tracking=(-1.15197, 4.19269), map_predicted=(18.6154, -6.13767), range=4.43533, pts=3
I0419 21:01:19.703961 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.5144m maha_sq=864.469 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6154, -6.13767) lm_pos=(15.915, -2.52) delta=(2.70042, -3.61767) -> 0 candidate(s)
I0419 21:01:19.704015 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292794136925.
I0419 21:01:19.706667 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:01:19.706773 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292794414990.
I0419 21:01:19.709371 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311685, -0.645985)
I0419 21:01:19.710207 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563721s, prior_pose=(17.4333, -1.95463), yaw=-179.64 deg
I0419 21:01:19.710258 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1146, max_intensity=247, threshold=230, above_threshold=21, candidates=21
I0419 21:01:19.710315 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858792, -4.18989), points=3, range=4.278, residual=0.0124729, extent=0.0258457
I0419 21:01:19.710345 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.858792, -4.18989), tracking=(-1.15729, 4.18989), map_predicted=(18.6168, -6.13717), range=4.278, pts=3
I0419 21:01:19.710364 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51485m maha_sq=864.315 (gate chi2=5.99) pose_sigma=(0.150152, 0.150152, rho=0) det_map=(18.6168, -6.13717) lm_pos=(15.915, -2.52) delta=(2.70184, -3.61717) -> 0 candidate(s)
I0419 21:01:19.711390 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00379623 range=1.34967 variance=0.000517977 t_weight=5791.76 r_weight=0 yaml=(15.915, -2.52) prior=(17.4333, -1.95463, -179.64deg) obs_actual=(1.53049, 0.559285) obs_expected=(1.5218, 0.555834) delta=(0.00869748, 0.00345094) |delta|=0.00935709m
I0419 21:01:19.711452 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292795019780.
I0419 21:01:19.774348 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:19.786828 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.312245, -0.647103)
I0419 21:01:19.787066 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292795293752.
I0419 21:01:19.788076 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:19.788185 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:19.788221 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:19.788242 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:19.790336 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.306606, -0.645079), points=17, range=0.717882, residual=0.0147514, extent=0.0450735
I0419 21:01:19.790448 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.306606, -0.645079), tracking=(0.605106, -0.645079), map_predicted=(16.823, -1.30941), range=0.717882, pts=17
I0419 21:01:19.790482 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0132932m maha_sq=0.00761094 (gate chi2=5.99) pose_sigma=(0.150208, 0.150208, rho=0) det_map=(16.823, -1.30941) lm_pos=(16.815, -1.32) delta=(0.00803895, 0.0105871) -> 1 candidate(s)
I0419 21:01:19.790504 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:19.790571 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292795616574.
I0419 21:01:19.791440 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.903923, -0.586989)
I0419 21:01:19.792517 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292795894899.
I0419 21:01:19.795315 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:19.795439 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.335334, 2.36104), points=5, range=2.3844, residual=0.0104581, extent=0.0277511
I0419 21:01:19.795460 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:19.795481 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.335334, 2.36104), tracking=(0.633834, 2.36104), map_predicted=(16.8148, -4.31605), range=2.3844, pts=5
I0419 21:01:19.795503 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00883m maha_sq=173.945 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(16.8148, -4.31605) lm_pos=(15.915, -2.52) delta=(0.89979, -1.79605) -> 0 candidate(s)
I0419 21:01:19.795593 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292796179114.
I0419 21:01:19.796579 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.906967, -0.585232)
I0419 21:01:19.867640 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292796501100.
I0419 21:01:19.869534 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44965, 4.19033), points=3, range=4.43367, residual=0.012467, extent=0.0258066
I0419 21:01:19.869622 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.44965, 4.19033), tracking=(-1.15115, 4.19033), map_predicted=(18.6178, -6.13637), range=4.43367, pts=3
I0419 21:01:19.869657 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.5148m maha_sq=864.736 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6178, -6.13637) lm_pos=(15.915, -2.52) delta=(2.70283, -3.61637) -> 0 candidate(s)
I0419 21:01:19.869705 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:19.869761 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:19.869786 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292796780058.
I0419 21:01:19.871611 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.898771, -0.585488)
I0419 21:01:19.872763 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292797093994.
I0419 21:01:19.875401 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:19.875510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292797348172.
I0419 21:01:19.876415 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.858663, -2.38066)
I0419 21:01:19.876462 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.85879, -4.18989), points=3, range=4.27367, residual=0.0133274, extent=0.0276038
I0419 21:01:19.876489 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.85879, -4.18989), tracking=(-1.15729, 4.18989), map_predicted=(18.6208, -6.13575), range=4.27367, pts=3
I0419 21:01:19.876510 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5161m maha_sq=865.698 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6208, -6.13575) lm_pos=(15.915, -2.52) delta=(2.70582, -3.61575) -> 0 candidate(s)
I0419 21:01:19.877408 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292797655914.
I0419 21:01:19.949046 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0426903s, prior_pose=(17.4319, -1.95225), yaw=-179.64 deg
I0419 21:01:19.949215 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1198, max_intensity=253, threshold=230, above_threshold=23, candidates=23
I0419 21:01:19.950338 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00525745 range=1.34967 variance=0.000541642 t_weight=5538.71 r_weight=0 yaml=(15.915, -2.52) prior=(17.4319, -1.95225, -179.64deg) obs_actual=(1.5314, 0.559697) obs_expected=(1.52048, 0.558212) delta=(0.0109278, 0.00148452) |delta|=0.0110282m
I0419 21:01:19.950443 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292797937853.
I0419 21:01:19.951370 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.858531, -2.38028)
I0419 21:01:19.951435 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.862199, -2.3796), points=5, range=2.5304, residual=0.0118402, extent=0.0311228
I0419 21:01:19.951463 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.862199, -2.3796), tracking=(-1.1607, 2.3796), map_predicted=(18.6076, -4.32451), range=2.5304, pts=5
I0419 21:01:19.951484 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24132m maha_sq=452.359 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6076, -4.32451) lm_pos=(15.915, -2.52) delta=(2.69256, -1.80451) -> 0 candidate(s)
I0419 21:01:19.954020 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:19.954093 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:19.954123 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:19.955153 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292798532513.
I0419 21:01:19.956907 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.858941, -2.38141)
I0419 21:01:19.957809 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22687, 0.557655), points=4, range=1.3455, residual=0.00928453, extent=0.0210065
I0419 21:01:19.957888 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22687, 0.557655), tracking=(1.52537, 0.557655), map_predicted=(15.9108, -2.51952), range=1.3455, pts=4
I0419 21:01:19.957914 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00422429m maha_sq=0.000773486 (gate chi2=5.99) pose_sigma=(0.150046, 0.150046, rho=0) det_map=(15.9108, -2.51952) lm_pos=(15.915, -2.52) delta=(-0.00419654, 0.000483368) -> 1 candidate(s)
I0419 21:01:19.957989 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292798876708.
I0419 21:01:20.031344 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:20.031455 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:20.031544 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292799134159.
I0419 21:01:20.032423 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.853257, -2.37645)
I0419 21:01:20.033468 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.342531, 2.36228), points=5, range=2.3874, residual=0.0106866, extent=0.0278806
I0419 21:01:20.033555 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.342531, 2.36228), tracking=(0.641031, 2.36228), map_predicted=(16.8077, -4.31999), range=2.3874, pts=5
I0419 21:01:20.033586 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.0092m maha_sq=174.142 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8077, -4.31999) lm_pos=(15.915, -2.52) delta=(0.892703, -1.79999) -> 0 candidate(s)
I0419 21:01:20.033715 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292799412952.
I0419 21:01:20.034840 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4329, -1.9533), yaw=-179.604 deg backend=(17.4309, -1.95414)
I0419 21:01:20.037020 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.853673, -2.37763)
I0419 21:01:20.038959 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292800018191.
I0419 21:01:20.039795 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.94216, -4.16373), points=3, range=4.26867, residual=0.0119293, extent=0.0248302
I0419 21:01:20.039855 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.94216, -4.16373), tracking=(0.64366, 4.16373), map_predicted=(16.8184, -6.12136), range=4.26867, pts=3
I0419 21:01:20.039878 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71294m maha_sq=586.065 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8184, -6.12136) lm_pos=(15.915, -2.52) delta=(0.903397, -3.60136) -> 0 candidate(s)
I0419 21:01:20.040772 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:01:20.040838 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292800299607.
I0419 21:01:20.113178 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.844227, -4.18061)
I0419 21:01:20.114331 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.349 deg, rms_residual=0.0108724m, sigma_yaw=0.0142894 rad, N=2
I0419 21:01:20.114425 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4338, -1.94931, -179.349deg) inliers=2 rms=0.0108724m
I0419 21:01:20.114465 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292800616611.
I0419 21:01:20.115240 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722526s, prior_pose=(17.433, -1.95447), yaw=-179.59 deg
I0419 21:01:20.115293 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1200, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 21:01:20.115357 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.899309, -0.587732), points=4, range=1.07625, residual=0.00798894, extent=0.0195269
I0419 21:01:20.115384 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.899309, -0.587732), tracking=(-1.19781, 0.587732), map_predicted=(18.635, -2.53362), range=1.07625, pts=4
I0419 21:01:20.115406 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18753m maha_sq=207.895 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.635, -2.53362) lm_pos=(16.815, -1.32) delta=(1.82, -1.21362) -> 0 candidate(s)
I0419 21:01:20.117286 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292800893762.
I0419 21:01:20.118074 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851442, -4.18492)
I0419 21:01:20.119006 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292801178791.
I0419 21:01:20.134851 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:20.134967 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:20.135118 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:20.135162 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:20.150731 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307399, -0.644392), points=16, range=0.717625, residual=0.0138169, extent=0.0449283
I0419 21:01:20.150867 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.307399, -0.644392), tracking=(0.605899, -0.644392), map_predicted=(16.8225, -1.31234), range=0.717625, pts=16
I0419 21:01:20.150924 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0107244m maha_sq=0.00496985 (gate chi2=5.99) pose_sigma=(0.150045, 0.150045, rho=0) det_map=(16.8225, -1.31234) lm_pos=(16.815, -1.32) delta=(0.00750269, 0.00766309) -> 1 candidate(s)
I0419 21:01:20.150974 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:20.151050 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00273907 range=1.34767 variance=0.000545354 t_weight=5501.01 r_weight=0 yaml=(15.915, -2.52) prior=(17.433, -1.95239, -179.592deg) obs_actual=(1.52993, 0.556871) obs_expected=(1.52199, 0.55677) delta=(0.00794666, 0.000100836) |delta|=0.0079473m
I0419 21:01:20.151163 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292801499716.
I0419 21:01:20.162128 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851508, -4.18524)
I0419 21:01:20.262236 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292801773047.
I0419 21:01:20.264199 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:20.264295 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23164, 0.561267), points=3, range=1.34667, residual=0.0138183, extent=0.0285299
I0419 21:01:20.264318 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:20.264335 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23164, 0.561267), tracking=(1.53014, 0.561267), map_predicted=(15.9037, -2.52473), range=1.34667, pts=3
I0419 21:01:20.264355 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.012292m maha_sq=0.00652348 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9037, -2.52473) lm_pos=(15.915, -2.52) delta=(-0.0113474, -0.00472541) -> 1 candidate(s)
I0419 21:01:20.264451 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292802055591.
I0419 21:01:20.266417 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.940002, -2.35615)
I0419 21:01:20.270184 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.338845, 2.36114), points=5, range=2.3856, residual=0.0100907, extent=0.0280489
I0419 21:01:20.270277 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.338845, 2.36114), tracking=(0.637345, 2.36114), map_predicted=(16.8105, -4.31683), range=2.3856, pts=5
I0419 21:01:20.270301 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.0076m maha_sq=173.556 (gate chi2=5.99) pose_sigma=(0.150179, 0.150179, rho=0) det_map=(16.8105, -4.31683) lm_pos=(15.915, -2.52) delta=(0.895452, -1.79683) -> 0 candidate(s)
I0419 21:01:20.270395 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292802658642.
I0419 21:01:20.277899 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939075, -2.35383)
I0419 21:01:20.294135 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 16 -> 15 (threshold=0.03, iters=3)
I0419 21:01:20.373306 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44997, 4.19127), points=3, range=4.43333, residual=0.0126783, extent=0.0262675
I0419 21:01:20.373437 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.44997, 4.19127), tracking=(-1.15147, 4.19127), map_predicted=(18.6111, -6.13276), range=4.43333, pts=3
I0419 21:01:20.373468 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.5079m maha_sq=860.045 (gate chi2=5.99) pose_sigma=(0.15017, 0.15017, rho=0) det_map=(18.6111, -6.13276) lm_pos=(15.915, -2.52) delta=(2.69613, -3.61276) -> 0 candidate(s)
I0419 21:01:20.373561 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292803257433.
I0419 21:01:20.374318 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938981, -2.35359)
I0419 21:01:20.376286 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292803533358.
I0419 21:01:20.377104 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594754s, prior_pose=(17.4304, -1.95072), yaw=-179.597 deg
I0419 21:01:20.377187 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1191, max_intensity=247, threshold=230, above_threshold=21, candidates=21
I0419 21:01:20.382681 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:20.382822 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:20.382849 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292803821863.
I0419 21:01:20.397886 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.941916, -2.35099)
I0419 21:01:20.397998 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.938622, -2.35267), points=3, range=2.53267, residual=0.00707682, extent=0.0147673
I0419 21:01:20.398034 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.938622, -2.35267), tracking=(0.640122, 2.35267), map_predicted=(16.8084, -4.30793), range=2.53267, pts=3
I0419 21:01:20.398061 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99871m maha_sq=172.424 (gate chi2=5.99) pose_sigma=(0.150111, 0.150111, rho=0) det_map=(16.8084, -4.30793) lm_pos=(15.915, -2.52) delta=(0.893389, -1.78793) -> 0 candidate(s)
I0419 21:01:20.414516 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292804138779.
I0419 21:01:20.426409 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:20.426501 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:20.426538 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:20.503743 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-1.45957, 4.19923)
I0419 21:01:20.503950 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292804416846.
I0419 21:01:20.504771 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.960167, -4.15892), points=4, range=4.26725, residual=0.01536, extent=0.0375663
I0419 21:01:20.504846 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.960167, -4.15892), tracking=(0.661667, 4.15892), map_predicted=(16.804, -6.11447), range=4.26725, pts=4
I0419 21:01:20.504916 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70276m maha_sq=580.553 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.804, -6.11447) lm_pos=(15.915, -2.52) delta=(0.888955, -3.59447) -> 0 candidate(s)
I0419 21:01:20.506106 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292804733623.
I0419 21:01:20.508883 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46067, 4.18279)
I0419 21:01:20.508957 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:20.508986 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:20.509042 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0015978 range=1.35075 variance=0.00052058 t_weight=5762.8 r_weight=0 yaml=(15.915, -2.52) prior=(17.4368, -1.95115, -179.616deg) obs_actual=(1.53161, 0.557629) obs_expected=(1.52562, 0.558626) delta=(0.00598455, -0.000997429) |delta|=0.0060671m
I0419 21:01:20.509125 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292805013704.
I0419 21:01:20.514093 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.850231, -2.37896), points=4, range=2.52875, residual=0.0103799, extent=0.0251287
I0419 21:01:20.514180 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.850231, -2.37896), tracking=(-1.14873, 2.37896), map_predicted=(18.6015, -4.32235), range=2.52875, pts=4
I0419 21:01:20.514210 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23508m maha_sq=451.254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6015, -4.32235) lm_pos=(15.915, -2.52) delta=(2.68651, -1.80235) -> 0 candidate(s)
I0419 21:01:20.530287 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292805294211.
I0419 21:01:20.558571 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46199, 4.18656)
I0419 21:01:20.558905 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292805577351.
I0419 21:01:20.671167 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.906617, -0.586884), points=5, range=1.0778, residual=0.0070907, extent=0.0187813
I0419 21:01:20.671278 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.906617, -0.586884), tracking=(-1.20512, 0.586884), map_predicted=(18.6417, -2.52946), range=1.0778, pts=5
I0419 21:01:20.671310 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19079m maha_sq=207.938 (gate chi2=5.99) pose_sigma=(0.150258, 0.150258, rho=0) det_map=(18.6417, -2.52946) lm_pos=(16.815, -1.32) delta=(1.82668, -1.20946) -> 0 candidate(s)
I0419 21:01:20.672430 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292805895395.
I0419 21:01:20.675086 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45519, 4.18663)
I0419 21:01:20.675199 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:20.675273 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292806180187.
I0419 21:01:20.676180 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.906123, -0.584695), points=6, range=1.07617, residual=0.00831011, extent=0.0210952
I0419 21:01:20.676231 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.906123, -0.584695), tracking=(-1.20462, 0.584695), map_predicted=(18.6408, -2.52844), range=1.07617, pts=6
I0419 21:01:20.676298 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18948m maha_sq=208.218 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6408, -2.52844) lm_pos=(16.815, -1.32) delta=(1.82578, -1.20844) -> 0 candidate(s)
I0419 21:01:20.677388 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292806495437.
I0419 21:01:20.679003 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437082s, prior_pose=(17.433, -1.9514), yaw=-179.617 deg
I0419 21:01:20.679065 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1189, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 21:01:20.679936 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.339143, 2.36317)
I0419 21:01:20.680048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292806745340.
I0419 21:01:20.805027 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23402, 0.558037), points=4, range=1.351, residual=0.00835025, extent=0.0190651
I0419 21:01:20.805136 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:20.805212 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23402, 0.558037), tracking=(1.53252, 0.558037), map_predicted=(15.9095, -2.52125), range=1.351, pts=4
I0419 21:01:20.805269 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00568418m maha_sq=0.00139476 (gate chi2=5.99) pose_sigma=(0.150416, 0.150416, rho=0) det_map=(15.9095, -2.52125) lm_pos=(15.915, -2.52) delta=(-0.00554454, -0.00125218) -> 1 candidate(s)
I0419 21:01:20.805327 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.259 deg, rms_residual=0.00848688m, sigma_yaw=0.0111892 rad, N=2
I0419 21:01:20.805370 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4351, -1.94899, -179.259deg) inliers=2 rms=0.00848688m
I0419 21:01:20.805401 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292807055480.
I0419 21:01:20.806371 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:20.806432 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=6
I0419 21:01:20.806454 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:01:20.806471 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:20.806488 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:20.807502 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311564, -0.645697)
I0419 21:01:20.807574 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:20.807677 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292807378068.
I0419 21:01:20.811154 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851125, -2.38147), points=4, range=2.5305, residual=0.00952962, extent=0.0231739
I0419 21:01:20.811244 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.851125, -2.38147), tracking=(-1.14963, 2.38147), map_predicted=(18.6025, -4.32608), range=2.5305, pts=4
I0419 21:01:20.811272 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.23799m maha_sq=451.787 (gate chi2=5.99) pose_sigma=(0.150103, 0.150103, rho=0) det_map=(18.6025, -4.32608) lm_pos=(15.915, -2.52) delta=(2.6875, -1.80608) -> 0 candidate(s)
I0419 21:01:20.813098 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311635, -0.645871)
I0419 21:01:20.813175 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:20.813203 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:20.813273 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292807933864.
I0419 21:01:20.822177 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00109437 range=1.34575 variance=0.000729214 t_weight=4114.02 r_weight=0 yaml=(15.915, -2.52) prior=(17.4364, -1.95169, -179.621deg) obs_actual=(1.52938, 0.560921) obs_expected=(1.52511, 0.558245) delta=(0.0042732, 0.00267604) |delta|=0.00504197m
I0419 21:01:20.822322 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292808215477.
I0419 21:01:20.908699 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4295, -1.94963), yaw=-179.62 deg backend=(17.4289, -1.95351)
I0419 21:01:20.909590 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.901428, -0.587211)
I0419 21:01:20.909677 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905096, -0.587753), points=6, range=1.07583, residual=0.0111827, extent=0.030316
I0419 21:01:20.909710 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.905096, -0.587753), tracking=(-1.2036, 0.587753), map_predicted=(18.6369, -2.52938), range=1.07583, pts=6
I0419 21:01:20.909740 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18679m maha_sq=205.756 (gate chi2=5.99) pose_sigma=(0.15054, 0.15054, rho=0) det_map=(18.6369, -2.52938) lm_pos=(16.815, -1.32) delta=(1.82194, -1.20938) -> 0 candidate(s)
I0419 21:01:20.910867 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292808541973.
I0419 21:01:20.913663 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292808817531.
I0419 21:01:20.914486 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.85417, -2.37904)
I0419 21:01:20.915548 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.335325, 2.36104), points=5, range=2.384, residual=0.0108979, extent=0.0283804
I0419 21:01:20.915638 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.335325, 2.36104), tracking=(0.633825, 2.36104), map_predicted=(16.8126, -4.31525), range=2.384, pts=5
I0419 21:01:20.915673 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00712m maha_sq=173.749 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8126, -4.31525) lm_pos=(15.915, -2.52) delta=(0.897555, -1.79525) -> 0 candidate(s)
I0419 21:01:20.915776 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292809137325.
I0419 21:01:20.941977 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292809413190.
I0419 21:01:20.954577 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0723625s, prior_pose=(17.4321, -1.95067), yaw=-179.62 deg
I0419 21:01:20.954699 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1200, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:01:20.954813 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.857737, -2.37802)
I0419 21:01:21.039261 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292809696506.
I0419 21:01:21.040176 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.961139, -4.16315), points=4, range=4.272, residual=0.0152815, extent=0.037325
I0419 21:01:21.040257 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.961139, -4.16315), tracking=(0.662639, 4.16315), map_predicted=(16.801, -6.11864), range=4.272, pts=4
I0419 21:01:21.040288 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7061m maha_sq=581.635 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.801, -6.11864) lm_pos=(15.915, -2.52) delta=(0.885977, -3.59864) -> 0 candidate(s)
I0419 21:01:21.041364 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:21.041467 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:21.041492 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292810017610.
I0419 21:01:21.043224 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:21.043308 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.858693, -4.1894)
I0419 21:01:21.043332 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:21.043363 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:21.044332 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292810300814.
I0419 21:01:21.045115 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904659, -0.585602), points=7, range=1.07457, residual=0.0112524, extent=0.0320007
I0419 21:01:21.045166 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.904659, -0.585602), tracking=(-1.20316, 0.585602), map_predicted=(18.6424, -2.52964), range=1.07457, pts=7
I0419 21:01:21.045192 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19152m maha_sq=208.088 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6424, -2.52964) lm_pos=(16.815, -1.32) delta=(1.82744, -1.20964) -> 0 candidate(s)
I0419 21:01:21.058295 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292810576379.
I0419 21:01:21.070156 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.858807, -4.18987)
I0419 21:01:21.089854 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:21.089972 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:21.090086 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292810893724.
I0419 21:01:21.170639 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22903, 0.557937), points=5, range=1.3464, residual=0.00964672, extent=0.0230788
I0419 21:01:21.170773 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:21.170800 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22903, 0.557937), tracking=(1.52753, 0.557937), map_predicted=(15.9108, -2.5192), range=1.3464, pts=5
I0419 21:01:21.170825 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00425216m maha_sq=0.000783349 (gate chi2=5.99) pose_sigma=(0.15006, 0.15006, rho=0) det_map=(15.9108, -2.5192) lm_pos=(15.915, -2.52) delta=(-0.00417668, 0.000797609) -> 1 candidate(s)
I0419 21:01:21.170920 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.000783349 range=1.3464 variance=0.000563379 t_weight=5325.01 r_weight=0 yaml=(15.915, -2.52) prior=(17.4348, -1.95166, -179.639deg) obs_actual=(1.52753, 0.557937) obs_expected=(1.52336, 0.558761) delta=(0.00417158, -0.000823895) |delta|=0.00425216m
I0419 21:01:21.170967 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292811176546.
I0419 21:01:21.171752 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.947551, -4.15942)
I0419 21:01:21.173617 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292811459440.
I0419 21:01:21.178543 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292811780037.
I0419 21:01:21.189996 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.947477, -4.1591)
I0419 21:01:21.190188 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942533, -2.35254), points=4, range=2.53575, residual=0.00958251, extent=0.0235322
I0419 21:01:21.190255 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.942533, -2.35254), tracking=(0.644033, 2.35254), map_predicted=(16.8063, -4.30923), range=2.53575, pts=4
I0419 21:01:21.190330 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99894m maha_sq=172.162 (gate chi2=5.99) pose_sigma=(0.150106, 0.150106, rho=0) det_map=(16.8063, -4.30923) lm_pos=(15.915, -2.52) delta=(0.89131, -1.78923) -> 0 candidate(s)
I0419 21:01:21.206633 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:21.206769 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292812061515.
I0419 21:01:21.295220 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595473s, prior_pose=(17.4385, -1.95379), yaw=-179.616 deg
I0419 21:01:21.295344 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1183, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:01:21.295410 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.954378, -4.16146)
I0419 21:01:21.295439 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.903023, -0.588287), points=5, range=1.0788, residual=0.00624538, extent=0.0166786
I0419 21:01:21.295460 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.903023, -0.588287), tracking=(-1.20152, 0.588287), map_predicted=(18.6439, -2.534), range=1.0788, pts=5
I0419 21:01:21.295480 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.19516m maha_sq=208.936 (gate chi2=5.99) pose_sigma=(0.150233, 0.150233, rho=0) det_map=(18.6439, -2.534) lm_pos=(16.815, -1.32) delta=(1.82891, -1.214) -> 0 candidate(s)
I0419 21:01:21.296378 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292812657863.
I0419 21:01:21.298950 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292812934332.
I0419 21:01:21.309930 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:21.310022 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938617, -2.35266)
I0419 21:01:21.310045 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:21.310082 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:21.310138 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:21.325846 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23108, 0.558861), points=5, range=1.3488, residual=0.00964158, extent=0.0246188
I0419 21:01:21.325985 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23108, 0.558861), tracking=(1.52958, 0.558861), map_predicted=(15.9106, -2.52188), range=1.3488, pts=5
I0419 21:01:21.326028 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00481789m maha_sq=0.00100541 (gate chi2=5.99) pose_sigma=(0.150079, 0.150079, rho=0) det_map=(15.9106, -2.52188) lm_pos=(15.915, -2.52) delta=(-0.00443527, -0.00188161) -> 1 candidate(s)
I0419 21:01:21.326063 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:21.326151 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292813252561.
I0419 21:01:21.354866 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(0.351605, 4.15781)
I0419 21:01:21.355077 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.37 deg, rms_residual=0.00895108m, sigma_yaw=0.011794 rad, N=2
I0419 21:01:21.355134 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4318, -1.94987, -179.37deg) inliers=2 rms=0.00895108m
I0419 21:01:21.355185 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292813540648.
I0419 21:01:21.432078 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:21.432202 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.335261, 2.36055), points=5, range=2.3844, residual=0.0104367, extent=0.0277506
I0419 21:01:21.432224 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:21.432242 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.335261, 2.36055), tracking=(0.633761, 2.36055), map_predicted=(16.8129, -4.29832), range=2.3844, pts=5
I0419 21:01:21.432265 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.99217m maha_sq=167.769 (gate chi2=5.99) pose_sigma=(0.151591, 0.151591, rho=0) det_map=(16.8129, -4.29832) lm_pos=(15.915, -2.52) delta=(0.897949, -1.77832) -> 0 candidate(s)
I0419 21:01:21.432354 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292813817239.
I0419 21:01:21.434895 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.358215, 4.1636)
I0419 21:01:21.435065 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292814099278.
I0419 21:01:21.442431 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.345904, 4.16265), points=3, range=4.17867, residual=0.0119921, extent=0.0248241
I0419 21:01:21.442556 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.345904, 4.16265), tracking=(0.644404, 4.16265), map_predicted=(16.8179, -6.10548), range=4.17867, pts=3
I0419 21:01:21.442611 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.69741m maha_sq=581.605 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8179, -6.10548) lm_pos=(15.915, -2.52) delta=(0.902856, -3.58548) -> 0 candidate(s)
I0419 21:01:21.442705 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0131165 range=1.34925 variance=0.000551304 t_weight=5441.64 r_weight=0 yaml=(15.915, -2.52) prior=(17.4301, -1.93798, -179.558deg) obs_actual=(1.5313, 0.557489) obs_expected=(1.51955, 0.570303) delta=(0.0117541, -0.0128138) |delta|=0.0173883m
I0419 21:01:21.442847 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292814416612.
I0419 21:01:21.469945 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.351992, 4.16247)
I0419 21:01:21.470292 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292814691876.
I0419 21:01:21.582564 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292815016027.
I0419 21:01:21.583487 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.938436, -2.35221), points=3, range=2.532, residual=0.00711629, extent=0.0148657
I0419 21:01:21.583593 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.938436, -2.35221), tracking=(0.639936, 2.35221), map_predicted=(16.8159, -4.30407), range=2.532, pts=3
I0419 21:01:21.583626 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99862m maha_sq=172.654 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8159, -4.30407) lm_pos=(15.915, -2.52) delta=(0.900889, -1.78407) -> 0 candidate(s)
I0419 21:01:21.584582 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352069, 4.16346)
I0419 21:01:21.584754 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292815294896.
I0419 21:01:21.586576 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0398966s, prior_pose=(17.4367, -1.94891), yaw=-179.553 deg
I0419 21:01:21.586666 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1160, max_intensity=253, threshold=230, above_threshold=19, candidates=19
I0419 21:01:21.587705 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292815575578.
I0419 21:01:21.588622 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.865293, -4.19059), points=4, range=4.27475, residual=0.0179591, extent=0.0427916
I0419 21:01:21.588699 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.865293, -4.19059), tracking=(-1.16379, 4.19059), map_predicted=(18.6331, -6.13029), range=4.27475, pts=4
I0419 21:01:21.588728 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51911m maha_sq=861.544 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6331, -6.13029) lm_pos=(15.915, -2.52) delta=(2.71812, -3.61029) -> 0 candidate(s)
I0419 21:01:21.590548 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.35787, 4.15961)
I0419 21:01:21.590704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292815861123.
I0419 21:01:21.606153 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:21.606628 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:21.606986 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:21.730548 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.907801, -0.585783), points=6, range=1.0785, residual=0.00734487, extent=0.0197091
I0419 21:01:21.730639 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.907801, -0.585783), tracking=(-1.2063, 0.585783), map_predicted=(18.6405, -2.52625), range=1.0785, pts=6
I0419 21:01:21.730670 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18802m maha_sq=206.901 (gate chi2=5.99) pose_sigma=(0.150435, 0.150435, rho=0) det_map=(18.6405, -2.52625) lm_pos=(16.815, -1.32) delta=(1.82548, -1.20625) -> 0 candidate(s)
I0419 21:01:21.731545 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.358046, 4.1616)
I0419 21:01:21.731633 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:21.731694 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:21.731717 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292816455516.
I0419 21:01:21.734273 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:21.734338 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:21.734426 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292816775629.
I0419 21:01:21.736017 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.364517, 4.16607)
I0419 21:01:21.736074 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307243, -0.644041), points=16, range=0.716812, residual=0.0133282, extent=0.04122
I0419 21:01:21.736102 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.307243, -0.644041), tracking=(0.605743, -0.644041), map_predicted=(16.8214, -1.30896), range=0.716812, pts=16
I0419 21:01:21.736124 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0127728m maha_sq=0.00705775 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8214, -1.30896) lm_pos=(16.815, -1.32) delta=(0.00642383, 0.0110398) -> 1 candidate(s)
I0419 21:01:21.736187 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292817057134.
I0419 21:01:21.737304 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4318, -1.94953), yaw=-179.602 deg backend=(17.4311, -1.95325)
I0419 21:01:21.738724 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292817333670.
I0419 21:01:21.859622 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338559, 2.35921)
I0419 21:01:21.859745 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.345906, 4.16265), points=3, range=4.17867, residual=0.0120191, extent=0.0250418
I0419 21:01:21.859774 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.345906, 4.16265), tracking=(0.644406, 4.16265), map_predicted=(16.8242, -6.11662), range=4.17867, pts=3
I0419 21:01:21.859802 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.70977m maha_sq=582.841 (gate chi2=5.99) pose_sigma=(0.150355, 0.150355, rho=0) det_map=(16.8242, -6.11662) lm_pos=(15.915, -2.52) delta=(0.909236, -3.59662) -> 0 candidate(s)
I0419 21:01:21.861591 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:01:21.861662 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00242817 range=1.35133 variance=0.000552792 t_weight=5426.99 r_weight=0 yaml=(15.915, -2.52) prior=(17.4365, -1.94912, -179.558deg) obs_actual=(1.53323, 0.560522) obs_expected=(1.52586, 0.559122) delta=(0.00736699, 0.00140083) |delta|=0.00749899m
I0419 21:01:21.861728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292817936039.
I0419 21:01:21.864315 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22949, 0.558131)
I0419 21:01:21.864450 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292818220515.
I0419 21:01:21.865267 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719195s, prior_pose=(17.4362, -1.94923), yaw=-179.557 deg
I0419 21:01:21.865325 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1184, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 21:01:21.865386 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.94179, -2.35068), points=3, range=2.53233, residual=0.00614266, extent=0.0150358
I0419 21:01:21.865409 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:21.865428 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.94179, -2.35068), tracking=(0.64329, 2.35068), map_predicted=(16.8111, -4.30482), range=2.53233, pts=3
I0419 21:01:21.865448 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99717m maha_sq=172.498 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8111, -4.30482) lm_pos=(15.915, -2.52) delta=(0.89615, -1.78482) -> 0 candidate(s)
I0419 21:01:21.867383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292818541435.
I0419 21:01:21.882650 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.22929, 0.558762)
I0419 21:01:21.882997 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292818817011.
I0419 21:01:22.004770 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:22.004874 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:22.004907 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845217, -4.18551), points=3, range=4.27467, residual=0.0149584, extent=0.0312956
I0419 21:01:22.004930 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:22.004942 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.845217, -4.18551), tracking=(-1.14372, 4.18551), map_predicted=(18.6088, -6.12659), range=4.27467, pts=3
I0419 21:01:22.004966 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50153m maha_sq=855.528 (gate chi2=5.99) pose_sigma=(0.150267, 0.150267, rho=0) det_map=(18.6088, -6.12659) lm_pos=(15.915, -2.52) delta=(2.69375, -3.60659) -> 0 candidate(s)
I0419 21:01:22.005034 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:22.006160 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:22.006296 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292819094698.
I0419 21:01:22.009749 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.23523, 0.558588)
I0419 21:01:22.009975 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292819421143.
I0419 21:01:22.011060 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.8509, -2.38084), points=4, range=2.53, residual=0.00962154, extent=0.0231739
I0419 21:01:22.011176 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.8509, -2.38084), tracking=(-1.1494, 2.38084), map_predicted=(18.5999, -4.32242), range=2.53, pts=4
I0419 21:01:22.011214 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23379m maha_sq=451.186 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5999, -4.32242) lm_pos=(15.915, -2.52) delta=(2.6849, -1.80242) -> 0 candidate(s)
I0419 21:01:22.012280 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:22.012356 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:22.012449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292819701141.
I0419 21:01:22.015128 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22994, 0.558339)
I0419 21:01:22.015257 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.275 deg, rms_residual=0.00899532m, sigma_yaw=0.0118516 rad, N=2
I0419 21:01:22.015297 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4346, -1.94996, -179.275deg) inliers=2 rms=0.00899532m
I0419 21:01:22.015329 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292819971752.
I0419 21:01:22.016227 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.903472, -0.584842), points=5, range=1.0768, residual=0.00604209, extent=0.0154047
I0419 21:01:22.016273 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.903472, -0.584842), tracking=(-1.20197, 0.584842), map_predicted=(18.6381, -2.52666), range=1.0768, pts=5
I0419 21:01:22.016299 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18628m maha_sq=207.904 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6381, -2.52666) lm_pos=(16.815, -1.32) delta=(1.82312, -1.20666) -> 0 candidate(s)
I0419 21:01:22.096107 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292820260851.
I0419 21:01:22.098618 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.09436, -0.653663)
I0419 21:01:22.098801 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292820580477.
I0419 21:01:22.100606 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908087, -0.587835), points=5, range=1.0792, residual=0.00774532, extent=0.0203231
I0419 21:01:22.100690 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.908087, -0.587835), tracking=(-1.20659, 0.587835), map_predicted=(18.645, -2.52995), range=1.0792, pts=5
I0419 21:01:22.100719 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19384m maha_sq=208.851 (gate chi2=5.99) pose_sigma=(0.150102, 0.150102, rho=0) det_map=(18.645, -2.52995) lm_pos=(16.815, -1.32) delta=(1.83001, -1.20995) -> 0 candidate(s)
I0419 21:01:22.101802 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00216767 range=1.3545 variance=0.000535737 t_weight=5599.76 r_weight=0 yaml=(15.915, -2.52) prior=(17.434, -1.95121, -179.569deg) obs_actual=(1.52938, 0.560925) obs_expected=(1.52328, 0.557353) delta=(0.00610214, 0.00357274) |delta|=0.00707111m
I0419 21:01:22.101920 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292820855233.
I0419 21:01:22.102751 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.907459, -0.58741)
I0419 21:01:22.118633 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292821178264.
I0419 21:01:22.129586 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059052s, prior_pose=(17.4336, -1.9506), yaw=-179.57 deg
I0419 21:01:22.129701 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1164, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:01:22.129805 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905599, -0.588081), points=6, range=1.07617, residual=0.0115435, extent=0.0311742
I0419 21:01:22.129868 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.905599, -0.588081), tracking=(-1.2041, 0.588081), map_predicted=(18.6421, -2.52964), range=1.07617, pts=6
I0419 21:01:22.129895 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19125m maha_sq=207.976 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6421, -2.52964) lm_pos=(16.815, -1.32) delta=(1.82712, -1.20964) -> 0 candidate(s)
I0419 21:01:22.146404 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292821457927.
I0419 21:01:22.220821 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.906902, -0.587043)
I0419 21:01:22.221917 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292821736424.
I0419 21:01:22.222716 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:22.222777 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:22.222810 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:22.224714 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.342383, 2.36129), points=5, range=2.386, residual=0.0104891, extent=0.0278457
I0419 21:01:22.224800 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.342383, 2.36129), tracking=(0.640883, 2.36129), map_predicted=(16.8099, -4.31617), range=2.386, pts=5
I0419 21:01:22.224828 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=2.00675m maha_sq=173.543 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(16.8099, -4.31617) lm_pos=(15.915, -2.52) delta=(0.894884, -1.79617) -> 0 candidate(s)
I0419 21:01:22.225314 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:22.225623 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.907462, -0.586804)
I0419 21:01:22.235339 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292822347167.
I0419 21:01:22.261775 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:22.261871 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44899, 4.18844), points=3, range=4.43067, residual=0.0125525, extent=0.0260812
I0419 21:01:22.261893 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:22.261911 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.44899, 4.18844), tracking=(-1.15049, 4.18844), map_predicted=(18.6147, -6.12958), range=4.43067, pts=3
I0419 21:01:22.261937 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.50749m maha_sq=861.654 (gate chi2=5.99) pose_sigma=(0.150021, 0.150021, rho=0) det_map=(18.6147, -6.12958) lm_pos=(15.915, -2.52) delta=(2.6997, -3.60958) -> 0 candidate(s)
I0419 21:01:22.262023 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292822613256.
I0419 21:01:22.278074 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.855015, -2.3814)
I0419 21:01:22.357199 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:22.357323 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:22.357352 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292822935463.
I0419 21:01:22.359810 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292823212512.
I0419 21:01:22.362215 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.858145, -4.18669)
I0419 21:01:22.362323 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.941792, -2.35068), points=5, range=2.5324, residual=0.0104295, extent=0.0294837
I0419 21:01:22.362353 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.941792, -2.35068), tracking=(0.643292, 2.35068), map_predicted=(16.8096, -4.3061), range=2.5324, pts=5
I0419 21:01:22.362381 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99764m maha_sq=171.973 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(16.8096, -4.3061) lm_pos=(15.915, -2.52) delta=(0.894645, -1.7861) -> 0 candidate(s)
I0419 21:01:22.363457 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292823496453.
I0419 21:01:22.382540 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:01:22.382684 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292823818029.
I0419 21:01:22.394289 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851709, -4.18622)
I0419 21:01:22.394416 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854929, -2.38116), points=5, range=2.5316, residual=0.0119206, extent=0.0308217
I0419 21:01:22.394448 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.854929, -2.38116), tracking=(-1.15343, 2.38116), map_predicted=(18.6055, -4.32371), range=2.5316, pts=5
I0419 21:01:22.394479 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.23915m maha_sq=451.713 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6055, -4.32371) lm_pos=(15.915, -2.52) delta=(2.69049, -1.80371) -> 0 candidate(s)
I0419 21:01:22.410530 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00416588 range=1.35075 variance=0.00053646 t_weight=5592.22 r_weight=0 yaml=(15.915, -2.52) prior=(17.4331, -1.95182, -179.543deg) obs_actual=(1.53221, 0.557903) obs_expected=(1.52259, 0.55606) delta=(0.0096215, 0.00184225) |delta|=0.00979628m
I0419 21:01:22.410758 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292824099098.
I0419 21:01:22.410892 1232263 collated_trajectory_builder.cc:82] imu rate: 170.91 Hz 5.85e-03 s +/- 7.64e-03 s (pulsed at 100.41% real time)
I0419 21:01:22.411003 1232263 collated_trajectory_builder.cc:82] odom rate: 213.14 Hz 4.69e-03 s +/- 5.12e-03 s (pulsed at 100.05% real time)
I0419 21:01:22.411108 1232263 collated_trajectory_builder.cc:82] scan_1 rate: 30.58 Hz 3.27e-02 s +/- 1.03e-02 s (pulsed at 100.28% real time)
I0419 21:01:22.411137 1232263 collated_trajectory_builder.cc:82] scan_2 rate: 29.45 Hz 3.40e-02 s +/- 1.27e-02 s (pulsed at 100.35% real time)
I0419 21:01:22.485563 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399035s, prior_pose=(17.4308, -1.9378), yaw=-179.51 deg
I0419 21:01:22.485679 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1145, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:01:22.487643 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292824373205.
I0419 21:01:22.488732 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.947845, -4.16072)
I0419 21:01:22.488812 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.853169, -2.37622), points=5, range=2.5272, residual=0.0137599, extent=0.0367126
I0419 21:01:22.488885 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.853169, -2.37622), tracking=(-1.15167, 2.37622), map_predicted=(18.6027, -4.30409), range=2.5272, pts=5
I0419 21:01:22.488909 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.22596m maha_sq=447.143 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6027, -4.30409) lm_pos=(15.915, -2.52) delta=(2.68772, -1.78409) -> 0 candidate(s)
I0419 21:01:22.490926 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292824693717.
I0419 21:01:22.491823 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:22.491904 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:22.491937 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:22.491962 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:22.498241 1218970 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.46273, 4.18867)
I0419 21:01:22.498373 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:22.498498 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292824976794.
I0419 21:01:22.510243 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.857717, -2.37804), points=4, range=2.526, residual=0.0104635, extent=0.025595
I0419 21:01:22.510334 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.857717, -2.37804), tracking=(-1.15622, 2.37804), map_predicted=(18.6077, -4.31305), range=2.526, pts=4
I0419 21:01:22.510367 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2351m maha_sq=449.967 (gate chi2=5.99) pose_sigma=(0.150217, 0.150217, rho=0) det_map=(18.6077, -4.31305) lm_pos=(15.915, -2.52) delta=(2.69274, -1.79305) -> 0 candidate(s)
I0419 21:01:22.615684 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.4615, 4.18515)
I0419 21:01:22.615788 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:22.615821 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:22.615909 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292825579539.
I0419 21:01:22.617691 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.30691, -0.643347), points=16, range=0.716375, residual=0.0138468, extent=0.0442064
I0419 21:01:22.617786 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.30691, -0.643347), tracking=(0.60541, -0.643347), map_predicted=(16.8228, -1.31151), range=0.716375, pts=16
I0419 21:01:22.617817 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0115386m maha_sq=0.00575626 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8228, -1.31151) lm_pos=(16.815, -1.32) delta=(0.00781618, 0.00848805) -> 1 candidate(s)
I0419 21:01:22.617899 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292825860207.
I0419 21:01:22.619112 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.434, -1.94904), yaw=-179.497 deg backend=(17.4353, -1.95512)
I0419 21:01:22.620657 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45475, 4.18537)
I0419 21:01:22.620795 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292826180267.
I0419 21:01:22.646486 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23199, 0.559271), points=5, range=1.3482, residual=0.0129176, extent=0.0311926
I0419 21:01:22.646595 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23199, 0.559271), tracking=(1.53049, 0.559271), map_predicted=(15.9084, -2.52174), range=1.3482, pts=5
I0419 21:01:22.646631 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00683611m maha_sq=0.00201962 (gate chi2=5.99) pose_sigma=(0.150006, 0.150006, rho=0) det_map=(15.9084, -2.52174) lm_pos=(15.915, -2.52) delta=(-0.00661222, -0.00173522) -> 1 candidate(s)
I0419 21:01:22.646696 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.32 deg, rms_residual=0.00815911m, sigma_yaw=0.0107617 rad, N=2
I0419 21:01:22.646759 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4338, -1.94912, -179.32deg) inliers=2 rms=0.00815911m
I0419 21:01:22.646799 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292826459661.
I0419 21:01:22.674238 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-1.46166, 4.1856)
I0419 21:01:22.674629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292826733046.
I0419 21:01:22.771740 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22672, 0.561202), points=3, range=1.34467, residual=0.008386, extent=0.0151658
I0419 21:01:22.771871 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22672, 0.561202), tracking=(1.52522, 0.561202), map_predicted=(15.9146, -2.52001), range=1.34467, pts=3
I0419 21:01:22.771899 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.000408341m maha_sq=7.21885e-06 (gate chi2=5.99) pose_sigma=(0.150192, 0.150192, rho=0) det_map=(15.9146, -2.52001) lm_pos=(15.915, -2.52) delta=(-0.000408243, -8.96645e-06) -> 1 candidate(s)
I0419 21:01:22.771994 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292827057654.
I0419 21:01:22.772805 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0713163s, prior_pose=(17.4354, -1.94697), yaw=-179.555 deg
I0419 21:01:22.772873 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1182, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:01:22.774996 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46496, 4.19506)
I0419 21:01:22.775116 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.000355117 range=1.344 variance=0.000650131 t_weight=4614.46 r_weight=0 yaml=(15.915, -2.52) prior=(17.4348, -1.94991, -179.554deg) obs_actual=(1.52665, 0.559681) obs_expected=(1.52416, 0.558244) delta=(0.0024862, 0.0014366) |delta|=0.00287141m
I0419 21:01:22.775193 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292827338302.
I0419 21:01:22.776907 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44948, 4.18985), points=3, range=4.43233, residual=0.0125137, extent=0.0259553
I0419 21:01:22.776969 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.44948, 4.18985), tracking=(-1.15098, 4.18985), map_predicted=(18.6183, -6.13067), range=4.43233, pts=3
I0419 21:01:22.776997 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.51054m maha_sq=863.073 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6183, -6.13067) lm_pos=(15.915, -2.52) delta=(2.70334, -3.61067) -> 0 candidate(s)
I0419 21:01:22.778841 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:22.778911 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:22.778944 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:22.794695 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45706, 4.19198)
I0419 21:01:22.795002 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292827938864.
I0419 21:01:22.883455 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292828213170.
I0419 21:01:22.884370 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858792, -4.18989), points=3, range=4.27233, residual=0.0147491, extent=0.030687
I0419 21:01:22.884472 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.858792, -4.18989), tracking=(-1.15729, 4.18989), map_predicted=(18.6272, -6.1303), range=4.27233, pts=3
I0419 21:01:22.884503 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51559m maha_sq=864.048 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6272, -6.1303) lm_pos=(15.915, -2.52) delta=(2.71224, -3.6103) -> 0 candidate(s)
I0419 21:01:22.885664 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.352215, 4.16512)
I0419 21:01:22.885752 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:22.885777 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:22.885878 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292828499346.
I0419 21:01:22.889179 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292828817676.
I0419 21:01:22.894869 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.872092, -4.19276), points=3, range=4.27933, residual=0.0131235, extent=0.0268222
I0419 21:01:22.895002 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.872092, -4.19276), tracking=(-1.17059, 4.19276), map_predicted=(18.6403, -6.13297), range=4.27933, pts=3
I0419 21:01:22.895061 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52558m maha_sq=869.491 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6403, -6.13297) lm_pos=(15.915, -2.52) delta=(2.72531, -3.61297) -> 0 candidate(s)
I0419 21:01:22.910789 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.335824, 2.36451)
I0419 21:01:22.911078 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292829100434.
I0419 21:01:22.939441 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:22.939601 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:22.939630 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292829388082.
I0419 21:01:23.027092 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858993, -4.19087), points=3, range=4.279, residual=0.0124755, extent=0.0258512
I0419 21:01:23.027211 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.858993, -4.19087), tracking=(-1.15749, 4.19087), map_predicted=(18.6247, -6.13263), range=4.279, pts=3
I0419 21:01:23.027243 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51591m maha_sq=865.968 (gate chi2=5.99) pose_sigma=(0.150038, 0.150038, rho=0) det_map=(18.6247, -6.13263) lm_pos=(15.915, -2.52) delta=(2.70968, -3.61263) -> 0 candidate(s)
I0419 21:01:23.028321 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.339036, 2.36238)
I0419 21:01:23.028445 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 21:01:23.031384 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292829971980.
I0419 21:01:23.032402 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561968s, prior_pose=(17.4331, -1.95149), yaw=-179.534 deg
I0419 21:01:23.032503 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1228, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:01:23.032580 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905919, -0.586415), points=7, range=1.07643, residual=0.0106706, extent=0.0312304
I0419 21:01:23.032610 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.905919, -0.586415), tracking=(-1.20442, 0.586415), map_predicted=(18.6422, -2.5281), range=1.07643, pts=7
I0419 21:01:23.032636 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1905m maha_sq=208.009 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6422, -2.5281) lm_pos=(16.815, -1.32) delta=(1.82724, -1.2081) -> 0 candidate(s)
I0419 21:01:23.033669 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338735, 2.3604)
I0419 21:01:23.039088 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:23.054906 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292830540924.
I0419 21:01:23.070029 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:23.070116 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:23.070153 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:23.070174 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:23.144016 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.342705, 2.36352)
I0419 21:01:23.144152 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:23.144228 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292830856000.
I0419 21:01:23.145061 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935197, -2.35403), points=4, range=2.533, residual=0.00902414, extent=0.0221045
I0419 21:01:23.145145 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.935197, -2.35403), tracking=(0.636697, 2.35403), map_predicted=(16.8141, -4.30754), range=2.533, pts=4
I0419 21:01:23.145174 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00094m maha_sq=172.822 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8141, -4.30754) lm_pos=(15.915, -2.52) delta=(0.899133, -1.78754) -> 0 candidate(s)
I0419 21:01:23.146157 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00379527 range=1.3502 variance=0.00053986 t_weight=5557 r_weight=0 yaml=(15.915, -2.52) prior=(17.4312, -1.94829, -179.523deg) obs_actual=(1.53026, 0.559176) obs_expected=(1.52091, 0.559061) delta=(0.00935036, 0.000115123) |delta|=0.00935107m
I0419 21:01:23.146237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292831138881.
I0419 21:01:23.149281 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.23017, 0.558445)
I0419 21:01:23.149380 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:23.149403 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:23.149488 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292831452193.
I0419 21:01:23.158057 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.947918, -4.16105), points=4, range=4.26775, residual=0.0152426, extent=0.0372901
I0419 21:01:23.158160 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.947918, -4.16105), tracking=(0.649418, 4.16105), map_predicted=(16.8173, -6.11519), range=4.26775, pts=4
I0419 21:01:23.158192 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70669m maha_sq=581.871 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8173, -6.11519) lm_pos=(15.915, -2.52) delta=(0.902275, -3.59519) -> 0 candidate(s)
I0419 21:01:23.174484 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292831738971.
I0419 21:01:23.205729 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22264, 0.559297)
I0419 21:01:23.205971 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292832052341.
I0419 21:01:23.278964 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852241, -4.18884), points=3, range=4.27467, residual=0.0123003, extent=0.0301234
I0419 21:01:23.279086 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.852241, -4.18884), tracking=(-1.15074, 4.18884), map_predicted=(18.6181, -6.13153), range=4.27467, pts=3
I0419 21:01:23.279119 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5111m maha_sq=862.865 (gate chi2=5.99) pose_sigma=(0.15017, 0.15017, rho=0) det_map=(18.6181, -6.13153) lm_pos=(15.915, -2.52) delta=(2.70313, -3.61153) -> 0 candidate(s)
I0419 21:01:23.280452 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292832337174.
I0419 21:01:23.283277 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311811, -0.646202)
I0419 21:01:23.283499 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292832612912.
I0419 21:01:23.284361 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.844721, -4.18306), points=3, range=4.27167, residual=0.0143922, extent=0.030109
I0419 21:01:23.284435 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.844721, -4.18306), tracking=(-1.14322, 4.18306), map_predicted=(18.6106, -6.1259), range=4.27167, pts=3
I0419 21:01:23.284461 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50207m maha_sq=859.264 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6106, -6.1259) lm_pos=(15.915, -2.52) delta=(2.69556, -3.6059) -> 0 candidate(s)
I0419 21:01:23.290482 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292832899379.
I0419 21:01:23.306191 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445451s, prior_pose=(17.4338, -1.95141), yaw=-179.53 deg
I0419 21:01:23.306298 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1204, max_intensity=253, threshold=230, above_threshold=22, candidates=22
I0419 21:01:23.322144 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.310942, -0.644401)
I0419 21:01:23.322307 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.279 deg, rms_residual=0.00693535m, sigma_yaw=0.00916241 rad, N=2
I0419 21:01:23.322378 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4335, -1.94954, -179.279deg) inliers=2 rms=0.00693535m
I0419 21:01:23.322418 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292833216820.
I0419 21:01:23.334367 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905989, -0.586475), points=5, range=1.0768, residual=0.00770704, extent=0.0203087
I0419 21:01:23.334471 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.905989, -0.586475), tracking=(-1.20449, 0.586475), map_predicted=(18.643, -2.52798), range=1.0768, pts=5
I0419 21:01:23.334508 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19109m maha_sq=208.612 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.643, -2.52798) lm_pos=(16.815, -1.32) delta=(1.82802, -1.20798) -> 0 candidate(s)
I0419 21:01:23.422276 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292833494481.
I0419 21:01:23.423225 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:23.423285 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.900031, -0.586301)
I0419 21:01:23.423302 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:23.423328 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:23.424222 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292833779579.
I0419 21:01:23.426848 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.309708, -0.644396), points=16, range=0.7165, residual=0.0127432, extent=0.0455402
I0419 21:01:23.426923 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.309708, -0.644396), tracking=(0.608208, -0.644396), map_predicted=(16.8211, -1.31245), range=0.7165, pts=16
I0419 21:01:23.426949 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00967883m maha_sq=0.00405207 (gate chi2=5.99) pose_sigma=(0.150063, 0.150063, rho=0) det_map=(16.8211, -1.31245) lm_pos=(16.815, -1.32) delta=(0.00605086, 0.00755426) -> 1 candidate(s)
I0419 21:01:23.426992 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0014643 range=1.34567 variance=0.000590535 t_weight=5080.14 r_weight=0 yaml=(15.915, -2.52) prior=(17.4345, -1.95183, -179.53deg) obs_actual=(1.52913, 0.558662) obs_expected=(1.52413, 0.555691) delta=(0.00500146, 0.00297059) |delta|=0.00581713m
I0419 21:01:23.427039 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292834094629.
I0419 21:01:23.427845 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.859072, -2.38179)
I0419 21:01:23.438063 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:23.438329 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:23.438472 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292834375788.
I0419 21:01:23.466868 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23068, 0.55653), points=4, range=1.34725, residual=0.00838628, extent=0.0175058
I0419 21:01:23.467041 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23068, 0.55653), tracking=(1.52918, 0.55653), map_predicted=(15.9098, -2.52102), range=1.34725, pts=4
I0419 21:01:23.467090 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00529286m maha_sq=0.00121587 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9098, -2.52102) lm_pos=(15.915, -2.52) delta=(-0.00519374, -0.00101953) -> 1 candidate(s)
I0419 21:01:23.467247 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292834662652.
I0419 21:01:23.575212 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4311, -1.95208), yaw=-179.51 deg backend=(17.4309, -1.95413)
I0419 21:01:23.576103 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.85941, -2.38274)
I0419 21:01:23.577306 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292834985976.
I0419 21:01:23.581231 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.85719, -2.37651)
I0419 21:01:23.581348 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.947846, -4.16072), points=4, range=4.26775, residual=0.0153618, extent=0.0375663
I0419 21:01:23.581384 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.947846, -4.16072), tracking=(0.649346, 4.16072), map_predicted=(16.8172, -6.11817), range=4.26775, pts=4
I0419 21:01:23.581409 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70954m maha_sq=582.529 (gate chi2=5.99) pose_sigma=(0.15002, 0.15002, rho=0) det_map=(16.8172, -6.11817) lm_pos=(15.915, -2.52) delta=(0.902159, -3.59817) -> 0 candidate(s)
I0419 21:01:23.582546 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:01:23.582666 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292835537789.
I0419 21:01:23.586151 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292835855912.
I0419 21:01:23.598239 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0726294s, prior_pose=(17.4313, -1.95182), yaw=-179.506 deg
I0419 21:01:23.598345 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1197, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:01:23.598431 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.859194, -4.19185)
I0419 21:01:23.598464 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942932, -4.16714), points=3, range=4.27233, residual=0.0119086, extent=0.0248534
I0419 21:01:23.598488 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.942932, -4.16714), tracking=(0.644432, 4.16714), map_predicted=(16.8228, -6.12436), range=4.27233, pts=3
I0419 21:01:23.598512 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71692m maha_sq=587.315 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8228, -6.12436) lm_pos=(15.915, -2.52) delta=(0.907777, -3.60436) -> 0 candidate(s)
I0419 21:01:23.669566 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:23.669719 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:23.669746 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292836176655.
I0419 21:01:23.670562 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:23.671533 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292836421704.
I0419 21:01:23.673339 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:23.673411 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851905, -4.1872)
I0419 21:01:23.673429 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:23.673455 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.901818, -0.589376), points=4, range=1.07925, residual=0.00727957, extent=0.0180684
I0419 21:01:23.673477 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:23.673492 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.901818, -0.589376), tracking=(-1.20032, 0.589376), map_predicted=(18.6361, -2.53187), range=1.07925, pts=4
I0419 21:01:23.673512 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18749m maha_sq=207.793 (gate chi2=5.99) pose_sigma=(0.15007, 0.15007, rho=0) det_map=(18.6361, -2.53187) lm_pos=(16.815, -1.32) delta=(1.82112, -1.21187) -> 0 candidate(s)
I0419 21:01:23.673532 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:23.674564 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:23.674669 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292836736896.
I0419 21:01:23.702924 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292837019345.
I0419 21:01:23.714188 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.864881, -4.18863)
I0419 21:01:23.734345 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:23.734436 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23472, 0.560524), points=3, range=1.35133, residual=0.00895175, extent=0.0169303
I0419 21:01:23.734455 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:23.734475 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23472, 0.560524), tracking=(1.53322, 0.560524), map_predicted=(15.9037, -2.52652), range=1.35133, pts=3
I0419 21:01:23.734503 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0130651m maha_sq=0.00740526 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9037, -2.52652) lm_pos=(15.915, -2.52) delta=(-0.0113212, -0.00652127) -> 1 candidate(s)
I0419 21:01:23.734567 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00740526 range=1.35133 variance=0.000550786 t_weight=5446.76 r_weight=0 yaml=(15.915, -2.52) prior=(17.4318, -1.95222, -179.484deg) obs_actual=(1.53322, 0.560524) obs_expected=(1.52185, 0.554105) delta=(0.0113795, 0.00641909) |delta|=0.0130651m
I0419 21:01:23.734619 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292837338630.
I0419 21:01:23.809101 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292837629562.
I0419 21:01:23.809934 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.954825, -4.16341)
I0419 21:01:23.810002 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:23.811707 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351775, 4.15981), points=4, range=4.18, residual=0.018996, extent=0.0466106
I0419 21:01:23.811810 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.351775, 4.15981), tracking=(0.650275, 4.15981), map_predicted=(16.8192, -6.1157), range=4.18, pts=4
I0419 21:01:23.811836 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.70765m maha_sq=578.573 (gate chi2=5.99) pose_sigma=(0.150123, 0.150123, rho=0) det_map=(16.8192, -6.1157) lm_pos=(15.915, -2.52) delta=(0.90421, -3.5957) -> 0 candidate(s)
I0419 21:01:23.811906 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292837893867.
I0419 21:01:23.821333 1232263 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-1.46018, 4.18137)
I0419 21:01:23.821524 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292838206984.
I0419 21:01:23.850453 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292838499162.
I0419 21:01:23.861881 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.961066, -4.16282), points=4, range=4.27125, residual=0.0153741, extent=0.0376009
I0419 21:01:23.861984 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.961066, -4.16282), tracking=(0.662566, 4.16282), map_predicted=(16.806, -6.1199), range=4.27125, pts=4
I0419 21:01:23.862015 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70853m maha_sq=582.332 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.806, -6.1199) lm_pos=(15.915, -2.52) delta=(0.891022, -3.5999) -> 0 candidate(s)
I0419 21:01:23.943495 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45891, 4.19734)
I0419 21:01:23.943709 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292838782256.
I0419 21:01:23.944641 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565878s, prior_pose=(17.4319, -1.9448), yaw=-179.478 deg
I0419 21:01:23.944705 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1199, max_intensity=252, threshold=230, above_threshold=19, candidates=19
I0419 21:01:23.946014 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292839101603.
I0419 21:01:23.948241 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858794, -4.18989), points=3, range=4.27167, residual=0.0156042, extent=0.0325352
I0419 21:01:23.948362 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.858794, -4.18989), tracking=(-1.15729, 4.18989), map_predicted=(18.6285, -6.12583), range=4.27167, pts=3
I0419 21:01:23.948393 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51274m maha_sq=860.235 (gate chi2=5.99) pose_sigma=(0.150163, 0.150163, rho=0) det_map=(18.6285, -6.12583) lm_pos=(15.915, -2.52) delta=(2.71346, -3.60583) -> 0 candidate(s)
I0419 21:01:23.949537 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46133, 4.18468)
I0419 21:01:23.949645 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.351 deg, rms_residual=0.00870684m, sigma_yaw=0.0114759 rad, N=2
I0419 21:01:23.949683 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4362, -1.95146, -179.351deg) inliers=2 rms=0.00870684m
I0419 21:01:23.949733 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292839378355.
I0419 21:01:23.950719 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:23.950781 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:23.950853 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:23.966573 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292839659553.
I0419 21:01:23.982281 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.861852, -2.37868), points=3, range=2.52733, residual=0.00857478, extent=0.0177801
I0419 21:01:23.982363 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.861852, -2.37868), tracking=(-1.16035, 2.37868), map_predicted=(18.616, -4.31611), range=2.52733, pts=3
I0419 21:01:23.982393 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24364m maha_sq=454.317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.616, -4.31611) lm_pos=(15.915, -2.52) delta=(2.70096, -1.79611) -> 0 candidate(s)
I0419 21:01:23.995389 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46183, 4.18609)
I0419 21:01:23.995726 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292839947645.
I0419 21:01:24.079427 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:24.079548 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:24.079624 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00348148 range=1.3525 variance=0.000526678 t_weight=5696.08 r_weight=0 yaml=(15.915, -2.52) prior=(17.4348, -1.94987, -179.514deg) obs_actual=(1.53343, 0.558451) obs_expected=(1.52455, 0.557228) delta=(0.00887821, 0.00122328) |delta|=0.00896209m
I0419 21:01:24.079705 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292840255802.
I0419 21:01:24.080813 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.90713, -0.585347), points=6, range=1.078, residual=0.00706865, extent=0.0185594
I0419 21:01:24.080888 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.90713, -0.585347), tracking=(-1.20563, 0.585347), map_predicted=(18.6453, -2.52498), range=1.078, pts=6
I0419 21:01:24.080921 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19136m maha_sq=208.749 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6453, -2.52498) lm_pos=(16.815, -1.32) delta=(1.83032, -1.20498) -> 0 candidate(s)
I0419 21:01:24.083151 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352189, 4.16479)
I0419 21:01:24.083323 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292840554455.
I0419 21:01:24.114634 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.358591, 4.16808)
I0419 21:01:24.114746 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22906, 0.560101), points=4, range=1.345, residual=0.0127861, extent=0.0276014
I0419 21:01:24.114781 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22906, 0.560101), tracking=(1.52756, 0.560101), map_predicted=(15.912, -2.52342), range=1.345, pts=4
I0419 21:01:24.114812 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00453561m maha_sq=0.000888784 (gate chi2=5.99) pose_sigma=(0.150041, 0.150041, rho=0) det_map=(15.912, -2.52342) lm_pos=(15.915, -2.52) delta=(-0.00298386, -0.0034159) -> 1 candidate(s)
I0419 21:01:24.114928 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292841141740.
I0419 21:01:24.224144 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 21:01:24.226106 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.351933, 4.1618)
I0419 21:01:24.226212 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351933, 4.1618), points=3, range=4.17667, residual=0.0100649, extent=0.0246277
I0419 21:01:24.226234 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.351933, 4.1618), tracking=(0.650433, 4.1618), map_predicted=(16.8224, -6.11827), range=4.17667, pts=3
I0419 21:01:24.226254 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71093m maha_sq=585.981 (gate chi2=5.99) pose_sigma=(0.150128, 0.150128, rho=0) det_map=(16.8224, -6.11827) lm_pos=(15.915, -2.52) delta=(0.907415, -3.59827) -> 0 candidate(s)
I0419 21:01:24.226352 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292841736204.
I0419 21:01:24.228129 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0438357s, prior_pose=(17.4358, -1.95091), yaw=-179.499 deg
I0419 21:01:24.228242 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1202, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 21:01:24.229369 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292842018591.
I0419 21:01:24.233789 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352017, 4.1628)
I0419 21:01:24.233976 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292842333929.
I0419 21:01:24.243649 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:24.243741 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:24.243773 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.941793, -2.35068), points=4, range=2.53275, residual=0.00907145, extent=0.0221948
I0419 21:01:24.243798 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:24.243813 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.941793, -2.35068), tracking=(0.643293, 2.35068), map_predicted=(16.8126, -4.30721), range=2.53275, pts=4
I0419 21:01:24.243835 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99995m maha_sq=172.646 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8126, -4.30721) lm_pos=(15.915, -2.52) delta=(0.897596, -1.78721) -> 0 candidate(s)
I0419 21:01:24.243856 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:24.263341 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:24.264258 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:24.264436 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:24.264489 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292842624317.
I0419 21:01:24.377592 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352127, 4.16413)
I0419 21:01:24.377784 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292842893592.
I0419 21:01:24.378541 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.849225, -2.37613), points=4, range=2.52575, residual=0.0107014, extent=0.0261133
I0419 21:01:24.378597 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.849225, -2.37613), tracking=(-1.14772, 2.37613), map_predicted=(18.6013, -4.31545), range=2.52575, pts=4
I0419 21:01:24.378652 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.23109m maha_sq=450.018 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6013, -4.31545) lm_pos=(15.915, -2.52) delta=(2.68632, -1.79545) -> 0 candidate(s)
I0419 21:01:24.380318 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:24.380369 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:24.380437 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292843172653.
I0419 21:01:24.382344 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338649, 2.3598)
I0419 21:01:24.382464 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292843497842.
I0419 21:01:24.383596 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4335, -1.95021), yaw=-179.486 deg backend=(17.4324, -1.95212)
I0419 21:01:24.384891 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.907466, -0.585564), points=6, range=1.07817, residual=0.00734245, extent=0.0197091
I0419 21:01:24.385037 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.907466, -0.585564), tracking=(-1.20597, 0.585564), map_predicted=(18.6447, -2.52493), range=1.07817, pts=6
I0419 21:01:24.385197 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19079m maha_sq=208.517 (gate chi2=5.99) pose_sigma=(0.150032, 0.150032, rho=0) det_map=(18.6447, -2.52493) lm_pos=(16.815, -1.32) delta=(1.82967, -1.20493) -> 0 candidate(s)
I0419 21:01:24.386934 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0024717 range=1.34975 variance=0.000528304 t_weight=5678.55 r_weight=0 yaml=(15.915, -2.52) prior=(17.4335, -1.95021, -179.486deg) obs_actual=(1.531, 0.557354) obs_expected=(1.52355, 0.556151) delta=(0.00744945, 0.00120345) |delta|=0.00754604m
I0419 21:01:24.387171 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292843773292.
I0419 21:01:24.471342 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338712, 2.3602)
I0419 21:01:24.471535 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292844096363.
I0419 21:01:24.473253 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2329, 0.559697), points=3, range=1.35, residual=0.00792325, extent=0.0151838
I0419 21:01:24.473322 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2329, 0.559697), tracking=(1.5314, 0.559697), map_predicted=(15.9078, -2.52516), range=1.35, pts=3
I0419 21:01:24.473351 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00884059m maha_sq=0.00339317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9078, -2.52516) lm_pos=(15.915, -2.52) delta=(-0.00717531, -0.0051644) -> 1 candidate(s)
I0419 21:01:24.473425 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292844375345.
I0419 21:01:24.475981 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.2288, 0.557829)
I0419 21:01:24.476112 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292844656109.
I0419 21:01:24.478696 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0683588s, prior_pose=(17.4344, -1.9515), yaw=-179.494 deg
I0419 21:01:24.478866 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1201, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:01:24.498184 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.349251, 2.36029), points=5, range=2.3866, residual=0.0105591, extent=0.0278573
I0419 21:01:24.498365 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.349251, 2.36029), tracking=(0.647751, 2.36029), map_predicted=(16.8071, -4.31693), range=2.3866, pts=5
I0419 21:01:24.498432 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.0062m maha_sq=173.547 (gate chi2=5.99) pose_sigma=(0.150043, 0.150043, rho=0) det_map=(16.8071, -4.31693) lm_pos=(15.915, -2.52) delta=(0.892133, -1.79693) -> 0 candidate(s)
I0419 21:01:24.498674 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292844972566.
I0419 21:01:24.510425 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.906479, -0.586776)
I0419 21:01:24.526458 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292845254892.
I0419 21:01:24.635730 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:24.635854 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:24.635890 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:24.636826 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:24.636940 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292845532335.
I0419 21:01:24.637871 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.857945, -2.37867)
I0419 21:01:24.637925 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935933, -2.35589), points=4, range=2.53425, residual=0.00923392, extent=0.0226757
I0419 21:01:24.637954 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.935933, -2.35589), tracking=(0.637433, 2.35589), map_predicted=(16.8194, -4.31195), range=2.53425, pts=4
I0419 21:01:24.637979 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00725m maha_sq=173.885 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8194, -4.31195) lm_pos=(15.915, -2.52) delta=(0.904424, -1.79195) -> 0 candidate(s)
I0419 21:01:24.639688 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.291 deg, rms_residual=0.00835598m, sigma_yaw=0.0110185 rad, N=2
I0419 21:01:24.639770 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.434, -1.95044, -179.291deg) inliers=2 rms=0.00835598m
I0419 21:01:24.639803 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292845860026.
I0419 21:01:24.641513 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:24.641577 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:24.641644 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292846137702.
I0419 21:01:24.643234 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851843, -4.18688)
I0419 21:01:24.643288 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.948063, -4.1617), points=3, range=4.26833, residual=0.0102131, extent=0.0248474
I0419 21:01:24.643313 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.948063, -4.1617), tracking=(0.649563, 4.1617), map_predicted=(16.8226, -6.11994), range=4.26833, pts=3
I0419 21:01:24.643361 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71259m maha_sq=585.362 (gate chi2=5.99) pose_sigma=(0.150206, 0.150206, rho=0) det_map=(16.8226, -6.11994) lm_pos=(15.915, -2.52) delta=(0.907606, -3.59994) -> 0 candidate(s)
I0419 21:01:24.644338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292846422235.
I0419 21:01:24.731536 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00118893 range=1.34325 variance=0.000656697 t_weight=4568.32 r_weight=0 yaml=(15.915, -2.52) prior=(17.4339, -1.95199, -179.496deg) obs_actual=(1.52604, 0.559403) obs_expected=(1.52386, 0.554629) delta=(0.0021814, 0.00477374) |delta|=0.00524853m
I0419 21:01:24.731676 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292846733386.
I0419 21:01:24.732472 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.858199, -4.18693)
I0419 21:01:24.732519 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.864951, -4.18895), points=4, range=4.274, residual=0.0168318, extent=0.0401805
I0419 21:01:24.732548 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.864951, -4.18895), tracking=(-1.16345, 4.18895), map_predicted=(18.6342, -6.13056), range=4.274, pts=4
I0419 21:01:24.732571 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51995m maha_sq=863.299 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6342, -6.13056) lm_pos=(15.915, -2.52) delta=(2.71916, -3.61056) -> 0 candidate(s)
I0419 21:01:24.733613 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292847021332.
I0419 21:01:24.736166 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:24.736254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292847295509.
I0419 21:01:24.742888 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.948658, -4.1643)
I0419 21:01:24.743291 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.86305, -2.38195), points=5, range=2.5322, residual=0.0120475, extent=0.0318219
I0419 21:01:24.743615 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.86305, -2.38195), tracking=(-1.16155, 2.38195), map_predicted=(18.6156, -4.32456), range=2.5322, pts=5
I0419 21:01:24.743700 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24799m maha_sq=454.122 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6156, -4.32456) lm_pos=(15.915, -2.52) delta=(2.70056, -1.80456) -> 0 candidate(s)
I0419 21:01:24.759006 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292847581287.
I0419 21:01:24.775106 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605334s, prior_pose=(17.434, -1.95141), yaw=-179.494 deg
I0419 21:01:24.775286 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1213, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:01:24.791227 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292847900747.
I0419 21:01:24.900906 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.948729, -4.16462)
I0419 21:01:24.901023 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.907636, -0.585669), points=6, range=1.079, residual=0.00677843, extent=0.0185962
I0419 21:01:24.901108 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.907636, -0.585669), tracking=(-1.20614, 0.585669), map_predicted=(18.6437, -2.52388), range=1.079, pts=6
I0419 21:01:24.901141 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18936m maha_sq=207.868 (gate chi2=5.99) pose_sigma=(0.150198, 0.150198, rho=0) det_map=(18.6437, -2.52388) lm_pos=(16.815, -1.32) delta=(1.82866, -1.20388) -> 0 candidate(s)
I0419 21:01:24.902144 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292848178176.
I0419 21:01:24.903096 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:24.903195 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:24.903229 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:24.903249 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:24.905230 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:24.905339 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:24.905400 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:24.905421 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292848501184.
I0419 21:01:24.906256 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938981, -2.35359)
I0419 21:01:24.907233 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23473, 0.560522), points=3, range=1.351, residual=0.00958108, extent=0.0187254
I0419 21:01:24.907308 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23473, 0.560522), tracking=(1.53323, 0.560522), map_predicted=(15.9037, -2.52601), range=1.351, pts=3
I0419 21:01:24.907336 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0128136m maha_sq=0.00711927 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9037, -2.52601) lm_pos=(15.915, -2.52) delta=(-0.0113186, -0.00600642) -> 1 candidate(s)
I0419 21:01:24.907421 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292848778653.
I0419 21:01:24.910094 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-1.46463, 4.19412)
I0419 21:01:24.910166 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:24.910187 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:24.910267 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292849066642.
I0419 21:01:25.019086 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351862, 4.1608), points=4, range=4.182, residual=0.020512, extent=0.0505749
I0419 21:01:25.019204 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.351862, 4.1608), tracking=(0.650362, 4.1608), map_predicted=(16.8228, -6.11827), range=4.182, pts=4
I0419 21:01:25.019235 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.711m maha_sq=578.149 (gate chi2=5.99) pose_sigma=(0.150124, 0.150124, rho=0) det_map=(16.8228, -6.11827) lm_pos=(15.915, -2.52) delta=(0.90776, -3.59827) -> 0 candidate(s)
I0419 21:01:25.019315 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292849377290.
I0419 21:01:25.021124 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.345947, 4.16288)
I0419 21:01:25.021224 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00201635 range=1.348 variance=0.000546746 t_weight=5487.01 r_weight=0 yaml=(15.915, -2.52) prior=(17.435, -1.95168, -179.475deg) obs_actual=(1.53004, 0.559076) obs_expected=(1.52511, 0.554369) delta=(0.00493049, 0.0047075) |delta|=0.00681691m
I0419 21:01:25.021291 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292849657848.
I0419 21:01:25.023881 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.4503, 4.19222), points=3, range=4.435, residual=0.0124974, extent=0.0258733
I0419 21:01:25.023949 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.4503, 4.19222), tracking=(-1.1518, 4.19222), map_predicted=(18.6249, -6.13259), range=4.435, pts=3
I0419 21:01:25.023974 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51598m maha_sq=864.602 (gate chi2=5.99) pose_sigma=(0.15005, 0.15005, rho=0) det_map=(18.6249, -6.13259) lm_pos=(15.915, -2.52) delta=(2.70985, -3.61259) -> 0 candidate(s)
I0419 21:01:25.024049 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292849937892.
I0419 21:01:25.026659 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(0.358399, 4.16611)
I0419 21:01:25.026786 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292850254351.
I0419 21:01:25.054999 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292850541767.
I0419 21:01:25.153892 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0444288s, prior_pose=(17.4354, -1.95214), yaw=-179.499 deg
I0419 21:01:25.154016 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1202, max_intensity=252, threshold=230, above_threshold=19, candidates=19
I0419 21:01:25.154105 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942381, -4.16471), points=3, range=4.26967, residual=0.0119321, extent=0.024836
I0419 21:01:25.154124 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:25.154138 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.942381, -4.16471), tracking=(0.643881, 4.16471), map_predicted=(16.8279, -6.12232), range=4.26967, pts=3
I0419 21:01:25.154258 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71621m maha_sq=586.021 (gate chi2=5.99) pose_sigma=(0.150143, 0.150143, rho=0) det_map=(16.8279, -6.12232) lm_pos=(15.915, -2.52) delta=(0.912945, -3.60232) -> 0 candidate(s)
I0419 21:01:25.155284 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.358151, 4.16285)
I0419 21:01:25.155439 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292850854984.
I0419 21:01:25.158046 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292851105019.
I0419 21:01:25.158908 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:25.158972 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:25.158998 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.844721, -4.18306), points=3, range=4.27233, residual=0.0150065, extent=0.0312864
I0419 21:01:25.159021 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:25.159072 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.844721, -4.18306), tracking=(-1.14322, 4.18306), map_predicted=(18.6137, -6.12566), range=4.27233, pts=3
I0419 21:01:25.159091 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50377m maha_sq=859.252 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6137, -6.12566) lm_pos=(15.915, -2.52) delta=(2.69874, -3.60566) -> 0 candidate(s)
I0419 21:01:25.159988 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.345965, 4.16313)
I0419 21:01:25.160081 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292851422675.
I0419 21:01:25.170274 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.316 deg, rms_residual=0.00683796m, sigma_yaw=0.00903491 rad, N=2
I0419 21:01:25.170377 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4319, -1.94998, -179.316deg) inliers=2 rms=0.00683796m
I0419 21:01:25.170413 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292851698360.
I0419 21:01:25.258852 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.351934, 4.1618)
I0419 21:01:25.258994 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:25.259047 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.308535, -0.644317), points=17, range=0.715882, residual=0.0137361, extent=0.0506245
I0419 21:01:25.259078 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:25.259109 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.308535, -0.644317), tracking=(0.607035, -0.644317), map_predicted=(16.8214, -1.31257), range=0.715882, pts=17
I0419 21:01:25.259147 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00983823m maha_sq=0.00418227 (gate chi2=5.99) pose_sigma=(0.150055, 0.150055, rho=0) det_map=(16.8214, -1.31257) lm_pos=(16.815, -1.32) delta=(0.00644868, 0.00743003) -> 1 candidate(s)
I0419 21:01:25.259196 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:25.260939 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292852299148.
I0419 21:01:25.262147 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4348, -1.95112), yaw=-179.476 deg backend=(17.4364, -1.95266)
I0419 21:01:25.263608 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.346017, 4.16362)
I0419 21:01:25.263700 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352423, 4.16745), points=4, range=4.178, residual=0.0182974, extent=0.045372
I0419 21:01:25.263747 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.352423, 4.16745), tracking=(0.650923, 4.16745), map_predicted=(16.822, -6.12434), range=4.178, pts=4
I0419 21:01:25.263783 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71671m maha_sq=582.671 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(16.822, -6.12434) lm_pos=(15.915, -2.52) delta=(0.907038, -3.60434) -> 0 candidate(s)
I0419 21:01:25.263856 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292852613683.
I0419 21:01:25.290136 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00165485 range=1.34525 variance=0.000702508 t_weight=4270.41 r_weight=0 yaml=(15.915, -2.52) prior=(17.4345, -1.95045, -179.477deg) obs_actual=(1.52847, 0.560506) obs_expected=(1.52462, 0.555646) delta=(0.00384699, 0.00486059) |delta|=0.00619876m
I0419 21:01:25.290323 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292852895929.
I0419 21:01:25.317838 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.335782, 2.36424)
I0419 21:01:25.317970 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:25.318038 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292853173807.
I0419 21:01:25.402709 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942411, -2.35223), points=4, range=2.535, residual=0.00927822, extent=0.0226842
I0419 21:01:25.402829 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.942411, -2.35223), tracking=(0.643911, 2.35223), map_predicted=(16.8085, -4.30378), range=2.535, pts=4
I0419 21:01:25.402864 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99505m maha_sq=170.796 (gate chi2=5.99) pose_sigma=(0.15044, 0.15044, rho=0) det_map=(16.8085, -4.30378) lm_pos=(15.915, -2.52) delta=(0.893495, -1.78378) -> 0 candidate(s)
I0419 21:01:25.403916 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:25.404052 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292853498028.
I0419 21:01:25.404769 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0715679s, prior_pose=(17.4309, -1.94578), yaw=-179.478 deg
I0419 21:01:25.404824 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1202, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:01:25.406632 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22355, 0.559711)
I0419 21:01:25.406762 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292853779971.
I0419 21:01:25.407581 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.857605, -2.37773), points=4, range=2.52975, residual=0.0106652, extent=0.0261354
I0419 21:01:25.407632 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.857605, -2.37773), tracking=(-1.15611, 2.37773), map_predicted=(18.6094, -4.31406), range=2.52975, pts=4
I0419 21:01:25.407660 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.23703m maha_sq=451.677 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6094, -4.31406) lm_pos=(15.915, -2.52) delta=(2.69438, -1.79406) -> 0 candidate(s)
I0419 21:01:25.408670 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292854059080.
I0419 21:01:25.422289 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:25.422408 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:25.422472 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:25.422508 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:25.434168 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.09532, -0.653961)
I0419 21:01:25.434293 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:25.434414 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292854335533.
I0419 21:01:25.450516 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908643, -0.586322), points=6, range=1.07967, residual=0.00748673, extent=0.0187969
I0419 21:01:25.450733 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.908643, -0.586322), tracking=(-1.20714, 0.586322), map_predicted=(18.6443, -2.5238), range=1.07967, pts=6
I0419 21:01:25.450796 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18987m maha_sq=208.408 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6443, -2.5238) lm_pos=(16.815, -1.32) delta=(1.82931, -1.2038) -> 0 candidate(s)
I0419 21:01:25.558272 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:25.558401 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:25.558429 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292854652377.
I0419 21:01:25.560132 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311335, -0.645252)
I0419 21:01:25.560189 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:25.560212 1218970 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:25.560288 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292854939097.
I0419 21:01:25.562852 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.315433, -0.64658), points=16, range=0.716375, residual=0.0137946, extent=0.0454201
I0419 21:01:25.562915 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.315433, -0.64658), tracking=(0.613933, -0.64658), map_predicted=(16.8148, -1.30953), range=0.716375, pts=16
I0419 21:01:25.562945 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0104761m maha_sq=0.00474295 (gate chi2=5.99) pose_sigma=(0.150038, 0.150038, rho=0) det_map=(16.8148, -1.30953) lm_pos=(16.815, -1.32) delta=(-0.000210957, 0.010474) -> 1 candidate(s)
I0419 21:01:25.565539 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.31213, -0.646881)
I0419 21:01:25.565663 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292855533349.
I0419 21:01:25.582300 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351639, 4.15815), points=4, range=4.178, residual=0.0191602, extent=0.0472153
I0419 21:01:25.582444 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.351639, 4.15815), tracking=(0.650139, 4.15815), map_predicted=(16.8209, -6.11474), range=4.178, pts=4
I0419 21:01:25.582506 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.70714m maha_sq=579.172 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8209, -6.11474) lm_pos=(15.915, -2.52) delta=(0.905925, -3.59474) -> 0 candidate(s)
I0419 21:01:25.582692 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292855813888.
I0419 21:01:25.694557 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.310267, -0.645398)
I0419 21:01:25.694742 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00693099 range=1.35225 variance=0.000541723 t_weight=5537.89 r_weight=0 yaml=(15.915, -2.52) prior=(17.4322, -1.95315, -179.494deg) obs_actual=(1.53373, 0.558588) obs_expected=(1.52218, 0.553416) delta=(0.0115508, 0.00517245) |delta|=0.0126561m
I0419 21:01:25.694814 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292856135836.
I0419 21:01:25.697657 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292856422115.
I0419 21:01:25.698462 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591303s, prior_pose=(17.4329, -1.95137), yaw=-179.493 deg
I0419 21:01:25.698557 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1207, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 21:01:25.698621 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.94836, -4.163), points=4, range=4.2695, residual=0.0152355, extent=0.0372539
I0419 21:01:25.698648 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.94836, -4.163), tracking=(0.64986, 4.163), map_predicted=(16.8199, -6.11996), range=4.2695, pts=4
I0419 21:01:25.698668 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71196m maha_sq=583.522 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8199, -6.11996) lm_pos=(15.915, -2.52) delta=(0.904943, -3.59996) -> 0 candidate(s)
I0419 21:01:25.699581 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.310261, -0.645336)
I0419 21:01:25.699755 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292856701521.
I0419 21:01:25.714354 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:25.714790 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:25.715045 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.903917, -0.586999), points=6, range=1.07817, residual=0.00635463, extent=0.0175758
I0419 21:01:25.715270 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:25.715314 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.903917, -0.586999), tracking=(-1.20242, 0.586999), map_predicted=(18.6404, -2.5287), range=1.07817, pts=6
I0419 21:01:25.715368 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.1893m maha_sq=208.238 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(18.6404, -2.5287) lm_pos=(16.815, -1.32) delta=(1.8254, -1.2087) -> 0 candidate(s)
I0419 21:01:25.806587 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311692, -0.645982)
I0419 21:01:25.806788 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292857296820.
I0419 21:01:25.808832 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292857584047.
I0419 21:01:25.810721 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.909793, -0.585189), points=6, range=1.07717, residual=0.0103864, extent=0.0231112
I0419 21:01:25.810819 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.909793, -0.585189), tracking=(-1.20829, 0.585189), map_predicted=(18.6473, -2.5275), range=1.07717, pts=6
I0419 21:01:25.810851 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19442m maha_sq=208.599 (gate chi2=5.99) pose_sigma=(0.150077, 0.150077, rho=0) det_map=(18.6473, -2.5275) lm_pos=(16.815, -1.32) delta=(1.83233, -1.2075) -> 0 candidate(s)
I0419 21:01:25.811843 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.312069, -0.646771)
I0419 21:01:25.811914 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:25.811941 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:25.812077 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292857901951.
I0419 21:01:25.818681 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292858180846.
I0419 21:01:25.845983 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.310284, -0.645508)
I0419 21:01:25.846292 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.3074, -0.644392), points=15, range=0.716267, residual=0.0118757, extent=0.0369734
I0419 21:01:25.846354 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.3074, -0.644392), tracking=(0.6059, -0.644392), map_predicted=(16.8219, -1.31402), range=0.716267, pts=15
I0419 21:01:25.846390 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00910506m maha_sq=0.00359213 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8219, -1.31402) lm_pos=(16.815, -1.32) delta=(0.00686805, 0.00597764) -> 1 candidate(s)
I0419 21:01:25.846457 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.376 deg, rms_residual=0.010092m, sigma_yaw=0.0132774 rad, N=2
I0419 21:01:25.846522 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4339, -1.94968, -179.376deg) inliers=2 rms=0.010092m
I0419 21:01:25.846560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292858454843.
I0419 21:01:25.921413 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292858781528.
I0419 21:01:25.924173 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311616, -0.64581)
I0419 21:01:25.924316 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:01:25.925163 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.941793, -2.35068), points=3, range=2.53233, residual=0.00603256, extent=0.0147305
I0419 21:01:25.925232 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.941793, -2.35068), tracking=(0.643293, 2.35068), map_predicted=(16.8083, -4.30722), range=2.53233, pts=3
I0419 21:01:25.925258 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99803m maha_sq=172.472 (gate chi2=5.99) pose_sigma=(0.150083, 0.150083, rho=0) det_map=(16.8083, -4.30722) lm_pos=(15.915, -2.52) delta=(0.893286, -1.78722) -> 0 candidate(s)
I0419 21:01:25.934115 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292859335437.
I0419 21:01:25.949584 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436434s, prior_pose=(17.4319, -1.95065), yaw=-179.491 deg
I0419 21:01:25.949667 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1209, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 21:01:25.961711 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.310295, -0.64545)
I0419 21:01:25.961862 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00117493 range=1.3452 variance=0.000589605 t_weight=5088.15 r_weight=0 yaml=(15.915, -2.52) prior=(17.4319, -1.95065, -179.491deg) obs_actual=(1.52685, 0.557619) obs_expected=(1.52195, 0.555846) delta=(0.00490095, 0.00177289) |delta|=0.00521176m
I0419 21:01:25.961949 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292859612506.
I0419 21:01:25.978080 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.954489, -4.16195), points=3, range=4.26967, residual=0.0119321, extent=0.024836
I0419 21:01:25.978185 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.954489, -4.16195), tracking=(0.655989, 4.16195), map_predicted=(16.813, -6.11826), range=4.26967, pts=3
I0419 21:01:25.978240 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70862m maha_sq=584.695 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.813, -6.11826) lm_pos=(15.915, -2.52) delta=(0.897975, -3.59826) -> 0 candidate(s)
I0419 21:01:26.063000 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292859942218.
I0419 21:01:26.063864 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:26.063925 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:26.063956 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:26.063974 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:26.064932 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.312914, -0.64608)
I0419 21:01:26.064996 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:26.066674 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.853168, -2.37622), points=5, range=2.527, residual=0.0133949, extent=0.0355503
I0419 21:01:26.066733 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.853168, -2.37622), tracking=(-1.15167, 2.37622), map_predicted=(18.6054, -4.31679), range=2.527, pts=5
I0419 21:01:26.066762 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23523m maha_sq=449.591 (gate chi2=5.99) pose_sigma=(0.150055, 0.150055, rho=0) det_map=(18.6054, -4.31679) lm_pos=(15.915, -2.52) delta=(2.69041, -1.79679) -> 0 candidate(s)
I0419 21:01:26.067716 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292860537049.
I0419 21:01:26.068464 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.905777, -0.586327)
I0419 21:01:26.082904 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:26.083060 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:26.083094 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:26.083274 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292860820664.
I0419 21:01:26.110373 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2329, 0.559697), points=5, range=1.352, residual=0.00742457, extent=0.0180883
I0419 21:01:26.110562 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2329, 0.559697), tracking=(1.5314, 0.559697), map_predicted=(15.9059, -2.52432), range=1.352, pts=5
I0419 21:01:26.110626 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.010106m maha_sq=0.00443547 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9059, -2.52432) lm_pos=(15.915, -2.52) delta=(-0.00913554, -0.00432112) -> 1 candidate(s)
I0419 21:01:26.110838 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292861095136.
I0419 21:01:26.221642 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4295, -1.95098), yaw=-179.474 deg backend=(17.4281, -1.95149)
I0419 21:01:26.222424 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.852749, -2.37504)
I0419 21:01:26.223536 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292861419554.
I0419 21:01:26.226248 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.364725, 4.1684), points=4, range=4.17975, residual=0.0194672, extent=0.0485371
I0419 21:01:26.226338 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.364725, 4.1684), tracking=(0.663225, 4.1684), map_predicted=(16.8056, -6.12535), range=4.17975, pts=4
I0419 21:01:26.226365 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71373m maha_sq=580.375 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(16.8056, -6.12535) lm_pos=(15.915, -2.52) delta=(0.890608, -3.60535) -> 0 candidate(s)
I0419 21:01:26.226416 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:26.226471 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:26.226491 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292861692671.
I0419 21:01:26.227560 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.8642, -4.18537)
I0419 21:01:26.228627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292861978677.
I0419 21:01:26.231491 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.358231, 4.16412), points=3, range=4.18433, residual=0.0146323, extent=0.0302783
I0419 21:01:26.231555 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.358231, 4.16412), tracking=(0.656731, 4.16412), map_predicted=(16.8133, -6.12011), range=4.18433, pts=3
I0419 21:01:26.231580 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71048m maha_sq=583.099 (gate chi2=5.99) pose_sigma=(0.150114, 0.150114, rho=0) det_map=(16.8133, -6.12011) lm_pos=(15.915, -2.52) delta=(0.898278, -3.60011) -> 0 candidate(s)
I0419 21:01:26.231644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292862300152.
I0419 21:01:26.241814 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719088s, prior_pose=(17.4318, -1.95014), yaw=-179.474 deg
I0419 21:01:26.241955 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1205, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 21:01:26.242089 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851844, -4.18688)
I0419 21:01:26.357239 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292862575232.
I0419 21:01:26.359086 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00172084 range=1.351 variance=0.000549693 t_weight=5457.59 r_weight=0 yaml=(15.915, -2.52) prior=(17.4329, -1.95117, -179.452deg) obs_actual=(1.52386, 0.56057) obs_expected=(1.52329, 0.554298) delta=(0.000574807, 0.00627171) |delta|=0.006298m
I0419 21:01:26.359202 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292862855997.
I0419 21:01:26.360924 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:26.360973 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.947701, -4.16007)
I0419 21:01:26.360993 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:26.361016 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.936789, -2.35806), points=4, range=2.536, residual=0.0100466, extent=0.0247253
I0419 21:01:26.361091 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:26.361107 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.936789, -2.35806), tracking=(0.638289, 2.35806), map_predicted=(16.8164, -4.31627), range=2.536, pts=4
I0419 21:01:26.361125 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00977m maha_sq=173.982 (gate chi2=5.99) pose_sigma=(0.150098, 0.150098, rho=0) det_map=(16.8164, -4.31627) lm_pos=(15.915, -2.52) delta=(0.901435, -1.79627) -> 0 candidate(s)
I0419 21:01:26.362005 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292863173865.
I0419 21:01:26.364588 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292863453877.
I0419 21:01:26.365532 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.948656, -4.1643)
I0419 21:01:26.365587 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942288, -2.35192), points=4, range=2.53525, residual=0.00958237, extent=0.0232155
I0419 21:01:26.365613 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.942288, -2.35192), tracking=(0.643788, 2.35192), map_predicted=(16.8112, -4.30893), range=2.53525, pts=4
I0419 21:01:26.365633 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00088m maha_sq=172.734 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8112, -4.30893) lm_pos=(15.915, -2.52) delta=(0.896241, -1.78893) -> 0 candidate(s)
I0419 21:01:26.378918 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:26.379046 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:26.379220 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292863778113.
I0419 21:01:26.490926 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292864054450.
I0419 21:01:26.491695 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.959954, -4.15799)
I0419 21:01:26.491755 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852106, -4.18818), points=4, range=4.275, residual=0.0162583, extent=0.0391638
I0419 21:01:26.491784 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.852106, -4.18818), tracking=(-1.15061, 4.18818), map_predicted=(18.6274, -6.12788), range=4.275, pts=4
I0419 21:01:26.491807 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51377m maha_sq=861.621 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6274, -6.12788) lm_pos=(15.915, -2.52) delta=(2.71243, -3.60788) -> 0 candidate(s)
I0419 21:01:26.493903 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292864421472.
I0419 21:01:26.496631 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292864657586.
I0419 21:01:26.500267 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938241, -2.35174)
I0419 21:01:26.500398 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.906617, -0.586871), points=7, range=1.07771, residual=0.00963359, extent=0.0281541
I0419 21:01:26.500449 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.906617, -0.586871), tracking=(-1.20512, 0.586871), map_predicted=(18.6468, -2.52654), range=1.07771, pts=7
I0419 21:01:26.500492 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19344m maha_sq=208.623 (gate chi2=5.99) pose_sigma=(0.150049, 0.150049, rho=0) det_map=(18.6468, -2.52654) lm_pos=(16.815, -1.32) delta=(1.83179, -1.20654) -> 0 candidate(s)
I0419 21:01:26.502272 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:26.502372 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.428 deg, rms_residual=0.00805032m, sigma_yaw=0.0106198 rad, N=2
I0419 21:01:26.502465 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4336, -1.95256, -179.428deg) inliers=2 rms=0.00805032m
I0419 21:01:26.502523 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292864940169.
I0419 21:01:26.619633 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45497, 4.186)
I0419 21:01:26.619817 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292865219627.
I0419 21:01:26.620644 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597171s, prior_pose=(17.4353, -1.95337), yaw=-179.494 deg
I0419 21:01:26.620725 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1204, max_intensity=246, threshold=230, above_threshold=18, candidates=18
I0419 21:01:26.620880 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:26.621796 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.341836, 2.35758), points=5, range=2.3826, residual=0.0105651, extent=0.0280028
I0419 21:01:26.621873 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.341836, 2.35758), tracking=(0.640336, 2.35758), map_predicted=(16.8158, -4.31651), range=2.3826, pts=5
I0419 21:01:26.621904 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00972m maha_sq=174.255 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8158, -4.31651) lm_pos=(15.915, -2.52) delta=(0.900843, -1.79651) -> 0 candidate(s)
I0419 21:01:26.621984 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292865536017.
I0419 21:01:26.624670 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45464, 4.18506)
I0419 21:01:26.624821 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0046103 range=1.35033 variance=0.000525705 t_weight=5706.62 r_weight=0 yaml=(15.915, -2.52) prior=(17.4343, -1.95428, -179.495deg) obs_actual=(1.5314, 0.559697) obs_expected=(1.5242, 0.552318) delta=(0.0072008, 0.007379) |delta|=0.0103102m
I0419 21:01:26.624886 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292865815635.
I0419 21:01:26.625684 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:26.625751 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:26.625779 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:26.625797 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:26.627688 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44965, 4.19033), points=3, range=4.43333, residual=0.0124263, extent=0.0258066
I0419 21:01:26.627765 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.44965, 4.19033), tracking=(-1.15115, 4.19033), map_predicted=(18.6225, -6.13355), range=4.43333, pts=3
I0419 21:01:26.627792 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51531m maha_sq=864.322 (gate chi2=5.99) pose_sigma=(0.150059, 0.150059, rho=0) det_map=(18.6225, -6.13355) lm_pos=(15.915, -2.52) delta=(2.70746, -3.61355) -> 0 candidate(s)
I0419 21:01:26.627856 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:26.627913 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292866100456.
I0419 21:01:26.643265 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338595, 2.35941)
I0419 21:01:26.643610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292866420155.
I0419 21:01:26.746284 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:26.746402 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:26.746483 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292866696955.
I0419 21:01:26.747282 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.947397, -4.15877), points=3, range=4.26533, residual=0.0102061, extent=0.0248299
I0419 21:01:26.747336 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.947397, -4.15877), tracking=(0.648897, 4.15877), map_predicted=(16.8249, -6.11481), range=4.26533, pts=3
I0419 21:01:26.747363 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70819m maha_sq=585.533 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8249, -6.11481) lm_pos=(15.915, -2.52) delta=(0.909928, -3.59481) -> 0 candidate(s)
I0419 21:01:26.748981 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.339291, 2.36416)
I0419 21:01:26.749097 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292866971724.
I0419 21:01:26.750739 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292867263804.
I0419 21:01:26.752420 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.857939, -2.37867), points=3, range=2.52867, residual=0.0064527, extent=0.0155423
I0419 21:01:26.752466 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.857939, -2.37867), tracking=(-1.15644, 2.37867), map_predicted=(18.6124, -4.32047), range=2.52867, pts=3
I0419 21:01:26.752492 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.2431m maha_sq=454.605 (gate chi2=5.99) pose_sigma=(0.150031, 0.150031, rho=0) det_map=(18.6124, -4.32047) lm_pos=(15.915, -2.52) delta=(2.69741, -1.80047) -> 0 candidate(s)
I0419 21:01:26.757948 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22264, 0.55929)
I0419 21:01:26.758358 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:26.758570 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:26.758730 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292867573615.
I0419 21:01:26.852638 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:26.862517 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292867855920.
I0419 21:01:26.863687 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852833, -2.37527), points=5, range=2.5258, residual=0.0136005, extent=0.0355311
I0419 21:01:26.863780 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.852833, -2.37527), tracking=(-1.15133, 2.37527), map_predicted=(18.6078, -4.3163), range=2.5258, pts=5
I0419 21:01:26.863853 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23694m maha_sq=450.28 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6078, -4.3163) lm_pos=(15.915, -2.52) delta=(2.69278, -1.7963) -> 0 candidate(s)
I0419 21:01:26.864674 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.23027, 0.560649)
I0419 21:01:26.864806 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292868144896.
I0419 21:01:26.866689 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439379s, prior_pose=(17.4354, -1.9514), yaw=-179.48 deg
I0419 21:01:26.866772 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1198, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 21:01:26.867664 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:26.867772 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292868455666.
I0419 21:01:26.873898 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.312269, -0.647161)
I0419 21:01:26.873999 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.45574, 4.18821), points=3, range=4.434, residual=0.0106245, extent=0.0257901
I0419 21:01:26.874028 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.45574, 4.18821), tracking=(-1.15724, 4.18821), map_predicted=(18.6282, -6.13142), range=4.434, pts=3
I0419 21:01:26.874085 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51704m maha_sq=864.272 (gate chi2=5.99) pose_sigma=(0.150262, 0.150262, rho=0) det_map=(18.6282, -6.13142) lm_pos=(15.915, -2.52) delta=(2.71317, -3.61142) -> 0 candidate(s)
I0419 21:01:26.874143 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00373725 range=1.34525 variance=0.000638877 t_weight=4695.74 r_weight=0 yaml=(15.915, -2.52) prior=(17.4329, -1.9539, -179.48deg) obs_actual=(1.52786, 0.560238) obs_expected=(1.52301, 0.552284) delta=(0.00484831, 0.00795382) |delta|=0.009315m
I0419 21:01:26.874212 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292868734758.
I0419 21:01:26.886140 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:26.886236 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:26.886277 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:26.907130 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292869062144.
I0419 21:01:27.009829 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.310343, -0.645557)
I0419 21:01:27.009949 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.46051, 4.18232), points=3, range=4.43, residual=0.0124438, extent=0.0258443
I0419 21:01:27.009979 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.46051, 4.18232), tracking=(-1.16201, 4.18232), map_predicted=(18.6288, -6.12731), range=4.43, pts=3
I0419 21:01:27.010004 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51415m maha_sq=860.121 (gate chi2=5.99) pose_sigma=(0.150403, 0.150403, rho=0) det_map=(18.6288, -6.12731) lm_pos=(15.915, -2.52) delta=(2.71382, -3.60731) -> 0 candidate(s)
I0419 21:01:27.010103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292869334021.
I0419 21:01:27.012717 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:27.012806 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:27.012885 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292869619094.
I0419 21:01:27.013818 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.902579, -0.586121)
I0419 21:01:27.014876 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292869935008.
I0419 21:01:27.016036 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4308, -1.95345), yaw=-179.469 deg backend=(17.4344, -1.95275)
I0419 21:01:27.016583 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.934823, -2.3531), points=4, range=2.5315, residual=0.00940076, extent=0.0229043
I0419 21:01:27.016633 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.934823, -2.3531), tracking=(0.636323, 2.3531), map_predicted=(16.8163, -4.31235), range=2.5315, pts=4
I0419 21:01:27.016657 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00622m maha_sq=173.355 (gate chi2=5.99) pose_sigma=(0.150147, 0.150147, rho=0) det_map=(16.8163, -4.31235) lm_pos=(15.915, -2.52) delta=(0.901314, -1.79235) -> 0 candidate(s)
I0419 21:01:27.021981 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292870214739.
I0419 21:01:27.034050 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.903419, -0.586664)
I0419 21:01:27.110100 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292870543201.
I0419 21:01:27.110999 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858993, -4.19087), points=3, range=4.273, residual=0.0150745, extent=0.0312864
I0419 21:01:27.111066 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.858993, -4.19087), tracking=(-1.15749, 4.19087), map_predicted=(18.6273, -6.13243), range=4.273, pts=3
I0419 21:01:27.111094 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51735m maha_sq=864.361 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6273, -6.13243) lm_pos=(15.915, -2.52) delta=(2.71234, -3.61243) -> 0 candidate(s)
I0419 21:01:27.112041 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:27.112092 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.476 deg, rms_residual=0.00811359m, sigma_yaw=0.0107023 rad, N=2
I0419 21:01:27.112135 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4328, -1.95231, -179.476deg) inliers=2 rms=0.00811359m
I0419 21:01:27.112169 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292870820159.
I0419 21:01:27.113838 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.854677, -2.38045)
I0419 21:01:27.114951 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292871101497.
I0419 21:01:27.121690 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0669591s, prior_pose=(17.4315, -1.95246), yaw=-179.468 deg
I0419 21:01:27.121760 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1206, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:01:27.121835 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.906757, -0.586961), points=7, range=1.07771, residual=0.00993595, extent=0.0281425
I0419 21:01:27.121905 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.906757, -0.586961), tracking=(-1.20526, 0.586961), map_predicted=(18.6421, -2.5282), range=1.07771, pts=7
I0419 21:01:27.121929 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19046m maha_sq=208.136 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6421, -2.5282) lm_pos=(16.815, -1.32) delta=(1.82712, -1.2082) -> 0 candidate(s)
I0419 21:01:27.144731 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292871380510.
I0419 21:01:27.154179 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.864066, -4.18471)
I0419 21:01:27.279176 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:27.279277 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:27.279317 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:27.279341 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:27.280331 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.308219, -0.643676), points=16, range=0.715937, residual=0.0124676, extent=0.0420765
I0419 21:01:27.280387 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.308219, -0.643676), tracking=(0.606719, -0.643676), map_predicted=(16.8202, -1.31296), range=0.715937, pts=16
I0419 21:01:27.280413 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00873075m maha_sq=0.00329387 (gate chi2=5.99) pose_sigma=(0.150162, 0.150162, rho=0) det_map=(16.8202, -1.31296) lm_pos=(16.815, -1.32) delta=(0.00516651, 0.00703798) -> 1 candidate(s)
I0419 21:01:27.280436 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:27.280480 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0022704 range=1.348 variance=0.000538048 t_weight=5575.72 r_weight=0 yaml=(15.915, -2.52) prior=(17.4328, -1.95103, -179.473deg) obs_actual=(1.52993, 0.556874) obs_expected=(1.52294, 0.55499) delta=(0.00699045, 0.00188397) |delta|=0.00723987m
I0419 21:01:27.280543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292871982707.
I0419 21:01:27.281399 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.851841, -4.18688)
I0419 21:01:27.283738 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292872256785.
I0419 21:01:27.287355 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:27.287513 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22971, 0.558243), points=5, range=1.3468, residual=0.0104052, extent=0.0253734
I0419 21:01:27.287562 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:27.287598 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22971, 0.558243), tracking=(1.52821, 0.558243), map_predicted=(15.9101, -2.52314), range=1.3468, pts=5
I0419 21:01:27.287638 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0058576m maha_sq=0.00148672 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9101, -2.52314) lm_pos=(15.915, -2.52) delta=(-0.00494788, -0.00313528) -> 1 candidate(s)
I0419 21:01:27.287787 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292872580387.
I0419 21:01:27.291558 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.941544, -2.35006)
I0419 21:01:27.292834 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292872855287.
I0419 21:01:27.395041 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352362, 4.16678), points=4, range=4.178, residual=0.0171298, extent=0.0420714
I0419 21:01:27.395151 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.352362, 4.16678), tracking=(0.650862, 4.16678), map_predicted=(16.8212, -6.1231), range=4.178, pts=4
I0419 21:01:27.395188 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.71531m maha_sq=583.229 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(16.8212, -6.1231) lm_pos=(15.915, -2.52) delta=(0.906185, -3.6031) -> 0 candidate(s)
I0419 21:01:27.396200 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.942041, -2.3513)
I0419 21:01:27.397161 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292873453332.
I0419 21:01:27.399708 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292873735783.
I0419 21:01:27.400471 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939263, -2.35429)
I0419 21:01:27.400522 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942291, -2.35192), points=4, range=2.53475, residual=0.00932553, extent=0.0223374
I0419 21:01:27.400550 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.942291, -2.35192), tracking=(0.643791, 2.35192), map_predicted=(16.8101, -4.30927), range=2.53475, pts=4
I0419 21:01:27.400571 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00069m maha_sq=172.737 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8101, -4.30927) lm_pos=(15.915, -2.52) delta=(0.895146, -1.78927) -> 0 candidate(s)
I0419 21:01:27.407174 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:27.407363 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:27.407416 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292874061656.
I0419 21:01:27.418256 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596684s, prior_pose=(17.432, -1.95133), yaw=-179.462 deg
I0419 21:01:27.418411 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1216, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:27.434808 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292874340259.
I0419 21:01:27.510097 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939174, -2.35405)
I0419 21:01:27.510214 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935689, -2.35527), points=4, range=2.5345, residual=0.00904568, extent=0.022122
I0419 21:01:27.510242 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.935689, -2.35527), tracking=(0.637189, 2.35527), map_predicted=(16.816, -4.31539), range=2.5345, pts=4
I0419 21:01:27.510268 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00877m maha_sq=173.658 (gate chi2=5.99) pose_sigma=(0.15023, 0.15023, rho=0) det_map=(16.816, -4.31539) lm_pos=(15.915, -2.52) delta=(0.900967, -1.79539) -> 0 candidate(s)
I0419 21:01:27.511351 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292874620040.
I0419 21:01:27.512176 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:27.512256 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:27.512288 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:27.514482 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45431, 4.18411)
I0419 21:01:27.514681 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292874900159.
I0419 21:01:27.515733 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854675, -2.38046), points=5, range=2.5312, residual=0.0120511, extent=0.0318219
I0419 21:01:27.515812 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.854675, -2.38046), tracking=(-1.15318, 2.38046), map_predicted=(18.6071, -4.32293), range=2.5312, pts=5
I0419 21:01:27.515843 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24002m maha_sq=451.895 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6071, -4.32293) lm_pos=(15.915, -2.52) delta=(2.69205, -1.80293) -> 0 candidate(s)
I0419 21:01:27.521946 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00507092 range=1.34867 variance=0.000543559 t_weight=5519.18 r_weight=0 yaml=(15.915, -2.52) prior=(17.4318, -1.95329, -179.467deg) obs_actual=(1.53049, 0.559282) obs_expected=(1.52201, 0.552588) delta=(0.00848724, 0.00669469) |delta|=0.0108098m
I0419 21:01:27.522111 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292875212880.
I0419 21:01:27.550702 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45759, 4.19356)
I0419 21:01:27.550845 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:27.550881 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:27.551054 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292875501703.
I0419 21:01:27.675045 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.308385, -0.643993), points=16, range=0.716563, residual=0.0134181, extent=0.0470382
I0419 21:01:27.675180 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.308385, -0.643993), tracking=(0.606885, -0.643993), map_predicted=(16.8199, -1.31388), range=0.716563, pts=16
I0419 21:01:27.675212 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00782494m maha_sq=0.00264649 (gate chi2=5.99) pose_sigma=(0.150061, 0.150061, rho=0) det_map=(16.8199, -1.31388) lm_pos=(16.815, -1.32) delta=(0.00487127, 0.00612375) -> 1 candidate(s)
I0419 21:01:27.675310 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292875818531.
I0419 21:01:27.677217 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45387, 4.18285)
I0419 21:01:27.677330 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292876096030.
I0419 21:01:27.679900 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.341876, 2.35783), points=5, range=2.3832, residual=0.0106792, extent=0.0278225
I0419 21:01:27.679971 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.341876, 2.35783), tracking=(0.640376, 2.35783), map_predicted=(16.8137, -4.31541), range=2.3832, pts=5
I0419 21:01:27.680001 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00777m maha_sq=173.818 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(16.8137, -4.31541) lm_pos=(15.915, -2.52) delta=(0.898679, -1.79541) -> 0 candidate(s)
I0419 21:01:27.680111 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292876372239.
I0419 21:01:27.682864 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46183, 4.18609)
I0419 21:01:27.682941 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:27.682999 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292876697342.
I0419 21:01:27.698230 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.364667, 4.16773), points=4, range=4.17825, residual=0.0202506, extent=0.0505493
I0419 21:01:27.698385 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.364667, 4.16773), tracking=(0.663167, 4.16773), map_predicted=(16.8062, -6.12588), range=4.17825, pts=4
I0419 21:01:27.698433 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71438m maha_sq=580.383 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8062, -6.12588) lm_pos=(15.915, -2.52) delta=(0.891194, -3.60588) -> 0 candidate(s)
I0419 21:01:27.698622 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292876974381.
I0419 21:01:27.799074 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0396659s, prior_pose=(17.4353, -1.95098), yaw=-179.501 deg
I0419 21:01:27.799178 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1207, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:01:27.800149 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45508, 4.18632)
I0419 21:01:27.800235 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.331 deg, rms_residual=0.00702747m, sigma_yaw=0.00928298 rad, N=2
I0419 21:01:27.800280 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4308, -1.95032, -179.331deg) inliers=2 rms=0.00702747m
I0419 21:01:27.800316 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292877256505.
I0419 21:01:27.802906 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.364601, 4.16707), points=4, range=4.1805, residual=0.0168639, extent=0.0416232
I0419 21:01:27.802982 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:27.803002 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.364601, 4.16707), tracking=(0.663101, 4.16707), map_predicted=(16.8072, -6.12346), range=4.1805, pts=4
I0419 21:01:27.803025 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71226m maha_sq=582.035 (gate chi2=5.99) pose_sigma=(0.150103, 0.150103, rho=0) det_map=(16.8072, -6.12346) lm_pos=(15.915, -2.52) delta=(0.892162, -3.60346) -> 0 candidate(s)
I0419 21:01:27.803094 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292877541005.
I0419 21:01:27.803959 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:27.804000 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:27.804028 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:27.804045 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:27.804879 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46315, 4.18987)
I0419 21:01:27.804937 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:27.804992 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292877854843.
I0419 21:01:27.814378 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00206591 range=1.349 variance=0.000530036 t_weight=5659.99 r_weight=0 yaml=(15.915, -2.52) prior=(17.4336, -1.9499, -179.5deg) obs_actual=(1.53039, 0.557079) obs_expected=(1.52349, 0.556841) delta=(0.00689681, 0.000237384) |delta|=0.00690089m
I0419 21:01:27.814538 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292878137695.
I0419 21:01:27.830120 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.856926, -2.37584), points=4, range=2.52825, residual=0.0110906, extent=0.0272521
I0419 21:01:27.830250 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.856926, -2.37584), tracking=(-1.15543, 2.37584), map_predicted=(18.6097, -4.31558), range=2.52825, pts=4
I0419 21:01:27.830302 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.23812m maha_sq=451.804 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6097, -4.31558) lm_pos=(15.915, -2.52) delta=(2.69468, -1.79558) -> 0 candidate(s)
I0419 21:01:27.926492 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.351523, 4.15682)
I0419 21:01:27.926587 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:27.926615 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:27.926694 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292878462808.
I0419 21:01:27.928493 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292878732027.
I0419 21:01:27.929740 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4315, -1.95126), yaw=-179.481 deg backend=(17.434, -1.95386)
I0419 21:01:27.930366 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905359, -0.586068), points=5, range=1.076, residual=0.00776205, extent=0.0203016
I0419 21:01:27.930418 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.905359, -0.586068), tracking=(-1.20386, 0.586068), map_predicted=(18.6406, -2.52641), range=1.076, pts=5
I0419 21:01:27.930446 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18821m maha_sq=207.964 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(18.6406, -2.52641) lm_pos=(16.815, -1.32) delta=(1.82561, -1.20641) -> 0 candidate(s)
I0419 21:01:27.931347 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.351618, 4.15815)
I0419 21:01:27.931453 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292879017892.
I0419 21:01:27.934451 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292879339950.
I0419 21:01:27.961808 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352217, 4.16512)
I0419 21:01:27.961922 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2329, 0.559697), points=3, range=1.35, residual=0.00792325, extent=0.0151838
I0419 21:01:27.961958 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2329, 0.559697), tracking=(1.5314, 0.559697), map_predicted=(15.906, -2.5246), range=1.35, pts=3
I0419 21:01:27.962046 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0100639m maha_sq=0.00439717 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.906, -2.5246) lm_pos=(15.915, -2.52) delta=(-0.00895357, -0.00459512) -> 1 candidate(s)
I0419 21:01:27.962201 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292879612717.
I0419 21:01:28.040298 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:28.040658 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:28.040767 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:28.040792 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292879933833.
I0419 21:01:28.041553 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720768s, prior_pose=(17.4325, -1.94825), yaw=-179.467 deg
I0419 21:01:28.041630 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1195, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 21:01:28.043464 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.339341, 2.36455)
I0419 21:01:28.043608 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292880216860.
I0419 21:01:28.044396 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935566, -2.35496), points=4, range=2.53375, residual=0.00906845, extent=0.0222035
I0419 21:01:28.044452 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.935566, -2.35496), tracking=(0.637066, 2.35496), map_predicted=(16.8181, -4.3091), range=2.53375, pts=4
I0419 21:01:28.044479 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0041m maha_sq=173.363 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8181, -4.3091) lm_pos=(15.915, -2.52) delta=(0.903072, -1.7891) -> 0 candidate(s)
I0419 21:01:28.050307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292880494016.
I0419 21:01:28.062844 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:28.063002 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:28.063062 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:28.078315 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.22264, 0.559294)
I0419 21:01:28.078641 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292880775295.
I0419 21:01:28.094923 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935932, -2.35589), points=4, range=2.53425, residual=0.00934227, extent=0.0229212
I0419 21:01:28.095110 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.935932, -2.35589), tracking=(0.637432, 2.35589), map_predicted=(16.8165, -4.31208), range=2.53425, pts=4
I0419 21:01:28.095165 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00604m maha_sq=173.659 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8165, -4.31208) lm_pos=(15.915, -2.52) delta=(0.901465, -1.79208) -> 0 candidate(s)
I0419 21:01:28.172269 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00714447 range=1.34667 variance=0.000733315 t_weight=4091.01 r_weight=0 yaml=(15.915, -2.52) prior=(17.4321, -1.95381, -179.474deg) obs_actual=(1.53105, 0.561674) obs_expected=(1.52224, 0.552242) delta=(0.00880806, 0.00943185) |delta|=0.0129051m
I0419 21:01:28.172499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292881100788.
I0419 21:01:28.174273 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.23381, 0.560097)
I0419 21:01:28.174340 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:28.174363 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:28.174441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292881376780.
I0419 21:01:28.176194 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.960689, -4.1612), points=4, range=4.2705, residual=0.0152388, extent=0.0372626
I0419 21:01:28.176273 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.960689, -4.1612), tracking=(0.662189, 4.1612), map_predicted=(16.8096, -6.11917), range=4.2705, pts=4
I0419 21:01:28.176302 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70868m maha_sq=581.266 (gate chi2=5.99) pose_sigma=(0.150165, 0.150165, rho=0) det_map=(16.8096, -6.11917) lm_pos=(15.915, -2.52) delta=(0.89457, -3.59917) -> 0 candidate(s)
I0419 21:01:28.177186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292881654332.
I0419 21:01:28.198563 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.22582, 0.56078)
I0419 21:01:28.209755 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.900146, -0.588279), points=4, range=1.078, residual=0.00881414, extent=0.0219323
I0419 21:01:28.209853 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.900146, -0.588279), tracking=(-1.19865, 0.588279), map_predicted=(18.6374, -2.52948), range=1.078, pts=4
I0419 21:01:28.209887 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18719m maha_sq=207.654 (gate chi2=5.99) pose_sigma=(0.150019, 0.150019, rho=0) det_map=(18.6374, -2.52948) lm_pos=(16.815, -1.32) delta=(1.82235, -1.20948) -> 0 candidate(s)
I0419 21:01:28.226310 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292882257653.
I0419 21:01:28.300938 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.311753, -0.648469)
I0419 21:01:28.301126 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:01:28.301213 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292882531776.
I0419 21:01:28.303890 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23085, 0.558764), points=5, range=1.348, residual=0.0103599, extent=0.0245966
I0419 21:01:28.304041 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23085, 0.558764), tracking=(1.52935, 0.558764), map_predicted=(15.9086, -2.52528), range=1.348, pts=5
I0419 21:01:28.304072 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0082671m maha_sq=0.00295884 (gate chi2=5.99) pose_sigma=(0.150069, 0.150069, rho=0) det_map=(15.9086, -2.52528) lm_pos=(15.915, -2.52) delta=(-0.0063639, -0.0052769) -> 1 candidate(s)
I0419 21:01:28.304157 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292882820648.
I0419 21:01:28.304955 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600938s, prior_pose=(17.4326, -1.95198), yaw=-179.455 deg
I0419 21:01:28.305022 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1205, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 21:01:28.305248 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.85779, -2.37821)
I0419 21:01:28.314389 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292883137327.
I0419 21:01:28.342247 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.338845, 2.36114), points=4, range=2.38375, residual=0.00931661, extent=0.0226635
I0419 21:01:28.342362 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.338845, 2.36114), tracking=(0.637345, 2.36114), map_predicted=(16.8184, -4.31906), range=2.38375, pts=4
I0419 21:01:28.342397 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01315m maha_sq=174.93 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(16.8184, -4.31906) lm_pos=(15.915, -2.52) delta=(0.9034, -1.79906) -> 0 candidate(s)
I0419 21:01:28.342463 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.28 deg, rms_residual=0.0107353m, sigma_yaw=0.0141117 rad, N=2
I0419 21:01:28.342523 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4346, -1.94883, -179.28deg) inliers=2 rms=0.0107353m
I0419 21:01:28.342564 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292883417496.
I0419 21:01:28.358573 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:28.358698 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.858742, -2.38084)
I0419 21:01:28.358739 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:28.358798 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:28.358843 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:28.460181 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:28.460273 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:28.460358 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292883733930.
I0419 21:01:28.462333 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.46183, 4.18609), points=3, range=4.43367, residual=0.0123873, extent=0.0257901
I0419 21:01:28.462430 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.46183, 4.18609), tracking=(-1.16333, 4.18609), map_predicted=(18.6385, -6.12547), range=4.43367, pts=3
I0419 21:01:28.462456 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51848m maha_sq=866.219 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6385, -6.12547) lm_pos=(15.915, -2.52) delta=(2.72347, -3.60547) -> 0 candidate(s)
I0419 21:01:28.462549 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292884018992.
I0419 21:01:28.464304 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.954497, -4.16193)
I0419 21:01:28.465399 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:28.465462 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:28.468271 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00271827 range=1.3475 variance=0.000638875 t_weight=4695.75 r_weight=0 yaml=(15.915, -2.52) prior=(17.4346, -1.95102, -179.466deg) obs_actual=(1.52968, 0.561064) obs_expected=(1.52481, 0.554798) delta=(0.00487395, 0.00626564) |delta|=0.00793811m
I0419 21:01:28.468422 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292884615833.
I0419 21:01:28.474750 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939445, -2.35475)
I0419 21:01:28.474887 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942162, -4.16373), points=3, range=4.26933, residual=0.0120146, extent=0.0250136
I0419 21:01:28.474951 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.942162, -4.16373), tracking=(0.643662, 4.16373), map_predicted=(16.8297, -6.12057), range=4.26933, pts=3
I0419 21:01:28.475003 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71494m maha_sq=586.644 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8297, -6.12057) lm_pos=(15.915, -2.52) delta=(0.914726, -3.60057) -> 0 candidate(s)
I0419 21:01:28.490931 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292884897688.
I0419 21:01:28.575241 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-1.45628, 4.18978)
I0419 21:01:28.575500 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292885217627.
I0419 21:01:28.576344 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.85849, -4.18842), points=3, range=4.276, residual=0.0122754, extent=0.0253657
I0419 21:01:28.576416 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.85849, -4.18842), tracking=(-1.15699, 4.18842), map_predicted=(18.6277, -6.13039), range=4.276, pts=3
I0419 21:01:28.576445 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51594m maha_sq=866.607 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6277, -6.13039) lm_pos=(15.915, -2.52) delta=(2.7127, -3.61039) -> 0 candidate(s)
I0419 21:01:28.578670 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292885494000.
I0419 21:01:28.580542 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.4615, 4.18515)
I0419 21:01:28.580747 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292885788989.
I0419 21:01:28.594277 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445263s, prior_pose=(17.4331, -1.9514), yaw=-179.47 deg
I0419 21:01:28.594386 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1202, max_intensity=247, threshold=230, above_threshold=19, candidates=19
I0419 21:01:28.606508 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.30875, -0.644768), points=16, range=0.717375, residual=0.0130727, extent=0.0435271
I0419 21:01:28.606611 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.30875, -0.644768), tracking=(0.60725, -0.644768), map_predicted=(16.8199, -1.31228), range=0.717375, pts=16
I0419 21:01:28.606642 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00911957m maha_sq=0.00359548 (gate chi2=5.99) pose_sigma=(0.150074, 0.150074, rho=0) det_map=(16.8199, -1.31228) lm_pos=(16.815, -1.32) delta=(0.00486064, 0.00771627) -> 1 candidate(s)
I0419 21:01:28.702872 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45398, 4.18317)
I0419 21:01:28.703060 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292886375052.
I0419 21:01:28.704147 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:28.704242 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:28.704277 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:28.705094 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2328, 0.557491), points=3, range=1.349, residual=0.00887419, extent=0.016798
I0419 21:01:28.705152 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2328, 0.557491), tracking=(1.5313, 0.557491), map_predicted=(15.9076, -2.52343), range=1.349, pts=3
I0419 21:01:28.705178 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00819282m maha_sq=0.00291212 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9076, -2.52343) lm_pos=(15.915, -2.52) delta=(-0.00743804, -0.00343479) -> 1 candidate(s)
I0419 21:01:28.705228 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:28.705284 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:28.705307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292886659444.
I0419 21:01:28.707877 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.338679, 2.36)
I0419 21:01:28.707998 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292886934200.
I0419 21:01:28.726013 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:28.726109 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:28.726229 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292887256315.
I0419 21:01:28.737846 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.942041, -2.3513), points=4, range=2.5345, residual=0.00951762, extent=0.0229296
I0419 21:01:28.737939 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.942041, -2.3513), tracking=(0.643541, 2.3513), map_predicted=(16.8115, -4.30783), range=2.5345, pts=4
I0419 21:01:28.737970 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00003m maha_sq=172.596 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8115, -4.30783) lm_pos=(15.915, -2.52) delta=(0.896541, -1.78783) -> 0 candidate(s)
I0419 21:01:28.753746 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.22371, 0.557655)
I0419 21:01:28.753964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292887532963.
I0419 21:01:28.847009 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4327, -1.95154), yaw=-179.472 deg backend=(17.4331, -1.9522)
I0419 21:01:28.849252 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00135215 range=1.3445 variance=0.000567679 t_weight=5284.67 r_weight=0 yaml=(15.915, -2.52) prior=(17.4327, -1.95154, -179.472deg) obs_actual=(1.52573, 0.559274) obs_expected=(1.52289, 0.554461) delta=(0.00284041, 0.00481282) |delta|=0.00558849m
I0419 21:01:28.849391 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292887861397.
I0419 21:01:28.850375 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.947404, -4.15877), points=4, range=4.266, residual=0.0154877, extent=0.0378672
I0419 21:01:28.850453 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.947404, -4.15877), tracking=(0.648904, 4.15877), map_predicted=(16.8222, -6.11611), range=4.266, pts=4
I0419 21:01:28.850517 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70876m maha_sq=582.346 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8222, -6.11611) lm_pos=(15.915, -2.52) delta=(0.907151, -3.59611) -> 0 candidate(s)
I0419 21:01:28.852406 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22926, 0.55803)
I0419 21:01:28.852633 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292888133184.
I0419 21:01:28.854907 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:28.855026 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292888412553.
I0419 21:01:28.858769 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851712, -4.18622), points=4, range=4.27475, residual=0.0176665, extent=0.0427916
I0419 21:01:28.858899 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.851712, -4.18622), tracking=(-1.15021, 4.18622), map_predicted=(18.6206, -6.1263), range=4.27475, pts=4
I0419 21:01:28.858951 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50838m maha_sq=857.161 (gate chi2=5.99) pose_sigma=(0.150062, 0.150062, rho=0) det_map=(18.6206, -6.1263) lm_pos=(15.915, -2.52) delta=(2.70558, -3.6063) -> 0 candidate(s)
I0419 21:01:28.878069 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22904, 0.557922)
I0419 21:01:28.878347 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292888775286.
I0419 21:01:28.885576 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719077s, prior_pose=(17.4319, -1.95082), yaw=-179.473 deg
I0419 21:01:28.885718 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1192, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 21:01:28.973798 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292889022161.
I0419 21:01:28.974797 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.909655, -0.586967), points=6, range=1.07983, residual=0.00943116, extent=0.0253947
I0419 21:01:28.974869 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.909655, -0.586967), tracking=(-1.20816, 0.586967), map_predicted=(18.6479, -2.52536), range=1.07983, pts=6
I0419 21:01:28.974896 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19374m maha_sq=208.847 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6479, -2.52536) lm_pos=(16.815, -1.32) delta=(1.83292, -1.20536) -> 0 candidate(s)
I0419 21:01:28.975749 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311304, -0.645128)
I0419 21:01:28.975878 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292889339116.
I0419 21:01:28.977638 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:28.977725 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:28.977759 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:28.977777 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:28.978796 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:28.978901 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292889620812.
I0419 21:01:28.979707 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.857735, -2.37802)
I0419 21:01:28.989985 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.306322, -0.642094), points=16, range=0.71525, residual=0.0143985, extent=0.0485158
I0419 21:01:28.990093 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.306322, -0.642094), tracking=(0.604822, -0.642094), map_predicted=(16.8233, -1.31298), range=0.71525, pts=16
I0419 21:01:28.990125 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0108867m maha_sq=0.00511761 (gate chi2=5.99) pose_sigma=(0.150048, 0.150048, rho=0) det_map=(16.8233, -1.31298) lm_pos=(16.815, -1.32) delta=(0.00832159, 0.00701939) -> 1 candidate(s)
I0419 21:01:28.990181 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.22 deg, rms_residual=0.00919929m, sigma_yaw=0.0121171 rad, N=2
I0419 21:01:28.990240 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.434, -1.94644, -179.22deg) inliers=2 rms=0.00919929m
I0419 21:01:28.990275 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292889894358.
I0419 21:01:29.017731 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:29.017839 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:29.017968 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292890172501.
I0419 21:01:29.092893 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.852042, -4.18786)
I0419 21:01:29.093964 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307887, -0.642964), points=16, range=0.715062, residual=0.0125898, extent=0.0413684
I0419 21:01:29.094069 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.307887, -0.642964), tracking=(0.606387, -0.642964), map_predicted=(16.821, -1.31407), range=0.715062, pts=16
I0419 21:01:29.094100 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00843538m maha_sq=0.00307516 (gate chi2=5.99) pose_sigma=(0.150142, 0.150142, rho=0) det_map=(16.821, -1.31407) lm_pos=(16.815, -1.32) delta=(0.00600238, 0.00592681) -> 1 candidate(s)
I0419 21:01:29.094206 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292890459206.
I0419 21:01:29.097014 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.000648947 range=1.343 variance=0.000591925 t_weight=5068.21 r_weight=0 yaml=(15.915, -2.52) prior=(17.4325, -1.95175, -179.483deg) obs_actual=(1.52506, 0.557524) obs_expected=(1.52262, 0.55452) delta=(0.00244376, 0.00300384) |delta|=0.00387234m
I0419 21:01:29.097168 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292890778073.
I0419 21:01:29.098150 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.94814, -4.16202)
I0419 21:01:29.110376 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23472, 0.560524), points=3, range=1.351, residual=0.00947583, extent=0.0178211
I0419 21:01:29.110476 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23472, 0.560524), tracking=(1.53322, 0.560524), map_predicted=(15.9044, -2.5261), range=1.351, pts=3
I0419 21:01:29.110507 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0121892m maha_sq=0.00644296 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9044, -2.5261) lm_pos=(15.915, -2.52) delta=(-0.0105535, -0.00609925) -> 1 candidate(s)
I0419 21:01:29.110644 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292891099032.
I0419 21:01:29.138145 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292891375797.
I0419 21:01:29.149950 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.954437, -4.16168)
I0419 21:01:29.220323 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44965, 4.19033), points=3, range=4.43233, residual=0.0126756, extent=0.0262618
I0419 21:01:29.220443 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.44965, 4.19033), tracking=(-1.15115, 4.19033), map_predicted=(18.6226, -6.13153), range=4.43233, pts=3
I0419 21:01:29.220476 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.51381m maha_sq=863.08 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(18.6226, -6.13153) lm_pos=(15.915, -2.52) delta=(2.70764, -3.61153) -> 0 candidate(s)
I0419 21:01:29.220554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292891658833.
I0419 21:01:29.221408 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560317s, prior_pose=(17.4332, -1.95192), yaw=-179.475 deg
I0419 21:01:29.221482 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1204, max_intensity=248, threshold=230, above_threshold=20, candidates=20
I0419 21:01:29.222543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292891937234.
I0419 21:01:29.224398 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.955049, -4.16438)
I0419 21:01:29.225540 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:29.225672 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292892247872.
I0419 21:01:29.238092 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:29.238180 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:29.238209 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.954712, -4.16292), points=3, range=4.26967, residual=0.0121387, extent=0.0250136
I0419 21:01:29.238236 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:29.238247 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.954712, -4.16292), tracking=(0.656212, 4.16292), map_predicted=(16.8153, -6.12002), range=4.26967, pts=3
I0419 21:01:29.238268 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71088m maha_sq=585.285 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8153, -6.12002) lm_pos=(15.915, -2.52) delta=(0.900299, -3.60002) -> 0 candidate(s)
I0419 21:01:29.253664 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:29.253808 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:29.253835 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292892531822.
I0419 21:01:29.270300 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.93824, -2.35174)
I0419 21:01:29.282496 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292892818681.
I0419 21:01:29.365317 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851708, -4.18622), points=4, range=4.2735, residual=0.0164072, extent=0.0398139
I0419 21:01:29.365432 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.851708, -4.18622), tracking=(-1.15021, 4.18622), map_predicted=(18.6179, -6.12722), range=4.2735, pts=4
I0419 21:01:29.365470 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50753m maha_sq=856.332 (gate chi2=5.99) pose_sigma=(0.150253, 0.150253, rho=0) det_map=(18.6179, -6.12722) lm_pos=(15.915, -2.52) delta=(2.70292, -3.60722) -> 0 candidate(s)
I0419 21:01:29.366418 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.346079, 4.16462)
I0419 21:01:29.366495 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:29.366529 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:29.366636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292893137369.
I0419 21:01:29.369527 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292893415973.
I0419 21:01:29.370419 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852841, -4.19178), points=4, range=4.2795, residual=0.0170569, extent=0.0410088
I0419 21:01:29.370497 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.852841, -4.19178), tracking=(-1.15134, 4.19178), map_predicted=(18.6205, -6.13275), range=4.2795, pts=4
I0419 21:01:29.370528 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51349m maha_sq=860.513 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6205, -6.13275) lm_pos=(15.915, -2.52) delta=(2.70548, -3.61275) -> 0 candidate(s)
I0419 21:01:29.371477 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=7, centroid=(0.339374, 2.36473)
I0419 21:01:29.371584 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00403266 range=1.34675 variance=0.00065548 t_weight=4576.8 r_weight=0 yaml=(15.915, -2.52) prior=(17.4317, -1.95143, -179.488deg) obs_actual=(1.52938, 0.560926) obs_expected=(1.52175, 0.554995) delta=(0.00762833, 0.00593185) |delta|=0.00966324m
I0419 21:01:29.371654 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292893694641.
I0419 21:01:29.402109 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292894014512.
I0419 21:01:29.418419 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854339, -2.37951), points=5, range=2.5292, residual=0.0115436, extent=0.0304941
I0419 21:01:29.418519 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.854339, -2.37951), tracking=(-1.15284, 2.37951), map_predicted=(18.6065, -4.32076), range=2.5292, pts=5
I0419 21:01:29.418555 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23831m maha_sq=451.657 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6065, -4.32076) lm_pos=(15.915, -2.52) delta=(2.69145, -1.80076) -> 0 candidate(s)
I0419 21:01:29.512737 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.339201, 2.36356)
I0419 21:01:29.512907 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:01:29.512975 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292894292967.
I0419 21:01:29.515138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292894576173.
I0419 21:01:29.515146 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:29.517576 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0449057s, prior_pose=(17.4307, -1.95294), yaw=-179.459 deg
I0419 21:01:29.517691 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1192, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 21:01:29.517773 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.857718, -2.37804), points=4, range=2.52525, residual=0.0112544, extent=0.0272309
I0419 21:01:29.517804 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.857718, -2.37804), tracking=(-1.15622, 2.37804), map_predicted=(18.6093, -4.31995), range=2.52525, pts=4
I0419 21:01:29.517830 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24022m maha_sq=452.158 (gate chi2=5.99) pose_sigma=(0.150029, 0.150029, rho=0) det_map=(18.6093, -4.31995) lm_pos=(15.915, -2.52) delta=(2.69429, -1.79995) -> 0 candidate(s)
I0419 21:01:29.518955 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22286, 0.559406)
I0419 21:01:29.519117 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292894897028.
I0419 21:01:29.521968 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292895183841.
I0419 21:01:29.534409 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:29.534529 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:29.534577 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904087, -0.587116), points=4, range=1.0785, residual=0.0057059, extent=0.0134974
I0419 21:01:29.534614 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:29.534637 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.904087, -0.587116), tracking=(-1.20259, 0.587116), map_predicted=(18.6395, -2.52905), range=1.0785, pts=4
I0419 21:01:29.534674 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18871m maha_sq=208.402 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6395, -2.52905) lm_pos=(16.815, -1.32) delta=(1.82446, -1.20905) -> 0 candidate(s)
I0419 21:01:29.534713 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:29.550482 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22378, 0.559805)
I0419 21:01:29.550616 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:29.550701 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292895500381.
I0419 21:01:29.626739 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.463 deg, rms_residual=0.00895904m, sigma_yaw=0.0118044 rad, N=2
I0419 21:01:29.626888 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4337, -1.95194, -179.463deg) inliers=2 rms=0.00895904m
I0419 21:01:29.626929 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292895780631.
I0419 21:01:29.629670 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.23027, 0.560649)
I0419 21:01:29.629753 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:29.629781 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.309992, -0.644942), points=16, range=0.717562, residual=0.0144055, extent=0.0524924
I0419 21:01:29.629837 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:29.629859 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.309992, -0.644942), tracking=(0.608492, -0.644942), map_predicted=(16.8202, -1.31216), range=0.717562, pts=16
I0419 21:01:29.629914 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00938887m maha_sq=0.00380724 (gate chi2=5.99) pose_sigma=(0.150027, 0.150027, rho=0) det_map=(16.8202, -1.31216) lm_pos=(16.815, -1.32) delta=(0.00516708, 0.00783915) -> 1 candidate(s)
I0419 21:01:29.630023 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292896056965.
I0419 21:01:29.638371 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292896377153.
I0419 21:01:29.639699 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4338, -1.9523), yaw=-179.484 deg backend=(17.4346, -1.9507)
I0419 21:01:29.666347 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22628, 0.560955)
I0419 21:01:29.666455 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.338992, 2.36213), points=4, range=2.3875, residual=0.0088314, extent=0.0214348
I0419 21:01:29.666484 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.338992, 2.36213), tracking=(0.637492, 2.36213), map_predicted=(16.8176, -4.32007), range=2.3875, pts=4
I0419 21:01:29.666510 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.0137m maha_sq=175.034 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(16.8176, -4.32007) lm_pos=(15.915, -2.52) delta=(0.902627, -1.80007) -> 0 candidate(s)
I0419 21:01:29.666572 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00519763 range=1.3485 variance=0.000701972 t_weight=4273.67 r_weight=0 yaml=(15.915, -2.52) prior=(17.4338, -1.9523, -179.484deg) obs_actual=(1.5315, 0.56189) obs_expected=(1.52386, 0.553993) delta=(0.00763904, 0.00789633) |delta|=0.0109867m
I0419 21:01:29.666666 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292896657734.
I0419 21:01:29.763660 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22767, 0.557307)
I0419 21:01:29.763867 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292897257910.
I0419 21:01:29.765889 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.941669, -2.35037), points=4, range=2.53275, residual=0.00914854, extent=0.0223115
I0419 21:01:29.766005 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.941669, -2.35037), tracking=(0.643169, 2.35037), map_predicted=(16.8128, -4.30681), range=2.53275, pts=4
I0419 21:01:29.766039 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99968m maha_sq=172.483 (gate chi2=5.99) pose_sigma=(0.150048, 0.150048, rho=0) det_map=(16.8128, -4.30681) lm_pos=(15.915, -2.52) delta=(0.897801, -1.78681) -> 0 candidate(s)
I0419 21:01:29.767210 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292897537008.
I0419 21:01:29.768110 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.072418s, prior_pose=(17.4347, -1.95072), yaw=-179.482 deg
I0419 21:01:29.768193 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1197, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:01:29.781793 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22309, 0.559511)
I0419 21:01:29.782043 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292897813336.
I0419 21:01:29.794471 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851239, -4.18394), points=4, range=4.2695, residual=0.0157632, extent=0.0377081
I0419 21:01:29.794589 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.851239, -4.18394), tracking=(-1.14974, 4.18394), map_predicted=(18.6224, -6.12454), range=4.2695, pts=4
I0419 21:01:29.794627 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50807m maha_sq=860.067 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6224, -6.12454) lm_pos=(15.915, -2.52) delta=(2.70739, -3.60454) -> 0 candidate(s)
I0419 21:01:29.814677 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292898140408.
I0419 21:01:29.837744 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:29.889183 1232263 pose_graph_2d.cc:160] Inserted submap (1, 40).
I0419 21:01:29.890082 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:29.890188 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:29.890232 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:29.891295 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.309442, -0.643768)
I0419 21:01:29.891453 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292898427886.
I0419 21:01:29.892270 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858055, -2.37898), points=4, range=2.53025, residual=0.00977216, extent=0.0238381
I0419 21:01:29.892359 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.858055, -2.37898), tracking=(-1.15655, 2.37898), map_predicted=(18.6133, -4.31739), range=2.53025, pts=4
I0419 21:01:29.892388 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24212m maha_sq=453.457 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6133, -4.31739) lm_pos=(15.915, -2.52) delta=(2.69829, -1.79739) -> 0 candidate(s)
I0419 21:01:29.894431 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:29.894558 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:29.894593 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292898702095.
I0419 21:01:29.908476 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.310639, -0.643715)
I0419 21:01:29.908595 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:29.908639 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:29.908753 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292899013676.
I0419 21:01:29.930361 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307048, -0.643622), points=16, range=0.716563, residual=0.0138451, extent=0.0448365
I0419 21:01:29.930482 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.307048, -0.643622), tracking=(0.605548, -0.643622), map_predicted=(16.8217, -1.31254), range=0.716563, pts=16
I0419 21:01:29.930516 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0100056m maha_sq=0.00432268 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(16.8217, -1.31254) lm_pos=(16.815, -1.32) delta=(0.00666878, 0.00745914) -> 1 candidate(s)
I0419 21:01:29.930652 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292899298768.
I0419 21:01:29.943552 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.905452, -0.584259)
I0419 21:01:30.023135 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292899575098.
I0419 21:01:30.025876 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.33526, 2.36055), points=5, range=2.3846, residual=0.0105203, extent=0.0277622
I0419 21:01:30.026047 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.33526, 2.36055), tracking=(0.63376, 2.36055), map_predicted=(16.8159, -4.31843), range=2.3846, pts=5
I0419 21:01:30.026096 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01147m maha_sq=174.565 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8159, -4.31843) lm_pos=(15.915, -2.52) delta=(0.900939, -1.79843) -> 0 candidate(s)
I0419 21:01:30.026161 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00311713 range=1.3418 variance=0.000626094 t_weight=4791.62 r_weight=0 yaml=(15.915, -2.52) prior=(17.4287, -1.95234, -179.491deg) obs_actual=(1.52705, 0.555565) obs_expected=(1.51867, 0.554183) delta=(0.00837715, 0.00138221) |delta|=0.00849042m
I0419 21:01:30.026211 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292899877537.
I0419 21:01:30.028008 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.862543, -2.38054)
I0419 21:01:30.028949 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:30.029045 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292900177669.
I0419 21:01:30.047986 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.35208, 4.16346), points=4, range=4.1755, residual=0.0163257, extent=0.0402085
I0419 21:01:30.048146 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.35208, 4.16346), tracking=(0.65058, 4.16346), map_predicted=(16.8169, -6.1215), range=4.1755, pts=4
I0419 21:01:30.048205 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.7127m maha_sq=582.872 (gate chi2=5.99) pose_sigma=(0.150071, 0.150071, rho=0) det_map=(16.8169, -6.1215) lm_pos=(15.915, -2.52) delta=(0.901861, -3.6015) -> 0 candidate(s)
I0419 21:01:30.048324 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292900457038.
I0419 21:01:30.062405 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600723s, prior_pose=(17.4303, -1.95241), yaw=-179.49 deg
I0419 21:01:30.062541 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1195, max_intensity=249, threshold=230, above_threshold=20, candidates=20
I0419 21:01:30.062633 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.858138, -2.37915)
I0419 21:01:30.078743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292900782029.
I0419 21:01:30.151356 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292901060554.
I0419 21:01:30.152351 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:30.152447 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.953537, -4.15779)
I0419 21:01:30.152508 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:30.152537 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.94142, -2.34975), points=4, range=2.53275, residual=0.00946882, extent=0.0229128
I0419 21:01:30.152563 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:30.152575 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.94142, -2.34975), tracking=(0.64292, 2.34975), map_predicted=(16.8104, -4.3085), range=2.53275, pts=4
I0419 21:01:30.152593 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00009m maha_sq=172.616 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8104, -4.3085) lm_pos=(15.915, -2.52) delta=(0.895353, -1.7885) -> 0 candidate(s)
I0419 21:01:30.152614 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:30.154445 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:30.154662 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292901359484.
I0419 21:01:30.178339 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938983, -2.35359)
I0419 21:01:30.178447 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.871276, -4.18884), points=3, range=4.276, residual=0.0126754, extent=0.0258344
I0419 21:01:30.178481 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.871276, -4.18884), tracking=(-1.16978, 4.18884), map_predicted=(18.6414, -6.12985), range=4.276, pts=3
I0419 21:01:30.178514 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52376m maha_sq=868.193 (gate chi2=5.99) pose_sigma=(0.150095, 0.150095, rho=0) det_map=(18.6414, -6.12985) lm_pos=(15.915, -2.52) delta=(2.72642, -3.60985) -> 0 candidate(s)
I0419 21:01:30.197190 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:30.197559 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:30.197620 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:30.197782 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292901940903.
I0419 21:01:30.277913 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.506 deg, rms_residual=0.00699639m, sigma_yaw=0.0092423 rad, N=2
I0419 21:01:30.278033 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4326, -1.95277, -179.506deg) inliers=2 rms=0.00699639m
I0419 21:01:30.278074 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292902214941.
I0419 21:01:30.279114 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939356, -2.35452)
I0419 21:01:30.279179 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.901835, -0.587502), points=7, range=1.07714, residual=0.00792273, extent=0.0217713
I0419 21:01:30.279210 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.901835, -0.587502), tracking=(-1.20034, 0.587502), map_predicted=(18.6378, -2.52774), range=1.07714, pts=7
I0419 21:01:30.279238 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1866m maha_sq=207.728 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6378, -2.52774) lm_pos=(16.815, -1.32) delta=(1.8228, -1.20774) -> 0 candidate(s)
I0419 21:01:30.280359 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292902533053.
I0419 21:01:30.283128 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292902816536.
I0419 21:01:30.298319 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938982, -2.35359)
I0419 21:01:30.310161 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23098, 0.556668), points=4, range=1.3485, residual=0.00696607, extent=0.0147941
I0419 21:01:30.310272 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23098, 0.556668), tracking=(1.52948, 0.556668), map_predicted=(15.9091, -2.52253), range=1.3485, pts=4
I0419 21:01:30.310304 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00642681m maha_sq=0.00179309 (gate chi2=5.99) pose_sigma=(0.150053, 0.150053, rho=0) det_map=(15.9091, -2.52253) lm_pos=(15.915, -2.52) delta=(-0.00590898, -0.00252741) -> 1 candidate(s)
I0419 21:01:30.310369 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00179309 range=1.3485 variance=0.000518987 t_weight=5780.49 r_weight=0 yaml=(15.915, -2.52) prior=(17.4332, -1.95143, -179.458deg) obs_actual=(1.52948, 0.556668) obs_expected=(1.52355, 0.554197) delta=(0.00593261, 0.00247144) |delta|=0.00642681m
I0419 21:01:30.310446 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292903096602.
I0419 21:01:30.342414 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292903418525.
I0419 21:01:30.419504 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0444505s, prior_pose=(17.431, -1.95321), yaw=-179.484 deg
I0419 21:01:30.419629 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1212, max_intensity=251, threshold=230, above_threshold=22, candidates=22
I0419 21:01:30.419715 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.93852, -2.35243)
I0419 21:01:30.420764 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352252, 4.16545), points=3, range=4.18033, residual=0.0114957, extent=0.0280654
I0419 21:01:30.420826 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.352252, 4.16545), tracking=(0.650752, 4.16545), map_predicted=(16.8177, -6.12435), range=4.18033, pts=3
I0419 21:01:30.420854 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71567m maha_sq=586.026 (gate chi2=5.99) pose_sigma=(0.150217, 0.150217, rho=0) det_map=(16.8177, -6.12435) lm_pos=(15.915, -2.52) delta=(0.902717, -3.60435) -> 0 candidate(s)
I0419 21:01:30.420955 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292903695160.
I0419 21:01:30.423749 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292903994925.
I0419 21:01:30.424633 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:30.424687 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.938333, -2.35197)
I0419 21:01:30.424706 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:30.424743 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:30.430346 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.44998, 4.19127), points=3, range=4.43467, residual=0.0124697, extent=0.0258124
I0419 21:01:30.430433 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.44998, 4.19127), tracking=(-1.15148, 4.19127), map_predicted=(18.6195, -6.13427), range=4.43467, pts=3
I0419 21:01:30.430500 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51413m maha_sq=864.466 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6195, -6.13427) lm_pos=(15.915, -2.52) delta=(2.70452, -3.61427) -> 0 candidate(s)
I0419 21:01:30.430605 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292904299918.
I0419 21:01:30.458612 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292904579554.
I0419 21:01:30.470412 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939629, -2.35522)
I0419 21:01:30.547851 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:30.547962 1237626 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:30.548050 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:30.548107 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:30.548130 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292904854906.
I0419 21:01:30.549140 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845314, -4.186), points=3, range=4.27333, residual=0.013187, extent=0.0276038
I0419 21:01:30.549204 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.845314, -4.186), tracking=(-1.14381, 4.186), map_predicted=(18.615, -6.12794), range=4.27333, pts=3
I0419 21:01:30.549238 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50636m maha_sq=862.107 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.615, -6.12794) lm_pos=(15.915, -2.52) delta=(2.70002, -3.60794) -> 0 candidate(s)
I0419 21:01:30.550160 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292905176701.
I0419 21:01:30.551373 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4336, -1.9521), yaw=-179.5 deg backend=(17.4315, -1.95243)
I0419 21:01:30.552048 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.945083, -2.34899)
I0419 21:01:30.553092 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292905455840.
I0419 21:01:30.558281 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908953, -0.584648), points=5, range=1.079, residual=0.00678313, extent=0.0180684
I0419 21:01:30.558372 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.908953, -0.584648), tracking=(-1.20745, 0.584648), map_predicted=(18.6461, -2.5262), range=1.079, pts=5
I0419 21:01:30.558403 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19269m maha_sq=209.038 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6461, -2.5262) lm_pos=(16.815, -1.32) delta=(1.83111, -1.2062) -> 0 candidate(s)
I0419 21:01:30.578346 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-1.45551, 4.18758)
I0419 21:01:30.578585 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292905778636.
I0419 21:01:30.606199 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:01:30.606333 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00193465 range=1.3445 variance=0.000701566 t_weight=4276.15 r_weight=0 yaml=(15.915, -2.52) prior=(17.4339, -1.9518, -179.501deg) obs_actual=(1.52786, 0.560231) obs_expected=(1.52374, 0.554946) delta=(0.00411771, 0.00528502) |delta|=0.00669977m
I0419 21:01:30.606484 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292906055116.
I0419 21:01:30.687134 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.35213, 4.16413)
I0419 21:01:30.687278 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.311078, -0.644853), points=15, range=0.715867, residual=0.0112224, extent=0.0378866
I0419 21:01:30.687311 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.311078, -0.644853), tracking=(0.609578, -0.644853), map_predicted=(16.8175, -1.31102), range=0.715867, pts=15
I0419 21:01:30.687340 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00931613m maha_sq=0.00375647 (gate chi2=5.99) pose_sigma=(0.150135, 0.150135, rho=0) det_map=(16.8175, -1.31102) lm_pos=(16.815, -1.32) delta=(0.00249622, 0.00897547) -> 1 candidate(s)
I0419 21:01:30.687443 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292906337409.
I0419 21:01:30.688234 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0683302s, prior_pose=(17.433, -1.95022), yaw=-179.471 deg
I0419 21:01:30.688299 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1192, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:01:30.690367 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292906621586.
I0419 21:01:30.694625 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.339111, 2.36297)
I0419 21:01:30.694751 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23239, 0.561616), points=4, range=1.34825, residual=0.0140781, extent=0.0322141
I0419 21:01:30.694794 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23239, 0.561616), tracking=(1.53089, 0.561616), map_predicted=(15.9079, -2.52685), range=1.34825, pts=4
I0419 21:01:30.694823 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00984217m maha_sq=0.00418101 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9079, -2.52685) lm_pos=(15.915, -2.52) delta=(-0.0070678, -0.00684942) -> 1 candidate(s)
I0419 21:01:30.694928 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292906941847.
I0419 21:01:30.706312 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:30.706400 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:30.706437 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:30.706463 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:30.721783 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:30.721964 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292907213195.
I0419 21:01:30.809146 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.09436, -0.653663)
I0419 21:01:30.809252 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22814, 0.559689), points=4, range=1.345, residual=0.0107775, extent=0.0233443
I0419 21:01:30.809283 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22814, 0.559689), tracking=(1.52664, 0.559689), map_predicted=(15.9094, -2.52638), range=1.345, pts=4
I0419 21:01:30.809309 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00846277m maha_sq=0.00309182 (gate chi2=5.99) pose_sigma=(0.150258, 0.150258, rho=0) det_map=(15.9094, -2.52638) lm_pos=(15.915, -2.52) delta=(-0.00556468, -0.00637595) -> 1 candidate(s)
I0419 21:01:30.809511 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292907542600.
I0419 21:01:30.811437 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:30.811513 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:30.811604 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292907821960.
I0419 21:01:30.814287 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311903, -0.646435)
I0419 21:01:30.814379 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352015, 4.1628), points=3, range=4.17767, residual=0.00993332, extent=0.0243242
I0419 21:01:30.814411 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.352015, 4.1628), tracking=(0.650515, 4.1628), map_predicted=(16.8191, -6.12125), range=4.17767, pts=3
I0419 21:01:30.814433 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71301m maha_sq=587.081 (gate chi2=5.99) pose_sigma=(0.150077, 0.150077, rho=0) det_map=(16.8191, -6.12125) lm_pos=(15.915, -2.52) delta=(0.904132, -3.60125) -> 0 candidate(s)
I0419 21:01:30.814483 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.651 deg, rms_residual=0.00708002m, sigma_yaw=0.00935175 rad, N=2
I0419 21:01:30.814524 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4307, -1.95604, -179.651deg) inliers=2 rms=0.00708002m
I0419 21:01:30.814558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292908094230.
I0419 21:01:30.842275 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292908417617.
I0419 21:01:30.869972 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311429, -0.645415)
I0419 21:01:30.870091 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.351581, 4.15748), points=4, range=4.17725, residual=0.0188522, extent=0.0465829
I0419 21:01:30.870126 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.351581, 4.15748), tracking=(0.650081, 4.15748), map_predicted=(16.8193, -6.11694), range=4.17725, pts=4
I0419 21:01:30.870157 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.70886m maha_sq=579.999 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8193, -6.11694) lm_pos=(15.915, -2.52) delta=(0.904255, -3.59694) -> 0 candidate(s)
I0419 21:01:30.870276 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292908694974.
I0419 21:01:30.955539 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:30.958298 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.312267, -0.647161)
I0419 21:01:30.958446 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00645794 range=1.35233 variance=0.000542642 t_weight=5528.51 r_weight=0 yaml=(15.915, -2.52) prior=(17.4344, -1.9547, -179.459deg) obs_actual=(1.53404, 0.558724) obs_expected=(1.52463, 0.550924) delta=(0.00940303, 0.00780037) |delta|=0.0122173m
I0419 21:01:30.958506 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292909291182.
I0419 21:01:30.959380 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596116s, prior_pose=(17.4344, -1.9547), yaw=-179.459 deg
I0419 21:01:30.959494 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1200, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:01:30.959558 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.947994, -4.16137), points=4, range=4.2685, residual=0.0153531, extent=0.037575
I0419 21:01:30.959584 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.947994, -4.16137), tracking=(0.649494, 4.16137), map_predicted=(16.8242, -6.12202), range=4.2685, pts=4
I0419 21:01:30.959604 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.715m maha_sq=584.395 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8242, -6.12202) lm_pos=(15.915, -2.52) delta=(0.909209, -3.60202) -> 0 candidate(s)
I0419 21:01:30.960521 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292909587303.
I0419 21:01:30.974416 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.903084, -0.586445)
I0419 21:01:30.991710 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292909860765.
I0419 21:01:31.002633 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:31.002780 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:31.002846 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.86203, -2.37913), points=5, range=2.529, residual=0.0123466, extent=0.0325971
I0419 21:01:31.002893 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:31.002924 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.86203, -2.37913), tracking=(-1.16053, 2.37913), map_predicted=(18.6173, -4.32208), range=2.529, pts=5
I0419 21:01:31.002975 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.2481m maha_sq=454.017 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6173, -4.32208) lm_pos=(15.915, -2.52) delta=(2.70234, -1.80208) -> 0 candidate(s)
I0419 21:01:31.101202 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:31.101366 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292910175326.
I0419 21:01:31.102334 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.857047, -2.37614)
I0419 21:01:31.103264 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292910455902.
I0419 21:01:31.105779 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:31.105839 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.307824, -0.645298), points=16, range=0.718437, residual=0.0134478, extent=0.0442376
I0419 21:01:31.105863 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:31.105880 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.307824, -0.645298), tracking=(0.606324, -0.645298), map_predicted=(16.8188, -1.31457), range=0.718437, pts=16
I0419 21:01:31.105902 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00661139m maha_sq=0.00188789 (gate chi2=5.99) pose_sigma=(0.150114, 0.150114, rho=0) det_map=(16.8188, -1.31457) lm_pos=(16.815, -1.32) delta=(0.00377787, 0.0054257) -> 1 candidate(s)
I0419 21:01:31.105959 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292910735864.
I0419 21:01:31.106808 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.858288, -4.18744)
I0419 21:01:31.134663 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.339669, 4.16081), points=4, range=4.17675, residual=0.0158726, extent=0.0390389
I0419 21:01:31.134775 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.339669, 4.16081), tracking=(0.638169, 4.16081), map_predicted=(16.8324, -6.12), range=4.17675, pts=4
I0419 21:01:31.134809 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71506m maha_sq=583.89 (gate chi2=5.99) pose_sigma=(0.150081, 0.150081, rho=0) det_map=(16.8324, -6.12) lm_pos=(15.915, -2.52) delta=(0.917431, -3.6) -> 0 candidate(s)
I0419 21:01:31.134869 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:31.134920 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:31.134940 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292911339971.
I0419 21:01:31.212426 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.857784, -4.18499)
I0419 21:01:31.213640 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292911620165.
I0419 21:01:31.216306 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:31.216445 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292911937903.
I0419 21:01:31.217257 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.948363, -4.163)
I0419 21:01:31.217321 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.948363, -4.163), points=3, range=4.26967, residual=0.0103455, extent=0.0250136
I0419 21:01:31.217347 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.948363, -4.163), tracking=(0.649863, 4.163), map_predicted=(16.8222, -6.11662), range=4.26967, pts=3
I0419 21:01:31.217367 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70927m maha_sq=585.78 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8222, -6.11662) lm_pos=(15.915, -2.52) delta=(0.907203, -3.59662) -> 0 candidate(s)
I0419 21:01:31.222546 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292912219387.
I0419 21:01:31.238334 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439969s, prior_pose=(17.4335, -1.94877), yaw=-179.478 deg
I0419 21:01:31.238464 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1203, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:01:31.250569 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0014417 range=1.34625 variance=0.00061925 t_weight=4844.57 r_weight=0 yaml=(15.915, -2.52) prior=(17.4335, -1.94877, -179.478deg) obs_actual=(1.52846, 0.560517) obs_expected=(1.52362, 0.557372) delta=(0.00484517, 0.00314484) |delta|=0.00577631m
I0419 21:01:31.250721 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292912500371.
I0419 21:01:31.266049 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.939914, -2.35591)
I0419 21:01:31.266155 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.952816, -4.15464), points=3, range=4.263, residual=0.0119664, extent=0.0249789
I0419 21:01:31.266197 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.952816, -4.15464), tracking=(0.654316, 4.15464), map_predicted=(16.817, -6.10919), range=4.263, pts=3
I0419 21:01:31.266263 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70081m maha_sq=582.251 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.817, -6.10919) lm_pos=(15.915, -2.52) delta=(0.902046, -3.58919) -> 0 candidate(s)
I0419 21:01:31.347180 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292912815875.
I0419 21:01:31.348086 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:31.348147 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:31.348181 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:31.348201 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:31.349145 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.46338, 4.19056)
I0419 21:01:31.349220 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:31.349303 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292913093752.
I0419 21:01:31.350960 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.844721, -4.18306), points=3, range=4.272, residual=0.0146912, extent=0.030687
I0419 21:01:31.351019 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.844721, -4.18306), tracking=(-1.14322, 4.18306), map_predicted=(18.6149, -6.12222), range=4.272, pts=3
I0419 21:01:31.351046 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.5017m maha_sq=857.666 (gate chi2=5.99) pose_sigma=(0.150104, 0.150104, rho=0) det_map=(18.6149, -6.12222) lm_pos=(15.915, -2.52) delta=(2.69987, -3.60222) -> 0 candidate(s)
I0419 21:01:31.351882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292913378972.
I0419 21:01:31.370577 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.4615, 4.18515)
I0419 21:01:31.370672 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:31.370699 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:31.370831 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292913701296.
I0419 21:01:31.386499 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.900721, -0.586783), points=5, range=1.0764, residual=0.007172, extent=0.0195269
I0419 21:01:31.387104 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.900721, -0.586783), tracking=(-1.19922, 0.586783), map_predicted=(18.6371, -2.52604), range=1.0764, pts=5
I0419 21:01:31.387625 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18508m maha_sq=207.541 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6371, -2.52604) lm_pos=(16.815, -1.32) delta=(1.82209, -1.20604) -> 0 candidate(s)
I0419 21:01:31.398212 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292913974859.
I0419 21:01:31.472679 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4315, -1.95174), yaw=-179.444 deg backend=(17.4309, -1.95122)
I0419 21:01:31.474668 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-1.46371, 4.19151)
I0419 21:01:31.474865 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292914296485.
I0419 21:01:31.475749 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908951, -0.58465), points=6, range=1.0775, residual=0.00861699, extent=0.0197322
I0419 21:01:31.475805 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.908951, -0.58465), tracking=(-1.20745, 0.58465), map_predicted=(18.6445, -2.52464), range=1.0775, pts=6
I0419 21:01:31.475833 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19051m maha_sq=208.367 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6445, -2.52464) lm_pos=(16.815, -1.32) delta=(1.82953, -1.20464) -> 0 candidate(s)
I0419 21:01:31.477691 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.749 deg, rms_residual=0.00647979m, sigma_yaw=0.00856572 rad, N=2
I0419 21:01:31.477807 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4282, -1.95779, -179.749deg) inliers=2 rms=0.00647979m
I0419 21:01:31.477851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292914572742.
I0419 21:01:31.486856 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46513, 4.19553)
I0419 21:01:31.487341 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292914862588.
I0419 21:01:31.517763 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22966, 0.560381), points=4, range=1.34775, residual=0.00874761, extent=0.0190436
I0419 21:01:31.517881 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22966, 0.560381), tracking=(1.52816, 0.560381), map_predicted=(15.9107, -2.52688), range=1.34775, pts=4
I0419 21:01:31.517917 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00811019m maha_sq=0.0028513 (gate chi2=5.99) pose_sigma=(0.150072, 0.150072, rho=0) det_map=(15.9107, -2.52688) lm_pos=(15.915, -2.52) delta=(-0.00429839, -0.00687743) -> 1 candidate(s)
I0419 21:01:31.518045 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292915171744.
I0419 21:01:31.529983 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0721906s, prior_pose=(17.4333, -1.95167), yaw=-179.443 deg
I0419 21:01:31.530139 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1183, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:01:31.614755 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46249, 4.18798)
I0419 21:01:31.614925 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00752709 range=1.35233 variance=0.000538465 t_weight=5571.39 r_weight=0 yaml=(15.915, -2.52) prior=(17.4326, -1.95241, -179.452deg) obs_actual=(1.53368, 0.56073) obs_expected=(1.52298, 0.553048) delta=(0.0107039, 0.00768215) |delta|=0.0131753m
I0419 21:01:31.614995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292915455148.
I0419 21:01:31.616765 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.335644, 2.36327), points=5, range=2.386, residual=0.0108879, extent=0.0283918
I0419 21:01:31.616830 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.335644, 2.36327), tracking=(0.634144, 2.36327), map_predicted=(16.8211, -4.32164), range=2.386, pts=5
I0419 21:01:31.616865 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01666m maha_sq=175.406 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8211, -4.32164) lm_pos=(15.915, -2.52) delta=(0.906105, -1.80164) -> 0 candidate(s)
I0419 21:01:31.616936 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292915733012.
I0419 21:01:31.618935 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:31.619000 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:31.619027 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:31.619813 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.4615, 4.18515)
I0419 21:01:31.619918 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292916057422.
I0419 21:01:31.633960 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352623, 4.16977), points=4, range=4.1875, residual=0.0175298, extent=0.0416462
I0419 21:01:31.634104 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.352623, 4.16977), tracking=(0.651123, 4.16977), map_predicted=(16.8219, -6.12688), range=4.1875, pts=4
I0419 21:01:31.634159 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71916m maha_sq=584.011 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(16.8219, -6.12688) lm_pos=(15.915, -2.52) delta=(0.906942, -3.60688) -> 0 candidate(s)
I0419 21:01:31.634343 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292916331789.
I0419 21:01:31.666481 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.45694, 4.19167)
I0419 21:01:31.666625 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:31.666680 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:31.666890 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292916656144.
I0419 21:01:31.758353 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.46946, 4.18836), points=4, range=4.4385, residual=0.015898, extent=0.0387716
I0419 21:01:31.758468 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.46946, 4.18836), tracking=(-1.17096, 4.18836), map_predicted=(18.6444, -6.12834), range=4.4385, pts=4
I0419 21:01:31.758493 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.52438m maha_sq=863.482 (gate chi2=5.99) pose_sigma=(0.15012, 0.15012, rho=0) det_map=(18.6444, -6.12834) lm_pos=(15.915, -2.52) delta=(2.72945, -3.60834) -> 0 candidate(s)
I0419 21:01:31.758594 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292916898639.
I0419 21:01:31.761184 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.46497, 4.19506)
I0419 21:01:31.761297 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:31.761350 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:31.761372 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292917217783.
I0419 21:01:31.763082 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292917499205.
I0419 21:01:31.764705 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.948626, -2.34793), points=4, range=2.5325, residual=0.00903777, extent=0.0221228
I0419 21:01:31.764766 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.948626, -2.34793), tracking=(0.650126, 2.34793), map_predicted=(16.805, -4.30672), range=2.5325, pts=4
I0419 21:01:31.764827 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.9961m maha_sq=171.849 (gate chi2=5.99) pose_sigma=(0.150062, 0.150062, rho=0) det_map=(16.805, -4.30672) lm_pos=(15.915, -2.52) delta=(0.889987, -1.78672) -> 0 candidate(s)
I0419 21:01:31.782601 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352072, 4.16346)
I0419 21:01:31.782786 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:31.782915 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292917818701.
I0419 21:01:31.875222 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292918095752.
I0419 21:01:31.876138 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598155s, prior_pose=(17.4341, -1.95432), yaw=-179.442 deg
I0419 21:01:31.876235 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1178, max_intensity=251, threshold=230, above_threshold=23, candidates=23
I0419 21:01:31.876319 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851575, -4.18557), points=4, range=4.273, residual=0.0164603, extent=0.0398139
I0419 21:01:31.876351 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.851575, -4.18557), tracking=(-1.15007, 4.18557), map_predicted=(18.6248, -6.12849), range=4.273, pts=4
I0419 21:01:31.876379 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.5127m maha_sq=860.99 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6248, -6.12849) lm_pos=(15.915, -2.52) delta=(2.70984, -3.60849) -> 0 candidate(s)
I0419 21:01:31.877381 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352179, 4.16479)
I0419 21:01:31.877523 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00296069 range=1.34625 variance=0.000611592 t_weight=4905.23 r_weight=0 yaml=(15.915, -2.52) prior=(17.4341, -1.95432, -179.442deg) obs_actual=(1.52894, 0.55785) obs_expected=(1.52451, 0.550865) delta=(0.00443206, 0.00698449) |delta|=0.00827202m
I0419 21:01:31.877584 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292918379892.
I0419 21:01:31.880309 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292918696812.
I0419 21:01:31.882053 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:31.882133 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:31.882159 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854257, -2.37928), points=5, range=2.53, residual=0.0123743, extent=0.0326077
I0419 21:01:31.882184 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:31.882205 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.854257, -2.37928), tracking=(-1.15276, 2.37928), map_predicted=(18.6096, -4.32172), range=2.53, pts=5
I0419 21:01:31.882228 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24143m maha_sq=452.139 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6096, -4.32172) lm_pos=(15.915, -2.52) delta=(2.69457, -1.80172) -> 0 candidate(s)
I0419 21:01:31.882249 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:31.897935 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.352163, 4.16446)
I0419 21:01:31.898114 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:31.926864 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292919257980.
I0419 21:01:32.035269 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:32.036283 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.22583, 0.560747)
I0419 21:01:32.036343 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:32.036365 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22076, 0.560596), points=4, range=1.348, residual=0.0142239, extent=0.0350264
I0419 21:01:32.036382 1218530 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:32.036399 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22076, 0.560596), tracking=(1.51926, 0.560596), map_predicted=(15.9227, -2.52733), range=1.348, pts=4
I0419 21:01:32.036420 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0106073m maha_sq=0.00484617 (gate chi2=5.99) pose_sigma=(0.150148, 0.150148, rho=0) det_map=(15.9227, -2.52733) lm_pos=(15.915, -2.52) delta=(0.0076716, -0.00732533) -> 1 candidate(s)
I0419 21:01:32.036518 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292919576517.
I0419 21:01:32.039585 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292919858846.
I0419 21:01:32.041704 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.23057, 0.560786)
I0419 21:01:32.041781 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.345949, 4.16315), points=3, range=4.18067, residual=0.0130325, extent=0.0271228
I0419 21:01:32.041810 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.345949, 4.16315), tracking=(0.644449, 4.16315), map_predicted=(16.8305, -6.12284), range=4.18067, pts=3
I0419 21:01:32.041834 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71734m maha_sq=587.231 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8305, -6.12284) lm_pos=(15.915, -2.52) delta=(0.915514, -3.60284) -> 0 candidate(s)
I0419 21:01:32.041900 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292920138461.
I0419 21:01:32.047101 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292920461459.
I0419 21:01:32.173584 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22926, 0.558032)
I0419 21:01:32.173753 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.213 deg, rms_residual=0.00839562m, sigma_yaw=0.0110702 rad, N=2
I0419 21:01:32.173795 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4332, -1.94839, -179.213deg) inliers=2 rms=0.00839562m
I0419 21:01:32.173831 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292920737488.
I0419 21:01:32.174701 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.959571, -4.15632), points=4, range=4.26475, residual=0.0154713, extent=0.037549
I0419 21:01:32.174768 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.959571, -4.15632), tracking=(0.661071, 4.15632), map_predicted=(16.8085, -6.11264), range=4.26475, pts=4
I0419 21:01:32.174798 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70208m maha_sq=580.269 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8085, -6.11264) lm_pos=(15.915, -2.52) delta=(0.893529, -3.59264) -> 0 candidate(s)
I0419 21:01:32.175899 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292921061226.
I0419 21:01:32.177621 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437482s, prior_pose=(17.4315, -1.95038), yaw=-179.458 deg
I0419 21:01:32.177721 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1179, max_intensity=253, threshold=230, above_threshold=22, candidates=22
I0419 21:01:32.178742 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.22468, 0.56024)
I0419 21:01:32.178869 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292921333811.
I0419 21:01:32.179672 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851842, -4.18688), points=3, range=4.27267, residual=0.0121046, extent=0.0295584
I0419 21:01:32.179740 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.851842, -4.18688), tracking=(-1.15034, 4.18688), map_predicted=(18.6214, -6.12619), range=4.27267, pts=3
I0419 21:01:32.179767 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50879m maha_sq=864.047 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6214, -6.12619) lm_pos=(15.915, -2.52) delta=(2.7064, -3.60619) -> 0 candidate(s)
I0419 21:01:32.181802 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00821837 range=1.3536 variance=0.000595195 t_weight=5040.36 r_weight=0 yaml=(15.915, -2.52) prior=(17.4319, -1.95115, -179.458deg) obs_actual=(1.53436, 0.561024) obs_expected=(1.52225, 0.554458) delta=(0.0121183, 0.00656609) |delta|=0.0137828m
I0419 21:01:32.181926 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292921614783.
I0419 21:01:32.182713 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:32.182760 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:32.182790 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:32.194595 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.311269, -0.645076)
I0419 21:01:32.195041 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292921936159.
I0419 21:01:32.302106 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.862453, -2.38031), points=5, range=2.5306, residual=0.0118788, extent=0.031442
I0419 21:01:32.302227 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.862453, -2.38031), tracking=(-1.16095, 2.38031), map_predicted=(18.6206, -4.3207), range=2.5306, pts=5
I0419 21:01:32.302261 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25009m maha_sq=452.739 (gate chi2=5.99) pose_sigma=(0.15035, 0.15035, rho=0) det_map=(18.6206, -4.3207) lm_pos=(15.915, -2.52) delta=(2.70565, -1.8007) -> 0 candidate(s)
I0419 21:01:32.303325 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292922221570.
I0419 21:01:32.306046 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.3121, -0.646826)
I0419 21:01:32.306147 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:32.306173 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:32.306267 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292922500237.
I0419 21:01:32.307116 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904759, -0.587538), points=6, range=1.07983, residual=0.00748974, extent=0.0210194
I0419 21:01:32.307189 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.904759, -0.587538), tracking=(-1.20326, 0.587538), map_predicted=(18.644, -2.52818), range=1.07983, pts=6
I0419 21:01:32.307219 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19201m maha_sq=208.817 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.644, -2.52818) lm_pos=(16.815, -1.32) delta=(1.829, -1.20818) -> 0 candidate(s)
I0419 21:01:32.308269 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292922818380.
I0419 21:01:32.309469 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4346, -1.95219), yaw=-179.441 deg backend=(17.4327, -1.95195)
I0419 21:01:32.310904 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.31173, -0.646033)
I0419 21:01:32.311015 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292923097001.
I0419 21:01:32.322916 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.907038, -0.587154), points=5, range=1.0784, residual=0.00715303, extent=0.0195493
I0419 21:01:32.323062 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.907038, -0.587154), tracking=(-1.20554, 0.587154), map_predicted=(18.6458, -2.52755), range=1.0784, pts=5
I0419 21:01:32.323101 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19321m maha_sq=209.091 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6458, -2.52755) lm_pos=(16.815, -1.32) delta=(1.83085, -1.20755) -> 0 candidate(s)
I0419 21:01:32.420181 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:32.420306 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:32.420329 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292923373587.
I0419 21:01:32.420678 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:32.422188 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.310703, -0.646298)
I0419 21:01:32.422291 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:01:32.422334 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292923697380.
I0419 21:01:32.424698 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23371, 0.557904), points=4, range=1.351, residual=0.00772023, extent=0.016102
I0419 21:01:32.424793 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23371, 0.557904), tracking=(1.53221, 0.557904), map_predicted=(15.9066, -2.52799), range=1.351, pts=4
I0419 21:01:32.424821 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0115969m maha_sq=0.00583778 (gate chi2=5.99) pose_sigma=(0.150024, 0.150024, rho=0) det_map=(15.9066, -2.52799) lm_pos=(15.915, -2.52) delta=(-0.0084099, -0.00798509) -> 1 candidate(s)
I0419 21:01:32.424880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292923974363.
I0419 21:01:32.425843 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0724665s, prior_pose=(17.4331, -1.95457), yaw=-179.419 deg
I0419 21:01:32.425911 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1184, max_intensity=248, threshold=230, above_threshold=20, candidates=20
I0419 21:01:32.427659 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.312134, -0.646879)
I0419 21:01:32.427767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292924254509.
I0419 21:01:32.459162 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352394, 4.16711), points=4, range=4.178, residual=0.0178612, extent=0.0442112
I0419 21:01:32.459332 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.352394, 4.16711), tracking=(0.650894, 4.16711), map_predicted=(16.825, -6.12679), range=4.178, pts=4
I0419 21:01:32.459383 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.71981m maha_sq=584.323 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.825, -6.12679) lm_pos=(15.915, -2.52) delta=(0.909998, -3.60679) -> 0 candidate(s)
I0419 21:01:32.545022 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:32.545141 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:32.545182 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:32.545207 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:32.546053 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.310748, -0.646468)
I0419 21:01:32.546123 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:32.546177 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00683955 range=1.3525 variance=0.000534662 t_weight=5611.02 r_weight=0 yaml=(15.915, -2.52) prior=(17.4324, -1.95268, -179.427deg) obs_actual=(1.53373, 0.55859) obs_expected=(1.52296, 0.552123) delta=(0.0107681, 0.0064668) |delta|=0.0125607m
I0419 21:01:32.546228 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292924853472.
I0419 21:01:32.548981 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292925139308.
I0419 21:01:32.549945 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.952922, -4.15513), points=3, range=4.26233, residual=0.0120359, extent=0.0247894
I0419 21:01:32.550029 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.952922, -4.15513), tracking=(0.654422, 4.15513), map_predicted=(16.8194, -6.1132), range=4.26233, pts=3
I0419 21:01:32.550060 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70527m maha_sq=583.617 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8194, -6.1132) lm_pos=(15.915, -2.52) delta=(0.904386, -3.5932) -> 0 candidate(s)
I0419 21:01:32.550828 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.307291, -0.646427)
I0419 21:01:32.550887 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:32.550917 1218967 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:32.550979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292925415921.
I0419 21:01:32.574558 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292925737548.
I0419 21:01:32.586474 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.913087, -0.587295)
I0419 21:01:32.586639 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.86542, -4.19124), points=3, range=4.27967, residual=0.0103688, extent=0.0250714
I0419 21:01:32.586675 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.86542, -4.19124), tracking=(-1.16392, 4.19124), map_predicted=(18.6368, -6.1297), range=4.27967, pts=3
I0419 21:01:32.586704 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52084m maha_sq=870.058 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6368, -6.1297) lm_pos=(15.915, -2.52) delta=(2.72178, -3.6097) -> 0 candidate(s)
I0419 21:01:32.676748 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292926013821.
I0419 21:01:32.678522 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292926338992.
I0419 21:01:32.680154 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.859975, -2.38423)
I0419 21:01:32.681046 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.288108, -0.647019), points=16, range=0.711625, residual=0.0132472, extent=0.0433064
I0419 21:01:32.681105 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:32.681130 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.288108, -0.647019), tracking=(0.586608, -0.647019), map_predicted=(16.829, -1.30968), range=0.711625, pts=16
I0419 21:01:32.681160 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0173671m maha_sq=0.0129849 (gate chi2=5.99) pose_sigma=(0.150383, 0.150383, rho=0) det_map=(16.829, -1.30968) lm_pos=(16.815, -1.32) delta=(0.0139673, 0.0103214) -> 1 candidate(s)
I0419 21:01:32.681212 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292926619076.
I0419 21:01:32.690246 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.902 deg, rms_residual=0.00976884m, sigma_yaw=0.0128576 rad, N=2
I0419 21:01:32.690361 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.417, -1.94918, -178.902deg) inliers=2 rms=0.00976884m
I0419 21:01:32.690402 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292926897499.
I0419 21:01:32.701974 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05618s, prior_pose=(17.4188, -1.94919), yaw=-179.187 deg
I0419 21:01:32.702145 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1186, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:01:32.702261 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.965398, -4.15402)
I0419 21:01:32.722280 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.340682, 2.34967), points=5, range=2.3754, residual=0.011179, extent=0.0297376
I0419 21:01:32.722396 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.340682, 2.34967), tracking=(0.639182, 2.34967), map_predicted=(16.813, -4.30769), range=2.3754, pts=5
I0419 21:01:32.722432 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00058m maha_sq=172.58 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.813, -4.30769) lm_pos=(15.915, -2.52) delta=(0.898032, -1.78769) -> 0 candidate(s)
I0419 21:01:32.722532 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292927217214.
I0419 21:01:32.803906 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-1.43349, 4.20292)
I0419 21:01:32.804082 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292927499085.
I0419 21:01:32.804917 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:32.804968 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:32.805001 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:32.806700 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00307044 range=1.32075 variance=0.000666883 t_weight=4498.54 r_weight=0 yaml=(15.915, -2.52) prior=(17.4065, -1.95256, -178.705deg) obs_actual=(1.51204, 0.536057) obs_expected=(1.50396, 0.533582) delta=(0.00808389, 0.00247518) |delta|=0.00845433m
I0419 21:01:32.806777 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292927776400.
I0419 21:01:32.807647 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841673, -2.39896), points=4, range=2.54425, residual=0.0100028, extent=0.0243567
I0419 21:01:32.807700 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.841673, -2.39896), tracking=(-1.14017, 2.39896), map_predicted=(18.6006, -4.32513), range=2.54425, pts=4
I0419 21:01:32.807725 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.2359m maha_sq=451.594 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6006, -4.32513) lm_pos=(15.915, -2.52) delta=(2.68562, -1.80513) -> 0 candidate(s)
I0419 21:01:32.809751 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.35473, 2.35012)
I0419 21:01:32.809860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292928094349.
I0419 21:01:32.838614 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:01:32.838717 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 3 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:32.838819 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292928381660.
I0419 21:01:32.850075 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.926836, -0.614407)
I0419 21:01:32.951385 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.964996, -2.32971), points=4, range=2.52225, residual=0.00912527, extent=0.022369
I0419 21:01:32.951520 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.964996, -2.32971), tracking=(0.666496, 2.32971), map_predicted=(16.8028, -4.29951), range=2.52225, pts=4
I0419 21:01:32.951550 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.98869m maha_sq=170.652 (gate chi2=5.99) pose_sigma=(0.150026, 0.150026, rho=0) det_map=(16.8028, -4.29951) lm_pos=(15.915, -2.52) delta=(0.88783, -1.77951) -> 0 candidate(s)
I0419 21:01:32.952487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292928956946.
I0419 21:01:32.954387 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.963068, -2.33465)
I0419 21:01:32.955416 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:32.955518 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292929259575.
I0419 21:01:32.956269 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.84006, -2.41682), points=4, range=2.55575, residual=0.0116226, extent=0.0286622
I0419 21:01:32.956318 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.84006, -2.41682), tracking=(-1.13856, 2.41682), map_predicted=(18.6123, -4.33089), range=2.55575, pts=4
I0419 21:01:32.956387 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24878m maha_sq=454.481 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6123, -4.33089) lm_pos=(15.915, -2.52) delta=(2.69727, -1.81089) -> 0 candidate(s)
I0419 21:01:32.958467 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.287468, 2.66051)
I0419 21:01:32.958555 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:01:32.958613 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292929536504.
I0419 21:01:32.986430 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:32.986665 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:32.986709 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292929855756.
I0419 21:01:33.059944 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437552s, prior_pose=(17.378, -1.95247), yaw=-177.694 deg
I0419 21:01:33.060107 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1194, max_intensity=247, threshold=230, above_threshold=19, candidates=19
I0419 21:01:33.060201 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.945758, -0.62795)
I0419 21:01:33.061297 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.346862, 2.34421), points=5, range=2.371, residual=0.0109327, extent=0.0277908
I0419 21:01:33.061415 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.346862, 2.34421), tracking=(0.645362, 2.34421), map_predicted=(16.8275, -4.32075), range=2.371, pts=5
I0419 21:01:33.061458 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01875m maha_sq=174.068 (gate chi2=5.99) pose_sigma=(0.150756, 0.150756, rho=0) det_map=(16.8275, -4.32075) lm_pos=(15.915, -2.52) delta=(0.912486, -1.80075) -> 0 candidate(s)
I0419 21:01:33.061578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292930139556.
I0419 21:01:33.064453 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292930420064.
I0419 21:01:33.065418 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:33.065478 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.950255, -2.33244)
I0419 21:01:33.065500 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:33.065526 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:33.065544 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:33.073932 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:33.074080 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292930733921.
I0419 21:01:33.086182 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.01848, -4.1361), points=4, range=4.26, residual=0.0153585, extent=0.0374971
I0419 21:01:33.086303 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.01848, -4.1361), tracking=(0.719984, 4.1361), map_predicted=(16.815, -6.11383), range=4.26, pts=4
I0419 21:01:33.086338 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7048m maha_sq=577.464 (gate chi2=5.99) pose_sigma=(0.150513, 0.150513, rho=0) det_map=(16.815, -6.11383) lm_pos=(15.915, -2.52) delta=(0.899954, -3.59383) -> 0 candidate(s)
I0419 21:01:33.102455 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.336335, 2.34357)
I0419 21:01:33.102697 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00169575 range=1.28067 variance=0.000512033 t_weight=5859 r_weight=0 yaml=(15.915, -2.52) prior=(17.3648, -1.9517, -177.651deg) obs_actual=(1.47526, 0.513702) obs_expected=(1.4719, 0.50841) delta=(0.00335803, 0.00529223) |delta|=0.0062677m
I0419 21:01:33.102845 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292931016768.
I0419 21:01:33.207186 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:33.207304 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:33.207398 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292931297590.
I0419 21:01:33.208277 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.867444, -2.41598)
I0419 21:01:33.209373 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16536, 0.514785), points=4, range=1.26925, residual=0.0107994, extent=0.0237266
I0419 21:01:33.209466 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16536, 0.514785), tracking=(1.46386, 0.514785), map_predicted=(15.916, -2.52493), range=1.26925, pts=4
I0419 21:01:33.209498 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00503423m maha_sq=0.00109798 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.916, -2.52493) lm_pos=(15.915, -2.52) delta=(0.00102947, -0.00492785) -> 1 candidate(s)
I0419 21:01:33.209586 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292931617205.
I0419 21:01:33.210747 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3507, -1.95142), yaw=-177.739 deg backend=(17.3528, -1.95187)
I0419 21:01:33.212289 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.24456, 2.61961)
I0419 21:01:33.212440 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292931901581.
I0419 21:01:33.222860 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:33.223075 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292932222176.
I0419 21:01:33.234736 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.984643, -0.621243)
I0419 21:01:33.234885 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.879106, -2.41532), points=4, range=2.57275, residual=0.0105867, extent=0.0259491
I0419 21:01:33.235004 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.879106, -2.41532), tracking=(-1.17761, 2.41532), map_predicted=(18.6143, -4.32037), range=2.57275, pts=4
I0419 21:01:33.235108 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24463m maha_sq=453.726 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6143, -4.32037) lm_pos=(15.915, -2.52) delta=(2.69931, -1.80037) -> 0 candidate(s)
I0419 21:01:33.353868 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(0.223713, 2.64556)
I0419 21:01:33.354048 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292932780714.
I0419 21:01:33.354750 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678107s, prior_pose=(17.3442, -1.95308), yaw=-177.823 deg
I0419 21:01:33.354836 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1197, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:01:33.356671 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.223085, 2.59342), points=3, range=2.59033, residual=0.0254164, extent=0.0531799
I0419 21:01:33.356726 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.223085, 2.59342), tracking=(0.521585, 2.59342), map_predicted=(16.9132, -4.56275), range=2.59033, pts=3
I0419 21:01:33.356753 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=2.27361m maha_sq=216.339 (gate chi2=5.99) pose_sigma=(0.150518, 0.150518, rho=0) det_map=(16.9132, -4.56275) lm_pos=(15.915, -2.52) delta=(0.998245, -2.04275) -> 0 candidate(s)
I0419 21:01:33.356828 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292933054568.
I0419 21:01:33.358542 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.183854, -0.662616)
I0419 21:01:33.360330 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:33.360376 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:33.360405 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:33.366405 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.979 deg, rms_residual=0.00750195m, sigma_yaw=0.00990354 rad, N=2
I0419 21:01:33.366509 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3191, -1.95738, -177.979deg) inliers=2 rms=0.00750195m
I0419 21:01:33.366550 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292933658691.
I0419 21:01:33.382589 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.950126, -4.14294)
I0419 21:01:33.382745 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01028, -0.623141), points=4, range=1.18425, residual=0.00748537, extent=0.0182116
I0419 21:01:33.382802 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.01028, -0.623141), tracking=(-1.30878, 0.623141), map_predicted=(18.6614, -2.52619), range=1.18425, pts=4
I0419 21:01:33.382851 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.20547m maha_sq=211.335 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6614, -2.52619) lm_pos=(16.815, -1.32) delta=(1.84641, -1.20619) -> 0 candidate(s)
I0419 21:01:33.494020 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292933942306.
I0419 21:01:33.495954 1218530 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-1.47122, 4.213)
I0419 21:01:33.496026 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:33.496057 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:33.496140 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292934253009.
I0419 21:01:33.499711 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.867079, -2.33983), points=4, range=2.495, residual=0.0089229, extent=0.0218646
I0419 21:01:33.499807 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.867079, -2.33983), tracking=(0.568579, 2.33983), map_predicted=(16.8331, -4.31141), range=2.495, pts=4
I0419 21:01:33.499833 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01298m maha_sq=173.874 (gate chi2=5.99) pose_sigma=(0.150481, 0.150481, rho=0) det_map=(16.8331, -4.31141) lm_pos=(15.915, -2.52) delta=(0.918112, -1.79141) -> 0 candidate(s)
I0419 21:01:33.501634 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(1.11127, 0.530012)
I0419 21:01:33.501746 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00510149 range=1.2312 variance=0.000566042 t_weight=5299.96 r_weight=0 yaml=(15.915, -2.52) prior=(17.3096, -1.95159, -177.985deg) obs_actual=(1.41374, 0.529937) obs_expected=(1.41372, 0.519032) delta=(1.68878e-05, 0.0109046) |delta|=0.0109047m
I0419 21:01:33.501806 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292934852423.
I0419 21:01:33.514640 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292935131773.
I0419 21:01:33.611110 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.03889, -0.607879)
I0419 21:01:33.611233 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.921459, -4.21443), points=3, range=4.314, residual=0.0103421, extent=0.025092
I0419 21:01:33.611268 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.921459, -4.21443), tracking=(-1.21996, 4.21443), map_predicted=(18.6559, -6.12701), range=4.314, pts=3
I0419 21:01:33.611299 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53026m maha_sq=869.2 (gate chi2=5.99) pose_sigma=(0.150381, 0.150381, rho=0) det_map=(18.6559, -6.12701) lm_pos=(15.915, -2.52) delta=(2.74093, -3.60701) -> 0 candidate(s)
I0419 21:01:33.612341 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:01:33.612460 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292935420950.
I0419 21:01:33.615240 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292935701200.
I0419 21:01:33.616093 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603717s, prior_pose=(17.2975, -1.9527), yaw=-178.473 deg
I0419 21:01:33.616179 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1230, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 21:01:33.616240 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.957831, -4.2046)
I0419 21:01:33.617244 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.153751, -0.648572), points=18, range=0.669, residual=0.0128448, extent=0.0453825
I0419 21:01:33.617331 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.153751, -0.648572), tracking=(0.452251, -0.648572), map_predicted=(16.8281, -1.31641), range=0.669, pts=18
I0419 21:01:33.617362 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0135882m maha_sq=0.00799264 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8281, -1.31641) lm_pos=(16.815, -1.32) delta=(0.0131043, 0.00359398) -> 1 candidate(s)
I0419 21:01:33.617396 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:33.631089 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292936295875.
I0419 21:01:33.646113 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:33.646260 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.794324, -2.35123)
I0419 21:01:33.646301 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:33.646464 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:33.646512 1218978 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:33.756023 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:33.756127 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:33.756217 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292936614934.
I0419 21:01:33.757067 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.782857, -2.35108), points=5, range=2.4792, residual=0.0111659, extent=0.0296984
I0419 21:01:33.757159 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.782857, -2.35108), tracking=(0.484357, 2.35108), map_predicted=(16.8387, -4.31167), range=2.4792, pts=5
I0419 21:01:33.757189 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01577m maha_sq=175.118 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8387, -4.31167) lm_pos=(15.915, -2.52) delta=(0.923712, -1.79167) -> 0 candidate(s)
I0419 21:01:33.758129 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.102325, 2.51091)
I0419 21:01:33.758231 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:33.758296 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:33.758322 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292936896345.
I0419 21:01:33.760838 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:01:33.760921 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:33.761009 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292937180935.
I0419 21:01:33.762079 1218978 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.08433, -0.570475)
I0419 21:01:33.762154 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05452, -4.17762), points=4, range=4.3105, residual=0.0166543, extent=0.0404802
I0419 21:01:33.762188 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.05452, -4.17762), tracking=(-1.35302, 4.17762), map_predicted=(18.6679, -6.11765), range=4.3105, pts=4
I0419 21:01:33.762212 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53008m maha_sq=867.103 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6679, -6.11765) lm_pos=(15.915, -2.52) delta=(2.75291, -3.59765) -> 0 candidate(s)
I0419 21:01:33.778434 1218970 reflector_detector.cc:209] [Detect]   cluster[7]: points=2, centroid=(-1.71944, 4.16828)
I0419 21:01:33.778821 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292937774098.
I0419 21:01:33.885944 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:33.886554 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.139605, -0.634003), points=19, range=0.651053, residual=0.0120752, extent=0.0403637
I0419 21:01:33.886643 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.139605, -0.634003), tracking=(0.438105, -0.634003), map_predicted=(16.8251, -1.316), range=0.651053, pts=19
I0419 21:01:33.886674 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0108297m maha_sq=0.0050412 (gate chi2=5.99) pose_sigma=(0.150609, 0.150609, rho=0) det_map=(16.8251, -1.316) lm_pos=(16.815, -1.32) delta=(0.0100646, 0.00399809) -> 1 candidate(s)
I0419 21:01:33.889454 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.089648, 2.36948)
I0419 21:01:33.889648 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292938372819.
I0419 21:01:33.891407 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0193668 range=1.1885 variance=0.000516833 t_weight=5804.59 r_weight=0 yaml=(15.915, -2.52) prior=(17.2548, -1.9517, 179.434deg) obs_actual=(1.32272, 0.599286) obs_expected=(1.3341, 0.581505) delta=(-0.0113848, 0.0177806) |delta|=0.0211131m
I0419 21:01:33.891525 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292938655054.
I0419 21:01:33.893342 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441694s, prior_pose=(17.2462, -1.95171), yaw=179.102 deg
I0419 21:01:33.893424 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1199, max_intensity=248, threshold=230, above_threshold=18, candidates=18
I0419 21:01:33.893481 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.16495, -4.15372)
I0419 21:01:33.893504 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.647296, -4.16533), points=4, range=4.2175, residual=0.0165124, extent=0.0401198
I0419 21:01:33.893524 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.647296, -4.16533), tracking=(0.348796, 4.16533), map_predicted=(16.8322, -6.11105), range=4.2175, pts=4
I0419 21:01:33.893543 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70633m maha_sq=576.347 (gate chi2=5.99) pose_sigma=(0.150639, 0.150639, rho=0) det_map=(16.8322, -6.11105) lm_pos=(15.915, -2.52) delta=(0.917183, -3.59105) -> 0 candidate(s)
I0419 21:01:34.018525 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.0145992, 2.51096)
I0419 21:01:34.018711 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292939256074.
I0419 21:01:34.019553 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:34.019603 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:34.019639 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:34.020726 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292939533153.
I0419 21:01:34.022631 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15937, -2.32533), points=4, range=2.60025, residual=0.0102567, extent=0.0252189
I0419 21:01:34.022711 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.15937, -2.32533), tracking=(-1.45787, 2.32533), map_predicted=(18.6221, -4.3152), range=2.60025, pts=4
I0419 21:01:34.022742 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24825m maha_sq=451.766 (gate chi2=5.99) pose_sigma=(0.150519, 0.150519, rho=0) det_map=(18.6221, -4.3152) lm_pos=(15.915, -2.52) delta=(2.7071, -1.7952) -> 0 candidate(s)
I0419 21:01:34.023552 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.992052, 0.619872)
I0419 21:01:34.023656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292939818878.
I0419 21:01:34.026237 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=4
I0419 21:01:34.026360 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:34.026487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292940135746.
I0419 21:01:34.041968 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.122214, -0.623699)
I0419 21:01:34.042076 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.976657, 0.6302), points=4, range=1.1645, residual=0.00722156, extent=0.0181132
I0419 21:01:34.042135 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.976657, 0.6302), tracking=(1.27516, 0.6302), map_predicted=(15.9241, -2.5412), range=1.1645, pts=4
I0419 21:01:34.042161 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0230644m maha_sq=0.0231179 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9241, -2.5412) lm_pos=(15.915, -2.52) delta=(0.00909086, -0.0211972) -> 1 candidate(s)
I0419 21:01:34.042259 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292940414506.
I0419 21:01:34.104413 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:34.122506 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.2163, -1.94962), yaw=177.82 deg backend=(17.2193, -1.95261)
I0419 21:01:34.124691 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292940698068.
I0419 21:01:34.126197 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.22033, -2.30316)
I0419 21:01:34.129988 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33464, -4.1076), points=3, range=4.319, residual=0.0102899, extent=0.0251438
I0419 21:01:34.130098 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.33464, -4.1076), tracking=(-1.63314, 4.1076), map_predicted=(18.666, -6.12341), range=4.319, pts=3
I0419 21:01:34.130162 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.53351m maha_sq=868.999 (gate chi2=5.99) pose_sigma=(0.150512, 0.150512, rho=0) det_map=(18.666, -6.12341) lm_pos=(15.915, -2.52) delta=(2.75102, -3.60341) -> 0 candidate(s)
I0419 21:01:34.131412 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 7 (intra-scan=1, buffered=6).
I0419 21:01:34.142457 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.555643, -2.37525)
I0419 21:01:34.157785 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:34.174149 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0734188s, prior_pose=(17.2038, -1.95006), yaw=177.241 deg
I0419 21:01:34.174253 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1218, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 21:01:34.250492 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.942235, 0.65159)
I0419 21:01:34.250650 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.618 deg, rms_residual=0.010597m, sigma_yaw=0.0139325 rad, N=2
I0419 21:01:34.250695 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1888, -1.95125, 176.618deg) inliers=2 rms=0.010597m
I0419 21:01:34.250731 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292941898501.
I0419 21:01:34.251730 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.408687, -4.18057), points=3, range=4.20133, residual=0.0119639, extent=0.0249437
I0419 21:01:34.251791 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.408687, -4.18057), tracking=(0.110187, 4.18057), map_predicted=(16.8625, -6.1193), range=4.20133, pts=3
I0419 21:01:34.251855 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72192m maha_sq=589.239 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8625, -6.1193) lm_pos=(15.915, -2.52) delta=(0.947463, -3.5993) -> 0 candidate(s)
I0419 21:01:34.252555 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 9 -> 3 (threshold=0.03, iters=3)
I0419 21:01:34.252660 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292942178047.
I0419 21:01:34.254447 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:34.254521 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.41158, -4.08022)
I0419 21:01:34.254539 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:34.254566 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:34.254587 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:34.255442 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:34.255522 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292942458942.
I0419 21:01:34.277887 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-2.05974, 4.05708)
I0419 21:01:34.278254 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292942773595.
I0419 21:01:34.306564 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:01:34.306747 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0977379, -0.611242), points=20, range=0.61905, residual=0.0109522, extent=0.0371125
I0419 21:01:34.306792 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:34.306828 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0977379, -0.611242), tracking=(0.396238, -0.611242), map_predicted=(16.8219, -1.31664), range=0.61905, pts=20
I0419 21:01:34.306877 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00767616m maha_sq=0.00255583 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8219, -1.31664) lm_pos=(16.815, -1.32) delta=(0.00690113, 0.00336122) -> 1 candidate(s)
I0419 21:01:34.306991 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0354233 range=1.127 variance=0.000521153 t_weight=5756.47 r_weight=0 yaml=(15.915, -2.52) prior=(17.1782, -1.952, 176.328deg) obs_actual=(1.20422, 0.668135) obs_expected=(1.2242, 0.647734) delta=(-0.0199819, 0.0204012) |delta|=0.0285567m
I0419 21:01:34.307137 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292943054744.
I0419 21:01:34.395663 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.88276, -0.463616)
I0419 21:01:34.395864 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292943373643.
I0419 21:01:34.398562 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292943655786.
I0419 21:01:34.399442 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.35447, -2.24679)
I0419 21:01:34.399509 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35043, -2.24748), points=4, range=2.6235, residual=0.0103364, extent=0.0253918
I0419 21:01:34.399538 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.35043, -2.24748), tracking=(-1.64893, 2.24748), map_predicted=(18.6342, -4.31908), range=2.6235, pts=4
I0419 21:01:34.399602 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26045m maha_sq=458.134 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6342, -4.31908) lm_pos=(15.915, -2.52) delta=(2.71915, -1.79908) -> 0 candidate(s)
I0419 21:01:34.400568 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292943938116.
I0419 21:01:34.423192 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292944220870.
I0419 21:01:34.438973 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.426957, -2.381)
I0419 21:01:34.547931 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:34.548062 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:34.548090 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292944540279.
I0419 21:01:34.548895 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567191s, prior_pose=(17.1497, -1.95078), yaw=175.136 deg
I0419 21:01:34.548969 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1211, max_intensity=252, threshold=230, above_threshold=19, candidates=19
I0419 21:01:34.550071 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0733232, -0.604332), points=22, range=0.609, residual=0.0118641, extent=0.0411435
I0419 21:01:34.550156 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0733232, -0.604332), tracking=(0.371823, -0.604332), map_predicted=(16.8304, -1.3171), range=0.609, pts=22
I0419 21:01:34.550189 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0157172m maha_sq=0.0107055 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8304, -1.3171) lm_pos=(16.815, -1.32) delta=(0.015447, 0.00290159) -> 1 candidate(s)
I0419 21:01:34.550268 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292944817896.
I0419 21:01:34.552043 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.54586, -4.04463)
I0419 21:01:34.553170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292945098818.
I0419 21:01:34.554057 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:34.554131 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:01:34.554167 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:34.556537 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292945411786.
I0419 21:01:34.570366 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.84361, -0.442616)
I0419 21:01:34.570531 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0573454, -0.604662), points=22, range=0.607227, residual=0.0118754, extent=0.0413736
I0419 21:01:34.570686 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0573454, -0.604662), tracking=(0.355845, -0.604662), map_predicted=(16.8275, -1.31658), range=0.607227, pts=22
I0419 21:01:34.570744 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0129695m maha_sq=0.00728952 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8275, -1.31658) lm_pos=(16.815, -1.32) delta=(0.0125102, 0.00342084) -> 1 candidate(s)
I0419 21:01:34.570977 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292945696324.
I0419 21:01:34.653898 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:34.654014 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:34.654107 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292946016379.
I0419 21:01:34.657940 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00377564 range=0.606591 variance=0.000580976 t_weight=5163.72 r_weight=0 yaml=(16.815, -1.32) prior=(17.1109, -1.94893, 175.099deg) obs_actual=(0.339914, -0.605015) obs_expected=(0.34853, -0.601359) delta=(-0.00861602, -0.00365661) |delta|=0.00935984m
I0419 21:01:34.658118 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292946294944.
I0419 21:01:34.659148 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.58529, -4.04171)
I0419 21:01:34.660418 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292946576493.
I0419 21:01:34.673873 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.41153, -2.24435), points=4, range=2.653, residual=0.010564, extent=0.0260691
I0419 21:01:34.673974 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.41153, -2.24435), tracking=(-1.71003, 2.24435), map_predicted=(18.6131, -4.3301), range=2.653, pts=4
I0419 21:01:34.674006 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.249m maha_sq=450.7 (gate chi2=5.99) pose_sigma=(0.150694, 0.150694, rho=0) det_map=(18.6131, -4.3301) lm_pos=(15.915, -2.52) delta=(2.69806, -1.8101) -> 0 candidate(s)
I0419 21:01:34.691040 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292946897227.
I0419 21:01:34.809162 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.82062, -0.448313)
I0419 21:01:34.809302 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:34.809365 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292947173400.
I0419 21:01:34.811316 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292947460694.
I0419 21:01:34.813400 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0446486s, prior_pose=(17.0853, -1.94742), yaw=175.2 deg
I0419 21:01:34.813678 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1233, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:01:34.813946 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42269, -2.24756), points=4, range=2.662, residual=0.0109512, extent=0.0271152
I0419 21:01:34.814106 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.42269, -2.24756), tracking=(-1.72119, 2.24756), map_predicted=(18.6124, -4.33111), range=2.662, pts=4
I0419 21:01:34.814262 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24904m maha_sq=450.743 (gate chi2=5.99) pose_sigma=(0.150657, 0.150657, rho=0) det_map=(18.6124, -4.33111) lm_pos=(15.915, -2.52) delta=(2.69742, -1.81111) -> 0 candidate(s)
I0419 21:01:34.815629 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292947775397.
I0419 21:01:34.816507 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.42917, -2.25055)
I0419 21:01:34.818645 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292948054662.
I0419 21:01:34.819583 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:34.819634 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:34.819665 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:34.819682 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:34.833979 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:34.834129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292948334444.
I0419 21:01:34.909428 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.792098, 0.676494), points=4, range=1.044, residual=0.00850449, extent=0.0208836
I0419 21:01:34.909547 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.792098, 0.676494), tracking=(1.0906, 0.676494), map_predicted=(15.9335, -2.52612), range=1.044, pts=4
I0419 21:01:34.909576 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0194991m maha_sq=0.0164508 (gate chi2=5.99) pose_sigma=(0.150292, 0.150292, rho=0) det_map=(15.9335, -2.52612) lm_pos=(15.915, -2.52) delta=(0.018513, -0.00612247) -> 1 candidate(s)
I0419 21:01:34.909631 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=174.681 deg, rms_residual=0.00435734m, sigma_yaw=0.00577622 rad, N=2
I0419 21:01:34.909675 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.061, -1.95101, 174.681deg) inliers=2 rms=0.00435734m
I0419 21:01:34.909708 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292948662010.
I0419 21:01:34.910706 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.207139, -4.1852)
I0419 21:01:34.912547 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:34.912647 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:34.912742 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292948935872.
I0419 21:01:34.926581 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0138408 range=0.60719 variance=0.000567682 t_weight=5284.65 r_weight=0 yaml=(16.815, -1.32) prior=(17.0661, -1.94467, 175.275deg) obs_actual=(0.284404, -0.606186) obs_expected=(0.30174, -0.601859) delta=(-0.0173364, -0.00432733) |delta|=0.0178683m
I0419 21:01:34.926726 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292949260911.
I0419 21:01:34.927981 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.056, -1.94328), yaw=175.319 deg backend=(17.0654, -1.93891)
I0419 21:01:34.937853 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.32742, -0.452722)
I0419 21:01:34.954746 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292949541285.
I0419 21:01:34.966017 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.338558, -2.38382), points=5, range=2.4078, residual=0.0105724, extent=0.0281011
I0419 21:01:34.966110 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:34.966184 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.338558, -2.38382), tracking=(0.040058, 2.38382), map_predicted=(16.8216, -4.31588), range=2.4078, pts=5
I0419 21:01:34.966219 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01174m maha_sq=174.581 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8216, -4.31588) lm_pos=(15.915, -2.52) delta=(0.906597, -1.79588) -> 0 candidate(s)
I0419 21:01:35.065330 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292949821220.
I0419 21:01:35.067236 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292950095448.
I0419 21:01:35.068940 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.335294, -2.38573)
I0419 21:01:35.069936 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:35.070013 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:35.070037 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292950416532.
I0419 21:01:35.070740 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0713072s, prior_pose=(17.0337, -1.94399), yaw=175.428 deg
I0419 21:01:35.070791 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1194, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 21:01:35.070845 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47792, -2.25421), points=3, range=2.69233, residual=0.00936885, extent=0.019136
I0419 21:01:35.070871 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.47792, -2.25421), tracking=(-1.77642, 2.25421), map_predicted=(18.6248, -4.33263), range=2.69233, pts=3
I0419 21:01:35.070889 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.26013m maha_sq=458.243 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6248, -4.33263) lm_pos=(15.915, -2.52) delta=(2.70977, -1.81263) -> 0 candidate(s)
I0419 21:01:35.072759 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292950701965.
I0419 21:01:35.086865 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.35699, -0.45842)
I0419 21:01:35.098632 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292950977145.
I0419 21:01:35.187892 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:35.188019 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:35.188056 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:35.189177 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292951301049.
I0419 21:01:35.190053 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47966, -2.26402), points=4, range=2.7055, residual=0.0102864, extent=0.0249159
I0419 21:01:35.190128 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.47966, -2.26402), tracking=(-1.77816, 2.26402), map_predicted=(18.6145, -4.33753), range=2.7055, pts=4
I0419 21:01:35.190156 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25433m maha_sq=456.222 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6145, -4.33753) lm_pos=(15.915, -2.52) delta=(2.69949, -1.81753) -> 0 candidate(s)
I0419 21:01:35.191984 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292951573710.
I0419 21:01:35.192915 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.310007, -2.38171)
I0419 21:01:35.193831 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:35.193885 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:35.193967 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292951857463.
I0419 21:01:35.219091 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.000893574 range=0.611667 variance=0.000565381 t_weight=5306.15 r_weight=0 yaml=(16.815, -1.32) prior=(17.0007, -1.93972, 175.646deg) obs_actual=(0.229303, -0.607303) obs_expected=(0.232261, -0.60383) delta=(-0.00295764, -0.00347261) |delta|=0.00456143m
I0419 21:01:35.219334 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292952181891.
I0419 21:01:35.230692 1218530 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.39139, -0.4633)
I0419 21:01:35.337538 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.726324, 0.673327), points=8, range=0.9875, residual=0.0119561, extent=0.0377104
I0419 21:01:35.337651 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.726324, 0.673327), tracking=(1.02482, 0.673327), map_predicted=(15.921, -2.53215), range=0.9875, pts=8
I0419 21:01:35.337685 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0135549m maha_sq=0.00790923 (gate chi2=5.99) pose_sigma=(0.15046, 0.15046, rho=0) det_map=(15.921, -2.53215) lm_pos=(15.915, -2.52) delta=(0.00601824, -0.0121457) -> 1 candidate(s)
I0419 21:01:35.337764 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292952458744.
I0419 21:01:35.338008 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:35.339540 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292952741750.
I0419 21:01:35.342101 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:35.342204 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292953058132.
I0419 21:01:35.342978 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.282215, -2.38434)
I0419 21:01:35.344791 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292953333953.
I0419 21:01:35.350719 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597396s, prior_pose=(16.9741, -1.93889), yaw=175.615 deg
I0419 21:01:35.350863 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1187, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 21:01:35.350987 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51445, -2.25938), points=4, range=2.72375, residual=0.0136722, extent=0.0330735
I0419 21:01:35.351034 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.51445, -2.25938), tracking=(-1.81295, 2.25938), map_predicted=(18.609, -4.33027), range=2.72375, pts=4
I0419 21:01:35.351073 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24574m maha_sq=452.188 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.609, -4.33027) lm_pos=(15.915, -2.52) delta=(2.69402, -1.81027) -> 0 candidate(s)
I0419 21:01:35.363137 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292953618827.
I0419 21:01:35.456772 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.41647, -0.467084)
I0419 21:01:35.458055 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292953939136.
I0419 21:01:35.458828 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:35.458887 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:35.458923 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:35.458943 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:01:35.460749 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:35.460837 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292954211784.
I0419 21:01:35.462589 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=175.438 deg, rms_residual=0.0112428m, sigma_yaw=0.014769 rad, N=2
I0419 21:01:35.462656 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.946, -1.9367, 175.438deg) inliers=2 rms=0.0112428m
I0419 21:01:35.462690 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292954497597.
I0419 21:01:35.466777 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.257378, -2.38232)
I0419 21:01:35.466907 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.121899, -4.18922), points=3, range=4.191, residual=0.0100859, extent=0.0244583
I0419 21:01:35.466960 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.121899, -4.18922), tracking=(-0.176601, 4.18922), map_predicted=(16.8223, -6.12769), range=4.191, pts=3
I0419 21:01:35.467015 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72003m maha_sq=584.704 (gate chi2=5.99) pose_sigma=(0.150672, 0.150672, rho=0) det_map=(16.8223, -6.12769) lm_pos=(15.915, -2.52) delta=(0.907289, -3.60769) -> 0 candidate(s)
I0419 21:01:35.482524 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:35.482649 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:35.482780 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292954818105.
I0419 21:01:35.572054 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0060279 range=0.630095 variance=0.000581634 t_weight=5157.88 r_weight=0 yaml=(16.815, -1.32) prior=(16.9382, -1.93775, 175.959deg) obs_actual=(0.156692, -0.61419) obs_expected=(0.166465, -0.607525) delta=(-0.00977273, -0.00666487) |delta|=0.0118291m
I0419 21:01:35.572218 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292955094567.
I0419 21:01:35.573210 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.11582, -4.19013)
I0419 21:01:35.574136 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292955375844.
I0419 21:01:35.576916 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.149836, -0.616215), points=21, range=0.63381, residual=0.0122997, extent=0.0381021
I0419 21:01:35.577049 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.149836, -0.616215), tracking=(0.148664, -0.616215), map_predicted=(16.8224, -1.31173), range=0.63381, pts=21
I0419 21:01:35.577113 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0110668m maha_sq=0.00524956 (gate chi2=5.99) pose_sigma=(0.150811, 0.150811, rho=0) det_map=(16.8224, -1.31173) lm_pos=(16.815, -1.32) delta=(0.00735498, 0.00826912) -> 1 candidate(s)
I0419 21:01:35.577178 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292955692699.
I0419 21:01:35.587339 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.7018, -4.0749)
I0419 21:01:35.598551 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292955978627.
I0419 21:01:35.626608 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:35.626778 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:35.626807 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292956260245.
I0419 21:01:35.704680 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0435741s, prior_pose=(16.913, -1.94982), yaw=176.011 deg
I0419 21:01:35.704794 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1207, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 21:01:35.704864 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.71081, -4.07981)
I0419 21:01:35.705859 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292956581242.
I0419 21:01:35.706822 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.229293, -2.38131), points=4, range=2.394, residual=0.00922268, extent=0.0223789
I0419 21:01:35.706898 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.229293, -2.38131), tracking=(-0.069207, 2.38131), map_predicted=(16.8164, -4.33017), range=2.394, pts=4
I0419 21:01:35.706925 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.02218m maha_sq=176.614 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8164, -4.33017) lm_pos=(15.915, -2.52) delta=(0.901379, -1.81017) -> 0 candidate(s)
I0419 21:01:35.708679 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292956853752.
I0419 21:01:35.709705 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:01:35.709784 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.57582, -2.28567)
I0419 21:01:35.709800 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:01:35.709823 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:35.719177 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292957180232.
I0419 21:01:35.746336 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292957455628.
I0419 21:01:35.758873 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.59695, -2.28774)
I0419 21:01:35.759059 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.59305, -2.28925), points=4, range=2.79, residual=0.0104535, extent=0.0256195
I0419 21:01:35.759117 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.59305, -2.28925), tracking=(-1.89155, 2.28925), map_predicted=(18.6251, -4.34807), range=2.79, pts=4
I0419 21:01:35.759233 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26905m maha_sq=460.06 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6251, -4.34807) lm_pos=(15.915, -2.52) delta=(2.71014, -1.82807) -> 0 candidate(s)
I0419 21:01:35.850124 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:35.850227 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:35.850327 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292957735686.
I0419 21:01:35.852203 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00666908 range=0.64915 variance=0.000580658 t_weight=5166.55 r_weight=0 yaml=(16.815, -1.32) prior=(16.8784, -1.93861, 176.372deg) obs_actual=(0.0900469, -0.614416) obs_expected=(0.102408, -0.613356) delta=(-0.0123614, -0.00105971) |delta|=0.0124067m
I0419 21:01:35.852368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292958059847.
I0419 21:01:35.853507 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.8677, -1.93654), yaw=176.369 deg backend=(16.8842, -1.92495)
I0419 21:01:35.854176 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.60676, -2.28759)
I0419 21:01:35.855340 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292958333108.
I0419 21:01:35.861982 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292958612753.
I0419 21:01:35.878772 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.52193, -0.492059)
I0419 21:01:35.878907 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.184464, -2.38837), points=5, range=2.3962, residual=0.0112125, extent=0.0280915
I0419 21:01:35.878964 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.184464, -2.38837), tracking=(-0.114036, 2.38837), map_predicted=(16.8193, -4.32523), range=2.3962, pts=5
I0419 21:01:35.879019 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01905m maha_sq=175.758 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8193, -4.32523) lm_pos=(15.915, -2.52) delta=(0.904268, -1.80523) -> 0 candidate(s)
I0419 21:01:35.894125 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:35.894371 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292958934760.
I0419 21:01:35.982445 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292959222618.
I0419 21:01:35.983306 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0766815s, prior_pose=(16.8423, -1.93162), yaw=176.421 deg
I0419 21:01:35.983389 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1228, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:35.985301 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.54438, -0.49682)
I0419 21:01:35.985489 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292959500547.
I0419 21:01:35.986449 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548834, -4.19264), points=3, range=4.18967, residual=0.0132461, extent=0.0276236
I0419 21:01:35.986620 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0548834, -4.19264), tracking=(-0.243617, 4.19264), map_predicted=(16.8194, -6.13043), range=4.18967, pts=3
I0419 21:01:35.986680 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72198m maha_sq=588.511 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8194, -6.13043) lm_pos=(15.915, -2.52) delta=(0.904389, -3.61043) -> 0 candidate(s)
I0419 21:01:35.986726 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:35.987892 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292959779293.
I0419 21:01:35.994637 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=39, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:35.996510 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:01:35.996615 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:36.010330 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292960096459.
I0419 21:01:36.025655 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.16347, -2.38765)
I0419 21:01:36.101536 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.54918, 0.658316), points=11, range=0.857818, residual=0.00951492, extent=0.0296938
I0419 21:01:36.101653 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.54918, 0.658316), tracking=(0.84768, 0.658316), map_predicted=(15.9229, -2.53368), range=0.857818, pts=11
I0419 21:01:36.101687 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=0.0158014m maha_sq=0.010723 (gate chi2=5.99) pose_sigma=(0.150835, 0.150835, rho=0) det_map=(15.9229, -2.53368) lm_pos=(15.915, -2.52) delta=(0.00790178, -0.0136838) -> 1 candidate(s)
I0419 21:01:36.101752 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.43 deg, rms_residual=0.00668558m, sigma_yaw=0.00717922 rad, N=3
I0419 21:01:36.101778 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[18] 'ref_19' maha_sq=0.010723 range=0.857818 variance=0.00053393 t_weight=5618.71 r_weight=5000 yaml=(15.915, -2.52) prior=(16.8083, -1.927, 176.587deg) obs_actual=(0.84768, 0.658316) obs_expected=(0.856382, 0.645127) delta=(-0.00870245, 0.0131891) |delta|=0.0158014m
I0419 21:01:36.101820 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.8009, -1.92507, 176.43deg) inliers=3 rms=0.00668558m
I0419 21:01:36.101858 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292960378070.
I0419 21:01:36.103859 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:36.103956 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:36.104041 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292960701194.
I0419 21:01:36.105762 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.77009, -4.10349)
I0419 21:01:36.106793 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292960978664.
I0419 21:01:36.130381 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.526507, 0.657904), points=11, range=0.842636, residual=0.00991574, extent=0.0287319
I0419 21:01:36.130528 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.526507, 0.657904), tracking=(0.825007, 0.657904), map_predicted=(15.9256, -2.5314), range=0.842636, pts=11
I0419 21:01:36.130604 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0155944m maha_sq=0.0104512 (gate chi2=5.99) pose_sigma=(0.150757, 0.150757, rho=0) det_map=(15.9256, -2.5314) lm_pos=(15.915, -2.52) delta=(0.010638, -0.0114025) -> 1 candidate(s)
I0419 21:01:36.130728 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292961298546.
I0419 21:01:36.142473 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.78678, -4.10934)
I0419 21:01:36.155184 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292961546262.
I0419 21:01:36.222220 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292961895309.
I0419 21:01:36.223237 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.0182773, -4.19169)
I0419 21:01:36.223455 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:36.225389 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.309542, -0.601235), points=18, range=0.6705, residual=0.0185524, extent=0.0527201
I0419 21:01:36.225589 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.309542, -0.601235), tracking=(-0.0110423, -0.601235), map_predicted=(16.8099, -1.32257), range=0.6705, pts=18
I0419 21:01:36.225657 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00573169m maha_sq=0.00139683 (gate chi2=5.99) pose_sigma=(0.150793, 0.150793, rho=0) det_map=(16.8099, -1.32257) lm_pos=(16.815, -1.32) delta=(-0.00512312, -0.0025702) -> 1 candidate(s)
I0419 21:01:36.225759 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:01:36.225847 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:36.225893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292962133292.
I0419 21:01:36.230297 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603221s, prior_pose=(16.7657, -1.92228), yaw=176.839 deg
I0419 21:01:36.230474 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1222, max_intensity=253, threshold=230, above_threshold=34, candidates=34
I0419 21:01:36.245811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292962452767.
I0419 21:01:36.258420 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.80142, -4.11022)
I0419 21:01:36.258533 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:36.274012 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292962733002.
I0419 21:01:36.290511 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:36.290618 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:01:36.290659 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.257098, 0.603161), points=18, range=0.656333, residual=0.0117614, extent=0.03823
I0419 21:01:36.290688 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:36.290705 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.257098, 0.603161), tracking=(-0.0414022, -0.603161), map_predicted=(16.8299, -1.32006), range=0.656333, pts=18
I0419 21:01:36.290735 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=0.014917m maha_sq=0.00964363 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8299, -1.32006) lm_pos=(16.815, -1.32) delta=(0.0149169, -6.00729e-05) -> 1 candidate(s)
I0419 21:01:36.374895 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0538475 range=0.709182 variance=0.000558337 t_weight=5373.1 r_weight=5000 yaml=(16.815, -1.32) prior=(16.7513, -1.91126, 176.845deg) obs_actual=(-0.0598436, -0.614528) obs_expected=(-0.0310862, -0.593872) delta=(-0.0287574, -0.020656) |delta|=0.0354071m
I0419 21:01:36.375026 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292963056536.
I0419 21:01:36.375945 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.81458, -4.10771)
I0419 21:01:36.376044 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:36.377089 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292963333248.
I0419 21:01:36.379722 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:36.379793 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:36.379882 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292963619053.
I0419 21:01:36.380738 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.71824, -2.315)
I0419 21:01:36.380795 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00610546, -4.20699), points=3, range=4.205, residual=0.0134868, extent=0.0277161
I0419 21:01:36.380831 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00610546, -4.20699), tracking=(-0.304605, 4.20699), map_predicted=(16.813, -6.1267), range=4.205, pts=3
I0419 21:01:36.380856 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71682m maha_sq=586.641 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.813, -6.1267) lm_pos=(15.915, -2.52) delta=(0.898033, -3.6067) -> 0 candidate(s)
I0419 21:01:36.393843 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292963932831.
I0419 21:01:36.405990 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:01:36.421772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292964212556.
I0419 21:01:36.505539 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.443335, 0.655136)
I0419 21:01:36.505756 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292964499834.
I0419 21:01:36.508793 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.432724, 0.653723), points=13, range=0.786231, residual=0.0109826, extent=0.036554
I0419 21:01:36.508931 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.432724, 0.653723), tracking=(0.731224, 0.653723), map_predicted=(15.9329, -2.5284), range=0.786231, pts=13
I0419 21:01:36.508962 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0198107m maha_sq=0.0168289 (gate chi2=5.99) pose_sigma=(0.150864, 0.150864, rho=0) det_map=(15.9329, -2.5284) lm_pos=(15.915, -2.52) delta=(0.0179404, -0.00840278) -> 1 candidate(s)
I0419 21:01:36.509187 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292964781930.
I0419 21:01:36.510183 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:36.511209 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292965059769.
I0419 21:01:36.521834 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0432892s, prior_pose=(16.6839, -1.91343), yaw=176.96 deg
I0419 21:01:36.521938 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1206, max_intensity=254, threshold=230, above_threshold=36, candidates=36
I0419 21:01:36.522078 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=20, centroid=(-0.194961, 0.602818)
I0419 21:01:36.538787 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292965381032.
I0419 21:01:36.554322 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:36.651868 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0112295 range=0.770462 variance=0.000534611 t_weight=5611.56 r_weight=0 yaml=(15.915, -2.52) prior=(16.6737, -1.91392, 176.994deg) obs_actual=(0.711215, 0.65195) obs_expected=(0.725825, 0.645036) delta=(-0.0146099, 0.00691409) |delta|=0.0161634m
I0419 21:01:36.652031 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292965701077.
I0419 21:01:36.652987 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:01:36.653055 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:01:36.653101 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0243384, -2.39236), points=5, range=2.3918, residual=0.0121861, extent=0.0311963
I0419 21:01:36.653138 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:01:36.653153 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0243384, -2.39236), tracking=(-0.274162, 2.39236), map_predicted=(16.822, -4.31737), range=2.3918, pts=5
I0419 21:01:36.653174 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01324m maha_sq=174.58 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.822, -4.31737) lm_pos=(15.915, -2.52) delta=(0.906973, -1.79737) -> 0 candidate(s)
I0419 21:01:36.654147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292965981773.
I0419 21:01:36.655938 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.0300635, -2.58383)
I0419 21:01:36.656847 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292966255168.
I0419 21:01:36.659451 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:36.659510 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:36.659575 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292966534420.
I0419 21:01:36.670491 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.0449729, -2.57661)
I0419 21:01:36.686473 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36317, -0.50966), points=4, range=1.45025, residual=0.0120478, extent=0.027119
I0419 21:01:36.686646 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36317, -0.50966), tracking=(1.66167, -0.50966), map_predicted=(15.0169, -1.31667), range=1.45025, pts=4
I0419 21:01:36.686700 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00382881m maha_sq=0.000633999 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0169, -1.31667) lm_pos=(15.015, -1.32) delta=(0.00188923, 0.00333025) -> 1 candidate(s)
I0419 21:01:36.686906 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292966859209.
I0419 21:01:36.753886 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.6419, -1.913), yaw=177.097 deg backend=(16.6599, -1.90955)
I0419 21:01:36.755309 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:36.755731 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.488 deg, rms_residual=0.0123981m, sigma_yaw=0.016262 rad, N=2
I0419 21:01:36.755829 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.6297, -1.91828, 176.488deg) inliers=2 rms=0.0123981m
I0419 21:01:36.755868 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292967139142.
I0419 21:01:36.756860 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.90517, -4.11686)
I0419 21:01:36.758810 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292967456526.
I0419 21:01:36.775146 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292967742793.
I0419 21:01:36.790066 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(1.74943, -0.512677)
I0419 21:01:36.790292 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.123836, 0.595241), points=21, range=0.609571, residual=0.0119118, extent=0.038957
I0419 21:01:36.790386 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.123836, 0.595241), tracking=(-0.174664, -0.595241), map_predicted=(16.8245, -1.33006), range=0.609571, pts=21
I0419 21:01:36.790463 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0138301m maha_sq=0.00820863 (gate chi2=5.99) pose_sigma=(0.150749, 0.150749, rho=0) det_map=(16.8245, -1.33006) lm_pos=(16.815, -1.32) delta=(0.00949424, -0.0100565) -> 1 candidate(s)
I0419 21:01:36.790542 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:36.802134 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:36.802266 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:36.802318 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292968016683.
I0419 21:01:36.817860 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719005s, prior_pose=(16.6193, -1.91546), yaw=177.034 deg
I0419 21:01:36.818060 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1196, max_intensity=255, threshold=230, above_threshold=38, candidates=38
I0419 21:01:36.888603 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292968294279.
I0419 21:01:36.889909 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:36.890935 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.335222, 0.653064)
I0419 21:01:36.891161 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292968612916.
I0419 21:01:36.892943 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:01:36.893147 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:01:36.893234 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:01:36.894418 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292968893872.
I0419 21:01:36.906810 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0488619, -2.39916), points=4, range=2.399, residual=0.00888882, extent=0.0217864
I0419 21:01:36.906934 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0488619, -2.39916), tracking=(-0.347362, 2.39916), map_predicted=(16.8144, -4.32744), range=2.399, pts=4
I0419 21:01:36.906963 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01885m maha_sq=176.075 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8144, -4.32744) lm_pos=(15.915, -2.52) delta=(0.899398, -1.80744) -> 0 candidate(s)
I0419 21:01:36.907006 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:36.922508 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00179384 range=1.3925 variance=0.000668804 t_weight=4485.62 r_weight=0 yaml=(15.015, -1.32) prior=(16.5792, -1.91311, 177.13deg) obs_actual=(1.59804, -0.51626) obs_expected=(1.59194, -0.514063) delta=(0.00610006, -0.00219726) |delta|=0.00648372m
I0419 21:01:36.922652 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292969219465.
I0419 21:01:36.934696 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.85614, -2.32653)
I0419 21:01:36.951763 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:36.951884 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:36.951987 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292969512864.
I0419 21:01:37.023340 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292969774203.
I0419 21:01:37.026253 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27042, -0.515428), points=3, range=1.37567, residual=0.0111987, extent=0.0233232
I0419 21:01:37.026381 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.27042, -0.515428), tracking=(1.56892, -0.515428), map_predicted=(15.0108, -1.32064), range=1.37567, pts=3
I0419 21:01:37.026412 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00422564m maha_sq=0.000767581 (gate chi2=5.99) pose_sigma=(0.150549, 0.150549, rho=0) det_map=(15.0108, -1.32064) lm_pos=(15.015, -1.32) delta=(-0.00417694, -0.000639655) -> 1 candidate(s)
I0419 21:01:37.026490 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292970103327.
I0419 21:01:37.027341 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.0955578, -2.43162)
I0419 21:01:37.038045 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292970374122.
I0419 21:01:37.066006 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292970654014.
I0419 21:01:37.081589 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:37.081708 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:37.151343 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292970973822.
I0419 21:01:37.152335 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554677s, prior_pose=(16.5378, -1.93375), yaw=177.14 deg
I0419 21:01:37.152485 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1181, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:37.152607 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.99649, -4.13916)
I0419 21:01:37.152705 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292971093989.
I0419 21:01:37.155524 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292971283777.
I0419 21:01:37.157327 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:37.158303 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23957, -0.517678), points=4, range=1.34025, residual=0.0078384, extent=0.0174708
I0419 21:01:37.158416 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.23957, -0.517678), tracking=(1.53807, -0.517678), map_predicted=(15.0141, -1.33482), range=1.34025, pts=4
I0419 21:01:37.158463 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0148512m maha_sq=0.00944303 (gate chi2=5.99) pose_sigma=(0.151081, 0.151081, rho=0) det_map=(15.0141, -1.33482) lm_pos=(15.015, -1.32) delta=(-0.000914486, -0.014823) -> 1 candidate(s)
I0419 21:01:37.158565 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292971537873.
I0419 21:01:37.170291 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:37.170392 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:37.170429 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:37.186369 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.04363 range=0.69775 variance=0.000562527 t_weight=5333.08 r_weight=0 yaml=(15.915, -2.52) prior=(16.5136, -1.92178, 177.249deg) obs_actual=(0.548161, 0.650296) obs_expected=(0.569152, 0.626255) delta=(-0.0209914, 0.0240408) |delta|=0.0319155m
I0419 21:01:37.186594 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292971857035.
I0419 21:01:37.214576 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292972139334.
I0419 21:01:37.278456 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.01797, -4.13743)
I0419 21:01:37.279452 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:37.279528 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:37.279625 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292972414111.
I0419 21:01:37.282269 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226764, 0.649278), points=17, range=0.689, residual=0.0114968, extent=0.0407832
I0419 21:01:37.282361 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.226764, 0.649278), tracking=(0.525264, 0.649278), map_predicted=(15.9344, -2.53875), range=0.689, pts=17
I0419 21:01:37.282392 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0269868m maha_sq=0.0312058 (gate chi2=5.99) pose_sigma=(0.150895, 0.150895, rho=0) det_map=(15.9344, -2.53875) lm_pos=(15.915, -2.52) delta=(0.0194062, -0.0187533) -> 1 candidate(s)
I0419 21:01:37.282501 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292972734481.
I0419 21:01:37.302389 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292973018205.
I0419 21:01:37.330577 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.008 deg, rms_residual=0.0130732m, sigma_yaw=0.0171323 rad, N=2
I0419 21:01:37.330724 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.4668, -1.90825, 177.008deg) inliers=2 rms=0.0130732m
I0419 21:01:37.330767 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292973300735.
I0419 21:01:37.346417 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.03779, -4.1474)
I0419 21:01:37.419816 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:37.419965 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:37.420001 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292973617977.
I0419 21:01:37.420094 1218530 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.30e-03 s (pulsed at 100.47% real time)
I0419 21:01:37.420217 1218530 collated_trajectory_builder.cc:82] odom rate: 249.20 Hz 4.01e-03 s +/- 6.90e-04 s (pulsed at 100.04% real time)
I0419 21:01:37.420332 1218530 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.06e-03 s (pulsed at 100.32% real time)
I0419 21:01:37.420362 1218530 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.28e-03 s (pulsed at 100.44% real time)
I0419 21:01:37.421358 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:37.422573 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292973898320.
I0419 21:01:37.424190 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434577s, prior_pose=(16.4604, -1.9071), yaw=177.426 deg
I0419 21:01:37.424297 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1216, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:01:37.425369 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16835, -0.522208), points=5, range=1.275, residual=0.0128133, extent=0.030776
I0419 21:01:37.425444 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.16835, -0.522208), tracking=(1.46685, -0.522208), map_predicted=(15.0185, -1.31955), range=1.275, pts=5
I0419 21:01:37.425472 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00348451m maha_sq=0.000517826 (gate chi2=5.99) pose_sigma=(0.151056, 0.151056, rho=0) det_map=(15.0185, -1.31955) lm_pos=(15.015, -1.32) delta=(0.00345522, 0.000450867) -> 1 candidate(s)
I0419 21:01:37.425567 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292974172873.
I0419 21:01:37.434609 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:37.450091 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292974494897.
I0419 21:01:37.466497 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:37.466610 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.06109, -4.14898)
I0419 21:01:37.466648 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:37.466748 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:37.479101 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0532894 range=0.674 variance=0.000600665 t_weight=4994.46 r_weight=0 yaml=(15.915, -2.52) prior=(16.4474, -1.90718, 177.479deg) obs_actual=(0.472303, 0.648528) obs_expected=(0.504939, 0.635645) delta=(-0.0326351, 0.012883) |delta|=0.0350859m
I0419 21:01:37.479331 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292974781420.
I0419 21:01:37.565914 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292975141908.
I0419 21:01:37.566884 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:37.568563 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:37.568650 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:37.568742 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292975377032.
I0419 21:01:37.569706 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.00077, -2.34951), points=5, range=3.083, residual=0.0152769, extent=0.0396595
I0419 21:01:37.569779 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.00077, -2.34951), tracking=(-2.29927, 2.34951), map_predicted=(18.6252, -4.34944), range=3.083, pts=5
I0419 21:01:37.569808 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.26987m maha_sq=457.004 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6252, -4.34944) lm_pos=(15.915, -2.52) delta=(2.71021, -1.82944) -> 0 candidate(s)
I0419 21:01:37.570722 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292975660643.
I0419 21:01:37.571785 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.4118, -1.90575), yaw=177.732 deg backend=(16.435, -1.89213)
I0419 21:01:37.582350 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.06743, -4.16177)
I0419 21:01:37.595526 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292975943358.
I0419 21:01:37.693913 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292976251691.
I0419 21:01:37.695175 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292976421867.
I0419 21:01:37.696151 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292976537434.
I0419 21:01:37.698132 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:37.698236 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292976695189.
I0419 21:01:37.699201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292976854033.
I0419 21:01:37.700042 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0728321s, prior_pose=(16.379, -1.90506), yaw=177.814 deg
I0419 21:01:37.700105 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1255, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:01:37.700205 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.10376, -4.17378)
I0419 21:01:37.700278 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.121203, 0.586908), points=21, range=0.600524, residual=0.0111348, extent=0.0366964
I0419 21:01:37.700307 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.121203, 0.586908), tracking=(-0.419703, -0.586908), map_predicted=(16.8208, -1.33459), range=0.600524, pts=21
I0419 21:01:37.700330 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0156879m maha_sq=0.0106735 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8208, -1.33459) lm_pos=(16.815, -1.32) delta=(0.00577592, -0.0145859) -> 1 candidate(s)
I0419 21:01:37.714181 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292977134640.
I0419 21:01:37.726178 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:37.726356 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292977256532.
I0419 21:01:37.742563 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00278422 range=1.2032 variance=0.000561018 t_weight=5347.42 r_weight=0 yaml=(15.015, -1.32) prior=(16.3687, -1.90522, 177.828deg) obs_actual=(1.38235, -0.530573) obs_expected=(1.37489, -0.533499) delta=(0.00745963, 0.00292589) |delta|=0.00801293m
I0419 21:01:37.742769 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292977418008.
I0419 21:01:37.827318 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:37.827425 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:37.827464 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:01:37.828663 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292977753086.
I0419 21:01:37.831418 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.91007, 0.707814)
I0419 21:01:37.831576 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292978015092.
I0419 21:01:37.832412 1218978 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:37.832513 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292978138848.
I0419 21:01:37.833559 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:37.833616 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:37.833662 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:37.833707 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:37.833727 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292978295509.
I0419 21:01:37.845813 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.160423, 0.591755), points=21, range=0.613381, residual=0.0118065, extent=0.0359286
I0419 21:01:37.845912 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.160423, 0.591755), tracking=(-0.458923, -0.591755), map_predicted=(16.8185, -1.33071), range=0.613381, pts=21
I0419 21:01:37.845949 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0112812m maha_sq=0.00545024 (gate chi2=5.99) pose_sigma=(0.15092, 0.15092, rho=0) det_map=(16.8185, -1.33071) lm_pos=(16.815, -1.32) delta=(0.00354303, -0.0107104) -> 1 candidate(s)
I0419 21:01:37.863166 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292978622998.
I0419 21:01:37.953641 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292978901550.
I0419 21:01:37.954600 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(0.180685, 0.590876)
I0419 21:01:37.955572 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292979172275.
I0419 21:01:37.958261 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.34 deg, rms_residual=0.0117826m, sigma_yaw=0.0154671 rad, N=2
I0419 21:01:37.958343 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.3022, -1.90611, 177.34deg) inliers=2 rms=0.0117826m
I0419 21:01:37.958382 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292979499426.
I0419 21:01:37.962386 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:37.979139 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0438775, 0.640692), points=20, range=0.6432, residual=0.0117174, extent=0.0370722
I0419 21:01:37.979306 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0438775, 0.640692), tracking=(0.342378, 0.640692), map_predicted=(15.9353, -2.53276), range=0.6432, pts=20
I0419 21:01:37.979363 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0239593m maha_sq=0.0246259 (gate chi2=5.99) pose_sigma=(0.150791, 0.150791, rho=0) det_map=(15.9353, -2.53276) lm_pos=(15.915, -2.52) delta=(0.0202801, -0.0127579) -> 1 candidate(s)
I0419 21:01:37.979573 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292979783316.
I0419 21:01:37.994948 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604292s, prior_pose=(16.2996, -1.90427), yaw=178.021 deg
I0419 21:01:37.995160 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1290, max_intensity=254, threshold=230, above_threshold=25, candidates=25
I0419 21:01:38.007449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292980061974.
I0419 21:01:38.098178 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(2.11094, -2.37205)
I0419 21:01:38.098304 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:38.099412 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000241386 range=1.129 variance=0.000644196 t_weight=4656.97 r_weight=0 yaml=(15.015, -1.32) prior=(16.2923, -1.90353, 178.068deg) obs_actual=(1.29595, -0.537789) obs_expected=(1.29622, -0.540146) delta=(-0.000268574, 0.00235678) |delta|=0.00237204m
I0419 21:01:38.099542 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292980417804.
I0419 21:01:38.100371 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:38.100455 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:38.100488 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:38.102421 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292980662550.
I0419 21:01:38.104313 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292980938542.
I0419 21:01:38.126312 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.82963, 0.708438)
I0419 21:01:38.126497 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:38.126545 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.977649, -0.53818), points=6, range=1.11283, residual=0.0114286, extent=0.0306039
I0419 21:01:38.126583 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:38.126621 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.977649, -0.53818), tracking=(1.27615, -0.53818), map_predicted=(15.0097, -1.32284), range=1.11283, pts=6
I0419 21:01:38.126677 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00602683m maha_sq=0.0015532 (gate chi2=5.99) pose_sigma=(0.150994, 0.150994, rho=0) det_map=(15.0097, -1.32284) lm_pos=(15.015, -1.32) delta=(-0.00531365, -0.0028439) -> 1 candidate(s)
I0419 21:01:38.126916 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292981254170.
I0419 21:01:38.233660 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292981541855.
I0419 21:01:38.234782 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:38.235944 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292981822100.
I0419 21:01:38.237752 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292981979053.
I0419 21:01:38.238781 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292982139108.
I0419 21:01:38.239624 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.422054, -0.79377)
I0419 21:01:38.239741 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292982263049.
I0419 21:01:38.243436 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292982421356.
I0419 21:01:38.259924 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:38.274732 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0323929, 0.635305), points=19, range=0.638211, residual=0.0131175, extent=0.0343161
I0419 21:01:38.274911 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0323929, 0.635305), tracking=(0.266107, 0.635305), map_predicted=(15.9445, -2.52778), range=0.638211, pts=19
I0419 21:01:38.274977 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.030485m maha_sq=0.0402183 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9445, -2.52778) lm_pos=(15.915, -2.52) delta=(0.0294752, -0.00778107) -> 1 candidate(s)
I0419 21:01:38.275168 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292982738493.
I0419 21:01:38.346179 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440525s, prior_pose=(16.2254, -1.90236), yaw=178.074 deg
I0419 21:01:38.346297 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1301, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 21:01:38.346462 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0136107 range=0.6542 variance=0.0005938 t_weight=5052.21 r_weight=0 yaml=(16.815, -1.32) prior=(16.2254, -1.90236, 178.074deg) obs_actual=(-0.581278, -0.588327) obs_expected=(-0.569729, -0.601852) delta=(-0.0115485, 0.0135248) |delta|=0.0177844m
I0419 21:01:38.346557 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292982861881.
I0419 21:01:38.347589 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292983018883.
I0419 21:01:38.348351 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.292007, 0.58962)
I0419 21:01:38.348400 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:38.348421 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:38.348451 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:38.348479 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:38.348495 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292983141730.
I0419 21:01:38.350193 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292983300812.
I0419 21:01:38.351074 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:38.351135 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:38.351162 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:38.351197 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:01:38.362025 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292983614998.
I0419 21:01:38.374212 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292983736684.
I0419 21:01:38.390015 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292983894285.
I0419 21:01:38.402058 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292984014720.
I0419 21:01:38.454557 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:38.454672 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:38.454770 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292984176836.
I0419 21:01:38.456019 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.324133, 0.58865)
I0419 21:01:38.456146 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292984333824.
I0419 21:01:38.457041 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292984459784.
I0419 21:01:38.458175 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.1676, -1.89708), yaw=178.054 deg backend=(16.19, -1.87666)
I0419 21:01:38.462487 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.328634, 0.588773), points=18, range=0.675833, residual=0.0116838, extent=0.0368833
I0419 21:01:38.462569 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.328634, 0.588773), tracking=(-0.627134, -0.588773), map_predicted=(16.8144, -1.32994), range=0.675833, pts=18
I0419 21:01:38.462634 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00996129m maha_sq=0.00424915 (gate chi2=5.99) pose_sigma=(0.150928, 0.150928, rho=0) det_map=(16.8144, -1.32994) lm_pos=(16.815, -1.32) delta=(-0.000622825, -0.0099418) -> 1 candidate(s)
I0419 21:01:38.462705 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292984619833.
I0419 21:01:38.478717 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292984780436.
I0419 21:01:38.506762 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000489413 range=1.01878 variance=0.000666291 t_weight=4502.54 r_weight=0 yaml=(15.015, -1.32) prior=(16.1572, -1.89638, 178.11deg) obs_actual=(1.16036, -0.53501) obs_expected=(1.16063, -0.538383) delta=(-0.000274533, 0.00337298) |delta|=0.00338413m
I0419 21:01:38.506889 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292985062022.
I0419 21:01:38.522392 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292985218248.
I0419 21:01:38.534317 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.695 deg, rms_residual=0.0107204m, sigma_yaw=0.0140925 rad, N=2
I0419 21:01:38.534437 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.1436, -1.89255, 177.695deg) inliers=2 rms=0.0107204m
I0419 21:01:38.534507 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292985337676.
I0419 21:01:38.589361 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.356476, 0.589327)
I0419 21:01:38.589542 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:38.590505 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292985666301.
I0419 21:01:38.591310 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0716951s, prior_pose=(16.1492, -1.8956), yaw=178.117 deg
I0419 21:01:38.591372 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1312, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:01:38.591488 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292985778973.
I0419 21:01:38.595633 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292985951745.
I0419 21:01:38.609800 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:38.622076 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.131091, 0.64428), points=19, range=0.657158, residual=0.0114323, extent=0.0346582
I0419 21:01:38.622170 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.131091, 0.64428), tracking=(0.167409, 0.64428), map_predicted=(15.9491, -2.53448), range=0.657158, pts=19
I0419 21:01:38.622201 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0370906m maha_sq=0.059641 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9491, -2.53448) lm_pos=(15.915, -2.52) delta=(0.0341481, -0.0144781) -> 1 candidate(s)
I0419 21:01:38.622293 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292986215984.
I0419 21:01:38.638546 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:38.638652 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:38.638726 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:38.638806 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292986380926.
I0419 21:01:38.654084 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292986535128.
I0419 21:01:38.666512 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.391029, 0.586952)
I0419 21:01:38.740056 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:38.740167 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:38.740190 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292986828282.
I0419 21:01:38.741209 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292986976777.
I0419 21:01:38.742252 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:38.742332 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:38.742411 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292987133916.
I0419 21:01:38.743966 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0171226 range=0.715062 variance=0.000595305 t_weight=5039.44 r_weight=0 yaml=(16.815, -1.32) prior=(16.0976, -1.90178, 178.189deg) obs_actual=(-0.706077, -0.585602) obs_expected=(-0.698607, -0.604165) delta=(-0.00746986, 0.0185627) |delta|=0.0200093m
I0419 21:01:38.744073 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292987254097.
I0419 21:01:38.745159 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292987420316.
I0419 21:01:38.771039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292987701980.
I0419 21:01:38.786820 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.423114, 0.585863)
I0419 21:01:38.788012 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292987858734.
I0419 21:01:38.802364 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.174711, 0.644555), points=18, range=0.669667, residual=0.0113359, extent=0.0341541
I0419 21:01:38.802449 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.174711, 0.644555), tracking=(0.123789, 0.644555), map_predicted=(15.9427, -2.53851), range=0.669667, pts=18
I0419 21:01:38.802482 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0333421m maha_sq=0.048199 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9427, -2.53851) lm_pos=(15.915, -2.52) delta=(0.0277319, -0.0185104) -> 1 candidate(s)
I0419 21:01:38.802599 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292988017871.
I0419 21:01:38.864463 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292988295939.
I0419 21:01:38.865520 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:01:38.867530 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292988578899.
I0419 21:01:38.877930 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634712s, prior_pose=(16.0702, -1.89262), yaw=178.167 deg
I0419 21:01:38.878038 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1326, max_intensity=251, threshold=230, above_threshold=16, candidates=16
I0419 21:01:38.878271 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292988774919.
I0419 21:01:38.890501 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292988898535.
I0419 21:01:38.902123 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.456128, 0.585451)
I0419 21:01:38.902287 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:38.902442 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292989016178.
I0419 21:01:38.918207 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292989172910.
I0419 21:01:38.935276 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:38.935438 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:38.935505 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:38.935702 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292989342627.
I0419 21:01:39.020947 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0449497 range=0.684722 variance=0.000559302 t_weight=5363.83 r_weight=0 yaml=(15.915, -2.52) prior=(16.0482, -1.88905, 178.293deg) obs_actual=(0.08614, 0.650375) obs_expected=(0.114315, 0.634634) delta=(-0.0281747, 0.0157413) |delta|=0.0322739m
I0419 21:01:39.021121 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292989457685.
I0419 21:01:39.022918 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.738469, -0.538113), points=9, range=0.912, residual=0.0112131, extent=0.0343338
I0419 21:01:39.023015 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.738469, -0.538113), tracking=(1.03697, -0.538113), map_predicted=(15.0277, -1.32029), range=0.912, pts=9
I0419 21:01:39.023039 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0126872m maha_sq=0.00697679 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0277, -1.32029) lm_pos=(15.015, -1.32) delta=(0.0126838, -0.000293375) -> 1 candidate(s)
I0419 21:01:39.023125 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292989784712.
I0419 21:01:39.025665 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:39.025749 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:39.025842 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292990054059.
I0419 21:01:39.026820 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.33193, -0.563505)
I0419 21:01:39.026937 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292990178850.
I0419 21:01:39.034802 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292990338084.
I0419 21:01:39.050462 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:39.050681 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:39.050735 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292990494214.
I0419 21:01:39.066640 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.109 deg, rms_residual=0.0107404m, sigma_yaw=0.0141183 rad, N=2
I0419 21:01:39.066876 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.9917, -1.88022, 178.109deg) inliers=2 rms=0.0107404m
I0419 21:01:39.066942 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292990657275.
I0419 21:01:39.159286 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:01:39.159482 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292990778710.
I0419 21:01:39.160560 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.253596, 0.652124)
I0419 21:01:39.160717 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292990937104.
I0419 21:01:39.161828 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.368237, -0.646293), points=26, range=0.744038, residual=0.0178793, extent=0.0579636
I0419 21:01:39.161926 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.368237, -0.646293), tracking=(0.0697375, 0.646293), map_predicted=(15.9163, -2.52511), range=0.744038, pts=26
I0419 21:01:39.161960 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00526806m maha_sq=0.00119322 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9163, -2.52511) lm_pos=(15.915, -2.52) delta=(0.00127166, -0.00511227) -> 1 candidate(s)
I0419 21:01:39.162032 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991095300.
I0419 21:01:39.163718 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00173915 range=0.8801 variance=0.000618673 t_weight=4849.09 r_weight=0 yaml=(15.015, -1.32) prior=(15.9924, -1.88158, 178.321deg) obs_actual=(0.998257, -0.536862) obs_expected=(0.993421, -0.5327) delta=(0.00483615, -0.00416213) |delta|=0.00638057m
I0419 21:01:39.163854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991254699.
I0419 21:01:39.164750 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:01:39.164840 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991373345.
I0419 21:01:39.165868 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991535162.
I0419 21:01:39.167435 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0415038s, prior_pose=(15.9772, -1.88015), yaw=178.361 deg
I0419 21:01:39.167507 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 21:01:39.167626 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:01:39.167716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991669737.
I0419 21:01:39.182646 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991817520.
I0419 21:01:39.198426 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.395956, -0.644004)
I0419 21:01:39.198621 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:39.198843 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292991976451.
I0419 21:01:39.285810 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292992096927.
I0419 21:01:39.286935 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:39.287030 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:01:39.287066 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:39.287169 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292992253776.
I0419 21:01:39.288240 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292992415661.
I0419 21:01:39.290002 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.310813, -0.644332), points=15, range=0.7182, residual=0.011803, extent=0.0350596
I0419 21:01:39.290102 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.310813, -0.644332), tracking=(0.0123135, 0.644332), map_predicted=(15.9265, -2.52327), range=0.7182, pts=15
I0419 21:01:39.290133 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0119116m maha_sq=0.00606917 (gate chi2=5.99) pose_sigma=(0.151, 0.151, rho=0) det_map=(15.9265, -2.52327) lm_pos=(15.915, -2.52) delta=(0.0114546, -0.00326772) -> 1 candidate(s)
I0419 21:01:39.290237 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292992576172.
I0419 21:01:39.291290 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00509637 range=0.8473 variance=0.000611673 t_weight=4904.58 r_weight=4657.19 yaml=(15.015, -1.32) prior=(15.9563, -1.87951, 178.436deg) obs_actual=(0.947032, -0.539321) obs_expected=(0.956264, -0.533615) delta=(-0.0092319, -0.00570594) |delta|=0.0108529m
I0419 21:01:39.291376 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292992815978.
I0419 21:01:39.292034 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(2.43404, -2.3989)
I0419 21:01:39.292160 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292992853636.
I0419 21:01:39.298556 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:39.298657 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:39.298775 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292992981409.
I0419 21:01:39.315975 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292993150308.
I0419 21:01:39.330153 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292993295949.
I0419 21:01:39.399523 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(15.9261, -1.87512), yaw=178.507 deg backend=(15.9726, -1.86873)
I0419 21:01:39.400352 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:39.400485 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:39.400520 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292993420658.
I0419 21:01:39.401633 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.537 deg, rms_residual=0.013552m, sigma_yaw=0.0177487 rad, N=2
I0419 21:01:39.401731 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.915, -1.87468, 178.537deg) inliers=2 rms=0.013552m
I0419 21:01:39.401767 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292993579051.
I0419 21:01:39.402670 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.28547, -0.646083)
I0419 21:01:39.402766 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.281707, -0.645283), points=17, range=0.706412, residual=0.0122925, extent=0.0380626
I0419 21:01:39.402791 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.281707, -0.645283), tracking=(-0.0167925, 0.645283), map_predicted=(15.9261, -2.52062), range=0.706412, pts=17
I0419 21:01:39.402813 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0110811m maha_sq=0.0053182 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9261, -2.52062) lm_pos=(15.915, -2.52) delta=(0.0110636, -0.00062078) -> 1 candidate(s)
I0419 21:01:39.402895 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292993734783.
I0419 21:01:39.404762 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0190832 range=0.734059 variance=0.000588917 t_weight=5094.1 r_weight=0 yaml=(15.915, -2.52) prior=(15.9143, -1.8749, 178.603deg) obs_actual=(-0.0357411, 0.653506) obs_expected=(-0.0164675, 0.644891) delta=(-0.0192736, 0.0086148) |delta|=0.0211113m
I0419 21:01:39.404891 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292993903293.
I0419 21:01:39.405853 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292994019658.
I0419 21:01:39.419103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292994177793.
I0419 21:01:39.434444 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.964789, -0.937127)
I0419 21:01:39.434600 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:39.434728 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292994338365.
I0419 21:01:39.446389 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292994453031.
I0419 21:01:39.462283 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0713268s, prior_pose=(15.8995, -1.87471), yaw=178.607 deg
I0419 21:01:39.462438 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=252, threshold=230, above_threshold=27, candidates=27
I0419 21:01:39.462824 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292994616561.
I0419 21:01:39.548950 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292994779285.
I0419 21:01:39.550019 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:39.550189 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292994902004.
I0419 21:01:39.551513 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.46478, 0.701271), points=3, range=1.61833, residual=0.0112823, extent=0.0230119
I0419 21:01:39.551622 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.46478, 0.701271), tracking=(1.76328, 0.701271), map_predicted=(14.1232, -2.53307), range=1.61833, pts=3
I0419 21:01:39.551677 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0154051m maha_sq=0.0102656 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1232, -2.53307) lm_pos=(14.115, -2.52) delta=(0.00816092, -0.0130658) -> 1 candidate(s)
I0419 21:01:39.551827 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292995055128.
I0419 21:01:39.554977 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:39.555074 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.631666, 0.57872)
I0419 21:01:39.555121 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:39.555172 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:39.555253 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00691782 range=0.856727 variance=0.000574259 t_weight=5224.12 r_weight=0 yaml=(16.815, -1.32) prior=(15.8867, -1.8716, 178.657deg) obs_actual=(-0.926547, -0.578811) obs_expected=(-0.915116, -0.573201) delta=(-0.011431, -0.00560955) |delta|=0.0127332m
I0419 21:01:39.555361 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292995177190.
I0419 21:01:39.557497 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292995335861.
I0419 21:01:39.559574 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292995502239.
I0419 21:01:39.562201 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122292995614948.
I0419 21:01:39.578444 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292995774093.
I0419 21:01:39.594542 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:39.594691 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:39.594877 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292995939048.
I0419 21:01:39.647895 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292996068264.
I0419 21:01:39.648144 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:39.649036 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292996214198.
I0419 21:01:39.649922 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.669473, 0.576555)
I0419 21:01:39.650027 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:39.650071 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:39.650092 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292996377623.
I0419 21:01:39.651877 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.545659, -0.540833), points=12, range=0.766417, residual=0.0115699, extent=0.031657
I0419 21:01:39.651947 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.545659, -0.540833), tracking=(0.844159, -0.540833), map_predicted=(15.0056, -1.31402), range=0.766417, pts=12
I0419 21:01:39.651971 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0111016m maha_sq=0.00528156 (gate chi2=5.99) pose_sigma=(0.150869, 0.150869, rho=0) det_map=(15.0056, -1.31402) lm_pos=(15.015, -1.32) delta=(-0.00935559, 0.00597654) -> 1 candidate(s)
I0419 21:01:39.652042 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292996499197.
I0419 21:01:39.665620 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00137979 range=0.888556 variance=0.000587346 t_weight=5107.72 r_weight=0 yaml=(16.815, -1.32) prior=(15.8379, -1.87293, 178.765deg) obs_actual=(-0.9698, -0.576676) obs_expected=(-0.964905, -0.573866) delta=(-0.00489491, -0.00280991) |delta|=0.00564408m
I0419 21:01:39.665912 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292996651517.
I0419 21:01:39.682050 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292996815567.
I0419 21:01:39.699461 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.206 deg, rms_residual=0.00646759m, sigma_yaw=0.00854972 rad, N=2
I0419 21:01:39.699576 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8233, -1.87757, 179.206deg) inliers=2 rms=0.00646759m
I0419 21:01:39.699621 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292996988025.
I0419 21:01:39.710637 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292997101700.
I0419 21:01:39.726019 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:39.726172 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292997255060.
I0419 21:01:39.773924 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292997415432.
I0419 21:01:39.774744 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0548916s, prior_pose=(15.8065, -1.87347), yaw=178.726 deg
I0419 21:01:39.774824 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1337, max_intensity=254, threshold=230, above_threshold=26, candidates=26
I0419 21:01:39.774982 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292997536941.
I0419 21:01:39.775985 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292997694562.
I0419 21:01:39.786377 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.709835, 0.576612)
I0419 21:01:39.786545 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:39.786659 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292997858456.
I0419 21:01:39.798497 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292997979697.
I0419 21:01:39.814625 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:39.814738 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:39.814770 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.715036, 0.573834), points=8, range=0.921, residual=0.0119909, extent=0.031257
I0419 21:01:39.814792 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:39.814805 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.715036, 0.573834), tracking=(-1.01354, -0.573834), map_predicted=(16.8234, -1.32255), range=0.921, pts=8
I0419 21:01:39.814826 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.00876m maha_sq=0.00332342 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8234, -1.32255) lm_pos=(16.815, -1.32) delta=(0.00838056, -0.00255028) -> 1 candidate(s)
I0419 21:01:39.814915 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292998141953.
I0419 21:01:39.830754 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122292998302205.
I0419 21:01:39.842377 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0116214 range=0.92675 variance=0.000643367 t_weight=4662.97 r_weight=0 yaml=(16.815, -1.32) prior=(15.7876, -1.87471, 178.795deg) obs_actual=(-1.03184, -0.574622) obs_expected=(-1.01552, -0.576204) delta=(-0.0163235, 0.00158158) |delta|=0.0164m
I0419 21:01:39.842523 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292998417392.
I0419 21:01:39.858510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292998580294.
I0419 21:01:39.907210 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292998734043.
I0419 21:01:39.908056 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:39.908115 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:39.908169 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292998858816.
I0419 21:01:39.909173 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999017538.
I0419 21:01:39.918570 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999180700.
I0419 21:01:39.929872 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.751756, 0.573305)
I0419 21:01:39.930022 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:39.930079 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:39.930115 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999294049.
I0419 21:01:39.946609 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999461327.
I0419 21:01:39.962435 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999617612.
I0419 21:01:39.974654 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.443531, -0.539551), points=17, range=0.702294, residual=0.0148111, extent=0.0445893
I0419 21:01:39.974807 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.443531, -0.539551), tracking=(0.742031, -0.539551), map_predicted=(15.0277, -1.31839), range=0.702294, pts=17
I0419 21:01:39.974920 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.012821m maha_sq=0.00709853 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0277, -1.31839) lm_pos=(15.015, -1.32) delta=(0.0127197, 0.0016087) -> 1 candidate(s)
I0419 21:01:39.975077 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999737738.
I0419 21:01:39.990510 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0102575 range=0.9548 variance=0.000536684 t_weight=5589.88 r_weight=0 yaml=(16.815, -1.32) prior=(15.7591, -1.87227, 178.886deg) obs_actual=(-1.06026, -0.571391) obs_expected=(-1.04494, -0.572703) delta=(-0.0153159, 0.00131235) |delta|=0.015372m
I0419 21:01:39.990669 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122292999900085.
I0419 21:01:40.021325 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293000033435.
I0419 21:01:40.022311 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:40.022419 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293000181200.
I0419 21:01:40.034364 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293000336599.
I0419 21:01:40.049942 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0462756s, prior_pose=(15.7395, -1.87089), yaw=179.042 deg
I0419 21:01:40.050035 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1321, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:40.050210 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.547 deg, rms_residual=0.00165626m, sigma_yaw=0.00220348 rad, N=2
I0419 21:01:40.050279 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.7268, -1.87954, 179.547deg) inliers=2 rms=0.00165626m
I0419 21:01:40.050315 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293000496191.
I0419 21:01:40.062963 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293000621852.
I0419 21:01:40.078699 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.792802, 0.568927)
I0419 21:01:40.078855 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:40.079017 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293000779268.
I0419 21:01:40.094676 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293000935191.
I0419 21:01:40.110705 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:40.110872 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:40.110948 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:40.111186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293001095456.
I0419 21:01:40.122781 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293001217211.
I0419 21:01:40.206964 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0815366, -0.640838), points=20, range=0.6476, residual=0.0116031, extent=0.0369479
I0419 21:01:40.207145 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0815366, -0.640838), tracking=(-0.216963, 0.640838), map_predicted=(15.9184, -2.51755), range=0.6476, pts=20
I0419 21:01:40.207186 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00418055m maha_sq=0.000748615 (gate chi2=5.99) pose_sigma=(0.150916, 0.150916, rho=0) det_map=(15.9184, -2.51755) lm_pos=(15.915, -2.52) delta=(0.00338386, 0.00245489) -> 1 candidate(s)
I0419 21:01:40.207331 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293001377843.
I0419 21:01:40.208515 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0208818 range=1.467 variance=0.000562498 t_weight=5333.35 r_weight=0 yaml=(14.115, -2.52) prior=(15.7114, -1.87341, 179.108deg) obs_actual=(1.59702, 0.690427) obs_expected=(1.58616, 0.671357) delta=(0.0108577, 0.0190708) |delta|=0.0219451m
I0419 21:01:40.208658 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293001501913.
I0419 21:01:40.209769 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293001661711.
I0419 21:01:40.211519 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:40.211589 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:40.211673 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293001818032.
I0419 21:01:40.212670 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293001976350.
I0419 21:01:40.213707 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002101875.
I0419 21:01:40.214748 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.6881, -1.86819), yaw=179.229 deg backend=(15.7379, -1.85832)
I0419 21:01:40.227166 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.830525, 0.564559)
I0419 21:01:40.227428 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:40.227563 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:40.227612 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002259551.
I0419 21:01:40.239298 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002381814.
I0419 21:01:40.254829 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002540195.
I0419 21:01:40.325511 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002701934.
I0419 21:01:40.326433 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0428848, -0.640181), points=19, range=0.642526, residual=0.0108478, extent=0.0370196
I0419 21:01:40.326524 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0428848, -0.640181), tracking=(-0.255615, 0.640181), map_predicted=(15.9254, -2.5133), range=0.642526, pts=19
I0419 21:01:40.326555 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.012353m maha_sq=0.00661935 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9254, -2.5133) lm_pos=(15.915, -2.52) delta=(0.0103754, 0.0067042) -> 1 candidate(s)
I0419 21:01:40.326689 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002813963.
I0419 21:01:40.327672 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0208856 range=1.43033 variance=0.00059098 t_weight=5076.31 r_weight=0 yaml=(14.115, -2.52) prior=(15.6776, -1.87005, 179.302deg) obs_actual=(1.55748, 0.690693) obs_expected=(1.55454, 0.66893) delta=(0.00293712, 0.0217633) |delta|=0.0219606m
I0419 21:01:40.327771 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293002976839.
I0419 21:01:40.329375 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:40.329476 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293003138367.
I0419 21:01:40.330299 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293003260584.
I0419 21:01:40.342818 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720654s, prior_pose=(15.6667, -1.86551), yaw=179.27 deg
I0419 21:01:40.342959 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1308, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:01:40.343271 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293003422588.
I0419 21:01:40.358256 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.531 deg, rms_residual=0.0157414m, sigma_yaw=0.020557 rad, N=2
I0419 21:01:40.358477 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6541, -1.85307, 179.531deg) inliers=2 rms=0.0157414m
I0419 21:01:40.358559 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293003572967.
I0419 21:01:40.370628 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.875214, 0.564724)
I0419 21:01:40.370796 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:40.370972 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293003698270.
I0419 21:01:40.387074 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293003859243.
I0419 21:01:40.460408 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:40.460498 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:40.460528 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:40.460611 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293004021188.
I0419 21:01:40.461675 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293004178230.
I0419 21:01:40.462702 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00368494, -0.637872), points=18, range=0.639611, residual=0.0111113, extent=0.033072
I0419 21:01:40.462770 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00368494, -0.637872), tracking=(-0.294815, 0.637872), map_predicted=(15.9345, -2.50642), range=0.639611, pts=18
I0419 21:01:40.462796 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0237466m maha_sq=0.0244551 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9345, -2.50642) lm_pos=(15.915, -2.52) delta=(0.0194809, 0.0135793) -> 1 candidate(s)
I0419 21:01:40.462905 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293004299831.
I0419 21:01:40.464421 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0141784 range=1.39333 variance=0.000612021 t_weight=4901.79 r_weight=0 yaml=(14.115, -2.52) prior=(15.6327, -1.86857, 179.29deg) obs_actual=(1.50988, 0.68842) obs_expected=(1.50948, 0.670183) delta=(0.000393735, 0.0182369) |delta|=0.0182411m
I0419 21:01:40.464535 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293004458636.
I0419 21:01:40.465608 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293004619357.
I0419 21:01:40.474982 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:40.475106 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:40.475265 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293004742286.
I0419 21:01:40.490185 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293004892926.
I0419 21:01:40.507215 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005061988.
I0419 21:01:40.518098 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.920002, 0.563753)
I0419 21:01:40.518304 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:40.518427 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:40.518474 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005173586.
I0419 21:01:40.596696 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005336331.
I0419 21:01:40.597821 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005516824.
I0419 21:01:40.598979 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005621997.
I0419 21:01:40.600597 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.939977, 0.562302), points=4, range=1.0925, residual=0.00830442, extent=0.0181657
I0419 21:01:40.600689 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.939977, 0.562302), tracking=(-1.23848, -0.562302), map_predicted=(16.8326, -1.31436), range=1.0925, pts=4
I0419 21:01:40.600718 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0184523m maha_sq=0.0146496 (gate chi2=5.99) pose_sigma=(0.150726, 0.150726, rho=0) det_map=(16.8326, -1.31436) lm_pos=(16.815, -1.32) delta=(0.0175694, 0.00563955) -> 1 candidate(s)
I0419 21:01:40.600801 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005778033.
I0419 21:01:40.601843 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293005941505.
I0419 21:01:40.606288 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:40.606420 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00881357 range=0.642579 variance=0.000566662 t_weight=5294.16 r_weight=0 yaml=(15.915, -2.52) prior=(15.5878, -1.86249, 179.346deg) obs_actual=(-0.338572, 0.640001) obs_expected=(-0.334727, 0.653732) delta=(-0.00384476, -0.0137302) |delta|=0.0142583m
I0419 21:01:40.606592 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293006054945.
I0419 21:01:40.621906 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293006213248.
I0419 21:01:40.634177 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558676s, prior_pose=(15.5795, -1.85924), yaw=179.384 deg
I0419 21:01:40.634299 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1306, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:40.634577 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293006336709.
I0419 21:01:40.651278 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293006502849.
I0419 21:01:40.738026 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.962168, 0.561094)
I0419 21:01:40.738202 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:40.738327 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293006652301.
I0419 21:01:40.739632 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.743 deg, rms_residual=0.016163m, sigma_yaw=0.0210961 rad, N=2
I0419 21:01:40.739719 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.5636, -1.85056, 179.743deg) inliers=2 rms=0.016163m
I0419 21:01:40.739760 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293006817000.
I0419 21:01:40.740720 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:40.740772 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:40.740805 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:40.740869 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293006942052.
I0419 21:01:40.743018 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293007100975.
I0419 21:01:40.744104 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293007257730.
I0419 21:01:40.745258 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13533, 0.68892), points=3, range=1.33133, residual=0.00843044, extent=0.0177727
I0419 21:01:40.745322 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.13533, 0.68892), tracking=(1.43383, 0.68892), map_predicted=(14.1238, -2.53842), range=1.33133, pts=3
I0419 21:01:40.745355 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0204165m maha_sq=0.0180914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1238, -2.53842) lm_pos=(14.115, -2.52) delta=(0.00880933, -0.0184181) -> 1 candidate(s)
I0419 21:01:40.745434 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293007382302.
I0419 21:01:40.755010 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293007539490.
I0419 21:01:40.769974 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:40.770072 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:40.770151 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0213624 range=0.586381 variance=0.000582537 t_weight=5149.89 r_weight=0 yaml=(15.015, -1.32) prior=(15.5502, -1.86089, 179.498deg) obs_actual=(0.518522, -0.542155) obs_expected=(0.53991, -0.536185) delta=(-0.0213882, -0.00597025) |delta|=0.0222058m
I0419 21:01:40.770251 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293007695100.
I0419 21:01:40.782202 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293007814725.
I0419 21:01:40.845461 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293008005654.
I0419 21:01:40.846369 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.00684, 0.556174)
I0419 21:01:40.846478 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:40.846534 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:40.846556 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293008098613.
I0419 21:01:40.847569 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293008254835.
I0419 21:01:40.849418 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293008420243.
I0419 21:01:40.858836 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293008579512.
I0419 21:01:40.870311 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:01:40.870568 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293008692733.
I0419 21:01:40.887518 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293008857581.
I0419 21:01:40.902900 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.11492, -0.64624), points=19, range=0.657895, residual=0.0115054, extent=0.0375715
I0419 21:01:40.903095 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.11492, -0.64624), tracking=(-0.41342, 0.64624), map_predicted=(15.9246, -2.5075), range=0.657895, pts=19
I0419 21:01:40.903172 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0157654m maha_sq=0.0107745 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9246, -2.5075) lm_pos=(15.915, -2.52) delta=(0.00960508, 0.0125016) -> 1 candidate(s)
I0419 21:01:40.903267 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:40.903417 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293009019468.
I0419 21:01:40.914484 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293009132573.
I0419 21:01:40.993477 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434323s, prior_pose=(15.5055, -1.85507), yaw=179.705 deg
I0419 21:01:40.993650 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1316, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:40.993990 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0164205 range=0.658333 variance=0.000549546 t_weight=5459.06 r_weight=0 yaml=(15.915, -2.52) prior=(15.5055, -1.85507, 179.705deg) obs_actual=(-0.422047, 0.645498) obs_expected=(-0.41296, 0.66281) delta=(-0.00908719, -0.0173125) |delta|=0.0195525m
I0419 21:01:40.994134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293009291904.
I0419 21:01:40.996381 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293009460841.
I0419 21:01:40.998540 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.130157, -0.649475)
I0419 21:01:40.998698 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:40.998837 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293009617965.
I0419 21:01:41.002091 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293009735000.
I0419 21:01:41.003369 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:41.003481 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:41.003520 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:41.003615 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293009942398.
I0419 21:01:41.004674 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293010035063.
I0419 21:01:41.018374 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293010172783.
I0419 21:01:41.035313 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293010342595.
I0419 21:01:41.051002 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.181 deg, rms_residual=0.00362429m, sigma_yaw=0.00480915 rad, N=2
I0419 21:01:41.051220 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.4522, -1.88014, -179.181deg) inliers=2 rms=0.00362429m
I0419 21:01:41.051316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293010501109.
I0419 21:01:41.138203 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:41.138314 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.05832, 0.676379), points=5, range=1.2538, residual=0.00754048, extent=0.0182402
I0419 21:01:41.138334 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:41.138355 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.05832, 0.676379), tracking=(1.35682, 0.676379), map_predicted=(14.0988, -2.5364), range=1.2538, pts=5
I0419 21:01:41.138381 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0230621m maha_sq=0.0225742 (gate chi2=5.99) pose_sigma=(0.151787, 0.151787, rho=0) det_map=(14.0988, -2.5364) lm_pos=(14.115, -2.52) delta=(-0.0162099, -0.0164043) -> 1 candidate(s)
I0419 21:01:41.138461 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293010618095.
I0419 21:01:41.138713 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:41.139377 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293010776489.
I0419 21:01:41.140374 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0140653 range=1.24775 variance=0.000554371 t_weight=5411.54 r_weight=0 yaml=(14.115, -2.52) prior=(15.4565, -1.86176, 179.927deg) obs_actual=(1.34237, 0.677876) obs_expected=(1.34063, 0.659954) delta=(0.0017463, 0.0179225) |delta|=0.0180074m
I0419 21:01:41.140472 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293010937363.
I0419 21:01:41.141415 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.4461, -1.85945), yaw=-179.978 deg backend=(15.5211, -1.85094)
I0419 21:01:41.141988 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.168307, -0.65469)
I0419 21:01:41.142076 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:41.142115 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:41.142138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011054912.
I0419 21:01:41.143111 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011216981.
I0419 21:01:41.143940 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011342150.
I0419 21:01:41.151051 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011501407.
I0419 21:01:41.166256 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011652615.
I0419 21:01:41.178792 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011776984.
I0419 21:01:41.271517 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:41.271677 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293011932054.
I0419 21:01:41.272734 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293012096778.
I0419 21:01:41.273497 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0720126s, prior_pose=(15.4021, -1.8575), yaw=-179.917 deg
I0419 21:01:41.273571 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1337, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:41.273653 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.201281, -0.658329), points=19, range=0.690474, residual=0.0125109, extent=0.0368652
I0419 21:01:41.273675 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.201281, -0.658329), tracking=(-0.499781, 0.658329), map_predicted=(15.9028, -2.51511), range=0.690474, pts=19
I0419 21:01:41.273694 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.013122m maha_sq=0.00745614 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9028, -2.51511) lm_pos=(15.915, -2.52) delta=(-0.0121749, 0.00489495) -> 1 candidate(s)
I0419 21:01:41.273742 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293012221533.
I0419 21:01:41.275261 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293012375615.
I0419 21:01:41.276191 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.208864, -0.661839)
I0419 21:01:41.276255 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:41.276298 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0041851 range=0.692444 variance=0.000575058 t_weight=5216.87 r_weight=0 yaml=(15.915, -2.52) prior=(15.3997, -1.85596, -179.91deg) obs_actual=(-0.506314, 0.659023) obs_expected=(-0.514229, 0.664847) delta=(0.00791494, -0.00582453) |delta|=0.00982708m
I0419 21:01:41.276338 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293012503682.
I0419 21:01:41.277171 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293012661889.
I0419 21:01:41.282407 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:41.282491 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:41.282526 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:41.282595 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293012816608.
I0419 21:01:41.298925 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293012981628.
I0419 21:01:41.314448 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293013139234.
I0419 21:01:41.368860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293013251702.
I0419 21:01:41.370244 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293013412326.
I0419 21:01:41.371089 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:41.371150 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:41.371209 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293013534131.
I0419 21:01:41.372798 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293013699153.
I0419 21:01:41.382493 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.979064, 0.672864), points=4, range=1.1845, residual=0.0108583, extent=0.0241821
I0419 21:01:41.382581 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.979064, 0.672864), tracking=(1.27756, 0.672864), map_predicted=(14.1066, -2.53412), range=1.1845, pts=4
I0419 21:01:41.382613 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0164498m maha_sq=0.0117253 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1066, -2.53412) lm_pos=(14.115, -2.52) delta=(-0.0084396, -0.0141198) -> 1 candidate(s)
I0419 21:01:41.382702 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293013820290.
I0419 21:01:41.398531 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.24437, -0.662291)
I0419 21:01:41.398777 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:41.398815 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.33 deg, rms_residual=0.00393112m, sigma_yaw=0.00521416 rad, N=2
I0419 21:01:41.398895 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3614, -1.86839, -179.33deg) inliers=2 rms=0.00393112m
I0419 21:01:41.398932 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:41.398949 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293013981121.
I0419 21:01:41.414062 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00563962 range=0.546478 variance=0.000552694 t_weight=5427.95 r_weight=0 yaml=(15.015, -1.32) prior=(15.3667, -1.85969, -179.721deg) obs_actual=(0.338234, -0.545169) obs_expected=(0.349082, -0.541394) delta=(-0.0108476, -0.00377469) |delta|=0.0114856m
I0419 21:01:41.414171 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293014134524.
I0419 21:01:41.430889 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293014300908.
I0419 21:01:41.446133 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293014451935.
I0419 21:01:41.479729 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:41.523816 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293014577338.
I0419 21:01:41.525028 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293014741350.
I0419 21:01:41.525872 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:41.525955 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293014861297.
I0419 21:01:41.527565 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293015012195.
I0419 21:01:41.528460 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598895s, prior_pose=(15.3508, -1.85135), yaw=-179.684 deg
I0419 21:01:41.528524 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1367, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:01:41.528666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293015176233.
I0419 21:01:41.530720 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293015302034.
I0419 21:01:41.546880 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.28626, -0.666158)
I0419 21:01:41.547384 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.283573, -0.665324), points=16, range=0.725125, residual=0.012342, extent=0.036
I0419 21:01:41.547443 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.283573, -0.665324), tracking=(-0.582073, 0.665324), map_predicted=(15.9231, -2.51338), range=0.725125, pts=16
I0419 21:01:41.547488 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0104782m maha_sq=0.0046928 (gate chi2=5.99) pose_sigma=(0.151015, 0.151015, rho=0) det_map=(15.9231, -2.51338) lm_pos=(15.915, -2.52) delta=(0.0081253, 0.00661605) -> 1 candidate(s)
I0419 21:01:41.547526 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:41.547685 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293015460041.
I0419 21:01:41.562358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293015613766.
I0419 21:01:41.578565 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:41.578686 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:41.578750 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:41.578851 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0166382 range=0.727625 variance=0.000558921 t_weight=5367.48 r_weight=0 yaml=(15.915, -2.52) prior=(15.3372, -1.85141, -179.672deg) obs_actual=(-0.591947, 0.664257) obs_expected=(-0.573909, 0.671894) delta=(-0.0180372, -0.00763656) |delta|=0.0195872m
I0419 21:01:41.578981 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293015778234.
I0419 21:01:41.669904 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293015901439.
I0419 21:01:41.670894 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293016058882.
I0419 21:01:41.672048 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293016216061.
I0419 21:01:41.673592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293016342581.
I0419 21:01:41.674630 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:41.674697 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:41.674762 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293016499112.
I0419 21:01:41.675629 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293016657009.
I0419 21:01:41.679124 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293016783953.
I0419 21:01:41.694205 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.324458, -0.667644)
I0419 21:01:41.694450 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:41.694564 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:41.694597 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293016933900.
I0419 21:01:41.711028 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.87819, 0.674582), points=6, range=1.10983, residual=0.0141607, extent=0.0375231
I0419 21:01:41.711156 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.87819, 0.674582), tracking=(1.17669, 0.674582), map_predicted=(14.1235, -2.53601), range=1.10983, pts=6
I0419 21:01:41.711208 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0181419m maha_sq=0.0142133 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1235, -2.53601) lm_pos=(14.115, -2.52) delta=(0.00852811, -0.0160124) -> 1 candidate(s)
I0419 21:01:41.711382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293017101912.
I0419 21:01:41.780544 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:41.782264 1218967 pose_graph_2d.cc:160] Inserted submap (1, 41).
I0419 21:01:41.783238 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293017215539.
I0419 21:01:41.784344 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0229875 range=0.548292 variance=0.000573311 t_weight=5232.76 r_weight=0 yaml=(15.015, -1.32) prior=(15.2869, -1.85225, -179.644deg) obs_actual=(0.248421, -0.545127) obs_expected=(0.268544, -0.533928) delta=(-0.0201239, -0.0111994) |delta|=0.0230304m
I0419 21:01:41.784478 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293017373583.
I0419 21:01:41.785555 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293017535195.
I0419 21:01:41.787253 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.434 deg, rms_residual=0.0166288m, sigma_yaw=0.0216909 rad, N=2
I0419 21:01:41.787365 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2654, -1.84732, -179.434deg) inliers=2 rms=0.0166288m
I0419 21:01:41.787401 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293017660472.
I0419 21:01:41.788388 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:41.788478 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293017815763.
I0419 21:01:41.798030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293017973435.
I0419 21:01:41.810698 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439664s, prior_pose=(15.2615, -1.85079), yaw=-179.599 deg
I0419 21:01:41.810844 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1370, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:01:41.811100 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293018100136.
I0419 21:01:41.826558 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0745754, -0.542708)
I0419 21:01:41.826767 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293018259568.
I0419 21:01:41.840188 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:41.840365 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293018380636.
I0419 21:01:41.893263 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293018566746.
I0419 21:01:41.894297 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:41.894393 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:41.894420 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:41.894481 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293018697992.
I0419 21:01:41.895354 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.837213, 0.673218), points=7, range=1.07143, residual=0.0125393, extent=0.0331136
I0419 21:01:41.895424 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.837213, 0.673218), tracking=(1.13571, 0.673218), map_predicted=(14.1096, -2.53114), range=1.07143, pts=7
I0419 21:01:41.895450 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0123705m maha_sq=0.00662155 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1096, -2.53114) lm_pos=(14.115, -2.52) delta=(-0.00538453, -0.0111372) -> 1 candidate(s)
I0419 21:01:41.895566 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293018854847.
I0419 21:01:41.898470 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293018980823.
I0419 21:01:41.914294 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00761668 range=1.06657 variance=0.000545964 t_weight=5494.87 r_weight=0 yaml=(14.115, -2.52) prior=(15.2304, -1.85023, -179.676deg) obs_actual=(1.12778, 0.673498) obs_expected=(1.11913, 0.66346) delta=(0.00864803, 0.0100372) |delta|=0.0132489m
I0419 21:01:41.914669 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293019137288.
I0419 21:01:41.926327 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293019258334.
I0419 21:01:41.942061 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.816898, 0.67132)
I0419 21:01:41.942324 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:41.942389 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:41.942508 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293019415298.
I0419 21:01:41.958527 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293019578994.
I0419 21:01:41.974063 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293019734820.
I0419 21:01:42.026965 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.204, -1.84834), yaw=-179.561 deg backend=(15.2505, -1.84967)
I0419 21:01:42.027945 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:42.028059 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:42.028080 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293019885174.
I0419 21:01:42.029524 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293020020903.
I0419 21:01:42.030447 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293020173610.
I0419 21:01:42.032428 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293020299952.
I0419 21:01:42.046526 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293020456785.
I0419 21:01:42.061852 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293020611876.
I0419 21:01:42.074437 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.35154, 0.521056)
I0419 21:01:42.074602 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.422951, -0.672471), points=13, range=0.796846, residual=0.0115119, extent=0.0344938
I0419 21:01:42.074652 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.422951, -0.672471), tracking=(-0.721451, 0.672471), map_predicted=(15.913, -2.51442), range=0.796846, pts=13
I0419 21:01:42.074693 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00592323m maha_sq=0.00150573 (gate chi2=5.99) pose_sigma=(0.150756, 0.150756, rho=0) det_map=(15.913, -2.51442) lm_pos=(15.915, -2.52) delta=(-0.00199252, 0.00557804) -> 1 candidate(s)
I0419 21:01:42.074790 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:42.074856 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293020739101.
I0419 21:01:42.090063 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293020894507.
I0419 21:01:42.106374 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759712s, prior_pose=(15.1853, -1.84869), yaw=-179.467 deg
I0419 21:01:42.106493 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=254, threshold=230, above_threshold=15, candidates=15
I0419 21:01:42.106637 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00391422 range=0.8015 variance=0.000558144 t_weight=5374.96 r_weight=0 yaml=(15.915, -2.52) prior=(15.1853, -1.84869, -179.467deg) obs_actual=(-0.731509, 0.673131) obs_expected=(-0.723392, 0.678067) delta=(-0.00811731, -0.00493598) |delta|=0.00950024m
I0419 21:01:42.106710 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293021059664.
I0419 21:01:42.155758 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293021171591.
I0419 21:01:42.156841 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:42.156982 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293021340348.
I0419 21:01:42.158113 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293021494473.
I0419 21:01:42.166584 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:42.166664 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:42.166699 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:42.166798 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293021661290.
I0419 21:01:42.178269 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293021776690.
I0419 21:01:42.190784 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.38562, 0.515759)
I0419 21:01:42.191066 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293021901179.
I0419 21:01:42.206888 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293022059728.
I0419 21:01:42.222855 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293022216977.
I0419 21:01:42.238514 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:42.238649 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:42.238822 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293022376660.
I0419 21:01:42.315660 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293022538777.
I0419 21:01:42.316879 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.202172, -0.543034), points=20, range=0.57895, residual=0.0103783, extent=0.0323572
I0419 21:01:42.316992 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.202172, -0.543034), tracking=(0.0963277, -0.543034), map_predicted=(15.0566, -1.30681), range=0.57895, pts=20
I0419 21:01:42.317028 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0436606m maha_sq=0.0827324 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0566, -1.30681) lm_pos=(15.015, -1.32) delta=(0.0416204, 0.0131903) -> 1 candidate(s)
I0419 21:01:42.317114 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.118 deg, rms_residual=0.0160077m, sigma_yaw=0.0208975 rad, N=2
I0419 21:01:42.317175 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.1293, -1.84868, -179.118deg) inliers=2 rms=0.0160077m
I0419 21:01:42.317216 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293022655070.
I0419 21:01:42.318439 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:42.318554 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0744117 range=1.49233 variance=0.00050627 t_weight=5925.69 r_weight=0 yaml=(16.815, -1.32) prior=(15.1595, -1.84865, -179.313deg) obs_actual=(-1.70314, -0.508932) obs_expected=(-1.66177, -0.508749) delta=(-0.0413751, -0.000182122) |delta|=0.0413755m
I0419 21:01:42.318619 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:42.318645 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293022814475.
I0419 21:01:42.320334 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293022973921.
I0419 21:01:42.321291 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.41781, 0.513699)
I0419 21:01:42.321390 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293023094050.
I0419 21:01:42.325790 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293023252635.
I0419 21:01:42.342626 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293023416857.
I0419 21:01:42.354239 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293023531878.
I0419 21:01:42.370476 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:42.370643 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293023700116.
I0419 21:01:42.423239 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293023838367.
I0419 21:01:42.424120 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557989s, prior_pose=(15.1118, -1.85126), yaw=-179.238 deg
I0419 21:01:42.424212 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1372, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:01:42.424333 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293023974846.
I0419 21:01:42.425830 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293024138411.
I0419 21:01:42.427629 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.44629, 0.509779)
I0419 21:01:42.427707 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:42.427769 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293024260366.
I0419 21:01:42.443006 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.56209, -0.555727), points=3, range=1.66067, residual=0.00653828, extent=0.0125496
I0419 21:01:42.443389 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.56209, -0.555727), tracking=(1.86059, -0.555727), map_predicted=(13.2295, -1.32041), range=1.66067, pts=3
I0419 21:01:42.443552 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0144891m maha_sq=0.00911308 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2295, -1.32041) lm_pos=(13.215, -1.32) delta=(0.0144834, -0.000408897) -> 1 candidate(s)
I0419 21:01:42.443816 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293024421849.
I0419 21:01:42.458458 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:42.458541 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:42.458575 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:42.458673 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293024580969.
I0419 21:01:42.474524 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0148043 range=0.598368 variance=0.000543677 t_weight=5517.99 r_weight=0 yaml=(15.015, -1.32) prior=(15.0807, -1.84954, -179.206deg) obs_actual=(0.0432134, -0.541195) obs_expected=(0.0583861, -0.5304) delta=(-0.0151727, -0.0107948) |delta|=0.0186209m
I0419 21:01:42.474689 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293024739647.
I0419 21:01:42.485956 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293024854424.
I0419 21:01:42.502671 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293025018068.
I0419 21:01:42.547385 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293025179441.
I0419 21:01:42.547649 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:42.548398 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:42.548482 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:42.548568 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293025300271.
I0419 21:01:42.549430 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.4748, 0.505407)
I0419 21:01:42.549561 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293025454559.
I0419 21:01:42.558969 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293025580687.
I0419 21:01:42.574473 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:42.574595 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:42.574644 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293025739630.
I0419 21:01:42.587246 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293025865696.
I0419 21:01:42.602592 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026019609.
I0419 21:01:42.618578 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.634615, 0.666744), points=10, range=0.9208, residual=0.0106145, extent=0.0340368
I0419 21:01:42.618673 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.634615, 0.666744), tracking=(0.933115, 0.666744), map_predicted=(14.113, -2.52694), range=0.9208, pts=10
I0419 21:01:42.618703 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00723532m maha_sq=0.00227027 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.113, -2.52694) lm_pos=(14.115, -2.52) delta=(-0.00202934, -0.0069449) -> 1 candidate(s)
I0419 21:01:42.618796 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026179800.
I0419 21:01:42.634464 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026336731.
I0419 21:01:42.682330 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.627508, 0.666982)
I0419 21:01:42.682512 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0362264 range=0.620579 variance=0.000713252 t_weight=4206.08 r_weight=0 yaml=(15.015, -1.32) prior=(15.0358, -1.84817, -179.112deg) obs_actual=(-0.0127503, -0.542621) obs_expected=(0.0125624, -0.528432) delta=(-0.0253127, -0.0141884) |delta|=0.0290179m
I0419 21:01:42.682578 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026461296.
I0419 21:01:42.683776 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:42.683961 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026618681.
I0419 21:01:42.685195 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026772882.
I0419 21:01:42.690245 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437512s, prior_pose=(15.0221, -1.85039), yaw=-179.066 deg
I0419 21:01:42.690356 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1400, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 21:01:42.690629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293026898808.
I0419 21:01:42.705938 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293027053607.
I0419 21:01:42.721798 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:42.721922 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.485 deg, rms_residual=0.00406143m, sigma_yaw=0.00538607 rad, N=2
I0419 21:01:42.721966 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.9974, -1.85514, -178.485deg) inliers=2 rms=0.00406143m
I0419 21:01:42.721998 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293027213092.
I0419 21:01:42.734366 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293027338265.
I0419 21:01:42.749591 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:01:42.749717 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.265913, 0.538989)
I0419 21:01:42.749737 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:01:42.749763 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:42.749847 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293027492071.
I0419 21:01:42.766319 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293027657828.
I0419 21:01:42.811465 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293027820699.
I0419 21:01:42.812480 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.590536, 0.667387), points=13, range=0.888769, residual=0.0132558, extent=0.0438464
I0419 21:01:42.812551 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.590536, 0.667387), tracking=(0.889036, 0.667387), map_predicted=(14.1177, -2.53479), range=0.888769, pts=13
I0419 21:01:42.812580 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0150339m maha_sq=0.00977573 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1177, -2.53479) lm_pos=(14.115, -2.52) delta=(0.00267059, -0.0147948) -> 1 candidate(s)
I0419 21:01:42.812644 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293027935214.
I0419 21:01:42.813736 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293028100868.
I0419 21:01:42.826221 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:42.826315 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:42.826381 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00712244 range=0.880636 variance=0.000547792 t_weight=5476.53 r_weight=0 yaml=(14.115, -2.52) prior=(14.979, -1.85332, -179.04deg) obs_actual=(0.879377, 0.664263) obs_expected=(0.875021, 0.652104) delta=(0.00435658, 0.0121594) |delta|=0.0129163m
I0419 21:01:42.826436 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293028258040.
I0419 21:01:42.840219 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293028395568.
I0419 21:01:42.853647 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293028531984.
I0419 21:01:42.854708 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.9662, -1.85297), yaw=-178.992 deg backend=(15.0468, -1.84709)
I0419 21:01:42.869755 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.230558, 0.536453)
I0419 21:01:42.869920 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:42.869979 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:42.869999 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293028692090.
I0419 21:01:42.883181 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293028826344.
I0419 21:01:42.901799 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293028980276.
I0419 21:01:42.945787 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293029101162.
I0419 21:01:42.947216 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293029259315.
I0419 21:01:42.948520 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293029415249.
I0419 21:01:42.958108 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:42.958443 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293029574976.
I0419 21:01:42.970736 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293029701490.
I0419 21:01:42.986163 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756915s, prior_pose=(14.9409, -1.84792), yaw=-178.975 deg
I0419 21:01:42.986280 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1402, max_intensity=251, threshold=230, above_threshold=29, candidates=29
I0419 21:01:42.986406 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.198448, 0.535385)
I0419 21:01:42.986447 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.198144, 0.534618), points=19, range=0.571053, residual=0.0099229, extent=0.0317696
I0419 21:01:42.986474 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.198144, 0.534618), tracking=(-0.100356, -0.534618), map_predicted=(15.0317, -1.31159), range=0.571053, pts=19
I0419 21:01:42.986498 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0187188m maha_sq=0.0152136 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0317, -1.31159) lm_pos=(15.015, -1.32) delta=(0.016724, 0.00840842) -> 1 candidate(s)
I0419 21:01:42.986620 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293029858077.
I0419 21:01:43.002928 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293030022716.
I0419 21:01:43.014415 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:43.014546 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00738316 range=0.569762 variance=0.000581127 t_weight=5162.38 r_weight=0 yaml=(15.015, -1.32) prior=(14.9268, -1.84917, -179.005deg) obs_actual=(-0.108128, -0.534961) obs_expected=(-0.0973745, -0.52756) delta=(-0.0107535, -0.00740094) |delta|=0.0130542m
I0419 21:01:43.014637 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293030138943.
I0419 21:01:43.029965 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293030294762.
I0419 21:01:43.079568 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:43.079689 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:43.079730 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:43.079811 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293030457605.
I0419 21:01:43.080760 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293030577098.
I0419 21:01:43.082065 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293030733821.
I0419 21:01:43.090577 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293030901129.
I0419 21:01:43.102669 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.167079, 0.535159)
I0419 21:01:43.102887 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293031021789.
I0419 21:01:43.117530 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:43.117622 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:43.117727 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293031171465.
I0419 21:01:43.134370 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293031338167.
I0419 21:01:43.146430 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293031459072.
I0419 21:01:43.162530 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:43.163437 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:43.163648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293031619315.
I0419 21:01:43.220890 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475876, 0.660973), points=14, range=0.815429, residual=0.0108148, extent=0.032507
I0419 21:01:43.221067 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.475876, 0.660973), tracking=(0.774376, 0.660973), map_predicted=(14.1182, -2.52422), range=0.815429, pts=14
I0419 21:01:43.221150 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00528318m maha_sq=0.00120367 (gate chi2=5.99) pose_sigma=(0.150435, 0.150435, rho=0) det_map=(14.1182, -2.52422) lm_pos=(14.115, -2.52) delta=(0.00317337, -0.00422395) -> 1 candidate(s)
I0419 21:01:43.221238 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293031777264.
I0419 21:01:43.222437 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293031940080.
I0419 21:01:43.223460 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00814017 range=0.810462 variance=0.000541367 t_weight=5541.53 r_weight=0 yaml=(14.115, -2.52) prior=(14.8796, -1.84842, -178.893deg) obs_actual=(0.76471, 0.661672) obs_expected=(0.777467, 0.656689) delta=(-0.0127567, 0.00498276) |delta|=0.0136953m
I0419 21:01:43.223573 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293032060446.
I0419 21:01:43.225703 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293032219186.
I0419 21:01:43.238629 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293032378807.
I0419 21:01:43.250573 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.754291, -0.703302)
I0419 21:01:43.250706 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:43.250797 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293032500848.
I0419 21:01:43.262691 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293032621200.
I0419 21:01:43.277973 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055562s, prior_pose=(14.8552, -1.85042), yaw=-178.824 deg
I0419 21:01:43.278085 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1425, max_intensity=253, threshold=230, above_threshold=29, candidates=29
I0419 21:01:43.278357 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.366 deg, rms_residual=0.00265836m, sigma_yaw=0.00353196 rad, N=2
I0419 21:01:43.278437 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.844, -1.85134, -178.366deg) inliers=2 rms=0.00265836m
I0419 21:01:43.278482 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293032774806.
I0419 21:01:43.294648 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293032940519.
I0419 21:01:43.339687 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:43.339844 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293033093353.
I0419 21:01:43.340888 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293033260393.
I0419 21:01:43.341930 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:43.342013 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:43.342053 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:43.342124 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293033372739.
I0419 21:01:43.354243 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.428427, 0.661804), points=16, range=0.790125, residual=0.0123982, extent=0.0383154
I0419 21:01:43.354353 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.428427, 0.661804), tracking=(0.726927, 0.661804), map_predicted=(14.1182, -2.52639), range=0.790125, pts=16
I0419 21:01:43.354389 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00716239m maha_sq=0.00218721 (gate chi2=5.99) pose_sigma=(0.151196, 0.151196, rho=0) det_map=(14.1182, -2.52639) lm_pos=(14.115, -2.52) delta=(0.00323425, -0.00639057) -> 1 candidate(s)
I0419 21:01:43.354506 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293033537884.
I0419 21:01:43.366737 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293033660969.
I0419 21:01:43.381992 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.423616, 0.660578)
I0419 21:01:43.382203 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00498031 range=0.7848 variance=0.000571758 t_weight=5246.97 r_weight=0 yaml=(14.115, -2.52) prior=(14.8315, -1.84989, -178.831deg) obs_actual=(0.720439, 0.660135) obs_expected=(0.73003, 0.655349) delta=(-0.00959143, 0.00478633) |delta|=0.0107194m
I0419 21:01:43.382326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293033815765.
I0419 21:01:43.397961 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293033972957.
I0419 21:01:43.410086 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:43.410216 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:43.410337 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293034096485.
I0419 21:01:43.426033 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293034254117.
I0419 21:01:43.470691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293034419965.
I0419 21:01:43.471978 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:43.472096 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:43.472124 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293034579591.
I0419 21:01:43.473173 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293034696630.
I0419 21:01:43.486559 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293034855088.
I0419 21:01:43.503477 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293035014463.
I0419 21:01:43.514989 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293035139650.
I0419 21:01:43.530838 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.383398, 0.659531)
I0419 21:01:43.531109 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293035301771.
I0419 21:01:43.545994 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0418057, 0.530973), points=23, range=0.533478, residual=0.0110697, extent=0.0346895
I0419 21:01:43.546100 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0418057, 0.530973), tracking=(-0.256694, -0.530973), map_predicted=(15.0286, -1.31478), range=0.533478, pts=23
I0419 21:01:43.546134 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.014601m maha_sq=0.00924715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0286, -1.31478) lm_pos=(15.015, -1.32) delta=(0.0136377, 0.00521566) -> 1 candidate(s)
I0419 21:01:43.546173 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:43.546267 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293035454060.
I0419 21:01:43.557796 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293035572518.
I0419 21:01:43.611001 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439547s, prior_pose=(14.7787, -1.85084), yaw=-178.682 deg
I0419 21:01:43.611114 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1421, max_intensity=253, threshold=230, above_threshold=31, candidates=31
I0419 21:01:43.611325 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0543868 range=1.10657 variance=0.000654378 t_weight=4584.51 r_weight=0 yaml=(15.915, -2.52) prior=(14.7787, -1.85084, -178.682deg) obs_actual=(-1.15196, 0.711898) obs_expected=(-1.12059, 0.695117) delta=(-0.0313678, 0.0167813) |delta|=0.0355745m
I0419 21:01:43.611387 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293035741318.
I0419 21:01:43.612417 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293035859017.
I0419 21:01:43.613611 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:43.613715 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036016158.
I0419 21:01:43.618468 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036176089.
I0419 21:01:43.634858 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:43.635008 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:43.635077 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:43.635277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036339054.
I0419 21:01:43.650456 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036493514.
I0419 21:01:43.663074 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036620166.
I0419 21:01:43.678793 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.344539, 0.659411)
I0419 21:01:43.679035 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.684 deg, rms_residual=0.00477627m, sigma_yaw=0.00632805 rad, N=2
I0419 21:01:43.679138 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.7499, -1.8508, -178.684deg) inliers=2 rms=0.00477627m
I0419 21:01:43.679193 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036780214.
I0419 21:01:43.689723 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00308861, 0.529147), points=25, range=0.53124, residual=0.0126684, extent=0.0400585
I0419 21:01:43.689843 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.00308861, 0.529147), tracking=(-0.295411, -0.529147), map_predicted=(15.0376, -1.31887), range=0.53124, pts=25
I0419 21:01:43.689879 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0226185m maha_sq=0.0221543 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0376, -1.31887) lm_pos=(15.015, -1.32) delta=(0.0225902, 0.00113226) -> 1 candidate(s)
I0419 21:01:43.690016 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293036891675.
I0419 21:01:43.739084 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:43.739193 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:43.739282 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293037060553.
I0419 21:01:43.740341 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0361474 range=1.133 variance=0.000559745 t_weight=5359.59 r_weight=0 yaml=(15.915, -2.52) prior=(14.7429, -1.85495, -178.641deg) obs_actual=(-1.17621, 0.713264) obs_expected=(-1.15599, 0.692656) delta=(-0.0202207, 0.0206076) |delta|=0.0288713m
I0419 21:01:43.740478 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293037213822.
I0419 21:01:43.741444 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293037338039.
I0419 21:01:43.742533 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.7336, -1.85701), yaw=-178.574 deg backend=(14.7775, -1.85219)
I0419 21:01:43.750222 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:43.750348 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:43.750378 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293037497539.
I0419 21:01:43.762543 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293037620284.
I0419 21:01:43.779006 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293037779861.
I0419 21:01:43.794721 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293037936924.
I0419 21:01:43.810977 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038099872.
I0419 21:01:43.822018 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.304383, 0.660243)
I0419 21:01:43.822249 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038215383.
I0419 21:01:43.885382 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:43.885521 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038377435.
I0419 21:01:43.886535 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19171, -0.568415), points=4, range=1.316, residual=0.0100839, extent=0.021409
I0419 21:01:43.886617 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.19171, -0.568415), tracking=(1.49021, -0.568415), map_predicted=(13.183, -1.31989), range=1.316, pts=4
I0419 21:01:43.886650 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0319939m maha_sq=0.0443696 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.183, -1.31989) lm_pos=(13.215, -1.32) delta=(-0.0319937, 0.000107832) -> 1 candidate(s)
I0419 21:01:43.886744 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038531809.
I0419 21:01:43.887681 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762717s, prior_pose=(14.6867, -1.85176), yaw=-178.601 deg
I0419 21:01:43.887748 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1421, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:01:43.887910 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00120621 range=0.53087 variance=0.000556557 t_weight=5390.28 r_weight=0 yaml=(15.015, -1.32) prior=(14.6867, -1.85176, -178.601deg) obs_actual=(-0.344646, -0.527603) obs_expected=(-0.341234, -0.523581) delta=(-0.00341138, -0.00402165) |delta|=0.00527363m
I0419 21:01:43.887977 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038699641.
I0419 21:01:43.889694 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038812889.
I0419 21:01:43.897957 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:43.898313 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293038974358.
I0419 21:01:43.910849 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293039103114.
I0419 21:01:43.926506 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:43.926640 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:43.926695 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:43.926925 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293039256840.
I0419 21:01:43.942414 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293039416540.
I0419 21:01:43.959574 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293039579622.
I0419 21:01:44.031764 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.267284, 0.661498)
I0419 21:01:44.032042 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:44.032450 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293039693736.
I0419 21:01:44.033775 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.265 deg, rms_residual=0.0114364m, sigma_yaw=0.0150195 rad, N=2
I0419 21:01:44.033939 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6447, -1.84823, -178.265deg) inliers=2 rms=0.0114364m
I0419 21:01:44.033984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293039858104.
I0419 21:01:44.035260 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:44.035339 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15854, -0.579734), points=3, range=1.291, residual=0.00866911, extent=0.0167714
I0419 21:01:44.035362 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:44.035382 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15854, -0.579734), tracking=(1.45704, -0.579734), map_predicted=(13.1995, -1.31396), range=1.291, pts=3
I0419 21:01:44.035403 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0166803m maha_sq=0.0120751 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1995, -1.31396) lm_pos=(13.215, -1.32) delta=(-0.0155487, 0.00603911) -> 1 candidate(s)
I0419 21:01:44.035470 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293040021300.
I0419 21:01:44.037995 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.018127 range=0.532826 variance=0.00054417 t_weight=5512.98 r_weight=0 yaml=(15.015, -1.32) prior=(14.6631, -1.85684, -178.412deg) obs_actual=(-0.387106, -0.524789) obs_expected=(-0.366683, -0.52688) delta=(-0.0204231, 0.00209032) |delta|=0.0205298m
I0419 21:01:44.038173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293040136074.
I0419 21:01:44.039757 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293040260629.
I0419 21:01:44.042335 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:44.042428 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:44.042449 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293040418512.
I0419 21:01:44.059028 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293040584348.
I0419 21:01:44.070240 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293040696448.
I0419 21:01:44.089006 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293040884231.
I0419 21:01:44.134408 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293041014648.
I0419 21:01:44.135398 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.228413, 0.659885)
I0419 21:01:44.135550 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293041144504.
I0419 21:01:44.136655 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:44.136724 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293041292128.
I0419 21:01:44.146490 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293041458439.
I0419 21:01:44.161931 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600193s, prior_pose=(14.6364, -1.85862), yaw=-178.33 deg
I0419 21:01:44.162029 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1399, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:44.162164 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.12978, 0.52048), points=21, range=0.537, residual=0.00983495, extent=0.0315727
I0419 21:01:44.162194 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.12978, 0.52048), tracking=(-0.42828, -0.52048), map_predicted=(15.0493, -1.32589), range=0.537, pts=21
I0419 21:01:44.162220 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0348268m maha_sq=0.0526687 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0493, -1.32589) lm_pos=(15.015, -1.32) delta=(0.0343256, -0.00588701) -> 1 candidate(s)
I0419 21:01:44.162304 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293041614841.
I0419 21:01:44.179159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293041781640.
I0419 21:01:44.192672 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:44.192842 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0845274 range=1.2395 variance=0.000570137 t_weight=5261.89 r_weight=0 yaml=(15.915, -2.52) prior=(14.6229, -1.86006, -178.273deg) obs_actual=(-1.30785, 0.724386) obs_expected=(-1.27167, 0.698573) delta=(-0.0361882, 0.0258138) |delta|=0.0444516m
I0419 21:01:44.192925 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293041920564.
I0419 21:01:44.204993 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293042044462.
I0419 21:01:44.219759 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:44.219874 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:44.219914 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:44.220055 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293042181040.
I0419 21:01:44.262224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293042332754.
I0419 21:01:44.263424 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293042498797.
I0419 21:01:44.264285 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.186602, 0.654335)
I0419 21:01:44.264406 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293042615047.
I0419 21:01:44.279872 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293042792528.
I0419 21:01:44.294555 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:44.297219 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:44.297405 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293042940699.
I0419 21:01:44.305959 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043053267.
I0419 21:01:44.321869 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043213351.
I0419 21:01:44.337800 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.180603, 0.521964), points=21, range=0.55219, residual=0.0109647, extent=0.0353467
I0419 21:01:44.337921 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.180603, 0.521964), tracking=(-0.479103, -0.521964), map_predicted=(15.0292, -1.31705), range=0.55219, pts=21
I0419 21:01:44.337954 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0144827m maha_sq=0.00909862 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0292, -1.31705) lm_pos=(15.015, -1.32) delta=(0.0141793, 0.00294884) -> 1 candidate(s)
I0419 21:01:44.338049 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:44.338109 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:44.338127 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043373132.
I0419 21:01:44.350461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043497736.
I0419 21:01:44.398075 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0321323 range=1.28225 variance=0.000520061 t_weight=5768.55 r_weight=0 yaml=(15.915, -2.52) prior=(14.5604, -1.85209, -178.155deg) obs_actual=(-1.35291, 0.729194) obs_expected=(-1.33243, 0.711181) delta=(-0.0204868, 0.0180134) |delta|=0.0272799m
I0419 21:01:44.398201 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043652442.
I0419 21:01:44.399266 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.032 deg, rms_residual=0.0147112m, sigma_yaw=0.0192376 rad, N=2
I0419 21:01:44.399358 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5613, -1.86975, -179.032deg) inliers=2 rms=0.0147112m
I0419 21:01:44.399396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043822595.
I0419 21:01:44.400316 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293043968934.
I0419 21:01:44.410701 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.147577, 0.655875)
I0419 21:01:44.410912 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293044101822.
I0419 21:01:44.426437 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:44.426620 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293044258619.
I0419 21:01:44.442011 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293044413490.
I0419 21:01:44.454025 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0433363s, prior_pose=(14.529, -1.85085), yaw=-178.087 deg
I0419 21:01:44.454149 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1398, max_intensity=252, threshold=230, above_threshold=24, candidates=24
I0419 21:01:44.454456 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293044535185.
I0419 21:01:44.470194 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293044693588.
I0419 21:01:44.486145 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:44.486377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293044853741.
I0419 21:01:44.551792 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01813, -0.583868), points=4, range=1.16925, residual=0.010173, extent=0.0224394
I0419 21:01:44.551923 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01813, -0.583868), tracking=(1.31663, -0.583868), map_predicted=(13.1845, -1.31051), range=1.16925, pts=4
I0419 21:01:44.551954 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0319293m maha_sq=0.0438006 (gate chi2=5.99) pose_sigma=(0.150708, 0.150708, rho=0) det_map=(13.1845, -1.31051) lm_pos=(13.215, -1.32) delta=(-0.0304878, 0.00948537) -> 1 candidate(s)
I0419 21:01:44.552052 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293044975408.
I0419 21:01:44.553047 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:44.553107 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:44.553138 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:44.553180 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0170252 range=0.57215 variance=0.000546109 t_weight=5493.41 r_weight=0 yaml=(15.015, -1.32) prior=(14.5195, -1.85108, -178.129deg) obs_actual=(-0.530499, -0.523056) obs_expected=(-0.512575, -0.514624) delta=(-0.0179239, -0.00843204) |delta|=0.0198082m
I0419 21:01:44.553237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293045133208.
I0419 21:01:44.554374 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293045298740.
I0419 21:01:44.556329 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293045421693.
I0419 21:01:44.558012 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.10484, 0.655728)
I0419 21:01:44.558194 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293045575023.
I0419 21:01:44.574738 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293045741257.
I0419 21:01:44.586570 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:44.586694 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:44.586879 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293045857177.
I0419 21:01:44.602247 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293046016116.
I0419 21:01:44.618800 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293046179773.
I0419 21:01:44.687752 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4866, -1.85614), yaw=-178.089 deg backend=(14.5183, -1.84925)
I0419 21:01:44.693454 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:44.693660 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:44.693709 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293046337238.
I0419 21:01:44.695032 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293046456352.
I0419 21:01:44.696238 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.269538, 0.52139), points=19, range=0.588947, residual=0.012026, extent=0.0420466
I0419 21:01:44.696341 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.269538, 0.52139), tracking=(-0.568038, -0.52139), map_predicted=(15.037, -1.3161), range=0.588947, pts=19
I0419 21:01:44.696376 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.022319m maha_sq=0.0215847 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.037, -1.3161) lm_pos=(15.015, -1.32) delta=(0.0219751, 0.00390296) -> 1 candidate(s)
I0419 21:01:44.696481 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293046580126.
I0419 21:01:44.698709 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293046782194.
I0419 21:01:44.699800 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.1542, -0.730599)
I0419 21:01:44.699925 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0071717 range=0.59175 variance=0.000553303 t_weight=5421.98 r_weight=0 yaml=(15.015, -1.32) prior=(14.4683, -1.85444, -178.097deg) obs_actual=(-0.575792, -0.521443) obs_expected=(-0.564148, -0.515987) delta=(-0.0116435, -0.00545536) |delta|=0.0128581m
I0419 21:01:44.700001 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293046929143.
I0419 21:01:44.706822 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293047058789.
I0419 21:01:44.718672 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:44.718935 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293047181019.
I0419 21:01:44.734709 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293047338580.
I0419 21:01:44.750401 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718146s, prior_pose=(14.4608, -1.85912), yaw=-178.134 deg
I0419 21:01:44.750504 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1427, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:01:44.750665 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.174 deg, rms_residual=0.0136881m, sigma_yaw=0.0179236 rad, N=2
I0419 21:01:44.750727 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4313, -1.84882, -178.174deg) inliers=2 rms=0.0136881m
I0419 21:01:44.750767 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293047500340.
I0419 21:01:44.798034 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293047625558.
I0419 21:01:44.799157 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:44.799305 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293047777676.
I0419 21:01:44.800529 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293047940489.
I0419 21:01:44.806711 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:44.806830 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:44.806886 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:44.807039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048059843.
I0419 21:01:44.822732 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.8395, 0.603606)
I0419 21:01:44.822881 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0333449, 0.654392), points=18, range=0.6565, residual=0.010508, extent=0.0327826
I0419 21:01:44.822938 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0333449, 0.654392), tracking=(0.331845, 0.654392), map_predicted=(14.1271, -2.52418), range=0.6565, pts=18
I0419 21:01:44.822989 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0127939m maha_sq=0.00710238 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1271, -2.52418) lm_pos=(14.115, -2.52) delta=(0.0120934, -0.00417537) -> 1 candidate(s)
I0419 21:01:44.823164 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048218985.
I0419 21:01:44.838609 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048376480.
I0419 21:01:44.850560 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0358025 range=1.0828 variance=0.000517222 t_weight=5800.22 r_weight=0 yaml=(13.215, -1.32) prior=(14.42, -1.85736, -178.075deg) obs_actual=(1.21485, -0.5819) obs_expected=(1.18623, -0.577529) delta=(0.0286148, -0.00437071) |delta|=0.0289467m
I0419 21:01:44.850724 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048500666.
I0419 21:01:44.866385 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048656680.
I0419 21:01:44.882820 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:44.883011 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:44.883337 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048817952.
I0419 21:01:44.962949 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293048978331.
I0419 21:01:44.964103 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293049132587.
I0419 21:01:44.964977 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:44.965050 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:44.965098 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293049253986.
I0419 21:01:44.966825 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.80696, 0.601667)
I0419 21:01:44.966948 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293049418622.
I0419 21:01:44.967798 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293049541202.
I0419 21:01:44.970197 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293049697567.
I0419 21:01:44.986604 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21738, -0.729062), points=3, range=1.424, residual=0.0111082, extent=0.0235061
I0419 21:01:44.986764 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.21738, -0.729062), tracking=(-1.51588, 0.729062), map_predicted=(15.9244, -2.54116), range=1.424, pts=3
I0419 21:01:44.986824 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0231652m maha_sq=0.0230777 (gate chi2=5.99) pose_sigma=(0.150512, 0.150512, rho=0) det_map=(15.9244, -2.54116) lm_pos=(15.915, -2.52) delta=(0.00943839, -0.0211552) -> 1 candidate(s)
I0419 21:01:44.987005 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293049859034.
I0419 21:01:44.998512 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0144489 range=0.659263 variance=0.000558788 t_weight=5368.76 r_weight=0 yaml=(14.115, -2.52) prior=(14.3848, -1.86361, -178.068deg) obs_actual=(0.277418, 0.658144) obs_expected=(0.291812, 0.646919) delta=(-0.0143937, 0.0112248) |delta|=0.0182531m
I0419 21:01:44.998787 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293049973336.
I0419 21:01:45.014987 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:45.015195 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293050139378.
I0419 21:01:45.092649 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293050298478.
I0419 21:01:45.093984 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557004s, prior_pose=(14.3755, -1.8624), yaw=-178.064 deg
I0419 21:01:45.094231 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1441, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 21:01:45.094514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293050416038.
I0419 21:01:45.095757 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.7803, 0.607213)
I0419 21:01:45.096149 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293050577075.
I0419 21:01:45.098351 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:45.098476 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293050739721.
I0419 21:01:45.099443 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.798 deg, rms_residual=0.0119839m, sigma_yaw=0.0157272 rad, N=2
I0419 21:01:45.099512 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3648, -1.86806, -178.798deg) inliers=2 rms=0.0119839m
I0419 21:01:45.099545 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293050858612.
I0419 21:01:45.102650 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:45.102854 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:45.102919 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:45.103024 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293051021162.
I0419 21:01:45.118682 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293051181588.
I0419 21:01:45.129771 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.403056, 0.518943), points=17, range=0.658588, residual=0.0108547, extent=0.0352868
I0419 21:01:45.129851 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.403056, 0.518943), tracking=(-0.701556, -0.518943), map_predicted=(15.0331, -1.32121), range=0.658588, pts=17
I0419 21:01:45.129878 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0180948m maha_sq=0.0142026 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0331, -1.32121) lm_pos=(15.015, -1.32) delta=(0.018054, -0.00121355) -> 1 candidate(s)
I0419 21:01:45.129976 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293051293688.
I0419 21:01:45.146152 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293051453379.
I0419 21:01:45.202340 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.102646 range=1.47625 variance=0.000525117 t_weight=5713.01 r_weight=0 yaml=(15.915, -2.52) prior=(14.3521, -1.86309, -178.04deg) obs_actual=(-1.58305, 0.731708) obs_expected=(-1.53948, 0.709976) delta=(-0.0435664, 0.0217312) |delta|=0.0486854m
I0419 21:01:45.202474 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293051579536.
I0419 21:01:45.203413 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.74399, 0.606165)
I0419 21:01:45.203470 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:01:45.203501 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:45.203593 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293051736464.
I0419 21:01:45.204617 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293051894286.
I0419 21:01:45.206856 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293052060239.
I0419 21:01:45.218111 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:45.218252 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:45.218277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293052176220.
I0419 21:01:45.234511 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293052338465.
I0419 21:01:45.250337 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293052497141.
I0419 21:01:45.262697 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293052620533.
I0419 21:01:45.278388 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32136, -0.734955), points=3, range=1.50833, residual=0.00765645, extent=0.0148615
I0419 21:01:45.278483 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.32136, -0.734955), tracking=(-1.61986, 0.734955), map_predicted=(15.9633, -2.54374), range=1.50833, pts=3
I0419 21:01:45.278513 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0537928m maha_sq=0.12559 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9633, -2.54374) lm_pos=(15.915, -2.52) delta=(0.0482722, -0.0237372) -> 1 candidate(s)
I0419 21:01:45.278631 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293052778073.
I0419 21:01:45.333499 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.71555, 0.604687)
I0419 21:01:45.333678 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0837984 range=0.668167 variance=0.000557262 t_weight=5383.47 r_weight=0 yaml=(14.115, -2.52) prior=(14.3312, -1.8609, -177.954deg) obs_actual=(0.196066, 0.659034) obs_expected=(0.239543, 0.650967) delta=(-0.0434773, 0.00806756) |delta|=0.0442194m
I0419 21:01:45.333745 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293052900579.
I0419 21:01:45.334807 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:45.334928 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293053052930.
I0419 21:01:45.336196 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293053218864.
I0419 21:01:45.337976 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0453109s, prior_pose=(14.3133, -1.86343), yaw=-177.964 deg
I0419 21:01:45.338055 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1447, max_intensity=248, threshold=230, above_threshold=17, candidates=17
I0419 21:01:45.338194 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293053353688.
I0419 21:01:45.350328 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293053497560.
I0419 21:01:45.366204 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:45.366379 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293053658155.
I0419 21:01:45.381959 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293053814098.
I0419 21:01:45.394155 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:45.394240 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:45.394272 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:45.394380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293053936702.
I0419 21:01:45.410599 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.132417, 0.660509)
I0419 21:01:45.410987 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293054095176.
I0419 21:01:45.472752 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293054222697.
I0419 21:01:45.474063 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:45.474148 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293054373388.
I0419 21:01:45.475322 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.500061, 0.522356), points=14, range=0.7245, residual=0.00981775, extent=0.0296964
I0419 21:01:45.475409 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.500061, 0.522356), tracking=(-0.798561, -0.522356), map_predicted=(15.0389, -1.31576), range=0.7245, pts=14
I0419 21:01:45.475438 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0242495m maha_sq=0.0255286 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0389, -1.31576) lm_pos=(15.015, -1.32) delta=(0.023876, 0.00423967) -> 1 candidate(s)
I0419 21:01:45.475510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293054533448.
I0419 21:01:45.477375 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:45.477465 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:45.477524 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.636 deg, rms_residual=0.0166118m, sigma_yaw=0.0216691 rad, N=2
I0419 21:01:45.477559 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.2546, -1.86323, -178.636deg) inliers=2 rms=0.0166118m
I0419 21:01:45.477589 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293054693854.
I0419 21:01:45.482662 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0221439 range=0.727923 variance=0.00052915 t_weight=5669.47 r_weight=0 yaml=(15.015, -1.32) prior=(14.2521, -1.86561, -178.015deg) obs_actual=(-0.803708, -0.521627) obs_expected=(-0.781296, -0.518861) delta=(-0.0224122, -0.00276563) |delta|=0.0225822m
I0419 21:01:45.482798 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293054819709.
I0419 21:01:45.498489 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293054975290.
I0419 21:01:45.500259 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.2421, -1.86567), yaw=-177.978 deg backend=(14.2946, -1.85193)
I0419 21:01:45.510254 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:45.510407 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:45.510452 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293055095301.
I0419 21:01:45.526299 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.167534, 0.66761)
I0419 21:01:45.526592 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293055256247.
I0419 21:01:45.542795 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293055420058.
I0419 21:01:45.592023 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293055577178.
I0419 21:01:45.593019 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293055700962.
I0419 21:01:45.594017 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293055856101.
I0419 21:01:45.601789 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:45.601905 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293056013363.
I0419 21:01:45.614261 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293056136196.
I0419 21:01:45.629810 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0716796s, prior_pose=(14.2324, -1.86388), yaw=-177.992 deg
I0419 21:01:45.630018 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1433, max_intensity=245, threshold=230, above_threshold=17, candidates=17
I0419 21:01:45.630153 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.549551, 0.518454), points=14, range=0.756429, residual=0.0104929, extent=0.0367323
I0419 21:01:45.630193 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.549551, 0.518454), tracking=(-0.848051, -0.518454), map_predicted=(15.0618, -1.31603), range=0.756429, pts=14
I0419 21:01:45.630226 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0469768m maha_sq=0.0957431 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0618, -1.31603) lm_pos=(15.015, -1.32) delta=(0.0468084, 0.00397481) -> 1 candidate(s)
I0419 21:01:45.630330 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293056293974.
I0419 21:01:45.646819 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.201047, 0.667814)
I0419 21:01:45.647064 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293056460760.
I0419 21:01:45.657681 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:45.657800 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.04589 range=0.765692 variance=0.000566287 t_weight=5297.67 r_weight=0 yaml=(15.015, -1.32) prior=(14.2087, -1.86405, -177.96deg) obs_actual=(-0.857357, -0.519577) obs_expected=(-0.825145, -0.514999) delta=(-0.0322111, -0.00457765) |delta|=0.0325348m
I0419 21:01:45.657905 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293056571787.
I0419 21:01:45.673921 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293056733685.
I0419 21:01:45.719367 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:45.719480 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:45.719517 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:45.719642 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293056893623.
I0419 21:01:45.720618 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057053633.
I0419 21:01:45.721517 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057173762.
I0419 21:01:45.734740 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057341418.
I0419 21:01:45.745905 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=11, centroid=(0.590201, 0.517652)
I0419 21:01:45.746191 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 11 -> 10 (threshold=0.03, iters=3)
I0419 21:01:45.746433 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057453665.
I0419 21:01:45.762272 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:45.762543 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:45.762777 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057617295.
I0419 21:01:45.778864 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057782178.
I0419 21:01:45.791440 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.644416, -0.581853), points=10, range=0.8636, residual=0.0154309, extent=0.0468159
I0419 21:01:45.791554 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.644416, -0.581853), tracking=(0.942916, -0.581853), map_predicted=(13.2052, -1.31993), range=0.8636, pts=10
I0419 21:01:45.791587 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00984639m maha_sq=0.00418223 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2052, -1.31993) lm_pos=(13.215, -1.32) delta=(-0.00984618, 6.52295e-05) -> 1 candidate(s)
I0419 21:01:45.791677 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293057908982.
I0419 21:01:45.807139 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:45.807533 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0566125 range=0.796182 variance=0.00052083 t_weight=5760.03 r_weight=0 yaml=(15.015, -1.32) prior=(14.1699, -1.86487, -177.783deg) obs_actual=(-0.901173, -0.517753) obs_expected=(-0.865573, -0.511765) delta=(-0.0356007, -0.00598802) |delta|=0.0361008m
I0419 21:01:45.807615 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:45.807636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058062212.
I0419 21:01:45.858635 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058220761.
I0419 21:01:45.859683 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.614211, 0.516346)
I0419 21:01:45.859830 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.263 deg, rms_residual=0.0158333m, sigma_yaw=0.0206746 rad, N=2
I0419 21:01:45.859867 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.141, -1.86691, -177.263deg) inliers=2 rms=0.0158333m
I0419 21:01:45.859938 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058340669.
I0419 21:01:45.861665 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058496663.
I0419 21:01:45.866171 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058654442.
I0419 21:01:45.879468 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058785225.
I0419 21:01:45.894456 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:45.894625 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293058934655.
I0419 21:01:45.910233 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293059096744.
I0419 21:01:45.922559 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565994s, prior_pose=(14.1432, -1.86947), yaw=-177.743 deg
I0419 21:01:45.922664 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1440, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:01:45.923024 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293059220436.
I0419 21:01:45.939536 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53933, 0.603765)
I0419 21:01:45.939692 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.601206, -0.583903), points=11, range=0.834455, residual=0.0132273, extent=0.0417137
I0419 21:01:45.939752 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.601206, -0.583903), tracking=(0.899706, -0.583903), map_predicted=(13.2212, -1.32144), range=0.834455, pts=11
I0419 21:01:45.939801 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00633327m maha_sq=0.00173507 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2212, -1.32144) lm_pos=(13.215, -1.32) delta=(0.00616701, -0.0014416) -> 1 candidate(s)
I0419 21:01:45.940014 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293059380545.
I0419 21:01:46.014214 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:46.014402 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.15809 range=0.82575 variance=0.000571831 t_weight=5246.31 r_weight=0 yaml=(15.015, -1.32) prior=(14.1558, -1.86768, -177.695deg) obs_actual=(-0.941273, -0.514296) obs_expected=(-0.880525, -0.512685) delta=(-0.0607472, -0.00161067) |delta|=0.0607686m
I0419 21:01:46.014498 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293059536829.
I0419 21:01:46.015655 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293059656134.
I0419 21:01:46.016933 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:46.017113 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:46.017174 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:46.017272 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293059813216.
I0419 21:01:46.019254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293059974010.
I0419 21:01:46.020493 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293060133668.
I0419 21:01:46.030946 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293060302105.
I0419 21:01:46.042466 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293060413890.
I0419 21:01:46.058096 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.50003, 0.59844)
I0419 21:01:46.058259 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:46.058307 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:46.058491 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293060573402.
I0419 21:01:46.070930 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.675174, 0.513714), points=7, range=0.852286, residual=0.0108063, extent=0.026178
I0419 21:01:46.071097 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.675174, 0.513714), tracking=(-0.973674, -0.513714), map_predicted=(15.0624, -1.31442), range=0.852286, pts=7
I0419 21:01:46.071157 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0477693m maha_sq=0.0989554 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0624, -1.31442) lm_pos=(15.015, -1.32) delta=(0.0474418, 0.00558396) -> 1 candidate(s)
I0419 21:01:46.071368 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293060698394.
I0419 21:01:46.149509 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293060864337.
I0419 21:01:46.150561 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:46.150635 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0581125 range=0.716778 variance=0.00057932 t_weight=5178.49 r_weight=0 yaml=(14.115, -2.52) prior=(14.1082, -1.86858, -177.631deg) obs_actual=(-0.0158258, 0.65794) obs_expected=(0.0201609, 0.651147) delta=(-0.0359867, 0.00679353) |delta|=0.0366224m
I0419 21:01:46.150686 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:46.150704 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293061022102.
I0419 21:01:46.151620 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293061135116.
I0419 21:01:46.153296 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.028 deg, rms_residual=0.0103046m, sigma_yaw=0.0135532 rad, N=2
I0419 21:01:46.153398 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.054, -1.87333, -177.028deg) inliers=2 rms=0.0103046m
I0419 21:01:46.153430 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293061294183.
I0419 21:01:46.154336 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.296955, 0.507505)
I0419 21:01:46.154445 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293061456830.
I0419 21:01:46.159089 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293061582522.
I0419 21:01:46.174825 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293061737072.
I0419 21:01:46.187273 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:46.187585 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293061862674.
I0419 21:01:46.202564 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47011, 0.596443), points=3, range=1.582, residual=0.00939746, extent=0.0193301
I0419 21:01:46.202698 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.47011, 0.596443), tracking=(1.76861, 0.596443), map_predicted=(12.3264, -2.54275), range=1.582, pts=3
I0419 21:01:46.202746 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.025435m maha_sq=0.0280353 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3264, -2.54275) lm_pos=(12.315, -2.52) delta=(0.0113797, -0.0227474) -> 1 candidate(s)
I0419 21:01:46.202942 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293062018362.
I0419 21:01:46.259991 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0443867s, prior_pose=(14.0469, -1.86089), yaw=-177.495 deg
I0419 21:01:46.260105 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1418, max_intensity=253, threshold=230, above_threshold=23, candidates=23
I0419 21:01:46.260267 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0433767 range=0.886286 variance=0.000541116 t_weight=5544.1 r_weight=0 yaml=(15.015, -1.32) prior=(14.0469, -1.86089, -177.495deg) obs_actual=(-1.02041, -0.510173) obs_expected=(-0.990838, -0.498065) delta=(-0.029576, -0.0121079) |delta|=0.0319584m
I0419 21:01:46.260326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293062180939.
I0419 21:01:46.261345 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.369013, 0.661441)
I0419 21:01:46.261497 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293062340745.
I0419 21:01:46.262389 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:46.262495 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293062455258.
I0419 21:01:46.264236 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293062614191.
I0419 21:01:46.274972 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:46.275144 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:46.275252 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:46.275440 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293062741970.
I0419 21:01:46.294554 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293062937313.
I0419 21:01:46.306986 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293063060681.
I0419 21:01:46.322477 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.43078, 0.592631)
I0419 21:01:46.322806 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293063214485.
I0419 21:01:46.335220 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.75757, 0.505931), points=8, range=0.912625, residual=0.00961691, extent=0.0285277
I0419 21:01:46.335377 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.75757, 0.505931), tracking=(-1.05607, -0.505931), map_predicted=(15.0521, -1.31232), range=0.912625, pts=8
I0419 21:01:46.335443 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0378706m maha_sq=0.0622521 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0521, -1.31232) lm_pos=(15.015, -1.32) delta=(0.0370833, 0.00768171) -> 1 candidate(s)
I0419 21:01:46.335639 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293063342968.
I0419 21:01:46.428085 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:46.428187 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:46.428265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293063499360.
I0419 21:01:46.429215 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.129272 range=0.9225 variance=0.000533292 t_weight=5625.43 r_weight=0 yaml=(15.015, -1.32) prior=(14.0262, -1.86884, -177.364deg) obs_actual=(-1.0674, -0.506957) obs_expected=(-1.013, -0.502787) delta=(-0.0544074, -0.00416969) |delta|=0.054567m
I0419 21:01:46.429350 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293063658027.
I0419 21:01:46.435894 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293063773922.
I0419 21:01:46.437225 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.0127, -1.8708), yaw=-177.343 deg backend=(14.2408, -1.86027)
I0419 21:01:46.438153 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:46.438257 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:46.438292 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293063932650.
I0419 21:01:46.445919 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293064099947.
I0419 21:01:46.447172 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293064256808.
I0419 21:01:46.449039 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293064381372.
I0419 21:01:46.454222 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.796376, 0.504967)
I0419 21:01:46.454499 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293064535180.
I0419 21:01:46.467041 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293064658538.
I0419 21:01:46.560237 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:46.560343 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.208 deg, rms_residual=0.0119537m, sigma_yaw=0.0156883 rad, N=2
I0419 21:01:46.560389 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9477, -1.88501, -176.208deg) inliers=2 rms=0.0119537m
I0419 21:01:46.560427 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293064818076.
I0419 21:01:46.561434 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293064974578.
I0419 21:01:46.562350 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0717275s, prior_pose=(13.9851, -1.87709), yaw=-177.323 deg
I0419 21:01:46.562424 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1433, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:46.562520 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.80964, 0.50424), points=8, range=0.95725, residual=0.0114703, extent=0.0301242
I0419 21:01:46.562546 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.80964, 0.50424), tracking=(-1.10814, -0.50424), map_predicted=(15.0685, -1.32164), range=0.95725, pts=8
I0419 21:01:46.562567 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0535174m maha_sq=0.124098 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0685, -1.32164) lm_pos=(15.015, -1.32) delta=(0.0534923, -0.00164099) -> 1 candidate(s)
I0419 21:01:46.562641 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065098647.
I0419 21:01:46.564165 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065260411.
I0419 21:01:46.565804 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:46.565944 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0107211 range=0.67705 variance=0.000608961 t_weight=4926.42 r_weight=0 yaml=(14.115, -2.52) prior=(13.9649, -1.87936, -177.262deg) obs_actual=(-0.133351, 0.654232) obs_expected=(-0.119332, 0.647076) delta=(-0.0140194, 0.00715606) |delta|=0.0157402m
I0419 21:01:46.566058 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065417797.
I0419 21:01:46.567674 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065540876.
I0419 21:01:46.571106 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:46.571201 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:46.571251 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:46.571372 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065700311.
I0419 21:01:46.586752 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065860192.
I0419 21:01:46.599138 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.835099, 0.501717)
I0419 21:01:46.599501 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293065977520.
I0419 21:01:46.677310 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293066141825.
I0419 21:01:46.678762 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293066299807.
I0419 21:01:46.679790 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:46.679884 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:46.679986 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293066413751.
I0419 21:01:46.682022 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.859885, 0.500604), points=5, range=0.9918, residual=0.0106341, extent=0.0279734
I0419 21:01:46.682148 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.859885, 0.500604), tracking=(-1.15838, -0.500604), map_predicted=(15.0619, -1.3157), range=0.9918, pts=5
I0419 21:01:46.682180 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0471387m maha_sq=0.0954085 (gate chi2=5.99) pose_sigma=(0.150756, 0.150756, rho=0) det_map=(15.0619, -1.3157) lm_pos=(15.015, -1.32) delta=(0.0469426, 0.00429592) -> 1 candidate(s)
I0419 21:01:46.682302 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293066576083.
I0419 21:01:46.683494 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293066732722.
I0419 21:01:46.686401 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:46.686829 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0154402 range=0.667579 variance=0.00057315 t_weight=5234.23 r_weight=0 yaml=(14.115, -2.52) prior=(13.9299, -1.87329, -177.15deg) obs_actual=(-0.171511, 0.653252) obs_expected=(-0.152728, 0.655113) delta=(-0.0187827, -0.00186131) |delta|=0.0188747m
I0419 21:01:46.687299 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:46.687361 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293066856600.
I0419 21:01:46.702778 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293067016281.
I0419 21:01:46.722187 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293067180487.
I0419 21:01:46.735524 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293067341459.
I0419 21:01:46.825527 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.680619, -0.305408)
I0419 21:01:46.825781 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293067457251.
I0419 21:01:46.826889 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293067619982.
I0419 21:01:46.827819 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:46.827932 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293067740433.
I0419 21:01:46.829704 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.365 deg, rms_residual=0.0108394m, sigma_yaw=0.0142466 rad, N=2
I0419 21:01:46.829811 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8895, -1.86223, -177.365deg) inliers=2 rms=0.0108394m
I0419 21:01:46.829845 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293067897416.
I0419 21:01:46.830605 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563126s, prior_pose=(13.8827, -1.87861), yaw=-177.239 deg
I0419 21:01:46.830667 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1437, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:01:46.830829 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293068020377.
I0419 21:01:46.832520 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.337101, -0.579863), points=16, range=0.67175, residual=0.0121701, extent=0.0434843
I0419 21:01:46.832876 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.337101, -0.579863), tracking=(0.635601, -0.579863), map_predicted=(13.2199, -1.33004), range=0.67175, pts=16
I0419 21:01:46.833129 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0111745m maha_sq=0.00540921 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2199, -1.33004) lm_pos=(13.215, -1.32) delta=(0.00490072, -0.0100425) -> 1 candidate(s)
I0419 21:01:46.833431 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293068176258.
I0419 21:01:46.838747 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:46.839072 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293068383736.
I0419 21:01:46.850131 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29143, 0.597606)
I0419 21:01:46.850338 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00807588 range=0.668 variance=0.000618004 t_weight=4854.34 r_weight=0 yaml=(13.215, -1.32) prior=(13.8675, -1.8831, -177.299deg) obs_actual=(0.627718, -0.579791) obs_expected=(0.625197, -0.59322) delta=(0.00252083, 0.0134292) |delta|=0.0136638m
I0419 21:01:46.850438 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293068496959.
I0419 21:01:46.866449 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:46.866541 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:46.866585 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:46.866731 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293068657435.
I0419 21:01:46.945852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293068773444.
I0419 21:01:46.946327 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:46.947018 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293068935580.
I0419 21:01:46.948012 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069139268.
I0419 21:01:46.949647 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069260963.
I0419 21:01:46.950587 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:46.950645 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:46.950709 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069382016.
I0419 21:01:46.955103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069542083.
I0419 21:01:46.966825 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.26026, 0.603344)
I0419 21:01:46.966984 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25766, 0.604353), points=4, range=1.39725, residual=0.00772163, extent=0.0193209
I0419 21:01:46.967111 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25766, 0.604353), tracking=(1.55616, 0.604353), map_predicted=(12.3023, -2.55774), range=1.39725, pts=4
I0419 21:01:46.967164 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0398155m maha_sq=0.0675251 (gate chi2=5.99) pose_sigma=(0.151471, 0.151471, rho=0) det_map=(12.3023, -2.55774) lm_pos=(12.315, -2.52) delta=(-0.0126882, -0.0377397) -> 1 candidate(s)
I0419 21:01:46.967325 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069659955.
I0419 21:01:46.983147 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:46.983328 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:46.983376 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069820989.
I0419 21:01:46.998289 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00845426 range=0.647118 variance=0.000588895 t_weight=5094.28 r_weight=0 yaml=(13.215, -1.32) prior=(13.8297, -1.88405, -177.424deg) obs_actual=(0.586425, -0.577336) obs_expected=(0.588756, -0.591111) delta=(-0.00233082, 0.0137756) |delta|=0.0139714m
I0419 21:01:46.998553 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293069972764.
I0419 21:01:47.075572 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070100729.
I0419 21:01:47.076666 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070259901.
I0419 21:01:47.077843 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070414168.
I0419 21:01:47.079638 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070537140.
I0419 21:01:47.080713 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:47.080793 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070701517.
I0419 21:01:47.082953 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070821648.
I0419 21:01:47.098579 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441117s, prior_pose=(13.7966, -1.87625), yaw=-177.602 deg
I0419 21:01:47.098730 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:01:47.098922 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.009477, -0.652848)
I0419 21:01:47.099050 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.451 deg, rms_residual=0.0105648m, sigma_yaw=0.0138908 rad, N=2
I0419 21:01:47.099113 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.7779, -1.89547, -176.451deg) inliers=2 rms=0.0105648m
I0419 21:01:47.099167 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293070978257.
I0419 21:01:47.114149 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2265, 0.609279), points=3, range=1.36467, residual=0.0092736, extent=0.0178571
I0419 21:01:47.114300 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2265, 0.609279), tracking=(1.525, 0.609279), map_predicted=(12.2984, -2.5488), range=1.36467, pts=3
I0419 21:01:47.114404 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0332518m maha_sq=0.0479531 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2984, -2.5488) lm_pos=(12.315, -2.52) delta=(-0.0166255, -0.0287971) -> 1 candidate(s)
I0419 21:01:47.114542 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293071133421.
I0419 21:01:47.130519 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:47.130671 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293071300706.
I0419 21:01:47.173699 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00536531 range=0.628526 variance=0.000568806 t_weight=5274.21 r_weight=0 yaml=(13.215, -1.32) prior=(13.7808, -1.88148, -177.651deg) obs_actual=(0.550004, -0.575991) obs_expected=(0.542357, -0.584195) delta=(0.00764662, 0.0082036) |delta|=0.0112147m
I0419 21:01:47.173833 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293071420926.
I0419 21:01:47.174733 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:47.174788 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:47.174819 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:47.174880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293071575641.
I0419 21:01:47.175859 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293071696862.
I0419 21:01:47.187515 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293071853338.
I0419 21:01:47.198879 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293071981275.
I0419 21:01:47.215025 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.00884, 0.505703)
I0419 21:01:47.215224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293072143662.
I0419 21:01:47.229948 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:47.230064 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:47.230175 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293072294967.
I0419 21:01:47.246068 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293072454727.
I0419 21:01:47.262938 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293072620373.
I0419 21:01:47.334110 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.7522, -1.8909), yaw=-177.776 deg backend=(13.966, -1.86725)
I0419 21:01:47.335026 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:47.335117 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:47.335150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293072732286.
I0419 21:01:47.336429 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.210154, -0.574661), points=19, range=0.612789, residual=0.0115161, extent=0.0395855
I0419 21:01:47.336519 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.210154, -0.574661), tracking=(0.508654, -0.574661), map_predicted=(13.2217, -1.33641), range=0.612789, pts=19
I0419 21:01:47.336551 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0177182m maha_sq=0.0136097 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2217, -1.33641) lm_pos=(13.215, -1.32) delta=(0.00667356, -0.0164134) -> 1 candidate(s)
I0419 21:01:47.336647 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293072900673.
I0419 21:01:47.337706 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293073025346.
I0419 21:01:47.339623 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00359114 range=0.609632 variance=0.000583694 t_weight=5139.68 r_weight=0 yaml=(13.215, -1.32) prior=(13.7429, -1.88424, -177.857deg) obs_actual=(0.503139, -0.575056) obs_expected=(0.506452, -0.583591) delta=(-0.00331343, 0.00853485) |delta|=0.00915546m
I0419 21:01:47.339736 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293073180434.
I0419 21:01:47.340838 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293073334637.
I0419 21:01:47.346710 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293073458508.
I0419 21:01:47.366547 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0639711, -0.654082)
I0419 21:01:47.366743 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:47.366904 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293073653715.
I0419 21:01:47.378571 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293073779110.
I0419 21:01:47.394186 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754756s, prior_pose=(13.7315, -1.87994), yaw=-177.879 deg
I0419 21:01:47.394383 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1447, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:47.394865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293073935190.
I0419 21:01:47.463409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293074059406.
I0419 21:01:47.464699 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:47.464892 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293074214258.
I0419 21:01:47.466182 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13748, 0.617599), points=4, range=1.289, residual=0.0123433, extent=0.0257685
I0419 21:01:47.466332 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.13748, 0.617599), tracking=(1.43598, 0.617599), map_predicted=(12.3119, -2.55841), range=1.289, pts=4
I0419 21:01:47.466362 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0385347m maha_sq=0.0642298 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3119, -2.55841) lm_pos=(12.315, -2.52) delta=(-0.00306395, -0.0384127) -> 1 candidate(s)
I0419 21:01:47.466491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293074421514.
I0419 21:01:47.468164 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:47.468232 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:47.468271 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:47.468313 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.481 deg, rms_residual=0.0130588m, sigma_yaw=0.0171138 rad, N=2
I0419 21:01:47.468353 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6806, -1.90322, -176.481deg) inliers=2 rms=0.0130588m
I0419 21:01:47.468379 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293074533182.
I0419 21:01:47.469339 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.014804 range=0.597684 variance=0.000553644 t_weight=5418.64 r_weight=0 yaml=(13.215, -1.32) prior=(13.7133, -1.88007, -177.851deg) obs_actual=(0.458841, -0.57475) obs_expected=(0.476958, -0.578361) delta=(-0.0181174, 0.00361167) |delta|=0.0184739m
I0419 21:01:47.469419 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293074660006.
I0419 21:01:47.479156 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293074781856.
I0419 21:01:47.499089 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1125, 0.618755)
I0419 21:01:47.499665 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293074979706.
I0419 21:01:47.510263 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293075094995.
I0419 21:01:47.526293 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:47.526438 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:47.526630 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293075254735.
I0419 21:01:47.594213 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293075414248.
I0419 21:01:47.595469 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293075537635.
I0419 21:01:47.596692 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:47.596825 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:47.596860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293075699876.
I0419 21:01:47.598847 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293075821698.
I0419 21:01:47.599877 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:01:47.599990 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293075980488.
I0419 21:01:47.614804 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08416, 0.619639), points=5, range=1.2456, residual=0.00909998, extent=0.0223083
I0419 21:01:47.615049 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.08416, 0.619639), tracking=(1.38266, 0.619639), map_predicted=(12.2895, -2.55915), range=1.2456, pts=5
I0419 21:01:47.615109 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0467265m maha_sq=0.0947369 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2895, -2.55915) lm_pos=(12.315, -2.52) delta=(-0.0255085, -0.0391495) -> 1 candidate(s)
I0419 21:01:47.615324 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293076137688.
I0419 21:01:47.630661 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293076294066.
I0419 21:01:47.642604 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.113364, -0.569408)
I0419 21:01:47.642817 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00347965 range=0.580682 variance=0.000586607 t_weight=5114.15 r_weight=0 yaml=(13.215, -1.32) prior=(13.6458, -1.88255, -177.973deg) obs_actual=(0.410773, -0.568472) obs_expected=(0.410672, -0.577434) delta=(0.000101653, 0.00896231) |delta|=0.00896289m
I0419 21:01:47.642979 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293076418286.
I0419 21:01:47.659250 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:47.659636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293076579445.
I0419 21:01:47.750526 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293076742202.
I0419 21:01:47.751766 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560347s, prior_pose=(13.639, -1.88623), yaw=-177.997 deg
I0419 21:01:47.751925 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1436, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:47.752161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293076854413.
I0419 21:01:47.754020 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293077019254.
I0419 21:01:47.756486 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:47.756647 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293077182963.
I0419 21:01:47.758060 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293077296224.
I0419 21:01:47.759138 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:47.759227 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:47.759260 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:47.759321 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293077461622.
I0419 21:01:47.761554 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293077585114.
I0419 21:01:47.774823 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16678, 0.505306), points=3, range=1.26767, residual=0.00779106, extent=0.0158219
I0419 21:01:47.774995 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16678, 0.505306), tracking=(-1.46528, -0.505306), map_predicted=(15.0671, -1.31827), range=1.26767, pts=3
I0419 21:01:47.775103 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0520906m maha_sq=0.117843 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0671, -1.31827) lm_pos=(15.015, -1.32) delta=(0.0520619, 0.00172908) -> 1 candidate(s)
I0419 21:01:47.775307 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293077738291.
I0419 21:01:47.790151 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0701326, -0.570521)
I0419 21:01:47.790485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293077895344.
I0419 21:01:47.847295 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293078019946.
I0419 21:01:47.848636 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:47.848764 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:47.848851 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00254352 range=0.574591 variance=0.000573798 t_weight=5228.32 r_weight=0 yaml=(13.215, -1.32) prior=(13.6026, -1.88313, -177.886deg) obs_actual=(0.361145, -0.571623) obs_expected=(0.366556, -0.577046) delta=(-0.00541101, 0.00542306) |delta|=0.00766085m
I0419 21:01:47.848951 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293078177197.
I0419 21:01:47.850183 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293078342829.
I0419 21:01:47.852142 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293078456674.
I0419 21:01:47.862286 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:47.862437 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:47.862483 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293078615278.
I0419 21:01:47.878405 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.623 deg, rms_residual=0.0126373m, sigma_yaw=0.0165705 rad, N=2
I0419 21:01:47.878651 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.5843, -1.86486, -177.623deg) inliers=2 rms=0.0126373m
I0419 21:01:47.878726 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293078773563.
I0419 21:01:47.895547 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293078943191.
I0419 21:01:47.907469 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293079061990.
I0419 21:01:47.923292 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293079221909.
I0419 21:01:47.992305 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0258863, -0.572785)
I0419 21:01:47.992506 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293079340401.
I0419 21:01:47.993791 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226155, -0.666107), points=16, range=0.70575, residual=0.0124916, extent=0.0402442
I0419 21:01:47.993871 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.226155, -0.666107), tracking=(-0.524655, 0.666107), map_predicted=(14.1145, -2.5307), range=0.70575, pts=16
I0419 21:01:47.993928 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0107127m maha_sq=0.0049694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1145, -2.5307) lm_pos=(14.115, -2.52) delta=(-0.000499709, -0.010701) -> 1 candidate(s)
I0419 21:01:47.993973 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:47.994024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293079494027.
I0419 21:01:47.995018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293079662100.
I0419 21:01:47.996738 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434295s, prior_pose=(13.5543, -1.88182), yaw=-177.688 deg
I0419 21:01:47.996814 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1433, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:01:47.996944 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00217851 range=0.7075 variance=0.000585268 t_weight=5125.86 r_weight=0 yaml=(14.115, -2.52) prior=(13.5543, -1.88182, -177.688deg) obs_actual=(-0.529913, 0.665731) obs_expected=(-0.534504, 0.66028) delta=(0.0045917, 0.00545066) |delta|=0.00712695m
I0419 21:01:47.996995 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293079774696.
I0419 21:01:47.998649 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293079935179.
I0419 21:01:48.010479 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:48.010653 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080100249.
I0419 21:01:48.026355 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080257560.
I0419 21:01:48.037938 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:48.038035 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:48.038072 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:48.038192 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080372492.
I0419 21:01:48.054592 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080539428.
I0419 21:01:48.094344 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080660565.
I0419 21:01:48.095676 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0182158, -0.571168)
I0419 21:01:48.095872 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080813241.
I0419 21:01:48.098616 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26287, 0.491101), points=3, range=1.35333, residual=0.00481532, extent=0.00882423
I0419 21:01:48.098721 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26287, 0.491101), tracking=(-1.56137, -0.491101), map_predicted=(15.0601, -1.32583), range=1.35333, pts=3
I0419 21:01:48.098752 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0455m maha_sq=0.0900343 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0601, -1.32583) lm_pos=(15.015, -1.32) delta=(0.0451253, -0.00582723) -> 1 candidate(s)
I0419 21:01:48.098901 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293080981398.
I0419 21:01:48.110172 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:48.110272 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:48.110399 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293081096738.
I0419 21:01:48.126760 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0624455 range=1.36 variance=0.000504481 t_weight=5946.71 r_weight=0 yaml=(15.015, -1.32) prior=(13.5067, -1.89032, -177.496deg) obs_actual=(-1.56836, -0.493819) obs_expected=(-1.53182, -0.503878) delta=(-0.0365422, 0.0100595) |delta|=0.0379015m
I0419 21:01:48.126914 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293081262097.
I0419 21:01:48.138191 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293081375561.
I0419 21:01:48.139353 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.4993, -1.88494), yaw=-177.519 deg backend=(13.7146, -1.87398)
I0419 21:01:48.158304 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:48.158465 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:48.158499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293081573304.
I0419 21:01:48.170185 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293081696134.
I0419 21:01:48.186596 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293081858605.
I0419 21:01:48.251299 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293081981899.
I0419 21:01:48.252403 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293082135248.
I0419 21:01:48.253899 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0617612, -0.57168)
I0419 21:01:48.254097 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.387 deg, rms_residual=0.0133304m, sigma_yaw=0.0174635 rad, N=2
I0419 21:01:48.254164 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.4822, -1.86941, -177.387deg) inliers=2 rms=0.0133304m
I0419 21:01:48.254216 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293082299143.
I0419 21:01:48.256258 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:48.256353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293082461922.
I0419 21:01:48.258194 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293082576928.
I0419 21:01:48.273927 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0752074s, prior_pose=(13.4847, -1.87692), yaw=-177.413 deg
I0419 21:01:48.274050 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1440, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:01:48.274259 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.312184, -0.671987), points=15, range=0.744267, residual=0.0127801, extent=0.0375923
I0419 21:01:48.274302 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.312184, -0.671987), tracking=(-0.610684, 0.671987), map_predicted=(14.1251, -2.52065), range=0.744267, pts=15
I0419 21:01:48.274339 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0100893m maha_sq=0.00440626 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1251, -2.52065) lm_pos=(14.115, -2.52) delta=(0.0100682, -0.000653109) -> 1 candidate(s)
I0419 21:01:48.274502 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293082733973.
I0419 21:01:48.287489 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293082859615.
I0419 21:01:48.302785 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:48.303018 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00345999 range=0.749867 variance=0.000613044 t_weight=4893.62 r_weight=0 yaml=(14.115, -2.52) prior=(13.4728, -1.87598, -177.359deg) obs_actual=(-0.620791, 0.673117) obs_expected=(-0.61185, 0.672919) delta=(-0.00894047, 0.000197458) |delta|=0.00894265m
I0419 21:01:48.303237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293083018257.
I0419 21:01:48.319463 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293083180831.
I0419 21:01:48.393283 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:48.393447 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:48.393496 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:48.393613 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293083335732.
I0419 21:01:48.394097 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:48.394951 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293083542530.
I0419 21:01:48.395937 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293083616578.
I0419 21:01:48.397807 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.104247, -0.571963)
I0419 21:01:48.397970 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293083778952.
I0419 21:01:48.399094 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293083905121.
I0419 21:01:48.406427 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:48.406633 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:48.406816 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293084054546.
I0419 21:01:48.423197 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293084219693.
I0419 21:01:48.434439 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293084332731.
I0419 21:01:48.450769 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:48.450960 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:48.451010 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293084498770.
I0419 21:01:48.526109 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.128812, -0.573114), points=21, range=0.587476, residual=0.0107415, extent=0.0363557
I0419 21:01:48.526230 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.128812, -0.573114), tracking=(0.169688, -0.573114), map_predicted=(13.2253, -1.30923), range=0.587476, pts=21
I0419 21:01:48.526269 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0149023m maha_sq=0.00951399 (gate chi2=5.99) pose_sigma=(0.150974, 0.150974, rho=0) det_map=(13.2253, -1.30923) lm_pos=(13.215, -1.32) delta=(0.0103039, 0.010766) -> 1 candidate(s)
I0419 21:01:48.526374 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293084654821.
I0419 21:01:48.527432 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293084780772.
I0419 21:01:48.528581 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0227998 range=0.589364 variance=0.000564843 t_weight=5311.21 r_weight=0 yaml=(13.215, -1.32) prior=(13.4227, -1.87341, -177.211deg) obs_actual=(0.160015, -0.573162) obs_expected=(0.180504, -0.562862) delta=(-0.0204883, -0.0103007) |delta|=0.0229319m
I0419 21:01:48.528663 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293084933981.
I0419 21:01:48.530473 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293085099411.
I0419 21:01:48.531378 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.148668, -0.571496)
I0419 21:01:48.531490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293085213903.
I0419 21:01:48.538450 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:48.538566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293085380185.
I0419 21:01:48.554347 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293085536414.
I0419 21:01:48.566514 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561667s, prior_pose=(13.3982, -1.87351), yaw=-177.151 deg
I0419 21:01:48.566607 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1451, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:01:48.566776 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293085661078.
I0419 21:01:48.581775 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293085812432.
I0419 21:01:48.627794 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:48.627935 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293085981614.
I0419 21:01:48.628966 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293086095024.
I0419 21:01:48.630034 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:48.630102 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:48.630134 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:48.630203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293086255092.
I0419 21:01:48.641856 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293086412254.
I0419 21:01:48.658044 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.420603, -0.681859), points=13, range=0.803846, residual=0.0121674, extent=0.0350658
I0419 21:01:48.658139 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.420603, -0.681859), tracking=(-0.719103, 0.681859), map_predicted=(14.1257, -2.51946), range=0.803846, pts=13
I0419 21:01:48.658170 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0106859m maha_sq=0.0049455 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1257, -2.51946) lm_pos=(14.115, -2.52) delta=(0.010672, 0.000544148) -> 1 candidate(s)
I0419 21:01:48.658249 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293086575263.
I0419 21:01:48.670010 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.193676, -0.573314)
I0419 21:01:48.670198 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293086695059.
I0419 21:01:48.686609 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00288481 range=0.810786 variance=0.000609867 t_weight=4919.1 r_weight=0 yaml=(14.115, -2.52) prior=(13.3596, -1.8761, -177.093deg) obs_actual=(-0.729717, 0.683363) obs_expected=(-0.72174, 0.681377) delta=(-0.0079765, 0.00198575) |delta|=0.00821996m
I0419 21:01:48.686749 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293086861152.
I0419 21:01:48.698606 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:48.698709 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:48.698805 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293086981091.
I0419 21:01:48.714278 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293087136623.
I0419 21:01:48.754212 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293087297394.
I0419 21:01:48.755194 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:48.755290 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:48.755312 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293087459289.
I0419 21:01:48.758193 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.242 deg, rms_residual=0.0145584m, sigma_yaw=0.0190416 rad, N=2
I0419 21:01:48.758309 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.3253, -1.87905, -177.242deg) inliers=2 rms=0.0145584m
I0419 21:01:48.758351 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293087576941.
I0419 21:01:48.774453 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293087739339.
I0419 21:01:48.786844 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293087861593.
I0419 21:01:48.802342 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293088017508.
I0419 21:01:48.814245 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.238452, -0.575589)
I0419 21:01:48.814420 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293088137927.
I0419 21:01:48.830104 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:48.830224 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293088296629.
I0419 21:01:48.846040 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.733175, 0.602507), points=9, range=0.946667, residual=0.0136501, extent=0.0421952
I0419 21:01:48.846132 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.733175, 0.602507), tracking=(1.03168, 0.602507), map_predicted=(12.3199, -2.53446), range=0.946667, pts=9
I0419 21:01:48.846165 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0152685m maha_sq=0.0100774 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3199, -2.53446) lm_pos=(12.315, -2.52) delta=(0.0049099, -0.0144576) -> 1 candidate(s)
I0419 21:01:48.846266 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293088455722.
I0419 21:01:48.861341 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:48.902390 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0474207s, prior_pose=(13.3091, -1.87664), yaw=-176.881 deg
I0419 21:01:48.902506 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1456, max_intensity=251, threshold=230, above_threshold=11, candidates=11
I0419 21:01:48.902690 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293088612134.
I0419 21:01:48.903798 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0157653 range=0.941111 variance=0.000744265 t_weight=4030.82 r_weight=0 yaml=(12.315, -2.52) prior=(13.3091, -1.87664, -176.881deg) obs_actual=(1.01424, 0.602024) obs_expected=(1.02761, 0.588323) delta=(-0.0133687, 0.0137014) |delta|=0.0191429m
I0419 21:01:48.903911 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293088784521.
I0419 21:01:48.904825 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:48.904928 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293088872306.
I0419 21:01:48.909719 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089061162.
I0419 21:01:48.921804 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:48.921880 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:48.921919 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:48.922027 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089213951.
I0419 21:01:48.934285 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089337407.
I0419 21:01:48.950098 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089492780.
I0419 21:01:48.966570 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.697868, 0.603018)
I0419 21:01:48.966737 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089660696.
I0419 21:01:48.978456 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089772893.
I0419 21:01:49.053745 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=2
I0419 21:01:49.053905 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:49.054028 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293089933997.
I0419 21:01:49.055191 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.309367, 0.571058), points=28, range=0.651607, residual=0.0187726, extent=0.0557797
I0419 21:01:49.055299 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.309367, 0.571058), tracking=(0.0108674, -0.571058), map_predicted=(13.2321, -1.31015), range=0.651607, pts=28
I0419 21:01:49.055339 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.019758m maha_sq=0.0167631 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2321, -1.31015) lm_pos=(13.215, -1.32) delta=(0.0171299, 0.0098461) -> 1 candidate(s)
I0419 21:01:49.055457 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090099153.
I0419 21:01:49.056521 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090220176.
I0419 21:01:49.057695 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.2576, -1.87962), yaw=-176.874 deg backend=(13.4427, -1.88421)
I0419 21:01:49.058686 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:49.058765 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0146217 range=0.882545 variance=0.000548865 t_weight=5465.82 r_weight=0 yaml=(14.115, -2.52) prior=(13.2576, -1.87962, -176.874deg) obs_actual=(-0.834753, 0.698824) obs_expected=(-0.821238, 0.686184) delta=(-0.0135148, 0.0126391) |delta|=0.018504m
I0419 21:01:49.058847 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:49.058873 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090376249.
I0419 21:01:49.060070 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090533066.
I0419 21:01:49.066807 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090658224.
I0419 21:01:49.083025 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090820261.
I0419 21:01:49.099769 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.278408, 0.570642)
I0419 21:01:49.100147 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293090984402.
I0419 21:01:49.110937 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293091099237.
I0419 21:01:49.183362 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:49.183511 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.295 deg, rms_residual=0.00800129m, sigma_yaw=0.0105558 rad, N=2
I0419 21:01:49.183573 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.2133, -1.88435, -176.295deg) inliers=2 rms=0.00800129m
I0419 21:01:49.183619 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293091253267.
I0419 21:01:49.184926 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293091412737.
I0419 21:01:49.185994 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0793769s, prior_pose=(13.2314, -1.88081), yaw=-176.806 deg
I0419 21:01:49.186096 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1455, max_intensity=252, threshold=230, above_threshold=31, candidates=31
I0419 21:01:49.186223 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.262242, 0.568705), points=19, range=0.625842, residual=0.0113976, extent=0.0333336
I0419 21:01:49.186259 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.262242, 0.568705), tracking=(-0.036258, -0.568705), map_predicted=(13.2359, -1.31097), range=0.625842, pts=19
I0419 21:01:49.186287 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0227638m maha_sq=0.0224667 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2359, -1.31097) lm_pos=(13.215, -1.32) delta=(0.0208946, 0.00903362) -> 1 candidate(s)
I0419 21:01:49.186403 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293091614030.
I0419 21:01:49.188390 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293091693755.
I0419 21:01:49.189713 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:49.189836 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0225592 range=0.622 variance=0.000560751 t_weight=5349.97 r_weight=0 yaml=(13.215, -1.32) prior=(13.2155, -1.88162, -176.809deg) obs_actual=(-0.0517357, -0.569738) obs_expected=(-0.0307621, -0.560774) delta=(-0.0209736, -0.00896342) |delta|=0.0228086m
I0419 21:01:49.189920 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293091860695.
I0419 21:01:49.198364 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293091975688.
I0419 21:01:49.214644 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:49.214845 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:49.214913 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:49.215147 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293092135447.
I0419 21:01:49.227027 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293092260351.
I0419 21:01:49.243218 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(-0.234422, 0.570477)
I0419 21:01:49.243561 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293092423018.
I0419 21:01:49.312567 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293092574397.
I0419 21:01:49.314163 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293092732338.
I0419 21:01:49.315202 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:49.315284 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:49.315373 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293092855809.
I0419 21:01:49.317323 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293093020743.
I0419 21:01:49.318987 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293093185220.
I0419 21:01:49.331346 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:49.331591 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:49.331648 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293093301648.
I0419 21:01:49.347047 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293093462330.
I0419 21:01:49.362155 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.63698, -0.699194), points=9, range=0.946556, residual=0.00809738, extent=0.024242
I0419 21:01:49.362314 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.63698, -0.699194), tracking=(-0.93548, 0.699194), map_predicted=(14.1368, -2.53045), range=0.946556, pts=9
I0419 21:01:49.362375 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0241787m maha_sq=0.0254034 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1368, -2.53045) lm_pos=(14.115, -2.52) delta=(0.0218016, -0.0104545) -> 1 candidate(s)
I0419 21:01:49.362574 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293093613005.
I0419 21:01:49.374336 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293093734658.
I0419 21:01:49.449952 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00629536 range=0.951625 variance=0.000526688 t_weight=5695.97 r_weight=0 yaml=(14.115, -2.52) prior=(13.1365, -1.88664, -176.781deg) obs_actual=(-0.946135, 0.69852) obs_expected=(-0.941349, 0.687305) delta=(-0.00478624, 0.0112157) |delta|=0.0121943m
I0419 21:01:49.450148 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293093901504.
I0419 21:01:49.451483 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293094052656.
I0419 21:01:49.452787 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.184339, 0.569999)
I0419 21:01:49.452957 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:49.453028 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293094181440.
I0419 21:01:49.455022 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293094332533.
I0419 21:01:49.456187 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593195s, prior_pose=(13.1259, -1.88698), yaw=-176.863 deg
I0419 21:01:49.456358 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1431, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:01:49.456557 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293094494699.
I0419 21:01:49.462177 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293094616730.
I0419 21:01:49.478461 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:49.478739 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293094775576.
I0419 21:01:49.495077 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293094939604.
I0419 21:01:49.510655 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:49.510778 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:49.510839 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:49.511039 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293095100380.
I0419 21:01:49.578837 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293095213363.
I0419 21:01:49.580224 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293095374012.
I0419 21:01:49.581569 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.511324, 0.609296), points=14, range=0.794571, residual=0.012293, extent=0.043165
I0419 21:01:49.581697 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.511324, 0.609296), tracking=(0.809824, 0.609296), map_predicted=(12.3144, -2.5347), range=0.794571, pts=14
I0419 21:01:49.581733 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.01471m maha_sq=0.00937052 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3144, -2.5347) lm_pos=(12.315, -2.52) delta=(-0.000583711, -0.0146984) -> 1 candidate(s)
I0419 21:01:49.581843 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293095498034.
I0419 21:01:49.583998 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293095701126.
I0419 21:01:49.585007 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:49.585119 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:49.585177 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0114677 range=0.791385 variance=0.000593441 t_weight=5055.26 r_weight=0 yaml=(12.315, -2.52) prior=(13.0839, -1.88707, -177.251deg) obs_actual=(0.796722, 0.61152) obs_expected=(0.798339, 0.595327) delta=(-0.00161703, 0.016193) |delta|=0.0162736m
I0419 21:01:49.585243 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293095812402.
I0419 21:01:49.594493 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.138627, 0.56991)
I0419 21:01:49.594780 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293095936736.
I0419 21:01:49.610251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293096096504.
I0419 21:01:49.627123 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:49.627341 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:49.627393 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293096259735.
I0419 21:01:49.642760 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293096418359.
I0419 21:01:49.710992 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293096534985.
I0419 21:01:49.712455 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293096695934.
I0419 21:01:49.713729 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.802 deg, rms_residual=0.0116368m, sigma_yaw=0.0152786 rad, N=2
I0419 21:01:49.713861 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.0462, -1.88523, -177.802deg) inliers=2 rms=0.0116368m
I0419 21:01:49.713912 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293096862043.
I0419 21:01:49.715960 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293096980393.
I0419 21:01:49.717219 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:49.717348 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293097138262.
I0419 21:01:49.730702 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293097293914.
I0419 21:01:49.742951 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441227s, prior_pose=(13.0357, -1.88626), yaw=-177.755 deg
I0419 21:01:49.743116 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1425, max_intensity=254, threshold=230, above_threshold=27, candidates=27
I0419 21:01:49.743388 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.102398, 0.566074), points=21, range=0.574476, residual=0.0116127, extent=0.0373235
I0419 21:01:49.743448 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.102398, 0.566074), tracking=(-0.196102, -0.566074), map_predicted=(13.2095, -1.31294), range=0.574476, pts=21
I0419 21:01:49.743502 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.00895288m maha_sq=0.00343757 (gate chi2=5.99) pose_sigma=(0.150828, 0.150828, rho=0) det_map=(13.2095, -1.31294) lm_pos=(13.215, -1.32) delta=(-0.00550968, 0.00705673) -> 1 candidate(s)
I0419 21:01:49.743692 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293097421620.
I0419 21:01:49.758749 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293097575858.
I0419 21:01:49.771164 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:49.771353 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00256736 range=0.573619 variance=0.000554142 t_weight=5413.77 r_weight=0 yaml=(13.215, -1.32) prior=(13.0357, -1.88626, -177.755deg) obs_actual=(-0.20556, -0.565234) obs_expected=(-0.201331, -0.558807) delta=(-0.00422829, -0.00642728) |delta|=0.0076934m
I0419 21:01:49.771513 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293097702580.
I0419 21:01:49.844660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293097852396.
I0419 21:01:49.845458 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:49.846155 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:49.846230 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.788285, -0.681161)
I0419 21:01:49.846254 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:49.846298 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:49.846396 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293098016936.
I0419 21:01:49.847568 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293098181826.
I0419 21:01:49.849390 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293098294087.
I0419 21:01:49.850461 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293098462625.
I0419 21:01:49.862339 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293098613685.
I0419 21:01:49.874782 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:49.874926 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:49.875048 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293098741793.
I0419 21:01:49.890787 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293098895870.
I0419 21:01:49.903648 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293099027035.
I0419 21:01:49.942732 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.9888, -1.88382), yaw=-178.154 deg backend=(13.1805, -1.89158)
I0419 21:01:49.943660 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:49.943743 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:49.943768 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293099173047.
I0419 21:01:49.944708 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293099339520.
I0419 21:01:49.945891 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.828946, -0.681297), points=5, range=1.075, residual=0.00704506, extent=0.0180522
I0419 21:01:49.945958 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.828946, -0.681297), tracking=(-1.12745, 0.681297), map_predicted=(14.1376, -2.52843), range=1.075, pts=5
I0419 21:01:49.945986 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0241136m maha_sq=0.0252772 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1376, -2.52843) lm_pos=(14.115, -2.52) delta=(0.0225902, -0.00843492) -> 1 candidate(s)
I0419 21:01:49.946059 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293099454651.
I0419 21:01:49.962278 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293099617188.
I0419 21:01:49.978631 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.033726, 0.564078)
I0419 21:01:49.978821 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0147728 range=1.08175 variance=0.000525478 t_weight=5709.09 r_weight=0 yaml=(14.115, -2.52) prior=(12.9747, -1.88422, -178.14deg) obs_actual=(-1.13333, 0.684111) obs_expected=(-1.11904, 0.672454) delta=(-0.0142922, 0.0116569) |delta|=0.0184432m
I0419 21:01:49.978892 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293099779374.
I0419 21:01:49.990051 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293099894449.
I0419 21:01:50.006160 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:50.006314 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293100056077.
I0419 21:01:50.021931 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293100214374.
I0419 21:01:50.038622 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0764679s, prior_pose=(12.962, -1.88497), yaw=-178.122 deg
I0419 21:01:50.038733 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1433, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:01:50.038980 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293100381867.
I0419 21:01:50.079196 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293100492444.
I0419 21:01:50.080360 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:50.080473 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293100656399.
I0419 21:01:50.081426 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293100775363.
I0419 21:01:50.093973 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:50.094079 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:50.094113 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:50.094204 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293100934840.
I0419 21:01:50.110399 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293101099175.
I0419 21:01:50.125733 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293101252479.
I0419 21:01:50.138434 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.329187, 0.619027), points=16, range=0.702625, residual=0.011146, extent=0.0334122
I0419 21:01:50.138568 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.329187, 0.619027), tracking=(0.627687, 0.619027), map_predicted=(12.3137, -2.52604), range=0.702625, pts=16
I0419 21:01:50.138599 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00618246m maha_sq=0.00164018 (gate chi2=5.99) pose_sigma=(0.150806, 0.150806, rho=0) det_map=(12.3137, -2.52604) lm_pos=(12.315, -2.52) delta=(-0.00130773, -0.00604256) -> 1 candidate(s)
I0419 21:01:50.138689 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293101378762.
I0419 21:01:50.154059 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293101534760.
I0419 21:01:50.166280 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:50.166395 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:50.166461 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00246043 range=0.696588 variance=0.000568186 t_weight=5279.96 r_weight=0 yaml=(12.315, -2.52) prior=(12.9184, -1.8846, -177.916deg) obs_actual=(0.619515, 0.616584) obs_expected=(0.626161, 0.613036) delta=(-0.00664575, 0.00354849) |delta|=0.00753377m
I0419 21:01:50.166515 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293101658138.
I0419 21:01:50.219290 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.894831, -0.688668)
I0419 21:01:50.219707 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293101818188.
I0419 21:01:50.220683 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293101971617.
I0419 21:01:50.221755 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:50.221849 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:50.221874 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293102127248.
I0419 21:01:50.225868 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293102254151.
I0419 21:01:50.242249 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293102417408.
I0419 21:01:50.254083 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293102536012.
I0419 21:01:50.269837 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.677 deg, rms_residual=0.0121584m, sigma_yaw=0.0159526 rad, N=2
I0419 21:01:50.269941 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.8774, -1.88488, -177.677deg) inliers=2 rms=0.0121584m
I0419 21:01:50.269975 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293102692620.
I0419 21:01:50.286922 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293102862639.
I0419 21:01:50.302539 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:50.302702 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293103020031.
I0419 21:01:50.352607 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293103139070.
I0419 21:01:50.353628 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600098s, prior_pose=(12.8763, -1.88659), yaw=-177.651 deg
I0419 21:01:50.353747 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1451, max_intensity=253, threshold=230, above_threshold=25, candidates=25
I0419 21:01:50.353921 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293103292718.
I0419 21:01:50.354842 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.277798, 0.616624), points=18, range=0.676667, residual=0.0110566, extent=0.0345613
I0419 21:01:50.354979 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.277798, 0.616624), tracking=(0.576298, 0.616624), map_predicted=(12.3258, -2.52632), range=0.676667, pts=18
I0419 21:01:50.355011 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0125019m maha_sq=0.00677827 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3258, -2.52632) lm_pos=(12.315, -2.52) delta=(0.0107886, -0.00631706) -> 1 candidate(s)
I0419 21:01:50.355093 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293103460063.
I0419 21:01:50.358518 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:50.358671 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293103580381.
I0419 21:01:50.374465 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.267429, 0.61738)
I0419 21:01:50.374609 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00356546 range=0.672889 variance=0.000559392 t_weight=5362.97 r_weight=0 yaml=(12.315, -2.52) prior=(12.8635, -1.8853, -177.577deg) obs_actual=(0.56766, 0.61647) obs_expected=(0.574853, 0.610948) delta=(-0.00719218, 0.00552176) |delta|=0.00906737m
I0419 21:01:50.374696 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293103739904.
I0419 21:01:50.390349 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:50.390446 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:50.390484 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:50.390606 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293103898565.
I0419 21:01:50.402628 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293104019241.
I0419 21:01:50.422281 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293104217176.
I0419 21:01:50.434206 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293104336856.
I0419 21:01:50.479014 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293104459390.
I0419 21:01:50.480091 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:50.480183 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:50.480259 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293104615082.
I0419 21:01:50.481199 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293104772121.
I0419 21:01:50.493919 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293104933093.
I0419 21:01:50.505991 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:50.506317 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:50.506354 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293105054782.
I0419 21:01:50.518261 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293105176759.
I0419 21:01:50.534337 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293105334248.
I0419 21:01:50.550323 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293105496652.
I0419 21:01:50.566648 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.139908, 0.557618)
I0419 21:01:50.566761 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00428, -0.703192), points=4, range=1.22875, residual=0.0088264, extent=0.0218114
I0419 21:01:50.566792 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00428, -0.703192), tracking=(-1.30278, 0.703192), map_predicted=(14.1484, -2.53022), range=1.22875, pts=4
I0419 21:01:50.566818 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0349336m maha_sq=0.0529653 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1484, -2.53022) lm_pos=(14.115, -2.52) delta=(0.0334054, -0.0102194) -> 1 candidate(s)
I0419 21:01:50.566939 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293105661408.
I0419 21:01:50.605086 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293105772521.
I0419 21:01:50.606253 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:50.606325 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00705778 range=0.577143 variance=0.000551727 t_weight=5437.47 r_weight=0 yaml=(13.215, -1.32) prior=(12.7985, -1.88459, -177.518deg) obs_actual=(-0.447648, -0.556599) obs_expected=(-0.440523, -0.546019) delta=(-0.00712473, -0.0105798) |delta|=0.0127552m
I0419 21:01:50.606387 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293105942553.
I0419 21:01:50.607353 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293106061021.
I0419 21:01:50.623229 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0452799s, prior_pose=(12.788, -1.88449), yaw=-177.59 deg
I0419 21:01:50.623397 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1438, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:50.623728 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293106225320.
I0419 21:01:50.638074 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293106373171.
I0419 21:01:50.654060 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:50.654320 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293106532084.
I0419 21:01:50.666343 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293106654516.
I0419 21:01:50.682651 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:50.682775 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:50.682833 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:50.682999 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293106818178.
I0419 21:01:50.694511 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293106939723.
I0419 21:01:50.743445 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293107140110.
I0419 21:01:50.744490 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293107260576.
I0419 21:01:50.745738 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293107414548.
I0419 21:01:50.755100 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:50.755205 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:50.755327 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293107545666.
I0419 21:01:50.770613 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.07024, -0.701662)
I0419 21:01:50.770804 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07398, -0.701895), points=4, range=1.27975, residual=0.00815396, extent=0.0178937
I0419 21:01:50.770866 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.07398, -0.701895), tracking=(-1.37248, 0.701895), map_predicted=(14.1429, -2.52861), range=1.27975, pts=4
I0419 21:01:50.770913 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0291608m maha_sq=0.0369198 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1429, -2.52861) lm_pos=(14.115, -2.52) delta=(0.0278621, -0.00860562) -> 1 candidate(s)
I0419 21:01:50.771080 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293107701716.
I0419 21:01:50.788304 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293107876137.
I0419 21:01:50.789477 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.7303, -1.88375), yaw=-177.655 deg backend=(12.9017, -1.89588)
I0419 21:01:50.799734 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:50.799876 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0142821 range=0.60019 variance=0.0005803 t_weight=5169.74 r_weight=0 yaml=(13.215, -1.32) prior=(12.7303, -1.88375, -177.655deg) obs_actual=(-0.505729, -0.561643) obs_expected=(-0.507379, -0.543452) delta=(0.00164982, -0.0181907) |delta|=0.0182653m
I0419 21:01:50.799983 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:50.800051 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293107991020.
I0419 21:01:50.814157 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293108135728.
I0419 21:01:50.830672 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293108301060.
I0419 21:01:50.869036 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293108414036.
I0419 21:01:50.870230 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293108581385.
I0419 21:01:50.878966 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293108784687.
I0419 21:01:50.886857 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:50.887850 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293108858825.
I0419 21:01:50.902235 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293109016931.
I0419 21:01:50.917894 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761668s, prior_pose=(12.7079, -1.88534), yaw=-177.623 deg
I0419 21:01:50.917990 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1439, max_intensity=251, threshold=230, above_threshold=23, candidates=23
I0419 21:01:50.918218 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293109175704.
I0419 21:01:50.930094 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293109295936.
I0419 21:01:50.946399 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:50.946574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293109459668.
I0419 21:01:50.962182 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0949655, 0.616895)
I0419 21:01:50.962438 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293109615502.
I0419 21:01:51.016095 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:51.016305 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:51.016367 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13607, -0.703023), points=3, range=1.33167, residual=0.00836991, extent=0.0151269
I0419 21:01:51.016415 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:51.016443 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.13607, -0.703023), tracking=(-1.43457, 0.703023), map_predicted=(14.1399, -2.52769), range=1.33167, pts=3
I0419 21:01:51.016491 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0260615m maha_sq=0.0290322 (gate chi2=5.99) pose_sigma=(0.15118, 0.15118, rho=0) det_map=(14.1399, -2.52769) lm_pos=(14.115, -2.52) delta=(0.0249004, -0.00769224) -> 1 candidate(s)
I0419 21:01:51.016665 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293109781014.
I0419 21:01:51.018854 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293109902673.
I0419 21:01:51.020802 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.843 deg, rms_residual=0.0177979m, sigma_yaw=0.0231804 rad, N=2
I0419 21:01:51.021268 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.049655 range=1.34 variance=0.000510795 t_weight=5873.2 r_weight=0 yaml=(14.115, -2.52) prior=(12.6765, -1.88676, -177.545deg) obs_actual=(-1.44257, 0.703382) obs_expected=(-1.41002, 0.694271) delta=(-0.0325515, 0.00911029) |delta|=0.0338024m
I0419 21:01:51.021386 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.6577, -1.88566, -177.843deg) inliers=2 rms=0.0177979m
I0419 21:01:51.021446 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293110061438.
I0419 21:01:51.024041 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293110194198.
I0419 21:01:51.034816 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293110341728.
I0419 21:01:51.050287 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:51.050379 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:51.050494 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293110498267.
I0419 21:01:51.062541 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293110619615.
I0419 21:01:51.077978 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293110773344.
I0419 21:01:51.094626 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:51.094831 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:51.094882 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293110939244.
I0419 21:01:51.134392 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293111093534.
I0419 21:01:51.136644 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293111213506.
I0419 21:01:51.138104 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293111376704.
I0419 21:01:51.153961 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.317341, 0.555141)
I0419 21:01:51.154168 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293111535421.
I0419 21:01:51.166399 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293111658288.
I0419 21:01:51.182497 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.324598, 0.554686), points=17, range=0.644235, residual=0.0106812, extent=0.0337835
I0419 21:01:51.182601 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.324598, 0.554686), tracking=(-0.623098, -0.554686), map_predicted=(13.2208, -1.30233), range=0.644235, pts=17
I0419 21:01:51.182634 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.018608m maha_sq=0.0150224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2208, -1.30233) lm_pos=(13.215, -1.32) delta=(0.00582524, 0.0176727) -> 1 candidate(s)
I0419 21:01:51.182678 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:51.182763 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293111821051.
I0419 21:01:51.194741 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293111941429.
I0419 21:01:51.210227 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557625s, prior_pose=(12.6112, -1.88816), yaw=-177.288 deg
I0419 21:01:51.210347 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1453, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 21:01:51.210549 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00986706 range=0.647941 variance=0.000561656 t_weight=5341.35 r_weight=0 yaml=(13.215, -1.32) prior=(12.6112, -1.88816, -177.288deg) obs_actual=(-0.630332, -0.554041) obs_expected=(-0.630032, -0.538959) delta=(-0.000300522, -0.0150818) |delta|=0.0150848m
I0419 21:01:51.210696 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293112093046.
I0419 21:01:51.226559 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293112260067.
I0419 21:01:51.275007 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:51.275135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293112417729.
I0419 21:01:51.275231 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:51.276171 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293112542979.
I0419 21:01:51.277236 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:51.277333 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:51.277369 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:51.277439 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293112697401.
I0419 21:01:51.288463 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293112878706.
I0419 21:01:51.298652 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293112981060.
I0419 21:01:51.314807 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293113141948.
I0419 21:01:51.330598 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293113299486.
I0419 21:01:51.341876 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:51.341988 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:51.342089 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293113413518.
I0419 21:01:51.358408 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.382344, 0.554452)
I0419 21:01:51.358601 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293113577615.
I0419 21:01:51.397940 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293113756076.
I0419 21:01:51.398999 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:51.399111 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:51.399134 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293113895855.
I0419 21:01:51.402382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114012886.
I0419 21:01:51.418538 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114180744.
I0419 21:01:51.430858 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.042368, 0.61887), points=22, range=0.621318, residual=0.0119328, extent=0.0391212
I0419 21:01:51.430976 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.042368, 0.61887), tracking=(0.256132, 0.61887), map_predicted=(12.318, -2.51877), range=0.621318, pts=22
I0419 21:01:51.431006 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00322202m maha_sq=0.00044986 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.318, -2.51877) lm_pos=(12.315, -2.52) delta=(0.00297826, 0.00122939) -> 1 candidate(s)
I0419 21:01:51.431129 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114304184.
I0419 21:01:51.446787 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114460169.
I0419 21:01:51.458912 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114582192.
I0419 21:01:51.475865 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:51.475979 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.01547 range=0.691125 variance=0.000579015 t_weight=5181.21 r_weight=0 yaml=(13.215, -1.32) prior=(12.5399, -1.88851, -177.264deg) obs_actual=(-0.710791, -0.55206) obs_expected=(-0.70144, -0.535641) delta=(-0.00935059, -0.0164194) |delta|=0.0188953m
I0419 21:01:51.476040 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114752864.
I0419 21:01:51.491591 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293114909996.
I0419 21:01:51.531482 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.044161s, prior_pose=(12.5452, -1.8876), yaw=-177.241 deg
I0419 21:01:51.531610 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1418, max_intensity=251, threshold=230, above_threshold=16, candidates=16
I0419 21:01:51.531772 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115023802.
I0419 21:01:51.532809 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115175860.
I0419 21:01:51.533844 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:51.533927 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115334411.
I0419 21:01:51.550014 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115494804.
I0419 21:01:51.562542 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:51.562645 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:51.562678 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:51.562767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115621052.
I0419 21:01:51.578329 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115778111.
I0419 21:01:51.594276 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293115937425.
I0419 21:01:51.606797 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116061208.
I0419 21:01:51.622453 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116219141.
I0419 21:01:51.661844 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:51.661954 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:51.662040 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116379497.
I0419 21:01:51.662959 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.471617, 0.550478)
I0419 21:01:51.663074 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116512181.
I0419 21:01:51.667800 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116672512.
I0419 21:01:51.668927 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(12.4912, -1.89067), yaw=-177.078 deg backend=(12.6373, -1.9006)
I0419 21:01:51.682595 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:51.682713 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:51.682735 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116819496.
I0419 21:01:51.696113 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293116954807.
I0419 21:01:51.710752 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117102482.
I0419 21:01:51.726111 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.126916, 0.619131), points=19, range=0.632737, residual=0.0107779, extent=0.033696
I0419 21:01:51.726214 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.126916, 0.619131), tracking=(0.171584, 0.619131), map_predicted=(12.3387, -2.51852), range=0.632737, pts=19
I0419 21:01:51.726246 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0237957m maha_sq=0.0242539 (gate chi2=5.99) pose_sigma=(0.15098, 0.15098, rho=0) det_map=(12.3387, -2.51852) lm_pos=(12.315, -2.52) delta=(0.0237493, 0.00148458) -> 1 candidate(s)
I0419 21:01:51.726359 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117256608.
I0419 21:01:51.742842 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117421143.
I0419 21:01:51.754395 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117535623.
I0419 21:01:51.820720 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:51.820827 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0509956 range=0.748692 variance=0.000549481 t_weight=5459.7 r_weight=0 yaml=(13.215, -1.32) prior=(12.4691, -1.89234, -176.954deg) obs_actual=(-0.804903, -0.549354) obs_expected=(-0.775222, -0.531895) delta=(-0.0296812, -0.0174588) |delta|=0.0344352m
I0419 21:01:51.820904 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117666654.
I0419 21:01:51.822232 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117821878.
I0419 21:01:51.823685 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0728361s, prior_pose=(12.4691, -1.89234), yaw=-176.954 deg
I0419 21:01:51.823787 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1432, max_intensity=247, threshold=230, above_threshold=13, candidates=13
I0419 21:01:51.823940 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293117984969.
I0419 21:01:51.825714 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293118140183.
I0419 21:01:51.827004 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:51.827553 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293118262559.
I0419 21:01:51.842566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293118418831.
I0419 21:01:51.857898 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:51.857995 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:51.858032 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:51.858158 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293118573534.
I0419 21:01:51.870108 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293118696221.
I0419 21:01:51.886642 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.546851, 0.549965)
I0419 21:01:51.886909 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293118861200.
I0419 21:01:51.959739 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119020131.
I0419 21:01:51.960703 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119137168.
I0419 21:01:51.961721 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:51.961818 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:51.961887 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119297214.
I0419 21:01:51.963449 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119451992.
I0419 21:01:51.964473 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119614344.
I0419 21:01:51.975037 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:51.975363 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:51.975427 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119741490.
I0419 21:01:51.990638 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293119899207.
I0419 21:01:52.007004 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120061490.
I0419 21:01:52.018198 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.212724, 0.623589), points=20, range=0.65995, residual=0.0121962, extent=0.0368957
I0419 21:01:52.018327 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.212724, 0.623589), tracking=(0.0857758, 0.623589), map_predicted=(12.3601, -2.52139), range=0.65995, pts=20
I0419 21:01:52.018380 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0451242m maha_sq=0.0882054 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3601, -2.52139) lm_pos=(12.315, -2.52) delta=(0.0451027, -0.0013916) -> 1 candidate(s)
I0419 21:01:52.018561 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120173814.
I0419 21:01:52.103701 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120338652.
I0419 21:01:52.104717 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120461826.
I0419 21:01:52.106067 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:52.106153 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.121965 range=0.812909 variance=0.000542697 t_weight=5527.95 r_weight=0 yaml=(13.215, -1.32) prior=(12.3916, -1.89358, -176.75deg) obs_actual=(-0.904847, -0.542716) obs_expected=(-0.854543, -0.525983) delta=(-0.0503034, -0.0167327) |delta|=0.0530133m
I0419 21:01:52.106213 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120699183.
I0419 21:01:52.107837 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120779620.
I0419 21:01:52.108930 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604543s, prior_pose=(12.3786, -1.89432), yaw=-176.713 deg
I0419 21:01:52.109026 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1430, max_intensity=250, threshold=230, above_threshold=12, candidates=12
I0419 21:01:52.109272 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.609846, 0.544234)
I0419 21:01:52.109364 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293120943195.
I0419 21:01:52.110272 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293121058142.
I0419 21:01:52.123064 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:52.123646 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293121216730.
I0419 21:01:52.139112 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293121379478.
I0419 21:01:52.150523 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:52.150647 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:52.150717 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:52.150906 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293121497292.
I0419 21:01:52.236912 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293121654287.
I0419 21:01:52.241355 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293121822677.
I0419 21:01:52.242274 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293121934843.
I0419 21:01:52.244024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293122097648.
I0419 21:01:52.244874 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:52.244933 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:52.244995 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293122260689.
I0419 21:01:52.245977 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293122373533.
I0419 21:01:52.254055 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.5417, 0.518324)
I0419 21:01:52.254132 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.279925, 0.623746), points=19, range=0.686211, residual=0.01345, extent=0.0364638
I0419 21:01:52.254154 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.279925, 0.623746), tracking=(0.0185753, 0.623746), map_predicted=(12.3332, -2.53593), range=0.686211, pts=19
I0419 21:01:52.254175 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0242053m maha_sq=0.0249596 (gate chi2=5.99) pose_sigma=(0.151183, 0.151183, rho=0) det_map=(12.3332, -2.53593) lm_pos=(12.315, -2.52) delta=(0.0182241, -0.0159305) -> 1 candidate(s)
I0419 21:01:52.254251 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293122536480.
I0419 21:01:52.271093 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:52.271240 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:52.271292 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293122701736.
I0419 21:01:52.282150 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0642251 range=0.689944 variance=0.000591693 t_weight=5070.19 r_weight=0 yaml=(12.315, -2.52) prior=(12.3145, -1.91219, -176.577deg) obs_actual=(0.00167905, 0.624582) obs_expected=(0.0358156, 0.606756) delta=(-0.0341366, 0.0178258) |delta|=0.0385106m
I0419 21:01:52.282333 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293122813607.
I0419 21:01:52.356792 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293122982328.
I0419 21:01:52.358286 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293123133325.
I0419 21:01:52.359542 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293123256872.
I0419 21:01:52.361748 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293123418362.
I0419 21:01:52.363008 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.51195, -0.734695)
I0419 21:01:52.363137 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:52.363200 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293123582781.
I0419 21:01:52.370033 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293123694102.
I0419 21:01:52.385928 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434416s, prior_pose=(12.2719, -1.91415), yaw=-176.504 deg
I0419 21:01:52.386140 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1456, max_intensity=254, threshold=230, above_threshold=28, candidates=28
I0419 21:01:52.386667 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293123852778.
I0419 21:01:52.403160 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293124019552.
I0419 21:01:52.418706 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:52.419011 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293124176224.
I0419 21:01:52.494863 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 30 -> 22 (threshold=0.03, iters=3)
I0419 21:01:52.495144 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293124300208.
I0419 21:01:52.495265 1219452 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.28e-03 s (pulsed at 100.41% real time)
I0419 21:01:52.495443 1219452 collated_trajectory_builder.cc:82] odom rate: 248.79 Hz 4.02e-03 s +/- 7.12e-04 s (pulsed at 100.04% real time)
I0419 21:01:52.495609 1219452 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.30e-03 s (pulsed at 100.28% real time)
I0419 21:01:52.495659 1219452 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.19e-03 s (pulsed at 100.37% real time)
I0419 21:01:52.496809 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:01:52.496881 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:01:52.496917 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.274608, -0.614291), points=19, range=0.674421, residual=0.0124816, extent=0.0368468
I0419 21:01:52.496950 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:52.496966 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.274608, -0.614291), tracking=(-0.0238917, 0.614291), map_predicted=(12.3189, -2.52579), range=0.674421, pts=19
I0419 21:01:52.496994 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00697501m maha_sq=0.00210681 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3189, -2.52579) lm_pos=(12.315, -2.52) delta=(0.00389539, -0.00578591) -> 1 candidate(s)
I0419 21:01:52.497141 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293124455770.
I0419 21:01:52.498287 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.46675, 0.5194)
I0419 21:01:52.498416 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293124577552.
I0419 21:01:52.504026 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00268702 range=0.669833 variance=0.000571791 t_weight=5246.67 r_weight=0 yaml=(12.315, -2.52) prior=(12.243, -1.91612, -176.44deg) obs_actual=(-0.035277, 0.615055) obs_expected=(-0.0343419, 0.607183) delta=(-0.000935149, 0.00787211) |delta|=0.00792746m
I0419 21:01:52.504221 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293124741870.
I0419 21:01:52.505256 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293124863434.
I0419 21:01:52.506560 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.851 deg, rms_residual=0.0125586m, sigma_yaw=0.016469 rad, N=2
I0419 21:01:52.506675 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.2229, -1.92156, -175.851deg) inliers=2 rms=0.0125586m
I0419 21:01:52.506712 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293125057859.
I0419 21:01:52.517907 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:52.518033 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:52.518179 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293125172116.
I0419 21:01:52.534560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293125335855.
I0419 21:01:52.619041 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.2103, -1.91945), yaw=-176.466 deg backend=(12.3565, -1.90844)
I0419 21:01:52.620477 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293125621739.
I0419 21:01:52.622752 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.231868, -0.614635)
I0419 21:01:52.622926 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:52.622985 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:52.623011 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293125934595.
I0419 21:01:52.625973 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293126216616.
I0419 21:01:52.650657 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293126492184.
I0419 21:01:52.678119 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0707274s, prior_pose=(12.1859, -1.9212), yaw=-176.45 deg
I0419 21:01:52.678303 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1447, max_intensity=253, threshold=230, above_threshold=27, candidates=27
I0419 21:01:52.678567 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.202877, -0.615164), points=20, range=0.64855, residual=0.0118647, extent=0.0363479
I0419 21:01:52.678627 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.202877, -0.615164), tracking=(-0.0956232, 0.615164), map_predicted=(12.3194, -2.52926), range=0.64855, pts=20
I0419 21:01:52.678687 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0102689m maha_sq=0.00456965 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3194, -2.52926) lm_pos=(12.315, -2.52) delta=(0.00443803, -0.00926037) -> 1 candidate(s)
I0419 21:01:52.678900 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293126773619.
I0419 21:01:52.750108 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0454015 range=0.9618 variance=0.000503496 t_weight=5958.34 r_weight=0 yaml=(13.215, -1.32) prior=(12.1881, -1.92045, -176.42deg) obs_actual=(-1.09474, -0.53538) obs_expected=(-1.06239, -0.535158) delta=(-0.0323529, -0.000222229) |delta|=0.0323536m
I0419 21:01:52.750363 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293127094115.
I0419 21:01:52.750249 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:52.753953 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293127372397.
I0419 21:01:52.755340 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=1, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:52.755439 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.39809, 0.518091)
I0419 21:01:52.755467 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:01:52.770767 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:52.770952 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293127698528.
I0419 21:01:52.798722 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293127975485.
I0419 21:01:52.858156 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293128254458.
I0419 21:01:52.860080 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293128542156.
I0419 21:01:52.887661 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:52.887835 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293128860314.
I0419 21:01:52.914536 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.865347, 0.528531)
I0419 21:01:52.914757 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293129140643.
I0419 21:01:52.950723 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:52.950939 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293129500835.
I0419 21:01:53.009053 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059401s, prior_pose=(12.088, -1.92879), yaw=-176.174 deg
I0419 21:01:53.009232 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1436, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:01:53.009375 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.119836, -0.611691), points=20, range=0.6251, residual=0.0113085, extent=0.0352633
I0419 21:01:53.009414 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.119836, -0.611691), tracking=(-0.178664, 0.611691), map_predicted=(12.3071, -2.52719), range=0.6251, pts=20
I0419 21:01:53.009443 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0107059m maha_sq=0.00487909 (gate chi2=5.99) pose_sigma=(0.151422, 0.151422, rho=0) det_map=(12.3071, -2.52719) lm_pos=(12.315, -2.52) delta=(-0.00792969, -0.00719282) -> 1 candidate(s)
I0419 21:01:53.009541 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293129734653.
I0419 21:01:53.012284 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00472095 range=1.038 variance=0.000543754 t_weight=5517.2 r_weight=0 yaml=(13.215, -1.32) prior=(12.0771, -1.93041, -176.123deg) obs_actual=(-1.18693, -0.530301) obs_expected=(-1.17659, -0.532059) delta=(-0.0103377, 0.00175851) |delta|=0.0104862m
I0419 21:01:53.012406 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293130020525.
I0419 21:01:53.017853 1218530 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:01:53.035049 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293130339772.
I0419 21:01:53.062920 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293130620280.
I0419 21:01:53.146842 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:53.146973 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:53.147065 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.215 deg, rms_residual=0.0107299m, sigma_yaw=0.0141047 rad, N=2
I0419 21:01:53.147109 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.0458, -1.93499, -175.215deg) inliers=2 rms=0.0107299m
I0419 21:01:53.147193 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293130939302.
I0419 21:01:53.149376 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293131220518.
I0419 21:01:53.152212 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:53.152302 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:53.152383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293131496907.
I0419 21:01:53.178395 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0627186, -0.613899)
I0419 21:01:53.178550 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:53.178628 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:53.178653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293131780159.
I0419 21:01:53.210307 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293132097938.
I0419 21:01:53.264202 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293132379863.
I0419 21:01:53.270470 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481331s, prior_pose=(12.0056, -1.93821), yaw=-176.002 deg
I0419 21:01:53.270639 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1425, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:01:53.270802 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0383342, -0.612287), points=22, range=0.615727, residual=0.0128915, extent=0.0385642
I0419 21:01:53.270836 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0383342, -0.612287), tracking=(-0.260166, 0.612287), map_predicted=(12.3078, -2.53087), range=0.615727, pts=22
I0419 21:01:53.270869 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0130352m maha_sq=0.00726351 (gate chi2=5.99) pose_sigma=(0.150972, 0.150972, rho=0) det_map=(12.3078, -2.53087) lm_pos=(12.315, -2.52) delta=(-0.00719265, -0.0108712) -> 1 candidate(s)
I0419 21:01:53.270994 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293132700742.
I0419 21:01:53.298399 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0602357 range=1.11575 variance=0.000503341 t_weight=5960.18 r_weight=0 yaml=(13.215, -1.32) prior=(12.0056, -1.93821, -176.002deg) obs_actual=(-1.28442, -0.519312) obs_expected=(-1.24957, -0.532391) delta=(-0.0348503, 0.0130796) |delta|=0.0372239m
I0419 21:01:53.298564 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293132978251.
I0419 21:01:53.327216 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293133259313.
I0419 21:01:53.419334 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:53.419548 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293133585522.
I0419 21:01:53.421864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293133855617.
I0419 21:01:53.424847 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.00359857, -0.616122)
I0419 21:01:53.425117 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293134139436.
I0419 21:01:53.431384 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.9531, -1.94273), yaw=-175.855 deg backend=(12.0839, -1.9194)
I0419 21:01:53.446521 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293134453605.
I0419 21:01:53.474505 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:53.474799 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293134735276.
I0419 21:01:53.531366 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293135052087.
I0419 21:01:53.534329 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:53.534423 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:53.534454 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:53.534543 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293135339571.
I0419 21:01:53.561450 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0752302s, prior_pose=(11.9296, -1.94208), yaw=-175.932 deg
I0419 21:01:53.561545 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1427, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:53.561769 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293135611496.
I0419 21:01:53.574148 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.15725, 0.515173)
I0419 21:01:53.574541 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293135736408.
I0419 21:01:53.589967 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:53.590076 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0539227, -0.616407), points=20, range=0.6198, residual=0.0111881, extent=0.0357178
I0419 21:01:53.590102 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:53.590121 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0539227, -0.616407), tracking=(-0.352423, 0.616407), map_predicted=(12.3103, -2.53421), range=0.6198, pts=20
I0419 21:01:53.590149 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.014978m maha_sq=0.00972867 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3103, -2.53421) lm_pos=(12.315, -2.52) delta=(-0.00474579, -0.0142063) -> 1 candidate(s)
I0419 21:01:53.590286 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293135895366.
I0419 21:01:53.606704 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:01:53.645889 1218978 pose_graph_2d.cc:160] Inserted submap (1, 42).
I0419 21:01:53.646965 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0656867 range=1.20225 variance=0.000511179 t_weight=5868.79 r_weight=0 yaml=(13.215, -1.32) prior=(11.9069, -1.94577, -176.082deg) obs_actual=(-1.3846, -0.521923) obs_expected=(-1.34777, -0.534922) delta=(-0.0368284, 0.0129993) |delta|=0.0390553m
I0419 21:01:53.647118 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293136216012.
I0419 21:01:53.647975 1218978 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:01:53.649725 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293136492399.
I0419 21:01:53.678634 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293136781579.
I0419 21:01:53.710294 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293137088556.
I0419 21:01:53.739246 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:53.739658 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:53.739847 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293137385876.
I0419 21:01:53.783713 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293137694992.
I0419 21:01:53.784984 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.91542, -0.741666)
I0419 21:01:53.799916 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293137994061.
I0419 21:01:53.826418 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293138256914.
I0419 21:01:53.854337 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.054484s, prior_pose=(11.8432, -1.94992), yaw=-176.357 deg
I0419 21:01:53.854689 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1426, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:53.854954 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:53.855119 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:53.855388 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293138538901.
I0419 21:01:53.923058 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293138857383.
I0419 21:01:53.924896 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:53.924998 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.175 deg, rms_residual=0.0150354m, sigma_yaw=0.0196532 rad, N=2
I0419 21:01:53.925037 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.8051, -1.94486, -176.175deg) inliers=2 rms=0.0150354m
I0419 21:01:53.925089 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293139136854.
I0419 21:01:53.942711 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17038, 0.543682), points=3, range=1.28667, residual=0.00764227, extent=0.0149977
I0419 21:01:53.942826 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17038, 0.543682), tracking=(-1.46888, -0.543682), map_predicted=(13.2613, -1.32558), range=1.28667, pts=3
I0419 21:01:53.942860 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0466428m maha_sq=0.0924305 (gate chi2=5.99) pose_sigma=(0.151698, 0.151698, rho=0) det_map=(13.2613, -1.32558) lm_pos=(13.215, -1.32) delta=(0.0463079, -0.00557982) -> 1 candidate(s)
I0419 21:01:53.942993 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293139422710.
I0419 21:01:53.971679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293139711537.
I0419 21:01:54.001994 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17966, 0.552159)
I0419 21:01:54.002146 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0220493 range=0.6458 variance=0.000598139 t_weight=5015.56 r_weight=0 yaml=(12.315, -2.52) prior=(11.8076, -1.95064, -177.013deg) obs_actual=(-0.484934, 0.616171) obs_expected=(-0.477046, 0.595027) delta=(-0.00788756, 0.0211443) |delta|=0.0225676m
I0419 21:01:54.002238 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293140015384.
I0419 21:01:54.042516 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:54.042701 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293140298208.
I0419 21:01:54.058262 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293140576872.
I0419 21:01:54.090253 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:54.090446 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293140896827.
I0419 21:01:54.106741 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:54.106869 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:54.107033 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293141060826.
I0419 21:01:54.119611 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293141180980.
I0419 21:01:54.210017 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0431783s, prior_pose=(11.7437, -1.95127), yaw=-178.016 deg
I0419 21:01:54.210188 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1455, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:54.210441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293141492609.
I0419 21:01:54.210700 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:54.212653 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293141776367.
I0419 21:01:54.216539 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293142052942.
I0419 21:01:54.238360 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24056, 0.5895), points=3, range=1.37, residual=0.00717247, extent=0.0127804
I0419 21:01:54.238466 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.24056, 0.5895), tracking=(-1.53906, -0.5895), map_predicted=(13.2414, -1.32482), range=1.37, pts=3
I0419 21:01:54.238500 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0268742m maha_sq=0.0310011 (gate chi2=5.99) pose_sigma=(0.150908, 0.150908, rho=0) det_map=(13.2414, -1.32482) lm_pos=(13.215, -1.32) delta=(0.026438, -0.00482222) -> 1 candidate(s)
I0419 21:01:54.238595 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293142378938.
I0419 21:01:54.250399 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:01:54.266422 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293142658206.
I0419 21:01:54.331944 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.30184, -0.602983)
I0419 21:01:54.332140 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:54.332173 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0294055 range=0.674389 variance=0.000596046 t_weight=5033.17 r_weight=0 yaml=(12.315, -2.52) prior=(11.6911, -1.95309, -178.901deg) obs_actual=(-0.601044, 0.602323) obs_expected=(-0.612951, 0.578765) delta=(0.0119068, 0.0235577) |delta|=0.0263958m
I0419 21:01:54.332229 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:54.332252 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293142944222.
I0419 21:01:54.334362 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.6812, -1.95102), yaw=-179.168 deg backend=(11.8294, -1.92608)
I0419 21:01:54.335079 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:54.335122 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:54.335222 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293143259150.
I0419 21:01:54.354482 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293143539395.
I0419 21:01:54.386502 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293143858573.
I0419 21:01:54.438158 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293144142457.
I0419 21:01:54.442131 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757698s, prior_pose=(11.6695, -1.95102), yaw=-179.681 deg
I0419 21:01:54.442238 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1449, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:54.442420 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293144418539.
I0419 21:01:54.470184 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:54.470329 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293144697234.
I0419 21:01:54.502610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293145019601.
I0419 21:01:54.530164 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293145294214.
I0419 21:01:54.568707 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.391585, -0.589708), points=17, range=0.711059, residual=0.0137118, extent=0.0423337
I0419 21:01:54.568814 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.391585, -0.589708), tracking=(-0.690085, 0.589708), map_predicted=(12.3122, -2.54284), range=0.711059, pts=17
I0419 21:01:54.568846 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0230117m maha_sq=0.0225371 (gate chi2=5.99) pose_sigma=(0.15123, 0.15123, rho=0) det_map=(12.3122, -2.54284) lm_pos=(12.315, -2.52) delta=(-0.00280848, -0.0228397) -> 1 candidate(s)
I0419 21:01:54.568962 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293145592317.
I0419 21:01:54.589612 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.404338, -0.588167)
I0419 21:01:54.589745 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:54.589828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293145891885.
I0419 21:01:54.618023 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.961 deg, rms_residual=0.0179045m, sigma_yaw=0.023316 rad, N=2
I0419 21:01:54.618117 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0575521 range=1.476 variance=0.000515255 t_weight=5822.36 r_weight=0 yaml=(13.215, -1.32) prior=(11.6148, -1.9489, 179.431deg) obs_actual=(-1.63018, -0.642324) obs_expected=(-1.59387, -0.644753) delta=(-0.0363136, 0.00242914) |delta|=0.0363947m
I0419 21:01:54.618160 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.5951, -1.94688, 179.961deg) inliers=2 rms=0.0179045m
I0419 21:01:54.618189 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293146174964.
I0419 21:01:54.650672 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:54.650894 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293146498857.
I0419 21:01:54.737962 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:54.738119 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:54.738250 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293146772864.
I0419 21:01:54.740743 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293147061152.
I0419 21:01:54.743816 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607791s, prior_pose=(11.5884, -1.93046), yaw=178.946 deg
I0419 21:01:54.743960 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1455, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 21:01:54.744120 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293147380655.
I0419 21:01:54.766628 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293147656462.
I0419 21:01:54.778741 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293147778365.
I0419 21:01:54.795374 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:54.795547 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.37243, 0.659505)
I0419 21:01:54.796139 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:54.796469 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293147942698.
I0419 21:01:54.878046 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293148099515.
I0419 21:01:54.879827 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:54.880401 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:54.880451 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293148255720.
I0419 21:01:54.883829 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293148534464.
I0419 21:01:54.886215 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293148826904.
I0419 21:01:54.898931 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293148979953.
I0419 21:01:54.914314 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40468, 0.659979), points=4, range=1.5535, residual=0.0072893, extent=0.0162722
I0419 21:01:54.914459 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40468, 0.659979), tracking=(-1.70318, -0.659979), map_predicted=(13.2415, -1.32104), range=1.5535, pts=4
I0419 21:01:54.914516 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0265376m maha_sq=0.0305682 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2415, -1.32104) lm_pos=(13.215, -1.32) delta=(0.0265173, -0.00103741) -> 1 candidate(s)
I0419 21:01:54.914739 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293149134446.
I0419 21:01:54.926789 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293149257833.
I0419 21:01:54.997819 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.41656, 0.660539)
I0419 21:01:54.998029 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:54.998096 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0092522 range=1.563 variance=0.000531996 t_weight=5639.14 r_weight=0 yaml=(13.215, -1.32) prior=(11.4945, -1.93604, 178.518deg) obs_actual=(-1.71874, -0.659751) obs_expected=(-1.70396, -0.660325) delta=(-0.0147839, 0.000573688) |delta|=0.014795m
I0419 21:01:54.998167 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293149421046.
I0419 21:01:54.999557 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293149614975.
I0419 21:01:55.000634 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293149735715.
I0419 21:01:55.002599 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293149859373.
I0419 21:01:55.003727 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:55.003823 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293150015934.
I0419 21:01:55.018875 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293150178935.
I0419 21:01:55.031067 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442217s, prior_pose=(11.4814, -1.92419), yaw=178.598 deg
I0419 21:01:55.031215 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1430, max_intensity=249, threshold=230, above_threshold=16, candidates=16
I0419 21:01:55.031396 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:55.031550 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293150301590.
I0419 21:01:55.046216 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:55.046339 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:55.046499 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293150453906.
I0419 21:01:55.059631 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293150580083.
I0419 21:01:55.151239 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293150734526.
I0419 21:01:55.152400 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:55.152474 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.45893, 0.649555)
I0419 21:01:55.152500 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:55.152623 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293150858538.
I0419 21:01:55.154124 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293151018639.
I0419 21:01:55.156447 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293151177832.
I0419 21:01:55.158387 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57757, -0.550913), points=3, range=1.66767, residual=0.00758643, extent=0.015429
I0419 21:01:55.158476 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.57757, -0.550913), tracking=(1.87607, -0.550913), map_predicted=(9.60252, -1.33188), range=1.66767, pts=3
I0419 21:01:55.158547 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0172248m maha_sq=0.0128706 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60252, -1.33188) lm_pos=(9.615, -1.32) delta=(-0.012477, -0.0118751) -> 1 candidate(s)
I0419 21:01:55.158655 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293151337676.
I0419 21:01:55.159768 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:55.159847 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:55.159886 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293151460982.
I0419 21:01:55.163015 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00903958 range=1.65933 variance=0.000583161 t_weight=5144.38 r_weight=0 yaml=(9.615, -1.32) prior=(11.4578, -1.9198, 178.776deg) obs_actual=(1.86786, -0.553172) obs_expected=(1.85521, -0.560284) delta=(0.012647, 0.00711137) |delta|=0.0145093m
I0419 21:01:55.163230 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293151620489.
I0419 21:01:55.179224 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293151779368.
I0419 21:01:55.191402 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293151893650.
I0419 21:01:55.276832 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.4518, -1.91557), yaw=178.77 deg backend=(11.454, -1.92781)
I0419 21:01:55.278596 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293152053245.
I0419 21:01:55.280025 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293152180832.
I0419 21:01:55.281888 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.50257, 0.637788)
I0419 21:01:55.282099 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:55.282189 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293152341233.
I0419 21:01:55.284467 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293152497261.
I0419 21:01:55.285892 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293152656863.
I0419 21:01:55.287097 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.591335, 0.639598), points=12, range=0.874333, residual=0.0142882, extent=0.0439993
I0419 21:01:55.287261 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.591335, 0.639598), tracking=(0.889835, 0.639598), map_predicted=(10.5281, -2.53698), range=0.874333, pts=12
I0419 21:01:55.287328 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0214387m maha_sq=0.0198553 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5281, -2.53698) lm_pos=(10.515, -2.52) delta=(0.0130928, -0.0169763) -> 1 candidate(s)
I0419 21:01:55.287485 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293152790260.
I0419 21:01:55.294420 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:55.294597 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293152938153.
I0419 21:01:55.310743 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00279575 range=1.61675 variance=0.0005634 t_weight=5324.81 r_weight=3861.78 yaml=(9.615, -1.32) prior=(11.4151, -1.91648, 178.913deg) obs_actual=(1.81793, -0.558027) obs_expected=(1.8111, -0.56224) delta=(0.00683603, 0.00421285) |delta|=0.00802991m
I0419 21:01:55.311017 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293153097159.
I0419 21:01:55.322630 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0717678s, prior_pose=(11.4151, -1.91648), yaw=178.913 deg
I0419 21:01:55.322827 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1430, max_intensity=246, threshold=230, above_threshold=11, candidates=11
I0419 21:01:55.323010 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:55.323199 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293153214939.
I0419 21:01:55.396196 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:55.396486 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:55.396643 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.118 deg, rms_residual=0.00856846m, sigma_yaw=0.0112956 rad, N=2
I0419 21:01:55.396740 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.4001, -1.9018, 179.118deg) inliers=2 rms=0.00856846m
I0419 21:01:55.396831 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293153379646.
I0419 21:01:55.398090 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.5475, 0.638356)
I0419 21:01:55.398267 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293153532718.
I0419 21:01:55.399355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293153654607.
I0419 21:01:55.401189 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:55.401268 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:55.401358 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293153821626.
I0419 21:01:55.402346 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293153974414.
I0419 21:01:55.409925 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293154094304.
I0419 21:01:55.426158 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293154253606.
I0419 21:01:55.442759 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:55.442935 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:55.442986 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293154420363.
I0419 21:01:55.454964 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.46537, -0.564942), points=3, range=1.575, residual=0.0103997, extent=0.0219966
I0419 21:01:55.455117 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.46537, -0.564942), tracking=(1.76387, -0.564942), map_predicted=(9.63058, -1.31462), range=1.575, pts=3
I0419 21:01:55.455165 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0164796m maha_sq=0.011759 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.63058, -1.31462) lm_pos=(9.615, -1.32) delta=(0.0155783, 0.00537528) -> 1 candidate(s)
I0419 21:01:55.455358 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293154540727.
I0419 21:01:55.524288 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.679485, -0.602855)
I0419 21:01:55.524549 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293154694489.
I0419 21:01:55.525835 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0142555 range=0.832077 variance=0.000621502 t_weight=4827.02 r_weight=0 yaml=(10.515, -2.52) prior=(11.3781, -1.89474, 179.261deg) obs_actual=(0.836882, 0.637733) obs_expected=(0.854984, 0.636346) delta=(-0.018102, 0.00138747) |delta|=0.0181551m
I0419 21:01:55.525978 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293154854709.
I0419 21:01:55.527357 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293155014276.
I0419 21:01:55.529410 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293155137648.
I0419 21:01:55.530681 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:55.530772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293155300741.
I0419 21:01:55.542096 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293155412495.
I0419 21:01:55.558975 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293155581077.
I0419 21:01:55.575006 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293155740569.
I0419 21:01:55.591228 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:55.591579 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293155902659.
I0419 21:01:55.659075 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.496388, 0.631429)
I0419 21:01:55.659332 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293156016106.
I0419 21:01:55.659930 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:55.660472 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596243s, prior_pose=(11.356, -1.90394), yaw=179.391 deg
I0419 21:01:55.660555 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1435, max_intensity=245, threshold=230, above_threshold=10, candidates=10
I0419 21:01:55.660646 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:55.660761 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293156177320.
I0419 21:01:55.661914 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:55.662041 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:55.662163 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293156339321.
I0419 21:01:55.664149 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293156456780.
I0419 21:01:55.665401 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293156615799.
I0419 21:01:55.678100 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:55.678229 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:55.678269 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.739953, -0.610459), points=9, range=0.962333, residual=0.011084, extent=0.0310187
I0419 21:01:55.678304 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.739953, -0.610459), tracking=(-1.03845, 0.610459), map_predicted=(12.3683, -2.52762), range=0.962333, pts=9
I0419 21:01:55.678339 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0537963m maha_sq=0.125441 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3683, -2.52762) lm_pos=(12.315, -2.52) delta=(0.0532542, -0.00761799) -> 1 candidate(s)
I0419 21:01:55.678447 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293156774463.
I0419 21:01:55.692384 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293156904009.
I0419 21:01:55.706594 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0960743 range=0.9705 variance=0.000545271 t_weight=5501.85 r_weight=0 yaml=(12.315, -2.52) prior=(11.3178, -1.9091, 179.554deg) obs_actual=(-1.04795, 0.612898) obs_expected=(-1.00192, 0.603118) delta=(-0.0460261, 0.00978018) |delta|=0.0470538m
I0419 21:01:55.706960 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293157056309.
I0419 21:01:55.718536 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293157174433.
I0419 21:01:55.794708 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:55.794831 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:55.794852 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293157335984.
I0419 21:01:55.795832 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.453313, 0.625709)
I0419 21:01:55.795982 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293157499314.
I0419 21:01:55.796824 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293157629917.
I0419 21:01:55.798600 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293157781026.
I0419 21:01:55.799556 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293157934636.
I0419 21:01:55.806468 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293158057669.
I0419 21:01:55.822597 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:55.822877 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293158221127.
I0419 21:01:55.838349 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293158377887.
I0419 21:01:55.853951 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293158534737.
I0419 21:01:55.892555 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293158655011.
I0419 21:01:55.893687 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.800789, -0.616297), points=7, range=1.01157, residual=0.00760952, extent=0.0225241
I0419 21:01:55.893775 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.800789, -0.616297), tracking=(-1.09929, 0.616297), map_predicted=(12.3551, -2.53609), range=1.01157, pts=7
I0419 21:01:55.893801 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0431844m maha_sq=0.0810525 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3551, -2.53609) lm_pos=(12.315, -2.52) delta=(0.040076, -0.0160876) -> 1 candidate(s)
I0419 21:01:55.893826 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:55.893877 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293158857401.
I0419 21:01:55.898483 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293158978774.
I0419 21:01:55.910820 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0448996s, prior_pose=(11.2456, -1.91743), yaw=179.836 deg
I0419 21:01:55.910919 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1468, max_intensity=243, threshold=230, above_threshold=7, candidates=7
I0419 21:01:55.910979 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:55.911088 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293159104007.
I0419 21:01:55.926151 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.33263, -0.584056)
I0419 21:01:55.926261 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:55.926290 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:55.926359 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00236928 range=1.455 variance=0.000499251 t_weight=6009 r_weight=0 yaml=(9.615, -1.32) prior=(11.2456, -1.91743, 179.836deg) obs_actual=(1.62982, -0.585794) obs_expected=(1.63227, -0.592756) delta=(-0.00245149, 0.00696289) |delta|=0.00738184m
I0419 21:01:55.926416 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293159256966.
I0419 21:01:55.938499 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293159378097.
I0419 21:01:55.953631 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293159531414.
I0419 21:01:55.970160 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:55.970271 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:55.970369 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293159697956.
I0419 21:01:55.982409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293159818809.
I0419 21:01:56.024881 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293159977834.
I0419 21:01:56.026048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293160133192.
I0419 21:01:56.030395 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:56.030481 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:56.030503 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293160300572.
I0419 21:01:56.042634 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293160420889.
I0419 21:01:56.058753 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293160582176.
I0419 21:01:56.074040 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:01:56.074141 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293160732729.
I0419 21:01:56.076207 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.2044, -1.93387), yaw=179.997 deg backend=(11.2493, -1.90989)
I0419 21:01:56.086725 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.77353, 0.599151)
I0419 21:01:56.086941 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293160862516.
I0419 21:01:56.101931 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28446, -0.587625), points=3, range=1.41, residual=0.00585784, extent=0.0107771
I0419 21:01:56.102034 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28446, -0.587625), tracking=(1.58296, -0.587625), map_predicted=(9.62151, -1.34616), range=1.41, pts=3
I0419 21:01:56.102105 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0269605m maha_sq=0.0315905 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.62151, -1.34616) lm_pos=(9.615, -1.32) delta=(0.00650741, -0.0261633) -> 1 candidate(s)
I0419 21:01:56.102182 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.947 deg, rms_residual=0.0159498m, sigma_yaw=0.0208236 rad, N=2
I0419 21:01:56.102238 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.1773, -1.92385, 178.947deg) inliers=2 rms=0.0159498m
I0419 21:01:56.102276 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293161014227.
I0419 21:01:56.118362 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:56.118546 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293161176769.
I0419 21:01:56.182857 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0977691 range=1.399 variance=0.000526003 t_weight=5703.39 r_weight=0 yaml=(9.615, -1.32) prior=(11.2292, -1.93058, -179.987deg) obs_actual=(1.57046, -0.590874) obs_expected=(1.61409, -0.610933) delta=(-0.043633, 0.0200596) |delta|=0.0480232m
I0419 21:01:56.183077 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293161298620.
I0419 21:01:56.184274 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293161453177.
I0419 21:01:56.185475 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293161613695.
I0419 21:01:56.187165 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:56.187314 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293161738905.
I0419 21:01:56.191063 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293161899553.
I0419 21:01:56.206190 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756397s, prior_pose=(11.1997, -1.92853), yaw=-179.964 deg
I0419 21:01:56.206386 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1464, max_intensity=242, threshold=230, above_threshold=5, candidates=5
I0419 21:01:56.206514 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:56.206720 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293162055017.
I0419 21:01:56.218894 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:56.219053 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:56.219352 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293162179670.
I0419 21:01:56.235270 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293162338963.
I0419 21:01:56.250855 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.22649, -0.593769)
I0419 21:01:56.251183 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293162500228.
I0419 21:01:56.286746 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:56.286907 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:01:56.287019 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293162656656.
I0419 21:01:56.288185 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293162780540.
I0419 21:01:56.293893 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.930885, -0.62591), points=5, range=1.1192, residual=0.00820232, extent=0.0222083
I0419 21:01:56.293974 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.930885, -0.62591), tracking=(-1.22938, 0.62591), map_predicted=(12.4061, -2.54762), range=1.1192, pts=5
I0419 21:01:56.294003 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0952271m maha_sq=0.393866 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.4061, -2.54762) lm_pos=(12.315, -2.52) delta=(0.0911333, -0.0276213) -> 1 candidate(s)
I0419 21:01:56.294102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293162934473.
I0419 21:01:56.306092 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293163056292.
I0419 21:01:56.322363 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:56.322448 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.240419 range=1.12417 variance=0.000515204 t_weight=5822.94 r_weight=0 yaml=(12.315, -2.52) prior=(11.1485, -1.92225, -179.885deg) obs_actual=(-1.23564, 0.624202) obs_expected=(-1.16527, 0.600083) delta=(-0.0703675, 0.0241184) |delta|=0.074386m
I0419 21:01:56.322530 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:56.322559 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293163219569.
I0419 21:01:56.342058 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293163413514.
I0419 21:01:56.350678 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293163501509.
I0419 21:01:56.366194 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293163655964.
I0419 21:01:56.386229 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293163855128.
I0419 21:01:56.428903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293163973699.
I0419 21:01:56.430023 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:01:56.430986 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17923, -0.598677)
I0419 21:01:56.431082 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:56.431155 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293164221090.
I0419 21:01:56.442833 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293164420989.
I0419 21:01:56.453855 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293164532816.
I0419 21:01:56.470211 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293164697132.
I0419 21:01:56.482467 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:56.482626 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293164820802.
I0419 21:01:56.498139 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556938s, prior_pose=(11.0853, -1.92132), yaw=-179.778 deg
I0419 21:01:56.498231 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1453, max_intensity=239, threshold=230, above_threshold=4, candidates=4
I0419 21:01:56.498399 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293164977927.
I0419 21:01:56.513604 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227791, 0.617383), points=19, range=0.658789, residual=0.0114881, extent=0.0391904
I0419 21:01:56.513675 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:56.513691 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227791, 0.617383), tracking=(0.526291, 0.617383), map_predicted=(10.5614, -2.54074), range=0.658789, pts=19
I0419 21:01:56.513717 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.050787m maha_sq=0.111815 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5614, -2.54074) lm_pos=(10.515, -2.52) delta=(0.0463596, -0.020739) -> 1 candidate(s)
I0419 21:01:56.513830 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293165132254.
I0419 21:01:56.561985 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:56.562145 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:56.562268 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293165258913.
I0419 21:01:56.563494 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.230406 range=0.65475 variance=0.000581367 t_weight=5160.26 r_weight=0 yaml=(10.515, -2.52) prior=(11.0996, -1.92021, -179.674deg) obs_actual=(0.517944, 0.616752) obs_expected=(0.587987, 0.596455) delta=(-0.0700436, 0.0202974) |delta|=0.0729253m
I0419 21:01:56.563619 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293165419953.
I0419 21:01:56.564563 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:56.564630 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:56.564718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293165572352.
I0419 21:01:56.574331 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293165736412.
I0419 21:01:56.586987 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293165861783.
I0419 21:01:56.603370 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293166017419.
I0419 21:01:56.614100 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.02949, -0.632933)
I0419 21:01:56.614378 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293166136015.
I0419 21:01:56.630204 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:56.630470 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:56.630514 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293166292397.
I0419 21:01:56.704308 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293166620533.
I0419 21:01:56.706830 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293166898833.
I0419 21:01:56.708948 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293167021358.
I0419 21:01:56.717904 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293167171680.
I0419 21:01:56.734505 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06703, -0.63691), points=4, range=1.24425, residual=0.00669568, extent=0.0161758
I0419 21:01:56.734642 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.06703, -0.63691), tracking=(-1.36553, 0.63691), map_predicted=(12.3973, -2.54683), range=1.24425, pts=4
I0419 21:01:56.734696 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0866109m maha_sq=0.326029 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3973, -2.54683) lm_pos=(12.315, -2.52) delta=(0.0823497, -0.0268324) -> 1 candidate(s)
I0419 21:01:56.734938 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293167337901.
I0419 21:01:56.747262 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:56.747478 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293167461868.
I0419 21:01:56.770907 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293167698757.
I0419 21:01:56.778908 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.614 deg, rms_residual=0.0160539m, sigma_yaw=0.0209567 rad, N=2
I0419 21:01:56.779034 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00900625 range=1.2315 variance=0.000552068 t_weight=5434.12 r_weight=0 yaml=(9.615, -1.32) prior=(11.0073, -1.92164, -179.5deg) obs_actual=(1.37368, -0.6083) obs_expected=(1.38701, -0.613761) delta=(-0.0133338, 0.00546102) |delta|=0.0144088m
I0419 21:01:56.779160 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.9749, -1.92469, 179.614deg) inliers=2 rms=0.0160539m
I0419 21:01:56.779220 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293167778878.
I0419 21:01:56.847779 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.047665s, prior_pose=(11.0161, -1.92247), yaw=-179.478 deg
I0419 21:01:56.847899 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1448, max_intensity=239, threshold=230, above_threshold=5, candidates=5
I0419 21:01:56.848057 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293167938518.
I0419 21:01:56.849205 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.1384, 0.611444)
I0419 21:01:56.849308 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:56.849423 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293168060897.
I0419 21:01:56.850837 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293168216590.
I0419 21:01:56.853310 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:01:56.853479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293168340809.
I0419 21:01:56.855448 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:56.855544 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:56.855590 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:56.855631 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:56.855764 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293168505665.
I0419 21:01:56.866496 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293168655190.
I0419 21:01:56.895267 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293168941323.
I0419 21:01:56.911319 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293169102997.
I0419 21:01:56.964967 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293169232448.
I0419 21:01:56.966576 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293169376698.
I0419 21:01:56.967775 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293169534119.
I0419 21:01:56.968847 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.9543, -1.92046), yaw=-179.436 deg backend=(11.2456, -1.90848)
I0419 21:01:56.969815 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13419, -0.637343), points=4, range=1.2985, residual=0.00706142, extent=0.0157799
I0419 21:01:56.969884 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.13419, -0.637343), tracking=(-1.43269, 0.637343), map_predicted=(12.3931, -2.54367), range=1.2985, pts=4
I0419 21:01:56.969944 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0816513m maha_sq=0.283759 (gate chi2=5.99) pose_sigma=(0.151585, 0.151585, rho=0) det_map=(12.3931, -2.54367) lm_pos=(12.315, -2.52) delta=(0.0781444, -0.0236725) -> 1 candidate(s)
I0419 21:01:56.969991 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:56.970024 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:56.970041 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293169692446.
I0419 21:01:56.982129 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293169814201.
I0419 21:01:57.010646 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.997924, -0.608844)
I0419 21:01:57.011230 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293170101712.
I0419 21:01:57.043025 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0337673 range=1.16075 variance=0.00049563 t_weight=6052.9 r_weight=0 yaml=(9.615, -1.32) prior=(10.9385, -1.91919, -179.407deg) obs_actual=(1.28984, -0.607487) obs_expected=(1.31718, -0.612848) delta=(-0.0273451, 0.00536139) |delta|=0.0278657m
I0419 21:01:57.043357 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293170420759.
I0419 21:01:57.089373 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:57.089984 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293170699663.
I0419 21:01:57.090919 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755606s, prior_pose=(10.9399, -1.91852), yaw=-179.311 deg
I0419 21:01:57.091048 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1441, max_intensity=243, threshold=230, above_threshold=4, candidates=4
I0419 21:01:57.091171 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293170857318.
I0419 21:01:57.102134 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:57.102272 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293171015548.
I0419 21:01:57.114193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293171136897.
I0419 21:01:57.130673 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293171300981.
I0419 21:01:57.146124 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:57.146215 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.183, -0.637826)
I0419 21:01:57.146236 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:57.146335 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293171456781.
I0419 21:01:57.162056 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:57.162225 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293171615206.
I0419 21:01:57.175904 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293171738285.
I0419 21:01:57.215878 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:57.216123 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293171908979.
I0419 21:01:57.217242 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:01:57.217360 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:57.217469 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293172020176.
I0419 21:01:57.218381 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.018624, 0.609868), points=22, range=0.610682, residual=0.0120726, extent=0.0376514
I0419 21:01:57.218474 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.018624, 0.609868), tracking=(0.317124, 0.609868), map_predicted=(10.5963, -2.53225), range=0.610682, pts=22
I0419 21:01:57.218531 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0821772m maha_sq=0.292594 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5963, -2.53225) lm_pos=(10.515, -2.52) delta=(0.0812585, -0.0122534) -> 1 candidate(s)
I0419 21:01:57.218641 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293172168807.
I0419 21:01:57.234061 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293172336043.
I0419 21:01:57.246274 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.211258 range=0.60981 variance=0.000567154 t_weight=5289.57 r_weight=0 yaml=(10.515, -2.52) prior=(10.8776, -1.91989, -179.265deg) obs_actual=(0.302053, 0.610339) obs_expected=(0.370245, 0.59541) delta=(-0.0681926, 0.0149289) |delta|=0.0698077m
I0419 21:01:57.246410 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293172457432.
I0419 21:01:57.279747 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293172776310.
I0419 21:01:57.306160 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293173054373.
I0419 21:01:57.342816 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.2447, -0.636491)
I0419 21:01:57.344036 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293173341050.
I0419 21:01:57.366155 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:57.366268 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:57.366292 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293173656386.
I0419 21:01:57.378968 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567941s, prior_pose=(10.824, -1.92239), yaw=-179.219 deg
I0419 21:01:57.379069 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1449, max_intensity=234, threshold=230, above_threshold=2, candidates=2
I0419 21:01:57.394315 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293173936600.
I0419 21:01:57.410079 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293174095694.
I0419 21:01:57.422276 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293174217469.
I0419 21:01:57.438127 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:57.438226 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:57.438331 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293174376286.
I0419 21:01:57.483651 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293174541702.
I0419 21:01:57.484834 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28471, -0.638204), points=3, range=1.43033, residual=0.00825149, extent=0.0154293
I0419 21:01:57.484935 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28471, -0.638204), tracking=(-1.58321, 0.638204), map_predicted=(12.4136, -2.53808), range=1.43033, pts=3
I0419 21:01:57.484964 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.100261m maha_sq=0.436216 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.4136, -2.53808) lm_pos=(12.315, -2.52) delta=(0.098617, -0.0180822) -> 1 candidate(s)
I0419 21:01:57.485001 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:57.485049 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293174697754.
I0419 21:01:57.487922 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293174819394.
I0419 21:01:57.498488 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.28602, -0.641189)
I0419 21:01:57.509953 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.979 deg, rms_residual=0.0157637m, sigma_yaw=0.0205856 rad, N=2
I0419 21:01:57.510051 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0343292 range=1.03783 variance=0.000635032 t_weight=4724.17 r_weight=0 yaml=(9.615, -1.32) prior=(10.7933, -1.92171, -179.19deg) obs_actual=(1.14166, -0.612566) obs_expected=(1.16965, -0.618299) delta=(-0.0279911, 0.00573242) |delta|=0.0285721m
I0419 21:01:57.510123 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.7474, -1.91953, -179.979deg) inliers=2 rms=0.0157637m
I0419 21:01:57.510155 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293175093238.
I0419 21:01:57.526396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293175258712.
I0419 21:01:57.541880 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:57.542047 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293175413200.
I0419 21:01:57.569983 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293175693396.
I0419 21:01:57.611982 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:57.612314 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293175858952.
I0419 21:01:57.616905 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:57.617236 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:57.617503 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293175994998.
I0419 21:01:57.618875 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293176175489.
I0419 21:01:57.631361 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293176307169.
I0419 21:01:57.658126 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293176574137.
I0419 21:01:57.674412 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0433311s, prior_pose=(10.7343, -1.91889), yaw=-179.124 deg
I0419 21:01:57.674515 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=233, threshold=230, above_threshold=3, candidates=3
I0419 21:01:57.674652 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293176740480.
I0419 21:01:57.686885 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.782745, -0.612075)
I0419 21:01:57.687002 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.122886, 0.612988), points=23, range=0.626217, residual=0.0126523, extent=0.0408804
I0419 21:01:57.687027 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.122886, 0.612988), tracking=(0.175614, 0.612988), map_predicted=(10.5681, -2.53449), range=0.626217, pts=23
I0419 21:01:57.687089 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0550064m maha_sq=0.131012 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5681, -2.53449) lm_pos=(10.515, -2.52) delta=(0.0530636, -0.01449) -> 1 candidate(s)
I0419 21:01:57.687180 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293176863627.
I0419 21:01:57.743604 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293177181609.
I0419 21:01:57.744743 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=2, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:57.744807 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:01:57.746641 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:01:57.746734 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0812786 range=0.98 variance=0.000593483 t_weight=5054.9 r_weight=0 yaml=(9.615, -1.32) prior=(10.7238, -1.91951, -179.204deg) obs_actual=(1.05704, -0.6135) obs_expected=(1.10035, -0.614859) delta=(-0.0433031, 0.00135921) |delta|=0.0433244m
I0419 21:01:57.746799 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:57.746821 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293177461477.
I0419 21:01:57.762754 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293177622777.
I0419 21:01:57.778343 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293177777886.
I0419 21:01:57.803550 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293178028025.
I0419 21:01:57.834321 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293178337425.
I0419 21:01:57.869290 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.6868, -1.92859), yaw=-179.136 deg backend=(11.1752, -1.90612)
I0419 21:01:57.870358 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293178493426.
I0419 21:01:57.871418 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.728211, -0.612778)
I0419 21:01:57.871515 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:01:57.871587 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293178617988.
I0419 21:01:57.878723 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293178778906.
I0419 21:01:57.894730 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293178937139.
I0419 21:01:57.910203 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293179094782.
I0419 21:01:57.922747 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.190633, 0.616978), points=22, range=0.647773, residual=0.013996, extent=0.0398436
I0419 21:01:57.922868 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.190633, 0.616978), tracking=(0.107867, 0.616978), map_predicted=(10.5625, -2.54244), range=0.647773, pts=22
I0419 21:01:57.922919 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0525746m maha_sq=0.119495 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5625, -2.54244) lm_pos=(10.515, -2.52) delta=(0.047543, -0.0224444) -> 1 candidate(s)
I0419 21:01:57.923010 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:01:57.923158 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293179219579.
I0419 21:01:57.950544 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293179499248.
I0419 21:01:57.966288 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0721221s, prior_pose=(10.6395, -1.91994), yaw=-179.174 deg
I0419 21:01:57.966408 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1468, max_intensity=235, threshold=230, above_threshold=3, candidates=3
I0419 21:01:57.966485 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:57.966562 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.127137 range=1.56367 variance=0.000644088 t_weight=4657.75 r_weight=0 yaml=(12.315, -2.52) prior=(10.6395, -1.91994, -179.174deg) obs_actual=(-1.71528, 0.648145) obs_expected=(-1.66664, 0.624139) delta=(-0.0486437, 0.0240054) |delta|=0.0542445m
I0419 21:01:57.966666 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293179658360.
I0419 21:01:58.026996 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:58.027130 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:58.027262 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293179820171.
I0419 21:01:58.028741 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:01:58.030179 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.681993, -0.612208)
I0419 21:01:58.030390 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293180092785.
I0419 21:01:58.035501 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=2, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:58.035604 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:01:58.039788 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293180387424.
I0419 21:01:58.070816 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293180702099.
I0419 21:01:58.097811 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.255 deg, rms_residual=0.00930065m, sigma_yaw=0.00995761 rad, N=3
I0419 21:01:58.097934 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.5687, -1.91096, -179.255deg) inliers=3 rms=0.00930065m
I0419 21:01:58.097975 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293180972329.
I0419 21:01:58.135303 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293181134929.
I0419 21:01:58.136533 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293181257621.
I0419 21:01:58.146373 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(-0.348865, -0.60842)
I0419 21:01:58.146507 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:58.146620 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:58.146646 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293181458361.
I0419 21:01:58.158517 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.26036, 0.618299), points=19, range=0.673053, residual=0.0127512, extent=0.0362325
I0419 21:01:58.158623 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.26036, 0.618299), tracking=(0.03814, 0.618299), map_predicted=(10.5291, -2.53092), range=0.673053, pts=19
I0419 21:01:58.158656 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0178601m maha_sq=0.01364 (gate chi2=5.99) pose_sigma=(0.150954, 0.150954, rho=0) det_map=(10.5291, -2.53092) lm_pos=(10.515, -2.52) delta=(0.0141363, -0.0109155) -> 1 candidate(s)
I0419 21:01:58.158779 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293181580588.
I0419 21:01:58.174173 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293181734832.
I0419 21:01:58.186573 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0441741 range=0.677158 variance=0.000602826 t_weight=4976.56 r_weight=0 yaml=(10.515, -2.52) prior=(10.556, -1.91202, -178.955deg) obs_actual=(0.0226197, 0.619494) obs_expected=(0.0520749, 0.607127) delta=(-0.0294552, 0.0123667) |delta|=0.031946m
I0419 21:01:58.186762 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293181858383.
I0419 21:01:58.202438 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293182016493.
I0419 21:01:58.214679 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293182139871.
I0419 21:01:58.230659 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:58.230822 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293182300128.
I0419 21:01:58.283519 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.367425, 0.589935)
I0419 21:01:58.283723 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293182465911.
I0419 21:01:58.284720 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599716s, prior_pose=(10.5644, -1.91257), yaw=-179.01 deg
I0419 21:01:58.284812 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1480, max_intensity=250, threshold=230, above_threshold=28, candidates=28
I0419 21:01:58.285006 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293182616209.
I0419 21:01:58.286031 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293182738794.
I0419 21:01:58.290257 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:58.290409 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293182897662.
I0419 21:01:58.306404 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293183055238.
I0419 21:01:58.318044 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:58.318182 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:58.318219 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:58.318322 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293183175161.
I0419 21:01:58.334029 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:58.334138 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:58.334273 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293183334923.
I0419 21:01:58.350829 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.293174, -0.609957)
I0419 21:01:58.350935 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.289918, -0.610054), points=19, range=0.676842, residual=0.0123707, extent=0.0383989
I0419 21:01:58.350968 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.289918, -0.610054), tracking=(-0.00858187, 0.610054), map_predicted=(10.5383, -2.52219), range=0.676842, pts=19
I0419 21:01:58.351001 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0233656m maha_sq=0.023645 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5383, -2.52219) lm_pos=(10.515, -2.52) delta=(0.0232626, -0.0021909) -> 1 candidate(s)
I0419 21:01:58.351142 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293183501984.
I0419 21:01:58.362068 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 33 -> 26 (threshold=0.03, iters=3)
I0419 21:01:58.362290 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293183614935.
I0419 21:01:58.398391 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0286426 range=0.6739 variance=0.000585297 t_weight=5125.61 r_weight=0 yaml=(10.515, -2.52) prior=(10.5134, -1.91393, -178.86deg) obs_actual=(-0.0149124, 0.610405) obs_expected=(0.010487, 0.605981) delta=(-0.0253994, 0.00442361) |delta|=0.0257817m
I0419 21:01:58.398543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293183779087.
I0419 21:01:58.399783 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293183901774.
I0419 21:01:58.410015 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293184094605.
I0419 21:01:58.423311 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293184219680.
I0419 21:01:58.438488 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:58.438657 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:58.438700 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293184378278.
I0419 21:01:58.450274 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.545113, -0.61241)
I0419 21:01:58.450580 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293184495664.
I0419 21:01:58.466176 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293184652847.
I0419 21:01:58.483062 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293184822785.
I0419 21:01:58.494417 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293184937960.
I0419 21:01:58.531868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293185098177.
I0419 21:01:58.532169 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:01:58.532819 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.238586, -0.610876), points=19, range=0.656526, residual=0.0112958, extent=0.0349391
I0419 21:01:58.532898 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.238586, -0.610876), tracking=(-0.0599139, 0.610876), map_predicted=(10.5354, -2.52348), range=0.656526, pts=19
I0419 21:01:58.532925 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0206775m maha_sq=0.0185385 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5354, -2.52348) lm_pos=(10.515, -2.52) delta=(0.0203825, -0.00348068) -> 1 candidate(s)
I0419 21:01:58.532970 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:58.533012 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293185258760.
I0419 21:01:58.543087 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293185417741.
I0419 21:01:58.553714 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043519s, prior_pose=(10.4474, -1.91529), yaw=-178.808 deg
I0419 21:01:58.553812 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 21:01:58.553987 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00722595 range=0.655227 variance=0.000623333 t_weight=4812.84 r_weight=0 yaml=(10.515, -2.52) prior=(10.4474, -1.91529, -178.808deg) obs_actual=(-0.0670292, 0.610875) obs_expected=(-0.0549602, 0.605981) delta=(-0.0120691, 0.00489443) |delta|=0.0130237m
I0419 21:01:58.554059 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293185533367.
I0419 21:01:58.570569 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293185700229.
I0419 21:01:58.585970 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.224769, -0.611943)
I0419 21:01:58.586112 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:58.586315 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293185854120.
I0419 21:01:58.598610 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293185975923.
I0419 21:01:58.613900 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:01:58.614002 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:01:58.614037 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:58.614126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293186134001.
I0419 21:01:58.626760 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:58.626857 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:58.626998 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293186258959.
I0419 21:01:58.666253 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293186421840.
I0419 21:01:58.667209 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293186541667.
I0419 21:01:58.670469 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293186698519.
I0419 21:01:58.686062 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293186852534.
I0419 21:01:58.702531 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293187018675.
I0419 21:01:58.713830 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293187132493.
I0419 21:01:58.714975 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.4048, -1.91228), yaw=-178.748 deg backend=(11.1678, -1.90592)
I0419 21:01:58.730201 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.18115, -0.61144)
I0419 21:01:58.730341 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:58.730392 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:58.730409 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293187297095.
I0419 21:01:58.746032 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293187454959.
I0419 21:01:58.762653 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.169466, -0.611048), points=21, range=0.635286, residual=0.0120974, extent=0.0376099
I0419 21:01:58.762768 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.169466, -0.611048), tracking=(-0.129034, 0.611048), map_predicted=(10.5471, -2.52036), range=0.635286, pts=21
I0419 21:01:58.762804 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0321322m maha_sq=0.0447319 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5471, -2.52036) lm_pos=(10.515, -2.52) delta=(0.0321301, -0.000363985) -> 1 candidate(s)
I0419 21:01:58.762893 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293187621589.
I0419 21:01:58.798062 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.645 deg, rms_residual=0.00895899m, sigma_yaw=0.0118043 rad, N=2
I0419 21:01:58.798172 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.3732, -1.90453, -178.645deg) inliers=2 rms=0.00895899m
I0419 21:01:58.798214 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293187734351.
I0419 21:01:58.799402 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0715159 range=0.630727 variance=0.000612136 t_weight=4900.87 r_weight=0 yaml=(10.515, -2.52) prior=(10.4056, -1.91141, -178.676deg) obs_actual=(-0.135762, 0.607391) obs_expected=(-0.0952632, 0.610957) delta=(-0.040499, -0.003566) |delta|=0.0406557m
I0419 21:01:58.799527 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293187900331.
I0419 21:01:58.802006 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293188015085.
I0419 21:01:58.819478 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:58.819643 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293188190430.
I0419 21:01:58.834153 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293188335904.
I0419 21:01:58.851194 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0774604s, prior_pose=(10.3868, -1.90956), yaw=-178.643 deg
I0419 21:01:58.851320 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1443, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:01:58.851506 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293188508955.
I0419 21:01:58.863251 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293188625009.
I0419 21:01:58.878638 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:58.878800 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293188781958.
I0419 21:01:58.894726 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293188941866.
I0419 21:01:58.930101 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:58.930194 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:58.930222 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:58.930297 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293189073871.
I0419 21:01:58.931187 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.34166, 0.583358)
I0419 21:01:58.931231 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:58.931252 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:58.931313 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293189226300.
I0419 21:01:58.937891 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293189374149.
I0419 21:01:58.950660 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293189500019.
I0419 21:01:58.966529 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293189657331.
I0419 21:01:58.979557 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32537, 0.583168), points=3, range=1.442, residual=0.0116091, extent=0.0235432
I0419 21:01:58.979661 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.32537, 0.583168), tracking=(1.62387, 0.583168), map_predicted=(8.75113, -2.52525), range=1.442, pts=3
I0419 21:01:58.979699 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0365083m maha_sq=0.0576701 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75113, -2.52525) lm_pos=(8.715, -2.52) delta=(0.0361287, -0.005251) -> 1 candidate(s)
I0419 21:01:58.979803 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293189788280.
I0419 21:01:58.998745 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293189980050.
I0419 21:01:59.010674 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0351471 range=1.42833 variance=0.000559801 t_weight=5359.05 r_weight=0 yaml=(8.715, -2.52) prior=(10.3382, -1.90287, -178.685deg) obs_actual=(1.60846, 0.580942) obs_expected=(1.6369, 0.579712) delta=(-0.0284424, 0.00123031) |delta|=0.028469m
I0419 21:01:59.010840 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293190101744.
I0419 21:01:59.022553 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:59.022686 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:59.022713 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293190220148.
I0419 21:01:59.057521 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293190379444.
I0419 21:01:59.058617 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293190537096.
I0419 21:01:59.070050 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293190693988.
I0419 21:01:59.082137 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293190816277.
I0419 21:01:59.098065 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293190973611.
I0419 21:01:59.114799 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:59.115129 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293191142848.
I0419 21:01:59.126462 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.33588, -0.607787)
I0419 21:01:59.126811 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293191259658.
I0419 21:01:59.141950 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599602s, prior_pose=(10.291, -1.8989), yaw=-178.59 deg
I0419 21:01:59.142048 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1453, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:59.142246 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293191415879.
I0419 21:01:59.154982 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293191544849.
I0419 21:01:59.191771 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:59.192013 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293191723347.
I0419 21:01:59.193181 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293191896520.
I0419 21:01:59.201880 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:59.201970 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:59.202005 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:59.202087 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293192012420.
I0419 21:01:59.214514 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:59.214640 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.30664, -0.601719), points=18, range=0.678444, residual=0.0137109, extent=0.045203
I0419 21:01:59.214661 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:59.214677 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.30664, -0.601719), tracking=(0.60514, -0.601719), map_predicted=(9.6615, -1.30851), range=0.678444, pts=18
I0419 21:01:59.214701 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0478977m maha_sq=0.0968373 (gate chi2=5.99) pose_sigma=(0.151877, 0.151877, rho=0) det_map=(9.6615, -1.30851) lm_pos=(9.615, -1.32) delta=(0.0464984, 0.0114926) -> 1 candidate(s)
I0419 21:01:59.214792 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293192140095.
I0419 21:01:59.231141 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293192306076.
I0419 21:01:59.242163 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.137313 range=0.675722 variance=0.000653316 t_weight=4591.96 r_weight=0 yaml=(9.615, -1.32) prior=(10.2795, -1.897, -178.761deg) obs_actual=(0.596625, -0.602486) obs_expected=(0.651876, -0.591234) delta=(-0.0552509, -0.0112515) |delta|=0.0563849m
I0419 21:01:59.242306 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293192416366.
I0419 21:01:59.262060 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293192615135.
I0419 21:01:59.274061 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293192735903.
I0419 21:01:59.290689 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293192901131.
I0419 21:01:59.325423 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293193013072.
I0419 21:01:59.326620 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.000736766, -0.609956)
I0419 21:01:59.326732 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:59.326798 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:59.326826 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293193179667.
I0419 21:01:59.334546 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293193337529.
I0419 21:01:59.350201 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293193493046.
I0419 21:01:59.362421 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293193616248.
I0419 21:01:59.378664 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293193774991.
I0419 21:01:59.394719 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293193933412.
I0419 21:01:59.407011 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:59.407289 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293194061401.
I0419 21:01:59.422842 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.253641, -0.597376), points=20, range=0.65215, residual=0.0149019, extent=0.0510803
I0419 21:01:59.423079 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.253641, -0.597376), tracking=(0.552141, -0.597376), map_predicted=(9.66443, -1.31267), range=0.65215, pts=20
I0419 21:01:59.423144 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0499682m maha_sq=0.107818 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66443, -1.31267) lm_pos=(9.615, -1.32) delta=(0.0494283, 0.00732564) -> 1 candidate(s)
I0419 21:01:59.423389 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293194219329.
I0419 21:01:59.486562 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0448838s, prior_pose=(10.2366, -1.90171), yaw=-179.312 deg
I0419 21:01:59.486783 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:01:59.487092 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293194382250.
I0419 21:01:59.488523 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.210724 range=0.64905 variance=0.000620849 t_weight=4832.09 r_weight=0 yaml=(9.615, -1.32) prior=(10.2366, -1.90171, -179.312deg) obs_actual=(0.545391, -0.598384) obs_expected=(0.614576, -0.589135) delta=(-0.069185, -0.00924963) |delta|=0.0698006m
I0419 21:01:59.488708 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293194500145.
I0419 21:01:59.489959 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:59.490137 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293194657062.
I0419 21:01:59.492193 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293194773496.
I0419 21:01:59.494920 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:59.494997 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:59.495023 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:59.495122 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293194944364.
I0419 21:01:59.506740 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.15797, 0.61785)
I0419 21:01:59.506842 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:59.506880 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:59.507009 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293195060817.
I0419 21:01:59.526661 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293195257926.
I0419 21:01:59.539105 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293195380954.
I0419 21:01:59.554875 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293195537063.
I0419 21:01:59.623533 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.747 deg, rms_residual=0.0148843m, sigma_yaw=0.0194596 rad, N=2
I0419 21:01:59.623718 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.1407, -1.90077, -179.747deg) inliers=2 rms=0.0148843m
I0419 21:01:59.623835 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293195700490.
I0419 21:01:59.625476 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293195903000.
I0419 21:01:59.626647 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293195978141.
I0419 21:01:59.628026 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.1672, -1.901), yaw=-179.76 deg backend=(11.0168, -1.90807)
I0419 21:01:59.629056 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:59.629192 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:59.629221 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293196136871.
I0419 21:01:59.630292 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.199709, -0.593742), points=22, range=0.627045, residual=0.0142129, extent=0.0500364
I0419 21:01:59.630366 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.199709, -0.593742), tracking=(0.498209, -0.593742), map_predicted=(9.66654, -1.30935), range=0.627045, pts=22
I0419 21:01:59.630395 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0526266m maha_sq=0.119703 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66654, -1.30935) lm_pos=(9.615, -1.32) delta=(0.0515373, 0.0106521) -> 1 candidate(s)
I0419 21:01:59.630494 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293196261968.
I0419 21:01:59.642594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293196416476.
I0419 21:01:59.655220 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0740922 range=0.625286 variance=0.000642023 t_weight=4672.73 r_weight=0 yaml=(9.615, -1.32) prior=(10.1446, -1.90149, -179.85deg) obs_actual=(0.487368, -0.592813) obs_expected=(0.528033, -0.582872) delta=(-0.040665, -0.00994034) |delta|=0.0418623m
I0419 21:01:59.655458 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293196541834.
I0419 21:01:59.670846 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293196698533.
I0419 21:01:59.687150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293196860134.
I0419 21:01:59.748579 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:01:59.748750 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293197019463.
I0419 21:01:59.749923 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.177653, -0.593008)
I0419 21:01:59.750139 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293197142307.
I0419 21:01:59.751291 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759694s, prior_pose=(10.1456, -1.90092), yaw=-179.851 deg
I0419 21:01:59.751377 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:01:59.751562 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293197301528.
I0419 21:01:59.753597 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293197460394.
I0419 21:01:59.758555 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:01:59.758795 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293197576935.
I0419 21:01:59.774704 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293197736754.
I0419 21:01:59.790879 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:01:59.791069 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:01:59.791150 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:01:59.791368 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293197900133.
I0419 21:01:59.802559 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:01:59.802764 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:01:59.803056 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293198015295.
I0419 21:01:59.818668 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.156127, -0.603662), points=21, range=0.624048, residual=0.0117705, extent=0.036962
I0419 21:01:59.818831 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.156127, -0.603662), tracking=(-0.454627, 0.603662), map_predicted=(10.5523, -2.50355), range=0.624048, pts=21
I0419 21:01:59.818892 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0407623m maha_sq=0.0720125 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5523, -2.50355) lm_pos=(10.515, -2.52) delta=(0.0372962, 0.0164486) -> 1 candidate(s)
I0419 21:01:59.819093 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293198176961.
I0419 21:01:59.886989 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293198302741.
I0419 21:01:59.888913 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293198462242.
I0419 21:01:59.890920 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.277533 range=0.600048 variance=0.000580298 t_weight=5169.76 r_weight=0 yaml=(9.615, -1.32) prior=(10.1246, -1.89874, 179.671deg) obs_actual=(0.433175, -0.583239) obs_expected=(0.512864, -0.575809) delta=(-0.079689, -0.00743072) |delta|=0.0800347m
I0419 21:01:59.891168 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293198612002.
I0419 21:01:59.894318 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293198779753.
I0419 21:01:59.896142 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293198941796.
I0419 21:01:59.906266 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.190729, -0.604712)
I0419 21:01:59.906479 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:01:59.906600 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:01:59.906641 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293199055469.
I0419 21:01:59.919026 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293199181425.
I0419 21:01:59.938782 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293199375163.
I0419 21:01:59.950731 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293199494969.
I0419 21:02:00.017475 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293199656249.
I0419 21:02:00.017793 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:00.018951 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293199779233.
I0419 21:02:00.020198 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:00.020341 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293199937191.
I0419 21:02:00.022707 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293200101771.
I0419 21:02:00.026526 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604822s, prior_pose=(10.0535, -1.89859), yaw=179.112 deg
I0419 21:02:00.026638 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1470, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:02:00.026829 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293200261071.
I0419 21:02:00.038319 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293200377177.
I0419 21:02:00.054687 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:00.054857 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293200540502.
I0419 21:02:00.065864 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0811798, -0.583535), points=22, range=0.590091, residual=0.0119471, extent=0.0409768
I0419 21:02:00.065980 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0811798, -0.583535), tracking=(0.37968, -0.583535), map_predicted=(9.66122, -1.30898), range=0.590091, pts=22
I0419 21:02:00.066018 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.047518m maha_sq=0.0978468 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66122, -1.30898) lm_pos=(9.615, -1.32) delta=(0.0462225, 0.0110198) -> 1 candidate(s)
I0419 21:02:00.066129 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293200652410.
I0419 21:02:00.087086 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:00.087239 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:00.087311 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:00.087446 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293200859079.
I0419 21:02:00.123539 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0725067, -0.583045)
I0419 21:02:00.123648 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:00.123675 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:00.123777 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.129178 range=0.587636 variance=0.000569324 t_weight=5269.41 r_weight=0 yaml=(9.615, -1.32) prior=(10.0293, -1.89927, 178.992deg) obs_actual=(0.370944, -0.582893) obs_expected=(0.424458, -0.571889) delta=(-0.0535132, -0.0110036) |delta|=0.0546328m
I0419 21:02:00.123827 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293200973940.
I0419 21:02:00.124711 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293201095341.
I0419 21:02:00.126718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293201261974.
I0419 21:02:00.142365 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293201416332.
I0419 21:02:00.154302 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293201537289.
I0419 21:02:00.169938 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293201694027.
I0419 21:02:00.186663 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293201860663.
I0419 21:02:00.202078 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:00.202461 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:00.202662 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293202015243.
I0419 21:02:00.214057 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293202135716.
I0419 21:02:00.246954 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293202299640.
I0419 21:02:00.247964 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293202419744.
I0419 21:02:00.258128 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293202576421.
I0419 21:02:00.274398 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.017726, -0.579996), points=22, range=0.582136, residual=0.0122435, extent=0.0401133
I0419 21:02:00.274495 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.017726, -0.579996), tracking=(0.316226, -0.579996), map_predicted=(9.65345, -1.31152), range=0.582136, pts=22
I0419 21:02:00.274525 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0393781m maha_sq=0.0657693 (gate chi2=5.99) pose_sigma=(0.151636, 0.151636, rho=0) det_map=(9.65345, -1.31152) lm_pos=(9.615, -1.32) delta=(0.0384535, 0.00848323) -> 1 candidate(s)
I0419 21:02:00.274609 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293202739904.
I0419 21:02:00.289770 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.310296, -0.602303)
I0419 21:02:00.289955 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:00.290020 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293202892360.
I0419 21:02:00.300730 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0837994 range=0.582174 variance=0.000581791 t_weight=5156.49 r_weight=0 yaml=(9.615, -1.32) prior=(9.95801, -1.89773, 178.853deg) obs_actual=(0.312065, -0.582294) obs_expected=(0.354502, -0.570745) delta=(-0.0424366, -0.0115489) |delta|=0.04398m
I0419 21:02:00.300936 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293203000691.
I0419 21:02:00.318897 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442003s, prior_pose=(9.93712, -1.8987), yaw=178.868 deg
I0419 21:02:00.319353 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1463, max_intensity=253, threshold=230, above_threshold=19, candidates=19
I0419 21:02:00.319684 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293203181907.
I0419 21:02:00.329993 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293203293920.
I0419 21:02:00.346367 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:00.346514 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293203458778.
I0419 21:02:00.381623 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293203582910.
I0419 21:02:00.382685 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:00.382735 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:00.382764 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:00.382817 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293203778251.
I0419 21:02:00.393777 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:00.393918 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:00.393992 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.669 deg, rms_residual=0.0110401m, sigma_yaw=0.0145066 rad, N=2
I0419 21:02:00.394032 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.88957, -1.90023, 178.669deg) inliers=2 rms=0.0110401m
I0419 21:02:00.394068 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293203932299.
I0419 21:02:00.406064 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293204054805.
I0419 21:02:00.418259 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293204175743.
I0419 21:02:00.434304 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293204337794.
I0419 21:02:00.449997 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293204494456.
I0419 21:02:00.466516 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293204658585.
I0419 21:02:00.477912 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.846988, 0.648906)
I0419 21:02:00.478013 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.850518, 0.64869), points=4, range=1.067, residual=0.00797086, extent=0.0187039
I0419 21:02:00.478039 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.850518, 0.64869), tracking=(1.14902, 0.64869), map_predicted=(8.741, -2.52749), range=1.067, pts=4
I0419 21:02:00.478092 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0270605m maha_sq=0.0318144 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.741, -2.52749) lm_pos=(8.715, -2.52) delta=(0.0260026, -0.00749253) -> 1 candidate(s)
I0419 21:02:00.478183 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293204774722.
I0419 21:02:00.514436 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.91279, -1.89912), yaw=178.99 deg backend=(11.0252, -1.90296)
I0419 21:02:00.515450 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:00.515545 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:00.515573 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293204941036.
I0419 21:02:00.516549 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.124081 range=1.0538 variance=0.000618431 t_weight=4850.99 r_weight=0 yaml=(8.715, -2.52) prior=(9.91279, -1.89912, 178.99deg) obs_actual=(1.13365, 0.649516) obs_expected=(1.18666, 0.641895) delta=(-0.053014, 0.00762076) |delta|=0.0535589m
I0419 21:02:00.516634 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293205054866.
I0419 21:02:00.523128 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293205222097.
I0419 21:02:00.538712 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293205379221.
I0419 21:02:00.554827 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293205539514.
I0419 21:02:00.566644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293205656452.
I0419 21:02:00.582808 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:00.582969 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293205817931.
I0419 21:02:00.595239 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293205942492.
I0419 21:02:00.610145 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0719254s, prior_pose=(9.86235, -1.89849), yaw=179.12 deg
I0419 21:02:00.610237 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1446, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 21:02:00.610411 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293206098475.
I0419 21:02:00.646965 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293206221995.
I0419 21:02:00.648054 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:00.648141 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293206417428.
I0419 21:02:00.654318 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293206538516.
I0419 21:02:00.669793 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:00.669895 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:00.669958 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:00.670039 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293206693659.
I0419 21:02:00.681910 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.106773, -0.585635)
I0419 21:02:00.681996 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:00.682021 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.110099, -0.584484), points=21, range=0.595381, residual=0.0113653, extent=0.0368503
I0419 21:02:00.682070 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:00.682088 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.110099, -0.584484), tracking=(0.188401, -0.584484), map_predicted=(9.66405, -1.31155), range=0.595381, pts=21
I0419 21:02:00.682114 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0497734m maha_sq=0.107418 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66405, -1.31155) lm_pos=(9.615, -1.32) delta=(0.0490502, 0.00845419) -> 1 candidate(s)
I0419 21:02:00.682212 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293206813701.
I0419 21:02:00.697852 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293206972933.
I0419 21:02:00.714334 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0546972 range=0.596619 variance=0.000560139 t_weight=5355.81 r_weight=0 yaml=(9.615, -1.32) prior=(9.81978, -1.89944, 179.199deg) obs_actual=(0.177816, -0.584373) obs_expected=(0.212866, -0.576519) delta=(-0.0350495, -0.00785387) |delta|=0.0359187m
I0419 21:02:00.714458 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293207138192.
I0419 21:02:00.729712 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293207291381.
I0419 21:02:00.742511 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293207418228.
I0419 21:02:00.782469 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293207578288.
I0419 21:02:00.783586 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293207700283.
I0419 21:02:00.785866 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:00.785983 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:00.786006 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293207854125.
I0419 21:02:00.804822 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293208042976.
I0419 21:02:00.817952 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293208173303.
I0419 21:02:00.830022 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293208294540.
I0419 21:02:00.846037 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293208455516.
I0419 21:02:00.858641 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293208581125.
I0419 21:02:00.874763 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.476585, -0.615414)
I0419 21:02:00.875085 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.473498, -0.615169), points=14, range=0.778429, residual=0.0116439, extent=0.0346686
I0419 21:02:00.875134 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.473498, -0.615169), tracking=(-0.771998, 0.615169), map_predicted=(10.5407, -2.52219), range=0.778429, pts=14
I0419 21:02:00.875172 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0257662m maha_sq=0.0287704 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5407, -2.52219) lm_pos=(10.515, -2.52) delta=(0.0256729, -0.00219104) -> 1 candidate(s)
I0419 21:02:00.875234 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:00.875304 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293208739124.
I0419 21:02:00.925206 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293208897007.
I0419 21:02:00.926100 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598596s, prior_pose=(9.81692, -1.90133), yaw=179.591 deg
I0419 21:02:00.926174 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1447, max_intensity=251, threshold=230, above_threshold=14, candidates=14
I0419 21:02:00.926282 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.275921 range=0.787 variance=0.00061209 t_weight=4901.24 r_weight=0 yaml=(10.515, -2.52) prior=(9.81692, -1.90133, 179.591deg) obs_actual=(-0.782247, 0.617231) obs_expected=(-0.70247, 0.613674) delta=(-0.0797775, 0.00355749) |delta|=0.0798568m
I0419 21:02:00.926328 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293209054112.
I0419 21:02:00.927143 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293209175216.
I0419 21:02:00.934448 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:00.934922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293209340631.
I0419 21:02:00.950572 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293209499425.
I0419 21:02:00.962555 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:00.962659 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:00.962777 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:00.962873 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293209620915.
I0419 21:02:00.979209 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:00.979357 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:00.979521 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293209778643.
I0419 21:02:00.994185 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293209933290.
I0419 21:02:01.006805 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.53 deg, rms_residual=0.0134192m, sigma_yaw=0.0175777 rad, N=2
I0419 21:02:01.007118 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.70385, -1.90002, 179.53deg) inliers=2 rms=0.0134192m
I0419 21:02:01.007200 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293210056631.
I0419 21:02:01.071002 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293210224211.
I0419 21:02:01.072472 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293210379510.
I0419 21:02:01.073861 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293210501590.
I0419 21:02:01.075748 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.672437, 0.638051)
I0419 21:02:01.075845 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.669025, 0.638543), points=9, range=0.927, residual=0.00999358, extent=0.0280587
I0419 21:02:01.075873 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.669025, 0.638543), tracking=(0.967525, 0.638543), map_predicted=(8.75494, -2.54311), range=0.927, pts=9
I0419 21:02:01.075903 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0461463m maha_sq=0.0899221 (gate chi2=5.99) pose_sigma=(0.152102, 0.152102, rho=0) det_map=(8.75494, -2.54311) lm_pos=(8.715, -2.52) delta=(0.0399421, -0.0231108) -> 1 candidate(s)
I0419 21:02:01.076013 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293210658801.
I0419 21:02:01.082603 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:01.082765 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:01.082813 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293210820119.
I0419 21:02:01.098948 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.100151 range=0.9209 variance=0.000559132 t_weight=5365.45 r_weight=0 yaml=(8.715, -2.52) prior=(9.72555, -1.90926, 179.722deg) obs_actual=(0.965075, 0.63805) obs_expected=(1.00758, 0.615626) delta=(-0.0425038, 0.0224239) |delta|=0.0480563m
I0419 21:02:01.099224 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293210980416.
I0419 21:02:01.111433 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293211103907.
I0419 21:02:01.126489 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293211253797.
I0419 21:02:01.142450 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293211414321.
I0419 21:02:01.207409 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293211540751.
I0419 21:02:01.209002 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:01.209267 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293211699757.
I0419 21:02:01.210516 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293211813301.
I0419 21:02:01.212672 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520676s, prior_pose=(9.67125, -1.90222), yaw=179.686 deg
I0419 21:02:01.212774 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=249, threshold=230, above_threshold=30, candidates=30
I0419 21:02:01.213056 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212061427.
I0419 21:02:01.214259 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212132120.
I0419 21:02:01.230785 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.325763, 0.585423)
I0419 21:02:01.230969 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:01.231163 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212298675.
I0419 21:02:01.243108 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.27733, -0.590242), points=19, range=0.652789, residual=0.0114586, extent=0.0345761
I0419 21:02:01.243271 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.27733, -0.590242), tracking=(0.0211705, -0.590242), map_predicted=(9.63195, -1.30992), range=0.652789, pts=19
I0419 21:02:01.243335 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0197221m maha_sq=0.0165246 (gate chi2=5.99) pose_sigma=(0.151563, 0.151563, rho=0) det_map=(9.63195, -1.30992) lm_pos=(9.615, -1.32) delta=(0.01695, 0.0100826) -> 1 candidate(s)
I0419 21:02:01.243537 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212418030.
I0419 21:02:01.258605 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=43, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:01.258735 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:01.258811 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:01.258910 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00310152 range=0.667625 variance=0.000756863 t_weight=3963.73 r_weight=0 yaml=(9.615, -1.32) prior=(9.65039, -1.90025, 179.735deg) obs_actual=(0.0301874, -0.583234) obs_expected=(0.0380737, -0.580081) delta=(-0.00788631, -0.00315242) |delta|=0.00849303m
I0419 21:02:01.259053 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212576902.
I0419 21:02:01.271020 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:01.271157 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:01.271361 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212700929.
I0419 21:02:01.339789 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293212860703.
I0419 21:02:01.341511 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213021293.
I0419 21:02:01.343019 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213175946.
I0419 21:02:01.345335 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.593318, 0.638032)
I0419 21:02:01.345428 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 31 -> 16 (threshold=0.03, iters=3)
I0419 21:02:01.345551 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213301475.
I0419 21:02:01.346833 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213462024.
I0419 21:02:01.358757 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213577712.
I0419 21:02:01.360737 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.6139, -1.89542), yaw=179.733 deg backend=(10.83, -1.89766)
I0419 21:02:01.374500 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:01.374610 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.909 deg, rms_residual=0.00659098m, sigma_yaw=0.00871141 rad, N=2
I0419 21:02:01.374720 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.58645, -1.89564, -179.909deg) inliers=2 rms=0.00659098m
I0419 21:02:01.374786 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:01.374825 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213736656.
I0419 21:02:01.390688 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.344386, -0.586593), points=20, range=0.6665, residual=0.028479, extent=0.0519837
I0419 21:02:01.390920 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.344386, -0.586593), tracking=(-0.0458863, -0.586593), map_predicted=(9.66252, -1.30905), range=0.6665, pts=20
I0419 21:02:01.390981 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0487657m maha_sq=0.100142 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66252, -1.30905) lm_pos=(9.615, -1.32) delta=(0.0475201, 0.0109518) -> 1 candidate(s)
I0419 21:02:01.391199 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293213897623.
I0419 21:02:01.406663 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0595638 range=0.637105 variance=0.000587038 t_weight=5110.41 r_weight=0 yaml=(9.615, -1.32) prior=(9.6139, -1.89542, 179.733deg) obs_actual=(-0.0352356, -0.579848) obs_expected=(0.00158225, -0.575421) delta=(-0.0368179, -0.0044268) |delta|=0.037083m
I0419 21:02:01.406967 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293214054160.
I0419 21:02:01.469703 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293214182209.
I0419 21:02:01.470130 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:01.471263 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293214339700.
I0419 21:02:01.472405 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293214461309.
I0419 21:02:01.474803 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(-0.242994, 0.579247)
I0419 21:02:01.474973 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:01.475040 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293214658271.
I0419 21:02:01.477907 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293214774043.
I0419 21:02:01.494196 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0752294s, prior_pose=(9.60062, -1.89489), yaw=179.818 deg
I0419 21:02:01.494408 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1464, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:02:01.494946 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293214934503.
I0419 21:02:01.506356 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293215053486.
I0419 21:02:01.522363 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:01.522622 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293215213250.
I0419 21:02:01.534916 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293215340610.
I0419 21:02:01.575688 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:01.575811 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:01.575846 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:01.575934 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293215511542.
I0419 21:02:01.576934 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:01.577391 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.519834, 0.636201), points=11, range=0.820545, residual=0.00962581, extent=0.0269188
I0419 21:02:01.577437 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:01.577459 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.519834, 0.636201), tracking=(0.818334, 0.636201), map_predicted=(8.76698, -2.52982), range=0.820545, pts=11
I0419 21:02:01.577486 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0529041m maha_sq=0.121506 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.76698, -2.52982) lm_pos=(8.715, -2.52) delta=(0.0519849, -0.00981862) -> 1 candidate(s)
I0419 21:02:01.577566 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293215653343.
I0419 21:02:01.583636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293215831287.
I0419 21:02:01.594360 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0511013 range=0.817636 variance=0.000533594 t_weight=5622.25 r_weight=0 yaml=(8.715, -2.52) prior=(9.55805, -1.8957, 179.879deg) obs_actual=(0.809036, 0.637955) obs_expected=(0.841731, 0.626083) delta=(-0.0326954, 0.0118711) |delta|=0.0347838m
I0419 21:02:01.594499 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293215938246.
I0419 21:02:01.609939 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293216093779.
I0419 21:02:01.622031 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.43455, -0.572325)
I0419 21:02:01.622223 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293216215348.
I0419 21:02:01.638701 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293216381611.
I0419 21:02:01.653760 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293216532951.
I0419 21:02:01.670308 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:01.670475 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:01.670500 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293216696128.
I0419 21:02:01.700508 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293216818478.
I0419 21:02:01.702000 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293216972558.
I0419 21:02:01.714175 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293217136337.
I0419 21:02:01.726758 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293217260555.
I0419 21:02:01.743160 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293217426652.
I0419 21:02:01.757844 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.151039, 0.576968), points=21, range=0.598857, residual=0.0130172, extent=0.0367753
I0419 21:02:01.758024 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.151039, 0.576968), tracking=(-0.147461, -0.576968), map_predicted=(9.65623, -1.31674), range=0.598857, pts=21
I0419 21:02:01.758065 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0413553m maha_sq=0.0740262 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.65623, -1.31674) lm_pos=(9.615, -1.32) delta=(0.0412264, 0.00326151) -> 1 candidate(s)
I0419 21:02:01.758107 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:01.758167 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293217573441.
I0419 21:02:01.769945 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.38619, -0.571817)
I0419 21:02:01.770125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293217694949.
I0419 21:02:01.788561 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0621962s, prior_pose=(9.48721, -1.89357), yaw=179.958 deg
I0419 21:02:01.788681 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:02:01.788883 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0352243 range=0.595273 variance=0.000600552 t_weight=4995.4 r_weight=0 yaml=(9.615, -1.32) prior=(9.48721, -1.89357, 179.958deg) obs_actual=(-0.155817, -0.575738) obs_expected=(-0.127368, -0.573658) delta=(-0.0284496, -0.00207914) |delta|=0.0285255m
I0419 21:02:01.788944 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293217882517.
I0419 21:02:01.798719 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293217981116.
I0419 21:02:01.832764 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:01.832921 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293218177253.
I0419 21:02:01.834107 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293218301150.
I0419 21:02:01.849346 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:01.849435 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:01.849506 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:01.849602 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293218465575.
I0419 21:02:01.859324 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:01.859416 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:01.859510 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293218587001.
I0419 21:02:01.874980 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293218744072.
I0419 21:02:01.887100 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293218862401.
I0419 21:02:01.901737 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.682 deg, rms_residual=0.00750816m, sigma_yaw=0.00991165 rad, N=2
I0419 21:02:01.901851 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.427, -1.89008, -179.682deg) inliers=2 rms=0.00750816m
I0419 21:02:01.901891 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293219011805.
I0419 21:02:01.915601 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.35001, -0.575358)
I0419 21:02:01.915768 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293219151397.
I0419 21:02:01.934654 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293219337954.
I0419 21:02:01.965698 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.396042, 0.633763), points=13, range=0.749077, residual=0.00974104, extent=0.030769
I0419 21:02:01.965806 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.396042, 0.633763), tracking=(0.694542, 0.633763), map_predicted=(8.75705, -2.52221), range=0.749077, pts=13
I0419 21:02:01.965835 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0421067m maha_sq=0.076701 (gate chi2=5.99) pose_sigma=(0.150271, 0.150271, rho=0) det_map=(8.75705, -2.52221) lm_pos=(8.715, -2.52) delta=(0.0420485, -0.00221271) -> 1 candidate(s)
I0419 21:02:01.965936 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293219460219.
I0419 21:02:01.966969 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:01.967039 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:01.967068 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293219616992.
I0419 21:02:01.978240 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00319422 range=1.44333 variance=0.000564552 t_weight=5313.95 r_weight=0 yaml=(7.815, -1.32) prior=(9.45171, -1.88858, 179.989deg) obs_actual=(1.62891, -0.571587) obs_expected=(1.63682, -0.568266) delta=(-0.00791491, -0.00332076) |delta|=0.00858331m
I0419 21:02:01.978369 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293219777773.
I0419 21:02:01.990634 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293219900807.
I0419 21:02:02.006258 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293220056428.
I0419 21:02:02.021790 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293220212384.
I0419 21:02:02.033931 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293220333572.
I0419 21:02:02.051471 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:02.051622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293220508152.
I0419 21:02:02.070142 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.29631, -0.570374)
I0419 21:02:02.070399 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293220696633.
I0419 21:02:02.121886 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0447829s, prior_pose=(9.42408, -1.89855), yaw=179.911 deg
I0419 21:02:02.122000 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:02:02.122278 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293220781401.
I0419 21:02:02.123395 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293220939291.
I0419 21:02:02.124557 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0467372, 0.572338), points=23, range=0.57613, residual=0.0126146, extent=0.0392897
I0419 21:02:02.124605 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0467372, 0.572338), tracking=(-0.251763, -0.572338), map_predicted=(9.67673, -1.32661), range=0.57613, pts=23
I0419 21:02:02.124635 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0620812m maha_sq=0.166898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.67673, -1.32661) lm_pos=(9.615, -1.32) delta=(0.0617288, -0.00660605) -> 1 candidate(s)
I0419 21:02:02.124692 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:02.124748 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293221093704.
I0419 21:02:02.127099 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293221215353.
I0419 21:02:02.137985 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:02.138083 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:02.138124 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:02.138199 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0672006 range=0.575227 variance=0.000556686 t_weight=5389.04 r_weight=0 yaml=(9.615, -1.32) prior=(9.39596, -1.89535, 179.926deg) obs_actual=(-0.257572, -0.572919) obs_expected=(-0.218302, -0.575626) delta=(-0.0392695, 0.00270716) |delta|=0.0393627m
I0419 21:02:02.138257 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293221374988.
I0419 21:02:02.153978 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:02.154265 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:02.154496 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293221532860.
I0419 21:02:02.167695 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293221661548.
I0419 21:02:02.182305 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293221813936.
I0419 21:02:02.198908 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293221974693.
I0419 21:02:02.274742 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.24786, -0.568665)
I0419 21:02:02.274948 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222098937.
I0419 21:02:02.276448 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222260891.
I0419 21:02:02.278017 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222420151.
I0419 21:02:02.279556 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.35542, -1.8986), yaw=179.999 deg backend=(10.8272, -1.8941)
I0419 21:02:02.280903 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:02.280956 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.883 deg, rms_residual=0.00913562m, sigma_yaw=0.0120342 rad, N=2
I0419 21:02:02.281059 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.31484, -1.88184, 179.883deg) inliers=2 rms=0.00913562m
I0419 21:02:02.281116 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:02.281136 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222579591.
I0419 21:02:02.282349 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23696, -0.57243), points=4, range=1.359, residual=0.00953276, extent=0.0207103
I0419 21:02:02.282407 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.23696, -0.57243), tracking=(1.53546, -0.57243), map_predicted=(7.81997, -1.32613), range=1.359, pts=4
I0419 21:02:02.282483 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00789032m maha_sq=0.00269955 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81997, -1.32613) lm_pos=(7.815, -1.32) delta=(0.00496841, -0.00612961) -> 1 candidate(s)
I0419 21:02:02.282555 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222701662.
I0419 21:02:02.286648 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0844099 range=0.570227 variance=0.000560141 t_weight=5355.79 r_weight=0 yaml=(9.615, -1.32) prior=(9.35542, -1.8986, 179.999deg) obs_actual=(-0.302623, -0.568976) obs_expected=(-0.259566, -0.578602) delta=(-0.0430563, 0.00962574) |delta|=0.0441192m
I0419 21:02:02.286804 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222860108.
I0419 21:02:02.299316 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293222981498.
I0419 21:02:02.314989 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293223139242.
I0419 21:02:02.330175 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293223293439.
I0419 21:02:02.386850 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:02.387001 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293223451989.
I0419 21:02:02.388057 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.20586, -0.575142)
I0419 21:02:02.388216 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293223577560.
I0419 21:02:02.389042 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0750432s, prior_pose=(9.34542, -1.89628), yaw=-179.93 deg
I0419 21:02:02.389125 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1450, max_intensity=254, threshold=230, above_threshold=27, candidates=27
I0419 21:02:02.389307 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293223731930.
I0419 21:02:02.390879 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293223854582.
I0419 21:02:02.402365 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:02.402518 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224018371.
I0419 21:02:02.414579 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19289, -0.577508), points=4, range=1.32725, residual=0.00813597, extent=0.0197406
I0419 21:02:02.414672 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.19289, -0.577508), tracking=(1.49139, -0.577508), map_predicted=(7.82359, -1.31758), range=1.32725, pts=4
I0419 21:02:02.414701 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00892175m maha_sq=0.00345547 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.82359, -1.31758) lm_pos=(7.815, -1.32) delta=(0.00858817, 0.00241679) -> 1 candidate(s)
I0419 21:02:02.414785 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224141371.
I0419 21:02:02.437896 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:02.437994 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:02.438028 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:02.438092 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0462935 range=0.572708 variance=0.000583776 t_weight=5138.96 r_weight=0 yaml=(9.615, -1.32) prior=(9.29951, -1.89612, -179.87deg) obs_actual=(-0.349137, -0.569071) obs_expected=(-0.316794, -0.575406) delta=(-0.0323425, 0.00633437) |delta|=0.032957m
I0419 21:02:02.438144 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224373870.
I0419 21:02:02.446735 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:02.446833 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:02.446959 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224462212.
I0419 21:02:02.462209 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224615361.
I0419 21:02:02.499302 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224736198.
I0419 21:02:02.500478 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293224900927.
I0419 21:02:02.506654 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16023, -0.576331)
I0419 21:02:02.506865 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225061178.
I0419 21:02:02.522130 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225215612.
I0419 21:02:02.534142 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225336602.
I0419 21:02:02.549809 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:02.549901 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.729 deg, rms_residual=0.0102361m, sigma_yaw=0.0134644 rad, N=2
I0419 21:02:02.549934 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.22729, -1.88167, -179.729deg) inliers=2 rms=0.0102361m
I0419 21:02:02.549969 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:02.549989 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225493488.
I0419 21:02:02.561919 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1515, -0.580401), points=3, range=1.28567, residual=0.00764097, extent=0.0149948
I0419 21:02:02.562019 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1515, -0.580401), tracking=(1.45, -0.580401), map_predicted=(7.80227, -1.31818), range=1.28567, pts=3
I0419 21:02:02.562058 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0128567m maha_sq=0.00699707 (gate chi2=5.99) pose_sigma=(0.151982, 0.151982, rho=0) det_map=(7.80227, -1.31818) lm_pos=(7.815, -1.32) delta=(-0.0127268, 0.00182254) -> 1 candidate(s)
I0419 21:02:02.562150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225613780.
I0419 21:02:02.578333 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0412523 range=0.576435 variance=0.000564688 t_weight=5312.67 r_weight=0 yaml=(9.615, -1.32) prior=(9.25529, -1.89097, -179.699deg) obs_actual=(-0.393513, -0.567715) obs_expected=(-0.362697, -0.569071) delta=(-0.0308161, 0.00135571) |delta|=0.0308459m
I0419 21:02:02.578447 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225777109.
I0419 21:02:02.594416 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293225937588.
I0419 21:02:02.644148 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293226096316.
I0419 21:02:02.645349 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293226212411.
I0419 21:02:02.646612 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:02.646682 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293226375867.
I0419 21:02:02.654271 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.12225, -0.582117)
I0419 21:02:02.654524 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293226537679.
I0419 21:02:02.666260 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562126s, prior_pose=(9.24849, -1.89664), yaw=-179.624 deg
I0419 21:02:02.666409 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1439, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:02:02.666658 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293226658442.
I0419 21:02:02.682703 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293226821699.
I0419 21:02:02.698407 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:02.698565 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293226977873.
I0419 21:02:02.710783 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227095646.
I0419 21:02:02.726313 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:02.726435 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:02.726491 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.140061, 0.568591), points=21, range=0.585048, residual=0.0114619, extent=0.0349405
I0419 21:02:02.726538 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:02.726564 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.140061, 0.568591), tracking=(-0.438561, -0.568591), map_predicted=(9.6565, -1.33179), range=0.585048, pts=21
I0419 21:02:02.726608 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0431419m maha_sq=0.0806948 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6565, -1.33179) lm_pos=(9.615, -1.32) delta=(0.0414993, -0.0117909) -> 1 candidate(s)
I0419 21:02:02.726789 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227253848.
I0419 21:02:02.785833 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:02.786002 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:02.786162 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227380167.
I0419 21:02:02.787628 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.278079 range=1.2504 variance=0.000550559 t_weight=5449 r_weight=0 yaml=(10.515, -2.52) prior=(9.22151, -1.89637, -179.759deg) obs_actual=(-1.36612, 0.656362) obs_expected=(-1.29085, 0.629061) delta=(-0.0752633, 0.0273003) |delta|=0.0800617m
I0419 21:02:02.787891 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227540560.
I0419 21:02:02.789386 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227698364.
I0419 21:02:02.791595 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227859712.
I0419 21:02:02.798148 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.07989, -0.576191)
I0419 21:02:02.798435 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293227974239.
I0419 21:02:02.815300 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293228141750.
I0419 21:02:02.830410 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293228295759.
I0419 21:02:02.850955 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:02.851178 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:02.851233 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293228497870.
I0419 21:02:02.858554 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293228577499.
I0419 21:02:02.925447 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.182277, 0.57217), points=23, range=0.601174, residual=0.0125462, extent=0.0405872
I0419 21:02:02.925621 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.182277, 0.57217), tracking=(-0.480777, -0.57217), map_predicted=(9.671, -1.3243), range=0.601174, pts=23
I0419 21:02:02.925665 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.056165m maha_sq=0.134316 (gate chi2=5.99) pose_sigma=(0.151309, 0.151309, rho=0) det_map=(9.671, -1.3243) lm_pos=(9.615, -1.32) delta=(0.0560001, -0.00430083) -> 1 candidate(s)
I0419 21:02:02.925806 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293228711521.
I0419 21:02:02.926026 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:02.927170 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.94 deg, rms_residual=0.0177981m, sigma_yaw=0.0231807 rad, N=2
I0419 21:02:02.927274 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.15267, -1.90672, 178.94deg) inliers=2 rms=0.0177981m
I0419 21:02:02.927322 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293228856348.
I0419 21:02:02.928759 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.346183 range=1.283 variance=0.000531701 t_weight=5642.27 r_weight=0 yaml=(10.515, -2.52) prior=(9.19129, -1.89737, -179.893deg) obs_actual=(-1.40845, 0.649457) obs_expected=(-1.32254, 0.625103) delta=(-0.0859073, 0.024354) |delta|=0.0892927m
I0419 21:02:02.928906 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229059922.
I0419 21:02:02.931130 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229175381.
I0419 21:02:02.934142 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:02.934274 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229336256.
I0419 21:02:02.946695 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.03333, -0.570784)
I0419 21:02:02.946952 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229458764.
I0419 21:02:02.962759 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0443948s, prior_pose=(9.14275, -1.89578), yaw=179.984 deg
I0419 21:02:02.962930 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:02.963294 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229619329.
I0419 21:02:02.974464 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229732876.
I0419 21:02:02.990877 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:02.991185 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293229900767.
I0419 21:02:03.032598 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293230056039.
I0419 21:02:03.033735 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:03.033799 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:03.033826 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.222081, 0.573435), points=21, range=0.616095, residual=0.0118268, extent=0.0373112
I0419 21:02:03.033846 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:03.033857 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.222081, 0.573435), tracking=(-0.520581, -0.573435), map_predicted=(9.6644, -1.3168), range=0.616095, pts=21
I0419 21:02:03.033875 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0495024m maha_sq=0.106199 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6644, -1.3168) lm_pos=(9.615, -1.32) delta=(0.049399, 0.00319769) -> 1 candidate(s)
I0419 21:02:03.033941 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293230211927.
I0419 21:02:03.034771 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:03.034821 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:03.034880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293230336095.
I0419 21:02:03.050050 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0581267 range=0.62 variance=0.000577694 t_weight=5193.06 r_weight=0 yaml=(9.615, -1.32) prior=(9.12281, -1.89412, 179.78deg) obs_actual=(-0.526955, -0.574978) obs_expected=(-0.48998, -0.576003) delta=(-0.0369754, 0.00102473) |delta|=0.0369896m
I0419 21:02:03.050150 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293230496295.
I0419 21:02:03.062191 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293230615415.
I0419 21:02:03.078601 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.239393, 0.575453)
I0419 21:02:03.078941 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293230780950.
I0419 21:02:03.096580 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293230954633.
I0419 21:02:03.107355 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293231068202.
I0419 21:02:03.122139 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293231214205.
I0419 21:02:03.216089 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.12042, -1.89456), yaw=179.561 deg backend=(10.6517, -1.88643)
I0419 21:02:03.217465 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:03.217561 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:03.217664 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293231373767.
I0419 21:02:03.218685 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293231496073.
I0419 21:02:03.219664 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293231656370.
I0419 21:02:03.221460 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0176587, 0.639136), points=19, range=0.640895, residual=0.0115092, extent=0.0357376
I0419 21:02:03.221524 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0176587, 0.639136), tracking=(0.316159, 0.639136), map_predicted=(8.77487, -2.5345), range=0.640895, pts=19
I0419 21:02:03.221553 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0616049m maha_sq=0.160791 (gate chi2=5.99) pose_sigma=(0.151774, 0.151774, rho=0) det_map=(8.77487, -2.5345) lm_pos=(8.715, -2.52) delta=(0.0598731, -0.0145046) -> 1 candidate(s)
I0419 21:02:03.221613 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293231812401.
I0419 21:02:03.222904 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293231980191.
I0419 21:02:03.223945 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.81643, 0.66112)
I0419 21:02:03.224066 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.117 deg, rms_residual=0.0173718m, sigma_yaw=0.022638 rad, N=2
I0419 21:02:03.224092 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0171014 range=1.1165 variance=0.000526945 t_weight=5693.19 r_weight=0 yaml=(7.815, -1.32) prior=(9.09692, -1.89832, 179.471deg) obs_actual=(1.26845, -0.559995) obs_expected=(1.28721, -0.566447) delta=(-0.0187662, 0.00645161) |delta|=0.0198442m
I0419 21:02:03.224123 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.05394, -1.90747, 178.117deg) inliers=2 rms=0.0173718m
I0419 21:02:03.224146 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293232102284.
I0419 21:02:03.226696 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:03.226832 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293232261578.
I0419 21:02:03.240067 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293232395104.
I0419 21:02:03.254412 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0727894s, prior_pose=(9.07487, -1.90097), yaw=179.387 deg
I0419 21:02:03.254515 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1458, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:02:03.254858 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293232540295.
I0419 21:02:03.320194 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293232700946.
I0419 21:02:03.321173 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:03.321264 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293232812721.
I0419 21:02:03.322214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293232999965.
I0419 21:02:03.323675 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:03.323727 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:03.323751 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:03.323798 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293233138615.
I0419 21:02:03.325781 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:03.326018 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:03.326220 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293233253259.
I0419 21:02:03.342162 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.25155, -0.626257)
I0419 21:02:03.342249 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25589, -0.626162), points=4, range=1.3995, residual=0.00925928, extent=0.0201098
I0419 21:02:03.342276 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25589, -0.626162), tracking=(-1.55439, 0.626162), map_predicted=(10.6061, -2.54835), range=1.3995, pts=4
I0419 21:02:03.342299 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.095445m maha_sq=0.39505 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.6061, -2.54835) lm_pos=(10.515, -2.52) delta=(0.091136, -0.0283545) -> 1 candidate(s)
I0419 21:02:03.342391 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293233417402.
I0419 21:02:03.357918 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0901272 range=0.642647 variance=0.000540204 t_weight=5553.45 r_weight=0 yaml=(8.715, -2.52) prior=(9.02782, -1.89334, 179.167deg) obs_actual=(0.258363, 0.640628) obs_expected=(0.303685, 0.63114) delta=(-0.0453221, 0.00948788) |delta|=0.0463046m
I0419 21:02:03.358074 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293233574162.
I0419 21:02:03.374609 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293233740733.
I0419 21:02:03.386751 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293233861695.
I0419 21:02:03.451581 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293234016785.
I0419 21:02:03.452514 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293234142064.
I0419 21:02:03.453510 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:03.453591 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:03.453615 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293234295120.
I0419 21:02:03.455124 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293234459949.
I0419 21:02:03.462206 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.28934, -0.624209)
I0419 21:02:03.462352 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293234617981.
I0419 21:02:03.474781 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293234742181.
I0419 21:02:03.491073 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.354173, 0.58167), points=17, range=0.682647, residual=0.0117112, extent=0.0350288
I0419 21:02:03.491211 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.354173, 0.58167), tracking=(-0.652673, -0.58167), map_predicted=(9.64447, -1.31991), range=0.682647, pts=17
I0419 21:02:03.491266 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0294737m maha_sq=0.0369026 (gate chi2=5.99) pose_sigma=(0.151547, 0.151547, rho=0) det_map=(9.64447, -1.31991) lm_pos=(9.615, -1.32) delta=(0.0294736, 8.9257e-05) -> 1 candidate(s)
I0419 21:02:03.491422 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293234895368.
I0419 21:02:03.505885 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293235045693.
I0419 21:02:03.519078 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:03.519203 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0551749 range=0.6865 variance=0.000566701 t_weight=5293.79 r_weight=0 yaml=(9.615, -1.32) prior=(8.98158, -1.88991, 178.983deg) obs_actual=(-0.65886, -0.582243) obs_expected=(-0.623205, -0.581058) delta=(-0.0356553, -0.00118533) |delta|=0.035675m
I0419 21:02:03.519299 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293235181502.
I0419 21:02:03.626211 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293235337865.
I0419 21:02:03.627305 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598005s, prior_pose=(8.99137, -1.89313), yaw=178.83 deg
I0419 21:02:03.627380 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 21:02:03.627499 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293235493373.
I0419 21:02:03.628329 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.396 deg, rms_residual=0.0181252m, sigma_yaw=0.0235967 rad, N=2
I0419 21:02:03.628384 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.9495, -1.89992, 177.396deg) inliers=2 rms=0.0181252m
I0419 21:02:03.628418 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293235614281.
I0419 21:02:03.630157 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.32678, -0.609304)
I0419 21:02:03.630250 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:03.630302 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293235773888.
I0419 21:02:03.631320 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293235896116.
I0419 21:02:03.632208 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:03.632265 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:03.632295 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:03.632337 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293236060460.
I0419 21:02:03.637195 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:03.637280 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:03.637355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293236216367.
I0419 21:02:03.638687 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293236382490.
I0419 21:02:03.650110 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293236492372.
I0419 21:02:03.728669 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36244, -0.599488), points=3, range=1.484, residual=0.00890522, extent=0.0173027
I0419 21:02:03.728780 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36244, -0.599488), tracking=(-1.66094, 0.599488), map_predicted=(10.6225, -2.54827), range=1.484, pts=3
I0419 21:02:03.728812 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.111123m maha_sq=0.520518 (gate chi2=5.99) pose_sigma=(0.152197, 0.152197, rho=0) det_map=(10.6225, -2.54827) lm_pos=(10.515, -2.52) delta=(0.107467, -0.0282726) -> 1 candidate(s)
I0419 21:02:03.728927 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293236661419.
I0419 21:02:03.729909 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.362851 range=0.6605 variance=0.000540854 t_weight=5546.78 r_weight=0 yaml=(8.715, -2.52) prior=(8.98111, -1.89708, 178.206deg) obs_actual=(0.155875, 0.643262) obs_expected=(0.246477, 0.63095) delta=(-0.0906026, 0.0123117) |delta|=0.0914352m
I0419 21:02:03.729985 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293236774039.
I0419 21:02:03.730918 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.3656, -0.598512)
I0419 21:02:03.730994 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293236940457.
I0419 21:02:03.732717 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293237098772.
I0419 21:02:03.733685 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:03.733758 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:03.733781 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293237255625.
I0419 21:02:03.738415 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293237378781.
I0419 21:02:03.753983 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293237534922.
I0419 21:02:03.766041 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293237654232.
I0419 21:02:03.782569 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293237820630.
I0419 21:02:03.842257 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293237976215.
I0419 21:02:03.843147 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.40783, -0.587933)
I0419 21:02:03.843236 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:03.843318 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293238144470.
I0419 21:02:03.844064 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.797513, -0.519556), points=7, range=0.950429, residual=0.00711448, extent=0.0188117
I0419 21:02:03.844113 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.797513, -0.519556), tracking=(1.09601, -0.519556), map_predicted=(7.81506, -1.32884), range=0.950429, pts=7
I0419 21:02:03.844144 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00884073m maha_sq=0.00339846 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81506, -1.32884) lm_pos=(7.815, -1.32) delta=(5.57045e-05, -0.00884056) -> 1 candidate(s)
I0419 21:02:03.844203 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293238253128.
I0419 21:02:03.845708 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0440506s, prior_pose=(8.87341, -1.89302), yaw=177.562 deg
I0419 21:02:03.845778 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1467, max_intensity=249, threshold=230, above_threshold=17, candidates=17
I0419 21:02:03.845876 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293238416721.
I0419 21:02:03.854380 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00127546 range=0.939667 variance=0.000510796 t_weight=5873.19 r_weight=0 yaml=(7.815, -1.32) prior=(8.87341, -1.89302, 177.562deg) obs_actual=(1.08234, -0.52208) obs_expected=(1.08183, -0.527474) delta=(0.000508151, 0.00539363) |delta|=0.00541751m
I0419 21:02:03.854481 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293238538451.
I0419 21:02:03.869694 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:03.869837 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293238693118.
I0419 21:02:03.886612 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293238859904.
I0419 21:02:03.902311 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:03.902393 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:03.902432 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:03.902521 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293239018656.
I0419 21:02:03.914719 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:03.914814 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:03.914911 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293239140061.
I0419 21:02:03.974555 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.43466, -0.589374)
I0419 21:02:03.974743 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293239299326.
I0419 21:02:03.975688 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293239457055.
I0419 21:02:03.976799 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.031 deg, rms_residual=0.0129744m, sigma_yaw=0.0138263 rad, N=3
I0419 21:02:03.976927 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.8013, -1.88068, 178.031deg) inliers=3 rms=0.0129744m
I0419 21:02:03.976963 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293239614041.
I0419 21:02:03.978818 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.56943, 0.729047), points=3, range=1.73433, residual=0.00935826, extent=0.0197663
I0419 21:02:03.978931 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.56943, 0.729047), tracking=(1.86793, 0.729047), map_predicted=(6.90423, -2.53015), range=1.73433, pts=3
I0419 21:02:03.978962 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0147995m maha_sq=0.0090114 (gate chi2=5.99) pose_sigma=(0.154006, 0.154006, rho=0) det_map=(6.90423, -2.53015) lm_pos=(6.915, -2.52) delta=(-0.0107686, -0.0101521) -> 1 candidate(s)
I0419 21:02:03.979063 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293239735278.
I0419 21:02:03.990774 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0317433 range=1.57033 variance=0.000514754 t_weight=5828.03 r_weight=4818.56 yaml=(10.515, -2.52) prior=(8.8013, -1.88068, 177.578deg) obs_actual=(-1.75688, 0.586764) obs_expected=(-1.73918, 0.566338) delta=(-0.017701, 0.0204264) |delta|=0.027029m
I0419 21:02:03.990916 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293239900673.
I0419 21:02:04.003266 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240026319.
I0419 21:02:04.004459 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.79444, -1.88139), yaw=177.63 deg backend=(10.6117, -1.87457)
I0419 21:02:04.017825 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:04.017951 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:04.017976 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240171690.
I0419 21:02:04.034577 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.724746, -0.521686)
I0419 21:02:04.034818 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240341808.
I0419 21:02:04.050972 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240504191.
I0419 21:02:04.111773 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240616076.
I0419 21:02:04.112864 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240776853.
I0419 21:02:04.113982 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293240901163.
I0419 21:02:04.115592 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.536321, 0.593831), points=12, range=0.803083, residual=0.0121945, extent=0.0365958
I0419 21:02:04.115670 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.536321, 0.593831), tracking=(-0.834821, -0.593831), map_predicted=(9.64873, -1.3215), range=0.803083, pts=12
I0419 21:02:04.115696 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0337594m maha_sq=0.0485756 (gate chi2=5.99) pose_sigma=(0.151236, 0.151236, rho=0) det_map=(9.64873, -1.3215) lm_pos=(9.615, -1.32) delta=(0.0337263, -0.00149513) -> 1 candidate(s)
I0419 21:02:04.115777 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:04.115825 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293241067738.
I0419 21:02:04.118798 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.54436, 0.728355)
I0419 21:02:04.118963 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293241181518.
I0419 21:02:04.138007 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758972s, prior_pose=(8.79141, -1.88235), yaw=177.767 deg
I0419 21:02:04.138115 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1466, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:02:04.138316 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.026882 range=0.724231 variance=0.000531275 t_weight=5646.79 r_weight=0 yaml=(8.715, -2.52) prior=(8.79141, -1.88235, 177.767deg) obs_actual=(0.0275181, 0.64675) obs_expected=(0.0515061, 0.640139) delta=(-0.023988, 0.00661087) |delta|=0.0248822m
I0419 21:02:04.138404 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293241375048.
I0419 21:02:04.150233 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293241496193.
I0419 21:02:04.166119 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:04.166292 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293241655523.
I0419 21:02:04.178097 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293241773971.
I0419 21:02:04.187579 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:04.241015 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:04.241149 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:04.241185 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:04.241289 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293241940523.
I0419 21:02:04.242276 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:04.242327 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:04.242404 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293242087498.
I0419 21:02:04.243250 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.297436, -0.645113)
I0419 21:02:04.243357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293242253548.
I0419 21:02:04.244899 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.318576, 0.653091), points=15, range=0.7276, residual=0.0110314, extent=0.0298859
I0419 21:02:04.244962 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.318576, 0.653091), tracking=(-0.0200762, 0.653091), map_predicted=(8.72408, -2.5313), range=0.7276, pts=15
I0419 21:02:04.244988 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0144924m maha_sq=0.00862617 (gate chi2=5.99) pose_sigma=(0.154234, 0.154234, rho=0) det_map=(8.72408, -2.5313) lm_pos=(8.715, -2.52) delta=(0.00907829, -0.0112967) -> 1 candidate(s)
I0419 21:02:04.245126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293242374287.
I0419 21:02:04.253926 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.213 deg, rms_residual=0.00483039m, sigma_yaw=0.00639931 rad, N=2
I0419 21:02:04.254056 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.72113, -1.87835, 178.213deg) inliers=2 rms=0.00483039m
I0419 21:02:04.254099 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293242533739.
I0419 21:02:04.266417 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00598491 range=0.8347 variance=0.000554187 t_weight=5413.34 r_weight=0 yaml=(7.815, -1.32) prior=(8.72814, -1.87791, 177.883deg) obs_actual=(0.944871, -0.523383) obs_expected=(0.933132, -0.523794) delta=(0.0117392, 0.000410238) |delta|=0.0117464m
I0419 21:02:04.266554 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293242658634.
I0419 21:02:04.282330 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293242818039.
I0419 21:02:04.297847 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=12, centroid=(-0.386066, 0.640625)
I0419 21:02:04.298064 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293242973122.
I0419 21:02:04.314421 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:04.314575 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:04.314602 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293243139012.
I0419 21:02:04.377213 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293243252222.
I0419 21:02:04.377267 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:04.378304 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293243418290.
I0419 21:02:04.379227 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293243539527.
I0419 21:02:04.380832 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.614711, 0.59013), points=9, range=0.855778, residual=0.011388, extent=0.0327945
I0419 21:02:04.380915 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.614711, 0.59013), tracking=(-0.913211, -0.59013), map_predicted=(9.64239, -1.3189), range=0.855778, pts=9
I0419 21:02:04.380939 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0274081m maha_sq=0.0319221 (gate chi2=5.99) pose_sigma=(0.151524, 0.151524, rho=0) det_map=(9.64239, -1.3189) lm_pos=(9.615, -1.32) delta=(0.027386, 0.00110067) -> 1 candidate(s)
I0419 21:02:04.381002 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293243692367.
I0419 21:02:04.385972 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.613072, -0.523546)
I0419 21:02:04.386335 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293243854643.
I0419 21:02:04.402354 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:04.402499 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0320781 range=0.690733 variance=0.000538597 t_weight=5570.02 r_weight=0 yaml=(8.715, -2.52) prior=(8.70839, -1.87555, 177.924deg) obs_actual=(-0.0570716, 0.645683) obs_expected=(-0.0299528, 0.643784) delta=(-0.0271187, 0.00189974) |delta|=0.0271852m
I0419 21:02:04.402565 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293244018577.
I0419 21:02:04.418339 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293244178896.
I0419 21:02:04.430176 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606007s, prior_pose=(8.68807, -1.87627), yaw=177.931 deg
I0419 21:02:04.430276 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1438, max_intensity=250, threshold=230, above_threshold=25, candidates=25
I0419 21:02:04.430470 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293244298374.
I0419 21:02:04.442591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293244419754.
I0419 21:02:04.506788 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:04.506954 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293244612579.
I0419 21:02:04.507848 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293244703478.
I0419 21:02:04.508752 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:04.508836 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:04.508872 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:04.508944 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293244859342.
I0419 21:02:04.510565 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.574538, -0.523323)
I0419 21:02:04.510632 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:04.510656 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:04.510713 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293245014061.
I0419 21:02:04.518625 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293245179102.
I0419 21:02:04.529713 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293245292242.
I0419 21:02:04.546577 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.200273, -0.648268), points=16, range=0.680812, residual=0.0113326, extent=0.0321235
I0419 21:02:04.546684 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.200273, -0.648268), tracking=(-0.0982274, 0.648268), map_predicted=(8.72907, -2.5274), range=0.680812, pts=16
I0419 21:02:04.546717 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0158997m maha_sq=0.0107498 (gate chi2=5.99) pose_sigma=(0.151498, 0.151498, rho=0) det_map=(8.72907, -2.5274) lm_pos=(8.715, -2.52) delta=(0.0140717, -0.00740201) -> 1 candidate(s)
I0419 21:02:04.546811 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293245459622.
I0419 21:02:04.562177 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293245616897.
I0419 21:02:04.578040 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0283428 range=0.676938 variance=0.000547921 t_weight=5475.24 r_weight=0 yaml=(8.715, -2.52) prior=(8.65246, -1.87623, 178.094deg) obs_actual=(-0.108569, 0.648087) obs_expected=(-0.0839173, 0.641338) delta=(-0.0246514, 0.00674908) |delta|=0.0255586m
I0419 21:02:04.578181 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293245775105.
I0419 21:02:04.616914 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293245894108.
I0419 21:02:04.617959 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:04.618079 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:04.618126 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293246053079.
I0419 21:02:04.619062 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293246180567.
I0419 21:02:04.634230 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.319 deg, rms_residual=0.0047493m, sigma_yaw=0.00629255 rad, N=2
I0419 21:02:04.634336 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.60559, -1.87497, 178.319deg) inliers=2 rms=0.0047493m
I0419 21:02:04.634373 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293246337721.
I0419 21:02:04.650053 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.529855, -0.523926)
I0419 21:02:04.650223 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293246497000.
I0419 21:02:04.668363 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293246660734.
I0419 21:02:04.678237 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293246776384.
I0419 21:02:04.694517 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:04.694716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293246938559.
I0419 21:02:04.706161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293247055555.
I0419 21:02:04.768918 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445718s, prior_pose=(8.63817, -1.87337), yaw=178.097 deg
I0419 21:02:04.769059 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1450, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:02:04.769232 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.145732, -0.644029), points=16, range=0.662188, residual=0.0108452, extent=0.0342899
I0419 21:02:04.769264 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.145732, -0.644029), tracking=(-0.152768, 0.644029), map_predicted=(8.76947, -2.52211), range=0.662188, pts=16
I0419 21:02:04.769289 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0545064m maha_sq=0.126708 (gate chi2=5.99) pose_sigma=(0.151306, 0.151306, rho=0) det_map=(8.76947, -2.52211) lm_pos=(8.715, -2.52) delta=(0.0544654, -0.00211378) -> 1 candidate(s)
I0419 21:02:04.769418 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293247222102.
I0419 21:02:04.770383 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0686607 range=1.544 variance=0.000543137 t_weight=5523.47 r_weight=0 yaml=(6.915, -2.52) prior=(8.63817, -1.87337, 178.097deg) obs_actual=(1.66535, 0.721659) obs_expected=(1.70074, 0.703507) delta=(-0.0353934, 0.0181511) |delta|=0.0397763m
I0419 21:02:04.770503 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293247379668.
I0419 21:02:04.771425 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:04.771524 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293247540629.
I0419 21:02:04.773150 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293247654505.
I0419 21:02:04.782440 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:04.782524 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:04.782555 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:04.782694 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293247819480.
I0419 21:02:04.794713 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.482714, -0.523641)
I0419 21:02:04.794795 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:04.794817 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:04.794909 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293247942499.
I0419 21:02:04.810990 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248104751.
I0419 21:02:04.826601 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248260424.
I0419 21:02:04.842191 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248415866.
I0419 21:02:04.873004 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248540762.
I0419 21:02:04.874485 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248694384.
I0419 21:02:04.888332 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.455534, -0.525509), points=14, range=0.695357, residual=0.0105569, extent=0.0376616
I0419 21:02:04.888487 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.455534, -0.525509), tracking=(0.754034, -0.525509), map_predicted=(7.84724, -1.32605), range=0.695357, pts=14
I0419 21:02:04.888540 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0328003m maha_sq=0.0466779 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.84724, -1.32605) lm_pos=(7.815, -1.32) delta=(0.0322381, -0.00604639) -> 1 candidate(s)
I0419 21:02:04.888659 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248878466.
I0419 21:02:04.890568 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.56509, -1.87355), yaw=178.165 deg backend=(10.423, -1.86097)
I0419 21:02:04.898926 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:04.899029 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.106988 range=0.980833 variance=0.0005585 t_weight=5371.53 r_weight=0 yaml=(9.615, -1.32) prior=(8.56509, -1.87355, 178.165deg) obs_actual=(-1.08177, -0.586629) obs_expected=(-1.03164, -0.586884) delta=(-0.050123, 0.00025446) |delta|=0.0501237m
I0419 21:02:04.899089 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:04.899108 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293248983331.
I0419 21:02:04.914603 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249140611.
I0419 21:02:04.929762 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.792452, 0.586349)
I0419 21:02:04.929934 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249293774.
I0419 21:02:04.942349 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249418274.
I0419 21:02:04.958025 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249573438.
I0419 21:02:04.970033 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249695082.
I0419 21:02:05.032753 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:05.032894 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.82 deg, rms_residual=0.00543743m, sigma_yaw=0.00719773 rad, N=2
I0419 21:02:05.032945 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.49408, -1.87672, 178.82deg) inliers=2 rms=0.00543743m
I0419 21:02:05.032977 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249862273.
I0419 21:02:05.034077 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293249987184.
I0419 21:02:05.035024 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754055s, prior_pose=(8.54905, -1.87004), yaw=178.196 deg
I0419 21:02:05.035115 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:02:05.035265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293250172329.
I0419 21:02:05.036887 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.405755, -0.52392), points=17, range=0.666765, residual=0.0151496, extent=0.0440119
I0419 21:02:05.036964 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.405755, -0.52392), tracking=(0.704255, -0.52392), map_predicted=(7.83323, -1.32626), range=0.666765, pts=17
I0419 21:02:05.036991 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0192761m maha_sq=0.0156125 (gate chi2=5.99) pose_sigma=(0.152098, 0.152098, rho=0) det_map=(7.83323, -1.32626) lm_pos=(7.815, -1.32) delta=(0.01823, -0.00626391) -> 1 candidate(s)
I0419 21:02:05.037058 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293250305471.
I0419 21:02:05.045715 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.560692, -0.193063)
I0419 21:02:05.045871 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:05.045974 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293250452058.
I0419 21:02:05.062238 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0337848 range=0.658375 variance=0.000571381 t_weight=5250.44 r_weight=0 yaml=(7.815, -1.32) prior=(8.52093, -1.87173, 178.226deg) obs_actual=(0.695432, -0.523491) obs_expected=(0.72267, -0.529617) delta=(-0.0272385, 0.00612569) |delta|=0.0279188m
I0419 21:02:05.062367 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293250617559.
I0419 21:02:05.077877 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:05.077967 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:05.078003 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:05.078091 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293250773050.
I0419 21:02:05.090119 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:05.090231 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:05.090334 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293250896638.
I0419 21:02:05.106659 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251060528.
I0419 21:02:05.168571 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251173397.
I0419 21:02:05.169697 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251341203.
I0419 21:02:05.170509 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251461506.
I0419 21:02:05.172139 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.80378, -0.606455)
I0419 21:02:05.172246 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251657201.
I0419 21:02:05.179070 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23443, 0.727124), points=4, range=1.4275, residual=0.0117353, extent=0.0252626
I0419 21:02:05.179186 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23443, 0.727124), tracking=(1.53293, 0.727124), map_predicted=(6.93449, -2.5434), range=1.4275, pts=4
I0419 21:02:05.179215 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0304505m maha_sq=0.0401163 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93449, -2.5434) lm_pos=(6.915, -2.52) delta=(0.0194869, -0.0233986) -> 1 candidate(s)
I0419 21:02:05.179314 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251785435.
I0419 21:02:05.196353 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:05.196705 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:05.196878 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293251953088.
I0419 21:02:05.206699 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00841705 range=0.63 variance=0.000585033 t_weight=5127.91 r_weight=0 yaml=(7.815, -1.32) prior=(8.46312, -1.86814, 178.147deg) obs_actual=(0.652096, -0.522481) obs_expected=(0.66551, -0.526889) delta=(-0.0134146, 0.00440852) |delta|=0.0141204m
I0419 21:02:05.206833 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293252061165.
I0419 21:02:05.221943 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293252214787.
I0419 21:02:05.240381 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293252398241.
I0419 21:02:05.303604 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293252500766.
I0419 21:02:05.304747 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293252652863.
I0419 21:02:05.307471 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.83406, -0.613671)
I0419 21:02:05.307631 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:05.307718 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293252815581.
I0419 21:02:05.309386 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293252941520.
I0419 21:02:05.313848 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634834s, prior_pose=(8.44014, -1.86732), yaw=178.328 deg
I0419 21:02:05.313939 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1443, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:05.314093 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.226 deg, rms_residual=0.00860372m, sigma_yaw=0.0113415 rad, N=2
I0419 21:02:05.314136 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.3948, -1.88025, 179.226deg) inliers=2 rms=0.00860372m
I0419 21:02:05.314167 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293253135600.
I0419 21:02:05.326392 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293253258800.
I0419 21:02:05.342564 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0316808, -0.640256), points=16, range=0.641375, residual=0.00928345, extent=0.0282121
I0419 21:02:05.342813 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:02:05.342959 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0316808, -0.640256), tracking=(-0.330181, 0.640256), map_predicted=(8.73673, -2.51082), range=0.641375, pts=16
I0419 21:02:05.343094 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0235936m maha_sq=0.0238045 (gate chi2=5.99) pose_sigma=(0.151206, 0.151206, rho=0) det_map=(8.73673, -2.51082) lm_pos=(8.715, -2.52) delta=(0.0217349, 0.009179) -> 1 candidate(s)
I0419 21:02:05.343219 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:05.343410 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293253421582.
I0419 21:02:05.354187 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0262438 range=1.3845 variance=0.000523687 t_weight=5728.62 r_weight=0 yaml=(6.915, -2.52) prior=(8.42517, -1.8613, 178.346deg) obs_actual=(1.48111, 0.724703) obs_expected=(1.49053, 0.701999) delta=(-0.00942161, 0.0227038) |delta|=0.0245811m
I0419 21:02:05.354382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293253534158.
I0419 21:02:05.370091 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:05.370195 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:05.370235 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:05.370326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293253696490.
I0419 21:02:05.433913 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:05.434021 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:05.434106 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293253819145.
I0419 21:02:05.435132 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.942483, 0.583826)
I0419 21:02:05.435232 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293254016903.
I0419 21:02:05.436039 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293254141100.
I0419 21:02:05.437748 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293254300528.
I0419 21:02:05.442209 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293254417514.
I0419 21:02:05.458230 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293254577515.
I0419 21:02:05.470508 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293254699327.
I0419 21:02:05.487429 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.971461, 0.583696), points=4, range=1.1295, residual=0.00964943, extent=0.0231943
I0419 21:02:05.487599 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.971461, 0.583696), tracking=(-1.26996, -0.583696), map_predicted=(9.66107, -1.32161), range=1.1295, pts=4
I0419 21:02:05.487655 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0461009m maha_sq=0.0922034 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66107, -1.32161) lm_pos=(9.615, -1.32) delta=(0.0460728, -0.00160912) -> 1 candidate(s)
I0419 21:02:05.487741 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:05.487809 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:05.487845 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293254867045.
I0419 21:02:05.502329 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255018002.
I0419 21:02:05.571655 1219494 pose_graph_2d.cc:160] Inserted submap (1, 43).
I0419 21:02:05.572642 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.173065 range=0.6495 variance=0.000527464 t_weight=5687.6 r_weight=0 yaml=(8.715, -2.52) prior=(8.413, -1.85834, 178.306deg) obs_actual=(-0.38498, 0.64232) obs_expected=(-0.321432, 0.652445) delta=(-0.0635482, -0.010125) |delta|=0.0643498m
I0419 21:02:05.572789 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255179075.
I0419 21:02:05.573779 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255300018.
I0419 21:02:05.574762 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0973143, -0.644397)
I0419 21:02:05.574888 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255453632.
I0419 21:02:05.576499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255618603.
I0419 21:02:05.577404 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:05.577486 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255741018.
I0419 21:02:05.590956 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293255902540.
I0419 21:02:05.605918 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436304s, prior_pose=(8.3553, -1.85793), yaw=178.327 deg
I0419 21:02:05.606108 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1459, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:05.606364 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293256054907.
I0419 21:02:05.618587 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293256178970.
I0419 21:02:05.634289 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:05.634426 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.279 deg, rms_residual=0.00724186m, sigma_yaw=0.00956347 rad, N=2
I0419 21:02:05.634471 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.30003, -1.87696, 179.279deg) inliers=2 rms=0.00724186m
I0419 21:02:05.634506 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293256338651.
I0419 21:02:05.703142 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.215445, -0.524225), points=23, range=0.568522, residual=0.0136356, extent=0.0473136
I0419 21:02:05.703265 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.215445, -0.524225), tracking=(0.513945, -0.524225), map_predicted=(7.85432, -1.32354), range=0.568522, pts=23
I0419 21:02:05.703296 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0394795m maha_sq=0.0670499 (gate chi2=5.99) pose_sigma=(0.150422, 0.150422, rho=0) det_map=(7.85432, -1.32354) lm_pos=(7.815, -1.32) delta=(0.0393204, -0.00354125) -> 1 candidate(s)
I0419 21:02:05.703372 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293256465147.
I0419 21:02:05.704396 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:05.704447 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.02728, 0.578551)
I0419 21:02:05.704464 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:02:05.704488 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:05.704560 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293256622538.
I0419 21:02:05.705592 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:05.705660 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:05.705719 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0761726 range=1.303 variance=0.000550658 t_weight=5448.03 r_weight=0 yaml=(6.915, -2.52) prior=(8.35246, -1.86281, 178.297deg) obs_actual=(1.3844, 0.725566) obs_expected=(1.4173, 0.699617) delta=(-0.0329016, 0.0259483) |delta|=0.0419026m
I0419 21:02:05.705768 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293256778382.
I0419 21:02:05.707649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293256909025.
I0419 21:02:05.708777 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293257071554.
I0419 21:02:05.722843 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293257220963.
I0419 21:02:05.737990 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293257373941.
I0419 21:02:05.750272 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293257497034.
I0419 21:02:05.766243 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293257653647.
I0419 21:02:05.830209 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.31385, -1.85775), yaw=178.301 deg backend=(10.4158, -1.84962)
I0419 21:02:05.831254 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:05.831382 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:05.831426 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293257816096.
I0419 21:02:05.832319 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.04823, 0.727148)
I0419 21:02:05.832471 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293257941378.
I0419 21:02:05.833493 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293258118683.
I0419 21:02:05.835124 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.163075, -0.525028), points=23, range=0.54887, residual=0.0121942, extent=0.0420612
I0419 21:02:05.835228 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.163075, -0.525028), tracking=(0.461575, -0.525028), map_predicted=(7.84788, -1.31542), range=0.54887, pts=23
I0419 21:02:05.835275 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0331998m maha_sq=0.0468282 (gate chi2=5.99) pose_sigma=(0.151514, 0.151514, rho=0) det_map=(7.84788, -1.31542) lm_pos=(7.815, -1.32) delta=(0.0328823, 0.00458011) -> 1 candidate(s)
I0419 21:02:05.835367 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293258259644.
I0419 21:02:05.838699 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293258382895.
I0419 21:02:05.854700 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0763753 range=0.548391 variance=0.000582236 t_weight=5152.55 r_weight=0 yaml=(7.815, -1.32) prior=(8.29397, -1.85367, 178.331deg) obs_actual=(0.453002, -0.527013) obs_expected=(0.49431, -0.519492) delta=(-0.041308, -0.00752049) |delta|=0.0419871m
I0419 21:02:05.854903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293258541107.
I0419 21:02:05.870137 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:05.870455 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293258697113.
I0419 21:02:05.882467 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293258819418.
I0419 21:02:05.898331 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.072039s, prior_pose=(8.27352, -1.85304), yaw=178.384 deg
I0419 21:02:05.898478 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1445, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:02:05.898840 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293258980034.
I0419 21:02:05.961508 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293259100674.
I0419 21:02:05.962467 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.10344, 0.574405)
I0419 21:02:05.962555 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:05.962620 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293259259077.
I0419 21:02:05.963624 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293259420742.
I0419 21:02:05.965422 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:05.965500 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:05.965526 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 16 -> 15 (threshold=0.03, iters=3)
I0419 21:02:05.965549 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:05.965610 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293259579430.
I0419 21:02:05.970082 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:05.970170 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:05.970248 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293259695569.
I0419 21:02:05.987368 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293259866704.
I0419 21:02:05.998613 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293259979849.
I0419 21:02:06.014247 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.236781, -0.653447), points=16, range=0.69675, residual=0.0115172, extent=0.0314529
I0419 21:02:06.014354 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.236781, -0.653447), tracking=(-0.535281, 0.653447), map_predicted=(8.75306, -2.51551), range=0.69675, pts=16
I0419 21:02:06.014382 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0383291m maha_sq=0.0636816 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75306, -2.51551) lm_pos=(8.715, -2.52) delta=(0.0380646, 0.00449484) -> 1 candidate(s)
I0419 21:02:06.014513 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293260137756.
I0419 21:02:06.030066 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0374034 range=1.21675 variance=0.000505661 t_weight=5932.83 r_weight=0 yaml=(6.915, -2.52) prior=(8.23571, -1.84778, 178.446deg) obs_actual=(1.27814, 0.724879) obs_expected=(1.30199, 0.707797) delta=(-0.0238474, 0.0170819) |delta|=0.0293341m
I0419 21:02:06.030198 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293260295148.
I0419 21:02:06.098986 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293260496259.
I0419 21:02:06.099967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293260587917.
I0419 21:02:06.100829 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.15069, 0.567445)
I0419 21:02:06.100932 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:06.100970 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:06.100993 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293260739214.
I0419 21:02:06.102627 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.612 deg, rms_residual=0.0146349m, sigma_yaw=0.0191397 rad, N=2
I0419 21:02:06.102699 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.18448, -1.83929, 178.612deg) inliers=2 rms=0.0146349m
I0419 21:02:06.102728 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293260899609.
I0419 21:02:06.107023 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293261064897.
I0419 21:02:06.118260 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293261177144.
I0419 21:02:06.134327 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293261337789.
I0419 21:02:06.145867 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293261452456.
I0419 21:02:06.162286 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18307, 0.570638), points=3, range=1.30967, residual=0.00767249, extent=0.0150648
I0419 21:02:06.162401 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18307, 0.570638), tracking=(-1.48157, -0.570638), map_predicted=(9.6833, -1.31568), range=1.30967, pts=3
I0419 21:02:06.162433 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0684322m maha_sq=0.203371 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6833, -1.31568) lm_pos=(9.615, -1.32) delta=(0.0682957, 0.00431981) -> 1 candidate(s)
I0419 21:02:06.162474 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:06.162554 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293261618073.
I0419 21:02:06.229257 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293261740360.
I0419 21:02:06.230386 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603682s, prior_pose=(8.18588, -1.83827), yaw=178.689 deg
I0419 21:02:06.230476 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1441, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:02:06.230603 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0909456 range=0.719563 variance=0.000576772 t_weight=5201.36 r_weight=0 yaml=(8.715, -2.52) prior=(8.18588, -1.83827, 178.689deg) obs_actual=(-0.58848, 0.656371) obs_expected=(-0.544573, 0.669445) delta=(-0.0439066, -0.0130746) |delta|=0.0458119m
I0419 21:02:06.230650 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293261941471.
I0419 21:02:06.231537 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293262054828.
I0419 21:02:06.233244 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.1963, 0.568468)
I0419 21:02:06.233314 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:06.233371 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293262214862.
I0419 21:02:06.236660 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 237
I0419 21:02:06.239135 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293262381299.
I0419 21:02:06.254423 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:06.254526 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:06.254561 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:06.254655 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293262540124.
I0419 21:02:06.263533 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:06.263622 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:06.263715 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293262627777.
I0419 21:02:06.282639 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293262820808.
I0419 21:02:06.292860 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:06.294662 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293262938753.
I0419 21:02:06.360723 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293263110700.
I0419 21:02:06.361785 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293263214273.
I0419 21:02:06.362730 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.333687, -0.657183), points=14, range=0.738, residual=0.0101631, extent=0.0282737
I0419 21:02:06.362804 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.333687, -0.657183), tracking=(-0.632187, 0.657183), map_predicted=(8.76478, -2.51579), range=0.738, pts=14
I0419 21:02:06.362830 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0499609m maha_sq=0.108328 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.76478, -2.51579) lm_pos=(8.715, -2.52) delta=(0.0497829, 0.00421342) -> 1 candidate(s)
I0419 21:02:06.362953 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293263415539.
I0419 21:02:06.364487 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0509957 range=1.127 variance=0.000733732 t_weight=4088.69 r_weight=0 yaml=(6.915, -2.52) prior=(8.11773, -1.85083, 178.704deg) obs_actual=(1.16152, 0.719774) obs_expected=(1.18728, 0.696202) delta=(-0.0257691, 0.0235721) |delta|=0.0349241m
I0419 21:02:06.364599 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293263508953.
I0419 21:02:06.370285 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.23673, 0.565774)
I0419 21:02:06.370584 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:06.370844 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:06.371001 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293263699060.
I0419 21:02:06.382110 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293263815633.
I0419 21:02:06.398608 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293263981099.
I0419 21:02:06.410060 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293264093571.
I0419 21:02:06.426810 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293264261800.
I0419 21:02:06.502928 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.228 deg, rms_residual=0.0125601m, sigma_yaw=0.016471 rad, N=2
I0419 21:02:06.503072 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.07813, -1.84081, 178.228deg) inliers=2 rms=0.0125601m
I0419 21:02:06.503109 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293264414128.
I0419 21:02:06.503968 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:06.504042 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293264579759.
I0419 21:02:06.505013 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293264692872.
I0419 21:02:06.506554 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043836s, prior_pose=(8.08977, -1.8491), yaw=178.7 deg
I0419 21:02:06.506645 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:02:06.506763 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293264852488.
I0419 21:02:06.507720 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.818921, 0.722357), points=6, range=1.09667, residual=0.0127974, extent=0.031322
I0419 21:02:06.507781 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.818921, 0.722357), tracking=(1.11742, 0.722357), map_predicted=(6.95625, -2.54592), range=1.09667, pts=6
I0419 21:02:06.507805 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0487158m maha_sq=0.102654 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.95625, -2.54592) lm_pos=(6.915, -2.52) delta=(0.0412472, -0.0259211) -> 1 candidate(s)
I0419 21:02:06.507915 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293264979085.
I0419 21:02:06.516855 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.28958, 0.565179)
I0419 21:02:06.516955 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:06.517042 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293265138676.
I0419 21:02:06.530258 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.013554 range=0.52372 variance=0.000560796 t_weight=5349.54 r_weight=0 yaml=(7.815, -1.32) prior=(8.06215, -1.85415, 178.706deg) obs_actual=(0.242993, -0.520676) obs_expected=(0.259147, -0.528433) delta=(-0.0161541, 0.00775719) |delta|=0.0179201m
I0419 21:02:06.530483 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293265297348.
I0419 21:02:06.542907 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:06.543243 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:06.543437 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:06.543551 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293265423372.
I0419 21:02:06.560227 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:06.560540 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:06.560779 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293265596263.
I0419 21:02:06.628563 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293265733436.
I0419 21:02:06.629577 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293265854017.
I0419 21:02:06.630635 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266056943.
I0419 21:02:06.632141 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266176287.
I0419 21:02:06.634101 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266335168.
I0419 21:02:06.646109 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78266, 0.72272), points=7, range=1.06329, residual=0.0116719, extent=0.0330859
I0419 21:02:06.646188 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.78266, 0.72272), tracking=(1.08116, 0.72272), map_predicted=(6.94992, -2.54876), range=1.06329, pts=7
I0419 21:02:06.646219 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0452339m maha_sq=0.0886164 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94992, -2.54876) lm_pos=(6.915, -2.52) delta=(0.0349175, -0.0287554) -> 1 candidate(s)
I0419 21:02:06.646306 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266456271.
I0419 21:02:06.647378 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.02727, -1.84685), yaw=178.733 deg backend=(10.1785, -1.83684)
I0419 21:02:06.662832 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.33238, 0.560986)
I0419 21:02:06.663007 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:06.663110 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:06.663146 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266621782.
I0419 21:02:06.678236 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0418057 range=0.53044 variance=0.000581285 t_weight=5160.98 r_weight=0 yaml=(7.815, -1.32) prior=(8.02727, -1.84685, 178.733deg) obs_actual=(0.192968, -0.518769) obs_expected=(0.22386, -0.522032) delta=(-0.0308915, 0.00326264) |delta|=0.0310633m
I0419 21:02:06.678388 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266777295.
I0419 21:02:06.694591 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293266940352.
I0419 21:02:06.759999 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293267072576.
I0419 21:02:06.761089 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293267223411.
I0419 21:02:06.761940 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293267336955.
I0419 21:02:06.763551 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:06.763617 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293267495641.
I0419 21:02:06.764473 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293267618122.
I0419 21:02:06.778554 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0709181s, prior_pose=(8.00123, -1.84578), yaw=178.676 deg
I0419 21:02:06.778669 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1459, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:02:06.778825 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293267781757.
I0419 21:02:06.794695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293267941114.
I0419 21:02:06.810042 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.476666, -0.66615)
I0419 21:02:06.810159 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:06.810233 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293268097003.
I0419 21:02:06.822690 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.734421, 0.723738), points=9, range=1.02878, residual=0.0133591, extent=0.0410071
I0419 21:02:06.822789 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.734421, 0.723738), tracking=(1.03292, 0.723738), map_predicted=(6.93413, -2.54255), range=1.02878, pts=9
I0419 21:02:06.822818 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0295663m maha_sq=0.0377938 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93413, -2.54255) lm_pos=(6.915, -2.52) delta=(0.0191263, -0.0225467) -> 1 candidate(s)
I0419 21:02:06.822880 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.423 deg, rms_residual=0.0117027m, sigma_yaw=0.0153639 rad, N=2
I0419 21:02:06.822912 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.96042, -1.83432, 178.423deg) inliers=2 rms=0.0117027m
I0419 21:02:06.822980 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293268221726.
I0419 21:02:06.898597 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:06.898697 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:06.898726 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:06.898814 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293268380338.
I0419 21:02:06.899664 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:06.899725 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:06.899784 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.115827 range=1.0159 variance=0.000612482 t_weight=4898.1 r_weight=0 yaml=(6.915, -2.52) prior=(7.99163, -1.83898, 178.728deg) obs_actual=(1.0116, 0.71928) obs_expected=(1.06125, 0.704739) delta=(-0.0496549, 0.0145414) |delta|=0.0517403m
I0419 21:02:06.899830 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293268517728.
I0419 21:02:06.900635 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293268656629.
I0419 21:02:06.902310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293268820549.
I0419 21:02:06.903136 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293268961525.
I0419 21:02:06.910115 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293269095735.
I0419 21:02:06.926738 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293269261735.
I0419 21:02:06.942359 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293269417894.
I0419 21:02:06.957852 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:06.957958 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:06.957983 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293269572440.
I0419 21:02:07.023518 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.687354, 0.715846)
I0419 21:02:07.023733 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293269692137.
I0419 21:02:07.024597 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293269856693.
I0419 21:02:07.025522 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293269979948.
I0419 21:02:07.027202 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293270133366.
I0419 21:02:07.030670 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.214132, -0.519057), points=22, range=0.561273, residual=0.0110637, extent=0.0350012
I0419 21:02:07.030764 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.214132, -0.519057), tracking=(0.0843683, -0.519057), map_predicted=(7.85487, -1.31277), range=0.561273, pts=22
I0419 21:02:07.030870 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.040519m maha_sq=0.0712109 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85487, -1.31277) lm_pos=(7.815, -1.32) delta=(0.0398689, 0.00722888) -> 1 candidate(s)
I0419 21:02:07.030957 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293270302046.
I0419 21:02:07.046078 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:07.046334 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293270455341.
I0419 21:02:07.058490 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.034455 range=0.567174 variance=0.0005797 t_weight=5175.09 r_weight=0 yaml=(7.815, -1.32) prior=(7.91189, -1.83249, 179.29deg) obs_actual=(0.0764565, -0.520919) obs_expected=(0.103237, -0.511253) delta=(-0.0267804, -0.00966672) |delta|=0.0284717m
I0419 21:02:07.058619 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293270577251.
I0419 21:02:07.074285 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060618s, prior_pose=(7.91189, -1.83249), yaw=179.29 deg
I0419 21:02:07.074393 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1448, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:02:07.074558 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293270739546.
I0419 21:02:07.087443 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293270853362.
I0419 21:02:07.161266 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:07.161418 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293271017865.
I0419 21:02:07.162318 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.244959, -0.519299)
I0419 21:02:07.162441 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293271137303.
I0419 21:02:07.163470 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:07.163523 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:07.163548 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:07.163594 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293271337878.
I0419 21:02:07.165289 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:07.165382 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:07.165447 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293271459974.
I0419 21:02:07.166680 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293271614212.
I0419 21:02:07.174129 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293271735418.
I0419 21:02:07.190135 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293271896289.
I0419 21:02:07.206195 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293272054845.
I0419 21:02:07.222714 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.593925, -0.689267), points=10, range=0.9121, residual=0.00981619, extent=0.026838
I0419 21:02:07.222812 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.593925, -0.689267), tracking=(-0.892425, 0.689267), map_predicted=(8.75506, -2.52919), range=0.9121, pts=10
I0419 21:02:07.222872 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0411027m maha_sq=0.0733191 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75506, -2.52919) lm_pos=(8.715, -2.52) delta=(0.0400612, -0.00919412) -> 1 candidate(s)
I0419 21:02:07.222967 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293272220861.
I0419 21:02:07.294270 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.610211, 0.710173)
I0419 21:02:07.294519 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293272343863.
I0419 21:02:07.295843 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:07.295899 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.143995 range=0.9222 variance=0.000579705 t_weight=5175.04 r_weight=0 yaml=(8.715, -2.52) prior=(7.87207, -1.83077, 179.604deg) obs_actual=(-0.904777, 0.691282) obs_expected=(-0.847672, 0.683385) delta=(-0.0571051, 0.00789693) |delta|=0.0576485m
I0419 21:02:07.295939 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:07.295956 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293272497770.
I0419 21:02:07.296911 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293272618911.
I0419 21:02:07.298902 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293272774208.
I0419 21:02:07.300101 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293272941380.
I0419 21:02:07.309893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293273094246.
I0419 21:02:07.324117 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293273236697.
I0419 21:02:07.338351 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:07.338511 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293273378933.
I0419 21:02:07.350461 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293273499881.
I0419 21:02:07.413769 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0417374s, prior_pose=(7.8236, -1.83), yaw=179.57 deg
I0419 21:02:07.413897 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1448, max_intensity=252, threshold=230, above_threshold=36, candidates=36
I0419 21:02:07.414141 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293273654071.
I0419 21:02:07.415093 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.48485, -0.489632)
I0419 21:02:07.415186 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293273819744.
I0419 21:02:07.416152 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:07.416224 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.598 deg, rms_residual=0.010377m, sigma_yaw=0.0136471 rad, N=2
I0419 21:02:07.416261 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.77429, -1.82717, 179.598deg) inliers=2 rms=0.010377m
I0419 21:02:07.416286 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293273939833.
I0419 21:02:07.417847 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.549008, 0.704768), points=12, range=0.896, residual=0.0117112, extent=0.0356519
I0419 21:02:07.417923 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.549008, 0.704768), tracking=(0.847508, 0.704768), map_predicted=(6.94726, -2.52743), range=0.896, pts=12
I0419 21:02:07.417948 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0331045m maha_sq=0.0464128 (gate chi2=5.99) pose_sigma=(0.151756, 0.151756, rho=0) det_map=(6.94726, -2.52743) lm_pos=(6.915, -2.52) delta=(0.0322589, -0.00743412) -> 1 candidate(s)
I0419 21:02:07.418012 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293274100217.
I0419 21:02:07.427313 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:07.427428 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:07.427487 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:07.427723 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293274258971.
I0419 21:02:07.438696 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:07.438791 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:07.438860 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0826401 range=0.888667 variance=0.00061172 t_weight=4904.2 r_weight=0 yaml=(6.915, -2.52) prior=(7.80006, -1.82908, 179.568deg) obs_actual=(0.836479, 0.703176) obs_expected=(0.879822, 0.697578) delta=(-0.0433429, 0.00559852) |delta|=0.043703m
I0419 21:02:07.438917 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293274382333.
I0419 21:02:07.454649 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293274541136.
I0419 21:02:07.466687 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293274661748.
I0419 21:02:07.491912 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293274902040.
I0419 21:02:07.560580 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293275003982.
I0419 21:02:07.560772 1258777 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.36% real time)
I0419 21:02:07.561054 1258777 collated_trajectory_builder.cc:82] odom rate: 248.84 Hz 4.02e-03 s +/- 7.57e-04 s (pulsed at 99.95% real time)
I0419 21:02:07.561241 1258777 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.20e-03 s (pulsed at 100.28% real time)
I0419 21:02:07.561273 1258777 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.16e-03 s (pulsed at 100.44% real time)
I0419 21:02:07.562382 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.693025, -0.694994)
I0419 21:02:07.562536 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293275135472.
I0419 21:02:07.563522 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293275257002.
I0419 21:02:07.564626 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.77274, -1.83041), yaw=179.544 deg backend=(10.1737, -1.82991)
I0419 21:02:07.565778 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:07.565871 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:07.565896 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293275416802.
I0419 21:02:07.566947 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293275577154.
I0419 21:02:07.575125 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293275744584.
I0419 21:02:07.587872 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.491753, 0.7044), points=12, range=0.86225, residual=0.0127527, extent=0.0401179
I0419 21:02:07.587982 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.491753, 0.7044), tracking=(0.790253, 0.7044), map_predicted=(6.9508, -2.52649), range=0.86225, pts=12
I0419 21:02:07.588014 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0363853m maha_sq=0.0558831 (gate chi2=5.99) pose_sigma=(0.151935, 0.151935, rho=0) det_map=(6.9508, -2.52649) lm_pos=(6.915, -2.52) delta=(0.0358024, -0.00648719) -> 1 candidate(s)
I0419 21:02:07.588100 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293275872335.
I0419 21:02:07.602826 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293276020953.
I0419 21:02:07.617703 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0833102 range=0.857308 variance=0.000593956 t_weight=5050.88 r_weight=0 yaml=(6.915, -2.52) prior=(7.74683, -1.82862, 179.528deg) obs_actual=(0.782688, 0.704425) obs_expected=(0.826108, 0.698209) delta=(-0.0434202, 0.0062165) |delta|=0.043863m
I0419 21:02:07.617843 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293276172400.
I0419 21:02:07.680305 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:07.680461 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293276298268.
I0419 21:02:07.681376 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.40142, -0.487104)
I0419 21:02:07.681530 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293276461589.
I0419 21:02:07.682503 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.074138s, prior_pose=(7.75661, -1.826), yaw=179.52 deg
I0419 21:02:07.682580 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=251, threshold=230, above_threshold=28, candidates=28
I0419 21:02:07.682742 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293276613715.
I0419 21:02:07.684278 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293276735380.
I0419 21:02:07.689776 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:07.689944 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293276892797.
I0419 21:02:07.706671 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293277060907.
I0419 21:02:07.718619 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:07.718725 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:07.718760 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:07.718848 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293277181786.
I0419 21:02:07.734050 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:07.734130 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:07.734222 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293277336573.
I0419 21:02:07.749899 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293277494120.
I0419 21:02:07.813469 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.438307, 0.703604), points=14, range=0.832214, residual=0.0142623, extent=0.045733
I0419 21:02:07.813593 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.438307, 0.703604), tracking=(0.736807, 0.703604), map_predicted=(6.96537, -2.52097), range=0.832214, pts=14
I0419 21:02:07.813622 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0503772m maha_sq=0.109409 (gate chi2=5.99) pose_sigma=(0.150168, 0.150168, rho=0) det_map=(6.96537, -2.52097) lm_pos=(6.915, -2.52) delta=(0.0503678, -0.000969244) -> 1 candidate(s)
I0419 21:02:07.813697 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293277612971.
I0419 21:02:07.814678 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.749172, -0.198408)
I0419 21:02:07.814812 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293277779756.
I0419 21:02:07.815573 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.14759 range=0.828 variance=0.000599627 t_weight=5003.11 r_weight=0 yaml=(6.915, -2.52) prior=(7.70693, -1.82237, 179.612deg) obs_actual=(0.72881, 0.704425) obs_expected=(0.787181, 0.702976) delta=(-0.058371, 0.00144956) |delta|=0.058389m
I0419 21:02:07.815653 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293277901590.
I0419 21:02:07.817438 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293278093823.
I0419 21:02:07.822140 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293278215852.
I0419 21:02:07.838615 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:07.838701 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:07.838722 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293278380655.
I0419 21:02:07.850777 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293278502044.
I0419 21:02:07.866219 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.558 deg, rms_residual=0.0124169m, sigma_yaw=0.0162862 rad, N=2
I0419 21:02:07.866322 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.63006, -1.82256, 179.558deg) inliers=2 rms=0.0124169m
I0419 21:02:07.866359 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293278656892.
I0419 21:02:07.878682 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293278781944.
I0419 21:02:07.948235 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293278937298.
I0419 21:02:07.949642 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293279096597.
I0419 21:02:07.950759 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.817884, -0.698485)
I0419 21:02:07.950968 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:07.951026 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293279258061.
I0419 21:02:07.953445 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293279376867.
I0419 21:02:07.954524 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602459s, prior_pose=(7.64561, -1.82221), yaw=179.581 deg
I0419 21:02:07.954640 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1453, max_intensity=252, threshold=230, above_threshold=30, candidates=30
I0419 21:02:07.954761 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0977088, 0.51051), points=24, range=0.519542, residual=0.0110036, extent=0.0358864
I0419 21:02:07.954818 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0977088, 0.51051), tracking=(-0.200791, -0.51051), map_predicted=(7.85013, -1.31318), range=0.519542, pts=24
I0419 21:02:07.954841 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0357824m maha_sq=0.0555411 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85013, -1.31318) lm_pos=(7.815, -1.32) delta=(0.0351265, 0.00681969) -> 1 candidate(s)
I0419 21:02:07.954912 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293279539757.
I0419 21:02:07.966590 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293279661303.
I0419 21:02:07.981911 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:07.982101 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0773299 range=1.094 variance=0.000516245 t_weight=5811.19 r_weight=0 yaml=(8.715, -2.52) prior=(7.62414, -1.82592, 179.597deg) obs_actual=(-1.13533, 0.702164) obs_expected=(-1.09572, 0.686388) delta=(-0.0396088, 0.0157763) |delta|=0.0426351m
I0419 21:02:07.982173 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293279813394.
I0419 21:02:07.998914 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293279979239.
I0419 21:02:08.018524 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:08.018644 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:08.018743 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:08.018887 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293280177115.
I0419 21:02:08.112047 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:08.112142 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:08.112217 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293280255249.
I0419 21:02:08.113301 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293280459065.
I0419 21:02:08.114131 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293280550605.
I0419 21:02:08.115746 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.861115, -0.700831)
I0419 21:02:08.115845 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293280738893.
I0419 21:02:08.116662 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293280853236.
I0419 21:02:08.117651 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293281015408.
I0419 21:02:08.119063 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293281139325.
I0419 21:02:08.134405 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.878709, -0.703117), points=6, range=1.1265, residual=0.00779589, extent=0.021534
I0419 21:02:08.134511 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.878709, -0.703117), tracking=(-1.17721, 0.703117), map_predicted=(8.75824, -2.53359), range=1.1265, pts=6
I0419 21:02:08.134543 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0453289m maha_sq=0.0892673 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75824, -2.53359) lm_pos=(8.715, -2.52) delta=(0.0432428, -0.0135931) -> 1 candidate(s)
I0419 21:02:08.134615 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:08.134662 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:08.134684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293281339372.
I0419 21:02:08.142755 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0860436 range=0.77775 variance=0.000632346 t_weight=4744.24 r_weight=0 yaml=(6.915, -2.52) prior=(7.58464, -1.82446, 179.707deg) obs_actual=(0.621723, 0.703738) obs_expected=(0.666079, 0.698951) delta=(-0.0443562, 0.00478698) |delta|=0.0446138m
I0419 21:02:08.142884 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293281422003.
I0419 21:02:08.209496 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293281619794.
I0419 21:02:08.210685 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293281741752.
I0419 21:02:08.211862 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293281900222.
I0419 21:02:08.212721 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 508
I0419 21:02:08.213581 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282012787.
I0419 21:02:08.218395 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.91298, -0.706448)
I0419 21:02:08.218518 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:08.218587 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282179305.
I0419 21:02:08.233723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282332543.
I0419 21:02:08.250061 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484036s, prior_pose=(7.54214, -1.84792), yaw=179.558 deg
I0419 21:02:08.250162 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1457, max_intensity=252, threshold=230, above_threshold=30, candidates=30
I0419 21:02:08.250363 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.619 deg, rms_residual=0.0118975m, sigma_yaw=0.0156156 rad, N=2
I0419 21:02:08.250404 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.51265, -1.81672, 179.619deg) inliers=2 rms=0.0118975m
I0419 21:02:08.250437 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282496823.
I0419 21:02:08.264731 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282642608.
I0419 21:02:08.279287 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.930976, -0.703662), points=7, range=1.16586, residual=0.0079948, extent=0.0211493
I0419 21:02:08.279399 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.930976, -0.703662), tracking=(-1.22948, 0.703662), map_predicted=(8.76615, -2.56105), range=1.16586, pts=7
I0419 21:02:08.279431 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.065587m maha_sq=0.186842 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.76615, -2.56105) lm_pos=(8.715, -2.52) delta=(0.0511516, -0.0410508) -> 1 candidate(s)
I0419 21:02:08.279456 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:08.279536 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282779486.
I0419 21:02:08.350632 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.122925 range=0.761375 variance=0.000643542 t_weight=4661.7 r_weight=0 yaml=(6.915, -2.52) prior=(7.54944, -1.83637, 179.59deg) obs_actual=(0.578296, 0.704174) obs_expected=(0.629541, 0.688152) delta=(-0.0512448, 0.016022) |delta|=0.0536911m
I0419 21:02:08.350767 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293282900099.
I0419 21:02:08.351631 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:08.351676 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:08.351706 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:08.351758 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283052850.
I0419 21:02:08.352753 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:08.352798 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:08.352898 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283222470.
I0419 21:02:08.354604 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283375280.
I0419 21:02:08.355525 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283496258.
I0419 21:02:08.370062 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.950946, -0.705787)
I0419 21:02:08.370250 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283695656.
I0419 21:02:08.378113 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283773560.
I0419 21:02:08.398391 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293283977087.
I0419 21:02:08.410627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293284099608.
I0419 21:02:08.484196 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.51152, -1.83318), yaw=179.595 deg backend=(8.32752, -1.82728)
I0419 21:02:08.485100 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.972978, -0.706903), points=4, range=1.2015, residual=0.0056518, extent=0.0138246
I0419 21:02:08.485164 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.972978, -0.706903), tracking=(-1.27148, 0.706903), map_predicted=(8.77796, -2.54906), range=1.2015, pts=4
I0419 21:02:08.485196 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0693455m maha_sq=0.207296 (gate chi2=5.99) pose_sigma=(0.150681, 0.150681, rho=0) det_map=(8.77796, -2.54906) lm_pos=(8.715, -2.52) delta=(0.0629615, -0.0290626) -> 1 candidate(s)
I0419 21:02:08.485258 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:08.485303 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:08.485321 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293284257765.
I0419 21:02:08.486263 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.145362 range=0.745176 variance=0.000657464 t_weight=4562.99 r_weight=0 yaml=(6.915, -2.52) prior=(7.51152, -1.83318, 179.595deg) obs_actual=(0.534826, 0.702778) obs_expected=(0.591642, 0.691024) delta=(-0.056816, 0.0117542) |delta|=0.0580191m
I0419 21:02:08.486356 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293284375320.
I0419 21:02:08.487375 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293284532913.
I0419 21:02:08.489027 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293284657444.
I0419 21:02:08.490123 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293284858316.
I0419 21:02:08.497829 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293284973227.
I0419 21:02:08.510499 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.989344, -0.709987)
I0419 21:02:08.510637 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:08.510736 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293285100269.
I0419 21:02:08.526293 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293285256942.
I0419 21:02:08.541687 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755354s, prior_pose=(7.46151, -1.82417), yaw=179.702 deg
I0419 21:02:08.541822 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1464, max_intensity=253, threshold=230, above_threshold=31, candidates=31
I0419 21:02:08.542076 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293285412798.
I0419 21:02:08.603547 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293285581360.
I0419 21:02:08.604537 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:08.604600 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.778 deg, rms_residual=0.0124265m, sigma_yaw=0.0162987 rad, N=2
I0419 21:02:08.604650 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.41049, -1.81328, 179.778deg) inliers=2 rms=0.0124265m
I0419 21:02:08.604681 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293285701561.
I0419 21:02:08.605490 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.193088, 0.704079), points=18, range=0.732889, residual=0.0139195, extent=0.0443435
I0419 21:02:08.605543 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.193088, 0.704079), tracking=(0.491588, 0.704079), map_predicted=(6.97131, -2.52156), range=0.732889, pts=18
I0419 21:02:08.605569 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0563305m maha_sq=0.137174 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.97131, -2.52156) lm_pos=(6.915, -2.52) delta=(0.0563087, -0.00156497) -> 1 candidate(s)
I0419 21:02:08.605619 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293285855133.
I0419 21:02:08.607260 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:08.607321 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:08.607352 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:08.607409 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293286019709.
I0419 21:02:08.614557 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:08.614647 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:08.614710 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00408201 range=1.22275 variance=0.000569976 t_weight=5263.38 r_weight=0 yaml=(6.015, -1.32) prior=(7.43929, -1.81771, 179.772deg) obs_actual=(1.41972, -0.499199) obs_expected=(1.42627, -0.492032) delta=(-0.00654312, -0.00716655) |delta|=0.00970422m
I0419 21:02:08.614758 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293286141758.
I0419 21:02:08.630327 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293286297430.
I0419 21:02:08.642537 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.179331, 0.705767)
I0419 21:02:08.642930 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293286421455.
I0419 21:02:08.658145 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293286576136.
I0419 21:02:08.674540 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293286740033.
I0419 21:02:08.737489 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293286901311.
I0419 21:02:08.738451 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287014695.
I0419 21:02:08.739490 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:08.739557 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:08.739581 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287173746.
I0419 21:02:08.741029 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287295365.
I0419 21:02:08.750448 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07218, -0.716408), points=3, range=1.287, residual=0.0070994, extent=0.0137819
I0419 21:02:08.750545 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.07218, -0.716408), tracking=(-1.37068, 0.716408), map_predicted=(8.76935, -2.53186), range=1.287, pts=3
I0419 21:02:08.750571 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0556345m maha_sq=0.134476 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.76935, -2.53186) lm_pos=(8.715, -2.52) delta=(0.054355, -0.0118633) -> 1 candidate(s)
I0419 21:02:08.750681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287500326.
I0419 21:02:08.762358 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0937996 range=0.713316 variance=0.000619133 t_weight=4845.48 r_weight=0 yaml=(6.915, -2.52) prior=(7.40104, -1.81095, 179.812deg) obs_actual=(0.439243, 0.696802) obs_expected=(0.483706, 0.710644) delta=(-0.0444631, -0.0138419) |delta|=0.0465679m
I0419 21:02:08.762512 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287617926.
I0419 21:02:08.777948 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287774324.
I0419 21:02:08.790118 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.06251, -0.501084)
I0419 21:02:08.790323 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293287895874.
I0419 21:02:08.806543 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:08.806679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288059515.
I0419 21:02:08.868853 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288212819.
I0419 21:02:08.869726 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566988s, prior_pose=(7.38433, -1.81724), yaw=179.865 deg
I0419 21:02:08.869798 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1471, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:02:08.869995 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288341312.
I0419 21:02:08.870949 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288497313.
I0419 21:02:08.872431 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:08.872511 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288627591.
I0419 21:02:08.878585 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288781344.
I0419 21:02:08.895694 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:08.895814 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:08.895848 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1104, -0.721095), points=4, range=1.32675, residual=0.0081313, extent=0.0181742
I0419 21:02:08.895871 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:08.895884 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1104, -0.721095), tracking=(-1.4089, 0.721095), map_predicted=(8.77299, -2.54786), range=1.32675, pts=4
I0419 21:02:08.895910 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0643332m maha_sq=0.179672 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.77299, -2.54786) lm_pos=(8.715, -2.52) delta=(0.0579899, -0.0278555) -> 1 candidate(s)
I0419 21:02:08.895974 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.967 deg, rms_residual=0.0153883m, sigma_yaw=0.0201052 rad, N=2
I0419 21:02:08.896010 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.31491, -1.81204, -179.967deg) inliers=2 rms=0.0153883m
I0419 21:02:08.896047 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293288952580.
I0419 21:02:08.909888 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:08.909986 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:08.910061 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0360878 range=0.705778 variance=0.000572775 t_weight=5237.66 r_weight=0 yaml=(6.915, -2.52) prior=(7.34153, -1.8207, 179.929deg) obs_actual=(0.396555, 0.697553) obs_expected=(0.425658, 0.699835) delta=(-0.0291027, -0.0022818) |delta|=0.029192m
I0419 21:02:08.910115 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289094875.
I0419 21:02:08.925539 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.204848, 0.502722)
I0419 21:02:08.925699 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289251345.
I0419 21:02:08.937808 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289373412.
I0419 21:02:09.001309 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289532553.
I0419 21:02:09.002487 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289661755.
I0419 21:02:09.003440 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289814744.
I0419 21:02:09.005004 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293289936980.
I0419 21:02:09.014147 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:09.014251 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:09.014276 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293290137085.
I0419 21:02:09.026393 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293290259552.
I0419 21:02:09.041873 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15991, -0.72245), points=3, range=1.36333, residual=0.00668128, extent=0.0119892
I0419 21:02:09.041963 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15991, -0.72245), tracking=(-1.45841, 0.72245), map_predicted=(8.76969, -2.54776), range=1.36333, pts=3
I0419 21:02:09.042309 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0613342m maha_sq=0.160429 (gate chi2=5.99) pose_sigma=(0.151436, 0.151436, rho=0) det_map=(8.76969, -2.54776) lm_pos=(8.715, -2.52) delta=(0.0546908, -0.0277631) -> 1 candidate(s)
I0419 21:02:09.042428 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293290413624.
I0419 21:02:09.054157 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.986835, -0.506419)
I0419 21:02:09.054325 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0729362 range=0.701222 variance=0.000564929 t_weight=5310.4 r_weight=0 yaml=(6.915, -2.52) prior=(7.31076, -1.82637, -179.959deg) obs_actual=(0.355508, 0.697954) obs_expected=(0.396263, 0.693345) delta=(-0.0407557, 0.00460891) |delta|=0.0410155m
I0419 21:02:09.054445 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293290534061.
I0419 21:02:09.070215 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293290696976.
I0419 21:02:09.133500 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293290853702.
I0419 21:02:09.134645 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:09.134730 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293291011874.
I0419 21:02:09.135548 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293291131862.
I0419 21:02:09.137059 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442289s, prior_pose=(7.2882, -1.82757), yaw=-179.951 deg
I0419 21:02:09.137149 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1480, max_intensity=253, threshold=230, above_threshold=26, candidates=26
I0419 21:02:09.137290 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293291295991.
I0419 21:02:09.142117 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293291416827.
I0419 21:02:09.161840 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:09.161978 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293291614313.
I0419 21:02:09.174203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293291737207.
I0419 21:02:09.189786 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:09.189872 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.19793, -0.724529)
I0419 21:02:09.189889 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:09.189922 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:09.190009 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293291893553.
I0419 21:02:09.201807 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:09.201977 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.935941, -0.508167), points=5, range=1.0692, residual=0.00916565, extent=0.0179878
I0419 21:02:09.202033 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:09.202081 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.935941, -0.508167), tracking=(1.23444, -0.508167), map_predicted=(6.03607, -1.3242), range=1.0692, pts=5
I0419 21:02:09.202139 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0214885m maha_sq=0.0200436 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.03607, -1.3242) lm_pos=(6.015, -1.32) delta=(0.0210742, -0.00419923) -> 1 candidate(s)
I0419 21:02:09.202260 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293292013757.
I0419 21:02:09.266600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293292175179.
I0419 21:02:09.267745 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.046 deg, rms_residual=0.0142129m, sigma_yaw=0.018598 rad, N=2
I0419 21:02:09.267818 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0328652 range=1.06775 variance=0.000494202 t_weight=6070.39 r_weight=0 yaml=(6.015, -1.32) prior=(7.28185, -1.83085, -179.935deg) obs_actual=(1.23883, -0.510555) obs_expected=(1.26627, -0.51229) delta=(-0.0274354, 0.00173498) |delta|=0.0274902m
I0419 21:02:09.267853 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.23663, -1.83975, 179.046deg) inliers=2 rms=0.0142129m
I0419 21:02:09.267881 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293292301735.
I0419 21:02:09.268695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293292456717.
I0419 21:02:09.270347 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293292611499.
I0419 21:02:09.278314 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293292778917.
I0419 21:02:09.290211 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293292896819.
I0419 21:02:09.291347 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.23218, -1.83055), yaw=-179.832 deg backend=(8.30361, -1.82116)
I0419 21:02:09.306763 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.322892, 0.497103)
I0419 21:02:09.306917 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:09.307006 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:09.307029 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293293061087.
I0419 21:02:09.317790 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293293173581.
I0419 21:02:09.334208 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293293337184.
I0419 21:02:09.377283 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 347
I0419 21:02:09.401660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293293494379.
I0419 21:02:09.402637 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293293661640.
I0419 21:02:09.403420 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.87699, -0.507995), points=5, range=1.0168, residual=0.0128181, extent=0.0341052
I0419 21:02:09.403489 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.87699, -0.507995), tracking=(1.17549, -0.507995), map_predicted=(6.07163, -1.35894), range=1.0168, pts=5
I0419 21:02:09.403517 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0687237m maha_sq=0.204323 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.07163, -1.35894) lm_pos=(6.015, -1.32) delta=(0.0566295, -0.0389364) -> 1 candidate(s)
I0419 21:02:09.403577 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293293773729.
I0419 21:02:09.408181 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:09.408278 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.167471 range=0.609952 variance=0.000593226 t_weight=5057.1 r_weight=0 yaml=(7.815, -1.32) prior=(7.21942, -1.85497, -179.903deg) obs_actual=(-0.647981, -0.497504) obs_expected=(-0.596482, -0.533962) delta=(-0.051499, 0.0364581) |delta|=0.0630978m
I0419 21:02:09.408349 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293293938735.
I0419 21:02:09.410401 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294099588.
I0419 21:02:09.424523 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0744464s, prior_pose=(7.21942, -1.85497), yaw=-179.903 deg
I0419 21:02:09.424629 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=254, threshold=230, above_threshold=24, candidates=24
I0419 21:02:09.424736 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.36314, 0.496576)
I0419 21:02:09.424850 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294238843.
I0419 21:02:09.438313 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294374781.
I0419 21:02:09.455107 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:09.455253 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294545628.
I0419 21:02:09.466116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294654479.
I0419 21:02:09.531051 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:09.531422 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:09.531589 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:09.531797 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294812404.
I0419 21:02:09.532809 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:09.532981 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:09.533245 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293294972045.
I0419 21:02:09.534375 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293295098872.
I0419 21:02:09.536091 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0774718, 0.697857), points=18, range=0.703111, residual=0.0114686, extent=0.0369126
I0419 21:02:09.536298 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0774718, 0.697857), tracking=(0.221028, 0.697857), map_predicted=(6.95431, -2.53575), range=0.703111, pts=18
I0419 21:02:09.536342 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0423468m maha_sq=0.0761638 (gate chi2=5.99) pose_sigma=(0.151577, 0.151577, rho=0) det_map=(6.95431, -2.53575) lm_pos=(6.915, -2.52) delta=(0.0393073, -0.0157539) -> 1 candidate(s)
I0419 21:02:09.536408 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293295257805.
I0419 21:02:09.541772 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.396858, 0.494336)
I0419 21:02:09.541922 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293295413594.
I0419 21:02:09.553985 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.128707 range=0.706556 variance=0.000573126 t_weight=5234.45 r_weight=0 yaml=(6.915, -2.52) prior=(7.17286, -1.83712, -179.797deg) obs_actual=(0.208531, 0.699045) obs_expected=(0.260279, 0.681964) delta=(-0.0517487, 0.0170806) |delta|=0.0544947m
I0419 21:02:09.554129 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293295534452.
I0419 21:02:09.569633 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293295691445.
I0419 21:02:09.582093 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293295815890.
I0419 21:02:09.602653 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:09.602777 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:09.602797 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293296021535.
I0419 21:02:09.664593 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.99 deg, rms_residual=0.012233m, sigma_yaw=0.0130326 rad, N=3
I0419 21:02:09.664746 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.12379, -1.82801, 179.99deg) inliers=3 rms=0.012233m
I0419 21:02:09.664785 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293296141900.
I0419 21:02:09.665787 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293296295478.
I0419 21:02:09.666704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293296416233.
I0419 21:02:09.668217 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.433366, 0.491114)
I0419 21:02:09.668303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293296579188.
I0419 21:02:09.670260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293296698598.
I0419 21:02:09.690172 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.439719, 0.492604), points=17, range=0.662294, residual=0.0114751, extent=0.0349198
I0419 21:02:09.690290 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.439719, 0.492604), tracking=(-0.738219, -0.492604), map_predicted=(7.85047, -1.33195), range=0.662294, pts=17
I0419 21:02:09.690323 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0374272m maha_sq=0.0607254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85047, -1.33195) lm_pos=(7.815, -1.32) delta=(0.0354676, -0.0119517) -> 1 candidate(s)
I0419 21:02:09.690363 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:09.690419 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293296897247.
I0419 21:02:09.702442 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.0309439 range=0.711556 variance=0.000575033 t_weight=5217.09 r_weight=5000 yaml=(6.915, -2.52) prior=(7.10276, -1.82984, -179.617deg) obs_actual=(0.167028, 0.697868) obs_expected=(0.192367, 0.688887) delta=(-0.0253393, 0.00898108) |delta|=0.0268838m
I0419 21:02:09.702584 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293297018243.
I0419 21:02:09.717623 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594122s, prior_pose=(7.10276, -1.82984), yaw=-179.617 deg
I0419 21:02:09.717815 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1445, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 21:02:09.718015 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293297173310.
I0419 21:02:09.729902 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293297294079.
I0419 21:02:09.792521 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:09.792670 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293297453736.
I0419 21:02:09.793913 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293297617200.
I0419 21:02:09.794739 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:09.794783 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.47197, 0.490058)
I0419 21:02:09.794802 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:09.794826 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:09.794874 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293297739674.
I0419 21:02:09.796396 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:09.796456 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:09.796562 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293297895834.
I0419 21:02:09.805886 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293298052615.
I0419 21:02:09.818421 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.161633, 0.700128), points=18, range=0.719667, residual=0.0118713, extent=0.0363175
I0419 21:02:09.818517 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.161633, 0.700128), tracking=(0.136867, 0.700128), map_predicted=(6.93781, -2.52422), range=0.719667, pts=18
I0419 21:02:09.818548 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[8] 'ref_9' eucl_dist=0.0232027m maha_sq=0.0233271 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93781, -2.52422) lm_pos=(6.915, -2.52) delta=(0.0228149, -0.0042244) -> 1 candidate(s)
I0419 21:02:09.818674 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293298179991.
I0419 21:02:09.833710 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293298332177.
I0419 21:02:09.850108 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00988889 range=1.785 variance=0.000640282 t_weight=4685.43 r_weight=5000 yaml=(5.115, -2.52) prior=(7.05691, -1.82661, -179.447deg) obs_actual=(1.94994, 0.68967) obs_expected=(1.94851, 0.67461) delta=(0.00142575, 0.0150598) |delta|=0.0151272m
I0419 21:02:09.850256 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293298496024.
I0419 21:02:09.866284 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293298657543.
I0419 21:02:09.927404 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293298772284.
I0419 21:02:09.928434 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.4032, -0.74348)
I0419 21:02:09.928524 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:09.928556 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:09.928575 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293298937440.
I0419 21:02:09.929384 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293299057747.
I0419 21:02:09.931070 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293299214380.
I0419 21:02:09.934640 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293299339993.
I0419 21:02:09.954618 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293299540644.
I0419 21:02:09.965943 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.698446, -0.516779), points=9, range=0.871889, residual=0.0110837, extent=0.030663
I0419 21:02:09.966048 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.698446, -0.516779), tracking=(0.996946, -0.516779), map_predicted=(6.01448, -1.31692), range=0.871889, pts=9
I0419 21:02:09.966077 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00311977m maha_sq=0.000414095 (gate chi2=5.99) pose_sigma=(0.151451, 0.151451, rho=0) det_map=(6.01448, -1.31692) lm_pos=(6.015, -1.32) delta=(-0.000520419, 0.00307606) -> 1 candidate(s)
I0419 21:02:09.966317 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293299654330.
I0419 21:02:09.982234 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.42833, -0.746185)
I0419 21:02:09.982363 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:09.982406 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00822803 range=0.808444 variance=0.000709015 t_weight=4231.22 r_weight=0 yaml=(6.915, -2.52) prior=(7.01653, -1.82374, -179.429deg) obs_actual=(0.0981427, 0.704405) obs_expected=(0.108462, 0.695213) delta=(-0.010319, 0.00919144) |delta|=0.013819m
I0419 21:02:09.982455 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293299817488.
I0419 21:02:09.994837 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293299942304.
I0419 21:02:10.056859 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0444624s, prior_pose=(7.0064, -1.81995), yaw=-179.433 deg
I0419 21:02:10.056985 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1467, max_intensity=254, threshold=230, above_threshold=40, candidates=40
I0419 21:02:10.057245 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293300098954.
I0419 21:02:10.058260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293300257053.
I0419 21:02:10.059283 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:10.059350 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.784 deg, rms_residual=0.0157253m, sigma_yaw=0.0205364 rad, N=2
I0419 21:02:10.059389 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.98572, -1.82667, -177.784deg) inliers=2 rms=0.0157253m
I0419 21:02:10.059417 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293300418023.
I0419 21:02:10.060905 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293300550055.
I0419 21:02:10.070370 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:10.070451 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:10.070487 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:10.070556 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293300699434.
I0419 21:02:10.082716 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.662883, -0.517796)
I0419 21:02:10.082803 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:10.082827 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.666952, -0.517901), points=11, range=0.841182, residual=0.0127677, extent=0.0378906
I0419 21:02:10.082846 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:10.082861 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.666952, -0.517901), tracking=(0.965452, -0.517901), map_predicted=(6.01983, -1.31476), range=0.841182, pts=11
I0419 21:02:10.082883 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00712662m maha_sq=0.0021981 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.01983, -1.31476) lm_pos=(6.015, -1.32) delta=(0.00482798, 0.00524207) -> 1 candidate(s)
I0419 21:02:10.082999 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293300822166.
I0419 21:02:10.098594 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.000800956 range=0.79 variance=0.000622266 t_weight=4821.09 r_weight=0 yaml=(6.915, -2.52) prior=(6.97529, -1.82119, -179.315deg) obs_actual=(0.0670215, 0.702058) obs_expected=(0.0686486, 0.698039) delta=(-0.00162711, 0.00401919) |delta|=0.00433605m
I0419 21:02:10.098719 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293300980521.
I0419 21:02:10.113893 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293301133665.
I0419 21:02:10.130390 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293301298674.
I0419 21:02:10.195703 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293301417391.
I0419 21:02:10.196746 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293301580505.
I0419 21:02:10.197570 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.63406, -0.51793)
I0419 21:02:10.197700 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293301700794.
I0419 21:02:10.198675 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(6.95288, -1.81804), yaw=-179.272 deg backend=(8.09655, -1.81671)
I0419 21:02:10.199405 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.33147, -0.697451), points=15, range=0.776067, residual=0.0141918, extent=0.0420665
I0419 21:02:10.199467 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.33147, -0.697451), tracking=(0.0329702, 0.697451), map_predicted=(6.92878, -2.51585), range=0.776067, pts=15
I0419 21:02:10.199496 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0143858m maha_sq=0.00885726 (gate chi2=5.99) pose_sigma=(0.150744, 0.150744, rho=0) det_map=(6.92878, -2.51585) lm_pos=(6.915, -2.52) delta=(0.0137754, 0.00414617) -> 1 candidate(s)
I0419 21:02:10.199558 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:10.199590 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:10.199606 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293301855861.
I0419 21:02:10.202525 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.000453349 range=1.68467 variance=0.000730186 t_weight=4108.54 r_weight=4129.96 yaml=(5.115, -2.52) prior=(6.95288, -1.81804, -179.272deg) obs_actual=(1.84767, 0.681635) obs_expected=(1.84665, 0.678554) delta=(0.00101668, 0.00308184) |delta|=0.00324521m
I0419 21:02:10.202900 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293302020553.
I0419 21:02:10.219599 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293302190172.
I0419 21:02:10.229692 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293302291774.
I0419 21:02:10.246119 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293302454945.
I0419 21:02:10.261659 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.296952, 0.708125)
I0419 21:02:10.262061 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293302612114.
I0419 21:02:10.329587 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:10.329728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293302739790.
I0419 21:02:10.330837 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.301335, 0.709876), points=16, range=0.77125, residual=0.0114591, extent=0.0339241
I0419 21:02:10.330935 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.301335, 0.709876), tracking=(-0.00283507, 0.709876), map_predicted=(6.93732, -2.53018), range=0.77125, pts=16
I0419 21:02:10.330965 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[8] 'ref_9' eucl_dist=0.0245312m maha_sq=0.0260836 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93732, -2.53018) lm_pos=(6.915, -2.52) delta=(0.0223204, -0.0101775) -> 1 candidate(s)
I0419 21:02:10.331051 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293302899074.
I0419 21:02:10.331825 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0764806s, prior_pose=(6.92446, -1.82041), yaw=-179.191 deg
I0419 21:02:10.331905 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1460, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:02:10.332055 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[9] 'ref_10' maha_sq=0.062477 range=0.8013 variance=0.000534182 t_weight=5616.07 r_weight=5000 yaml=(7.815, -1.32) prior=(6.92446, -1.82041, -179.191deg) obs_actual=(-0.9351, -0.482589) obs_expected=(-0.897521, -0.487783) delta=(-0.0375782, 0.00519456) |delta|=0.0379356m
I0419 21:02:10.332108 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293303056580.
I0419 21:02:10.333914 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293303178336.
I0419 21:02:10.334913 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:02:10.335017 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.339 deg, rms_residual=0.00424077m, sigma_yaw=0.00456065 rad, N=3
I0419 21:02:10.335055 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.8825, -1.82465, -178.339deg) inliers=3 rms=0.00424077m
I0419 21:02:10.335083 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293303334723.
I0419 21:02:10.346175 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293303455470.
I0419 21:02:10.362411 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:10.362502 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53186, -0.755424)
I0419 21:02:10.362525 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:10.362556 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:10.362650 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293303619735.
I0419 21:02:10.377843 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:10.377947 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:10.378090 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293303771983.
I0419 21:02:10.394587 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293303939884.
I0419 21:02:10.461781 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.561585, -0.519044), points=14, range=0.762286, residual=0.0127766, extent=0.0386668
I0419 21:02:10.462077 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.561585, -0.519044), tracking=(0.860085, -0.519044), map_predicted=(6.04007, -1.31607), range=0.762286, pts=14
I0419 21:02:10.462242 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0253731m maha_sq=0.0275086 (gate chi2=5.99) pose_sigma=(0.150999, 0.150999, rho=0) det_map=(6.04007, -1.31607) lm_pos=(6.015, -1.32) delta=(0.0250667, 0.00393142) -> 1 candidate(s)
I0419 21:02:10.462461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293304053357.
I0419 21:02:10.463770 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0839375 range=0.7485 variance=0.000580043 t_weight=5172.03 r_weight=0 yaml=(6.915, -2.52) prior=(6.90934, -1.81957, -178.97deg) obs_actual=(-0.037064, 0.699217) obs_expected=(0.00693413, 0.700421) delta=(-0.0439981, -0.00120341) |delta|=0.0440145m
I0419 21:02:10.464020 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293304212739.
I0419 21:02:10.465117 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293304333388.
I0419 21:02:10.467168 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.257809, -0.698632)
I0419 21:02:10.467469 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293304499419.
I0419 21:02:10.468534 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293304655697.
I0419 21:02:10.482401 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:10.482537 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:10.482563 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293304817328.
I0419 21:02:10.494545 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293304938466.
I0419 21:02:10.510627 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293305101690.
I0419 21:02:10.522651 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.44776, 0.677624)
I0419 21:02:10.522745 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.521147, -0.521085), points=13, range=0.737231, residual=0.0101779, extent=0.0332465
I0419 21:02:10.522781 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.521147, -0.521085), tracking=(0.819647, -0.521085), map_predicted=(6.02274, -1.31593), range=0.737231, pts=13
I0419 21:02:10.522810 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00874496m maha_sq=0.00331889 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02274, -1.31593) lm_pos=(6.015, -1.32) delta=(0.00774123, 0.0040679) -> 1 candidate(s)
I0419 21:02:10.522951 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293305220857.
I0419 21:02:10.554225 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 208
I0419 21:02:10.592056 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00265999 range=0.737118 variance=0.000583317 t_weight=5143 r_weight=0 yaml=(6.915, -2.52) prior=(6.84096, -1.8141, -179.048deg) obs_actual=(-0.0644349, 0.699446) obs_expected=(-0.0622975, 0.707038) delta=(-0.00213734, -0.00759149) |delta|=0.00788663m
I0419 21:02:10.592250 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293305416744.
I0419 21:02:10.593163 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 24 -> 19 (threshold=0.03, iters=3)
I0419 21:02:10.593307 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293305538843.
I0419 21:02:10.594326 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:10.594419 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293305696404.
I0419 21:02:10.595909 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-0.315781, 0.545144)
I0419 21:02:10.596050 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293305819166.
I0419 21:02:10.598373 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560263s, prior_pose=(6.82208, -1.81851), yaw=-178.985 deg
I0419 21:02:10.598620 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1471, max_intensity=251, threshold=230, above_threshold=28, candidates=28
I0419 21:02:10.598971 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293305977007.
I0419 21:02:10.610509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293306100024.
I0419 21:02:10.630206 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:10.630334 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.112 deg, rms_residual=0.0033488m, sigma_yaw=0.00444522 rad, N=2
I0419 21:02:10.630380 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.79528, -1.82718, -178.112deg) inliers=2 rms=0.0033488m
I0419 21:02:10.630411 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293306296407.
I0419 21:02:10.642650 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.4809, -0.521678), points=13, range=0.711385, residual=0.010915, extent=0.0325213
I0419 21:02:10.642726 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.4809, -0.521678), tracking=(0.7794, -0.521678), map_predicted=(6.02966, -1.30691), range=0.711385, pts=13
I0419 21:02:10.642755 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0196544m maha_sq=0.0167541 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02966, -1.30691) lm_pos=(6.015, -1.32) delta=(0.0146636, 0.0130872) -> 1 candidate(s)
I0419 21:02:10.642868 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293306421776.
I0419 21:02:10.661670 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:10.661760 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:10.661820 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:10.661897 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.109929 range=0.889714 variance=0.000561708 t_weight=5340.86 r_weight=0 yaml=(7.815, -1.32) prior=(6.8188, -1.81375, -178.916deg) obs_actual=(-1.05571, -0.473732) obs_expected=(-1.00537, -0.47481) delta=(-0.0503388, 0.0010779) |delta|=0.0503503m
I0419 21:02:10.661984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293306611995.
I0419 21:02:10.746035 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.472206, -0.5197)
I0419 21:02:10.746131 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:10.746151 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:10.746224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293306699058.
I0419 21:02:10.747237 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293306859525.
I0419 21:02:10.748404 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307016148.
I0419 21:02:10.750213 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307139684.
I0419 21:02:10.751462 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307297749.
I0419 21:02:10.752475 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307460052.
I0419 21:02:10.757879 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307572897.
I0419 21:02:10.774250 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.161377, -0.694357)
I0419 21:02:10.774427 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:10.774484 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:10.774505 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307737666.
I0419 21:02:10.786650 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37755, 0.674328), points=5, range=1.5288, residual=0.0146928, extent=0.0383566
I0419 21:02:10.786749 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.37755, 0.674328), tracking=(1.67605, 0.674328), map_predicted=(5.12221, -2.53436), range=1.5288, pts=5
I0419 21:02:10.786782 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0160734m maha_sq=0.0111363 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.12221, -2.53436) lm_pos=(5.115, -2.52) delta=(0.00721479, -0.0143632) -> 1 candidate(s)
I0419 21:02:10.786875 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293307859741.
I0419 21:02:10.857365 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308062091.
I0419 21:02:10.858254 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.134847 range=0.674357 variance=0.000564303 t_weight=5316.3 r_weight=0 yaml=(6.015, -1.32) prior=(6.80704, -1.82017, -178.722deg) obs_actual=(0.725077, -0.522003) obs_expected=(0.780681, -0.517713) delta=(-0.0556036, -0.00428935) |delta|=0.0557687m
I0419 21:02:10.858337 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308150349.
I0419 21:02:10.859350 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308341913.
I0419 21:02:10.860802 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308453433.
I0419 21:02:10.862282 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:10.862355 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308619376.
I0419 21:02:10.874439 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308739806.
I0419 21:02:10.894322 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0485347s, prior_pose=(6.7556, -1.8196), yaw=-178.627 deg
I0419 21:02:10.894448 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1471, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:02:10.894554 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.68707, -0.768844)
I0419 21:02:10.894680 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293308938780.
I0419 21:02:10.906394 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309057114.
I0419 21:02:10.922219 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:10.922412 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309214719.
I0419 21:02:11.010629 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34433, 0.675127), points=4, range=1.49925, residual=0.0124096, extent=0.0290972
I0419 21:02:11.010726 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.34433, 0.675127), tracking=(1.64283, 0.675127), map_predicted=(5.13363, -2.53973), range=1.49925, pts=4
I0419 21:02:11.010756 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0271382m maha_sq=0.031659 (gate chi2=5.99) pose_sigma=(0.150426, 0.150426, rho=0) det_map=(5.13363, -2.53973) lm_pos=(5.115, -2.52) delta=(0.0186285, -0.0197348) -> 1 candidate(s)
I0419 21:02:11.010831 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.269 deg, rms_residual=0.0144174m, sigma_yaw=0.0188606 rad, N=2
I0419 21:02:11.010865 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.72804, -1.8071, -178.269deg) inliers=2 rms=0.0144174m
I0419 21:02:11.010898 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309334941.
I0419 21:02:11.011857 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:11.011894 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:11.011924 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:11.011976 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309499241.
I0419 21:02:11.012723 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:11.012764 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:11.012810 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.12091 range=0.643125 variance=0.000600803 t_weight=4993.32 r_weight=0 yaml=(6.015, -1.32) prior=(6.75918, -1.82401, -178.577deg) obs_actual=(0.678634, -0.519889) obs_expected=(0.731427, -0.522338) delta=(-0.0527932, 0.00244949) |delta|=0.05285m
I0419 21:02:11.012888 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309620684.
I0419 21:02:11.014582 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309811838.
I0419 21:02:11.015374 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293309941560.
I0419 21:02:11.016276 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0915657, -0.696599)
I0419 21:02:11.016366 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310096850.
I0419 21:02:11.026466 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310259079.
I0419 21:02:11.038493 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310379765.
I0419 21:02:11.053748 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310532528.
I0419 21:02:11.120865 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.71647, -1.82107), yaw=-178.592 deg backend=(7.88617, -1.81404)
I0419 21:02:11.121896 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:11.122020 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:11.122048 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310701707.
I0419 21:02:11.123004 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29361, 0.673398), points=6, range=1.45483, residual=0.012056, extent=0.0297354
I0419 21:02:11.123068 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.29361, 0.673398), tracking=(1.59211, 0.673398), map_predicted=(5.14138, -2.53338), range=1.45483, pts=6
I0419 21:02:11.123092 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0295765m maha_sq=0.0378307 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14138, -2.53338) lm_pos=(5.115, -2.52) delta=(0.0263779, -0.0133782) -> 1 candidate(s)
I0419 21:02:11.123162 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310812533.
I0419 21:02:11.124106 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293310977765.
I0419 21:02:11.125802 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0325831 range=0.62065 variance=0.000707984 t_weight=4237.39 r_weight=0 yaml=(6.015, -1.32) prior=(6.68563, -1.82764, -178.556deg) obs_actual=(0.630246, -0.518898) obs_expected=(0.657618, -0.52438) delta=(-0.0273725, 0.00548154) |delta|=0.027916m
I0419 21:02:11.125918 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311098776.
I0419 21:02:11.126814 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311263523.
I0419 21:02:11.142661 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.327022, -0.519698)
I0419 21:02:11.142853 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311422656.
I0419 21:02:11.158476 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:11.158617 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311580539.
I0419 21:02:11.170272 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311697292.
I0419 21:02:11.186503 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759505s, prior_pose=(6.66829, -1.82377), yaw=-178.555 deg
I0419 21:02:11.186612 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1462, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:02:11.186822 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311858281.
I0419 21:02:11.253268 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293311972425.
I0419 21:02:11.254987 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:11.255136 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293312181723.
I0419 21:02:11.256075 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25171, 0.673339), points=4, range=1.41675, residual=0.0116202, extent=0.0251217
I0419 21:02:11.256142 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25171, 0.673339), tracking=(1.55021, 0.673339), map_predicted=(5.13767, -2.54006), range=1.41675, pts=4
I0419 21:02:11.256170 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0302681m maha_sq=0.039643 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13767, -2.54006) lm_pos=(5.115, -2.52) delta=(0.0226673, -0.0200587) -> 1 candidate(s)
I0419 21:02:11.256222 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.167 deg, rms_residual=0.0142366m, sigma_yaw=0.0186285 rad, N=2
I0419 21:02:11.256256 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.63434, -1.80881, -178.167deg) inliers=2 rms=0.0142366m
I0419 21:02:11.256286 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293312292876.
I0419 21:02:11.257937 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:11.258002 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:11.258033 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:11.258090 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293312477802.
I0419 21:02:11.258828 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:11.258879 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:11.258926 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0777575 range=0.59095 variance=0.00060519 t_weight=4957.12 r_weight=0 yaml=(6.015, -1.32) prior=(6.65192, -1.82356, -178.602deg) obs_actual=(0.582112, -0.516804) obs_expected=(0.624444, -0.518948) delta=(-0.0423321, 0.00214444) |delta|=0.0423863m
I0419 21:02:11.258970 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293312577936.
I0419 21:02:11.273909 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.015192, -0.696588)
I0419 21:02:11.274161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293312733537.
I0419 21:02:11.286509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293312857660.
I0419 21:02:11.303232 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293313026303.
I0419 21:02:11.318403 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293313179106.
I0419 21:02:11.388646 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293313344611.
I0419 21:02:11.389935 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293313458591.
I0419 21:02:11.391150 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:11.391393 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:11.391551 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293313630289.
I0419 21:02:11.393428 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293313742294.
I0419 21:02:11.396961 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0202156, -0.694317), points=18, range=0.696444, residual=0.0117447, extent=0.0352353
I0419 21:02:11.397051 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0202156, -0.694317), tracking=(-0.318716, 0.694317), map_predicted=(6.94734, -2.51249), range=0.696444, pts=18
I0419 21:02:11.397125 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0331978m maha_sq=0.0477613 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94734, -2.51249) lm_pos=(6.915, -2.52) delta=(0.0323373, 0.00750974) -> 1 candidate(s)
I0419 21:02:11.397193 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293313962061.
I0419 21:02:11.407352 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.242838, -0.518523)
I0419 21:02:11.407514 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314053280.
I0419 21:02:11.425401 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0216553 range=0.697278 variance=0.00057611 t_weight=5207.34 r_weight=0 yaml=(6.915, -2.52) prior=(6.59495, -1.8222, -178.579deg) obs_actual=(-0.322774, 0.695388) obs_expected=(-0.302642, 0.705526) delta=(-0.0201326, -0.0101381) |delta|=0.0225411m
I0419 21:02:11.425562 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314220650.
I0419 21:02:11.434450 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314338252.
I0419 21:02:11.450449 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:11.450588 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314500078.
I0419 21:02:11.518882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314615609.
I0419 21:02:11.519932 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559433s, prior_pose=(6.60096, -1.82935), yaw=-178.591 deg
I0419 21:02:11.520057 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1459, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:02:11.520228 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314780083.
I0419 21:02:11.521219 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293314938718.
I0419 21:02:11.522977 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:11.523093 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293315092258.
I0419 21:02:11.523901 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.15673, 0.679056)
I0419 21:02:11.524015 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293315220872.
I0419 21:02:11.538583 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:11.538688 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:11.538717 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02848, 0.4669), points=5, range=1.1272, residual=0.00758539, extent=0.0163668
I0419 21:02:11.538741 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:11.538753 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02848, 0.4669), tracking=(-1.32698, -0.4669), map_predicted=(7.89237, -1.32779), range=1.1272, pts=5
I0419 21:02:11.538775 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.077762m maha_sq=0.262746 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.89237, -1.32779) lm_pos=(7.815, -1.32) delta=(0.0773712, -0.00778609) -> 1 candidate(s)
I0419 21:02:11.538869 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293315381522.
I0419 21:02:11.550477 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:11.550587 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:11.550658 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.156 deg, rms_residual=0.0167988m, sigma_yaw=0.0219077 rad, N=2
I0419 21:02:11.550698 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.53565, -1.80676, -178.156deg) inliers=2 rms=0.0167988m
I0419 21:02:11.550731 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293315500018.
I0419 21:02:11.567492 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0154079 range=0.699765 variance=0.00055117 t_weight=5442.97 r_weight=0 yaml=(6.915, -2.52) prior=(6.54845, -1.83215, -178.687deg) obs_actual=(-0.369521, 0.695193) obs_expected=(-0.350695, 0.69607) delta=(-0.0188256, -0.000876453) |delta|=0.018846m
I0419 21:02:11.567631 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293315668662.
I0419 21:02:11.582854 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293315823168.
I0419 21:02:11.645679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293315983185.
I0419 21:02:11.646669 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316092626.
I0419 21:02:11.647652 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316253804.
I0419 21:02:11.649296 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316379227.
I0419 21:02:11.658383 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.06268, 0.467574)
I0419 21:02:11.658533 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:11.658586 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:11.658608 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316579912.
I0419 21:02:11.671152 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316706604.
I0419 21:02:11.685957 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316852859.
I0419 21:02:11.698305 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11006, 0.678006), points=5, range=1.2964, residual=0.0128059, extent=0.0337285
I0419 21:02:11.698401 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11006, 0.678006), tracking=(1.40856, 0.678006), map_predicted=(5.11612, -2.54379), range=1.2964, pts=5
I0419 21:02:11.698431 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0238192m maha_sq=0.0245279 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11612, -2.54379) lm_pos=(5.115, -2.52) delta=(0.00112023, -0.0237928) -> 1 candidate(s)
I0419 21:02:11.698527 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293316978132.
I0419 21:02:11.713726 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293317131988.
I0419 21:02:11.779100 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0871236 range=0.53887 variance=0.000576336 t_weight=5205.3 r_weight=0 yaml=(6.015, -1.32) prior=(6.51387, -1.83598, -178.572deg) obs_actual=(0.441727, -0.519213) obs_expected=(0.48585, -0.528259) delta=(-0.0441222, 0.0090462) |delta|=0.04504m
I0419 21:02:11.779250 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293317297540.
I0419 21:02:11.780150 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:11.780220 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293317453296.
I0419 21:02:11.781157 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293317573267.
I0419 21:02:11.782647 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0449513s, prior_pose=(6.49175, -1.83105), yaw=-178.569 deg
I0419 21:02:11.782711 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1448, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:11.782842 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293317747053.
I0419 21:02:11.787483 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293317865769.
I0419 21:02:11.803882 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.10848, 0.464817)
I0419 21:02:11.804060 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:11.804147 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293318030824.
I0419 21:02:11.815033 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293318143822.
I0419 21:02:11.834105 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:11.834214 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:11.834247 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:11.834334 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293318335924.
I0419 21:02:11.846926 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:11.847036 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:11.847141 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293318463124.
I0419 21:02:11.873286 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:11.876993 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 139
I0419 21:02:11.910285 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293318618999.
I0419 21:02:11.911227 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0940801, -0.515739), points=23, range=0.52613, residual=0.0118776, extent=0.0381626
I0419 21:02:11.911319 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0940801, -0.515739), tracking=(0.39258, -0.515739), map_predicted=(6.07716, -1.31772), range=0.52613, pts=23
I0419 21:02:11.911351 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.062205m maha_sq=0.167705 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.07716, -1.31772) lm_pos=(6.015, -1.32) delta=(0.0621631, 0.00228305) -> 1 candidate(s)
I0419 21:02:11.911427 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293318741404.
I0419 21:02:11.912427 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293318916705.
I0419 21:02:11.913978 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0691073 range=0.525577 variance=0.000629624 t_weight=4764.75 r_weight=0 yaml=(6.015, -1.32) prior=(6.45715, -1.82061, -178.524deg) obs_actual=(0.389013, -0.517325) obs_expected=(0.429117, -0.511826) delta=(-0.0401036, -0.0054986) |delta|=0.0404788m
I0419 21:02:11.914090 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293319022404.
I0419 21:02:11.919003 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293319184078.
I0419 21:02:11.933775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293319332020.
I0419 21:02:11.934885 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.43582, -1.81949), yaw=-178.539 deg backend=(7.64937, -1.82048)
I0419 21:02:11.950028 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.188293, -0.706764)
I0419 21:02:11.950184 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:11.950273 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:11.950295 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293319495271.
I0419 21:02:11.962270 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.315 deg, rms_residual=0.0124399m, sigma_yaw=0.0163159 rad, N=2
I0419 21:02:11.962388 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.40382, -1.81416, -178.315deg) inliers=2 rms=0.0124399m
I0419 21:02:11.962426 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293319617379.
I0419 21:02:11.978704 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293319781873.
I0419 21:02:12.041440 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293319898609.
I0419 21:02:12.042562 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320096832.
I0419 21:02:12.043489 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320218245.
I0419 21:02:12.045140 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:12.045248 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320382068.
I0419 21:02:12.049823 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0452178, -0.516538), points=24, range=0.5185, residual=0.0112999, extent=0.0405966
I0419 21:02:12.049923 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0452178, -0.516538), tracking=(0.343718, -0.516538), map_predicted=(6.05887, -1.31094), range=0.5185, pts=24
I0419 21:02:12.049953 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.044795m maha_sq=0.0870185 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.05887, -1.31094) lm_pos=(6.015, -1.32) delta=(0.0438702, 0.00905534) -> 1 candidate(s)
I0419 21:02:12.050047 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320493149.
I0419 21:02:12.066594 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0762973s, prior_pose=(6.41545, -1.81869), yaw=-178.561 deg
I0419 21:02:12.066994 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1438, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:02:12.067176 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.26482 range=1.27433 variance=0.000492431 t_weight=6092.22 r_weight=0 yaml=(7.815, -1.32) prior=(6.41545, -1.81869, -178.561deg) obs_actual=(-1.48955, -0.459185) obs_expected=(-1.41163, -0.463376) delta=(-0.0779185, 0.0041903) |delta|=0.0780311m
I0419 21:02:12.067239 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320661582.
I0419 21:02:12.078418 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320777661.
I0419 21:02:12.098963 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.233235, -0.71019)
I0419 21:02:12.099225 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:12.099440 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293320982931.
I0419 21:02:12.110090 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321095259.
I0419 21:02:12.174263 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:12.174401 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:12.174434 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:12.174535 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321256057.
I0419 21:02:12.175426 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:12.175488 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:12.175558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321376790.
I0419 21:02:12.176577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321578683.
I0419 21:02:12.178254 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321701978.
I0419 21:02:12.187213 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321866320.
I0419 21:02:12.198316 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00372393, -0.517514), points=25, range=0.51852, residual=0.0120873, extent=0.0423758
I0419 21:02:12.198412 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00372393, -0.517514), tracking=(0.294776, -0.517514), map_predicted=(6.05819, -1.32199), range=0.51852, pts=25
I0419 21:02:12.198441 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.043232m maha_sq=0.080987 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.05819, -1.32199) lm_pos=(6.015, -1.32) delta=(0.0431862, -0.00198831) -> 1 candidate(s)
I0419 21:02:12.198530 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293321977039.
I0419 21:02:12.214426 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0478409 range=1.30367 variance=0.000665927 t_weight=4505 r_weight=0 yaml=(7.815, -1.32) prior=(6.34776, -1.82709, -178.414deg) obs_actual=(-1.51271, -0.455972) obs_expected=(-1.48072, -0.466276) delta=(-0.0319859, 0.0103041) |delta|=0.0336046m
I0419 21:02:12.214705 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293322138095.
I0419 21:02:12.226500 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.938153, 0.678556)
I0419 21:02:12.226711 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293322259689.
I0419 21:02:12.241737 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:12.241878 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:12.241902 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293322411839.
I0419 21:02:12.306735 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293322573336.
I0419 21:02:12.307900 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293322771712.
I0419 21:02:12.308661 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.801 deg, rms_residual=0.0105408m, sigma_yaw=0.0138596 rad, N=2
I0419 21:02:12.308725 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.3058, -1.82136, -178.801deg) inliers=2 rms=0.0105408m
I0419 21:02:12.308758 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293322857309.
I0419 21:02:12.310490 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293323014037.
I0419 21:02:12.315150 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293323145578.
I0419 21:02:12.330391 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:12.330546 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293323299141.
I0419 21:02:12.346602 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293323459245.
I0419 21:02:12.362459 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605077s, prior_pose=(6.30841, -1.82898), yaw=-178.534 deg
I0419 21:02:12.362605 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:02:12.362702 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.310414, -0.710985), points=14, range=0.776429, residual=0.0102781, extent=0.0311429
I0419 21:02:12.362730 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.310414, -0.710985), tracking=(-0.608914, 0.710985), map_predicted=(6.93532, -2.52416), range=0.776429, pts=14
I0419 21:02:12.362785 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0207368m maha_sq=0.0186592 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93532, -2.52416) lm_pos=(6.915, -2.52) delta=(0.0203158, -0.0041572) -> 1 candidate(s)
I0419 21:02:12.362874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293323619114.
I0419 21:02:12.374293 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.891467, 0.68127)
I0419 21:02:12.374636 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293323737988.
I0419 21:02:12.440460 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:12.440598 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0654609 range=0.781933 variance=0.000567738 t_weight=5284.13 r_weight=0 yaml=(6.915, -2.52) prior=(6.32039, -1.825, -178.571deg) obs_actual=(-0.616029, 0.71315) obs_expected=(-0.577092, 0.709612) delta=(-0.0389373, 0.00353865) |delta|=0.0390978m
I0419 21:02:12.440672 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293323899760.
I0419 21:02:12.441607 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324011884.
I0419 21:02:12.442585 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:12.442653 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:12.442682 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:12.442734 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324221798.
I0419 21:02:12.444190 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:12.444255 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:12.444314 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324300957.
I0419 21:02:12.451188 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324506867.
I0419 21:02:12.465725 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324651794.
I0419 21:02:12.477949 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324774841.
I0419 21:02:12.490259 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293324896817.
I0419 21:02:12.510412 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293325099446.
I0419 21:02:12.578001 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.84769, 0.679586)
I0419 21:02:12.578106 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0984251, -0.514338), points=24, range=0.523625, residual=0.0110207, extent=0.0362842
I0419 21:02:12.578135 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0984251, -0.514338), tracking=(0.200075, -0.514338), map_predicted=(6.06985, -1.31536), range=0.523625, pts=24
I0419 21:02:12.578157 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0550438m maha_sq=0.129684 (gate chi2=5.99) pose_sigma=(0.151029, 0.151029, rho=0) det_map=(6.06985, -1.31536) lm_pos=(6.015, -1.32) delta=(0.0548477, 0.00464216) -> 1 candidate(s)
I0419 21:02:12.578245 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293325221999.
I0419 21:02:12.579165 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:12.579211 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.260341 range=1.402 variance=0.000512045 t_weight=5858.86 r_weight=0 yaml=(7.815, -1.32) prior=(6.28373, -1.82411, -178.454deg) obs_actual=(-1.62156, -0.457711) obs_expected=(-1.54432, -0.462599) delta=(-0.0772469, 0.00488802) |delta|=0.0774014m
I0419 21:02:12.579253 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:12.579272 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293325380959.
I0419 21:02:12.580134 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293325494719.
I0419 21:02:12.581668 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293325657327.
I0419 21:02:12.582623 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293325777531.
I0419 21:02:12.601737 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293326011687.
I0419 21:02:12.610656 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293326099777.
I0419 21:02:12.626084 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:12.626443 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.332 deg, rms_residual=0.00705865m, sigma_yaw=0.00932378 rad, N=2
I0419 21:02:12.626667 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.18913, -1.84177, -177.332deg) inliers=2 rms=0.00705865m
I0419 21:02:12.626729 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293326253180.
I0419 21:02:12.638341 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293326378147.
I0419 21:02:12.716611 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0434243s, prior_pose=(6.23421, -1.82608), yaw=-178.486 deg
I0419 21:02:12.716720 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:02:12.716894 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293326534020.
I0419 21:02:12.717944 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.799321, 0.679085)
I0419 21:02:12.718039 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.794104, 0.679512), points=8, range=1.04887, residual=0.0129064, extent=0.0349156
I0419 21:02:12.718062 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.794104, 0.679512), tracking=(1.0926, 0.679512), map_predicted=(5.15994, -2.53422), range=1.04887, pts=8
I0419 21:02:12.718082 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0471395m maha_sq=0.0961168 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.15994, -2.53422) lm_pos=(5.115, -2.52) delta=(0.0449446, -0.0142166) -> 1 candidate(s)
I0419 21:02:12.718173 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293326658448.
I0419 21:02:12.719274 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:12.719336 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293326813803.
I0419 21:02:12.721192 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0421997 range=1.04211 variance=0.00060398 t_weight=4967.05 r_weight=0 yaml=(5.115, -2.52) prior=(6.2099, -1.82489, -178.471deg) obs_actual=(1.08453, 0.679226) obs_expected=(1.11306, 0.665654) delta=(-0.0285288, 0.0135722) |delta|=0.0315926m
I0419 21:02:12.721280 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293326982610.
I0419 21:02:12.722108 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:12.722153 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:12.722178 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:12.722218 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293327131639.
I0419 21:02:12.725838 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:12.725919 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:12.726011 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293327253689.
I0419 21:02:12.742290 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293327417885.
I0419 21:02:12.758283 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293327577434.
I0419 21:02:12.774320 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293327737549.
I0419 21:02:12.838178 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293327860336.
I0419 21:02:12.839272 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293328015992.
I0419 21:02:12.840127 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.755524, 0.680247)
I0419 21:02:12.840251 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293328141551.
I0419 21:02:12.841267 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.16592, -1.82618), yaw=-178.49 deg backend=(7.64961, -1.8228)
I0419 21:02:12.842049 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:12.842114 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:12.842136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293328342001.
I0419 21:02:12.843009 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293328422176.
I0419 21:02:12.862012 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.460947, -0.721143), points=14, range=0.858286, residual=0.0130755, extent=0.0405359
I0419 21:02:12.862107 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.460947, -0.721143), tracking=(-0.759447, 0.721143), map_predicted=(6.94411, -2.52705), range=0.858286, pts=14
I0419 21:02:12.862138 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0299542m maha_sq=0.0388179 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94411, -2.52705) lm_pos=(6.915, -2.52) delta=(0.0291121, -0.00705234) -> 1 candidate(s)
I0419 21:02:12.862212 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293328616388.
I0419 21:02:12.874416 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293328738549.
I0419 21:02:12.889873 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0180087 range=0.865214 variance=0.000623014 t_weight=4815.3 r_weight=0 yaml=(6.915, -2.52) prior=(6.1463, -1.82407, -178.481deg) obs_actual=(-0.769307, 0.722614) obs_expected=(-0.749981, 0.716065) delta=(-0.0193266, 0.00654949) |delta|=0.0204062m
I0419 21:02:12.890204 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293328892843.
I0419 21:02:12.902598 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293329019848.
I0419 21:02:12.967970 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:12.968101 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293329201322.
I0419 21:02:12.969005 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293329340692.
I0419 21:02:12.969852 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722328s, prior_pose=(6.16609, -1.82458), yaw=-178.523 deg
I0419 21:02:12.969928 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1461, max_intensity=249, threshold=230, above_threshold=13, candidates=13
I0419 21:02:12.970064 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293329460877.
I0419 21:02:12.971551 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.234261, -0.511942)
I0419 21:02:12.971673 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293329617998.
I0419 21:02:12.978943 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:12.979076 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293329784843.
I0419 21:02:12.990115 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293329895216.
I0419 21:02:13.006426 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:13.006521 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:13.006560 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:13.006665 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293330060218.
I0419 21:02:13.018998 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:13.019165 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:13.019268 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293330183218.
I0419 21:02:13.038439 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293330379977.
I0419 21:02:13.104195 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.684027, 0.680017), points=11, range=0.962545, residual=0.0112721, extent=0.0316332
I0419 21:02:13.104326 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.684027, 0.680017), tracking=(0.982527, 0.680017), map_predicted=(5.17171, -2.52696), range=0.962545, pts=11
I0419 21:02:13.104362 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0571401m maha_sq=0.138635 (gate chi2=5.99) pose_sigma=(0.151577, 0.151577, rho=0) det_map=(5.17171, -2.52696) lm_pos=(5.115, -2.52) delta=(0.0567147, -0.00695955) -> 1 candidate(s)
I0419 21:02:13.104455 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293330498605.
I0419 21:02:13.105438 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293330656047.
I0419 21:02:13.106478 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.672617, 0.6824)
I0419 21:02:13.106599 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.205569 range=0.9582 variance=0.000546035 t_weight=5494.15 r_weight=0 yaml=(5.115, -2.52) prior=(6.13587, -1.82114, -178.481deg) obs_actual=(0.971061, 0.682366) obs_expected=(1.03904, 0.671556) delta=(-0.0679757, 0.0108102) |delta|=0.0688299m
I0419 21:02:13.106649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293330779280.
I0419 21:02:13.108217 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293330943307.
I0419 21:02:13.109165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293331060025.
I0419 21:02:13.127249 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:13.127381 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:13.127406 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293331267547.
I0419 21:02:13.138629 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293331379980.
I0419 21:02:13.154934 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293331542697.
I0419 21:02:13.166273 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.672 deg, rms_residual=0.0120934m, sigma_yaw=0.0158686 rad, N=2
I0419 21:02:13.166395 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.03819, -1.82715, -178.672deg) inliers=2 rms=0.0120934m
I0419 21:02:13.166435 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293331657025.
I0419 21:02:13.231770 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.565928, -0.728636)
I0419 21:02:13.231949 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293331819223.
I0419 21:02:13.233614 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293331957377.
I0419 21:02:13.234738 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:13.234862 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293332135526.
I0419 21:02:13.236405 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293332253876.
I0419 21:02:13.241533 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592515s, prior_pose=(6.04454, -1.82509), yaw=-178.583 deg
I0419 21:02:13.241641 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=249, threshold=230, above_threshold=36, candidates=36
I0419 21:02:13.241902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293332411738.
I0419 21:02:13.254400 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.622849, 0.679635), points=13, range=0.920231, residual=0.0126313, extent=0.0394832
I0419 21:02:13.254516 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.622849, 0.679635), tracking=(0.921349, 0.679635), map_predicted=(5.14028, -2.5273), range=0.920231, pts=13
I0419 21:02:13.254552 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0263147m maha_sq=0.0299694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14028, -2.5273) lm_pos=(5.115, -2.52) delta=(0.0252808, -0.00730397) -> 1 candidate(s)
I0419 21:02:13.254644 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293332538683.
I0419 21:02:13.270583 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=28, centroid=(-0.279993, 0.509959)
I0419 21:02:13.270993 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:13.271231 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293332700644.
I0419 21:02:13.282668 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0181414 range=0.912692 variance=0.000610554 t_weight=4913.57 r_weight=0 yaml=(5.115, -2.52) prior=(6.0273, -1.82488, -178.557deg) obs_actual=(0.910588, 0.679708) obs_expected=(0.929523, 0.671916) delta=(-0.0189351, 0.00779238) |delta|=0.0204758m
I0419 21:02:13.283125 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293332821587.
I0419 21:02:13.302246 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=41, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:13.302332 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:13.302376 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:13.302477 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293333017299.
I0419 21:02:13.365127 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:13.365249 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:13.365335 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293333133556.
I0419 21:02:13.366425 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293333300704.
I0419 21:02:13.367264 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293333420254.
I0419 21:02:13.369014 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293333611799.
I0419 21:02:13.370333 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293333699798.
I0419 21:02:13.390396 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.231936, 0.506822)
I0419 21:02:13.390571 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293333896621.
I0419 21:02:13.402513 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293334020598.
I0419 21:02:13.418071 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:13.418180 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:13.418202 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293334175835.
I0419 21:02:13.431144 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293334300808.
I0419 21:02:13.481254 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 207
I0419 21:02:13.503573 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.655597, -0.736639), points=9, range=0.983556, residual=0.0111129, extent=0.0339241
I0419 21:02:13.503720 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.655597, -0.736639), tracking=(-0.954097, 0.736639), map_predicted=(6.95228, -2.5471), range=0.983556, pts=9
I0419 21:02:13.503750 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0460918m maha_sq=0.0903331 (gate chi2=5.99) pose_sigma=(0.151477, 0.151477, rho=0) det_map=(6.95228, -2.5471) lm_pos=(6.915, -2.52) delta=(0.0372809, -0.0271032) -> 1 candidate(s)
I0419 21:02:13.503837 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293334495207.
I0419 21:02:13.504660 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293334617388.
I0419 21:02:13.505695 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0939017 range=0.9901 variance=0.000631348 t_weight=4751.74 r_weight=0 yaml=(6.915, -2.52) prior=(5.97954, -1.83526, -178.525deg) obs_actual=(-0.955326, 0.735848) obs_expected=(-0.917526, 0.708586) delta=(-0.0377999, 0.0272624) |delta|=0.0466055m
I0419 21:02:13.505767 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293334780415.
I0419 21:02:13.507256 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293334892409.
I0419 21:02:13.509581 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.197061, 0.506515)
I0419 21:02:13.509704 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:13.509758 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293335091429.
I0419 21:02:13.518280 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293335177900.
I0419 21:02:13.537940 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483964s, prior_pose=(5.93938, -1.82901), yaw=-178.542 deg
I0419 21:02:13.538046 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:02:13.538321 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293335376373.
I0419 21:02:13.550060 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293335495589.
I0419 21:02:13.565866 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:13.566011 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293335652972.
I0419 21:02:13.640759 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293335773439.
I0419 21:02:13.641826 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:13.641914 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:13.641949 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:13.642035 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293335941916.
I0419 21:02:13.642781 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:13.642827 1218978 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:13.642889 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293336059228.
I0419 21:02:13.644630 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=23, centroid=(-0.159969, 0.507184)
I0419 21:02:13.644711 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.712943, -0.7382), points=9, range=1.023, residual=0.0135269, extent=0.0375549
I0419 21:02:13.644748 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.712943, -0.7382), tracking=(-1.01144, 0.7382), map_predicted=(6.92041, -2.5365), range=1.023, pts=9
I0419 21:02:13.644771 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0173599m maha_sq=0.0122705 (gate chi2=5.99) pose_sigma=(0.154681, 0.154681, rho=0) det_map=(6.92041, -2.5365) lm_pos=(6.915, -2.52) delta=(0.00540539, -0.016497) -> 1 candidate(s)
I0419 21:02:13.644884 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293336260171.
I0419 21:02:13.645920 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293336381818.
I0419 21:02:13.654284 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.011077 range=1.027 variance=0.000577272 t_weight=5196.86 r_weight=0 yaml=(6.915, -2.52) prior=(5.89051, -1.82427, -178.542deg) obs_actual=(-1.01034, 0.737081) obs_expected=(-1.00646, 0.721571) delta=(-0.00388033, 0.0155103) |delta|=0.0159884m
I0419 21:02:13.654429 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293336536344.
I0419 21:02:13.666924 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293336662461.
I0419 21:02:13.682816 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293336821586.
I0419 21:02:13.698508 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293336979815.
I0419 21:02:13.768241 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.90176, -1.82515), yaw=-178.563 deg backend=(7.47304, -1.82744)
I0419 21:02:13.769345 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:13.769438 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:13.769464 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293337118050.
I0419 21:02:13.770471 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293337259440.
I0419 21:02:13.771675 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(-0.125515, 0.50619)
I0419 21:02:13.771833 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.78 deg, rms_residual=0.00517343m, sigma_yaw=0.00685065 rad, N=2
I0419 21:02:13.771873 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.8544, -1.82745, -177.78deg) inliers=2 rms=0.00517343m
I0419 21:02:13.771899 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293337418710.
I0419 21:02:13.773604 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293337538977.
I0419 21:02:13.774766 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293337698086.
I0419 21:02:13.782208 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293337816141.
I0419 21:02:13.802318 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.103873, 0.502844), points=24, range=0.515375, residual=0.0118363, extent=0.0364836
I0419 21:02:13.802413 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.103873, 0.502844), tracking=(-0.194627, -0.502844), map_predicted=(6.04356, -1.31995), range=0.515375, pts=24
I0419 21:02:13.802444 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0285555m maha_sq=0.0347968 (gate chi2=5.99) pose_sigma=(0.151202, 0.151202, rho=0) det_map=(6.04356, -1.31995) lm_pos=(6.015, -1.32) delta=(0.0285555, 5.41529e-05) -> 1 candidate(s)
I0419 21:02:13.802539 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:13.802604 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338017382.
I0419 21:02:13.814224 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338136758.
I0419 21:02:13.830030 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754911s, prior_pose=(5.86199, -1.82765), yaw=-178.519 deg
I0419 21:02:13.830179 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1428, max_intensity=254, threshold=230, above_threshold=34, candidates=34
I0419 21:02:13.830535 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0867563 range=1.06911 variance=0.000627272 t_weight=4782.61 r_weight=0 yaml=(6.915, -2.52) prior=(5.86199, -1.82765, -178.519deg) obs_actual=(-1.07428, 0.740426) obs_expected=(-1.03476, 0.719332) delta=(-0.0395157, 0.0210938) |delta|=0.0447933m
I0419 21:02:13.830605 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338293888.
I0419 21:02:13.890620 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338417214.
I0419 21:02:13.891607 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(-0.0897247, 0.504183)
I0419 21:02:13.891700 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:13.891768 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338576146.
I0419 21:02:13.892637 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338739030.
I0419 21:02:13.894362 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:13.894435 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:13.894465 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:13.894518 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293338858702.
I0419 21:02:13.902364 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:13.902518 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:13.902647 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293339019252.
I0419 21:02:13.918560 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293339177808.
I0419 21:02:13.930392 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293339299219.
I0419 21:02:13.946669 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293339460997.
I0419 21:02:13.962337 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28952, -0.554017), points=3, range=1.39633, residual=0.0137604, extent=0.0281942
I0419 21:02:13.962455 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28952, -0.554017), tracking=(1.58802, -0.554017), map_predicted=(4.22102, -1.31582), range=1.39633, pts=3
I0419 21:02:13.962486 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.00733166m maha_sq=0.00232064 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.22102, -1.31582) lm_pos=(4.215, -1.32) delta=(0.00602313, 0.00418033) -> 1 candidate(s)
I0419 21:02:13.962622 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293339617410.
I0419 21:02:14.023833 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0800992 range=0.504625 variance=0.000546924 t_weight=5485.23 r_weight=0 yaml=(6.015, -1.32) prior=(5.82822, -1.83038, -178.523deg) obs_actual=(-0.2428, -0.501695) obs_expected=(-0.199873, -0.505395) delta=(-0.0429268, 0.00369918) |delta|=0.0430859m
I0419 21:02:14.023979 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293339741264.
I0419 21:02:14.024765 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(0.3878, 0.676079)
I0419 21:02:14.024861 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293339870109.
I0419 21:02:14.025852 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:14.025919 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:14.025945 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340058365.
I0419 21:02:14.027393 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340175559.
I0419 21:02:14.034442 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340340014.
I0419 21:02:14.050220 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340497938.
I0419 21:02:14.066421 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.108 deg, rms_residual=0.00892976m, sigma_yaw=0.0117662 rad, N=2
I0419 21:02:14.066540 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.75408, -1.82222, -178.108deg) inliers=2 rms=0.00892976m
I0419 21:02:14.066578 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340657080.
I0419 21:02:14.078189 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340774598.
I0419 21:02:14.094584 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:14.094723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293340937834.
I0419 21:02:14.164451 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24642, -0.552775), points=3, range=1.362, residual=0.0046142, extent=0.00887099
I0419 21:02:14.164579 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.24642, -0.552775), tracking=(1.54492, -0.552775), map_predicted=(4.23581, -1.31798), range=1.362, pts=3
I0419 21:02:14.164620 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0209098m maha_sq=0.0188506 (gate chi2=5.99) pose_sigma=(0.150669, 0.150669, rho=0) det_map=(4.23581, -1.31798) lm_pos=(4.215, -1.32) delta=(0.0208117, 0.00202272) -> 1 candidate(s)
I0419 21:02:14.164724 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293341059923.
I0419 21:02:14.165983 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601505s, prior_pose=(5.79464, -1.83024), yaw=-178.504 deg
I0419 21:02:14.166098 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:02:14.166293 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.133773 range=0.501538 variance=0.000576449 t_weight=5204.28 r_weight=0 yaml=(6.015, -1.32) prior=(5.79464, -1.83024, -178.504deg) obs_actual=(-0.289018, -0.500234) obs_expected=(-0.233607, -0.504312) delta=(-0.055411, 0.00407822) |delta|=0.0555609m
I0419 21:02:14.166345 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293341258585.
I0419 21:02:14.167132 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.23594, -0.554586)
I0419 21:02:14.167241 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293341341096.
I0419 21:02:14.168804 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:14.168875 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293341502152.
I0419 21:02:14.169817 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293341670282.
I0419 21:02:14.182211 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:14.182292 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:14.182329 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:14.182410 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293341817552.
I0419 21:02:14.194442 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:14.194556 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:14.194653 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293341939441.
I0419 21:02:14.210809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342100872.
I0419 21:02:14.226115 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342256282.
I0419 21:02:14.287460 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342422234.
I0419 21:02:14.288403 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.305122, 0.677248), points=19, range=0.745737, residual=0.0149782, extent=0.0473068
I0419 21:02:14.288486 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.305122, 0.677248), tracking=(0.603622, 0.677248), map_predicted=(5.17072, -2.52728), range=0.745737, pts=19
I0419 21:02:14.288511 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0561928m maha_sq=0.136321 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.17072, -2.52728) lm_pos=(5.115, -2.52) delta=(0.0557191, -0.00728121) -> 1 candidate(s)
I0419 21:02:14.288587 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342536566.
I0419 21:02:14.289559 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.905136, -0.746058)
I0419 21:02:14.289667 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342701432.
I0419 21:02:14.291133 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.00294733 range=1.31233 variance=0.000495645 t_weight=6052.72 r_weight=0 yaml=(4.215, -1.32) prior=(5.72812, -1.83204, -178.466deg) obs_actual=(1.49065, -0.553801) obs_expected=(1.49887, -0.552364) delta=(-0.00822062, -0.00143691) |delta|=0.00834526m
I0419 21:02:14.291208 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342816857.
I0419 21:02:14.297837 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:14.297968 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:14.297992 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293342973248.
I0419 21:02:14.314420 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293343139006.
I0419 21:02:14.329869 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293343293920.
I0419 21:02:14.346648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293343460302.
I0419 21:02:14.359176 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293343585651.
I0419 21:02:14.423211 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.671 deg, rms_residual=0.00942716m, sigma_yaw=0.0124135 rad, N=2
I0419 21:02:14.423341 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.67461, -1.83736, -178.671deg) inliers=2 rms=0.00942716m
I0419 21:02:14.423380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293343705028.
I0419 21:02:14.424443 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:14.424520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293343892984.
I0419 21:02:14.425442 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.08448, 0.617444)
I0419 21:02:14.425513 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.268733, 0.676372), points=17, range=0.727765, residual=0.0117942, extent=0.0372842
I0419 21:02:14.425537 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.268733, 0.676372), tracking=(0.567233, 0.676372), map_predicted=(5.15923, -2.52271), range=0.727765, pts=17
I0419 21:02:14.425559 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0443122m maha_sq=0.0850865 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.15923, -2.52271) lm_pos=(5.115, -2.52) delta=(0.0442295, -0.00270597) -> 1 candidate(s)
I0419 21:02:14.425627 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293344016885.
I0419 21:02:14.427021 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0466511s, prior_pose=(5.68929, -1.8346), yaw=-178.273 deg
I0419 21:02:14.427095 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1462, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:02:14.427193 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 24 -> 23 (threshold=0.03, iters=3)
I0419 21:02:14.427254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293344171539.
I0419 21:02:14.429710 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0800914 range=0.724632 variance=0.000628579 t_weight=4772.67 r_weight=0 yaml=(5.115, -2.52) prior=(5.68929, -1.8346, -178.273deg) obs_actual=(0.552474, 0.676187) obs_expected=(0.594685, 0.667782) delta=(-0.0422108, 0.00840543) |delta|=0.0430395m
I0419 21:02:14.429806 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293344293168.
I0419 21:02:14.445907 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:14.446048 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293344454498.
I0419 21:02:14.458179 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293344576948.
I0419 21:02:14.474495 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:14.474588 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:14.474622 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:14.474716 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293344740495.
I0419 21:02:14.489886 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:14.489975 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:14.490067 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293344894585.
I0419 21:02:14.553555 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293345061541.
I0419 21:02:14.554705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293345177248.
I0419 21:02:14.555747 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293345341770.
I0419 21:02:14.557272 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.10396, -0.562475)
I0419 21:02:14.557423 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293345456478.
I0419 21:02:14.566303 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293345657694.
I0419 21:02:14.578464 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293345780218.
I0419 21:02:14.579468 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.62844, -1.82758), yaw=-178.09 deg backend=(7.4287, -1.83061)
I0419 21:02:14.594029 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.133341, 0.494732), points=22, range=0.512545, residual=0.0101836, extent=0.0315621
I0419 21:02:14.594122 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.133341, 0.494732), tracking=(-0.431841, -0.494732), map_predicted=(6.04355, -1.31873), range=0.512545, pts=22
I0419 21:02:14.594156 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0285781m maha_sq=0.0346543 (gate chi2=5.99) pose_sigma=(0.151763, 0.151763, rho=0) det_map=(6.04355, -1.31873) lm_pos=(6.015, -1.32) delta=(0.0285497, 0.00127378) -> 1 candidate(s)
I0419 21:02:14.594218 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:14.594314 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:14.594338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293345935102.
I0419 21:02:14.606426 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293346057893.
I0419 21:02:14.622126 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0600542 range=0.516462 variance=0.00059559 t_weight=5037.02 r_weight=0 yaml=(6.015, -1.32) prior=(5.62844, -1.82758, -178.09deg) obs_actual=(-0.440501, -0.495101) obs_expected=(-0.403265, -0.49441) delta=(-0.0372359, -0.00069083) |delta|=0.0372423m
I0419 21:02:14.622258 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293346214673.
I0419 21:02:14.690343 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293346377881.
I0419 21:02:14.691963 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293346538096.
I0419 21:02:14.693418 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293346657600.
I0419 21:02:14.695811 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:14.695922 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293346820627.
I0419 21:02:14.696847 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.06307, -0.565233)
I0419 21:02:14.696957 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293346934170.
I0419 21:02:14.709973 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718s, prior_pose=(5.61464, -1.83235), yaw=-178.048 deg
I0419 21:02:14.710079 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1470, max_intensity=252, threshold=230, above_threshold=27, candidates=27
I0419 21:02:14.710300 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293347095881.
I0419 21:02:14.722608 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293347220425.
I0419 21:02:14.737999 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:14.738174 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293347375120.
I0419 21:02:14.754083 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293347534823.
I0419 21:02:14.814311 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:14.814414 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:14.814441 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0466, -0.760388), points=4, range=1.2965, residual=0.00875268, extent=0.0221088
I0419 21:02:14.814465 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:14.814477 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0466, -0.760388), tracking=(-1.3451, 0.760388), map_predicted=(6.9763, -2.55003), range=1.2965, pts=4
I0419 21:02:14.814499 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0682609m maha_sq=0.198342 (gate chi2=5.99) pose_sigma=(0.151489, 0.151489, rho=0) det_map=(6.9763, -2.55003) lm_pos=(6.915, -2.52) delta=(0.0612987, -0.0300336) -> 1 candidate(s)
I0419 21:02:14.814620 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293347694596.
I0419 21:02:14.815455 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:14.815513 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:14.815568 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.143819 range=0.6903 variance=0.000589467 t_weight=5089.35 r_weight=0 yaml=(5.115, -2.52) prior=(5.60659, -1.83492, -178.089deg) obs_actual=(0.456617, 0.671383) obs_expected=(0.51416, 0.668301) delta=(-0.0575432, 0.00308179) |delta|=0.0576256m
I0419 21:02:14.815615 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293347821645.
I0419 21:02:14.816530 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.683 deg, rms_residual=0.0130884m, sigma_yaw=0.0171519 rad, N=2
I0419 21:02:14.816597 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.52718, -1.8226, -177.683deg) inliers=2 rms=0.0130884m
I0419 21:02:14.816630 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293347976570.
I0419 21:02:14.818135 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293348101673.
I0419 21:02:14.830560 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293348299905.
I0419 21:02:14.842470 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.01538, -0.5686)
I0419 21:02:14.842667 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293348419684.
I0419 21:02:14.857864 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293348573160.
I0419 21:02:14.869704 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293348692405.
I0419 21:02:14.890780 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:14.890906 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:14.890931 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293348901278.
I0419 21:02:14.952955 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349011718.
I0419 21:02:14.954146 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10017, -0.765559), points=4, range=1.33675, residual=0.0117382, extent=0.0278845
I0419 21:02:14.954214 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10017, -0.765559), tracking=(-1.39867, 0.765559), map_predicted=(6.98883, -2.54301), range=1.33675, pts=4
I0419 21:02:14.954238 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0773326m maha_sq=0.258805 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.98883, -2.54301) lm_pos=(6.915, -2.52) delta=(0.0738294, -0.0230121) -> 1 candidate(s)
I0419 21:02:14.954316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349177573.
I0419 21:02:14.955135 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.182738 range=0.68185 variance=0.000579872 t_weight=5173.55 r_weight=0 yaml=(5.115, -2.52) prior=(5.56098, -1.83336, -177.734deg) obs_actual=(0.407939, 0.672023) obs_expected=(0.472785, 0.66847) delta=(-0.0648455, 0.00355379) |delta|=0.0649428m
I0419 21:02:14.955252 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349298171.
I0419 21:02:14.956765 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349461541.
I0419 21:02:14.958583 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349581717.
I0419 21:02:14.974291 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:14.974406 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349735195.
I0419 21:02:14.986569 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.9709, -0.569932)
I0419 21:02:14.986799 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293349860055.
I0419 21:02:15.005549 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590293s, prior_pose=(5.50965, -1.83426), yaw=-177.684 deg
I0419 21:02:15.005645 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1484, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:02:15.005861 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350051834.
I0419 21:02:15.017943 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350173527.
I0419 21:02:15.080233 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:15.080369 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350333896.
I0419 21:02:15.081319 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350458852.
I0419 21:02:15.082264 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:15.082319 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:15.082346 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14394, -0.76918), points=5, range=1.3758, residual=0.00881914, extent=0.0199889
I0419 21:02:15.082369 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:15.082381 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.14394, -0.76918), tracking=(-1.44244, 0.76918), map_predicted=(6.9985, -2.55059), range=1.3758, pts=5
I0419 21:02:15.082398 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0889247m maha_sq=0.343062 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.9985, -2.55059) lm_pos=(6.915, -2.52) delta=(0.083497, -0.0305916) -> 1 candidate(s)
I0419 21:02:15.082455 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350640886.
I0419 21:02:15.083860 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:15.083914 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:15.083963 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0623808 range=0.67595 variance=0.000588169 t_weight=5100.57 r_weight=0 yaml=(5.115, -2.52) prior=(5.49361, -1.83494, -177.718deg) obs_actual=(0.367041, 0.670792) obs_expected=(0.405584, 0.669444) delta=(-0.0385427, 0.00134793) |delta|=0.0385662m
I0419 21:02:15.084043 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350740406.
I0419 21:02:15.094431 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.428 deg, rms_residual=0.0152983m, sigma_yaw=0.01999 rad, N=2
I0419 21:02:15.094554 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.4397, -1.82311, -177.428deg) inliers=2 rms=0.0152983m
I0419 21:02:15.094596 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293350938605.
I0419 21:02:15.107048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293351055437.
I0419 21:02:15.122362 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293351218741.
I0419 21:02:15.134231 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.928806, -0.574731)
I0419 21:02:15.134428 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293351337618.
I0419 21:02:15.154608 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293351540358.
I0419 21:02:15.167078 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 346
I0419 21:02:15.215795 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293351654057.
I0419 21:02:15.216897 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:15.216987 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:15.217016 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293351826361.
I0419 21:02:15.217882 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293351938963.
I0419 21:02:15.219732 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293352117975.
I0419 21:02:15.222348 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.026039, 0.664636), points=21, range=0.667524, residual=0.015295, extent=0.0411974
I0419 21:02:15.222442 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.026039, 0.664636), tracking=(0.324539, 0.664636), map_predicted=(5.17197, -2.53209), range=0.667524, pts=21
I0419 21:02:15.222471 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0582368m maha_sq=0.146375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.17197, -2.53209) lm_pos=(5.115, -2.52) delta=(0.0569675, -0.0120929) -> 1 candidate(s)
I0419 21:02:15.222543 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293352219413.
I0419 21:02:15.242475 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.339287, 0.488924)
I0419 21:02:15.242671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293352418748.
I0419 21:02:15.254662 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.000947633 range=1.061 variance=0.000630153 t_weight=4760.75 r_weight=0 yaml=(4.215, -1.32) prior=(5.43753, -1.84686, -177.649deg) obs_actual=(1.19538, -0.575031) obs_expected=(1.19988, -0.576574) delta=(-0.00449928, 0.00154226) |delta|=0.00475627m
I0419 21:02:15.255029 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293352541236.
I0419 21:02:15.269980 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:15.270099 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293352695279.
I0419 21:02:15.282464 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293352818585.
I0419 21:02:15.361188 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0433886s, prior_pose=(5.43208, -1.84909), yaw=-177.722 deg
I0419 21:02:15.361325 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1446, max_intensity=252, threshold=230, above_threshold=23, candidates=23
I0419 21:02:15.361526 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293352975122.
I0419 21:02:15.362532 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353098818.
I0419 21:02:15.363487 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:15.363554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353300832.
I0419 21:02:15.364984 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.79328, 0.600019)
I0419 21:02:15.365134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353421912.
I0419 21:02:15.366097 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:15.366145 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:15.366173 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:15.366222 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353576337.
I0419 21:02:15.370420 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:15.370491 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:15.370574 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353699346.
I0419 21:02:15.386600 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24126, -0.778135), points=3, range=1.46067, residual=0.00888058, extent=0.0181148
I0419 21:02:15.387003 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.24126, -0.778135), tracking=(-1.53976, 0.778135), map_predicted=(6.95772, -2.55864), range=1.46067, pts=3
I0419 21:02:15.387063 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0576016m maha_sq=0.141544 (gate chi2=5.99) pose_sigma=(0.151274, 0.151274, rho=0) det_map=(6.95772, -2.55864) lm_pos=(6.915, -2.52) delta=(0.0427182, -0.0386406) -> 1 candidate(s)
I0419 21:02:15.387166 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353856006.
I0419 21:02:15.398612 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0259593 range=0.67481 variance=0.000601114 t_weight=4990.74 r_weight=0 yaml=(5.115, -2.52) prior=(5.38768, -1.84357, -177.676deg) obs_actual=(0.276945, 0.67341) obs_expected=(0.299877, 0.664817) delta=(-0.0229313, 0.00859328) |delta|=0.0244886m
I0419 21:02:15.398783 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293353980309.
I0419 21:02:15.417883 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293354173658.
I0419 21:02:15.477887 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293354293584.
I0419 21:02:15.478855 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.522 deg, rms_residual=0.0118812m, sigma_yaw=0.0155945 rad, N=2
I0419 21:02:15.478932 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.33441, -1.82699, -177.522deg) inliers=2 rms=0.0118812m
I0419 21:02:15.478964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293354458413.
I0419 21:02:15.479836 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.75718, 0.602177)
I0419 21:02:15.479931 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293354579258.
I0419 21:02:15.480829 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.36589, -1.84276), yaw=-177.671 deg backend=(7.26524, -1.83662)
I0419 21:02:15.481638 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:15.481700 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:15.481724 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293354779356.
I0419 21:02:15.490535 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293354899583.
I0419 21:02:15.502734 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293355021996.
I0419 21:02:15.518288 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293355178159.
I0419 21:02:15.533855 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.421503, 0.489106), points=17, range=0.648706, residual=0.0127912, extent=0.04006
I0419 21:02:15.533947 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.421503, 0.489106), tracking=(-0.720003, -0.489106), map_predicted=(6.04043, -1.32152), range=0.648706, pts=17
I0419 21:02:15.533982 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0254785m maha_sq=0.028103 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.04043, -1.32152) lm_pos=(6.015, -1.32) delta=(0.0254331, -0.00151996) -> 1 candidate(s)
I0419 21:02:15.534062 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293355333205.
I0419 21:02:15.546377 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293355454538.
I0419 21:02:15.614197 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.436844, 0.490719)
I0419 21:02:15.614363 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:15.614401 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.179402 range=0.657059 variance=0.000622536 t_weight=4819 r_weight=0 yaml=(6.015, -1.32) prior=(5.37015, -1.84065, -177.654deg) obs_actual=(-0.730857, -0.490066) obs_expected=(-0.66562, -0.493818) delta=(-0.0652365, 0.00375187) |delta|=0.0653443m
I0419 21:02:15.614494 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293355618689.
I0419 21:02:15.615415 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293355739394.
I0419 21:02:15.616389 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754815s, prior_pose=(5.37015, -1.84065), yaw=-177.654 deg
I0419 21:02:15.616475 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1425, max_intensity=248, threshold=230, above_threshold=16, candidates=16
I0419 21:02:15.616586 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293355932974.
I0419 21:02:15.618192 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293356061698.
I0419 21:02:15.622648 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:15.622785 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293356221924.
I0419 21:02:15.634313 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293356337337.
I0419 21:02:15.650465 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:15.650568 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:15.650597 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:15.650681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293356500398.
I0419 21:02:15.666404 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:15.666494 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:15.666599 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293356658928.
I0419 21:02:15.682166 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293356816708.
I0419 21:02:15.743386 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.6879, 0.608778)
I0419 21:02:15.743606 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293356940936.
I0419 21:02:15.744623 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3444, -0.76839), points=3, range=1.54433, residual=0.00864456, extent=0.0174824
I0419 21:02:15.744705 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.3444, -0.76839), tracking=(-1.6429, 0.76839), map_predicted=(7.00473, -2.55315), range=1.54433, pts=3
I0419 21:02:15.744733 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0956586m maha_sq=0.396827 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.00473, -2.55315) lm_pos=(6.915, -2.52) delta=(0.0897302, -0.0331521) -> 1 candidate(s)
I0419 21:02:15.744817 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293357101146.
I0419 21:02:15.745667 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293357214673.
I0419 21:02:15.747336 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.143719 range=0.695571 variance=0.000634235 t_weight=4730.11 r_weight=0 yaml=(6.015, -1.32) prior=(5.30695, -1.84756, -177.92deg) obs_actual=(-0.784273, -0.491391) obs_expected=(-0.726735, -0.501507) delta=(-0.0575386, 0.0101162) |delta|=0.0584211m
I0419 21:02:15.747476 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293357377939.
I0419 21:02:15.754081 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293357534663.
I0419 21:02:15.770092 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:15.770222 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:15.770248 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293357696303.
I0419 21:02:15.782418 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293357818737.
I0419 21:02:15.798686 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293357981174.
I0419 21:02:15.810810 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.65919, 0.612097)
I0419 21:02:15.810985 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293358103392.
I0419 21:02:15.872107 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293358302600.
I0419 21:02:15.873018 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.324 deg, rms_residual=0.0114457m, sigma_yaw=0.0150316 rad, N=2
I0419 21:02:15.873104 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.23459, -1.84392, -178.324deg) inliers=2 rms=0.0114457m
I0419 21:02:15.873137 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293358421450.
I0419 21:02:15.873965 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:15.874027 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293358549825.
I0419 21:02:15.875576 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.711269, -0.565022), points=6, range=0.904833, residual=0.0137684, extent=0.0408394
I0419 21:02:15.875651 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.711269, -0.565022), tracking=(1.00977, -0.565022), map_predicted=(4.22414, -1.31529), range=0.904833, pts=6
I0419 21:02:15.875675 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0102793m maha_sq=0.00446885 (gate chi2=5.99) pose_sigma=(0.151688, 0.151688, rho=0) det_map=(4.22414, -1.31529) lm_pos=(4.215, -1.32) delta=(0.00913651, 0.00471035) -> 1 candidate(s)
I0419 21:02:15.875738 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293358708257.
I0419 21:02:15.888244 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0575808s, prior_pose=(5.25334, -1.84409), yaw=-177.965 deg
I0419 21:02:15.888590 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1449, max_intensity=246, threshold=230, above_threshold=18, candidates=18
I0419 21:02:15.888994 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293358878408.
I0419 21:02:15.898197 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0956092 range=0.708278 variance=0.000587042 t_weight=5110.37 r_weight=0 yaml=(5.115, -2.52) prior=(5.25334, -1.84409, -177.965deg) obs_actual=(0.116743, 0.682226) obs_expected=(0.162257, 0.670571) delta=(-0.0455135, 0.0116558) |delta|=0.0469823m
I0419 21:02:15.898360 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293358976528.
I0419 21:02:15.914708 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:15.914867 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293359142151.
I0419 21:02:15.927150 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.63641, 0.614534)
I0419 21:02:15.927349 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293359263931.
I0419 21:02:15.946360 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:15.946450 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:15.946485 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:15.946617 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293359458456.
I0419 21:02:16.017138 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:16.017251 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:16.017400 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293359580825.
I0419 21:02:16.019192 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293359737953.
I0419 21:02:16.020171 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293359860306.
I0419 21:02:16.022059 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293360031797.
I0419 21:02:16.023032 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.655735, -0.562339), points=9, range=0.863889, residual=0.014346, extent=0.0472363
I0419 21:02:16.023118 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.655735, -0.562339), tracking=(0.954235, -0.562339), map_predicted=(4.23754, -1.31795), range=0.863889, pts=9
I0419 21:02:16.023144 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0226314m maha_sq=0.0221249 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.23754, -1.31795) lm_pos=(4.215, -1.32) delta=(0.0225383, 0.00205037) -> 1 candidate(s)
I0419 21:02:16.023214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293360143295.
I0419 21:02:16.030565 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.42726, -0.766878)
I0419 21:02:16.030725 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293360301390.
I0419 21:02:16.046384 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0125153 range=0.858875 variance=0.000583407 t_weight=5142.21 r_weight=0 yaml=(4.215, -1.32) prior=(5.16277, -1.83909, -177.872deg) obs_actual=(0.943227, -0.562054) obs_expected=(0.927846, -0.553919) delta=(0.015381, -0.00813471) |delta|=0.0173997m
I0419 21:02:16.046496 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293360457534.
I0419 21:02:16.062805 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:16.062935 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:16.062960 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293360621656.
I0419 21:02:16.074340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293360738107.
I0419 21:02:16.135751 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293360940423.
I0419 21:02:16.136864 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361057623.
I0419 21:02:16.138034 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.45666, -0.771805)
I0419 21:02:16.138180 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361213344.
I0419 21:02:16.139729 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361340751.
I0419 21:02:16.152098 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.615057, 0.489174), points=12, range=0.790083, residual=0.0133395, extent=0.0355609
I0419 21:02:16.152186 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.615057, 0.489174), tracking=(-0.913557, -0.489174), map_predicted=(6.06186, -1.31957), range=0.790083, pts=12
I0419 21:02:16.152216 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0468618m maha_sq=0.0949901 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.06186, -1.31957) lm_pos=(6.015, -1.32) delta=(0.0468599, 0.000428158) -> 1 candidate(s)
I0419 21:02:16.152257 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:16.152319 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361516451.
I0419 21:02:16.162293 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.148 deg, rms_residual=0.011328m, sigma_yaw=0.0148793 rad, N=2
I0419 21:02:16.162379 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.14236, -1.84389, -178.148deg) inliers=2 rms=0.011328m
I0419 21:02:16.162415 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361618584.
I0419 21:02:16.178463 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439433s, prior_pose=(5.15168, -1.84371), yaw=-177.789 deg
I0419 21:02:16.178568 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1472, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:02:16.178792 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361780184.
I0419 21:02:16.194145 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.00303119 range=0.8272 variance=0.000615088 t_weight=4877.35 r_weight=0 yaml=(4.215, -1.32) prior=(5.15168, -1.84371, -177.789deg) obs_actual=(0.908831, -0.564123) obs_expected=(0.915779, -0.559455) delta=(-0.00694848, -0.00466742) |delta|=0.00837055m
I0419 21:02:16.194286 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293361934525.
I0419 21:02:16.208062 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.6362, 0.486627)
I0419 21:02:16.208221 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:02:16.208321 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293362075344.
I0419 21:02:16.274727 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293362218698.
I0419 21:02:16.275797 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:16.275862 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:16.275897 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:16.275979 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293362419535.
I0419 21:02:16.276801 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:16.276852 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:16.276917 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293362540150.
I0419 21:02:16.278394 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.653975, 0.486811), points=9, range=0.812333, residual=0.0110851, extent=0.0321807
I0419 21:02:16.278457 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.653975, 0.486811), tracking=(-0.952475, -0.486811), map_predicted=(6.03317, -1.32264), range=0.812333, pts=9
I0419 21:02:16.278487 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[7] 'ref_8' eucl_dist=0.0183596m maha_sq=0.0144858 (gate chi2=5.99) pose_sigma=(0.150681, 0.150681, rho=0) det_map=(6.03317, -1.32264) lm_pos=(6.015, -1.32) delta=(0.0181691, -0.002638) -> 1 candidate(s)
I0419 21:02:16.278559 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293362662303.
I0419 21:02:16.282379 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293362818141.
I0419 21:02:16.298008 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293362975328.
I0419 21:02:16.310066 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.51691, 0.615428)
I0419 21:02:16.310221 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0048956 range=0.747938 variance=0.000578639 t_weight=5184.58 r_weight=0 yaml=(5.115, -2.52) prior=(5.08748, -1.8482, -177.735deg) obs_actual=(-0.00316396, 0.682827) obs_expected=(-0.000947777, 0.672359) delta=(-0.00221619, 0.0104676) |delta|=0.0106996m
I0419 21:02:16.310279 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363096374.
I0419 21:02:16.325747 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363251398.
I0419 21:02:16.337878 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363371742.
I0419 21:02:16.438113 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.11617, -1.84845), yaw=-177.895 deg backend=(7.30026, -1.84136)
I0419 21:02:16.439392 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:16.439486 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:16.439584 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363577138.
I0419 21:02:16.440598 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363692276.
I0419 21:02:16.441968 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363861297.
I0419 21:02:16.443809 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(-0.408903, 0.660887)
I0419 21:02:16.443934 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293363980653.
I0419 21:02:16.444947 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.271972, -0.673142), points=18, range=0.727778, residual=0.0127453, extent=0.0366114
I0419 21:02:16.445068 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.271972, -0.673142), tracking=(-0.0265277, 0.673142), map_predicted=(5.1397, -2.52199), range=0.727778, pts=18
I0419 21:02:16.445243 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0247814m maha_sq=0.0265845 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.1397, -2.52199) lm_pos=(5.115, -2.52) delta=(0.0247015, -0.00198923) -> 1 candidate(s)
I0419 21:02:16.445329 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293364134613.
I0419 21:02:16.446375 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293364256131.
I0419 21:02:16.448246 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:16.448320 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293364454695.
I0419 21:02:16.458205 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.751 deg, rms_residual=0.00989802m, sigma_yaw=0.0130255 rad, N=2
I0419 21:02:16.458312 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[6] 'ref_7' maha_sq=0.0420514 range=0.770437 variance=0.000611984 t_weight=4902.09 r_weight=0 yaml=(5.115, -2.52) prior=(5.07164, -1.84918, -177.782deg) obs_actual=(-0.0443618, 0.687598) obs_expected=(-0.0173731, 0.671993) delta=(-0.0269887, 0.0156046) |delta|=0.0311752m
I0419 21:02:16.458369 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.04963, -1.84259, -177.751deg) inliers=2 rms=0.00989802m
I0419 21:02:16.458413 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293364574636.
I0419 21:02:16.474766 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760865s, prior_pose=(5.07164, -1.84918), yaw=-177.782 deg
I0419 21:02:16.474887 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:02:16.475194 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293364741518.
I0419 21:02:16.574430 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.47085, 0.611746)
I0419 21:02:16.574623 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293364856607.
I0419 21:02:16.575683 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:16.575775 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293365025162.
I0419 21:02:16.576834 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293365217713.
I0419 21:02:16.578322 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:16.578404 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:16.578437 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:16.578501 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293365341138.
I0419 21:02:16.579315 1218978 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-0.311273, 0.537354)
I0419 21:02:16.579365 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:16.579394 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44924, 0.60771), points=3, range=1.56833, residual=0.00711639, extent=0.0142884
I0419 21:02:16.579416 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:16.579432 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44924, 0.60771), tracking=(1.74774, 0.60771), map_predicted=(3.33508, -2.52856), range=1.56833, pts=3
I0419 21:02:16.579452 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.195103m maha_sq=1.65234 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.33508, -2.52856) lm_pos=(3.53, -2.52) delta=(-0.194915, -0.00856342) -> 1 candidate(s)
I0419 21:02:16.579505 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293365454624.
I0419 21:02:16.580410 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293365617567.
I0419 21:02:16.582015 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293365762395.
I0419 21:02:16.590337 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293365895753.
I0419 21:02:16.606870 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0138128 range=0.738067 variance=0.00067594 t_weight=4438.27 r_weight=0 yaml=(4.215, -1.32) prior=(5.03205, -1.85211, -177.627deg) obs_actual=(0.776453, -0.564458) obs_expected=(0.794315, -0.565491) delta=(-0.0178622, 0.00103327) |delta|=0.017892m
I0419 21:02:16.607044 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293366062414.
I0419 21:02:16.614595 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 349
I0419 21:02:16.667251 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293366219538.
I0419 21:02:16.668128 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-0.365674, 0.653092)
I0419 21:02:16.669198 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293366499909.
I0419 21:02:16.670619 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.455306, -0.563831), points=14, range=0.7275, residual=0.0129512, extent=0.0393417
I0419 21:02:16.670671 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.455306, -0.563831), tracking=(0.753806, -0.563831), map_predicted=(4.19477, -1.32806), range=0.7275, pts=14
I0419 21:02:16.670698 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0217753m maha_sq=0.0192611 (gate chi2=5.99) pose_sigma=(0.154957, 0.154957, rho=0) det_map=(4.19477, -1.32806) lm_pos=(4.215, -1.32) delta=(-0.0202272, -0.00806369) -> 1 candidate(s)
I0419 21:02:16.678077 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:16.678158 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:16.678184 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293366776609.
I0419 21:02:16.694629 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293366939756.
I0419 21:02:16.710141 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293367096272.
I0419 21:02:16.738520 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.795945, 0.481383)
I0419 21:02:16.738651 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:02:16.738729 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293367380893.
I0419 21:02:16.797909 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604287s, prior_pose=(4.94624, -1.86051), yaw=-177.678 deg
I0419 21:02:16.798043 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:02:16.798233 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293367700559.
I0419 21:02:16.800791 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:16.800961 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293367958350.
I0419 21:02:16.809922 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.411837, -0.561549), points=16, range=0.698313, residual=0.0143366, extent=0.0455512
I0419 21:02:16.810006 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.411837, -0.561549), tracking=(0.710337, -0.561549), map_predicted=(4.20492, -1.3284), range=0.698313, pts=16
I0419 21:02:16.810037 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0131247m maha_sq=0.00744329 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20492, -1.3284) lm_pos=(4.215, -1.32) delta=(-0.0100817, -0.00840341) -> 1 candidate(s)
I0419 21:02:16.825876 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:16.825968 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:16.826004 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:16.826072 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0411154 range=0.954333 variance=0.000532398 t_weight=5634.88 r_weight=0 yaml=(6.015, -1.32) prior=(4.93739, -1.86075, -177.681deg) obs_actual=(-1.1251, -0.481058) obs_expected=(-1.0986, -0.496713) delta=(-0.0264939, 0.0156544) |delta|=0.0307731m
I0419 21:02:16.826128 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293368253538.
I0419 21:02:16.838342 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:16.838446 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:16.854256 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.833492, 0.481174)
I0419 21:02:16.854544 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293368537248.
I0419 21:02:16.936184 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.396 deg, rms_residual=0.00711812m, sigma_yaw=0.0094016 rad, N=2
I0419 21:02:16.936308 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.90476, -1.86715, -176.396deg) inliers=2 rms=0.00711812m
I0419 21:02:16.936347 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293368862615.
I0419 21:02:16.937292 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293368974058.
I0419 21:02:16.938277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293369145345.
I0419 21:02:16.939742 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293369262228.
I0419 21:02:16.942492 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293369420324.
I0419 21:02:16.974661 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.107378, -0.67166), points=20, range=0.6809, residual=0.0119916, extent=0.0400488
I0419 21:02:16.974784 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.107378, -0.67166), tracking=(-0.191122, 0.67166), map_predicted=(5.11739, -2.52979), range=0.6809, pts=20
I0419 21:02:16.974812 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0100812m maha_sq=0.00433309 (gate chi2=5.99) pose_sigma=(0.151242, 0.151242, rho=0) det_map=(5.11739, -2.52979) lm_pos=(5.115, -2.52) delta=(0.00239309, -0.00979303) -> 1 candidate(s)
I0419 21:02:16.974907 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293369741498.
I0419 21:02:16.988510 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293369866055.
I0419 21:02:17.002415 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0997136, -0.673917)
I0419 21:02:17.002640 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293370015527.
I0419 21:02:17.094653 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:17.094790 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293370340683.
I0419 21:02:17.095602 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:17.097206 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0439577s, prior_pose=(4.876, -1.86615), yaw=-177.661 deg
I0419 21:02:17.097318 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1459, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:02:17.097507 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293370581097.
I0419 21:02:17.102279 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:17.102404 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293370896289.
I0419 21:02:17.118273 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:17.118363 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:17.118436 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:17.118500 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0047547 range=0.6759 variance=0.000588098 t_weight=5101.19 r_weight=0 yaml=(5.115, -2.52) prior=(4.85903, -1.86792, -177.738deg) obs_actual=(-0.234889, 0.671056) obs_expected=(-0.230027, 0.661677) delta=(-0.00486144, 0.00937915) |delta|=0.0105642m
I0419 21:02:17.118549 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293371178093.
I0419 21:02:17.134696 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.31666, -0.557615)
I0419 21:02:17.134778 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:17.134800 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28485, 0.619734), points=3, range=1.41933, residual=0.0139193, extent=0.0244317
I0419 21:02:17.134819 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:17.134831 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28485, 0.619734), tracking=(1.58335, 0.619734), map_predicted=(3.30138, -2.54967), range=1.41933, pts=3
I0419 21:02:17.134850 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.230532m maha_sq=2.29379 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.30138, -2.54967) lm_pos=(3.53, -2.52) delta=(-0.228615, -0.0296674) -> 1 candidate(s)
I0419 21:02:17.200110 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:17.200240 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:17.200265 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293371496354.
I0419 21:02:17.202190 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293371780504.
I0419 21:02:17.210062 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293372095344.
I0419 21:02:17.223264 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.82464, -1.87143), yaw=-177.943 deg backend=(7.08336, -1.84681)
I0419 21:02:17.239058 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293372383749.
I0419 21:02:17.249727 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293372492838.
I0419 21:02:17.266364 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293372657467.
I0419 21:02:17.337291 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.270157, -0.555927)
I0419 21:02:17.338407 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.962257, 0.481483), points=5, range=1.0786, residual=0.00993652, extent=0.0270742
I0419 21:02:17.338483 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.962257, 0.481483), tracking=(-1.26076, -0.481483), map_predicted=(6.04323, -1.34495), range=1.0786, pts=5
I0419 21:02:17.338511 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0376757m maha_sq=0.0601998 (gate chi2=5.99) pose_sigma=(0.151744, 0.151744, rho=0) det_map=(6.04323, -1.34495) lm_pos=(6.015, -1.32) delta=(0.0282271, -0.0249537) -> 1 candidate(s)
I0419 21:02:17.338601 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293372940335.
I0419 21:02:17.340945 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:17.341027 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293373255950.
I0419 21:02:17.353461 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754835s, prior_pose=(4.78934, -1.87344), yaw=-177.881 deg
I0419 21:02:17.353551 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1426, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:02:17.353713 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293373531802.
I0419 21:02:17.386336 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:17.386569 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293373857489.
I0419 21:02:17.468158 1218978 pose_graph_2d.cc:160] Inserted submap (1, 44).
I0419 21:02:17.469192 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:17.469265 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:17.469300 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:17.469375 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0100188 range=0.67385 variance=0.000595105 t_weight=5041.13 r_weight=0 yaml=(5.115, -2.52) prior=(4.76624, -1.87491, -177.851deg) obs_actual=(-0.323029, 0.67293) obs_expected=(-0.324328, 0.657718) delta=(0.00129917, 0.0152124) |delta|=0.0152677m
I0419 21:02:17.469427 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293374137604.
I0419 21:02:17.470257 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.228032, -0.557103)
I0419 21:02:17.470304 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:17.470327 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:17.471257 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01561, 0.480791), points=4, range=1.122, residual=0.00545334, extent=0.0126371
I0419 21:02:17.471330 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01561, 0.480791), tracking=(-1.31411, -0.480791), map_predicted=(6.06139, -1.34518), range=1.122, pts=4
I0419 21:02:17.471354 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.052781m maha_sq=0.121196 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.06139, -1.34518) lm_pos=(6.015, -1.32) delta=(0.0463899, -0.0251757) -> 1 candidate(s)
I0419 21:02:17.471424 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293374419840.
I0419 21:02:17.474310 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293374738713.
I0419 21:02:17.502318 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293375017268.
I0419 21:02:17.530520 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293375296315.
I0419 21:02:17.630041 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293375617452.
I0419 21:02:17.630957 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.1854, -0.553844)
I0419 21:02:17.632658 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.758 deg, rms_residual=0.00594984m, sigma_yaw=0.00787068 rad, N=2
I0419 21:02:17.632721 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.70136, -1.87762, -176.758deg) inliers=2 rms=0.00594984m
I0419 21:02:17.632754 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293375893202.
I0419 21:02:17.633546 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.174712, -0.55117), points=19, range=0.579579, residual=0.010802, extent=0.0344128
I0419 21:02:17.633600 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.174712, -0.55117), tracking=(0.473212, -0.55117), map_predicted=(4.21053, -1.34232), range=0.579579, pts=19
I0419 21:02:17.633625 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0227675m maha_sq=0.0224883 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.21053, -1.34232) lm_pos=(4.215, -1.32) delta=(-0.00447221, -0.0223239) -> 1 candidate(s)
I0419 21:02:17.634621 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:17.634678 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293376220230.
I0419 21:02:17.650352 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06066s, prior_pose=(4.69222, -1.87739), yaw=-178.125 deg
I0419 21:02:17.650480 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1441, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:02:17.650691 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293376499802.
I0419 21:02:17.662365 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:17.752592 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:17.752769 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293376780974.
I0419 21:02:17.754796 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:17.754920 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:17.754952 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:17.754998 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:17.755035 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:17.755054 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293377098941.
I0419 21:02:17.756696 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.146982, -0.550806)
I0419 21:02:17.756781 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:17.756804 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:17.757918 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.071275 range=1.2 variance=0.000512535 t_weight=5853.26 r_weight=0 yaml=(6.015, -1.32) prior=(4.67184, -1.87893, -178.477deg) obs_actual=(-1.38894, -0.496925) obs_expected=(-1.35754, -0.52303) delta=(-0.031399, 0.0261048) |delta|=0.0408333m
I0419 21:02:17.758051 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293377380159.
I0419 21:02:17.766098 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.131352, -0.665144), points=20, range=0.6805, residual=0.0141193, extent=0.0446399
I0419 21:02:17.766182 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.131352, -0.665144), tracking=(-0.429852, 0.665144), map_predicted=(5.10434, -2.53422), range=0.6805, pts=20
I0419 21:02:17.766211 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0177725m maha_sq=0.0134819 (gate chi2=5.99) pose_sigma=(0.150972, 0.150972, rho=0) det_map=(5.10434, -2.53422) lm_pos=(5.115, -2.52) delta=(-0.0106637, -0.0142178) -> 1 candidate(s)
I0419 21:02:17.766290 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293377656301.
I0419 21:02:17.778157 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293377775169.
I0419 21:02:17.794847 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293377942384.
I0419 21:02:17.877808 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293378261278.
I0419 21:02:17.880237 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293378538308.
I0419 21:02:17.881067 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.105699, -0.543497)
I0419 21:02:17.881191 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293378653821.
I0419 21:02:17.882153 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293378817775.
I0419 21:02:17.894933 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293378941941.
I0419 21:02:17.914413 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:17.914567 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293379138322.
I0419 21:02:17.936375 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 262
I0419 21:02:17.993458 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.047429s, prior_pose=(4.61143, -1.88164), yaw=-179.273 deg
I0419 21:02:17.993570 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1450, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:02:17.993731 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293379416231.
I0419 21:02:17.994541 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:17.994566 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01214, 0.664281), points=4, range=1.20725, residual=0.00899833, extent=0.0198052
I0419 21:02:17.994632 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01214, 0.664281), tracking=(1.31064, 0.664281), map_predicted=(3.30932, -2.56249), range=1.20725, pts=4
I0419 21:02:17.994659 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.224729m maha_sq=2.19175 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.30932, -2.56249) lm_pos=(3.53, -2.52) delta=(-0.220676, -0.0424906) -> 1 candidate(s)
I0419 21:02:17.995594 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:17.995671 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293379697281.
I0419 21:02:18.001827 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:18.001924 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:18.001952 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:18.002048 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293380014322.
I0419 21:02:18.015136 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.0666163, -0.542081)
I0419 21:02:18.015251 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:18.015283 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:18.015383 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293380147390.
I0419 21:02:18.030507 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293380299070.
I0419 21:02:18.058490 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:02:18.058652 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0227575 range=0.708944 variance=0.000610363 t_weight=4915.11 r_weight=0 yaml=(5.115, -2.52) prior=(4.58323, -1.87909, -179.58deg) obs_actual=(-0.533554, 0.666781) obs_expected=(-0.527058, 0.644787) delta=(-0.0064957, 0.0219941) |delta|=0.0229333m
I0419 21:02:18.058723 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293380578205.
I0419 21:02:18.122687 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293380735085.
I0419 21:02:18.123816 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293380896914.
I0419 21:02:18.124703 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293381020553.
I0419 21:02:18.125696 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.54823, -1.87769), yaw=-179.998 deg backend=(6.65204, -1.85036)
I0419 21:02:18.126389 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:18.126456 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:18.126480 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293381175308.
I0419 21:02:18.130388 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.951512, 0.68287), points=6, range=1.167, residual=0.0129454, extent=0.0353718
I0419 21:02:18.130692 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.951512, 0.68287), tracking=(1.25001, 0.68287), map_predicted=(3.29824, -2.5606), range=1.167, pts=6
I0419 21:02:18.130935 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.23529m maha_sq=2.39383 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.29824, -2.5606) lm_pos=(3.53, -2.52) delta=(-0.23176, -0.0405998) -> 1 candidate(s)
I0419 21:02:18.149715 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293381492160.
I0419 21:02:18.162199 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.0266973, -0.53876)
I0419 21:02:18.177731 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293381772353.
I0419 21:02:18.254860 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:18.254997 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293382061387.
I0419 21:02:18.256785 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075876s, prior_pose=(4.52422, -1.87588), yaw=179.63 deg
I0419 21:02:18.256873 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1470, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 21:02:18.256997 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293382375489.
I0419 21:02:18.258658 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293382531536.
I0419 21:02:18.265684 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:18.265801 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293382653019.
I0419 21:02:18.294205 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:18.294304 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:18.294337 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:18.294418 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293382937135.
I0419 21:02:18.309824 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.0123416, -0.534137)
I0419 21:02:18.309947 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:18.309975 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.879945, 0.691581), points=6, range=1.11567, residual=0.0122731, extent=0.0323347
I0419 21:02:18.309993 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:18.310009 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.879945, 0.691581), tracking=(1.17845, 0.691581), map_predicted=(3.31032, -2.55256), range=1.11567, pts=6
I0419 21:02:18.310031 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.222082m maha_sq=2.13446 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31032, -2.55256) lm_pos=(3.53, -2.52) delta=(-0.219683, -0.032556) -> 1 candidate(s)
I0419 21:02:18.326742 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293383261943.
I0419 21:02:18.390714 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293383550680.
I0419 21:02:18.393316 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0260763 range=0.745882 variance=0.000605323 t_weight=4956.03 r_weight=0 yaml=(5.115, -2.52) prior=(4.48485, -1.87605, 179.171deg) obs_actual=(-0.642876, 0.659121) obs_expected=(-0.639397, 0.634767) delta=(-0.00347887, 0.0243536) |delta|=0.0246008m
I0419 21:02:18.393437 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293383818340.
I0419 21:02:18.414371 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293384137600.
I0419 21:02:18.442071 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.2816, 0.548394)
I0419 21:02:18.442305 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293384416509.
I0419 21:02:18.454648 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:18.520612 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28699, 0.548495), points=3, range=1.40233, residual=0.00807772, extent=0.0170727
I0419 21:02:18.520749 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28699, 0.548495), tracking=(-1.58549, -0.548495), map_predicted=(6.04679, -1.34753), range=1.40233, pts=3
I0419 21:02:18.520778 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0420557m maha_sq=0.0759403 (gate chi2=5.99) pose_sigma=(0.150834, 0.150834, rho=0) det_map=(6.04679, -1.34753) lm_pos=(6.015, -1.32) delta=(0.0317925, -0.0275302) -> 1 candidate(s)
I0419 21:02:18.520864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293384741778.
I0419 21:02:18.522683 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:18.522781 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293385021477.
I0419 21:02:18.530092 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556167s, prior_pose=(4.43457, -1.87213), yaw=179.211 deg
I0419 21:02:18.530185 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:02:18.530321 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293385297945.
I0419 21:02:18.561637 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:18.561787 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293385611581.
I0419 21:02:18.588629 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:18.588747 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.33357, 0.543312)
I0419 21:02:18.588766 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:18.588788 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:18.588887 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293385867619.
I0419 21:02:18.658960 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:18.659119 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:18.660238 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.34 deg, rms_residual=0.0106626m, sigma_yaw=0.0140175 rad, N=2
I0419 21:02:18.660373 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.38727, -1.87024, -179.34deg) inliers=2 rms=0.0106626m
I0419 21:02:18.660435 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293386213507.
I0419 21:02:18.662783 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.425508, -0.66784), points=15, range=0.794067, residual=0.0127956, extent=0.0358819
I0419 21:02:18.662905 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.425508, -0.66784), tracking=(-0.724008, 0.66784), map_predicted=(5.11545, -2.54648), range=0.794067, pts=15
I0419 21:02:18.662992 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0264812m maha_sq=0.0298433 (gate chi2=5.99) pose_sigma=(0.151305, 0.151305, rho=0) det_map=(5.11545, -2.54648) lm_pos=(5.115, -2.52) delta=(0.000446267, -0.0264774) -> 1 candidate(s)
I0419 21:02:18.663084 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293386453595.
I0419 21:02:18.679272 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:18.679404 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:18.679430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293386785612.
I0419 21:02:18.707027 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293387063155.
I0419 21:02:18.782846 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.458155, -0.668188)
I0419 21:02:18.783048 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293387372996.
I0419 21:02:18.784739 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0290042 range=0.814929 variance=0.000606029 t_weight=4950.26 r_weight=0 yaml=(5.115, -2.52) prior=(4.36872, -1.86758, 179.232deg) obs_actual=(-0.761537, 0.667395) obs_expected=(-0.754958, 0.642357) delta=(-0.00657815, 0.025038) |delta|=0.0258877m
I0419 21:02:18.785025 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293387658848.
I0419 21:02:18.793768 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:18.793891 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293387932386.
I0419 21:02:18.825935 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476251s, prior_pose=(4.35027, -1.86472), yaw=179.248 deg
I0419 21:02:18.826052 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1470, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 21:02:18.826248 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293388255218.
I0419 21:02:18.838514 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.179904, -0.534997), points=22, range=0.563955, residual=0.0113692, extent=0.0346306
I0419 21:02:18.838631 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.179904, -0.534997), tracking=(0.118596, -0.534997), map_predicted=(4.23871, -1.32821), range=0.563955, pts=22
I0419 21:02:18.838665 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0250883m maha_sq=0.0272924 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.23871, -1.32821) lm_pos=(4.215, -1.32) delta=(0.0237074, -0.00820876) -> 1 candidate(s)
I0419 21:02:18.850595 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:18.850740 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293388501229.
I0419 21:02:18.918479 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.186754, -0.534682)
I0419 21:02:18.919600 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:18.919689 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:18.919723 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:18.919849 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293388814855.
I0419 21:02:18.920717 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:18.920782 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:18.922612 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293389144714.
I0419 21:02:18.942083 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293389415674.
I0419 21:02:18.970391 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293389694472.
I0419 21:02:19.049827 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.28983, -1.86264), yaw=179.243 deg backend=(6.40085, -1.84265)
I0419 21:02:19.050781 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.538894, -0.673309)
I0419 21:02:19.050872 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.535328, -0.672908), points=13, range=0.862462, residual=0.0132613, extent=0.0392374
I0419 21:02:19.050899 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.535328, -0.672908), tracking=(-0.833828, 0.672908), map_predicted=(5.1147, -2.5465), range=0.862462, pts=13
I0419 21:02:19.050922 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.026502m maha_sq=0.0298736 (gate chi2=5.99) pose_sigma=(0.151299, 0.151299, rho=0) det_map=(5.1147, -2.5465) lm_pos=(5.115, -2.52) delta=(-0.000300248, -0.0265003) -> 1 candidate(s)
I0419 21:02:19.051004 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293390018078.
I0419 21:02:19.052822 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293390301122.
I0419 21:02:19.055522 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:19.059387 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293390589285.
I0419 21:02:19.089694 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:19.089843 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293390892442.
I0419 21:02:19.117938 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.075827s, prior_pose=(4.26665, -1.85883), yaw=179.268 deg
I0419 21:02:19.118223 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1450, max_intensity=251, threshold=230, above_threshold=13, candidates=13
I0419 21:02:19.118431 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47908, 0.538336)
I0419 21:02:19.118690 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293391176137.
I0419 21:02:19.184927 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:19.185318 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293391463695.
I0419 21:02:19.188083 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:19.188184 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:19.188280 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.604641, -0.67736), points=13, range=0.904692, residual=0.0140682, extent=0.0390306
I0419 21:02:19.188305 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:19.188316 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.604641, -0.67736), tracking=(-0.903141, 0.67736), map_predicted=(5.13238, -2.5437), range=0.904692, pts=13
I0419 21:02:19.188335 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.029392m maha_sq=0.0369321 (gate chi2=5.99) pose_sigma=(0.150824, 0.150824, rho=0) det_map=(5.13238, -2.5437) lm_pos=(5.115, -2.52) delta=(0.0173799, -0.023703) -> 1 candidate(s)
I0419 21:02:19.188416 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293391772860.
I0419 21:02:19.190578 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:19.190680 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:19.206312 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0349816 range=0.909667 variance=0.000629516 t_weight=4765.57 r_weight=0 yaml=(5.115, -2.52) prior=(4.23778, -1.8551, 179.284deg) obs_actual=(-0.900305, 0.678143) obs_expected=(-0.885466, 0.653876) delta=(-0.0148391, 0.0242675) |delta|=0.0284448m
I0419 21:02:19.206436 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293392058164.
I0419 21:02:19.217664 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.599964, 0.692127)
I0419 21:02:19.234407 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293392338401.
I0419 21:02:19.310384 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:19.310545 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:19.310570 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293392657779.
I0419 21:02:19.312338 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293392939283.
I0419 21:02:19.322052 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.54657, 0.535033)
I0419 21:02:19.322249 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293393214788.
I0419 21:02:19.338826 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.559461, 0.688769), points=10, range=0.8899, residual=0.0108049, extent=0.0307447
I0419 21:02:19.338943 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.559461, 0.688769), tracking=(0.857961, 0.688769), map_predicted=(3.32681, -2.52807), range=0.8899, pts=10
I0419 21:02:19.338974 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.203346m maha_sq=1.79301 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.32681, -2.52807) lm_pos=(3.53, -2.52) delta=(-0.203186, -0.00806681) -> 1 candidate(s)
I0419 21:02:19.354194 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293393535269.
I0419 21:02:19.382176 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:19.382315 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293393814236.
I0419 21:02:19.445696 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601645s, prior_pose=(4.17302, -1.84517), yaw=179.428 deg
I0419 21:02:19.445819 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1445, max_intensity=254, threshold=230, above_threshold=34, candidates=34
I0419 21:02:19.446039 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293394136914.
I0419 21:02:19.448530 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.677833, -0.685646)
I0419 21:02:19.448614 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:19.448678 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293394417405.
I0419 21:02:19.470880 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:19.471005 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:19.471047 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:19.471156 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293394703411.
I0419 21:02:19.481900 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:19.482285 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:19.500950 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.221403, 0.527832), points=20, range=0.57165, residual=0.0113327, extent=0.0325638
I0419 21:02:19.501034 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.221403, 0.527832), tracking=(-0.077097, -0.527832), map_predicted=(4.22426, -1.31583), range=0.57165, pts=20
I0419 21:02:19.501065 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0101511m maha_sq=0.00439846 (gate chi2=5.99) pose_sigma=(0.151214, 0.151214, rho=0) det_map=(4.22426, -1.31583) lm_pos=(4.215, -1.32) delta=(0.00925615, 0.00416752) -> 1 candidate(s)
I0419 21:02:19.501259 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.00439846 range=0.57165 variance=0.000561599 t_weight=5341.89 r_weight=0 yaml=(4.215, -1.32) prior=(4.14276, -1.843, 179.522deg) obs_actual=(-0.077097, -0.527832) obs_expected=(-0.067876, -0.523587) delta=(-0.00922106, -0.0042446) |delta|=0.0101511m
I0419 21:02:19.501310 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293395005268.
I0419 21:02:19.577950 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293395301144.
I0419 21:02:19.579819 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.715451, -0.684802)
I0419 21:02:19.579999 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293395596008.
I0419 21:02:19.589690 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293395891474.
I0419 21:02:19.615118 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.94 deg, rms_residual=0.00852855m, sigma_yaw=0.0112435 rad, N=2
I0419 21:02:19.615229 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.09035, -1.83925, 179.94deg) inliers=2 rms=0.00852855m
I0419 21:02:19.615273 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293396145216.
I0419 21:02:19.630455 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:19.646780 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293396462100.
I0419 21:02:19.715060 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.161859, 0.526497)
I0419 21:02:19.715185 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.16157, 0.525609), points=22, range=0.550909, residual=0.0109328, extent=0.0352187
I0419 21:02:19.715214 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.16157, 0.525609), tracking=(-0.13693, -0.525609), map_predicted=(4.23342, -1.31606), range=0.550909, pts=22
I0419 21:02:19.715235 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0188383m maha_sq=0.0153238 (gate chi2=5.99) pose_sigma=(0.150355, 0.150355, rho=0) det_map=(4.23342, -1.31606) lm_pos=(4.215, -1.32) delta=(0.0184212, 0.0039423) -> 1 candidate(s)
I0419 21:02:19.715267 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:19.715322 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293396740686.
I0419 21:02:19.717692 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0446107s, prior_pose=(4.07847, -1.84049), yaw=179.681 deg
I0419 21:02:19.717805 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=250, threshold=230, above_threshold=33, candidates=33
I0419 21:02:19.718005 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293397032363.
I0419 21:02:19.733750 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:19.733918 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293397331564.
I0419 21:02:19.766675 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:19.766770 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:19.766810 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:19.766898 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293397659889.
I0419 21:02:19.777973 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:19.778092 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:19.841941 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.00260557 range=0.54181 variance=0.000551998 t_weight=5434.8 r_weight=0 yaml=(4.215, -1.32) prior=(4.04738, -1.83975, 179.726deg) obs_actual=(-0.169496, -0.527017) obs_expected=(-0.165137, -0.520541) delta=(-0.00435935, -0.00647658) |delta|=0.00780705m
I0419 21:02:19.842092 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293397939233.
I0419 21:02:19.842934 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.34782, -0.52187)
I0419 21:02:19.844069 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293398214191.
I0419 21:02:19.845698 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33358, -0.523071), points=3, range=1.42733, residual=0.0101995, extent=0.0207333
I0419 21:02:19.845811 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.33358, -0.523071), tracking=(1.63208, -0.523071), map_predicted=(2.40032, -1.3093), range=1.42733, pts=3
I0419 21:02:19.845876 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0181625m maha_sq=0.0140606 (gate chi2=5.99) pose_sigma=(0.151265, 0.151265, rho=0) det_map=(2.40032, -1.3093) lm_pos=(2.415, -1.32) delta=(-0.0146772, 0.0106984) -> 1 candidate(s)
I0419 21:02:19.850804 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:19.850934 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:19.850958 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293398501481.
I0419 21:02:19.859362 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:19.865345 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.01829, -1.86807), yaw=179.68 deg backend=(5.51569, -1.84022)
I0419 21:02:19.867709 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 497
I0419 21:02:19.882421 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293398817194.
I0419 21:02:19.910959 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293399103497.
I0419 21:02:19.916245 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:19.977211 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.38879, 0.680087)
I0419 21:02:19.978399 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293399420314.
I0419 21:02:19.980793 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:19.980887 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293399697018.
I0419 21:02:19.981873 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29066, -0.528027), points=3, range=1.39167, residual=0.00626519, extent=0.0121012
I0419 21:02:19.981940 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29066, -0.528027), tracking=(1.58916, -0.528027), map_predicted=(2.40072, -1.3187), range=1.39167, pts=3
I0419 21:02:19.981966 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0143352m maha_sq=0.00892976 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40072, -1.3187) lm_pos=(2.415, -1.32) delta=(-0.0142761, 0.00130006) -> 1 candidate(s)
I0419 21:02:20.002183 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800925s, prior_pose=(3.98825, -1.85163), yaw=179.823 deg
I0419 21:02:20.002310 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:02:20.002600 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293400017643.
I0419 21:02:20.027422 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:20.027609 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293400268741.
I0419 21:02:20.108501 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:20.108620 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:20.108695 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:20.108803 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293400574328.
I0419 21:02:20.109615 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.26141, -0.533271)
I0419 21:02:20.109673 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:20.109696 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:20.110870 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0152617 range=0.526 variance=0.000550226 t_weight=5452.3 r_weight=0 yaml=(4.215, -1.32) prior=(3.96688, -1.84327, 179.951deg) obs_actual=(-0.26642, -0.524216) obs_expected=(-0.247678, -0.523483) delta=(-0.0187416, -0.00073316) |delta|=0.018756m
I0419 21:02:20.110997 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293400886936.
I0419 21:02:20.118683 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293401181158.
I0419 21:02:20.146147 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881311, -0.705155), points=8, range=1.13125, residual=0.0141517, extent=0.0422301
I0419 21:02:20.146252 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.881311, -0.705155), tracking=(-1.17981, 0.705155), map_predicted=(5.11874, -2.54378), range=1.13125, pts=8
I0419 21:02:20.146283 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0240716m maha_sq=0.02474 (gate chi2=5.99) pose_sigma=(0.150877, 0.150877, rho=0) det_map=(5.11874, -2.54378) lm_pos=(5.115, -2.52) delta=(0.00374366, -0.0237787) -> 1 candidate(s)
I0419 21:02:20.146548 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293401456414.
I0419 21:02:20.174331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293401736640.
I0419 21:02:20.242892 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.624 deg, rms_residual=0.0145862m, sigma_yaw=0.0190772 rad, N=2
I0419 21:02:20.243043 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.90892, -1.83056, -179.624deg) inliers=2 rms=0.0145862m
I0419 21:02:20.243083 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293402059244.
I0419 21:02:20.243981 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.21964, -0.538755)
I0419 21:02:20.244052 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:20.245648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293402334936.
I0419 21:02:20.266659 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:20.266806 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293402660414.
I0419 21:02:20.294974 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.061033s, prior_pose=(3.90074, -1.83618), yaw=-179.802 deg
I0419 21:02:20.295087 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1463, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:02:20.295234 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.924251, -0.704919), points=7, range=1.16814, residual=0.0148348, extent=0.0390768
I0419 21:02:20.295288 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.924251, -0.704919), tracking=(-1.22275, 0.704919), map_predicted=(5.12592, -2.53686), range=1.16814, pts=7
I0419 21:02:20.295315 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0200916m maha_sq=0.0171407 (gate chi2=5.99) pose_sigma=(0.151233, 0.151233, rho=0) det_map=(5.12592, -2.53686) lm_pos=(5.115, -2.52) delta=(0.0109228, -0.0168631) -> 1 candidate(s)
I0419 21:02:20.295404 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293402945266.
I0419 21:02:20.376479 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:20.376652 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293403215028.
I0419 21:02:20.378582 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:20.378674 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:20.378706 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:20.378777 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293403533713.
I0419 21:02:20.380203 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17002, -0.527027)
I0419 21:02:20.380262 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:20.380285 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:20.382556 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.00155397 range=0.52456 variance=0.000566463 t_weight=5296.02 r_weight=0 yaml=(4.215, -1.32) prior=(3.86594, -1.83599, 179.984deg) obs_actual=(-0.352484, -0.520937) obs_expected=(-0.348911, -0.516093) delta=(-0.00357297, -0.00484343) |delta|=0.00601871m
I0419 21:02:20.382680 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293403819815.
I0419 21:02:20.410651 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293404099617.
I0419 21:02:20.438584 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.983357, -0.700311), points=5, range=1.2044, residual=0.0110857, extent=0.027338
I0419 21:02:20.438705 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.983357, -0.700311), tracking=(-1.28186, 0.700311), map_predicted=(5.13745, -2.53786), range=1.2044, pts=5
I0419 21:02:20.438735 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0286923m maha_sq=0.0356629 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13745, -2.53786) lm_pos=(5.115, -2.52) delta=(0.0224547, -0.0178615) -> 1 candidate(s)
I0419 21:02:20.438805 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:20.438854 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:20.438870 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293404381162.
I0419 21:02:20.502321 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293404697084.
I0419 21:02:20.504890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293404988968.
I0419 21:02:20.510372 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13315, -0.522346)
I0419 21:02:20.529772 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293405292226.
I0419 21:02:20.558238 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:20.558375 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293405577657.
I0419 21:02:20.635720 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0473618s, prior_pose=(3.81053, -1.83318), yaw=179.647 deg
I0419 21:02:20.635844 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1456, max_intensity=252, threshold=230, above_threshold=31, candidates=31
I0419 21:02:20.635989 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0227, -0.696313), points=6, range=1.2415, residual=0.0113299, extent=0.0284377
I0419 21:02:20.636019 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0227, -0.696313), tracking=(-1.3212, 0.696313), map_predicted=(5.12741, -2.53763), range=1.2415, pts=6
I0419 21:02:20.636044 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0215609m maha_sq=0.0199507 (gate chi2=5.99) pose_sigma=(0.150695, 0.150695, rho=0) det_map=(5.12741, -2.53763) lm_pos=(5.115, -2.52) delta=(0.0124146, -0.017628) -> 1 candidate(s)
I0419 21:02:20.636128 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293405852600.
I0419 21:02:20.637878 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:20.637984 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293406133102.
I0419 21:02:20.646037 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:20.646137 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:20.646175 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:20.646265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293406454619.
I0419 21:02:20.658304 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.09184, -0.516851)
I0419 21:02:20.658393 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:20.658425 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:20.674054 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293406733398.
I0419 21:02:20.702564 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0568312 range=1.275 variance=0.000563083 t_weight=5327.82 r_weight=0 yaml=(5.115, -2.52) prior=(3.78172, -1.83082, 179.587deg) obs_actual=(-1.36952, 0.697731) obs_expected=(-1.33822, 0.679539) delta=(-0.0313015, 0.0181913) |delta|=0.0362036m
I0419 21:02:20.702698 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293407020268.
I0419 21:02:20.764932 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293407337070.
I0419 21:02:20.765808 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0707, -0.516437), points=5, range=1.1844, residual=0.0117365, extent=0.0270358
I0419 21:02:20.765935 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0707, -0.516437), tracking=(1.3692, -0.516437), map_predicted=(2.40891, -1.30099), range=1.1844, pts=5
I0419 21:02:20.765964 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0199657m maha_sq=0.0172583 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40891, -1.30099) lm_pos=(2.415, -1.32) delta=(-0.0060942, 0.0190129) -> 1 candidate(s)
I0419 21:02:20.766911 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.75763, -1.82773), yaw=179.543 deg backend=(5.26115, -1.83312)
I0419 21:02:20.767725 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293407636463.
I0419 21:02:20.790489 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293407898788.
I0419 21:02:20.806617 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.04583, -0.519493)
I0419 21:02:20.806747 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:20.822131 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.869 deg, rms_residual=0.0168017m, sigma_yaw=0.0219114 rad, N=2
I0419 21:02:20.822232 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.72371, -1.83002, 179.869deg) inliers=2 rms=0.0168017m
I0419 21:02:20.822269 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293408216183.
I0419 21:02:20.898929 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:20.899056 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293408493068.
I0419 21:02:20.900714 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0718442s, prior_pose=(3.72294, -1.8294), yaw=179.578 deg
I0419 21:02:20.900795 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1454, max_intensity=251, threshold=230, above_threshold=27, candidates=27
I0419 21:02:20.900944 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293408780063.
I0419 21:02:20.902410 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03063, -0.521356), points=4, range=1.1505, residual=0.0104045, extent=0.0241735
I0419 21:02:20.902465 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03063, -0.521356), tracking=(1.32913, -0.521356), map_predicted=(2.38289, -1.29758), range=1.1505, pts=4
I0419 21:02:20.902490 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0391625m maha_sq=0.0655541 (gate chi2=5.99) pose_sigma=(0.151095, 0.151095, rho=0) det_map=(2.38289, -1.29758) lm_pos=(2.415, -1.32) delta=(-0.0321103, 0.0224195) -> 1 candidate(s)
I0419 21:02:20.909664 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:20.909790 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293409092490.
I0419 21:02:20.937911 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:20.938014 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:20.938055 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:20.938148 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293409374754.
I0419 21:02:20.950002 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00926, -0.519778)
I0419 21:02:20.950094 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:20.950120 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:20.970204 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293409697394.
I0419 21:02:21.040856 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0271613 range=1.3534 variance=0.000578655 t_weight=5184.44 r_weight=0 yaml=(5.115, -2.52) prior=(3.67822, -1.82647, 179.616deg) obs_actual=(-1.46044, 0.700455) obs_expected=(-1.44139, 0.683899) delta=(-0.0190536, 0.0165555) |delta|=0.0252414m
I0419 21:02:21.041054 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293409980110.
I0419 21:02:21.043551 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:21.043623 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:21.043645 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293410251875.
I0419 21:02:21.044447 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0476739, 0.681679), points=16, range=0.684813, residual=0.00996244, extent=0.0312332
I0419 21:02:21.044523 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0476739, 0.681679), tracking=(0.346174, 0.681679), map_predicted=(3.31604, -2.50573), range=0.684813, pts=16
I0419 21:02:21.044553 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.214433m maha_sq=1.99608 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31604, -2.50573) lm_pos=(3.53, -2.52) delta=(-0.213958, 0.0142696) -> 1 candidate(s)
I0419 21:02:21.054615 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293410539972.
I0419 21:02:21.070106 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.86037, 0.689398)
I0419 21:02:21.086304 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293410852192.
I0419 21:02:21.164228 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293411141947.
I0419 21:02:21.166150 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:21.166263 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293411429351.
I0419 21:02:21.173552 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590385s, prior_pose=(3.62158, -1.82451), yaw=179.472 deg
I0419 21:02:21.173658 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1459, max_intensity=252, threshold=230, above_threshold=24, candidates=24
I0419 21:02:21.173846 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293411732332.
I0419 21:02:21.201704 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.21056, -0.694224)
I0419 21:02:21.201802 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.296651, 0.524237), points=20, range=0.6056, residual=0.013854, extent=0.0439851
I0419 21:02:21.201831 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.296651, 0.524237), tracking=(-0.595151, -0.524237), map_predicted=(4.21116, -1.30685), range=0.6056, pts=20
I0419 21:02:21.201893 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0136977m maha_sq=0.00802913 (gate chi2=5.99) pose_sigma=(0.150805, 0.150805, rho=0) det_map=(4.21116, -1.30685) lm_pos=(4.215, -1.32) delta=(-0.00383822, 0.013149) -> 1 candidate(s)
I0419 21:02:21.201911 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:21.201987 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293412012605.
I0419 21:02:21.234067 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:21.234164 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:21.234200 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:21.234282 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293412335300.
I0419 21:02:21.300136 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:21.300243 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:21.301554 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293412656216.
I0419 21:02:21.304193 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293412902441.
I0419 21:02:21.305434 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 482
I0419 21:02:21.306088 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.0358568, 0.683814)
I0419 21:02:21.322038 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293413214486.
I0419 21:02:21.350939 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293413504090.
I0419 21:02:21.431461 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.018941 range=0.6325 variance=0.000594378 t_weight=5047.29 r_weight=0 yaml=(4.215, -1.32) prior=(3.58136, -1.82671, 179.186deg) obs_actual=(-0.644634, -0.526175) obs_expected=(-0.626378, -0.515665) delta=(-0.0182562, -0.0105099) |delta|=0.0210653m
I0419 21:02:21.431593 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293413817949.
I0419 21:02:21.432410 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0638006, 0.683441), points=18, range=0.687944, residual=0.0111008, extent=0.0344724
I0419 21:02:21.432461 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0638006, 0.683441), tracking=(0.234699, 0.683441), map_predicted=(3.33697, -2.50675), range=0.687944, pts=18
I0419 21:02:21.432487 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.193486m maha_sq=1.62345 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.33697, -2.50675) lm_pos=(3.53, -2.52) delta=(-0.193032, 0.0132524) -> 1 candidate(s)
I0419 21:02:21.432518 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:21.433513 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293414095580.
I0419 21:02:21.437717 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:21.437868 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293414372533.
I0419 21:02:21.450651 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.0821665, 0.68573)
I0419 21:02:21.470512 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.048428s, prior_pose=(3.55491, -1.82629), yaw=179.036 deg
I0419 21:02:21.470611 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1442, max_intensity=252, threshold=230, above_threshold=23, candidates=23
I0419 21:02:21.470795 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293414702014.
I0419 21:02:21.497745 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:21.497886 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293414972936.
I0419 21:02:21.562126 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:02:21.562237 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:02:21.562268 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:21.562346 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293415258569.
I0419 21:02:21.563184 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.111922, 0.687132)
I0419 21:02:21.563230 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:21.563252 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:21.564904 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293415580742.
I0419 21:02:21.566253 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.121531, 0.683373), points=17, range=0.696353, residual=0.011466, extent=0.0328942
I0419 21:02:21.566314 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.121531, 0.683373), tracking=(0.176969, 0.683373), map_predicted=(3.33511, -2.50784), range=0.696353, pts=17
I0419 21:02:21.566344 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.195264m maha_sq=1.65282 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.33511, -2.50784) lm_pos=(3.53, -2.52) delta=(-0.194885, 0.0121634) -> 1 candidate(s)
I0419 21:02:21.586347 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293415857681.
I0419 21:02:21.613806 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:21.613919 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:21.613943 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293416133064.
I0419 21:02:21.690024 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.49065, -1.82717), yaw=178.687 deg backend=(3.87019, -1.82084)
I0419 21:02:21.691107 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293416416724.
I0419 21:02:21.693285 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293416739583.
I0419 21:02:21.695005 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.786858, -0.496402)
I0419 21:02:21.702584 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293417017291.
I0419 21:02:21.730345 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37875, -0.664997), points=5, range=1.5344, residual=0.0141283, extent=0.033211
I0419 21:02:21.730659 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.37875, -0.664997), tracking=(-1.67725, 0.664997), map_predicted=(5.12149, -2.5358), range=1.5344, pts=5
I0419 21:02:21.730819 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0170778m maha_sq=0.0124361 (gate chi2=5.99) pose_sigma=(0.150893, 0.150893, rho=0) det_map=(5.12149, -2.5358) lm_pos=(5.115, -2.52) delta=(0.00648897, -0.015797) -> 1 candidate(s)
I0419 21:02:21.730996 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:21.731197 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293417298300.
I0419 21:02:21.762259 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0747514s, prior_pose=(3.46212, -1.82735), yaw=178.508 deg
I0419 21:02:21.762409 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1442, max_intensity=249, threshold=230, above_threshold=17, candidates=17
I0419 21:02:21.762660 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.745 deg, rms_residual=0.0147181m, sigma_yaw=0.0192464 rad, N=2
I0419 21:02:21.762717 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0571479 range=1.55033 variance=0.000544033 t_weight=5514.38 r_weight=0 yaml=(5.115, -2.52) prior=(3.46212, -1.82735, 178.508deg) obs_actual=(-1.70209, 0.666975) obs_expected=(-1.67035, 0.649374) delta=(-0.0317351, 0.0176012) |delta|=0.0362894m
I0419 21:02:21.762779 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.43676, -1.82769, 178.745deg) inliers=2 rms=0.0147181m
I0419 21:02:21.762830 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293417616510.
I0419 21:02:21.843457 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:21.843598 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293417895789.
I0419 21:02:21.846037 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:02:21.846144 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.369682, -0.63179)
I0419 21:02:21.846164 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:02:21.846195 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:21.846269 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293418220488.
I0419 21:02:21.847030 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:21.847081 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:21.850418 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293418498680.
I0419 21:02:21.862370 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.741447, -0.492262), points=10, range=0.8901, residual=0.0111636, extent=0.0372066
I0419 21:02:21.862458 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.741447, -0.492262), tracking=(1.03995, -0.492262), map_predicted=(2.39632, -1.30373), range=0.8901, pts=10
I0419 21:02:21.862486 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0247707m maha_sq=0.0261327 (gate chi2=5.99) pose_sigma=(0.151362, 0.151362, rho=0) det_map=(2.39632, -1.30373) lm_pos=(2.415, -1.32) delta=(-0.0186793, 0.0162688) -> 1 candidate(s)
I0419 21:02:21.878002 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293418773399.
I0419 21:02:21.954363 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.43714, -0.65492)
I0419 21:02:21.954572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293419092624.
I0419 21:02:21.956310 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293419378931.
I0419 21:02:21.966516 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:21.977734 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.25333, 0.695977), points=16, range=0.741125, residual=0.0114321, extent=0.0325413
I0419 21:02:21.977813 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.25333, 0.695977), tracking=(0.0451699, 0.695977), map_predicted=(3.31205, -2.5185), range=0.741125, pts=16
I0419 21:02:21.977841 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.217954m maha_sq=2.03442 (gate chi2=5.99) pose_sigma=(0.150932, 0.150932, rho=0) det_map=(3.31205, -2.5185) lm_pos=(3.53, -2.52) delta=(-0.217948, 0.00150316) -> 1 candidate(s)
I0419 21:02:21.997635 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=14, centroid=(0.528547, 0.542455)
I0419 21:02:21.997879 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293419971867.
I0419 21:02:22.025997 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:02:22.026125 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293420255286.
I0419 21:02:22.088156 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563119s, prior_pose=(3.36286, -1.82737), yaw=177.929 deg
I0419 21:02:22.088290 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1470, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:22.090788 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:22.114142 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:22.114234 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.51208, -0.641832)
I0419 21:02:22.114264 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:22.114303 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51608, -0.64094), points=3, range=1.64267, residual=0.00740979, extent=0.014567
I0419 21:02:22.114329 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:22.114347 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.51608, -0.64094), tracking=(-1.81458, 0.64094), map_predicted=(5.14295, -2.53628), range=1.64267, pts=3
I0419 21:02:22.114372 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0323426m maha_sq=0.0445076 (gate chi2=5.99) pose_sigma=(0.15151, 0.15151, rho=0) det_map=(5.14295, -2.53628) lm_pos=(5.115, -2.52) delta=(0.0279489, -0.016276) -> 1 candidate(s)
I0419 21:02:22.114475 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293421136194.
I0419 21:02:22.126263 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:22.126410 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:22.142452 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0275089 range=1.65033 variance=0.000528448 t_weight=5677 r_weight=0 yaml=(5.115, -2.52) prior=(3.33545, -1.82877, 177.725deg) obs_actual=(-1.82243, 0.639041) obs_expected=(-1.80558, 0.62005) delta=(-0.0168522, 0.0189912) |delta|=0.0253902m
I0419 21:02:22.142604 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293421416728.
I0419 21:02:22.253847 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.585935, 0.549855)
I0419 21:02:22.254040 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293422013636.
I0419 21:02:22.257112 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.626183, -0.473201), points=12, range=0.788167, residual=0.0141034, extent=0.0431229
I0419 21:02:22.257189 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.626183, -0.473201), tracking=(0.924683, -0.473201), map_predicted=(2.4022, -1.31514), range=0.788167, pts=12
I0419 21:02:22.257212 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0136877m maha_sq=0.00797862 (gate chi2=5.99) pose_sigma=(0.151138, 0.151138, rho=0) det_map=(2.4022, -1.31514) lm_pos=(2.415, -1.32) delta=(-0.0127977, 0.0048552) -> 1 candidate(s)
I0419 21:02:22.262154 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293422613822.
I0419 21:02:22.291481 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.56846, -0.628399)
I0419 21:02:22.291749 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293422907228.
I0419 21:02:22.376418 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:22.378919 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0515135s, prior_pose=(3.27609, -1.83002), yaw=177.199 deg
I0419 21:02:22.379005 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1472, max_intensity=254, threshold=230, above_threshold=28, candidates=28
I0419 21:02:22.379163 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293423537765.
I0419 21:02:22.379843 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.322791, 0.557262)
I0419 21:02:22.379897 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.376389, 0.698561), points=15, range=0.793733, residual=0.0190466, extent=0.0487802
I0419 21:02:22.379930 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.376389, 0.698561), tracking=(-0.0778895, 0.698561), map_predicted=(3.31974, -2.53155), range=0.793733, pts=15
I0419 21:02:22.379953 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.210574m maha_sq=1.90278 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31974, -2.53155) lm_pos=(3.53, -2.52) delta=(-0.210257, -0.0115545) -> 1 candidate(s)
I0419 21:02:22.380908 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:22.380949 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:22.406122 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:22.406227 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:22.406322 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:22.418787 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:22.418905 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 6 -> 5 (threshold=0.03, iters=3)
I0419 21:02:22.418944 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:22.500694 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.339278, 0.59162)
I0419 21:02:22.500854 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:22.500903 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:22.500926 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293424502037.
I0419 21:02:22.503203 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293424774810.
I0419 21:02:22.509696 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293425091852.
I0419 21:02:22.510836 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.23839, -1.8304), yaw=177.079 deg backend=(3.61583, -1.8069)
I0419 21:02:22.537797 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.537728, -0.470097), points=14, range=0.715286, residual=0.0139036, extent=0.0457866
I0419 21:02:22.537914 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.537728, -0.470097), tracking=(0.836228, -0.470097), map_predicted=(2.42721, -1.3183), range=0.715286, pts=14
I0419 21:02:22.537941 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0123281m maha_sq=0.00653925 (gate chi2=5.99) pose_sigma=(0.150367, 0.150367, rho=0) det_map=(2.42721, -1.3183) lm_pos=(2.415, -1.32) delta=(0.0122106, 0.00169827) -> 1 candidate(s)
I0419 21:02:22.538021 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293425374317.
I0419 21:02:22.617622 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293425658166.
I0419 21:02:22.617882 1219494 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.51% real time)
I0419 21:02:22.618042 1219494 collated_trajectory_builder.cc:82] odom rate: 248.89 Hz 4.02e-03 s +/- 7.57e-04 s (pulsed at 99.70% real time)
I0419 21:02:22.618160 1219494 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.05e-03 s (pulsed at 100.30% real time)
I0419 21:02:22.618198 1219494 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.21e-03 s (pulsed at 100.39% real time)
I0419 21:02:22.619989 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.520716, -0.470095)
I0419 21:02:22.620147 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293425944022.
I0419 21:02:22.621850 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:22.626461 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293426257945.
I0419 21:02:22.646796 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806048s, prior_pose=(3.22665, -1.82974), yaw=177.157 deg
I0419 21:02:22.646905 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1456, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:22.654878 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293426542314.
I0419 21:02:22.671165 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:22.686187 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293426855881.
I0419 21:02:22.749008 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:22.749147 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:22.749179 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:22.750008 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.32865, 0.787828)
I0419 21:02:22.750066 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:22.750092 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:22.751034 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.116015, -0.681072), points=16, range=0.69275, residual=0.0104167, extent=0.0311671
I0419 21:02:22.751106 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.116015, -0.681072), tracking=(-0.182485, 0.681072), map_predicted=(3.33773, -2.51512), range=0.69275, pts=16
I0419 21:02:22.751132 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.192329m maha_sq=1.56732 (gate chi2=5.99) pose_sigma=(0.151841, 0.151841, rho=0) det_map=(3.33773, -2.51512) lm_pos=(3.53, -2.52) delta=(-0.192267, 0.00487761) -> 1 candidate(s)
I0419 21:02:22.758785 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[5] 'ref_6' maha_sq=0.0867216 range=0.9392 variance=0.000517692 t_weight=5794.95 r_weight=0 yaml=(4.215, -1.32) prior=(3.17328, -1.82544, 177.184deg) obs_actual=(-1.061, -0.552271) obs_expected=(-1.01563, -0.556021) delta=(-0.0453724, 0.00374995) |delta|=0.0455271m
I0419 21:02:22.759011 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293427582451.
I0419 21:02:22.802366 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293428017905.
I0419 21:02:22.880038 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:22.881048 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0829053, -0.684695)
I0419 21:02:22.883664 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.078659, -0.681428), points=17, range=0.686824, residual=0.0107753, extent=0.033024
I0419 21:02:22.883800 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.078659, -0.681428), tracking=(-0.219841, 0.681428), map_predicted=(3.3228, -2.5236), range=0.686824, pts=17
I0419 21:02:22.883862 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.207227m maha_sq=1.82811 (gate chi2=5.99) pose_sigma=(0.151451, 0.151451, rho=0) det_map=(3.3228, -2.5236) lm_pos=(3.53, -2.52) delta=(-0.207196, -0.00360476) -> 1 candidate(s)
I0419 21:02:22.906352 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:22.933809 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 556
I0419 21:02:22.938462 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602031s, prior_pose=(3.12513, -1.83396), yaw=177.37 deg
I0419 21:02:22.938581 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1448, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:23.020972 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:23.023348 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:23.023417 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.0417526, -0.683126)
I0419 21:02:23.023433 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:23.023487 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:23.025209 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:23.025319 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:23.026422 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0316893, -0.680675), points=18, range=0.6835, residual=0.0117278, extent=0.0343649
I0419 21:02:23.026502 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0316893, -0.680675), tracking=(-0.266811, 0.680675), map_predicted=(3.3365, -2.52707), range=0.6835, pts=18
I0419 21:02:23.026530 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.193625m maha_sq=1.54471 (gate chi2=5.99) pose_sigma=(0.153935, 0.153935, rho=0) det_map=(3.3365, -2.52707) lm_pos=(3.53, -2.52) delta=(-0.193496, -0.00706668) -> 1 candidate(s)
I0419 21:02:23.152274 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.21469, 0.78375)
I0419 21:02:23.152393 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:23.182266 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.332457, -0.468798), points=22, range=0.577, residual=0.0138382, extent=0.0445091
I0419 21:02:23.182367 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.332457, -0.468798), tracking=(0.630957, -0.468798), map_predicted=(2.4257, -1.3348), range=0.577, pts=22
I0419 21:02:23.182397 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0182644m maha_sq=0.0129257 (gate chi2=5.99) pose_sigma=(0.158692, 0.158692, rho=0) det_map=(2.4257, -1.3348) lm_pos=(2.415, -1.32) delta=(0.010697, -0.0148041) -> 1 candidate(s)
I0419 21:02:23.201776 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:23.279613 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518596s, prior_pose=(3.02569, -1.8304), yaw=177.474 deg
I0419 21:02:23.279757 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1437, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:02:23.281572 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:23.283196 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.17174, 0.785349)
I0419 21:02:23.290422 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:23.290519 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:23.290552 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:23.302450 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:23.302573 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:23.330041 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.287547, -0.469126), points=21, range=0.550952, residual=0.011262, extent=0.03887
I0419 21:02:23.330185 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.287547, -0.469126), tracking=(0.586047, -0.469126), map_predicted=(2.43317, -1.33498), range=0.550952, pts=21
I0419 21:02:23.330215 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.023548m maha_sq=0.0208614 (gate chi2=5.99) pose_sigma=(0.161311, 0.161311, rho=0) det_map=(2.43317, -1.33498) lm_pos=(2.415, -1.32) delta=(0.0181729, -0.0149751) -> 1 candidate(s)
I0419 21:02:23.419521 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.9836, -1.82524), yaw=177.537 deg backend=(3.12759, -1.79392)
I0419 21:02:23.421065 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.12389, 0.779609)
I0419 21:02:23.421159 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:23.478124 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11526, 0.784116), points=4, range=1.359, residual=0.0116529, extent=0.0287342
I0419 21:02:23.478227 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11526, 0.784116), tracking=(1.41376, 0.784116), map_predicted=(1.52396, -2.54891), range=1.359, pts=4
I0419 21:02:23.478256 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.222917m maha_sq=1.81897 (gate chi2=5.99) pose_sigma=(0.163438, 0.163438, rho=0) det_map=(1.52396, -2.54891) lm_pos=(1.745, -2.52) delta=(-0.221035, -0.0289055) -> 1 candidate(s)
I0419 21:02:23.540519 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:23.542371 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757248s, prior_pose=(2.95822, -1.82439), yaw=177.609 deg
I0419 21:02:23.542486 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1459, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:23.554498 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:23.566642 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.08256, 0.783564)
I0419 21:02:23.582101 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:23.582192 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:23.582230 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:23.594242 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:23.594340 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:23.671953 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04952, 0.781275), points=6, range=1.31133, residual=0.014336, extent=0.0398387
I0419 21:02:23.672063 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04952, 0.781275), tracking=(1.34802, 0.781275), map_predicted=(1.54126, -2.5446), range=1.31133, pts=6
I0419 21:02:23.672086 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.205217m maha_sq=1.48009 (gate chi2=5.99) pose_sigma=(0.166674, 0.166674, rho=0) det_map=(1.54126, -2.5446) lm_pos=(1.745, -2.52) delta=(-0.203737, -0.0245997) -> 1 candidate(s)
I0419 21:02:23.710433 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(0.174306, -0.472066)
I0419 21:02:23.710574 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:23.807523 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:23.814482 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559135s, prior_pose=(2.82762, -1.82), yaw=177.596 deg
I0419 21:02:23.814687 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1466, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:02:23.814800 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.202864, -0.68836), points=16, range=0.716625, residual=0.0118086, extent=0.0320667
I0419 21:02:23.814827 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.202864, -0.68836), tracking=(-0.501364, 0.68836), map_predicted=(3.29967, -2.52878), range=0.716625, pts=16
I0419 21:02:23.814850 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.230495m maha_sq=1.74309 (gate chi2=5.99) pose_sigma=(0.172922, 0.172922, rho=0) det_map=(3.29967, -2.52878) lm_pos=(3.53, -2.52) delta=(-0.230328, -0.00877947) -> 1 candidate(s)
I0419 21:02:23.846243 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.09803, 0.535531)
I0419 21:02:23.846351 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:23.878381 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:23.878472 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:02:23.878504 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:23.939929 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:23.940035 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:23.994815 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.253683, -0.69687)
I0419 21:02:23.994926 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14349, 0.529173), points=4, range=1.25825, residual=0.00581378, extent=0.0120432
I0419 21:02:23.994957 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.14349, 0.529173), tracking=(-1.44199, -0.529173), map_predicted=(4.26523, -1.34627), range=1.25825, pts=4
I0419 21:02:23.994982 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0566829m maha_sq=0.101574 (gate chi2=5.99) pose_sigma=(0.176446, 0.176446, rho=0) det_map=(4.26523, -1.34627) lm_pos=(4.215, -1.32) delta=(0.0502289, -0.0262679) -> 1 candidate(s)
I0419 21:02:24.006181 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:24.082079 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:24.109927 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0436455s, prior_pose=(2.77206, -1.81939), yaw=177.698 deg
I0419 21:02:24.110031 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1419, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:02:24.142314 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.298253, -0.699569)
I0419 21:02:24.142418 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:24.206665 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0399357, -0.472139), points=28, range=0.47375, residual=0.011821, extent=0.0376206
I0419 21:02:24.206773 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0399357, -0.472139), tracking=(0.338436, -0.472139), map_predicted=(2.44152, -1.33237), range=0.47375, pts=28
I0419 21:02:24.206804 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0292649m maha_sq=0.0262011 (gate chi2=5.99) pose_sigma=(0.179211, 0.179211, rho=0) det_map=(2.44152, -1.33237) lm_pos=(2.415, -1.32) delta=(0.0265224, -0.0123692) -> 1 candidate(s)
I0419 21:02:24.207787 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:24.207834 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:24.207862 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:24.208693 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:24.208748 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:24.312013 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 482
I0419 21:02:24.333331 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.71946, -1.81359), yaw=177.825 deg backend=(2.79271, -1.79869)
I0419 21:02:24.334156 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.34124, -0.701649)
I0419 21:02:24.335337 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.851157, 0.779867), points=9, range=1.15967, residual=0.0165912, extent=0.0458188
I0419 21:02:24.335429 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.851157, 0.779867), tracking=(1.14966, 0.779867), map_predicted=(1.54103, -2.54925), range=1.15967, pts=9
I0419 21:02:24.335462 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.206056m maha_sq=1.25668 (gate chi2=5.99) pose_sigma=(0.181805, 0.181805, rho=0) det_map=(1.54103, -2.54925) lm_pos=(1.745, -2.52) delta=(-0.20397, -0.0292524) -> 1 candidate(s)
I0419 21:02:24.335501 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:24.346724 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 15 -> 14 (threshold=0.03, iters=3)
I0419 21:02:24.378264 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:24.406011 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761006s, prior_pose=(2.69307, -1.81254), yaw=177.674 deg
I0419 21:02:24.406141 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1424, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:02:24.466928 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.826188, 0.781651)
I0419 21:02:24.467933 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:24.470660 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:24.470736 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:24.470765 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:24.474743 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:24.474824 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0676254, -0.471082), points=28, range=0.475393, residual=0.0119149, extent=0.0373503
I0419 21:02:24.474848 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:24.474865 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0676254, -0.471082), tracking=(0.230875, -0.471082), map_predicted=(2.43775, -1.33261), range=0.475393, pts=28
I0419 21:02:24.474888 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0260084m maha_sq=0.0192308 (gate chi2=5.99) pose_sigma=(0.186016, 0.186016, rho=0) det_map=(2.43775, -1.33261) lm_pos=(2.415, -1.32) delta=(0.0227476, -0.012609) -> 1 candidate(s)
I0419 21:02:24.603641 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.418807, -0.703868)
I0419 21:02:24.606995 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:24.650280 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.116889, -0.471555), points=26, range=0.486577, residual=0.0113984, extent=0.035705
I0419 21:02:24.650404 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.116889, -0.471555), tracking=(0.181611, -0.471555), map_predicted=(2.42918, -1.33229), range=0.486577, pts=26
I0419 21:02:24.650439 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0187665m maha_sq=0.00965237 (gate chi2=5.99) pose_sigma=(0.189541, 0.189541, rho=0) det_map=(2.42918, -1.33229) lm_pos=(2.415, -1.32) delta=(0.0141789, -0.0122939) -> 1 candidate(s)
I0419 21:02:24.669570 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.34127, 0.517099)
I0419 21:02:24.669687 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:02:24.731969 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556255s, prior_pose=(2.59817, -1.81019), yaw=177.806 deg
I0419 21:02:24.732088 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1445, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:02:24.734540 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:24.758350 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:24.758450 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:02:24.758481 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:24.770608 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:24.770704 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:24.787879 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.37897, 0.517854)
I0419 21:02:24.887018 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.506247, -0.709696), points=11, range=0.874364, residual=0.0110859, extent=0.0307555
I0419 21:02:24.887133 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.506247, -0.709696), tracking=(-0.804747, 0.709696), map_predicted=(3.33589, -2.54683), range=0.874364, pts=11
I0419 21:02:24.887158 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.195952m maha_sq=1.02318 (gate chi2=5.99) pose_sigma=(0.192251, 0.192251, rho=0) det_map=(3.33589, -2.54683) lm_pos=(3.53, -2.52) delta=(-0.194107, -0.0268334) -> 1 candidate(s)
I0419 21:02:24.890880 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:24.906015 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.40523, 0.51609)
I0419 21:02:24.997632 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0445856s, prior_pose=(2.5053, -1.80427), yaw=177.796 deg
I0419 21:02:24.997805 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=251, threshold=230, above_threshold=14, candidates=14
I0419 21:02:25.022282 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.565964, -0.715673)
I0419 21:02:25.022403 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:25.034751 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.627025, 0.776562), points=10, range=1.0011, residual=0.0120202, extent=0.0383662
I0419 21:02:25.034885 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.627025, 0.776562), tracking=(0.925525, 0.776562), map_predicted=(1.53838, -2.54539), range=1.0011, pts=10
I0419 21:02:25.034916 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.208173m maha_sq=1.10961 (gate chi2=5.99) pose_sigma=(0.196113, 0.196113, rho=0) det_map=(1.53838, -2.54539) lm_pos=(1.745, -2.52) delta=(-0.206619, -0.0253872) -> 1 candidate(s)
I0419 21:02:25.050205 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:25.050303 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:25.050340 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:25.062690 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:25.063011 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:25.150357 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.266541, -0.46788)
I0419 21:02:25.151477 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.44608, -1.801), yaw=177.669 deg backend=(2.51923, -1.78843)
I0419 21:02:25.182714 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:25.269692 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.552726, 0.774805), points=12, range=0.956667, residual=0.0157311, extent=0.0388095
I0419 21:02:25.269786 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.552726, 0.774805), tracking=(0.851226, 0.774805), map_predicted=(1.54957, -2.5383), range=0.956667, pts=12
I0419 21:02:25.269814 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.196288m maha_sq=0.949171 (gate chi2=5.99) pose_sigma=(0.199742, 0.199742, rho=0) det_map=(1.54957, -2.5383) lm_pos=(1.745, -2.52) delta=(-0.195433, -0.0182978) -> 1 candidate(s)
I0419 21:02:25.286222 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0764433s, prior_pose=(2.42986, -1.79669), yaw=177.804 deg
I0419 21:02:25.286340 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1449, max_intensity=248, threshold=230, above_threshold=10, candidates=10
I0419 21:02:25.318233 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.660443, -0.720678)
I0419 21:02:25.318358 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:25.388334 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:25.388475 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:02:25.388509 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:25.389524 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:25.389607 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:25.429344 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 344
I0419 21:02:25.434520 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.5649, 0.513501)
I0419 21:02:25.524086 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:25.525221 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.715542, -0.723876), points=9, range=1.01822, residual=0.0102823, extent=0.0316825
I0419 21:02:25.525357 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.715542, -0.723876), tracking=(-1.01404, 0.723876), map_predicted=(3.34921, -2.56157), range=1.01822, pts=9
I0419 21:02:25.525388 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.18551m maha_sq=0.820429 (gate chi2=5.99) pose_sigma=(0.203444, 0.203444, rho=0) det_map=(3.34921, -2.56157) lm_pos=(3.53, -2.52) delta=(-0.180793, -0.0415662) -> 1 candidate(s)
I0419 21:02:25.562089 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.2585, 0.829468)
I0419 21:02:25.578620 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566888s, prior_pose=(2.3378, -1.79797), yaw=177.801 deg
I0419 21:02:25.578758 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1444, max_intensity=250, threshold=230, above_threshold=36, candidates=36
I0419 21:02:25.652736 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:25.654788 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:25.654884 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:25.654922 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:25.656399 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:25.656461 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.436213, 0.770925), points=13, range=0.888, residual=0.0123319, extent=0.0341688
I0419 21:02:25.656482 1218978 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:25.656497 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.436213, 0.770925), tracking=(0.734713, 0.770925), map_predicted=(1.55008, -2.54148), range=0.888, pts=13
I0419 21:02:25.656515 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.196097m maha_sq=0.891492 (gate chi2=5.99) pose_sigma=(0.206246, 0.206246, rho=0) det_map=(1.55008, -2.54148) lm_pos=(1.745, -2.52) delta=(-0.194916, -0.0214834) -> 1 candidate(s)
I0419 21:02:25.678195 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.22795, 0.82561)
I0419 21:02:25.793114 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:25.814670 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=26, centroid=(-0.127058, 0.460606)
I0419 21:02:25.826659 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34608, -0.400855), points=3, range=1.39967, residual=0.0096658, extent=0.0197545
I0419 21:02:25.826762 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.34608, -0.400855), tracking=(1.64458, -0.400855), map_predicted=(0.633451, -1.3346), range=1.39967, pts=3
I0419 21:02:25.826794 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0235299m maha_sq=0.0125128 (gate chi2=5.99) pose_sigma=(0.208998, 0.208998, rho=0) det_map=(0.633451, -1.3346) lm_pos=(0.615, -1.32) delta=(0.0184508, -0.0146023) -> 1 candidate(s)
I0419 21:02:25.924542 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0471061s, prior_pose=(2.24478, -1.79079), yaw=178.057 deg
I0419 21:02:25.924669 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1424, max_intensity=253, threshold=230, above_threshold=35, candidates=35
I0419 21:02:25.926681 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:25.934746 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:25.934875 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:25.934906 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:25.942267 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.31075, -0.402798)
I0419 21:02:25.942373 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:25.942404 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:25.990592 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.852453, -0.736678), points=4, range=1.1295, residual=0.00818805, extent=0.0199504
I0419 21:02:25.990984 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.852453, -0.736678), tracking=(-1.15095, 0.736678), map_predicted=(3.34352, -2.56536), range=1.1295, pts=4
I0419 21:02:25.991037 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.191912m maha_sq=0.814607 (gate chi2=5.99) pose_sigma=(0.211397, 0.211397, rho=0) det_map=(3.34352, -2.56536) lm_pos=(3.53, -2.52) delta=(-0.186475, -0.0453574) -> 1 candidate(s)
I0419 21:02:26.061722 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.19237, -1.78883), yaw=178.388 deg backend=(2.32297, -1.78234)
I0419 21:02:26.063468 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.1225, 0.793565)
I0419 21:02:26.063597 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:26.149112 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:26.195557 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25373, -0.425586), points=3, range=1.32067, residual=0.00689268, extent=0.0134138
I0419 21:02:26.195732 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25373, -0.425586), tracking=(1.55223, -0.425586), map_predicted=(0.633415, -1.32595), range=1.32067, pts=3
I0419 21:02:26.195762 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0193523m maha_sq=0.00811054 (gate chi2=5.99) pose_sigma=(0.213681, 0.213681, rho=0) det_map=(0.633415, -1.32595) lm_pos=(0.615, -1.32) delta=(0.0184146, -0.00595085) -> 1 candidate(s)
I0419 21:02:26.196844 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0731265s, prior_pose=(2.17533, -1.78752), yaw=178.667 deg
I0419 21:02:26.196933 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1439, max_intensity=253, threshold=230, above_threshold=38, candidates=38
I0419 21:02:26.200938 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=30, centroid=(-0.00198447, 0.456217)
I0419 21:02:26.201232 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:26.204429 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 31
I0419 21:02:26.226328 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:26.226424 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:26.226456 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:26.238200 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:26.238296 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:26.319548 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.948453, -0.765743), points=7, range=1.21686, residual=0.00986177, extent=0.0271441
I0419 21:02:26.319696 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.948453, -0.765743), tracking=(-1.24695, 0.765743), map_predicted=(3.35385, -2.56698), range=1.21686, pts=7
I0419 21:02:26.319765 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.182309m maha_sq=0.69884 (gate chi2=5.99) pose_sigma=(0.216796, 0.216796, rho=0) det_map=(3.35385, -2.56698) lm_pos=(3.53, -2.52) delta=(-0.176151, -0.0469847) -> 1 candidate(s)
I0419 21:02:26.326007 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.19586, -0.443148)
I0419 21:02:26.354432 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:26.452198 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.03538, 0.74081)
I0419 21:02:26.462466 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594144s, prior_pose=(2.07863, -1.78558), yaw=179.929 deg
I0419 21:02:26.462569 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1439, max_intensity=252, threshold=230, above_threshold=35, candidates=35
I0419 21:02:26.462749 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0882554, 0.446981), points=29, range=0.454966, residual=0.0119577, extent=0.0373448
I0419 21:02:26.462775 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0882554, 0.446981), tracking=(-0.386755, -0.446981), map_predicted=(2.46595, -1.33908), range=0.454966, pts=29
I0419 21:02:26.462801 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0543997m maha_sq=0.0611298 (gate chi2=5.99) pose_sigma=(0.218718, 0.218718, rho=0) det_map=(2.46595, -1.33908) lm_pos=(2.415, -1.32) delta=(0.0509452, -0.0190766) -> 1 candidate(s)
I0419 21:02:26.490526 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:26.522531 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:26.522773 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:26.522867 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:26.582407 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:26.582633 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:26.586328 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.00457, -0.792699)
I0419 21:02:26.638258 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.140492, 0.440988), points=28, range=0.463821, residual=0.0118918, extent=0.037233
I0419 21:02:26.638458 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.140492, 0.440988), tracking=(-0.438992, -0.440988), map_predicted=(2.46152, -1.33866), range=0.463821, pts=28
I0419 21:02:26.638525 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0501216m maha_sq=0.0506985 (gate chi2=5.99) pose_sigma=(0.221313, 0.221313, rho=0) det_map=(2.46152, -1.33866) lm_pos=(2.415, -1.32) delta=(0.0465203, -0.0186559) -> 1 candidate(s)
I0419 21:02:26.650509 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:26.717223 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(0.16208, 0.44108)
I0419 21:02:26.754191 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.043965s, prior_pose=(1.98678, -1.78398), yaw=-179.093 deg
I0419 21:02:26.754309 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1457, max_intensity=249, threshold=230, above_threshold=31, candidates=31
I0419 21:02:26.782614 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:26.842926 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(1.94704, 0.708661)
I0419 21:02:26.843117 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.139767, 0.735937), points=17, range=0.749588, residual=0.0119352, extent=0.0354092
I0419 21:02:26.843185 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.139767, 0.735937), tracking=(0.438267, 0.735937), map_predicted=(1.54792, -2.5297), range=0.749588, pts=17
I0419 21:02:26.843247 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.197319m maha_sq=0.766476 (gate chi2=5.99) pose_sigma=(0.224089, 0.224089, rho=0) det_map=(1.54792, -2.5297) lm_pos=(1.745, -2.52) delta=(-0.197081, -0.00969512) -> 1 candidate(s)
I0419 21:02:26.844359 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:26.844484 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:26.844548 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:26.845450 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:26.845526 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:26.885983 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.97524, 0.718921)
I0419 21:02:26.987025 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.93822, -1.77925), yaw=-178.882 deg backend=(2.30776, -1.7716)
I0419 21:02:26.989974 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:26.991559 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.243778, 0.439577)
I0419 21:02:26.991760 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.240445, 0.439659), points=25, range=0.50276, residual=0.0121518, extent=0.0392236
I0419 21:02:26.991796 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.240445, 0.439659), tracking=(-0.538945, -0.439659), map_predicted=(2.46848, -1.32916), range=0.50276, pts=25
I0419 21:02:26.991820 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0542626m maha_sq=0.0570099 (gate chi2=5.99) pose_sigma=(0.225984, 0.225984, rho=0) det_map=(2.46848, -1.32916) lm_pos=(2.415, -1.32) delta=(0.0534847, -0.00915531) -> 1 candidate(s)
I0419 21:02:27.029778 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=17, centroid=(0.0645695, 0.737751)
I0419 21:02:27.029999 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293470292800.
I0419 21:02:27.050143 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795503s, prior_pose=(1.9128, -1.77973), yaw=-178.924 deg
I0419 21:02:27.050254 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1471, max_intensity=250, threshold=230, above_threshold=26, candidates=26
I0419 21:02:27.050686 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293470497407.
I0419 21:02:27.114876 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:27.115041 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293470775767.
I0419 21:02:27.117697 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:27.117889 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:27.117995 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:27.119000 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.93, 0.721604)
I0419 21:02:27.119133 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 21:02:27.119189 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.951513, -0.481335), points=4, range=1.06275, residual=0.0083558, extent=0.0184813
I0419 21:02:27.119231 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:27.119273 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.951513, -0.481335), tracking=(1.25001, -0.481335), map_predicted=(0.632678, -1.26035), range=1.06275, pts=4
I0419 21:02:27.119320 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0622161m maha_sq=0.165313 (gate chi2=5.99) pose_sigma=(0.151302, 0.151302, rho=0) det_map=(0.632678, -1.26035) lm_pos=(0.615, -1.32) delta=(0.0176783, 0.0596516) -> 1 candidate(s)
I0419 21:02:27.119432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293471179967.
I0419 21:02:27.239089 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.19112, -0.810998)
I0419 21:02:27.239272 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293471936592.
I0419 21:02:27.240187 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:02:27.241264 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:27.254920 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293472542543.
I0419 21:02:27.265648 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(4.30337, 1.60897)
I0419 21:02:27.265753 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00533844, 0.737216), points=17, range=0.739, residual=0.0116636, extent=0.0349034
I0419 21:02:27.265781 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.00533844, 0.737216), tracking=(0.293162, 0.737216), map_predicted=(1.58624, -2.50326), range=0.739, pts=17
I0419 21:02:27.265810 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[2] 'ref_3' eucl_dist=0.159642m maha_sq=1.10448 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.58624, -2.50326) lm_pos=(1.745, -2.52) delta=(-0.158761, 0.0167442) -> 1 candidate(s)
I0419 21:02:27.370138 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:27.371227 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599884s, prior_pose=(1.84409, -1.76617), yaw=-178.482 deg
I0419 21:02:27.371330 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1462, max_intensity=245, threshold=230, above_threshold=22, candidates=22
I0419 21:02:27.371428 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.23637, -0.808019)
I0419 21:02:27.374158 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:27.402639 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:27.402741 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:27.402784 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.376668, 0.438352), points=19, range=0.580947, residual=0.0126237, extent=0.0377903
I0419 21:02:27.402813 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:27.402860 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.376668, 0.438352), tracking=(-0.675168, -0.438352), map_predicted=(2.49415, -1.31066), range=0.580947, pts=19
I0419 21:02:27.402894 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0796976m maha_sq=0.266345 (gate chi2=5.99) pose_sigma=(0.152496, 0.152496, rho=0) det_map=(2.49415, -1.31066) lm_pos=(2.415, -1.32) delta=(0.0791483, 0.00934056) -> 1 candidate(s)
I0419 21:02:27.414405 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 21:02:27.414577 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:27.431037 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.388425, 0.437645)
I0419 21:02:27.532431 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.29505, -0.804002)
I0419 21:02:27.532567 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:27.533810 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.820684, -0.477006), points=5, range=0.9468, residual=0.00800651, extent=0.0194137
I0419 21:02:27.533929 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.820684, -0.477006), tracking=(1.11918, -0.477006), map_predicted=(0.660175, -1.32275), range=0.9468, pts=5
I0419 21:02:27.533972 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.045259m maha_sq=0.082941 (gate chi2=5.99) pose_sigma=(0.155516, 0.155516, rho=0) det_map=(0.660175, -1.32275) lm_pos=(0.615, -1.32) delta=(0.0451755, -0.00274887) -> 1 candidate(s)
I0419 21:02:27.578864 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293475777384.
I0419 21:02:27.678423 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:27.678635 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.32821, -0.808627)
I0419 21:02:27.678743 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293476055938.
I0419 21:02:27.681216 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0486286s, prior_pose=(1.7466, -1.77228), yaw=-178.593 deg
I0419 21:02:27.681311 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1449, max_intensity=245, threshold=230, above_threshold=18, candidates=18
I0419 21:02:27.682041 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.120588, 0.740407), points=17, range=0.751882, residual=0.0116419, extent=0.0353688
I0419 21:02:27.682097 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.120588, 0.740407), tracking=(0.177912, 0.740407), map_predicted=(1.58693, -2.51683), range=0.751882, pts=17
I0419 21:02:27.682124 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[2] 'ref_3' eucl_dist=0.158104m maha_sq=1.06955 (gate chi2=5.99) pose_sigma=(0.150986, 0.150986, rho=0) det_map=(1.58693, -2.51683) lm_pos=(1.745, -2.52) delta=(-0.158072, 0.00317147) -> 1 candidate(s)
I0419 21:02:27.682155 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:27.683039 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:27.683111 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293476653541.
I0419 21:02:27.695092 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:27.695252 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.473492, 0.43889)
I0419 21:02:27.695326 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:27.695379 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:27.714974 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:02:27.715170 1218978 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:27.715312 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:27.715420 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:27.715461 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293477141685.
I0419 21:02:27.815521 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.156537, 0.741753), points=18, range=0.760667, residual=0.0129495, extent=0.0381258
I0419 21:02:27.815621 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.156537, 0.741753), tracking=(0.141963, 0.741753), map_predicted=(1.56758, -2.53105), range=0.760667, pts=18
I0419 21:02:27.815649 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[2] 'ref_3' eucl_dist=0.177759m maha_sq=1.31184 (gate chi2=5.99) pose_sigma=(0.153231, 0.153231, rho=0) det_map=(1.56758, -2.53105) lm_pos=(1.745, -2.52) delta=(-0.177415, -0.0110468) -> 1 candidate(s)
I0419 21:02:27.816526 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(0.501689, 0.438551)
I0419 21:02:27.818271 1218978 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.67977, -1.79005), yaw=-178.531 deg backend=(2.03618, -1.78224)
I0419 21:02:27.819736 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:02:27.819859 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293478100404.
I0419 21:02:27.908390 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(4.1146, 1.62079)
I0419 21:02:27.910316 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.1138, 1.62738), points=3, range=4.42333, residual=0.0124783, extent=0.0257261
I0419 21:02:27.910398 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(4.1138, 1.62738), tracking=(4.4123, 1.62738), map_predicted=(-2.65169, -3.51543), range=4.42333, pts=3
I0419 21:02:27.910424 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.56751m maha_sq=269.182 (gate chi2=5.99) pose_sigma=(0.153034, 0.153034, rho=0) det_map=(-2.65169, -3.51543) lm_pos=(-0.285, -2.52) delta=(-2.36669, -0.995428) -> 0 candidate(s)
I0419 21:02:27.912853 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(1.61208, 0.714925)
I0419 21:02:27.930364 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0764665s, prior_pose=(1.74611, -1.77568), yaw=-178.604 deg
I0419 21:02:27.930519 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1473, max_intensity=253, threshold=230, above_threshold=39, candidates=39
I0419 21:02:27.958161 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:27.970206 1218978 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.524 deg, rms_residual=0.000106115m, sigma_yaw=0.000141506 rad, N=2
I0419 21:02:27.970302 1218978 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.60114, -1.78916, -179.524deg) inliers=2 rms=0.000106115m
I0419 21:02:27.970341 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293479696919.
I0419 21:02:28.032914 1218978 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:02:28.032999 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=9, centroid=(0.567013, 0.435891)
I0419 21:02:28.033017 1218978 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=4
I0419 21:02:28.033041 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.570719, 0.43564), points=9, range=0.715222, residual=0.00967763, extent=0.0239554
I0419 21:02:28.033061 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:28.033089 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.570719, 0.43564), tracking=(-0.869219, -0.43564), map_predicted=(2.56325, -1.31944), range=0.715222, pts=9
I0419 21:02:28.033116 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[3] 'ref_4' eucl_dist=0.148254m maha_sq=0.902356 (gate chi2=5.99) pose_sigma=(0.154358, 0.154358, rho=0) det_map=(2.56325, -1.31944) lm_pos=(2.415, -1.32) delta=(0.148253, 0.000559395) -> 1 candidate(s)
I0419 21:02:28.033174 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[4] 'ref_5' maha_sq=0.238349 range=1.64 variance=0.000531999 t_weight=5639.11 r_weight=0 yaml=(3.53, -2.52) prior=(1.70492, -1.77615, -178.602deg) obs_actual=(-1.73157, 0.802561) obs_expected=(-1.80639, 0.788145) delta=(0.0748195, 0.0144162) |delta|=0.0761957m
I0419 21:02:28.033222 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293479897887.
I0419 21:02:28.034057 1218978 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:28.034109 1218978 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:28.035081 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:28.077769 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.45683, -0.801998)
I0419 21:02:28.077962 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293480773101.
I0419 21:02:28.106457 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.343766, -0.742799), points=15, range=0.819667, residual=0.0119969, extent=0.0343364
I0419 21:02:28.106575 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.343766, -0.742799), tracking=(0.0452656, 0.742799), map_predicted=(1.70563, -2.51811), range=0.819667, pts=15
I0419 21:02:28.106607 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.0394159m maha_sq=0.0672974 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.70563, -2.51811) lm_pos=(1.745, -2.52) delta=(-0.0393706, 0.00188847) -> 1 candidate(s)
I0419 21:02:28.106679 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:28.173030 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293481185232.
I0419 21:02:28.175356 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293481458635.
I0419 21:02:28.177637 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.32903, -0.74186)
I0419 21:02:28.178900 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293481779693.
I0419 21:02:28.198050 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.633126, 0.432415), points=9, range=0.765, residual=0.00741909, extent=0.0194742
I0419 21:02:28.198155 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.633126, 0.432415), tracking=(-0.931626, -0.432415), map_predicted=(2.58571, -1.32353), range=0.765, pts=9
I0419 21:02:28.198230 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[3] 'ref_4' eucl_dist=0.17075m maha_sq=1.26792 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.58571, -1.32353) lm_pos=(2.415, -1.32) delta=(0.170713, -0.00352777) -> 1 candidate(s)
I0419 21:02:28.198321 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293481974428.
I0419 21:02:28.222373 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560448s, prior_pose=(1.67248, -1.77917), yaw=-178.494 deg
I0419 21:02:28.222519 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1456, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:28.234525 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=17, centroid=(-0.304168, 0.752599)
I0419 21:02:28.295485 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:28.296499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293482658079.
I0419 21:02:28.297529 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:28.297616 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:28.297652 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:28.299137 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:02:28.299208 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.314868, 0.750862), points=15, range=0.816867, residual=0.0128318, extent=0.0348583
I0419 21:02:28.299228 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:28.299242 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.314868, 0.750862), tracking=(-0.0163678, 0.750862), map_predicted=(1.65548, -2.53045), range=0.816867, pts=15
I0419 21:02:28.299260 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[2] 'ref_3' eucl_dist=0.0901304m maha_sq=0.331378 (gate chi2=5.99) pose_sigma=(0.154622, 0.154622, rho=0) det_map=(1.65548, -2.53045) lm_pos=(1.745, -2.52) delta=(-0.089523, -0.0104459) -> 1 candidate(s)
I0419 21:02:28.299342 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293482941969.
I0419 21:02:28.326253 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.48826, 0.720494)
I0419 21:02:28.355633 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293483542516.
I0419 21:02:28.473464 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:02:28.474385 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.95389, 1.61758)
I0419 21:02:28.474459 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.95494, 1.62471), points=4, range=4.272, residual=0.0170236, extent=0.0391221
I0419 21:02:28.474490 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.95494, 1.62471), tracking=(4.25344, 1.62471), map_predicted=(-2.67639, -3.50897), range=4.272, pts=4
I0419 21:02:28.474514 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.58782m maha_sq=272.233 (gate chi2=5.99) pose_sigma=(0.153064, 0.153064, rho=0) det_map=(-2.67639, -3.50897) lm_pos=(-0.285, -2.52) delta=(-2.39139, -0.988975) -> 0 candidate(s)
I0419 21:02:28.474632 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293484102830.
I0419 21:02:28.477300 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[0] 'ref_1' maha_sq=0.144168 range=1.62533 variance=0.000599759 t_weight=5002.01 r_weight=0 yaml=(-0.285, -2.52) prior=(1.50908, -1.78367, -178.593deg) obs_actual=(1.76085, 0.721143) obs_expected=(1.81161, 0.69207) delta=(-0.050757, 0.0290726) |delta|=0.0584935m
I0419 21:02:28.477419 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293484413389.
I0419 21:02:28.478405 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:28.491578 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.56851, -0.804954)
I0419 21:02:28.607368 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477384s, prior_pose=(1.47056, -1.78273), yaw=-178.624 deg
I0419 21:02:28.607481 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=252, threshold=230, above_threshold=25, candidates=25
I0419 21:02:28.607597 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.734476, 0.434074), points=7, range=0.852286, residual=0.0060384, extent=0.015348
I0419 21:02:28.607622 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.734476, 0.434074), tracking=(-1.03298, -0.434074), map_predicted=(2.49282, -1.32398), range=0.852286, pts=7
I0419 21:02:28.607646 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0779223m maha_sq=0.254622 (gate chi2=5.99) pose_sigma=(0.152863, 0.152863, rho=0) det_map=(2.49282, -1.32398) lm_pos=(2.415, -1.32) delta=(0.0778208, -0.00397625) -> 1 candidate(s)
I0419 21:02:28.608647 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293485302602.
I0419 21:02:28.609660 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:28.611258 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.90953, 1.61939)
I0419 21:02:28.612229 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:28.612294 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:28.612322 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:28.613202 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:02:28.613267 1218530 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:28.613358 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293485862698.
I0419 21:02:28.617952 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.89004, 1.62459)
I0419 21:02:28.642925 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293486419774.
I0419 21:02:28.739945 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470952, -0.476387), points=18, range=0.670444, residual=0.0126875, extent=0.0467005
I0419 21:02:28.740052 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470952, -0.476387), tracking=(0.769452, -0.476387), map_predicted=(0.63409, -1.32149), range=0.670444, pts=18
I0419 21:02:28.740087 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0191479m maha_sq=0.015646 (gate chi2=5.99) pose_sigma=(0.151117, 0.151117, rho=0) det_map=(0.63409, -1.32149) lm_pos=(0.615, -1.32) delta=(0.0190902, -0.00148541) -> 1 candidate(s)
I0419 21:02:28.740208 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293486457156.
I0419 21:02:28.741354 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 10 -> 9 (threshold=0.03, iters=3)
I0419 21:02:28.742319 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.38518, 0.72619)
I0419 21:02:28.742470 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293486779844.
I0419 21:02:28.743438 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.39801, -1.77896), yaw=-178.671 deg backend=(1.83676, -1.78469)
I0419 21:02:28.744911 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:28.745014 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293487056474.
I0419 21:02:28.747504 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:28.747617 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:28.747648 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293487339824.
I0419 21:02:28.765878 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.35793, 0.72708)
I0419 21:02:28.766005 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.431605, -0.475114), points=18, range=0.644778, residual=0.0124898, extent=0.0361599
I0419 21:02:28.766041 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.431605, -0.475114), tracking=(0.730105, -0.475114), map_predicted=(0.640787, -1.32033), range=0.644778, pts=18
I0419 21:02:28.766070 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0257888m maha_sq=0.0288012 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.640787, -1.32033) lm_pos=(0.615, -1.32) delta=(0.0257867, -0.000328426) -> 1 candidate(s)
I0419 21:02:28.766214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293487653934.
I0419 21:02:28.836943 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293487940664.
I0419 21:02:28.837934 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755431s, prior_pose=(1.36197, -1.77577), yaw=-178.697 deg
I0419 21:02:28.838013 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1443, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:28.854457 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:28.854581 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.976 deg, rms_residual=0.0103444m, sigma_yaw=0.0136049 rad, N=2
I0419 21:02:28.854661 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.33161, -1.77292, -178.976deg) inliers=2 rms=0.0103444m
I0419 21:02:28.854708 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293488539073.
I0419 21:02:28.870182 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:28.870312 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.69258, -0.801272)
I0419 21:02:28.870357 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:28.870533 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[2] 'ref_3' maha_sq=1.89309 range=0.744118 variance=0.000572888 t_weight=5236.62 r_weight=0 yaml=(1.745, -2.52) prior=(1.33519, -1.77523, -178.698deg) obs_actual=(-0.183381, 0.733614) obs_expected=(-0.392771, 0.753892) delta=(0.20939, -0.0202777) |delta|=0.21037m
I0419 21:02:28.870658 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293488694028.
I0419 21:02:28.882881 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.393711, -0.473281), points=19, range=0.618, residual=0.0127505, extent=0.0410279
I0419 21:02:28.883037 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:28.883078 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.393711, -0.473281), tracking=(0.692211, -0.473281), map_predicted=(0.632404, -1.31781), range=0.618, pts=19
I0419 21:02:28.883124 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.017542m maha_sq=0.0133229 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.632404, -1.31781) lm_pos=(0.615, -1.32) delta=(0.0174043, 0.00219368) -> 1 candidate(s)
I0419 21:02:28.883307 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293488819238.
I0419 21:02:28.902925 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:28.903075 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:28.974601 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293489096280.
I0419 21:02:28.976481 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293489412434.
I0419 21:02:28.978173 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.866968, 0.434124)
I0419 21:02:28.979223 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293489692009.
I0419 21:02:28.988190 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:02:28.999032 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.7708, 1.62657), points=4, range=4.1065, residual=0.015624, extent=0.0366796
I0419 21:02:28.999187 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.7708, 1.62657), tracking=(4.0693, 1.62657), map_predicted=(-2.73727, -3.4933), range=4.1065, pts=4
I0419 21:02:28.999238 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63836m maha_sq=291.089 (gate chi2=5.99) pose_sigma=(0.151072, 0.151072, rho=0) det_map=(-2.73727, -3.4933) lm_pos=(-0.285, -2.52) delta=(-2.45227, -0.973297) -> 0 candidate(s)
I0419 21:02:28.999308 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:28.999435 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293489982057.
I0419 21:02:29.030618 1218978 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.27593, 0.726748)
I0419 21:02:29.030952 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293490299011.
I0419 21:02:29.122416 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293490574769.
I0419 21:02:29.122471 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:29.124770 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293490863274.
I0419 21:02:29.125734 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595407s, prior_pose=(1.26255, -1.77644), yaw=-178.775 deg
I0419 21:02:29.125823 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1440, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:02:29.126798 1218978 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.324254, -0.471508)
I0419 21:02:29.126857 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.7363, 1.644), points=3, range=4.07933, residual=0.0122616, extent=0.0250372
I0419 21:02:29.126885 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.7363, 1.644), tracking=(4.0348, 1.644), map_predicted=(-2.73618, -3.50633), range=4.07933, pts=3
I0419 21:02:29.126910 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64218m maha_sq=297.178 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73618, -3.50633) lm_pos=(-0.285, -2.52) delta=(-2.45118, -0.986331) -> 0 candidate(s)
I0419 21:02:29.126974 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293491180867.
I0419 21:02:29.146579 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:29.146757 1218978 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0119636 range=0.566917 variance=0.00066604 t_weight=4504.23 r_weight=0 yaml=(0.615, -1.32) prior=(1.24943, -1.77561, -178.801deg) obs_actual=(0.608103, -0.470584) obs_expected=(0.62476, -0.468786) delta=(-0.016657, -0.00179815) |delta|=0.0167538m
I0419 21:02:29.146857 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293491459778.
I0419 21:02:29.166960 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:29.167126 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:29.268072 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:29.268229 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293491775211.
I0419 21:02:29.269181 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:29.269246 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:29.270257 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.70784, 1.62506)
I0419 21:02:29.270370 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293492058001.
I0419 21:02:29.273202 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.69457, 1.63205), points=4, range=4.0365, residual=0.0154297, extent=0.0356936
I0419 21:02:29.273276 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.69457, 1.63205), tracking=(3.99307, 1.63205), map_predicted=(-2.73151, -3.49505), range=4.0365, pts=4
I0419 21:02:29.273299 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63366m maha_sq=290.551 (gate chi2=5.99) pose_sigma=(0.151003, 0.151003, rho=0) det_map=(-2.73151, -3.49505) lm_pos=(-0.285, -2.52) delta=(-2.44651, -0.975046) -> 0 candidate(s)
I0419 21:02:29.273367 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293492333004.
I0419 21:02:29.276100 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293492620834.
I0419 21:02:29.294709 1218978 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:29.294854 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293492941757.
I0419 21:02:29.362603 1218978 pose_graph_2d.cc:160] Inserted submap (1, 45).
I0419 21:02:29.363588 1218978 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.97729, 0.431699)
I0419 21:02:29.364521 1218978 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:29.364590 1218978 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:29.364614 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293493212263.
I0419 21:02:29.367098 1218978 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.66178, 1.63034), points=4, range=4.0085, residual=0.0154442, extent=0.0363441
I0419 21:02:29.367187 1218978 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.66178, 1.63034), tracking=(3.96028, 1.63034), map_predicted=(-2.74101, -3.49417), range=4.0085, pts=4
I0419 21:02:29.367213 1218978 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64215m maha_sq=292.366 (gate chi2=5.99) pose_sigma=(0.151037, 0.151037, rho=0) det_map=(-2.74101, -3.49417) lm_pos=(-0.285, -2.52) delta=(-2.45601, -0.974168) -> 0 candidate(s)
I0419 21:02:29.367277 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293493535169.
I0419 21:02:29.382783 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293493820866.
I0419 21:02:29.398283 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442505s, prior_pose=(1.1654, -1.77533), yaw=-178.673 deg
I0419 21:02:29.398384 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1461, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:29.410243 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.35 deg, rms_residual=0.00778441m, sigma_yaw=0.0102726 rad, N=2
I0419 21:02:29.410338 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.15381, -1.77975, -179.35deg) inliers=2 rms=0.00778441m
I0419 21:02:29.410375 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293494097436.
I0419 21:02:29.430500 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85429, -0.806274)
I0419 21:02:29.487392 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:29.487542 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00571001 range=0.521308 variance=0.000627325 t_weight=4782.21 r_weight=0 yaml=(0.615, -1.32) prior=(1.159, -1.77919, -178.679deg) obs_actual=(0.521744, -0.471343) obs_expected=(0.533274, -0.471611) delta=(-0.0115302, 0.000268466) |delta|=0.0115333m
I0419 21:02:29.487618 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293494412113.
I0419 21:02:29.488833 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:29.488914 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:29.489902 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1383, 0.728256), points=4, range=1.35325, residual=0.0102972, extent=0.0241382
I0419 21:02:29.490013 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:29.490031 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.1383, 0.728256), tracking=(1.4368, 0.728256), map_predicted=(-0.260623, -2.54038), range=1.35325, pts=4
I0419 21:02:29.490053 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0317717m maha_sq=0.0437428 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.260623, -2.54038) lm_pos=(-0.285, -2.52) delta=(0.024377, -0.0203766) -> 1 candidate(s)
I0419 21:02:29.490129 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293494697424.
I0419 21:02:29.491683 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:29.491801 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:29.498620 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293494980982.
I0419 21:02:29.526510 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.12062, 0.726152)
I0419 21:02:29.526690 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293495256856.
I0419 21:02:29.558276 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293495576378.
I0419 21:02:29.619936 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.11573, -1.78002), yaw=-178.618 deg backend=(1.57151, -1.78797)
I0419 21:02:29.620817 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:29.621874 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:29.621963 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293495897793.
I0419 21:02:29.624596 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.58717, 1.62846), points=3, range=3.93733, residual=0.0115947, extent=0.0236716
I0419 21:02:29.624675 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.58717, 1.62846), tracking=(3.88567, 1.62846), map_predicted=(-2.73994, -3.50438), range=3.93733, pts=3
I0419 21:02:29.624699 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64494m maha_sq=294.95 (gate chi2=5.99) pose_sigma=(0.150902, 0.150902, rho=0) det_map=(-2.73994, -3.50438) lm_pos=(-0.285, -2.52) delta=(-2.45494, -0.984379) -> 0 candidate(s)
I0419 21:02:29.624763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293496179207.
I0419 21:02:29.645898 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=29, centroid=(0.158358, -0.472796)
I0419 21:02:29.646095 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293496453705.
I0419 21:02:29.674424 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293496738278.
I0419 21:02:29.694149 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758136s, prior_pose=(1.0892, -1.77995), yaw=-178.516 deg
I0419 21:02:29.694265 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1471, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:29.753136 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293497060669.
I0419 21:02:29.754980 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.06625, 0.720247)
I0419 21:02:29.755084 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:29.755131 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0126364 range=0.492679 variance=0.000596888 t_weight=5026.07 r_weight=0 yaml=(0.615, -1.32) prior=(1.07534, -1.77822, -178.496deg) obs_actual=(0.431848, -0.47525) obs_expected=(0.448152, -0.470146) delta=(-0.0163036, -0.00510435) |delta|=0.017084m
I0419 21:02:29.755175 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293497336049.
I0419 21:02:29.756774 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:29.756832 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:29.756870 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:02:29.756883 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11027, 0.415105), points=4, range=1.1815, residual=0.00900581, extent=0.0192625
I0419 21:02:29.756903 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11027, 0.415105), tracking=(-1.40877, -0.415105), map_predicted=(2.46025, -1.32519), range=1.1815, pts=4
I0419 21:02:29.756922 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0455495m maha_sq=0.0889963 (gate chi2=5.99) pose_sigma=(0.150904, 0.150904, rho=0) det_map=(2.46025, -1.32519) lm_pos=(2.415, -1.32) delta=(0.045253, -0.00518917) -> 1 candidate(s)
I0419 21:02:29.765959 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:29.766085 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293497654204.
I0419 21:02:29.782225 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:29.782302 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:29.793841 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293497932395.
I0419 21:02:29.823010 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293498223853.
I0419 21:02:29.881711 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.9784, -0.826235)
I0419 21:02:29.882846 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293498491922.
I0419 21:02:29.885412 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:29.885537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293498817072.
I0419 21:02:29.897861 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.180694, -0.747782), points=16, range=0.771688, residual=0.0129929, extent=0.0406101
I0419 21:02:29.897953 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.180694, -0.747782), tracking=(-0.479194, 0.747782), map_predicted=(1.52751, -2.51233), range=0.771688, pts=16
I0419 21:02:29.897984 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.21763m maha_sq=2.04957 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52751, -2.51233) lm_pos=(1.745, -2.52) delta=(-0.217495, 0.00766885) -> 1 candidate(s)
I0419 21:02:29.910158 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:29.910593 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:29.910746 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293499095211.
I0419 21:02:29.938398 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293499378494.
I0419 21:02:29.958565 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.199173, -0.751869)
I0419 21:02:30.020670 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293499696292.
I0419 21:02:30.021556 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601198s, prior_pose=(0.998208, -1.77621), yaw=-178.145 deg
I0419 21:02:30.021641 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1467, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 21:02:30.022578 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.434 deg, rms_residual=0.00976022m, sigma_yaw=0.0128464 rad, N=2
I0419 21:02:30.022639 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.98234, -1.7789, -178.434deg) inliers=2 rms=0.00976022m
I0419 21:02:30.022678 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293499972578.
I0419 21:02:30.026111 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.985332, 0.715103), points=7, range=1.21943, residual=0.0116973, extent=0.0338457
I0419 21:02:30.026209 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.985332, 0.715103), tracking=(1.28383, 0.715103), map_predicted=(-0.274448, -2.53582), range=1.21943, pts=7
I0419 21:02:30.026238 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0190131m maha_sq=0.0154391 (gate chi2=5.99) pose_sigma=(0.151047, 0.151047, rho=0) det_map=(-0.274448, -2.53582) lm_pos=(-0.285, -2.52) delta=(0.0105521, -0.0158161) -> 1 candidate(s)
I0419 21:02:30.026257 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:30.026300 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0184997 range=0.476433 variance=0.000599742 t_weight=5002.15 r_weight=0 yaml=(0.615, -1.32) prior=(0.984238, -1.77733, -178.045deg) obs_actual=(0.333072, -0.474036) obs_expected=(0.353419, -0.469659) delta=(-0.0203472, -0.00437759) |delta|=0.0208128m
I0419 21:02:30.026341 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293500256035.
I0419 21:02:30.045938 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:30.050798 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:30.058633 1218978 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:30.058791 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293500580961.
I0419 21:02:30.077714 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.232324, -0.755777)
I0419 21:02:30.077981 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:30.078049 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:30.086015 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293500852224.
I0419 21:02:30.149230 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293501135553.
I0419 21:02:30.152319 1218978 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293501455014.
I0419 21:02:30.162925 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:30.171360 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:30.174835 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.44692, 1.5769), points=3, range=3.79033, residual=0.0109373, extent=0.0222438
I0419 21:02:30.174954 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.44692, 1.5769), tracking=(3.74542, 1.5769), map_predicted=(-2.74497, -3.49114), range=3.79033, pts=3
I0419 21:02:30.174988 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64472m maha_sq=298.864 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74497, -3.49114) lm_pos=(-0.285, -2.52) delta=(-2.45997, -0.971143) -> 0 candidate(s)
I0419 21:02:30.175033 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:30.175117 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293501742220.
I0419 21:02:30.190425 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.266242, -0.75857)
I0419 21:02:30.206269 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293502055796.
I0419 21:02:30.283135 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293502332279.
I0419 21:02:30.285254 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293502619358.
I0419 21:02:30.286978 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0488023s, prior_pose=(0.901056, -1.78053), yaw=-177.834 deg
I0419 21:02:30.287088 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1457, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:02:30.294116 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293502934092.
I0419 21:02:30.321732 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=29, centroid=(-0.0542306, -0.475951)
I0419 21:02:30.321846 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.40645, 1.57038), points=3, range=3.74867, residual=0.011222, extent=0.0226098
I0419 21:02:30.321873 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.40645, 1.57038), tracking=(3.70495, 1.57038), map_predicted=(-2.75537, -3.49221), range=3.74867, pts=3
I0419 21:02:30.321897 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65479m maha_sq=297 (gate chi2=5.99) pose_sigma=(0.15109, 0.15109, rho=0) det_map=(-2.75537, -3.49221) lm_pos=(-0.285, -2.52) delta=(-2.47037, -0.972207) -> 0 candidate(s)
I0419 21:02:30.321913 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:30.321961 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00745175 range=0.479172 variance=0.000578413 t_weight=5186.6 r_weight=0 yaml=(0.615, -1.32) prior=(0.88647, -1.78057, -177.797deg) obs_actual=(0.241457, -0.475939) obs_expected=(0.253565, -0.470667) delta=(-0.0121085, -0.00527289) |delta|=0.0132068m
I0419 21:02:30.322019 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293503212393.
I0419 21:02:30.338292 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:30.338392 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:30.349731 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:30.349889 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293503492486.
I0419 21:02:30.408776 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:30.408895 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:30.409916 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293503773765.
I0419 21:02:30.412578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293504102849.
I0419 21:02:30.438241 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.865988, 0.707455)
I0419 21:02:30.438468 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293504377137.
I0419 21:02:30.439580 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.846108, -1.77902), yaw=-177.585 deg backend=(1.23009, -1.7885)
I0419 21:02:30.469412 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.3639, 1.56861), points=4, range=3.70725, residual=0.0162622, extent=0.0380104
I0419 21:02:30.469532 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.3639, 1.56861), tracking=(3.6624, 1.56861), map_predicted=(-2.74694, -3.50058), range=3.70725, pts=4
I0419 21:02:30.469563 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65003m maha_sq=294.541 (gate chi2=5.99) pose_sigma=(0.151029, 0.151029, rho=0) det_map=(-2.74694, -3.50058) lm_pos=(-0.285, -2.52) delta=(-2.46194, -0.980585) -> 0 candidate(s)
I0419 21:02:30.469604 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:30.469674 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293504665137.
I0419 21:02:30.547259 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:30.547403 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:30.547431 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293504979835.
I0419 21:02:30.548671 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:30.549234 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293505258264.
I0419 21:02:30.553894 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293505533778.
I0419 21:02:30.573757 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0753598s, prior_pose=(0.822207, -1.77806), yaw=-177.51 deg
I0419 21:02:30.573864 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1432, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 21:02:30.573964 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.35197, 0.374932)
I0419 21:02:30.585966 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.727 deg, rms_residual=0.00996768m, sigma_yaw=0.0131159 rad, N=2
I0419 21:02:30.586133 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.800463, -1.78023, -177.727deg) inliers=2 rms=0.00996768m
I0419 21:02:30.586174 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293505853693.
I0419 21:02:30.614840 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.32398, 1.53825), points=4, range=3.6635, residual=0.015169, extent=0.0352744
I0419 21:02:30.614952 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.32398, 1.53825), tracking=(3.62248, 1.53825), map_predicted=(-2.73867, -3.48122), range=3.6635, pts=4
I0419 21:02:30.614980 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63523m maha_sq=295.626 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73867, -3.48122) lm_pos=(-0.285, -2.52) delta=(-2.45367, -0.961219) -> 0 candidate(s)
I0419 21:02:30.615003 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:30.615054 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0173399 range=0.497 variance=0.000573445 t_weight=5231.54 r_weight=0 yaml=(0.615, -1.32) prior=(0.809807, -1.7792, -177.383deg) obs_actual=(0.155325, -0.475652) obs_expected=(0.17364, -0.467613) delta=(-0.0183154, -0.00803974) |delta|=0.0200023m
I0419 21:02:30.615110 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293506142414.
I0419 21:02:30.677546 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:30.677662 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:30.678706 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:30.678812 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293506461436.
I0419 21:02:30.679587 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:30.679643 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:30.681304 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293506739445.
I0419 21:02:30.702440 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.30016, 1.53889)
I0419 21:02:30.702811 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293507018131.
I0419 21:02:30.734166 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293507335237.
I0419 21:02:30.750420 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:30.809041 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.28889, 1.52202), points=4, range=3.62675, residual=0.0166003, extent=0.0396937
I0419 21:02:30.809177 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.28889, 1.52202), tracking=(3.58739, 1.52202), map_predicted=(-2.74522, -3.48252), range=3.62675, pts=4
I0419 21:02:30.809217 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6418m maha_sq=294.539 (gate chi2=5.99) pose_sigma=(0.150551, 0.150551, rho=0) det_map=(-2.74522, -3.48252) lm_pos=(-0.285, -2.52) delta=(-2.46022, -0.962517) -> 0 candidate(s)
I0419 21:02:30.809263 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:30.809355 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293507617968.
I0419 21:02:30.811247 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293507894960.
I0419 21:02:30.822793 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293508222230.
I0419 21:02:30.838351 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.44617, -0.780514)
I0419 21:02:30.849846 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293508493023.
I0419 21:02:30.869648 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0578453s, prior_pose=(0.729711, -1.7813), yaw=-176.935 deg
I0419 21:02:30.869741 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1443, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:02:30.882673 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293508819653.
I0419 21:02:30.943117 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25162, 1.52779), points=4, range=3.58775, residual=0.0164937, extent=0.0382386
I0419 21:02:30.943253 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.25162, 1.52779), tracking=(3.55012, 1.52779), map_predicted=(-2.74718, -3.49367), range=3.58775, pts=4
I0419 21:02:30.943284 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64771m maha_sq=294.63 (gate chi2=5.99) pose_sigma=(0.150914, 0.150914, rho=0) det_map=(-2.74718, -3.49367) lm_pos=(-0.285, -2.52) delta=(-2.46218, -0.973668) -> 0 candidate(s)
I0419 21:02:30.943306 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:30.943349 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0190023 range=0.529538 variance=0.000601193 t_weight=4990.08 r_weight=0 yaml=(0.615, -1.32) prior=(0.717496, -1.78092, -176.979deg) obs_actual=(0.0579441, -0.471958) obs_expected=(0.078064, -0.465681) delta=(-0.0201199, -0.00627626) |delta|=0.0210761m
I0419 21:02:30.943399 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293509065075.
I0419 21:02:30.944234 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:30.944284 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:30.946144 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:30.946238 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293509381763.
I0419 21:02:30.953935 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:30.954150 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:30.966216 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.707223, 0.694955)
I0419 21:02:30.966355 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293509657276.
I0419 21:02:31.001952 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293510013522.
I0419 21:02:31.074515 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293510258018.
I0419 21:02:31.076215 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.20878, 1.50767), points=4, range=3.548, residual=0.0157732, extent=0.0379608
I0419 21:02:31.076283 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.20878, 1.50767), tracking=(3.50728, 1.50767), map_predicted=(-2.7527, -3.47684), range=3.548, pts=4
I0419 21:02:31.076308 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64672m maha_sq=298.236 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7527, -3.47684) lm_pos=(-0.285, -2.52) delta=(-2.4677, -0.956843) -> 0 candidate(s)
I0419 21:02:31.076344 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:31.076383 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293510534826.
I0419 21:02:31.141821 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.18266, 1.5124)
I0419 21:02:31.202771 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0473391s, prior_pose=(0.646089, -1.78665), yaw=-176.818 deg
I0419 21:02:31.202908 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1436, max_intensity=255, threshold=230, above_threshold=11, candidates=11
I0419 21:02:31.206307 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:31.206429 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:31.218442 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:31.218612 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:31.229734 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.624751, 0.689766), points=11, range=0.932636, residual=0.0107839, extent=0.0337579
I0419 21:02:31.229813 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:31.229832 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.624751, 0.689766), tracking=(0.923251, 0.689766), map_predicted=(-0.240512, -2.52857), range=0.932636, pts=11
I0419 21:02:31.229938 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0453071m maha_sq=0.0867275 (gate chi2=5.99) pose_sigma=(0.152006, 0.152006, rho=0) det_map=(-0.240512, -2.52857) lm_pos=(-0.285, -2.52) delta=(0.0444883, -0.00857465) -> 1 candidate(s)
I0419 21:02:31.250649 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:31.250751 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:31.340829 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.609552, 0.688917)
I0419 21:02:31.344265 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.618096, -1.78825), yaw=-176.673 deg backend=(0.601663, -1.78203)
I0419 21:02:31.350721 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:31.377766 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.584668, 0.686549), points=12, range=0.9025, residual=0.00972997, extent=0.030072
I0419 21:02:31.377871 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.584668, 0.686549), tracking=(0.883168, 0.686549), map_predicted=(-0.237128, -2.52647), range=0.9025, pts=12
I0419 21:02:31.377907 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0483078m maha_sq=0.0951984 (gate chi2=5.99) pose_sigma=(0.154833, 0.154833, rho=0) det_map=(-0.237128, -2.52647) lm_pos=(-0.285, -2.52) delta=(0.0478725, -0.0064703) -> 1 candidate(s)
I0419 21:02:31.492334 1218978 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.566622, 0.687335)
I0419 21:02:31.493368 1218978 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806228s, prior_pose=(0.580098, -1.78952), yaw=-176.568 deg
I0419 21:02:31.493448 1218978 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1469, max_intensity=252, threshold=230, above_threshold=34, candidates=34
I0419 21:02:31.496850 1218978 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:31.496922 1218978 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:31.513841 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:31.513962 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:31.526793 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.540953, 0.68618), points=12, range=0.874583, residual=0.00946574, extent=0.0309687
I0419 21:02:31.526949 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:31.526988 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.540953, 0.68618), tracking=(0.839453, 0.68618), map_predicted=(-0.246181, -2.52598), range=0.874583, pts=12
I0419 21:02:31.527050 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0392766m maha_sq=0.0600268 (gate chi2=5.99) pose_sigma=(0.158637, 0.158637, rho=0) det_map=(-0.246181, -2.52598) lm_pos=(-0.285, -2.52) delta=(0.0388186, -0.00598082) -> 1 candidate(s)
I0419 21:02:31.546626 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:31.546782 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:31.626214 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.524708, 0.685809)
I0419 21:02:31.646912 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:31.674232 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.494309, 0.684506), points=13, range=0.845692, residual=0.0106356, extent=0.0337072
I0419 21:02:31.674428 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.494309, 0.684506), tracking=(0.792809, 0.684506), map_predicted=(-0.224284, -2.52504), range=0.845692, pts=13
I0419 21:02:31.674477 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0609246m maha_sq=0.140775 (gate chi2=5.99) pose_sigma=(0.160658, 0.160658, rho=0) det_map=(-0.224284, -2.52504) lm_pos=(-0.285, -2.52) delta=(0.0607158, -0.00504002) -> 1 candidate(s)
I0419 21:02:31.778684 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.480294, 0.683755)
I0419 21:02:31.779713 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604912s, prior_pose=(0.493557, -1.79476), yaw=-176.458 deg
I0419 21:02:31.779794 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1465, max_intensity=249, threshold=230, above_threshold=37, candidates=37
I0419 21:02:31.790997 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:31.791157 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:31.811069 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:31.811254 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:31.895951 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.454869, 0.682885), points=13, range=0.821769, residual=0.00984727, extent=0.0290738
I0419 21:02:31.896042 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:31.896061 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.454869, 0.682885), tracking=(0.753369, 0.682885), map_predicted=(-0.236334, -2.52262), range=0.821769, pts=13
I0419 21:02:31.896086 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0487364m maha_sq=0.0862493 (gate chi2=5.99) pose_sigma=(0.164318, 0.164318, rho=0) det_map=(-0.236334, -2.52262) lm_pos=(-0.285, -2.52) delta=(0.048666, -0.0026185) -> 1 candidate(s)
I0419 21:02:31.897145 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:31.897217 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:31.900599 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.437588, 0.684616)
I0419 21:02:31.938980 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:32.048215 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.41411, 0.682387), points=15, range=0.799067, residual=0.0110204, extent=0.0348691
I0419 21:02:32.048333 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.41411, 0.682387), tracking=(0.71261, 0.682387), map_predicted=(-0.230949, -2.51924), range=0.799067, pts=15
I0419 21:02:32.048347 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:32.048362 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0540568m maha_sq=0.102886 (gate chi2=5.99) pose_sigma=(0.166851, 0.166851, rho=0) det_map=(-0.230949, -2.51924) lm_pos=(-0.285, -2.52) delta=(0.0540515, 0.000757638) -> 1 candidate(s)
I0419 21:02:32.055847 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.797019, -0.818437)
I0419 21:02:32.060047 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441405s, prior_pose=(0.409501, -1.79387), yaw=-176.165 deg
I0419 21:02:32.060251 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1462, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 21:02:32.162475 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:32.162618 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:32.163790 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:32.163877 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:32.163908 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0033546, 0.457895), points=30, range=0.458467, residual=0.0117788, extent=0.0392029
I0419 21:02:32.163931 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0033546, 0.457895), tracking=(-0.295145, -0.457895), map_predicted=(0.665064, -1.31762), range=0.458467, pts=30
I0419 21:02:32.163951 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.050121m maha_sq=0.0860584 (gate chi2=5.99) pose_sigma=(0.16918, 0.16918, rho=0) det_map=(0.665064, -1.31762) lm_pos=(0.615, -1.32) delta=(0.0500643, 0.00238175) -> 1 candidate(s)
I0419 21:02:32.164882 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:32.167167 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.831001, -0.819291)
I0419 21:02:32.167251 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:32.167321 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:32.265164 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.363483, -1.79747), yaw=-175.979 deg backend=(0.347016, -1.79028)
I0419 21:02:32.266896 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.35715, -2.28434), points=4, range=4.92, residual=0.0177835, extent=0.0433348
I0419 21:02:32.266973 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.35715, -2.28434), tracking=(4.65565, -2.28434), map_predicted=(-4.44088, 0.15481), range=4.92, pts=4
I0419 21:02:32.266997 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.94226m maha_sq=792.503 (gate chi2=5.99) pose_sigma=(0.171682, 0.171682, rho=0) det_map=(-4.44088, 0.15481) lm_pos=(-0.285, -2.52) delta=(-4.15588, 2.67481) -> 0 candidate(s)
I0419 21:02:32.267032 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:32.267930 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.863713, -0.824372)
I0419 21:02:32.338315 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798351s, prior_pose=(0.338, -1.79929), yaw=-175.883 deg
I0419 21:02:32.338419 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1442, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:02:32.405514 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.30975, -2.31572), points=3, range=4.89167, residual=0.0137524, extent=0.0284693
I0419 21:02:32.405632 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.30975, -2.31572), tracking=(4.60825, -2.31572), map_predicted=(-4.44055, 0.172184), range=4.89167, pts=3
I0419 21:02:32.405665 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95141m maha_sq=776.543 (gate chi2=5.99) pose_sigma=(0.174238, 0.174238, rho=0) det_map=(-4.44055, 0.172184) lm_pos=(-0.285, -2.52) delta=(-4.15555, 2.69218) -> 0 candidate(s)
I0419 21:02:32.406625 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.894026, -0.831193)
I0419 21:02:32.407590 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:32.407651 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:32.409307 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:32.409372 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:32.410259 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:32.426496 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:32.426601 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:32.466408 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.8237, 1.46472), points=5, range=3.1772, residual=0.0169655, extent=0.0451745
I0419 21:02:32.466518 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.8237, 1.46472), tracking=(3.1222, 1.46472), map_predicted=(-2.70455, -3.50016), range=3.1772, pts=5
I0419 21:02:32.466550 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61054m maha_sq=213.461 (gate chi2=5.99) pose_sigma=(0.175956, 0.175956, rho=0) det_map=(-2.70455, -3.50016) lm_pos=(-0.285, -2.52) delta=(-2.41955, -0.980158) -> 0 candidate(s)
I0419 21:02:32.495774 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:32.552757 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.925837, -0.833532)
I0419 21:02:32.556651 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:32.604719 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.963426, -0.839928)
I0419 21:02:32.604873 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.96087, -0.840177), points=6, range=1.27817, residual=0.00845016, extent=0.0245361
I0419 21:02:32.604904 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.96087, -0.840177), tracking=(-1.25937, 0.840177), map_predicted=(1.57934, -2.53981), range=1.27817, pts=6
I0419 21:02:32.604938 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.166838m maha_sq=0.858633 (gate chi2=5.99) pose_sigma=(0.178551, 0.178551, rho=0) det_map=(1.57934, -2.53981) lm_pos=(1.745, -2.52) delta=(-0.165658, -0.019814) -> 1 candidate(s)
I0419 21:02:32.679688 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558405s, prior_pose=(0.24556, -1.80326), yaw=-175.417 deg
I0419 21:02:32.679823 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1432, max_intensity=253, threshold=230, above_threshold=33, candidates=33
I0419 21:02:32.683560 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:32.683681 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:32.691501 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:32.691684 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:32.702638 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:32.718554 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.999239, -0.840902)
I0419 21:02:32.718709 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:32.718743 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.186459, 0.449991), points=29, range=0.488793, residual=0.0135385, extent=0.0460535
I0419 21:02:32.718760 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:32.718776 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.186459, 0.449991), tracking=(-0.484959, -0.449991), map_predicted=(0.667041, -1.31744), range=0.488793, pts=29
I0419 21:02:32.718799 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.052104m maha_sq=0.08145 (gate chi2=5.99) pose_sigma=(0.180878, 0.180878, rho=0) det_map=(0.667041, -1.31744) lm_pos=(0.615, -1.32) delta=(0.0520409, 0.0025628) -> 1 candidate(s)
I0419 21:02:32.826174 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:32.834643 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.032, -0.844644)
I0419 21:02:32.834755 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.225722, 0.447683), points=27, range=0.502111, residual=0.0124835, extent=0.0416759
I0419 21:02:32.834785 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.225722, 0.447683), tracking=(-0.524222, -0.447683), map_predicted=(0.667323, -1.31643), range=0.502111, pts=27
I0419 21:02:32.834810 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0524446m maha_sq=0.0804881 (gate chi2=5.99) pose_sigma=(0.183262, 0.183262, rho=0) det_map=(0.667323, -1.31643) lm_pos=(0.615, -1.32) delta=(0.0523233, 0.00356544) -> 1 candidate(s)
I0419 21:02:32.942229 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0466043s, prior_pose=(0.155651, -1.80847), yaw=-175.312 deg
I0419 21:02:32.942360 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1462, max_intensity=251, threshold=230, above_threshold=29, candidates=29
I0419 21:02:32.954668 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.0746, -0.843306)
I0419 21:02:32.954787 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.258311, 0.447281), points=27, range=0.518667, residual=0.0138306, extent=0.0450024
I0419 21:02:32.954833 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.258311, 0.447281), tracking=(-0.556811, -0.447281), map_predicted=(0.67404, -1.31718), range=0.518667, pts=27
I0419 21:02:32.954869 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0591077m maha_sq=0.100394 (gate chi2=5.99) pose_sigma=(0.18487, 0.18487, rho=0) det_map=(0.67404, -1.31718) lm_pos=(0.615, -1.32) delta=(0.0590403, 0.0028232) -> 1 candidate(s)
I0419 21:02:32.962180 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:32.962268 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:32.982520 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:32.982645 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:32.994297 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:33.082963 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:33.083087 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:33.087754 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.11175, -0.845364)
I0419 21:02:33.088020 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.297423, 0.445035), points=23, range=0.534826, residual=0.0116334, extent=0.0380729
I0419 21:02:33.088093 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.297423, 0.445035), tracking=(-0.595923, -0.445035), map_predicted=(0.67711, -1.31955), range=0.534826, pts=23
I0419 21:02:33.088156 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0621111m maha_sq=0.108479 (gate chi2=5.99) pose_sigma=(0.18707, 0.18707, rho=0) det_map=(0.67711, -1.31955) lm_pos=(0.615, -1.32) delta=(0.0621095, 0.000445255) -> 1 candidate(s)
I0419 21:02:33.090309 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.107286, -1.81266), yaw=-175.393 deg backend=(0.129402, -1.80576)
I0419 21:02:33.225525 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13785, -0.844486)
I0419 21:02:33.225646 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.331294, 0.444911), points=22, range=0.555182, residual=0.011385, extent=0.0358978
I0419 21:02:33.225680 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.331294, 0.444911), tracking=(-0.629794, -0.444911), map_predicted=(0.670016, -1.31889), range=0.555182, pts=22
I0419 21:02:33.225704 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.055027m maha_sq=0.0829801 (gate chi2=5.99) pose_sigma=(0.189547, 0.189547, rho=0) det_map=(0.670016, -1.31889) lm_pos=(0.615, -1.32) delta=(0.0550158, 0.00110718) -> 1 candidate(s)
I0419 21:02:33.227485 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0785715s, prior_pose=(0.0780597, -1.81303), yaw=-175.385 deg
I0419 21:02:33.227583 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1442, max_intensity=250, threshold=230, above_threshold=27, candidates=27
I0419 21:02:33.258049 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:33.258167 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:33.347450 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:33.347548 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:33.348362 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:33.349452 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.17966, -0.84657)
I0419 21:02:33.349532 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:33.349560 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.366523, 0.445837), points=21, range=0.579048, residual=0.0124484, extent=0.0383901
I0419 21:02:33.349574 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:33.349588 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.366523, 0.445837), tracking=(-0.665023, -0.445837), map_predicted=(0.682525, -1.31437), range=0.579048, pts=21
I0419 21:02:33.349609 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0677596m maha_sq=0.124048 (gate chi2=5.99) pose_sigma=(0.190852, 0.190852, rho=0) det_map=(0.682525, -1.31437) lm_pos=(0.615, -1.32) delta=(0.067525, 0.00563394) -> 1 candidate(s)
I0419 21:02:33.497849 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.00784219, 0.685812)
I0419 21:02:33.498971 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.401455, 0.445747), points=20, range=0.6021, residual=0.0129413, extent=0.0405984
I0419 21:02:33.499045 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.401455, 0.445747), tracking=(-0.699955, -0.445747), map_predicted=(0.665333, -1.31948), range=0.6021, pts=20
I0419 21:02:33.499078 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.050336m maha_sq=0.0662749 (gate chi2=5.99) pose_sigma=(0.193982, 0.193982, rho=0) det_map=(0.665333, -1.31948) lm_pos=(0.615, -1.32) delta=(0.0503334, 0.000517056) -> 1 candidate(s)
I0419 21:02:33.499301 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:33.510646 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566703s, prior_pose=(-0.0232924, -1.8216), yaw=-175.432 deg
I0419 21:02:33.510759 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1450, max_intensity=245, threshold=230, above_threshold=21, candidates=21
I0419 21:02:33.521968 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.044957, 0.685337)
I0419 21:02:33.617588 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.436376, 0.44528), points=17, range=0.626471, residual=0.0126947, extent=0.038755
I0419 21:02:33.617717 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.436376, 0.44528), tracking=(-0.734876, -0.44528), map_predicted=(0.669016, -1.31281), range=0.626471, pts=17
I0419 21:02:33.617746 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0544915m maha_sq=0.0762215 (gate chi2=5.99) pose_sigma=(0.195859, 0.195859, rho=0) det_map=(0.669016, -1.31281) lm_pos=(0.615, -1.32) delta=(0.0540156, 0.00718613) -> 1 candidate(s)
I0419 21:02:33.618582 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:33.618618 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:33.619553 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:33.619596 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:33.621236 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:33.622121 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:33.622171 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:33.638530 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(2.47128, 1.46058)
I0419 21:02:33.658362 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.481922, 0.444105), points=17, range=0.651765, residual=0.0136316, extent=0.0426637
I0419 21:02:33.658468 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.481922, 0.444105), tracking=(-0.780422, -0.444105), map_predicted=(0.688557, -1.31264), range=0.651765, pts=17
I0419 21:02:33.658497 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0739241m maha_sq=0.138098 (gate chi2=5.99) pose_sigma=(0.197358, 0.197358, rho=0) det_map=(0.688557, -1.31264) lm_pos=(0.615, -1.32) delta=(0.0735571, 0.00735681) -> 1 candidate(s)
I0419 21:02:33.758343 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.435, 1.46315)
I0419 21:02:33.786123 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.42708, 1.46314), points=5, range=2.8316, residual=0.0136541, extent=0.0343798
I0419 21:02:33.786233 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.42708, 1.46314), tracking=(2.72558, 1.46314), map_predicted=(-2.70607, -3.50292), range=2.8316, pts=5
I0419 21:02:33.786264 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61299m maha_sq=166.668 (gate chi2=5.99) pose_sigma=(0.200385, 0.200385, rho=0) det_map=(-2.70607, -3.50292) lm_pos=(-0.285, -2.52) delta=(-2.42107, -0.982916) -> 0 candidate(s)
I0419 21:02:33.851480 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480529s, prior_pose=(-0.112058, -1.82248), yaw=-175.32 deg
I0419 21:02:33.851604 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1453, max_intensity=245, threshold=230, above_threshold=16, candidates=16
I0419 21:02:33.855104 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:33.855214 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:33.866186 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:33.866286 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:33.874009 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.85094, -2.31391)
I0419 21:02:33.874101 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:33.894731 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:33.894874 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:33.993201 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.38597, 1.46212), points=4, range=2.7955, residual=0.0117199, extent=0.0267367
I0419 21:02:33.993314 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.38597, 1.46212), tracking=(2.68447, 1.46212), map_predicted=(-2.71511, -3.50288), range=2.7955, pts=4
I0419 21:02:33.993345 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62135m maha_sq=163.102 (gate chi2=5.99) pose_sigma=(0.203402, 0.203402, rho=0) det_map=(-2.71511, -3.50288) lm_pos=(-0.285, -2.52) delta=(-2.43011, -0.982885) -> 0 candidate(s)
I0419 21:02:33.996516 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-0.169373, -1.8291), yaw=-175.323 deg backend=(-0.0953968, -1.8219)
I0419 21:02:33.998283 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.80646, -2.3326)
I0419 21:02:34.050623 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.205579, 0.693914), points=16, range=0.721313, residual=0.0126071, extent=0.0414677
I0419 21:02:34.050967 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.205579, 0.693914), tracking=(0.092921, 0.693914), map_predicted=(-0.219142, -2.5295), range=0.721313, pts=16
I0419 21:02:34.051030 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0665398m maha_sq=0.104045 (gate chi2=5.99) pose_sigma=(0.204834, 0.204834, rho=0) det_map=(-0.219142, -2.5295) lm_pos=(-0.285, -2.52) delta=(0.0658581, -0.00950055) -> 1 candidate(s)
I0419 21:02:34.128166 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:34.128283 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:34.128305 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293540694763.
I0419 21:02:34.130115 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760968s, prior_pose=(-0.198438, -1.82816), yaw=-175.248 deg
I0419 21:02:34.130219 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1452, max_intensity=244, threshold=230, above_threshold=26, candidates=26
I0419 21:02:34.130297 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.394194, -0.689667)
I0419 21:02:34.130388 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293540978656.
I0419 21:02:34.133270 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:02:34.133430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293541296696.
I0419 21:02:34.142478 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:34.158936 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:34.159085 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:34.159171 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 27 -> 23 (threshold=0.03, iters=3)
I0419 21:02:34.159291 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-174.748 deg, rms_residual=0.00882442m, sigma_yaw=0.0116291 rad, N=2
I0419 21:02:34.159381 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.271018, -1.8358, -174.748deg) inliers=2 rms=0.00882442m
I0419 21:02:34.159438 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293541580373.
I0419 21:02:34.174787 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.31537, 1.4609), points=5, range=2.7334, residual=0.0164679, extent=0.0410395
I0419 21:02:34.174887 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:34.174907 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.31537, 1.4609), tracking=(2.61387, 1.4609), map_predicted=(-2.7347, -3.51789), range=2.7334, pts=5
I0419 21:02:34.174968 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64515m maha_sq=299.226 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7347, -3.51789) lm_pos=(-0.285, -2.52) delta=(-2.4497, -0.997887) -> 0 candidate(s)
I0419 21:02:34.188211 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.375742, -0.642148)
I0419 21:02:34.188339 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:02:34.188391 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:34.188498 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0437184 range=0.782429 variance=0.000580473 t_weight=5168.2 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.244202, -1.85536, -175.476deg) obs_actual=(0.0788563, 0.68775) obs_expected=(0.0930964, 0.659355) delta=(-0.0142401, 0.0283947) |delta|=0.0317654m
I0419 21:02:34.188629 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293541873885.
I0419 21:02:34.290849 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293542176380.
I0419 21:02:34.292069 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:34.294221 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293542457792.
I0419 21:02:34.295892 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.433361, -0.689053)
I0419 21:02:34.296067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293542733008.
I0419 21:02:34.297883 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.72377, -2.33442), points=3, range=4.389, residual=0.0162272, extent=0.0330536
I0419 21:02:34.297971 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.72377, -2.33442), tracking=(4.02227, -2.33442), map_predicted=(-4.49236, 0.163415), range=4.389, pts=3
I0419 21:02:34.298000 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99025m maha_sq=1033.39 (gate chi2=5.99) pose_sigma=(0.15142, 0.15142, rho=0) det_map=(-4.49236, 0.163415) lm_pos=(-0.285, -2.52) delta=(-4.20736, 2.68342) -> 0 candidate(s)
I0419 21:02:34.306761 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293543060252.
I0419 21:02:34.314507 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:34.396679 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293543341892.
I0419 21:02:34.398571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293543615840.
I0419 21:02:34.400326 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(2.24999, 1.45655)
I0419 21:02:34.401381 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598789s, prior_pose=(-0.332718, -1.85072), yaw=-175.543 deg
I0419 21:02:34.401455 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1406, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:02:34.401598 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293543940681.
I0419 21:02:34.422168 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.71543, 0.439843), points=8, range=0.84, residual=0.00654857, extent=0.0214913
I0419 21:02:34.422313 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.71543, 0.439843), tracking=(-1.01393, -0.439843), map_predicted=(0.630331, -1.33484), range=0.84, pts=8
I0419 21:02:34.422345 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0213352m maha_sq=0.0195419 (gate chi2=5.99) pose_sigma=(0.151021, 0.151021, rho=0) det_map=(0.630331, -1.33484) lm_pos=(0.615, -1.32) delta=(0.0153314, -0.014837) -> 1 candidate(s)
I0419 21:02:34.422462 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293544216620.
I0419 21:02:34.454393 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:34.454488 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:34.454617 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293544539646.
I0419 21:02:34.517407 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:34.518499 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:34.518573 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:34.518671 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293544817906.
I0419 21:02:34.519398 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.6601, -2.32426)
I0419 21:02:34.519469 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:34.521390 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:34.521471 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.035117 range=0.867429 variance=0.000502 t_weight=5976.1 r_weight=0 yaml=(0.615, -1.32) prior=(-0.366878, -1.85457, -175.63deg) obs_actual=(-1.0427, -0.441271) obs_expected=(-1.01976, -0.458193) delta=(-0.0229463, 0.0169219) |delta|=0.0285111m
I0419 21:02:34.521546 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293545092650.
I0419 21:02:34.538488 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293545379901.
I0419 21:02:34.550567 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.398244, 0.693002), points=14, range=0.796214, residual=0.0230261, extent=0.0541231
I0419 21:02:34.550678 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.398244, 0.693002), tracking=(-0.0997438, 0.693002), map_predicted=(-0.230811, -2.53807), range=0.796214, pts=14
I0419 21:02:34.550710 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.057122m maha_sq=0.136898 (gate chi2=5.99) pose_sigma=(0.151207, 0.151207, rho=0) det_map=(-0.230811, -2.53807) lm_pos=(-0.285, -2.52) delta=(0.0541891, -0.0180683) -> 1 candidate(s)
I0419 21:02:34.571043 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293545701896.
I0419 21:02:34.583104 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-0.314647, 0.543197)
I0419 21:02:34.673815 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293546027258.
I0419 21:02:34.675681 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293546332440.
I0419 21:02:34.678277 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:34.678442 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:34.678467 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293546581136.
I0419 21:02:34.679173 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.16, 1.46613)
I0419 21:02:34.679219 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.378126, 0.686935), points=8, range=0.78175, residual=0.0101381, extent=0.0321794
I0419 21:02:34.679245 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.378126, 0.686935), tracking=(-0.0796262, 0.686935), map_predicted=(-0.277784, -2.5361), range=0.78175, pts=8
I0419 21:02:34.679265 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0176427m maha_sq=0.013508 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.277784, -2.5361) lm_pos=(-0.285, -2.52) delta=(0.00721644, -0.0160993) -> 1 candidate(s)
I0419 21:02:34.686285 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.047895s, prior_pose=(-0.42154, -1.85799), yaw=-175.683 deg
I0419 21:02:34.686432 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1318, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:02:34.686771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293546856197.
I0419 21:02:34.719261 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293547182227.
I0419 21:02:34.824970 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:34.825119 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:34.825237 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293547457570.
I0419 21:02:34.826198 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:34.828080 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.824103, 0.441238)
I0419 21:02:34.828177 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:34.828207 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:34.828290 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293547737608.
I0419 21:02:34.830055 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0541943 range=0.940667 variance=0.000511232 t_weight=5868.17 r_weight=0 yaml=(0.615, -1.32) prior=(-0.447704, -1.85828, -175.636deg) obs_actual=(-1.13223, -0.440174) obs_expected=(-1.10058, -0.455847) delta=(-0.0316458, 0.0156724) |delta|=0.035314m
I0419 21:02:34.830163 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293548060983.
I0419 21:02:34.831777 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.56429, -2.32945), points=4, range=4.25475, residual=0.0167993, extent=0.0379325
I0419 21:02:34.831851 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.56429, -2.32945), tracking=(3.86279, -2.32945), map_predicted=(-4.49324, 0.16659), range=4.25475, pts=4
I0419 21:02:34.831879 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9927m maha_sq=1038.02 (gate chi2=5.99) pose_sigma=(0.151176, 0.151176, rho=0) det_map=(-4.49324, 0.16659) lm_pos=(-0.285, -2.52) delta=(-4.20824, 2.68659) -> 0 candidate(s)
I0419 21:02:34.834527 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-174.921 deg, rms_residual=0.000908364m, sigma_yaw=0.00120969 rad, N=2
I0419 21:02:34.834666 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.474747, -1.85824, -174.921deg) inliers=2 rms=0.000908364m
I0419 21:02:34.834733 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293548340333.
I0419 21:02:34.959052 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.475623, -1.86058), yaw=-175.589 deg backend=(-0.359564, -1.84121)
I0419 21:02:34.960076 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:34.960175 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293548659133.
I0419 21:02:34.960477 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:34.961946 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:34.962080 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293548939226.
I0419 21:02:34.964747 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.865887, 0.441157)
I0419 21:02:34.964923 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293549214208.
I0419 21:02:34.967577 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293549494970.
I0419 21:02:34.968351 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.07588, 1.46711), points=5, range=2.5442, residual=0.0137763, extent=0.036862
I0419 21:02:34.968415 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.07588, 1.46711), tracking=(2.37438, 1.46711), map_predicted=(-2.75831, -3.50894), range=2.5442, pts=5
I0419 21:02:34.968438 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66369m maha_sq=304.823 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.75831, -3.50894) lm_pos=(-0.285, -2.52) delta=(-2.47331, -0.988939) -> 0 candidate(s)
I0419 21:02:34.978127 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757686s, prior_pose=(-0.503552, -1.86389), yaw=-175.597 deg
I0419 21:02:34.978257 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1205, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:02:34.978590 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293549776475.
I0419 21:02:35.064087 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293550111294.
I0419 21:02:35.066817 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:35.066893 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:35.066987 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293550418689.
I0419 21:02:35.067709 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:35.070715 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.911204, 0.439791)
I0419 21:02:35.070791 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:35.070860 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:35.070940 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293550702891.
I0419 21:02:35.100219 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293550996060.
I0419 21:02:35.110134 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.03478, 1.47385), points=5, range=2.5078, residual=0.016005, extent=0.0403998
I0419 21:02:35.110237 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.03478, 1.47385), tracking=(2.33328, 1.47385), map_predicted=(-2.75601, -3.51696), range=2.5078, pts=5
I0419 21:02:35.110268 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66455m maha_sq=304.212 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.75601, -3.51696) lm_pos=(-0.285, -2.52) delta=(-2.47101, -0.996957) -> 0 candidate(s)
I0419 21:02:35.188757 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00819744 range=0.683526 variance=0.00057253 t_weight=5239.9 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.556501, -1.87257, -175.683deg) obs_actual=(-0.215254, 0.678122) obs_expected=(-0.221996, 0.66603) delta=(0.00674264, 0.0120925) |delta|=0.0138453m
I0419 21:02:35.188917 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293551253553.
I0419 21:02:35.190855 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293551579970.
I0419 21:02:35.193363 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0672742, -0.679535)
I0419 21:02:35.193497 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293551855201.
I0419 21:02:35.219251 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293552181896.
I0419 21:02:35.226538 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:35.247014 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:35.247171 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:35.247215 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293552462663.
I0419 21:02:35.339140 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559496s, prior_pose=(-0.597122, -1.87193), yaw=-175.688 deg
I0419 21:02:35.339254 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1112, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:02:35.339356 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0445263, -0.679281), points=17, range=0.681471, residual=0.0104532, extent=0.0331463
I0419 21:02:35.339385 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0445263, -0.679281), tracking=(-0.253974, 0.679281), map_predicted=(-0.292791, -2.53019), range=0.681471, pts=17
I0419 21:02:35.339406 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0128305m maha_sq=0.00704698 (gate chi2=5.99) pose_sigma=(0.151046, 0.151046, rho=0) det_map=(-0.292791, -2.53019) lm_pos=(-0.285, -2.52) delta=(-0.00779067, -0.0101945) -> 1 candidate(s)
I0419 21:02:35.339489 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293552741392.
I0419 21:02:35.342161 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293553018282.
I0419 21:02:35.342959 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.42751, -2.31189)
I0419 21:02:35.343945 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:35.343995 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:35.344066 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293553339000.
I0419 21:02:35.346292 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:35.362109 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:35.362231 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:35.362336 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293553614280.
I0419 21:02:35.450486 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293553914608.
I0419 21:02:35.452705 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00496227, -0.679507), points=17, range=0.680176, residual=0.0103269, extent=0.0334537
I0419 21:02:35.452865 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00496227, -0.679507), tracking=(-0.303462, 0.679507), map_predicted=(-0.284563, -2.52853), range=0.680176, pts=17
I0419 21:02:35.452927 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0085392m maha_sq=0.0031644 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.284563, -2.52853) lm_pos=(-0.285, -2.52) delta=(0.000437206, -0.008528) -> 1 candidate(s)
I0419 21:02:35.453011 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0408945 range=1.1044 variance=0.000519668 t_weight=5772.91 r_weight=0 yaml=(0.615, -1.32) prior=(-0.636397, -1.87276, -175.851deg) obs_actual=(-1.31304, -0.442878) obs_expected=(-1.28811, -0.460764) delta=(-0.0249294, 0.0178859) |delta|=0.0306819m
I0419 21:02:35.453109 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293554176819.
I0419 21:02:35.454931 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.39776, -2.29904)
I0419 21:02:35.456113 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:35.456265 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293554501989.
I0419 21:02:35.481504 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:35.481698 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293554792465.
I0419 21:02:35.510201 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.416 deg, rms_residual=0.000840561m, sigma_yaw=0.00111949 rad, N=2
I0419 21:02:35.510340 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.665706, -1.87171, -175.416deg) inliers=2 rms=0.000840561m
I0419 21:02:35.510381 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293555095984.
I0419 21:02:35.589205 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293555374945.
I0419 21:02:35.590078 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.38052, -2.28021)
I0419 21:02:35.592077 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0471089s, prior_pose=(-0.681832, -1.85509), yaw=-175.929 deg
I0419 21:02:35.592172 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1068, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:02:35.592269 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04869, 0.448734), points=4, range=1.142, residual=0.00606767, extent=0.0148342
I0419 21:02:35.592295 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04869, 0.448734), tracking=(-1.34719, -0.448734), map_predicted=(0.630101, -1.31185), range=1.142, pts=4
I0419 21:02:35.592315 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0171613m maha_sq=0.0125986 (gate chi2=5.99) pose_sigma=(0.151268, 0.151268, rho=0) det_map=(0.630101, -1.31185) lm_pos=(0.615, -1.32) delta=(0.0151006, 0.00815379) -> 1 candidate(s)
I0419 21:02:35.592406 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293555692057.
I0419 21:02:35.598153 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293555972306.
I0419 21:02:35.625777 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:35.625892 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:35.626046 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293556251861.
I0419 21:02:35.641903 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:35.734252 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:35.734371 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:35.734467 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293556582002.
I0419 21:02:35.735194 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.85066, 1.49867)
I0419 21:02:35.736263 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293556860433.
I0419 21:02:35.739297 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09476, 0.451597), points=5, range=1.1824, residual=0.00664937, extent=0.0158804
I0419 21:02:35.739431 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09476, 0.451597), tracking=(-1.39326, -0.451597), map_predicted=(0.635036, -1.32856), range=1.1824, pts=5
I0419 21:02:35.739459 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0217886m maha_sq=0.0203145 (gate chi2=5.99) pose_sigma=(0.151214, 0.151214, rho=0) det_map=(0.635036, -1.32856) lm_pos=(0.615, -1.32) delta=(0.0200362, -0.00856113) -> 1 candidate(s)
I0419 21:02:35.739550 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293557140883.
I0419 21:02:35.741631 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.735106, -1.87656), yaw=-176.192 deg backend=(-0.649624, -1.86183)
I0419 21:02:35.742537 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00329122 range=0.687737 variance=0.00057857 t_weight=5185.2 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.735106, -1.87656, -176.192deg) obs_actual=(-0.400966, 0.678811) obs_expected=(-0.406374, 0.671916) delta=(0.00540797, 0.00689443) |delta|=0.00876238m
I0419 21:02:35.742681 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293557415547.
I0419 21:02:35.774327 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293557733720.
I0419 21:02:35.875056 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.121907, -0.679732)
I0419 21:02:35.875236 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293558020179.
I0419 21:02:35.876129 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:35.878309 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:35.878432 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:35.878454 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293558339836.
I0419 21:02:35.880151 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076012s, prior_pose=(-0.758309, -1.87783), yaw=-176.349 deg
I0419 21:02:35.880206 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1034, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:02:35.880316 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293558615659.
I0419 21:02:35.894665 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.148914, -0.680918), points=17, range=0.699176, residual=0.0124927, extent=0.0418943
I0419 21:02:35.894856 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.148914, -0.680918), tracking=(-0.447414, 0.680918), map_predicted=(-0.27991, -2.53109), range=0.699176, pts=17
I0419 21:02:35.894915 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0122043m maha_sq=0.00638584 (gate chi2=5.99) pose_sigma=(0.150768, 0.150768, rho=0) det_map=(-0.27991, -2.53109) lm_pos=(-0.285, -2.52) delta=(0.00509008, -0.0110921) -> 1 candidate(s)
I0419 21:02:35.895124 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293558938418.
I0419 21:02:35.999513 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:35.999621 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:35.999724 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293559221874.
I0419 21:02:36.000526 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:36.001624 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.167423, -0.68393)
I0419 21:02:36.001694 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:36.001715 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:36.001816 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293559492414.
I0419 21:02:36.004585 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293559777735.
I0419 21:02:36.010466 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293560092191.
I0419 21:02:36.038672 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:36.038995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293560372939.
I0419 21:02:36.139017 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.73241, 1.5193), points=5, range=2.2994, residual=0.0160327, extent=0.0409189
I0419 21:02:36.139168 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.73241, 1.5193), tracking=(2.03091, 1.5193), map_predicted=(-2.75325, -3.52165), range=2.2994, pts=5
I0419 21:02:36.139216 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66375m maha_sq=299.899 (gate chi2=5.99) pose_sigma=(0.151148, 0.151148, rho=0) det_map=(-2.75325, -3.52165) lm_pos=(-0.285, -2.52) delta=(-2.46825, -1.00165) -> 0 candidate(s)
I0419 21:02:36.140161 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:36.140329 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293560662320.
I0419 21:02:36.143293 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.211574, -0.684665)
I0419 21:02:36.143561 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293560972560.
I0419 21:02:36.145705 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0604497 range=1.29533 variance=0.000482953 t_weight=6211.78 r_weight=0 yaml=(0.615, -1.32) prior=(-0.82952, -1.88267, -176.548deg) obs_actual=(-1.5095, -0.458801) obs_expected=(-1.47578, -0.474675) delta=(-0.0337241, 0.0158744) |delta|=0.0372735m
I0419 21:02:36.145900 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293561336344.
I0419 21:02:36.157766 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601736s, prior_pose=(-0.846567, -1.88302), yaw=-176.556 deg
I0419 21:02:36.157909 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:02:36.158211 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293561574296.
I0419 21:02:36.273205 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293561859973.
I0419 21:02:36.274974 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:36.275063 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:36.275148 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293562134006.
I0419 21:02:36.276851 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.67858, 1.51145)
I0419 21:02:36.276921 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.18817, -2.25317), points=3, range=3.90433, residual=0.0116259, extent=0.0234804
I0419 21:02:36.276945 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:36.276960 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.18817, -2.25317), tracking=(3.48667, -2.25317), map_predicted=(-4.48837, 0.155379), range=3.90433, pts=3
I0419 21:02:36.276978 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98257m maha_sq=1048.54 (gate chi2=5.99) pose_sigma=(0.150783, 0.150783, rho=0) det_map=(-4.48837, 0.155379) lm_pos=(-0.285, -2.52) delta=(-4.20337, 2.67538) -> 0 candidate(s)
I0419 21:02:36.277918 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:36.278012 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:36.278098 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293562454304.
I0419 21:02:36.281009 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293562737029.
I0419 21:02:36.303052 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293563019991.
I0419 21:02:36.390380 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:36.390761 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293563339725.
I0419 21:02:36.393625 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293563615215.
I0419 21:02:36.394421 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.63488, 1.51569)
I0419 21:02:36.395532 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293563899202.
I0419 21:02:36.402316 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:36.421868 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.3022, -0.689398), points=15, range=0.7556, residual=0.0134994, extent=0.0445693
I0419 21:02:36.421994 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.3022, -0.689398), tracking=(-0.6007, 0.689398), map_predicted=(-0.264547, -2.53354), range=0.7556, pts=15
I0419 21:02:36.422040 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0245266m maha_sq=0.0256593 (gate chi2=5.99) pose_sigma=(0.151071, 0.151071, rho=0) det_map=(-0.264547, -2.53354) lm_pos=(-0.285, -2.52) delta=(0.0204534, -0.0135357) -> 1 candidate(s)
I0419 21:02:36.422134 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:36.422189 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:36.422215 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293564212931.
I0419 21:02:36.523605 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481292s, prior_pose=(-0.925336, -1.88307), yaw=-176.358 deg
I0419 21:02:36.523734 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=997, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:02:36.523927 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293564498953.
I0419 21:02:36.525959 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293564785117.
I0419 21:02:36.528506 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:36.528620 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:36.528698 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293565057844.
I0419 21:02:36.529714 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.59324, 1.51635)
I0419 21:02:36.529770 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:36.538090 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:36.538206 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:36.538311 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293565377287.
I0419 21:02:36.566490 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293565659508.
I0419 21:02:36.647931 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57557, 1.5171), points=5, range=2.1832, residual=0.0140115, extent=0.0342271
I0419 21:02:36.648056 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.57557, 1.5171), tracking=(1.87407, 1.5171), map_predicted=(-2.74259, -3.51835), range=2.1832, pts=5
I0419 21:02:36.648087 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65263m maha_sq=298.16 (gate chi2=5.99) pose_sigma=(0.151192, 0.151192, rho=0) det_map=(-2.74259, -3.51835) lm_pos=(-0.285, -2.52) delta=(-2.45759, -0.998347) -> 0 candidate(s)
I0419 21:02:36.648980 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0181532 range=0.781214 variance=0.000575547 t_weight=5212.44 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.968372, -1.8856, -176.369deg) obs_actual=(-0.653218, 0.693603) obs_expected=(-0.641818, 0.676414) delta=(-0.0113999, 0.0171888) |delta|=0.0206255m
I0419 21:02:36.649053 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293565974210.
I0419 21:02:36.651023 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.979064, -1.8859), yaw=-176.349 deg backend=(-0.905, -1.87522)
I0419 21:02:36.651741 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:36.651799 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293566261026.
I0419 21:02:36.654161 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:36.654254 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293566537661.
I0419 21:02:36.666183 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.55013, 1.51452)
I0419 21:02:36.682520 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293566820414.
I0419 21:02:36.782198 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293567138580.
I0419 21:02:36.783993 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0758715s, prior_pose=(-0.996746, -1.88627), yaw=-176.352 deg
I0419 21:02:36.784116 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=971, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:02:36.784267 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293567416256.
I0419 21:02:36.787168 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293567741875.
I0419 21:02:36.788060 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.02713, -2.26048), points=3, range=3.77733, residual=0.0108601, extent=0.0219877
I0419 21:02:36.788128 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.02713, -2.26048), tracking=(3.32563, -2.26048), map_predicted=(-4.47408, 0.156693), range=3.77733, pts=3
I0419 21:02:36.788153 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97123m maha_sq=1056.13 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.47408, 0.156693) lm_pos=(-0.285, -2.52) delta=(-4.18908, 2.67669) -> 0 candidate(s)
I0419 21:02:36.806023 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:36.806145 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:36.806295 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293568052819.
I0419 21:02:36.811028 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:36.829771 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.428594, -0.701605)
I0419 21:02:36.829877 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:36.829909 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:36.830039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293568292793.
I0419 21:02:36.921005 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293568614499.
I0419 21:02:36.923872 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293568898000.
I0419 21:02:36.925709 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293569180098.
I0419 21:02:36.949738 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293569491710.
I0419 21:02:37.071903 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.468447, -0.705512), points=12, range=0.848667, residual=0.0100251, extent=0.0302445
I0419 21:02:37.072010 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.468447, -0.705512), tracking=(-0.766947, 0.705512), map_predicted=(-0.257692, -2.53906), range=0.848667, pts=12
I0419 21:02:37.072037 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0333017m maha_sq=0.047544 (gate chi2=5.99) pose_sigma=(0.150938, 0.150938, rho=0) det_map=(-0.257692, -2.53906) lm_pos=(-0.285, -2.52) delta=(0.0273081, -0.0190597) -> 1 candidate(s)
I0419 21:02:37.072117 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293569781672.
I0419 21:02:37.072901 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:37.073861 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47622, 0.427947)
I0419 21:02:37.073954 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:37.073997 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:37.074015 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293570100348.
I0419 21:02:37.076603 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059689s, prior_pose=(-1.08569, -1.8886), yaw=-175.997 deg
I0419 21:02:37.076712 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=960, max_intensity=253, threshold=230, above_threshold=11, candidates=11
I0419 21:02:37.076817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293570378562.
I0419 21:02:37.079433 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293570657333.
I0419 21:02:37.098404 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:37.098623 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:37.098862 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293570978188.
I0419 21:02:37.204035 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:37.205173 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:37.205229 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:37.205341 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293571261380.
I0419 21:02:37.207971 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293571539222.
I0419 21:02:37.208724 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.41711, 1.50646), points=5, range=2.0632, residual=0.0158657, extent=0.0391745
I0419 21:02:37.208778 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.41711, 1.50646), tracking=(1.71561, 1.50646), map_predicted=(-2.73242, -3.51222), range=2.0632, pts=5
I0419 21:02:37.208807 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6409m maha_sq=299.545 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.73242, -3.51222) lm_pos=(-0.285, -2.52) delta=(-2.44742, -0.992216) -> 0 candidate(s)
I0419 21:02:37.209800 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0715855 range=0.892 variance=0.000547818 t_weight=5476.27 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.12812, -1.88774, -175.928deg) obs_actual=(-0.828865, 0.714532) obs_expected=(-0.796089, 0.69054) delta=(-0.0327761, 0.023992) |delta|=0.0406188m
I0419 21:02:37.209882 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293571819409.
I0419 21:02:37.211561 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.40871, 1.50192)
I0419 21:02:37.214322 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:37.214514 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293572135355.
I0419 21:02:37.335148 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:37.335282 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293572416777.
I0419 21:02:37.337015 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293572698784.
I0419 21:02:37.339884 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293573021643.
I0419 21:02:37.342605 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0441932s, prior_pose=(-1.17503, -1.8909), yaw=-175.776 deg
I0419 21:02:37.342687 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=959, max_intensity=247, threshold=230, above_threshold=11, candidates=11
I0419 21:02:37.342795 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293573301269.
I0419 21:02:37.362457 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293573615171.
I0419 21:02:37.476189 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.83721, -2.27712), points=3, range=3.64267, residual=0.0145221, extent=0.0305399
I0419 21:02:37.476313 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.83721, -2.27712), tracking=(3.13571, -2.27712), map_predicted=(-4.47859, 0.145777), range=3.64267, pts=3
I0419 21:02:37.476342 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96916m maha_sq=1044.33 (gate chi2=5.99) pose_sigma=(0.150588, 0.150588, rho=0) det_map=(-4.47859, 0.145777) lm_pos=(-0.285, -2.52) delta=(-4.19359, 2.66578) -> 0 candidate(s)
I0419 21:02:37.477375 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:37.477439 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:37.477537 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293573896617.
I0419 21:02:37.478289 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.83055, -2.28536)
I0419 21:02:37.478355 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:37.480337 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:37.480397 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:37.480501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293574181090.
I0419 21:02:37.482287 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293574500523.
I0419 21:02:37.485025 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293574781932.
I0419 21:02:37.619736 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.21115, -1.89834), yaw=-175.643 deg backend=(-1.17711, -1.89775)
I0419 21:02:37.620599 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293575056782.
I0419 21:02:37.620723 1232263 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.53% real time)
I0419 21:02:37.620846 1232263 collated_trajectory_builder.cc:82] odom rate: 248.52 Hz 4.02e-03 s +/- 7.70e-04 s (pulsed at 99.26% real time)
I0419 21:02:37.620958 1232263 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.08e-03 s (pulsed at 100.36% real time)
I0419 21:02:37.620991 1232263 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.17e-03 s (pulsed at 100.34% real time)
I0419 21:02:37.622998 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293575374945.
I0419 21:02:37.625721 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.622493, -0.722703), points=8, range=0.955375, residual=0.00984186, extent=0.0263438
I0419 21:02:37.625833 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.622493, -0.722703), tracking=(-0.920993, 0.722703), map_predicted=(-0.248261, -2.54926), range=0.955375, pts=8
I0419 21:02:37.625859 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0469665m maha_sq=0.0947275 (gate chi2=5.99) pose_sigma=(0.150803, 0.150803, rho=0) det_map=(-0.248261, -2.54926) lm_pos=(-0.285, -2.52) delta=(0.0367391, -0.0292591) -> 1 candidate(s)
I0419 21:02:37.625939 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293575656458.
I0419 21:02:37.626869 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:37.628643 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.62677, -0.720951)
I0419 21:02:37.628732 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:37.628819 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:37.628840 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293575941433.
I0419 21:02:37.630445 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722493s, prior_pose=(-1.23101, -1.89987), yaw=-175.551 deg
I0419 21:02:37.630506 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=949, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:02:37.630589 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293576221746.
I0419 21:02:37.716403 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293576532168.
I0419 21:02:37.720109 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:37.720244 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:37.720363 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293576817734.
I0419 21:02:37.721423 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:37.722942 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:37.723013 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:37.723112 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293577182696.
I0419 21:02:37.742292 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293577418101.
I0419 21:02:37.755084 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31506, 1.49954), points=5, range=1.9916, residual=0.0114205, extent=0.0275641
I0419 21:02:37.755211 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31506, 1.49954), tracking=(1.61356, 1.49954), map_predicted=(-2.74682, -3.51866), range=1.9916, pts=5
I0419 21:02:37.755254 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65666m maha_sq=304.815 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74682, -3.51866) lm_pos=(-0.285, -2.52) delta=(-2.46182, -0.998659) -> 0 candidate(s)
I0419 21:02:37.867017 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0685628 range=0.967875 variance=0.000527963 t_weight=5682.22 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25597, -1.90229, -175.547deg) obs_actual=(-0.942792, 0.723943) obs_expected=(-0.92008, 0.691235) delta=(-0.0227126, 0.032708) |delta|=0.0398205m
I0419 21:02:37.867144 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293577698017.
I0419 21:02:37.867946 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.31118, 1.49516)
I0419 21:02:37.868610 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:37.868981 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:37.869057 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293578020738.
I0419 21:02:37.871675 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:37.871830 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293578300506.
I0419 21:02:37.874598 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293578580265.
I0419 21:02:37.890277 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293578895892.
I0419 21:02:37.977552 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059448s, prior_pose=(-1.25329, -1.89595), yaw=-175.468 deg
I0419 21:02:37.977662 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=957, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:02:37.977783 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293579174745.
I0419 21:02:37.980365 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293579497781.
I0419 21:02:37.981138 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77013, -2.3039), points=3, range=3.59767, residual=0.0137228, extent=0.0275985
I0419 21:02:37.981216 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77013, -2.3039), tracking=(3.06863, -2.3039), map_predicted=(-4.49349, 0.158798), range=3.59767, pts=3
I0419 21:02:37.981242 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98872m maha_sq=1061.89 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49349, 0.158798) lm_pos=(-0.285, -2.52) delta=(-4.20849, 2.6788) -> 0 candidate(s)
I0419 21:02:37.982188 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:37.982236 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:37.982314 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293579773630.
I0419 21:02:37.988451 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.76961, -2.29669)
I0419 21:02:37.988562 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:38.006390 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:38.006484 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:38.006588 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293580059805.
I0419 21:02:38.099817 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293580341058.
I0419 21:02:38.101915 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293580660048.
I0419 21:02:38.104736 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293580940325.
I0419 21:02:38.122399 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293581219456.
I0419 21:02:38.154397 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.639711, -0.720917), points=7, range=0.962429, residual=0.00837435, extent=0.0252916
I0419 21:02:38.154500 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.639711, -0.720917), tracking=(-0.938211, 0.720917), map_predicted=(-0.256929, -2.54243), range=0.962429, pts=7
I0419 21:02:38.154529 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0359295m maha_sq=0.0560826 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.256929, -2.54243) lm_pos=(-0.285, -2.52) delta=(0.028071, -0.0224265) -> 1 candidate(s)
I0419 21:02:38.154682 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293581538569.
I0419 21:02:38.234002 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:38.235011 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.637807, -0.722979)
I0419 21:02:38.235105 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:38.235154 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:38.235175 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293581819873.
I0419 21:02:38.237725 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0485442s, prior_pose=(-1.2507, -1.89899), yaw=-175.538 deg
I0419 21:02:38.237815 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=967, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:02:38.237910 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293582105320.
I0419 21:02:38.242308 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293582418080.
I0419 21:02:38.270215 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:38.270315 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:38.270413 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293582698818.
I0419 21:02:38.282439 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:38.373711 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:38.373874 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:38.373957 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293582993658.
I0419 21:02:38.375860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293583271838.
I0419 21:02:38.378077 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31505, 1.49955), points=5, range=1.9896, residual=0.0155118, extent=0.0363916
I0419 21:02:38.378206 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31505, 1.49955), tracking=(1.61355, 1.49955), map_predicted=(-2.7431, -3.52172), range=1.9896, pts=5
I0419 21:02:38.378235 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65437m maha_sq=302.847 (gate chi2=5.99) pose_sigma=(0.150001, 0.150001, rho=0) det_map=(-2.7431, -3.52172) lm_pos=(-0.285, -2.52) delta=(-2.4581, -1.00172) -> 0 candidate(s)
I0419 21:02:38.379216 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0591502 range=0.964667 variance=0.000535298 t_weight=5604.35 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25141, -1.90091, -175.527deg) obs_actual=(-0.937366, 0.722074) obs_expected=(-0.915182, 0.69257) delta=(-0.0221837, 0.0295033) |delta|=0.0369128m
I0419 21:02:38.379318 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293583581211.
I0419 21:02:38.380172 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.3163, 1.49221)
I0419 21:02:38.381623 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.25141, -1.90091), yaw=-175.526 deg backend=(-1.23213, -1.89766)
I0419 21:02:38.389694 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:38.389882 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293583892324.
I0419 21:02:38.418351 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:38.418542 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293584178575.
I0419 21:02:38.499653 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293584453918.
I0419 21:02:38.502548 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293584772573.
I0419 21:02:38.505944 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756482s, prior_pose=(-1.25116, -1.90175), yaw=-175.508 deg
I0419 21:02:38.506036 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=914, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:38.506183 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293585056184.
I0419 21:02:38.538329 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293585374440.
I0419 21:02:38.546375 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31654, 1.50123), points=5, range=1.994, residual=0.01133, extent=0.028739
I0419 21:02:38.546520 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31654, 1.50123), tracking=(1.61504, 1.50123), map_predicted=(-2.74362, -3.52489), range=1.994, pts=5
I0419 21:02:38.546576 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65605m maha_sq=304.699 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74362, -3.52489) lm_pos=(-0.285, -2.52) delta=(-2.45862, -1.00489) -> 0 candidate(s)
I0419 21:02:38.678763 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:38.678889 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:38.678982 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293585655288.
I0419 21:02:38.679903 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77321, -2.29966)
I0419 21:02:38.679965 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:38.680964 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:38.681105 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:38.681195 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293585935394.
I0419 21:02:38.684180 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293586216543.
I0419 21:02:38.687389 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293586534758.
I0419 21:02:38.689774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293586818985.
I0419 21:02:38.774641 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293587137498.
I0419 21:02:38.778067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293587413062.
I0419 21:02:38.779104 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.77217, -2.29202)
I0419 21:02:38.779175 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77193, -2.29859), points=4, range=3.597, residual=0.015151, extent=0.0361615
I0419 21:02:38.779210 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77193, -2.29859), tracking=(3.07043, -2.29859), map_predicted=(-4.48787, 0.15138), range=3.597, pts=4
I0419 21:02:38.779230 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98m maha_sq=1056.32 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48787, 0.15138) lm_pos=(-0.285, -2.52) delta=(-4.20287, 2.67138) -> 0 candidate(s)
I0419 21:02:38.779251 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:38.780270 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:38.780346 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:38.780370 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293587698207.
I0419 21:02:38.802414 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603109s, prior_pose=(-1.24565, -1.89779), yaw=-175.474 deg
I0419 21:02:38.802578 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=927, max_intensity=248, threshold=230, above_threshold=9, candidates=9
I0419 21:02:38.802860 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293588016171.
I0419 21:02:38.904137 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293588299784.
I0419 21:02:38.906069 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:38.906162 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:38.906278 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293588579723.
I0419 21:02:38.908103 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:38.909102 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:38.909168 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:38.909260 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293588893678.
I0419 21:02:38.918515 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293589176935.
I0419 21:02:38.946731 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.640476, -0.722561)
I0419 21:02:38.946872 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.644423, -0.721954), points=10, range=0.9656, residual=0.01204, extent=0.0351127
I0419 21:02:38.946918 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.644423, -0.721954), tracking=(-0.942923, 0.721954), map_predicted=(-0.258179, -2.54319), range=0.9656, pts=10
I0419 21:02:38.946959 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0354535m maha_sq=0.0544294 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.258179, -2.54319) lm_pos=(-0.285, -2.52) delta=(0.0268206, -0.0231864) -> 1 candidate(s)
I0419 21:02:38.947067 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0544294 range=0.9656 variance=0.00059327 t_weight=5056.72 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25424, -1.89651, -175.553deg) obs_actual=(-0.942923, 0.721954) obs_expected=(-0.91798, 0.696758) delta=(-0.0249421, 0.0251961) |delta|=0.0354535m
I0419 21:02:38.947232 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293589460518.
I0419 21:02:39.048111 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:39.048245 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293589741728.
I0419 21:02:39.051090 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:39.051265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293590057520.
I0419 21:02:39.053026 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293590334672.
I0419 21:02:39.066792 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293590660509.
I0419 21:02:39.168947 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483097s, prior_pose=(-1.25024, -1.89816), yaw=-175.495 deg
I0419 21:02:39.169049 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=958, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:39.169209 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293590942334.
I0419 21:02:39.171569 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293591214946.
I0419 21:02:39.173518 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31451, 1.49456)
I0419 21:02:39.173624 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31543, 1.49122), points=5, range=1.9904, residual=0.011833, extent=0.0305785
I0419 21:02:39.173656 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31543, 1.49122), tracking=(1.61393, 1.49122), map_predicted=(-2.74206, -3.51155), range=1.9904, pts=5
I0419 21:02:39.173681 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64958m maha_sq=303.068 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74206, -3.51155) lm_pos=(-0.285, -2.52) delta=(-2.45706, -0.991546) -> 0 candidate(s)
I0419 21:02:39.174685 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:39.174748 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:39.174849 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293591501235.
I0419 21:02:39.175637 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:39.178452 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:39.178514 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:39.178606 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293591781338.
I0419 21:02:39.210295 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293592097557.
I0419 21:02:39.313699 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293592422334.
I0419 21:02:39.313948 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:39.315716 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.24628, -1.90082), yaw=-175.5 deg backend=(-1.227, -1.89755)
I0419 21:02:39.316605 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293592695161.
I0419 21:02:39.318300 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293592974749.
I0419 21:02:39.330340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293593296626.
I0419 21:02:39.342730 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.7691, -2.29626)
I0419 21:02:39.342868 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.76974, -2.30358), points=3, range=3.59733, residual=0.0134862, extent=0.0269547
I0419 21:02:39.342897 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.76974, -2.30358), tracking=(3.06824, -2.30358), map_predicted=(-4.48585, 0.154857), range=3.59733, pts=3
I0419 21:02:39.342927 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98016m maha_sq=1058.54 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48585, 0.154857) lm_pos=(-0.285, -2.52) delta=(-4.20085, 2.67486) -> 0 candidate(s)
I0419 21:02:39.342947 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:39.432106 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:39.432226 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:39.432252 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293593572105.
I0419 21:02:39.433835 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755005s, prior_pose=(-1.25191, -1.89918), yaw=-175.499 deg
I0419 21:02:39.433897 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=929, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 21:02:39.433979 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293593853687.
I0419 21:02:39.436508 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293594173547.
I0419 21:02:39.445451 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:39.445526 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:39.445596 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293594451437.
I0419 21:02:39.454500 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:39.474164 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:39.474265 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:39.474359 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293594736979.
I0419 21:02:39.558477 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293595021818.
I0419 21:02:39.561128 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.639531, -0.72282)
I0419 21:02:39.561232 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.637721, -0.7229), points=7, range=0.965143, residual=0.00752685, extent=0.0212824
I0419 21:02:39.561311 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.637721, -0.7229), tracking=(-0.936221, 0.7229), map_predicted=(-0.260894, -2.54638), range=0.965143, pts=7
I0419 21:02:39.561334 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0357357m maha_sq=0.0555115 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.260894, -2.54638) lm_pos=(-0.285, -2.52) delta=(0.0241058, -0.0263808) -> 1 candidate(s)
I0419 21:02:39.561403 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0555115 range=0.965143 variance=0.000504941 t_weight=5941.29 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25076, -1.89888, -175.516deg) obs_actual=(-0.936221, 0.7229) obs_expected=(-0.914251, 0.694716) delta=(-0.0219698, 0.0281845) |delta|=0.0357357m
I0419 21:02:39.561446 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293595338582.
I0419 21:02:39.563349 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:39.563452 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293595616618.
I0419 21:02:39.594471 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:39.594753 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293595940356.
I0419 21:02:39.685380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293596216920.
I0419 21:02:39.687474 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293596499954.
I0419 21:02:39.690431 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0577605s, prior_pose=(-1.25224, -1.89885), yaw=-175.507 deg
I0419 21:02:39.690547 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=919, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 21:02:39.690676 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293596794525.
I0419 21:02:39.697353 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:39.710469 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293597099471.
I0419 21:02:39.718230 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31755, 1.498)
I0419 21:02:39.718333 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31737, 1.50217), points=5, range=1.995, residual=0.0113222, extent=0.0265492
I0419 21:02:39.718365 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31737, 1.50217), tracking=(1.61587, 1.50217), map_predicted=(-2.74547, -3.52297), range=1.995, pts=5
I0419 21:02:39.718389 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65704m maha_sq=304.927 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74547, -3.52297) lm_pos=(-0.285, -2.52) delta=(-2.46047, -1.00297) -> 0 candidate(s)
I0419 21:02:39.737963 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:39.738070 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:39.738214 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293597372725.
I0419 21:02:39.830674 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:39.831550 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:39.831657 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:39.831766 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293597659239.
I0419 21:02:39.835659 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293597974366.
I0419 21:02:39.837507 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293598253969.
I0419 21:02:39.858551 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293598580014.
I0419 21:02:39.944732 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293598859622.
I0419 21:02:39.946559 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293599139879.
I0419 21:02:39.948338 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.76945, -2.29653)
I0419 21:02:39.948417 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.76666, -2.30101), points=5, range=3.5978, residual=0.0164455, extent=0.0419195
I0419 21:02:39.948441 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.76666, -2.30101), tracking=(3.06516, -2.30101), map_predicted=(-4.4871, 0.154481), range=3.5978, pts=5
I0419 21:02:39.948462 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98101m maha_sq=1054.91 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.4871, 0.154481) lm_pos=(-0.285, -2.52) delta=(-4.2021, 2.67448) -> 0 candidate(s)
I0419 21:02:39.948484 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:39.949471 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:39.949548 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:39.949569 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293599455736.
I0419 21:02:39.974074 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0478067s, prior_pose=(-1.25221, -1.90109), yaw=-175.537 deg
I0419 21:02:39.974161 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=919, max_intensity=249, threshold=230, above_threshold=9, candidates=9
I0419 21:02:39.974305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293599737803.
I0419 21:02:40.002516 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293600018468.
I0419 21:02:40.089701 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:40.089835 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:40.089947 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293600300818.
I0419 21:02:40.090728 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:40.092785 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:40.092883 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:40.092980 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293600621776.
I0419 21:02:40.094830 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293600901020.
I0419 21:02:40.122197 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.638955, -0.722753)
I0419 21:02:40.122310 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.641374, -0.722783), points=7, range=0.964714, residual=0.00923087, extent=0.0266319
I0419 21:02:40.122347 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.641374, -0.722783), tracking=(-0.939874, 0.722783), map_predicted=(-0.259895, -2.5466), range=0.964714, pts=7
I0419 21:02:40.122390 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0365752m maha_sq=0.0580783 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.259895, -2.5466) lm_pos=(-0.285, -2.52) delta=(0.0251055, -0.0265981) -> 1 candidate(s)
I0419 21:02:40.122471 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0580783 range=0.964714 variance=0.000533476 t_weight=5623.5 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25344, -1.89958, -175.512deg) obs_actual=(-0.939874, 0.722783) obs_expected=(-0.916927, 0.694302) delta=(-0.0229472, 0.0284811) |delta|=0.0365752m
I0419 21:02:40.122565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293601216328.
I0419 21:02:40.232304 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.25077, -1.89822), yaw=-175.508 deg backend=(-1.24199, -1.89091)
I0419 21:02:40.233325 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:40.233428 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293601498753.
I0419 21:02:40.235176 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:40.235317 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293601819151.
I0419 21:02:40.238582 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293602100516.
I0419 21:02:40.241456 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293602383112.
I0419 21:02:40.266290 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761125s, prior_pose=(-1.25077, -1.89822), yaw=-175.507 deg
I0419 21:02:40.266388 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=921, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 21:02:40.266554 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293602659496.
I0419 21:02:40.362030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293602972077.
I0419 21:02:40.363037 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31742, 1.49786)
I0419 21:02:40.363188 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31753, 1.50236), points=5, range=1.9948, residual=0.0121342, extent=0.0287203
I0419 21:02:40.363271 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31753, 1.50236), tracking=(1.61603, 1.50236), map_predicted=(-2.74681, -3.52531), range=1.9948, pts=5
I0419 21:02:40.363337 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65916m maha_sq=305.163 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74681, -3.52531) lm_pos=(-0.285, -2.52) delta=(-2.46181, -1.00531) -> 0 candidate(s)
I0419 21:02:40.365420 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:40.365538 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:40.365664 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293603260222.
I0419 21:02:40.366649 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:40.367470 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:40.367535 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:40.367628 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293603536087.
I0419 21:02:40.390568 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293603895889.
I0419 21:02:40.507849 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293604132576.
I0419 21:02:40.509730 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293604454936.
I0419 21:02:40.512614 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293604735468.
I0419 21:02:40.515503 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293605019629.
I0419 21:02:40.516373 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77141, -2.29818)
I0419 21:02:40.516433 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77205, -2.3055), points=3, range=3.60033, residual=0.0134924, extent=0.0269682
I0419 21:02:40.516458 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77205, -2.3055), tracking=(3.07055, -2.3055), map_predicted=(-4.48838, 0.157095), range=3.60033, pts=3
I0419 21:02:40.516480 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98349m maha_sq=1059.92 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48838, 0.157095) lm_pos=(-0.285, -2.52) delta=(-4.20338, 2.67709) -> 0 candidate(s)
I0419 21:02:40.516500 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:40.534844 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:40.535001 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:40.535034 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293605341527.
I0419 21:02:40.620518 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598822s, prior_pose=(-1.2488, -1.89882), yaw=-175.488 deg
I0419 21:02:40.620666 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=902, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:02:40.620805 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293605618451.
I0419 21:02:40.623620 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293605891721.
I0419 21:02:40.625510 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:40.625618 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:40.625743 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293606217616.
I0419 21:02:40.629673 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:40.650056 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:40.650162 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:40.650297 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293606496928.
I0419 21:02:40.746412 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293606775474.
I0419 21:02:40.746825 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:40.748173 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.637638, -0.722794)
I0419 21:02:40.748342 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.637606, -0.722779), points=8, range=0.963875, residual=0.00773925, extent=0.0241095
I0419 21:02:40.748368 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.637606, -0.722779), tracking=(-0.936106, 0.722779), map_predicted=(-0.259092, -2.54539), range=0.963875, pts=8
I0419 21:02:40.748387 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0362737m maha_sq=0.0571878 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.259092, -2.54539) lm_pos=(-0.285, -2.52) delta=(0.0259076, -0.0253886) -> 1 candidate(s)
I0419 21:02:40.748445 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0571878 range=0.963875 variance=0.000508122 t_weight=5904.09 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24917, -1.89851, -175.487deg) obs_actual=(-0.936106, 0.722779) obs_expected=(-0.912277, 0.695431) delta=(-0.0238295, 0.0273484) |delta|=0.0362737m
I0419 21:02:40.748489 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293607095973.
I0419 21:02:40.751287 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:40.751418 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293607386879.
I0419 21:02:40.765740 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:40.765879 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293607652515.
I0419 21:02:40.798761 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293607982004.
I0419 21:02:40.886394 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293608255569.
I0419 21:02:40.889084 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0474714s, prior_pose=(-1.2525, -1.8994), yaw=-175.5 deg
I0419 21:02:40.889261 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=885, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 21:02:40.889405 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293608532842.
I0419 21:02:40.891075 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293608859272.
I0419 21:02:40.898259 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31712, 1.48878)
I0419 21:02:40.898347 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31793, 1.48533), points=5, range=1.9878, residual=0.013427, extent=0.0340238
I0419 21:02:40.898378 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31793, 1.48533), tracking=(1.61643, 1.48533), map_predicted=(-2.74743, -3.50696), range=1.9878, pts=5
I0419 21:02:40.898438 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65286m maha_sq=303.294 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74743, -3.50696) lm_pos=(-0.285, -2.52) delta=(-2.46243, -0.986962) -> 0 candidate(s)
I0419 21:02:40.914186 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:40.914420 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:40.914644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293609138615.
I0419 21:02:40.927325 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:41.008448 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:41.008556 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:41.008653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293609420865.
I0419 21:02:41.010454 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293609738460.
I0419 21:02:41.013113 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293610017512.
I0419 21:02:41.015055 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.2511, -1.8999), yaw=-175.486 deg backend=(-1.24231, -1.89259)
I0419 21:02:41.030109 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293610295762.
I0419 21:02:41.062631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293610620598.
I0419 21:02:41.148882 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293610897189.
I0419 21:02:41.149945 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77116, -2.29796)
I0419 21:02:41.150028 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.7709, -2.30454), points=3, range=3.6, residual=0.0122116, extent=0.0246431
I0419 21:02:41.150056 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.7709, -2.30454), tracking=(3.0694, -2.30454), map_predicted=(-4.49034, 0.157766), range=3.6, pts=3
I0419 21:02:41.150079 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98551m maha_sq=1062.28 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49034, 0.157766) lm_pos=(-0.285, -2.52) delta=(-4.20534, 2.67777) -> 0 candidate(s)
I0419 21:02:41.150101 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:41.152302 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:41.152482 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:41.152537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293611218712.
I0419 21:02:41.154693 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757684s, prior_pose=(-1.25074, -1.90067), yaw=-175.532 deg
I0419 21:02:41.154829 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=864, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:41.154968 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293611463153.
I0419 21:02:41.177954 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293611774659.
I0419 21:02:41.198956 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:41.311789 1237626 pose_graph_2d.cc:160] Inserted submap (1, 46).
I0419 21:02:41.312693 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:41.312923 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:41.313136 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293612059663.
I0419 21:02:41.314308 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:41.315582 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:41.315663 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:41.315757 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293612352727.
I0419 21:02:41.319427 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293612661824.
I0419 21:02:41.324179 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.637087, -0.723064)
I0419 21:02:41.324308 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.632318, -0.723126), points=7, range=0.963714, residual=0.00983532, extent=0.0253389
I0419 21:02:41.324339 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.632318, -0.723126), tracking=(-0.930818, 0.723126), map_predicted=(-0.268793, -2.54739), range=0.963714, pts=7
I0419 21:02:41.324362 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0318283m maha_sq=0.0439592 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.268793, -2.54739) lm_pos=(-0.285, -2.52) delta=(0.0162071, -0.0273928) -> 1 candidate(s)
I0419 21:02:41.324433 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0439592 range=0.963714 variance=0.000544952 t_weight=5505.07 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25347, -1.89951, -175.501deg) obs_actual=(-0.930818, 0.723126) obs_expected=(-0.916809, 0.694546) delta=(-0.0140084, 0.0285798) |delta|=0.0318283m
I0419 21:02:41.324481 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293612977630.
I0419 21:02:41.327571 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:41.327733 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293613263282.
I0419 21:02:41.433753 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:41.433985 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293613581184.
I0419 21:02:41.437415 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293613857965.
I0419 21:02:41.439409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293614107830.
I0419 21:02:41.442871 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566586s, prior_pose=(-1.24733, -1.89822), yaw=-175.542 deg
I0419 21:02:41.442986 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=851, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:41.443136 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293614424551.
I0419 21:02:41.546264 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293614708160.
I0419 21:02:41.547159 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.3165, 1.4968)
I0419 21:02:41.547248 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31858, 1.49477), points=5, range=1.9934, residual=0.00992992, extent=0.0248367
I0419 21:02:41.547281 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31858, 1.49477), tracking=(1.61708, 1.49477), map_predicted=(-2.74381, -3.51306), range=1.9934, pts=5
I0419 21:02:41.547303 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65177m maha_sq=304.109 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74381, -3.51306) lm_pos=(-0.285, -2.52) delta=(-2.45881, -0.993063) -> 0 candidate(s)
I0419 21:02:41.548306 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:41.548374 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:41.548468 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293615022972.
I0419 21:02:41.550215 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:41.551144 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:41.551205 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:41.551275 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293615301016.
I0419 21:02:41.562319 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293615617601.
I0419 21:02:41.590799 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293615902274.
I0419 21:02:41.684897 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293616181488.
I0419 21:02:41.687882 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293616500986.
I0419 21:02:41.689743 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293616777843.
I0419 21:02:41.691507 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77167, -2.29838)
I0419 21:02:41.691601 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77167, -2.29838), points=3, range=3.60067, residual=0.0094511, extent=0.0224143
I0419 21:02:41.691629 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77167, -2.29838), tracking=(3.07017, -2.29838), map_predicted=(-4.49153, 0.156326), range=3.60067, pts=3
I0419 21:02:41.691655 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98574m maha_sq=1065.09 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49153, 0.156326) lm_pos=(-0.285, -2.52) delta=(-4.20653, 2.67633) -> 0 candidate(s)
I0419 21:02:41.691679 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:41.706370 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:41.706521 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:41.706589 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293617058002.
I0419 21:02:41.810724 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481565s, prior_pose=(-1.24963, -1.8993), yaw=-175.503 deg
I0419 21:02:41.810844 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=850, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:41.810990 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293617380048.
I0419 21:02:41.812757 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293617655838.
I0419 21:02:41.815711 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:41.815821 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:41.815927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293617933896.
I0419 21:02:41.816726 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:41.825651 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:41.825744 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:41.825860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293618252089.
I0419 21:02:41.854348 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293618534512.
I0419 21:02:41.969944 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.63697, -0.722545)
I0419 21:02:41.970062 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.63962, -0.722933), points=8, range=0.96325, residual=0.00970315, extent=0.030651
I0419 21:02:41.970084 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.63962, -0.722933), tracking=(-0.93812, 0.722933), map_predicted=(-0.255141, -2.5423), range=0.96325, pts=8
I0419 21:02:41.970108 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0372671m maha_sq=0.0599898 (gate chi2=5.99) pose_sigma=(0.150362, 0.150362, rho=0) det_map=(-0.255141, -2.5423) lm_pos=(-0.285, -2.52) delta=(0.0298587, -0.0223001) -> 1 candidate(s)
I0419 21:02:41.970173 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0599898 range=0.96325 variance=0.000542347 t_weight=5531.51 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24708, -1.89519, -175.501deg) obs_actual=(-0.93812, 0.722933) obs_expected=(-0.910103, 0.698359) delta=(-0.0280173, 0.0245737) |delta|=0.0372671m
I0419 21:02:41.970229 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293618857074.
I0419 21:02:41.972262 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.24708, -1.89519), yaw=-175.499 deg backend=(-1.24505, -1.88445)
I0419 21:02:41.973197 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:41.973311 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293619138809.
I0419 21:02:41.975013 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:41.975138 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293619412093.
I0419 21:02:41.977798 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293619693672.
I0419 21:02:42.100494 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293620014015.
I0419 21:02:42.102210 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0792936s, prior_pose=(-1.24953, -1.89918), yaw=-175.494 deg
I0419 21:02:42.102298 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=859, max_intensity=245, threshold=230, above_threshold=7, candidates=7
I0419 21:02:42.102394 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293620295847.
I0419 21:02:42.105182 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293620620784.
I0419 21:02:42.106032 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31792, 1.48968)
I0419 21:02:42.106089 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31825, 1.4944), points=5, range=1.989, residual=0.0132076, extent=0.0318972
I0419 21:02:42.106112 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31825, 1.4944), tracking=(1.61675, 1.4944), map_predicted=(-2.74384, -3.516), range=1.989, pts=5
I0419 21:02:42.106130 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65291m maha_sq=303.381 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74384, -3.516) lm_pos=(-0.285, -2.52) delta=(-2.45884, -0.996004) -> 0 candidate(s)
I0419 21:02:42.109902 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:42.110002 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:42.110131 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293620898925.
I0419 21:02:42.111616 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:42.117818 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:42.117895 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:42.118026 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293621173965.
I0419 21:02:42.221098 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293621457804.
I0419 21:02:42.221472 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:42.223955 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293621778224.
I0419 21:02:42.225531 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293622061314.
I0419 21:02:42.238829 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293622379472.
I0419 21:02:42.357921 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293622652371.
I0419 21:02:42.358878 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.76685, -2.30118)
I0419 21:02:42.358950 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.76601, -2.30728), points=4, range=3.59875, residual=0.0147266, extent=0.0323592
I0419 21:02:42.358981 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.76601, -2.30728), tracking=(3.06451, -2.30728), map_predicted=(-4.48412, 0.159436), range=3.59875, pts=4
I0419 21:02:42.359004 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98116m maha_sq=1057.37 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48412, 0.159436) lm_pos=(-0.285, -2.52) delta=(-4.19912, 2.67944) -> 0 candidate(s)
I0419 21:02:42.359066 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:42.359894 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:42.359952 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:42.359977 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293622942059.
I0419 21:02:42.362434 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568478s, prior_pose=(-1.24798, -1.90021), yaw=-175.499 deg
I0419 21:02:42.362514 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=886, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 21:02:42.362607 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293623220849.
I0419 21:02:42.365165 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293623540548.
I0419 21:02:42.382280 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:42.382408 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:42.382519 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293623815871.
I0419 21:02:42.502375 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:42.503436 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:42.503501 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:42.503576 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293624138014.
I0419 21:02:42.506361 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293624414984.
I0419 21:02:42.507135 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31582, 1.49606)
I0419 21:02:42.508178 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.630104, -0.722708), points=8, range=0.962, residual=0.010703, extent=0.0287608
I0419 21:02:42.508226 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.630104, -0.722708), tracking=(-0.928604, 0.722708), map_predicted=(-0.267157, -2.54251), range=0.962, pts=8
I0419 21:02:42.508253 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0287226m maha_sq=0.0357715 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.267157, -2.54251) lm_pos=(-0.285, -2.52) delta=(0.0178429, -0.0225082) -> 1 candidate(s)
I0419 21:02:42.508296 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0357715 range=0.962 variance=0.000562691 t_weight=5331.52 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24971, -1.89505, -175.491deg) obs_actual=(-0.928604, 0.722708) obs_expected=(-0.912586, 0.698867) delta=(-0.016018, 0.0238414) |delta|=0.0287226m
I0419 21:02:42.508380 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293624692701.
I0419 21:02:42.510993 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:42.511063 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293624989212.
I0419 21:02:42.602197 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:42.602439 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293625300541.
I0419 21:02:42.604305 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293625573124.
I0419 21:02:42.607331 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293625858015.
I0419 21:02:42.618456 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0488249s, prior_pose=(-1.25138, -1.89609), yaw=-175.509 deg
I0419 21:02:42.618542 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=920, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 21:02:42.618672 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293626181400.
I0419 21:02:42.645995 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.63624, -0.721194)
I0419 21:02:42.646166 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293626456013.
I0419 21:02:42.733654 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3177, 1.50254), points=5, range=1.996, residual=0.0108401, extent=0.0244976
I0419 21:02:42.733753 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3177, 1.50254), tracking=(1.6162, 1.50254), map_predicted=(-2.74313, -3.52255), range=1.996, pts=5
I0419 21:02:42.733785 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65472m maha_sq=303.682 (gate chi2=5.99) pose_sigma=(0.150216, 0.150216, rho=0) det_map=(-2.74313, -3.52255) lm_pos=(-0.285, -2.52) delta=(-2.45813, -1.00255) -> 0 candidate(s)
I0419 21:02:42.734825 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:42.734889 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:42.734995 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293626776624.
I0419 21:02:42.735728 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:42.737706 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:42.737823 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:42.737939 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293627058610.
I0419 21:02:42.739743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293627339268.
I0419 21:02:42.766923 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293627662085.
I0419 21:02:42.877758 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.25057, -1.89707), yaw=-175.509 deg backend=(-1.27639, -1.87513)
I0419 21:02:42.878650 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293627938824.
I0419 21:02:42.880554 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293628262384.
I0419 21:02:42.882330 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31914, 1.4998)
I0419 21:02:42.883419 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293628540884.
I0419 21:02:42.884200 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77244, -2.30582), points=3, range=3.60333, residual=0.0110743, extent=0.022091
I0419 21:02:42.884268 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77244, -2.30582), tracking=(3.07094, -2.30582), map_predicted=(-4.49266, 0.16116), range=3.60333, pts=3
I0419 21:02:42.884291 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98929m maha_sq=1065.07 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49266, 0.16116) lm_pos=(-0.285, -2.52) delta=(-4.20766, 2.68116) -> 0 candidate(s)
I0419 21:02:42.884315 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:42.886348 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:42.886467 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:42.886493 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293628817898.
I0419 21:02:42.914266 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806582s, prior_pose=(-1.25057, -1.89707), yaw=-175.508 deg
I0419 21:02:42.914350 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=928, max_intensity=245, threshold=230, above_threshold=9, candidates=9
I0419 21:02:42.914523 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293629139254.
I0419 21:02:42.999625 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293629417036.
I0419 21:02:43.002555 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:43.002655 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:43.002920 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293629701031.
I0419 21:02:43.003744 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:43.004693 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:43.004839 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:43.004920 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293630017513.
I0419 21:02:43.029631 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.641585, -0.722467)
I0419 21:02:43.029821 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293630292008.
I0419 21:02:43.146987 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.633528, -0.724486), points=9, range=0.964333, residual=0.0096696, extent=0.0287427
I0419 21:02:43.147079 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.633528, -0.724486), tracking=(-0.932028, 0.724486), map_predicted=(-0.262953, -2.54689), range=0.964333, pts=9
I0419 21:02:43.147109 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0347729m maha_sq=0.0523746 (gate chi2=5.99) pose_sigma=(0.15015, 0.15015, rho=0) det_map=(-0.262953, -2.54689) lm_pos=(-0.285, -2.52) delta=(0.0220471, -0.0268902) -> 1 candidate(s)
I0419 21:02:43.147166 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0523746 range=0.964333 variance=0.00054175 t_weight=5537.61 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24884, -1.89759, -175.51deg) obs_actual=(-0.932028, 0.724486) obs_expected=(-0.912154, 0.695952) delta=(-0.0198744, 0.0285336) |delta|=0.0347729m
I0419 21:02:43.147244 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293630580820.
I0419 21:02:43.148856 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:43.148929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293630897478.
I0419 21:02:43.153970 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:43.154165 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293631174279.
I0419 21:02:43.158509 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293631460524.
I0419 21:02:43.178457 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293631776840.
I0419 21:02:43.292140 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596517s, prior_pose=(-1.25276, -1.89661), yaw=-175.537 deg
I0419 21:02:43.292265 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=936, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:02:43.292378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293632057041.
I0419 21:02:43.293327 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77141, -2.29817)
I0419 21:02:43.295329 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293632336406.
I0419 21:02:43.296180 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31605, 1.50066), points=5, range=1.9932, residual=0.0111121, extent=0.026539
I0419 21:02:43.296264 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31605, 1.50066), tracking=(1.61455, 1.50066), map_predicted=(-2.74563, -3.51837), range=1.9932, pts=5
I0419 21:02:43.296298 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65545m maha_sq=304.627 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74563, -3.51837) lm_pos=(-0.285, -2.52) delta=(-2.46063, -0.998368) -> 0 candidate(s)
I0419 21:02:43.297256 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:43.297335 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:43.297433 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293632656676.
I0419 21:02:43.299162 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:43.300094 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:43.300136 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:43.300215 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293632933955.
I0419 21:02:43.425549 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293633212136.
I0419 21:02:43.427451 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293633540394.
I0419 21:02:43.430317 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293633814684.
I0419 21:02:43.431159 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31597, 1.4962)
I0419 21:02:43.433197 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293634093697.
I0419 21:02:43.441927 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293634413648.
I0419 21:02:43.531741 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77372, -2.30009), points=4, range=3.603, residual=0.0136096, extent=0.0319751
I0419 21:02:43.531845 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77372, -2.30009), tracking=(3.07222, -2.30009), map_predicted=(-4.49285, 0.154643), range=3.603, pts=4
I0419 21:02:43.531873 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98595m maha_sq=1060.33 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(-4.49285, 0.154643) lm_pos=(-0.285, -2.52) delta=(-4.20785, 2.67464) -> 0 candidate(s)
I0419 21:02:43.531898 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:43.532963 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:43.533046 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:43.533080 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293634699257.
I0419 21:02:43.535686 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518127s, prior_pose=(-1.24997, -1.89783), yaw=-175.509 deg
I0419 21:02:43.535770 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=942, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:02:43.535871 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293635020654.
I0419 21:02:43.537535 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293635300360.
I0419 21:02:43.558061 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:43.558228 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:43.558450 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293635572579.
I0419 21:02:43.570779 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:43.678781 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:43.678884 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:43.678959 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293635892983.
I0419 21:02:43.679701 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77244, -2.29902)
I0419 21:02:43.679894 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:43.680655 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293636176111.
I0419 21:02:43.683130 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.639721, -0.723033), points=9, range=0.962444, residual=0.0109154, extent=0.0313694
I0419 21:02:43.683233 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.639721, -0.723033), tracking=(-0.938221, 0.723033), map_predicted=(-0.257895, -2.54306), range=0.962444, pts=9
I0419 21:02:43.683303 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0355878m maha_sq=0.0549042 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.257895, -2.54306) lm_pos=(-0.285, -2.52) delta=(0.0271051, -0.0230609) -> 1 candidate(s)
I0419 21:02:43.683357 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0549042 range=0.962444 variance=0.000567303 t_weight=5288.18 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25008, -1.89607, -175.488deg) obs_actual=(-0.938221, 0.723033) obs_expected=(-0.913014, 0.697912) delta=(-0.0252071, 0.0251216) |delta|=0.0355878m
I0419 21:02:43.683393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293636459690.
I0419 21:02:43.685456 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.25008, -1.89607), yaw=-175.489 deg backend=(-1.27591, -1.87413)
I0419 21:02:43.686182 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:43.686272 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293636741600.
I0419 21:02:43.706835 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:43.707098 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293637059559.
I0419 21:02:43.809268 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293637334219.
I0419 21:02:43.812143 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293637621700.
I0419 21:02:43.813881 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0757455s, prior_pose=(-1.24988, -1.89753), yaw=-175.519 deg
I0419 21:02:43.814034 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=942, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:43.814123 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.63699, -0.722032)
I0419 21:02:43.814239 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293637938976.
I0419 21:02:43.822436 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293638218713.
I0419 21:02:43.833916 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31841, 1.49459), points=5, range=1.9888, residual=0.0141616, extent=0.0340316
I0419 21:02:43.834013 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31841, 1.49459), tracking=(1.61691, 1.49459), map_predicted=(-2.74508, -3.51387), range=1.9888, pts=5
I0419 21:02:43.834043 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65326m maha_sq=303.12 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74508, -3.51387) lm_pos=(-0.285, -2.52) delta=(-2.46008, -0.993871) -> 0 candidate(s)
I0419 21:02:43.928622 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:43.928730 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:43.928825 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293638506714.
I0419 21:02:43.929726 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:43.930665 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:43.930729 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:43.930902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293638814575.
I0419 21:02:43.933804 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293639098775.
I0419 21:02:43.937937 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293639375292.
I0419 21:02:43.969650 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293639691585.
I0419 21:02:44.061249 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31398, 1.49395)
I0419 21:02:44.062438 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293639976881.
I0419 21:02:44.065205 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293640256864.
I0419 21:02:44.068609 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77424, -2.3005), points=4, range=3.602, residual=0.0136756, extent=0.0317983
I0419 21:02:44.068737 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77424, -2.3005), tracking=(3.07274, -2.3005), map_predicted=(-4.48958, 0.15555), range=3.602, pts=4
I0419 21:02:44.068768 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98368m maha_sq=1059.76 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48958, 0.15555) lm_pos=(-0.285, -2.52) delta=(-4.20458, 2.67555) -> 0 candidate(s)
I0419 21:02:44.068792 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:44.069901 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:44.069998 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:44.070021 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293640575497.
I0419 21:02:44.086767 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603839s, prior_pose=(-1.24617, -1.89735), yaw=-175.509 deg
I0419 21:02:44.086952 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=937, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:02:44.087284 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293640860703.
I0419 21:02:44.217206 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293641182144.
I0419 21:02:44.218848 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:44.218933 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:44.219012 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293641460781.
I0419 21:02:44.220816 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:44.221680 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.641166, -0.722494)
I0419 21:02:44.221742 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:44.221763 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:44.221824 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293641733761.
I0419 21:02:44.224494 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293642056300.
I0419 21:02:44.234771 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.642594, -0.722062), points=7, range=0.964714, residual=0.00759582, extent=0.0195871
I0419 21:02:44.234910 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.642594, -0.722062), tracking=(-0.941094, 0.722062), map_predicted=(-0.255252, -2.54624), range=0.964714, pts=7
I0419 21:02:44.234959 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0396669m maha_sq=0.0683935 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.255252, -2.54624) lm_pos=(-0.285, -2.52) delta=(0.0297477, -0.0262399) -> 1 candidate(s)
I0419 21:02:44.235064 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0683935 range=0.964714 variance=0.000505963 t_weight=5929.28 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24983, -1.89983, -175.524deg) obs_actual=(-0.941094, 0.722062) obs_expected=(-0.913485, 0.69358) delta=(-0.0276091, 0.0284815) |delta|=0.0396669m
I0419 21:02:44.235184 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293642339843.
I0419 21:02:44.345994 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:44.346139 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293642656995.
I0419 21:02:44.348824 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:44.348973 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293642909008.
I0419 21:02:44.350773 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293643217754.
I0419 21:02:44.353485 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.635137, -0.722047)
I0419 21:02:44.353617 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293643496361.
I0419 21:02:44.450276 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0471702s, prior_pose=(-1.25151, -1.89594), yaw=-175.538 deg
I0419 21:02:44.450392 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=931, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:44.450529 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293643812941.
I0419 21:02:44.452270 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293644097547.
I0419 21:02:44.454070 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31957, 1.4959), points=5, range=1.9938, residual=0.0107584, extent=0.0238855
I0419 21:02:44.454164 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31957, 1.4959), tracking=(1.61807, 1.4959), map_predicted=(-2.74825, -3.51323), range=1.9938, pts=5
I0419 21:02:44.454190 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65596m maha_sq=304.844 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74825, -3.51323) lm_pos=(-0.285, -2.52) delta=(-2.46325, -0.993228) -> 0 candidate(s)
I0419 21:02:44.455106 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:44.455153 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:44.455230 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293644375086.
I0419 21:02:44.456033 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:44.469928 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:44.469998 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:44.470103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293644695429.
I0419 21:02:44.498123 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293644972563.
I0419 21:02:44.623376 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293645261867.
I0419 21:02:44.624287 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77296, -2.29944)
I0419 21:02:44.625903 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.251, -1.89569), yaw=-175.519 deg backend=(-1.27654, -1.87371)
I0419 21:02:44.626597 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293645539751.
I0419 21:02:44.628564 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293645859693.
I0419 21:02:44.631443 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293646180640.
I0419 21:02:44.632229 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77205, -2.3055), points=3, range=3.60133, residual=0.0123594, extent=0.0241331
I0419 21:02:44.632282 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77205, -2.3055), tracking=(3.07055, -2.3055), map_predicted=(-4.49231, 0.162845), range=3.60133, pts=3
I0419 21:02:44.632305 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9899m maha_sq=1063.97 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49231, 0.162845) lm_pos=(-0.285, -2.52) delta=(-4.20731, 2.68284) -> 0 candidate(s)
I0419 21:02:44.632328 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:44.716596 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:44.716740 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:44.716763 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293646461875.
I0419 21:02:44.718411 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803813s, prior_pose=(-1.24851, -1.89536), yaw=-175.489 deg
I0419 21:02:44.718508 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=941, max_intensity=244, threshold=230, above_threshold=8, candidates=8
I0419 21:02:44.718626 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293646742518.
I0419 21:02:44.721279 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293647021707.
I0419 21:02:44.733727 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:44.733815 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.636982, -0.722535)
I0419 21:02:44.733925 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:44.734063 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293647333279.
I0419 21:02:44.742537 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:44.762147 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:44.762275 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:44.762475 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293647612973.
I0419 21:02:44.881866 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293647936978.
I0419 21:02:44.884712 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.63982, -0.723137), points=8, range=0.96425, residual=0.00928373, extent=0.0266319
I0419 21:02:44.884853 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.63982, -0.723137), tracking=(-0.93832, 0.723137), map_predicted=(-0.263026, -2.54544), range=0.96425, pts=8
I0419 21:02:44.884881 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.033614m maha_sq=0.0490526 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.263026, -2.54544) lm_pos=(-0.285, -2.52) delta=(0.0219745, -0.0254366) -> 1 candidate(s)
I0419 21:02:44.884940 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0490526 range=0.96425 variance=0.000534432 t_weight=5613.44 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25472, -1.89743, -175.542deg) obs_actual=(-0.93832, 0.723137) obs_expected=(-0.918389, 0.696069) delta=(-0.0199306, 0.0270679) |delta|=0.033614m
I0419 21:02:44.884991 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293648221288.
I0419 21:02:44.886737 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:44.886859 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293648492587.
I0419 21:02:44.889683 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:44.889817 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293648819188.
I0419 21:02:44.975971 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.635133, -0.72205)
I0419 21:02:44.976130 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293649093909.
I0419 21:02:44.977835 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293649380093.
I0419 21:02:44.980479 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607766s, prior_pose=(-1.25026, -1.89582), yaw=-175.513 deg
I0419 21:02:44.980562 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=947, max_intensity=246, threshold=230, above_threshold=10, candidates=10
I0419 21:02:44.980669 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293649701675.
I0419 21:02:44.998131 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293649975259.
I0419 21:02:45.009996 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31843, 1.48589), points=5, range=1.9866, residual=0.0135212, extent=0.0316025
I0419 21:02:45.010100 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31843, 1.48589), tracking=(1.61693, 1.48589), map_predicted=(-2.74597, -3.50368), range=1.9866, pts=5
I0419 21:02:45.010134 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65028m maha_sq=302.674 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74597, -3.50368) lm_pos=(-0.285, -2.52) delta=(-2.46097, -0.983678) -> 0 candidate(s)
I0419 21:02:45.027827 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:45.027967 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:45.028194 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293650268263.
I0419 21:02:45.146039 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:45.146670 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:45.147079 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.637791, -0.723487)
I0419 21:02:45.147126 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:45.147146 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:45.147218 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293650581010.
I0419 21:02:45.149667 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293650856678.
I0419 21:02:45.151305 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293651141658.
I0419 21:02:45.154004 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293651418008.
I0419 21:02:45.241035 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293651740710.
I0419 21:02:45.242830 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293652014930.
I0419 21:02:45.244577 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77448, -2.28714), points=4, range=3.59525, residual=0.0141672, extent=0.0323339
I0419 21:02:45.244702 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77448, -2.28714), tracking=(3.07298, -2.28714), map_predicted=(-4.48825, 0.143138), range=3.59525, pts=4
I0419 21:02:45.244727 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9759m maha_sq=1055.9 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48825, 0.143138) lm_pos=(-0.285, -2.52) delta=(-4.20325, 2.66314) -> 0 candidate(s)
I0419 21:02:45.244751 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:45.245680 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.637889, -0.723073)
I0419 21:02:45.245761 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:45.245800 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:45.245816 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293652295190.
I0419 21:02:45.261740 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0475916s, prior_pose=(-1.24611, -1.89714), yaw=-175.523 deg
I0419 21:02:45.261863 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=945, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:02:45.262005 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293652613741.
I0419 21:02:45.289893 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293652891892.
I0419 21:02:45.380822 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:45.380941 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:45.381029 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293653219198.
I0419 21:02:45.381757 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:45.383605 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:45.383672 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:45.383737 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293653495976.
I0419 21:02:45.385396 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.636821, -0.721848)
I0419 21:02:45.385499 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293653821920.
I0419 21:02:45.410218 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.632997, -0.721058), points=7, range=0.961143, residual=0.00892627, extent=0.0253074
I0419 21:02:45.410485 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.632997, -0.721058), tracking=(-0.931497, 0.721058), map_predicted=(-0.264121, -2.54104), range=0.961143, pts=7
I0419 21:02:45.410531 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0296418m maha_sq=0.0381554 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.264121, -2.54104) lm_pos=(-0.285, -2.52) delta=(0.0208795, -0.02104) -> 1 candidate(s)
I0419 21:02:45.410597 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0381554 range=0.961143 variance=0.000527773 t_weight=5684.26 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24945, -1.8955, -175.488deg) obs_actual=(-0.931497, 0.721058) obs_expected=(-0.912338, 0.69844) delta=(-0.0191596, 0.0226173) |delta|=0.0296418m
I0419 21:02:45.410645 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293654098552.
I0419 21:02:45.499131 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.25012, -1.89775), yaw=-175.518 deg backend=(-1.27621, -1.87578)
I0419 21:02:45.500178 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:45.500284 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293654374683.
I0419 21:02:45.501971 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:45.502112 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293654661358.
I0419 21:02:45.505317 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293654984218.
I0419 21:02:45.525794 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293655252962.
I0419 21:02:45.554857 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0770104s, prior_pose=(-1.25012, -1.89775), yaw=-175.515 deg
I0419 21:02:45.555018 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=944, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:45.555311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293655542383.
I0419 21:02:45.673753 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31768, 1.49815)
I0419 21:02:45.674834 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293655857253.
I0419 21:02:45.675655 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31472, 1.49915), points=7, range=1.99071, residual=0.0156799, extent=0.0404595
I0419 21:02:45.675745 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31472, 1.49915), tracking=(1.61322, 1.49915), map_predicted=(-2.74113, -3.51769), range=1.99071, pts=7
I0419 21:02:45.675770 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65103m maha_sq=302.019 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74113, -3.51769) lm_pos=(-0.285, -2.52) delta=(-2.45613, -0.997693) -> 0 candidate(s)
I0419 21:02:45.677796 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:45.677883 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:45.677994 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293656134526.
I0419 21:02:45.678779 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:45.679819 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:45.679881 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:45.679975 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293656461804.
I0419 21:02:45.682675 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293656734187.
I0419 21:02:45.766328 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293657018278.
I0419 21:02:45.768158 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293657339164.
I0419 21:02:45.769985 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.76791, -2.29526)
I0419 21:02:45.771090 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293657618661.
I0419 21:02:45.791023 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293657901245.
I0419 21:02:45.802091 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77013, -2.3039), points=3, range=3.598, residual=0.0132662, extent=0.0263376
I0419 21:02:45.802258 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77013, -2.3039), tracking=(3.06863, -2.3039), map_predicted=(-4.48974, 0.160681), range=3.598, pts=3
I0419 21:02:45.802312 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98657m maha_sq=1061.53 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48974, 0.160681) lm_pos=(-0.285, -2.52) delta=(-4.20474, 2.68068) -> 0 candidate(s)
I0419 21:02:45.802351 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:45.822650 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:45.822867 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:45.822896 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293658221186.
I0419 21:02:45.919914 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599327s, prior_pose=(-1.25115, -1.89779), yaw=-175.534 deg
I0419 21:02:45.920076 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=949, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:02:45.920187 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293658500572.
I0419 21:02:45.922889 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293658776324.
I0419 21:02:45.924568 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:45.924634 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:45.924703 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293659100082.
I0419 21:02:45.926467 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31861, 1.49921)
I0419 21:02:45.926532 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:45.938794 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:45.938920 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:45.939095 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293659381535.
I0419 21:02:46.061173 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293659661854.
I0419 21:02:46.063001 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.640674, -0.724098), points=8, range=0.965625, residual=0.00956086, extent=0.0273542
I0419 21:02:46.063102 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.640674, -0.724098), tracking=(-0.939174, 0.724098), map_predicted=(-0.259, -2.54562), range=0.965625, pts=8
I0419 21:02:46.063126 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0365041m maha_sq=0.0578371 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.259, -2.54562) lm_pos=(-0.285, -2.52) delta=(0.0260002, -0.025623) -> 1 candidate(s)
I0419 21:02:46.063185 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0578371 range=0.965625 variance=0.000539721 t_weight=5558.43 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.25183, -1.89705, -175.523deg) obs_actual=(-0.939174, 0.724098) obs_expected=(-0.915254, 0.696523) delta=(-0.0239207, 0.0275745) |delta|=0.0365041m
I0419 21:02:46.063249 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293659935805.
I0419 21:02:46.065972 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:46.066087 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293660253381.
I0419 21:02:46.068959 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:46.069114 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293660537623.
I0419 21:02:46.086660 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293660857978.
I0419 21:02:46.188447 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.325661, 0.082708)
I0419 21:02:46.188652 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293661133427.
I0419 21:02:46.191401 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437405s, prior_pose=(-1.24841, -1.89665), yaw=-175.506 deg
I0419 21:02:46.191510 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=935, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 21:02:46.191628 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293661459441.
I0419 21:02:46.193284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293661737255.
I0419 21:02:46.194953 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31653, 1.50124), points=5, range=1.9908, residual=0.017504, extent=0.0419302
I0419 21:02:46.195009 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31653, 1.50124), tracking=(1.61503, 1.50124), map_predicted=(-2.74083, -3.51984), range=1.9908, pts=5
I0419 21:02:46.195034 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65156m maha_sq=301.355 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.74083, -3.51984) lm_pos=(-0.285, -2.52) delta=(-2.45583, -0.999835) -> 0 candidate(s)
I0419 21:02:46.202333 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:46.202450 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:46.202642 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293662015279.
I0419 21:02:46.214123 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:46.333248 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:46.333355 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:46.333432 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293662342292.
I0419 21:02:46.335211 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293662615587.
I0419 21:02:46.338027 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.636635, -0.722669)
I0419 21:02:46.338213 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293662900820.
I0419 21:02:46.340183 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.25135, -1.89693), yaw=-175.527 deg backend=(-1.27744, -1.87496)
I0419 21:02:46.341041 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293663172351.
I0419 21:02:46.350951 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293663500143.
I0419 21:02:46.472234 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293663772958.
I0419 21:02:46.473142 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.76473, -2.30621), points=4, range=3.59775, residual=0.0142098, extent=0.0317466
I0419 21:02:46.473225 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.76473, -2.30621), tracking=(3.06323, -2.30621), map_predicted=(-4.48125, 0.163152), range=3.59775, pts=4
I0419 21:02:46.473253 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98075m maha_sq=1057.88 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48125, 0.163152) lm_pos=(-0.285, -2.52) delta=(-4.19625, 2.68315) -> 0 candidate(s)
I0419 21:02:46.473275 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:46.475272 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:46.475370 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:46.475394 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293664097165.
I0419 21:02:46.476997 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799225s, prior_pose=(-1.24665, -1.89581), yaw=-175.504 deg
I0419 21:02:46.477056 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=946, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:46.477164 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293664377568.
I0419 21:02:46.479586 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293664654060.
I0419 21:02:46.480435 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.7655, -2.30006)
I0419 21:02:46.565915 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:46.566025 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:46.566133 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293664980776.
I0419 21:02:46.566794 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:46.566912 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:46.567862 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:46.567924 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:46.568004 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293665259307.
I0419 21:02:46.571378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293665541551.
I0419 21:02:46.586531 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.636294, -0.72339), points=9, range=0.966, residual=0.0104294, extent=0.030105
I0419 21:02:46.586757 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.636294, -0.72339), tracking=(-0.934794, 0.72339), map_predicted=(-0.259851, -2.54543), range=0.966, pts=9
I0419 21:02:46.588565 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0357622m maha_sq=0.0554681 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.259851, -2.54543) lm_pos=(-0.285, -2.52) delta=(0.0251487, -0.0254259) -> 1 candidate(s)
I0419 21:02:46.588724 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0554681 range=0.966 variance=0.000557101 t_weight=5385.02 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24844, -1.89748, -175.507deg) obs_actual=(-0.934794, 0.72339) obs_expected=(-0.911714, 0.696072) delta=(-0.0230797, 0.0273178) |delta|=0.0357622m
I0419 21:02:46.588788 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293665857726.
I0419 21:02:46.610508 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:46.610658 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293666100386.
I0419 21:02:46.698279 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:46.698532 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293666453837.
I0419 21:02:46.701273 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.638797, -0.724106)
I0419 21:02:46.701453 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293666700383.
I0419 21:02:46.703159 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293666993300.
I0419 21:02:46.730907 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604967s, prior_pose=(-1.27649, -1.87393), yaw=-175.399 deg
I0419 21:02:46.731020 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=927, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:46.731165 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293667305350.
I0419 21:02:46.828187 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:46.829246 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293667583844.
I0419 21:02:46.830120 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31456, 1.49898), points=5, range=1.9892, residual=0.0145607, extent=0.034769
I0419 21:02:46.830209 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31456, 1.49898), tracking=(1.61306, 1.49898), map_predicted=(-2.76265, -3.49877), range=1.9892, pts=5
I0419 21:02:46.830233 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66397m maha_sq=305.421 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.76265, -3.49877) lm_pos=(-0.285, -2.52) delta=(-2.47765, -0.978773) -> 0 candidate(s)
I0419 21:02:46.831243 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:46.831321 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:46.831416 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293667901047.
I0419 21:02:46.833247 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:46.834314 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:46.834391 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:46.834467 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293668174100.
I0419 21:02:46.850337 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293668498178.
I0419 21:02:46.857600 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77244, -2.29902)
I0419 21:02:46.877729 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293668772391.
I0419 21:02:46.966603 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293669060317.
I0419 21:02:46.970135 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293669379180.
I0419 21:02:46.972218 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293669659213.
I0419 21:02:46.974308 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77759, -2.29648), points=3, range=3.605, residual=0.0109733, extent=0.0224361
I0419 21:02:46.974429 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77759, -2.29648), tracking=(3.07609, -2.29648), map_predicted=(-4.52611, 0.166117), range=3.605, pts=3
I0419 21:02:46.974455 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02019m maha_sq=1078.39 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.52611, 0.166117) lm_pos=(-0.285, -2.52) delta=(-4.24111, 2.68612) -> 0 candidate(s)
I0419 21:02:46.974478 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:46.994516 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:46.994659 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:46.994683 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293669940369.
I0419 21:02:47.099660 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517885s, prior_pose=(-1.27655, -1.8743), yaw=-175.398 deg
I0419 21:02:47.099788 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=898, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 21:02:47.099916 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293670256822.
I0419 21:02:47.100647 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31371, 1.49366)
I0419 21:02:47.101809 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293670532960.
I0419 21:02:47.104446 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:47.104537 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:47.104627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293670821098.
I0419 21:02:47.105324 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:47.114429 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:47.114507 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:47.114607 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293671140979.
I0419 21:02:47.142328 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293671417898.
I0419 21:02:47.242278 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.640101, -0.723461), points=8, range=0.96425, residual=0.00993684, extent=0.0307018
I0419 21:02:47.242393 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.640101, -0.723461), tracking=(-0.938601, 0.723461), map_predicted=(-0.283479, -2.52334), range=0.96425, pts=8
I0419 21:02:47.242421 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00367276m maha_sq=0.000583699 (gate chi2=5.99) pose_sigma=(0.150209, 0.150209, rho=0) det_map=(-0.283479, -2.52334) lm_pos=(-0.285, -2.52) delta=(0.00152138, -0.00334284) -> 1 candidate(s)
I0419 21:02:47.242478 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.000583699 range=0.96425 variance=0.000546985 t_weight=5484.61 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.27681, -1.87708, -175.424deg) obs_actual=(-0.938601, 0.723461) obs_expected=(-0.937351, 0.720007) delta=(-0.00124981, 0.00345357) |delta|=0.00367276m
I0419 21:02:47.242565 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293671694959.
I0419 21:02:47.244634 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.27681, -1.87708), yaw=-175.424 deg backend=(-1.27681, -1.87708)
I0419 21:02:47.245553 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:47.245666 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293672017557.
I0419 21:02:47.247381 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:47.247505 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293672296845.
I0419 21:02:47.249258 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.77372, -2.30008)
I0419 21:02:47.266722 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293672659848.
I0419 21:02:47.384871 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293672895297.
I0419 21:02:47.386718 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.07575s, prior_pose=(-1.27745, -1.87593), yaw=-175.418 deg
I0419 21:02:47.386838 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=867, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 21:02:47.386986 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293673177029.
I0419 21:02:47.389726 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293673454728.
I0419 21:02:47.391456 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31924, 1.49552), points=5, range=1.9942, residual=0.0101065, extent=0.0248367
I0419 21:02:47.391623 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31924, 1.49552), tracking=(1.61774, 1.49552), map_predicted=(-2.77054, -3.49593), range=1.9942, pts=5
I0419 21:02:47.391670 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67027m maha_sq=308.318 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77054, -3.49593) lm_pos=(-0.285, -2.52) delta=(-2.48554, -0.975926) -> 0 candidate(s)
I0419 21:02:47.395032 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:47.395116 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:47.395224 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293673773812.
I0419 21:02:47.395892 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:47.406064 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:47.406147 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:47.406260 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293674057175.
I0419 21:02:47.496114 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.636016, -0.723049)
I0419 21:02:47.496310 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293674336131.
I0419 21:02:47.500733 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293674656015.
I0419 21:02:47.502765 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293674939278.
I0419 21:02:47.522660 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293675221209.
I0419 21:02:47.629307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293675537371.
I0419 21:02:47.630411 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77513, -2.30806), points=3, range=3.60567, residual=0.0120424, extent=0.0241582
I0419 21:02:47.630504 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77513, -2.30806), tracking=(3.07363, -2.30806), map_predicted=(-4.522, 0.179154), range=3.60567, pts=3
I0419 21:02:47.630532 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0237m maha_sq=1078.76 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.522, 0.179154) lm_pos=(-0.285, -2.52) delta=(-4.237, 2.69915) -> 0 candidate(s)
I0419 21:02:47.630553 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:47.631500 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:47.631585 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:47.631609 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293675819287.
I0419 21:02:47.634431 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055847s, prior_pose=(-1.27369, -1.8758), yaw=-175.414 deg
I0419 21:02:47.634539 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=852, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:02:47.634711 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293676095841.
I0419 21:02:47.635717 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.7727, -2.29924)
I0419 21:02:47.643961 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293676430714.
I0419 21:02:47.670114 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:47.670262 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:47.670449 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293676694274.
I0419 21:02:47.772998 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:47.774077 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:47.774165 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:47.774261 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293676971909.
I0419 21:02:47.777182 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293677294132.
I0419 21:02:47.778911 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.643661, -0.723253), points=7, range=0.965857, residual=0.00841426, extent=0.0219276
I0419 21:02:47.779006 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.643661, -0.723253), tracking=(-0.942161, 0.723253), map_predicted=(-0.278683, -2.52214), range=0.965857, pts=7
I0419 21:02:47.779036 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00666816m maha_sq=0.00193163 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.278683, -2.52214) lm_pos=(-0.285, -2.52) delta=(0.00631704, -0.00213527) -> 1 candidate(s)
I0419 21:02:47.779145 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00193163 range=0.965857 variance=0.000519122 t_weight=5778.99 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.27587, -1.87686, -175.395deg) obs_actual=(-0.942161, 0.723253) obs_expected=(-0.936036, 0.720618) delta=(-0.00612522, 0.00263554) |delta|=0.00666816m
I0419 21:02:47.779201 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293677571787.
I0419 21:02:47.789916 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:47.790079 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293677894211.
I0419 21:02:47.885764 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.637888, -0.723073)
I0419 21:02:47.885877 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:47.885946 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293678175016.
I0419 21:02:47.890286 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293678455316.
I0419 21:02:47.893309 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293678778528.
I0419 21:02:47.906147 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481875s, prior_pose=(-1.27456, -1.87585), yaw=-175.415 deg
I0419 21:02:47.906270 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=846, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:02:47.906497 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293679057338.
I0419 21:02:47.934464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293679339208.
I0419 21:02:48.017333 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3199, 1.49628), points=5, range=1.9952, residual=0.0104977, extent=0.0252216
I0419 21:02:48.017442 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3199, 1.49628), tracking=(1.6184, 1.49628), map_predicted=(-2.77076, -3.49422), range=1.9952, pts=5
I0419 21:02:48.017475 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66985m maha_sq=307.109 (gate chi2=5.99) pose_sigma=(0.150252, 0.150252, rho=0) det_map=(-2.77076, -3.49422) lm_pos=(-0.285, -2.52) delta=(-2.48576, -0.974216) -> 0 candidate(s)
I0419 21:02:48.018076 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:48.018517 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:48.018590 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:48.018693 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293679662496.
I0419 21:02:48.019402 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:48.021404 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:48.021529 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:48.021607 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293679937051.
I0419 21:02:48.022496 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.31795, 1.49845)
I0419 21:02:48.023504 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293680221239.
I0419 21:02:48.054070 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293680533129.
I0419 21:02:48.150771 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.27425, -1.87413), yaw=-175.405 deg backend=(-1.27425, -1.87413)
I0419 21:02:48.151716 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293680820527.
I0419 21:02:48.153453 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293681093192.
I0419 21:02:48.156211 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293681419592.
I0419 21:02:48.156985 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.77424, -2.30051), points=3, range=3.604, residual=0.0093397, extent=0.0217976
I0419 21:02:48.157058 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.77424, -2.30051), tracking=(3.07274, -2.30051), map_predicted=(-4.52142, 0.172809), range=3.604, pts=3
I0419 21:02:48.157104 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0198m maha_sq=1079.77 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.52142, 0.172809) lm_pos=(-0.285, -2.52) delta=(-4.23642, 2.69281) -> 0 candidate(s)
I0419 21:02:48.157128 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:48.172312 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:48.172428 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:48.172500 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293681701292.
I0419 21:02:48.198052 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076286s, prior_pose=(-1.27425, -1.87413), yaw=-175.404 deg
I0419 21:02:48.198155 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=910, max_intensity=250, threshold=230, above_threshold=9, candidates=9
I0419 21:02:48.198314 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293681977019.
I0419 21:02:48.283738 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.77544, -2.29473)
I0419 21:02:48.288893 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293682298141.
I0419 21:02:48.291922 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:48.292050 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:48.292141 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293682583780.
I0419 21:02:48.292991 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:48.295506 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:48.295712 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:48.295833 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293682950182.
I0419 21:02:48.318593 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293683180679.
I0419 21:02:48.421154 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.646986, -0.726988), points=7, range=0.970714, residual=0.00971829, extent=0.0260976
I0419 21:02:48.421284 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.646986, -0.726988), tracking=(-0.945486, 0.726988), map_predicted=(-0.271784, -2.52347), range=0.970714, pts=7
I0419 21:02:48.421321 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0136643m maha_sq=0.0080707 (gate chi2=5.99) pose_sigma=(0.150306, 0.150306, rho=0) det_map=(-0.271784, -2.52347) lm_pos=(-0.285, -2.52) delta=(0.013216, -0.00347145) -> 1 candidate(s)
I0419 21:02:48.421394 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0080707 range=0.970714 variance=0.000543002 t_weight=5524.84 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.2742, -1.87724, -175.252deg) obs_actual=(-0.945486, 0.726988) obs_expected=(-0.932603, 0.722434) delta=(-0.0128833, 0.0045535) |delta|=0.0136643m
I0419 21:02:48.421445 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293683455646.
I0419 21:02:48.423211 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:48.423339 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293683733996.
I0419 21:02:48.426126 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.632814, -0.727916)
I0419 21:02:48.426260 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:48.426337 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293684058968.
I0419 21:02:48.434221 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293684336689.
I0419 21:02:48.462138 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293684614782.
I0419 21:02:48.556174 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599565s, prior_pose=(-1.27593, -1.87349), yaw=-175.024 deg
I0419 21:02:48.556303 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=948, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:48.556439 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293684936254.
I0419 21:02:48.559332 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293685257579.
I0419 21:02:48.560159 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3379, 1.46862), points=4, range=1.98775, residual=0.00871587, extent=0.0205235
I0419 21:02:48.560227 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3379, 1.46862), tracking=(1.6364, 1.46862), map_predicted=(-2.77526, -3.48183), range=1.98775, pts=4
I0419 21:02:48.560254 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66955m maha_sq=308.509 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.77526, -3.48183) lm_pos=(-0.285, -2.52) delta=(-2.49026, -0.961826) -> 0 candidate(s)
I0419 21:02:48.561197 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:48.561246 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:48.561328 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293685540736.
I0419 21:02:48.563822 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:48.578359 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:48.578457 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:48.578575 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293685778973.
I0419 21:02:48.590122 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.7274, -2.3501)
I0419 21:02:48.693267 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293686096633.
I0419 21:02:48.695205 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293686380241.
I0419 21:02:48.697953 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293686701995.
I0419 21:02:48.700681 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293686978216.
I0419 21:02:48.730777 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293687299527.
I0419 21:02:48.841591 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.65519, -2.44729), points=4, range=3.6075, residual=0.0146794, extent=0.0340275
I0419 21:02:48.841709 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.65519, -2.44729), tracking=(2.95369, -2.44729), map_predicted=(-4.50943, 0.201496), range=3.6075, pts=4
I0419 21:02:48.841738 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02517m maha_sq=1067.91 (gate chi2=5.99) pose_sigma=(0.150601, 0.150601, rho=0) det_map=(-4.50943, 0.201496) lm_pos=(-0.285, -2.52) delta=(-4.22443, 2.7215) -> 0 candidate(s)
I0419 21:02:48.841761 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:48.842715 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:48.842803 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:48.842826 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293687622132.
I0419 21:02:48.845266 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0470402s, prior_pose=(-1.28336, -1.87326), yaw=-172.581 deg
I0419 21:02:48.845340 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=965, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:02:48.845376 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.595315, -0.776455)
I0419 21:02:48.845459 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293687855407.
I0419 21:02:48.847051 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293688141632.
I0419 21:02:48.927723 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:48.927845 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:48.927964 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293688459766.
I0419 21:02:48.928694 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:48.930677 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:48.930814 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:48.930893 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293688733456.
I0419 21:02:48.932565 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293689017009.
I0419 21:02:49.015622 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.570703, -0.808317), points=7, range=0.990714, residual=0.00844361, extent=0.0245592
I0419 21:02:49.015739 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.570703, -0.808317), tracking=(-0.869203, 0.808317), map_predicted=(-0.297661, -2.53448), range=0.990714, pts=7
I0419 21:02:49.015770 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0192347m maha_sq=0.0160467 (gate chi2=5.99) pose_sigma=(0.150117, 0.150117, rho=0) det_map=(-0.297661, -2.53448) lm_pos=(-0.285, -2.52) delta=(-0.0126609, -0.0144802) -> 1 candidate(s)
I0419 21:02:49.015843 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0160467 range=0.990714 variance=0.000520832 t_weight=5760.01 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.28384, -1.87392, -170.894deg) obs_actual=(-0.869203, 0.808317) obs_expected=(-0.883996, 0.796023) delta=(0.014793, 0.0122938) |delta|=0.0192347m
I0419 21:02:49.015908 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293689340762.
I0419 21:02:49.018008 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.28383, -1.87392), yaw=-170.273 deg backend=(-1.28383, -1.87392)
I0419 21:02:49.018803 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:49.018904 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293689618387.
I0419 21:02:49.019701 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.46288, 1.30953)
I0419 21:02:49.020623 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:49.020720 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293689895672.
I0419 21:02:49.103730 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293690215995.
I0419 21:02:49.106612 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293690535925.
I0419 21:02:49.108258 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.08068s, prior_pose=(-1.28683, -1.87378), yaw=-168.647 deg
I0419 21:02:49.108346 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:49.108448 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293690822077.
I0419 21:02:49.190676 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293691098524.
I0419 21:02:49.191489 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.53311, 1.20864), points=5, range=1.954, residual=0.0117848, extent=0.0302541
I0419 21:02:49.191566 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.53311, 1.20864), tracking=(1.83161, 1.20864), map_predicted=(-2.80917, -3.45565), range=1.954, pts=5
I0419 21:02:49.191591 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69201m maha_sq=312.914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80917, -3.45565) lm_pos=(-0.285, -2.52) delta=(-2.52417, -0.935652) -> 0 candidate(s)
I0419 21:02:49.193670 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:49.193735 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:49.193827 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293691419045.
I0419 21:02:49.194535 1218530 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(-0.20593, 0.357994)
I0419 21:02:49.194592 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:49.199146 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:49.199249 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:49.199347 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293691700043.
I0419 21:02:49.278698 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:49.278894 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293691983776.
I0419 21:02:49.281632 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293692298384.
I0419 21:02:49.283259 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293692578691.
I0419 21:02:49.362046 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.39554, 2.90408)
I0419 21:02:49.362171 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.39554, 2.90408), points=3, range=3.222, residual=0.00843857, extent=0.0203752
I0419 21:02:49.362200 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.39554, 2.90408), tracking=(-1.09704, 2.90408), map_predicted=(0.57915, -4.35186), range=3.222, pts=3
I0419 21:02:49.362226 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=2.02546m maha_sq=175.329 (gate chi2=5.99) pose_sigma=(0.150476, 0.150476, rho=0) det_map=(0.57915, -4.35186) lm_pos=(-0.285, -2.52) delta=(0.86415, -1.83186) -> 0 candidate(s)
I0419 21:02:49.363416 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293692863951.
I0419 21:02:49.366186 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293693186837.
I0419 21:02:49.366940 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:49.367887 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:49.367944 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:49.367967 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293693459008.
I0419 21:02:49.449376 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0549214s, prior_pose=(-1.28689, -1.87122), yaw=-161.972 deg
I0419 21:02:49.449492 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=244, threshold=230, above_threshold=8, candidates=8
I0419 21:02:49.449616 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293693736051.
I0419 21:02:49.452250 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293694024474.
I0419 21:02:49.453054 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.25397, 2.95421)
I0419 21:02:49.454027 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:49.454080 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:49.454149 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293694348484.
I0419 21:02:49.534327 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.02802, -3.04474), points=4, range=3.65425, residual=0.0158493, extent=0.0370997
I0419 21:02:49.534453 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:49.534471 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.02802, -3.04474), tracking=(2.32652, -3.04474), map_predicted=(-4.50264, 0.218346), range=3.65425, pts=4
I0419 21:02:49.534495 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02862m maha_sq=1071.35 (gate chi2=5.99) pose_sigma=(0.150309, 0.150309, rho=0) det_map=(-4.50264, 0.218346) lm_pos=(-0.285, -2.52) delta=(-4.21764, 2.73835) -> 0 candidate(s)
I0419 21:02:49.535527 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:49.535598 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:49.535686 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293694618598.
I0419 21:02:49.538616 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293694895383.
I0419 21:02:49.540423 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0772076 range=1.0452 variance=0.00058527 t_weight=5125.84 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.29068, -1.87143, -159.597deg) obs_actual=(-0.676352, 0.971589) obs_expected=(-0.716484, 0.958482) delta=(0.0401317, 0.0131074) |delta|=0.042218m
I0419 21:02:49.540541 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293695220736.
I0419 21:02:49.619719 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:49.619866 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293695536906.
I0419 21:02:49.620582 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-1.08208, 3.00015)
I0419 21:02:49.622530 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:49.622651 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293695817997.
I0419 21:02:49.623375 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.85245, -3.16585), points=4, range=3.667, residual=0.0133813, extent=0.0319943
I0419 21:02:49.623428 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.85245, -3.16585), tracking=(2.15095, -3.16585), map_predicted=(-4.48032, 0.239374), range=3.667, pts=4
I0419 21:02:49.623452 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02144m maha_sq=1075.71 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48032, 0.239374) lm_pos=(-0.285, -2.52) delta=(-4.19532, 2.75937) -> 0 candidate(s)
I0419 21:02:49.624436 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293696097574.
I0419 21:02:49.703162 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:02:49.704345 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293696379247.
I0419 21:02:49.707127 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517518s, prior_pose=(-1.29093, -1.8724), yaw=-156.067 deg
I0419 21:02:49.707252 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1053, max_intensity=249, threshold=230, above_threshold=9, candidates=9
I0419 21:02:49.707388 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293696693755.
I0419 21:02:49.709124 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293696982110.
I0419 21:02:49.787444 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-0.948689, 3.03972)
I0419 21:02:49.788393 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:49.788446 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:49.788550 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293697256475.
I0419 21:02:49.789405 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:49.791282 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:49.791340 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.316242, -1.02366), points=7, range=1.06814, residual=0.0101627, extent=0.0266345
I0419 21:02:49.791359 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:49.791371 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.316242, -1.02366), tracking=(-0.614742, 1.02366), map_predicted=(-0.297485, -2.53089), range=1.06814, pts=7
I0419 21:02:49.791389 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0165686m maha_sq=0.0119056 (gate chi2=5.99) pose_sigma=(0.150004, 0.150004, rho=0) det_map=(-0.297485, -2.53089) lm_pos=(-0.285, -2.52) delta=(-0.0124849, -0.0108924) -> 1 candidate(s)
I0419 21:02:49.791472 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293697583136.
I0419 21:02:49.793146 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293697853474.
I0419 21:02:49.873889 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293698134809.
I0419 21:02:49.875942 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.2928, -1.87289), yaw=-153.076 deg backend=(-1.2928, -1.87289)
I0419 21:02:49.876672 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293698413647.
I0419 21:02:49.877624 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-0.821306, 3.0652)
I0419 21:02:49.878654 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293698740667.
I0419 21:02:49.956281 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293699019234.
I0419 21:02:49.957090 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.54998, -3.3494), points=4, range=3.693, residual=0.0151983, extent=0.0368982
I0419 21:02:49.957161 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.54998, -3.3494), tracking=(1.84848, -3.3494), map_predicted=(-4.48869, 0.235149), range=3.693, pts=4
I0419 21:02:49.957223 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02612m maha_sq=1075.11 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48869, 0.235149) lm_pos=(-0.285, -2.52) delta=(-4.20369, 2.75515) -> 0 candidate(s)
I0419 21:02:49.957249 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:49.959208 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:49.959322 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:49.959348 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293699339529.
I0419 21:02:49.962396 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798324s, prior_pose=(-1.29486, -1.8708), yaw=-151.595 deg
I0419 21:02:49.962852 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1057, max_intensity=255, threshold=230, above_threshold=9, candidates=9
I0419 21:02:49.963341 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293699617799.
I0419 21:02:50.084751 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293699901979.
I0419 21:02:50.085636 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.43527, -3.40882)
I0419 21:02:50.087764 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:02:50.087880 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:02:50.087987 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293700219439.
I0419 21:02:50.088819 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:50.089888 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:50.089958 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:50.169480 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.82149, 0.584528), points=5, range=1.9096, residual=0.0133512, extent=0.031982
I0419 21:02:50.169575 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.82149, 0.584528), tracking=(2.11999, 0.584528), map_predicted=(-2.80535, -3.47114), range=1.9096, pts=5
I0419 21:02:50.169607 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69385m maha_sq=311.419 (gate chi2=5.99) pose_sigma=(0.15036, 0.15036, rho=0) det_map=(-2.80535, -3.47114) lm_pos=(-0.285, -2.52) delta=(-2.52035, -0.951143) -> 0 candidate(s)
I0419 21:02:50.171375 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.31538, -3.47191)
I0419 21:02:50.175195 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:50.253510 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.83754, 0.50677)
I0419 21:02:50.254242 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:50.254626 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:50.254716 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293701658191.
I0419 21:02:50.257375 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.70782, 3.55394), points=4, range=3.94325, residual=0.0151303, extent=0.0357991
I0419 21:02:50.257472 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.70782, 3.55394), tracking=(1.40932, -3.55394), map_predicted=(-4.45429, 0.280159), range=3.94325, pts=4
I0419 21:02:50.257543 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.02234m maha_sq=1071.4 (gate chi2=5.99) pose_sigma=(0.150001, 0.150001, rho=0) det_map=(-4.45429, 0.280159) lm_pos=(-0.285, -2.52) delta=(-4.16929, 2.80016) -> 0 candidate(s)
I0419 21:02:50.338498 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0571204s, prior_pose=(-1.30088, -1.87283), yaw=-144.836 deg
I0419 21:02:50.338613 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1092, max_intensity=249, threshold=230, above_threshold=13, candidates=13
I0419 21:02:50.338668 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.49469, 0.68506)
I0419 21:02:50.342895 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:50.342983 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:50.343007 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.53098, 3.60685), points=4, range=3.92175, residual=0.0172345, extent=0.0417875
I0419 21:02:50.343029 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.53098, 3.60685), tracking=(1.23248, -3.60685), map_predicted=(-4.42128, 0.316114), range=3.92175, pts=4
I0419 21:02:50.343050 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.01521m maha_sq=1059.76 (gate chi2=5.99) pose_sigma=(0.150425, 0.150425, rho=0) det_map=(-4.42128, 0.316114) lm_pos=(-0.285, -2.52) delta=(-4.13628, 2.83611) -> 0 candidate(s)
I0419 21:02:50.343080 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:50.423157 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:50.424286 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:50.424371 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:50.425055 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-0.221695, 3.10558)
I0419 21:02:50.504596 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.34898, 3.67311), points=3, range=3.913, residual=0.0119311, extent=0.0290167
I0419 21:02:50.504714 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.34898, 3.67311), tracking=(1.05048, -3.67311), map_predicted=(-4.43216, 0.306025), range=3.913, pts=3
I0419 21:02:50.504742 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.01851m maha_sq=1058.44 (gate chi2=5.99) pose_sigma=(0.151144, 0.151144, rho=0) det_map=(-4.43216, 0.306025) lm_pos=(-0.285, -2.52) delta=(-4.14716, 2.82603) -> 0 candidate(s)
I0419 21:02:50.507481 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-1.30823, 3.67746)
I0419 21:02:50.586488 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:50.590399 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480931s, prior_pose=(-1.29474, -1.8721), yaw=-137.643 deg
I0419 21:02:50.590516 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1101, max_intensity=249, threshold=230, above_threshold=9, candidates=9
I0419 21:02:50.591331 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.88911, 0.132152)
I0419 21:02:50.591384 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.620882, -3.7104), points=4, range=3.765, residual=0.0168024, extent=0.0406665
I0419 21:02:50.591413 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.620882, -3.7104), tracking=(0.919382, -3.7104), map_predicted=(-4.47402, 0.250284), range=3.765, pts=4
I0419 21:02:50.591464 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02219m maha_sq=1054.05 (gate chi2=5.99) pose_sigma=(0.151219, 0.151219, rho=0) det_map=(-4.47402, 0.250284) lm_pos=(-0.285, -2.52) delta=(-4.18902, 2.77028) -> 0 candidate(s)
I0419 21:02:50.666819 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:50.666941 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:50.667769 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:50.669925 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:50.670056 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:50.670989 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.481966, -3.7451)
I0419 21:02:50.745090 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.89513, 0.0275787), points=4, range=1.88975, residual=0.0145987, extent=0.0342262
I0419 21:02:50.745199 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.89513, 0.0275787), tracking=(2.19363, 0.0275787), map_predicted=(-2.806, -3.46203), range=1.88975, pts=4
I0419 21:02:50.745239 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69126m maha_sq=303.896 (gate chi2=5.99) pose_sigma=(0.152007, 0.152007, rho=0) det_map=(-2.806, -3.46203) lm_pos=(-0.285, -2.52) delta=(-2.521, -0.942031) -> 0 candidate(s)
I0419 21:02:50.746299 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:50.746966 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:50.748229 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.29628, -1.87036), yaw=-133.327 deg backend=(-1.29628, -1.87036)
I0419 21:02:50.749533 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.275818, 3.05021)
I0419 21:02:50.831756 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.788178, 3.78939), points=3, range=3.86667, residual=0.0127079, extent=0.0259756
I0419 21:02:50.831894 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.788178, 3.78939), tracking=(0.489678, -3.78939), map_predicted=(-4.43469, 0.312164), range=3.86667, pts=3
I0419 21:02:50.831931 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.02405m maha_sq=1045.24 (gate chi2=5.99) pose_sigma=(0.152277, 0.152277, rho=0) det_map=(-4.43469, 0.312164) lm_pos=(-0.285, -2.52) delta=(-4.14969, 2.83216) -> 0 candidate(s)
I0419 21:02:50.832929 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:50.841595 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0752612s, prior_pose=(-1.29957, -1.87193), yaw=-131.252 deg
I0419 21:02:50.841697 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1055, max_intensity=255, threshold=230, above_threshold=10, candidates=10
I0419 21:02:50.841744 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.171861, -1.18138)
I0419 21:02:50.917044 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.464825, 3.01993), points=3, range=3.05467, residual=0.00871348, extent=0.0177926
I0419 21:02:50.917198 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.464825, 3.01993), tracking=(0.763325, 3.01993), map_predicted=(0.519241, -4.40254), range=3.05467, pts=3
I0419 21:02:50.917273 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=2.04714m maha_sq=174.928 (gate chi2=5.99) pose_sigma=(0.152391, 0.152391, rho=0) det_map=(0.519241, -4.40254) lm_pos=(-0.285, -2.52) delta=(0.804241, -1.88254) -> 0 candidate(s)
I0419 21:02:50.919252 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:50.919360 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:50.920207 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:02:50.934309 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:50.934424 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:51.023720 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.0166314, -3.81094)
I0419 21:02:51.027478 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.447088, 3.82528), points=4, range=3.8475, residual=0.0160533, extent=0.0385635
I0419 21:02:51.027593 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.447088, 3.82528), tracking=(0.148588, -3.82528), map_predicted=(-4.44419, 0.311471), range=3.8475, pts=4
I0419 21:02:51.027621 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.03151m maha_sq=1038.71 (gate chi2=5.99) pose_sigma=(0.152708, 0.152708, rho=0) det_map=(-4.44419, 0.311471) lm_pos=(-0.285, -2.52) delta=(-4.15919, 2.83147) -> 0 candidate(s)
I0419 21:02:51.103928 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.652485, 2.96352)
I0419 21:02:51.105837 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:51.107776 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:51.109454 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.814981, 0.330644)
I0419 21:02:51.109534 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.277397, 3.80823), points=4, range=3.823, residual=0.0181054, extent=0.0442006
I0419 21:02:51.109562 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.277397, 3.80823), tracking=(-0.0211028, -3.80823), map_predicted=(-4.41218, 0.32161), range=3.823, pts=4
I0419 21:02:51.109584 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.01082m maha_sq=1025.19 (gate chi2=5.99) pose_sigma=(0.152883, 0.152883, rho=0) det_map=(-4.41218, 0.32161) lm_pos=(-0.285, -2.52) delta=(-4.12718, 2.84161) -> 0 candidate(s)
I0419 21:02:51.186090 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596906s, prior_pose=(-1.29745, -1.87188), yaw=-123.659 deg
I0419 21:02:51.186219 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1019, max_intensity=248, threshold=230, above_threshold=14, candidates=14
I0419 21:02:51.187618 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:51.189885 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.85042, -0.429952)
I0419 21:02:51.195348 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:51.195623 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:51.279464 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:51.280469 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:51.280539 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0886919, 3.81162), points=4, range=3.81525, residual=0.0150542, extent=0.0369372
I0419 21:02:51.280607 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:51.280625 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0886919, 3.81162), tracking=(-0.209808, -3.81162), map_predicted=(-4.43651, 0.299793), range=3.81525, pts=4
I0419 21:02:51.280651 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=5.01859m maha_sq=1028.3 (gate chi2=5.99) pose_sigma=(0.153224, 0.153224, rho=0) det_map=(-4.43651, 0.299793) lm_pos=(-0.285, -2.52) delta=(-4.15151, 2.81979) -> 0 candidate(s)
I0419 21:02:51.280690 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:51.354364 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.944789, 2.8512)
I0419 21:02:51.427112 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.04037, 2.80742)
I0419 21:02:51.427237 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.648929, -3.80978), points=4, range=3.86425, residual=0.0143263, extent=0.03393
I0419 21:02:51.427268 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.648929, -3.80978), tracking=(-0.350429, -3.80978), map_predicted=(-4.47616, 0.25083), range=3.86425, pts=4
I0419 21:02:51.427289 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02427m maha_sq=1025.84 (gate chi2=5.99) pose_sigma=(0.153636, 0.153636, rho=0) det_map=(-4.47616, 0.25083) lm_pos=(-0.285, -2.52) delta=(-4.19116, 2.77083) -> 0 candidate(s)
I0419 21:02:51.427309 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:51.583035 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479252s, prior_pose=(-1.29215, -1.87302), yaw=-116.391 deg
I0419 21:02:51.583139 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=944, max_intensity=251, threshold=230, above_threshold=12, candidates=12
I0419 21:02:51.584395 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.7998, -0.658001)
I0419 21:02:51.647177 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:51.659145 1237626 pose_graph_2d.cc:160] Inserted submap (1, 47).
I0419 21:02:51.660049 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.828479, -3.78914), points=4, range=3.875, residual=0.0156945, extent=0.0365668
I0419 21:02:51.660145 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.828479, -3.78914), tracking=(-0.529979, -3.78914), map_predicted=(-4.49708, 0.227297), range=3.875, pts=4
I0419 21:02:51.660177 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02885m maha_sq=1005.61 (gate chi2=5.99) pose_sigma=(0.155247, 0.155247, rho=0) det_map=(-4.49708, 0.227297) lm_pos=(-0.285, -2.52) delta=(-4.21208, 2.7473) -> 0 candidate(s)
I0419 21:02:51.661161 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:51.661234 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:02:51.662163 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:51.734009 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:51.734140 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:51.735054 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.929628, -3.77522)
I0419 21:02:51.807523 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.01817, -3.7561), points=4, range=3.8895, residual=0.0145369, extent=0.034851
I0419 21:02:51.807720 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.01817, -3.7561), tracking=(-0.719665, -3.7561), map_predicted=(-4.46792, 0.266186), range=3.8895, pts=4
I0419 21:02:51.807750 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0259m maha_sq=1000.65 (gate chi2=5.99) pose_sigma=(0.155656, 0.155656, rho=0) det_map=(-4.46792, 0.266186) lm_pos=(-0.285, -2.52) delta=(-4.18292, 2.78619) -> 0 candidate(s)
I0419 21:02:51.809180 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.29348, -1.86671), yaw=-112.1 deg backend=(-1.29348, -1.86671)
I0419 21:02:51.810828 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-1.05674, -3.74681)
I0419 21:02:51.811867 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:51.884114 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:51.886968 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.647133, 3.70133)
I0419 21:02:51.888048 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.71584, -0.880532), points=6, range=1.92517, residual=0.014437, extent=0.039565
I0419 21:02:51.888140 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.71584, -0.880532), tracking=(2.01434, -0.880532), map_predicted=(-2.80704, -3.45651), range=1.92517, pts=6
I0419 21:02:51.888166 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6903m maha_sq=288.396 (gate chi2=5.99) pose_sigma=(0.15611, 0.15611, rho=0) det_map=(-2.80704, -3.45651) lm_pos=(-0.285, -2.52) delta=(-2.52204, -0.936515) -> 0 candidate(s)
I0419 21:02:51.889170 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802305s, prior_pose=(-1.28742, -1.86792), yaw=-110.117 deg
I0419 21:02:51.889237 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=898, max_intensity=247, threshold=230, above_threshold=12, candidates=12
I0419 21:02:51.964000 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:02:51.964143 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.200447, -0.338039)
I0419 21:02:51.964165 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=2
I0419 21:02:51.965009 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:51.965924 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:51.966005 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:52.038161 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.885017, 3.6396), points=4, range=3.7415, residual=0.0159888, extent=0.0382705
I0419 21:02:52.038308 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.885017, 3.6396), tracking=(-1.18352, -3.6396), map_predicted=(-4.42791, 0.321876), range=3.7415, pts=4
I0419 21:02:52.038342 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02394m maha_sq=988.618 (gate chi2=5.99) pose_sigma=(0.156525, 0.156525, rho=0) det_map=(-4.42791, 0.321876) lm_pos=(-0.285, -2.52) delta=(-4.14291, 2.84188) -> 0 candidate(s)
I0419 21:02:52.041064 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.91965, 3.62102)
I0419 21:02:52.041208 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:52.117962 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.59904, -1.0955)
I0419 21:02:52.118139 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:52.119179 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08716, 3.55584), points=4, range=3.72025, residual=0.0149979, extent=0.0366254
I0419 21:02:52.119270 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.08716, 3.55584), tracking=(-1.38566, -3.55584), map_predicted=(-4.41245, 0.326605), range=3.72025, pts=4
I0419 21:02:52.119335 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01388m maha_sq=983.107 (gate chi2=5.99) pose_sigma=(0.156764, 0.156764, rho=0) det_map=(-4.41245, 0.326605) lm_pos=(-0.285, -2.52) delta=(-4.12745, 2.8466) -> 0 candidate(s)
I0419 21:02:52.127952 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 80
I0419 21:02:52.191952 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055413s, prior_pose=(-1.28819, -1.86728), yaw=-102.691 deg
I0419 21:02:52.192092 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=885, max_intensity=243, threshold=230, above_threshold=3, candidates=3
I0419 21:02:52.195459 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.78961, 2.30435)
I0419 21:02:52.196542 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:52.196604 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:52.266693 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:52.267659 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:52.267736 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:52.337759 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29625, 3.46692), points=4, range=3.70375, residual=0.0146845, extent=0.0360587
I0419 21:02:52.337905 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29625, 3.46692), tracking=(-1.59475, -3.46692), map_predicted=(-4.44164, 0.285729), range=3.70375, pts=4
I0419 21:02:52.337939 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01495m maha_sq=976.416 (gate chi2=5.99) pose_sigma=(0.157396, 0.157396, rho=0) det_map=(-4.44164, 0.285729) lm_pos=(-0.285, -2.52) delta=(-4.15664, 2.80573) -> 0 candidate(s)
I0419 21:02:52.338872 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.294383, -0.561511)
I0419 21:02:52.411756 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:52.413355 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:52.416968 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.94831, 2.15118)
I0419 21:02:52.491021 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.050346s, prior_pose=(-1.27865, -1.86815), yaw=-95.6004 deg
I0419 21:02:52.491164 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=813, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 21:02:52.491936 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.02563, 2.06128), points=3, range=2.89, residual=0.00773076, extent=0.0186142
I0419 21:02:52.492002 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.02563, 2.06128), tracking=(2.32413, 2.06128), map_predicted=(0.545982, -4.38235), range=2.89, pts=3
I0419 21:02:52.492028 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.03933m maha_sq=161.395 (gate chi2=5.99) pose_sigma=(0.15835, 0.15835, rho=0) det_map=(0.545982, -4.38235) lm_pos=(-0.285, -2.52) delta=(0.830982, -1.86235) -> 0 candidate(s)
I0419 21:02:52.563503 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:52.563611 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:52.564395 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.3832, -1.39927)
I0419 21:02:52.564459 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:02:52.566548 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:52.566630 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:52.567395 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:02:52.638556 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[3] -> lm[1] 'ref_2' maha_sq=0.0564501 range=2.071 variance=0.000842426 t_weight=3561.14 r_weight=0 yaml=(0.615, -1.32) prior=(-1.2826, -1.86319, -92.2906deg) obs_actual=(-0.581277, 1.86545) obs_expected=(-0.618597, 1.87437) delta=(0.0373203, -0.00892778) |delta|=0.0383733m
I0419 21:02:52.638680 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293724376097.
I0419 21:02:52.638765 1237626 collated_trajectory_builder.cc:82] imu rate: 200.05 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 99.83% real time)
I0419 21:02:52.638875 1237626 collated_trajectory_builder.cc:82] odom rate: 248.85 Hz 4.02e-03 s +/- 7.10e-04 s (pulsed at 99.14% real time)
I0419 21:02:52.638988 1237626 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.09e-03 s (pulsed at 99.82% real time)
I0419 21:02:52.639019 1237626 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.30e-03 s (pulsed at 99.64% real time)
I0419 21:02:52.642023 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=2 α=1 map_from_tracking=(-1.27895, -1.84277), yaw=-91.3118 deg backend=(-1.2826, -1.86316)
I0419 21:02:52.642812 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.79617, 3.19625)
I0419 21:02:52.644526 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:52.717130 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2832, -1.52021), points=6, range=1.98567, residual=0.0152541, extent=0.0438313
I0419 21:02:52.717264 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.2832, -1.52021), tracking=(1.5817, -1.52021), map_predicted=(-2.8018, -3.42407), range=1.98567, pts=6
I0419 21:02:52.717288 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67425m maha_sq=300.889 (gate chi2=5.99) pose_sigma=(0.151697, 0.151697, rho=0) det_map=(-2.8018, -3.42407) lm_pos=(-0.285, -2.52) delta=(-2.5168, -0.904069) -> 0 candidate(s)
I0419 21:02:52.719910 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.767781, 1.9245)
I0419 21:02:52.720933 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0767324s, prior_pose=(-1.27905, -1.84415), yaw=-89.1296 deg
I0419 21:02:52.720988 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=782, max_intensity=242, threshold=230, above_threshold=5, candidates=5
I0419 21:02:52.795504 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:52.795619 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:52.796399 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:52.797498 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:52.797561 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:52.869232 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.670541, 1.93829)
I0419 21:02:52.870100 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:52.873052 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.15237, 2.93545), points=3, range=3.636, residual=0.0122663, extent=0.0243099
I0419 21:02:52.873169 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.15237, 2.93545), tracking=(-2.45087, -2.93545), map_predicted=(-4.42197, 0.331537), range=3.636, pts=3
I0419 21:02:52.873196 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02452m maha_sq=1049.45 (gate chi2=5.99) pose_sigma=(0.152152, 0.152152, rho=0) det_map=(-4.42197, 0.331537) lm_pos=(-0.285, -2.52) delta=(-4.13697, 2.85154) -> 0 candidate(s)
I0419 21:02:52.946467 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.487342, 0.913362)
I0419 21:02:52.949119 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:02:53.022472 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561111s, prior_pose=(-1.27622, -1.84377), yaw=-81.5167 deg
I0419 21:02:53.022576 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=680, max_intensity=243, threshold=230, above_threshold=4, candidates=4
I0419 21:02:53.022622 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:53.095880 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.00919, -1.74782)
I0419 21:02:53.096906 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:53.096959 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:53.096983 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.3809, 2.72285), points=4, range=3.61875, residual=0.0138184, extent=0.0337764
I0419 21:02:53.097003 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.3809, 2.72285), tracking=(-2.6794, -2.72285), map_predicted=(-4.40527, 0.354944), range=3.61875, pts=4
I0419 21:02:53.097020 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02414m maha_sq=1037.43 (gate chi2=5.99) pose_sigma=(0.152931, 0.152931, rho=0) det_map=(-4.40527, 0.354944) lm_pos=(-0.285, -2.52) delta=(-4.12027, 2.87494) -> 0 candidate(s)
I0419 21:02:53.098735 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:53.099608 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:53.099665 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:53.246869 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.918744, -1.81608)
I0419 21:02:53.248899 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-76.0761 deg, rms_residual=0.00683087m, sigma_yaw=0.00919155 rad, N=2
I0419 21:02:53.249054 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.29459, -1.84918, -76.0761deg) inliers=2 rms=0.00683087m
I0419 21:02:53.249118 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293730869580.
I0419 21:02:53.252108 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.598197, 0.808406), points=4, range=1.00225, residual=0.00809591, extent=0.0179688
I0419 21:02:53.252251 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.598197, 0.808406), tracking=(0.896697, 0.808406), map_predicted=(-0.286103, -2.52723), range=1.00225, pts=4
I0419 21:02:53.252280 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0073168m maha_sq=0.00231302 (gate chi2=5.99) pose_sigma=(0.150431, 0.150431, rho=0) det_map=(-0.286103, -2.52723) lm_pos=(-0.285, -2.52) delta=(-0.0011031, -0.00723317) -> 1 candidate(s)
I0419 21:02:53.323606 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:53.325353 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.824848, -1.87452)
I0419 21:02:53.327315 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437896s, prior_pose=(-1.28881, -1.84904), yaw=-73.9982 deg
I0419 21:02:53.327406 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=640, max_intensity=243, threshold=230, above_threshold=5, candidates=5
I0419 21:02:53.328249 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 8 -> 7 (threshold=0.03, iters=3)
I0419 21:02:53.328372 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293732018923.
I0419 21:02:53.401172 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:53.402268 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:02:53.402354 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:02:53.403083 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.199312, 1.97949), points=3, range=1.98467, residual=0.0104296, extent=0.0213828
I0419 21:02:53.403142 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:53.403160 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.199312, 1.97949), tracking=(0.0991885, 1.97949), map_predicted=(0.62848, -1.36025), range=1.98467, pts=3
I0419 21:02:53.403182 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[1] 'ref_2' eucl_dist=0.042443m maha_sq=0.0775718 (gate chi2=5.99) pose_sigma=(0.1503, 0.1503, rho=0) det_map=(0.62848, -1.36025) lm_pos=(0.615, -1.32) delta=(0.0134799, -0.0402455) -> 1 candidate(s)
I0419 21:02:53.482693 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:53.482813 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:53.483601 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.729928, -1.9265)
I0419 21:02:53.483745 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293732896963.
I0419 21:02:53.566813 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.2958, -1.85235), yaw=-69.8427 deg backend=(-1.28342, -1.86248)
I0419 21:02:53.567714 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:53.569490 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(2.84948, 2.16678)
I0419 21:02:53.639693 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.691246, 0.69326), points=5, range=0.976, residual=0.00830979, extent=0.0190005
I0419 21:02:53.639812 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.691246, 0.69326), tracking=(0.989746, 0.69326), map_predicted=(-0.285139, -2.52283), range=0.976, pts=5
I0419 21:02:53.639844 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00283236m maha_sq=0.00034463 (gate chi2=5.99) pose_sigma=(0.150865, 0.150865, rho=0) det_map=(-0.285139, -2.52283) lm_pos=(-0.285, -2.52) delta=(-0.000139124, -0.00282895) -> 1 candidate(s)
I0419 21:02:53.639959 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293734094937.
I0419 21:02:53.641767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293734377516.
I0419 21:02:53.713419 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:53.713589 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293734658979.
I0419 21:02:53.715073 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0791264s, prior_pose=(-1.29471, -1.85615), yaw=-67.6526 deg
I0419 21:02:53.715155 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=617, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 21:02:53.786960 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(3.61804e-05, 1.95366)
I0419 21:02:53.788745 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0197769, 1.9409), points=3, range=1.946, residual=0.0113304, extent=0.0238559
I0419 21:02:53.788834 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.0197769, 1.9409), tracking=(0.318277, 1.9409), map_predicted=(0.613295, -1.36914), range=1.946, pts=3
I0419 21:02:53.788864 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[1] 'ref_2' eucl_dist=0.0491732m maha_sq=0.104191 (gate chi2=5.99) pose_sigma=(0.150198, 0.150198, rho=0) det_map=(0.613295, -1.36914) lm_pos=(0.615, -1.32) delta=(-0.0017046, -0.0491437) -> 1 candidate(s)
I0419 21:02:53.788950 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293735251584.
I0419 21:02:53.859692 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:02:53.859822 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=2
I0419 21:02:53.860684 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:53.860754 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:02:53.861681 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-1.03986, 2.05552)
I0419 21:02:53.861742 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:53.861766 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:53.934775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293735861816.
I0419 21:02:53.936607 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:02:53.936728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293736135549.
I0419 21:02:54.009228 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.0803861 range=1.92867 variance=0.000619096 t_weight=4845.78 r_weight=0 yaml=(0.615, -1.32) prior=(-1.29528, -1.85666, -62.9937deg) obs_actual=(0.424383, 1.92038) obs_expected=(0.389292, 1.94567) delta=(0.0350908, -0.0252889) |delta|=0.0432538m
I0419 21:02:54.009409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293736457237.
I0419 21:02:54.010389 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.966682, 2.09689), points=5, range=2.3064, residual=0.0122047, extent=0.0307141
I0419 21:02:54.010514 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.966682, 2.09689), tracking=(0.668182, -2.09689), map_predicted=(-2.8601, -3.40416), range=2.3064, pts=5
I0419 21:02:54.010541 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.72266m maha_sq=319.425 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.8601, -3.40416) lm_pos=(-0.285, -2.52) delta=(-2.5751, -0.884158) -> 0 candidate(s)
I0419 21:02:54.084420 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.768142, 0.568431)
I0419 21:02:54.156854 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293737340461.
I0419 21:02:54.231412 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:54.232412 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561017s, prior_pose=(-1.2854, -1.85251), yaw=-59.561 deg
I0419 21:02:54.232491 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=619, max_intensity=244, threshold=230, above_threshold=7, candidates=7
I0419 21:02:54.232533 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.18044, 1.59725)
I0419 21:02:54.233330 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.287101, -2.10919), points=7, range=2.125, residual=0.0189733, extent=0.055267
I0419 21:02:54.233417 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.287101, -2.10919), tracking=(0.585601, -2.10919), map_predicted=(-2.8072, -3.42595), range=2.125, pts=7
I0419 21:02:54.233441 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67997m maha_sq=305.004 (gate chi2=5.99) pose_sigma=(0.1505, 0.1505, rho=0) det_map=(-2.8072, -3.42595) lm_pos=(-0.285, -2.52) delta=(-2.5222, -0.905954) -> 0 candidate(s)
I0419 21:02:54.233525 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293737910982.
I0419 21:02:54.311535 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:54.311671 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:54.389847 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:54.391180 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:54.391266 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:54.392102 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.195339, -2.12499)
I0419 21:02:54.464334 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:54.465169 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.8075, 0.118488), points=3, range=2.81167, residual=0.00928897, extent=0.0191638
I0419 21:02:54.465270 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.8075, 0.118488), tracking=(3.106, 0.118488), map_predicted=(0.529762, -4.3739), range=2.81167, pts=3
I0419 21:02:54.465303 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.02504m maha_sq=174.147 (gate chi2=5.99) pose_sigma=(0.151126, 0.151126, rho=0) det_map=(0.529762, -4.3739) lm_pos=(-0.285, -2.52) delta=(0.814762, -1.8539) -> 0 candidate(s)
I0419 21:02:54.465339 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:02:54.541363 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293739657143.
I0419 21:02:54.542309 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:54.543298 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.840197, 0.408308)
I0419 21:02:54.627526 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293740535023.
I0419 21:02:54.708137 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.859253, 0.337052), points=5, range=0.9256, residual=0.0102806, extent=0.027211
I0419 21:02:54.708280 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.859253, 0.337052), tracking=(1.15775, 0.337052), map_predicted=(-0.31086, -2.55092), range=0.9256, pts=5
I0419 21:02:54.708312 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0403124m maha_sq=0.0701511 (gate chi2=5.99) pose_sigma=(0.150378, 0.150378, rho=0) det_map=(-0.31086, -2.55092) lm_pos=(-0.285, -2.52) delta=(-0.0258601, -0.0309248) -> 1 candidate(s)
I0419 21:02:54.708374 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:54.708424 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:54.708446 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293741416384.
I0419 21:02:54.783824 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0686921s, prior_pose=(-1.29695, -1.85943), yaw=-49.3575 deg
I0419 21:02:54.784037 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=868, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 21:02:54.784147 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.0947372, -2.1719)
I0419 21:02:54.784283 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293742025373.
I0419 21:02:54.863619 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:02:54.863757 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:02:54.863874 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293742892690.
I0419 21:02:54.864850 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:54.939283 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.312841, 2.20263)
I0419 21:02:54.939399 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:54.939431 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:54.940099 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.252147, -2.18514), points=7, range=2.19671, residual=0.0170576, extent=0.0505688
I0419 21:02:54.940171 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.252147, -2.18514), tracking=(0.0463529, -2.18514), map_predicted=(-2.83823, -3.41201), range=2.19671, pts=7
I0419 21:02:54.940201 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.70457m maha_sq=311.994 (gate chi2=5.99) pose_sigma=(0.150361, 0.150361, rho=0) det_map=(-2.83823, -3.41201) lm_pos=(-0.285, -2.52) delta=(-2.55323, -0.892009) -> 0 candidate(s)
I0419 21:02:55.101413 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.29671, -1.85609), yaw=-42.0282 deg backend=(-1.28754, -1.86699)
I0419 21:02:55.102025 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293745254073.
I0419 21:02:55.103812 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.90276, 0.136284)
I0419 21:02:55.185683 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293746135234.
I0419 21:02:55.186496 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.51555, 0.250967), points=3, range=3.52367, residual=0.0103193, extent=0.0205116
I0419 21:02:55.186587 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.51555, 0.250967), tracking=(-3.81405, -0.250967), map_predicted=(-4.37988, 0.404903), range=3.52367, pts=3
I0419 21:02:55.186618 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0322m maha_sq=1084.88 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.37988, 0.404903) lm_pos=(-0.285, -2.52) delta=(-4.09488, 2.9249) -> 0 candidate(s)
I0419 21:02:55.270633 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.133132 range=1.809 variance=0.000599267 t_weight=5006.12 r_weight=0 yaml=(0.615, -1.32) prior=(-1.29176, -1.85153, -37.7547deg) obs_actual=(1.22571, 1.5533) obs_expected=(1.18211, 1.58773) delta=(0.0435953, -0.0344256) |delta|=0.0555488m
I0419 21:02:55.270819 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293747030078.
I0419 21:02:55.271694 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.105146s, prior_pose=(-1.29176, -1.85153), yaw=-37.7547 deg
I0419 21:02:55.271759 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=599, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:02:55.355697 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.905744, 0.0118992)
I0419 21:02:55.443091 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:55.443188 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:55.443764 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.909438, -0.0317585), points=6, range=0.908, residual=0.00704761, extent=0.0175179
I0419 21:02:55.443814 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:02:55.443833 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.909438, -0.0317585), tracking=(1.20794, -0.0317585), map_predicted=(-0.312186, -2.55399), range=0.908, pts=6
I0419 21:02:55.443857 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0435209m maha_sq=0.0818236 (gate chi2=5.99) pose_sigma=(0.150509, 0.150509, rho=0) det_map=(-0.312186, -2.55399) lm_pos=(-0.285, -2.52) delta=(-0.027186, -0.0339851) -> 1 candidate(s)
I0419 21:02:55.443878 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:55.443924 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-32.1213 deg, rms_residual=0.00544129m, sigma_yaw=0.00730807 rad, N=2
I0419 21:02:55.443953 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-1.28788, -1.84647, -32.1213deg) inliers=2 rms=0.00544129m
I0419 21:02:55.443984 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293748740945.
I0419 21:02:55.444012 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:55.445411 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:55.445508 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:55.445566 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:55.610595 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.879767, -2.10679)
I0419 21:02:55.695555 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:55.695688 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293751138154.
I0419 21:02:55.696879 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.389722, 2.08589), points=5, range=2.1234, residual=0.0116788, extent=0.0283833
I0419 21:02:55.696954 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.389722, 2.08589), tracking=(-0.688222, -2.08589), map_predicted=(-2.86141, -3.39127), range=2.1234, pts=5
I0419 21:02:55.696979 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.71974m maha_sq=319.192 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.86141, -3.39127) lm_pos=(-0.285, -2.52) delta=(-2.57641, -0.871274) -> 0 candidate(s)
I0419 21:02:55.857257 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.44421, -0.768836)
I0419 21:02:55.857767 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0964206s, prior_pose=(-1.29249, -1.85575), yaw=-23.8975 deg
I0419 21:02:55.857829 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=911, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:02:55.857966 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293752860758.
I0419 21:02:55.943817 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293753739067.
I0419 21:02:55.945088 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:55.945168 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:02:56.017010 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.659877, 1.98176), points=5, range=2.0858, residual=0.0120664, extent=0.0308008
I0419 21:02:56.017140 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:56.017159 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.659877, 1.98176), tracking=(-0.958377, -1.98176), map_predicted=(-2.86855, -3.39698), range=2.0858, pts=5
I0419 21:02:56.017187 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.72833m maha_sq=319.939 (gate chi2=5.99) pose_sigma=(0.15029, 0.15029, rho=0) det_map=(-2.86855, -3.39698) lm_pos=(-0.285, -2.52) delta=(-2.58355, -0.876983) -> 0 candidate(s)
I0419 21:02:56.017733 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:56.017789 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:56.017880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293754658673.
I0419 21:02:56.019170 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.36767, -1.08342)
I0419 21:02:56.092785 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293755215893.
I0419 21:02:56.172581 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293756137055.
I0419 21:02:56.248229 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293756700141.
I0419 21:02:56.250152 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293757023229.
I0419 21:02:56.319918 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.22458, -1.46954)
I0419 21:02:56.320655 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:56.320809 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.813616, -0.457189), points=9, range=0.930556, residual=0.00996186, extent=0.0268385
I0419 21:02:56.320859 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.813616, -0.457189), tracking=(1.11212, -0.457189), map_predicted=(-0.315301, -2.54783), range=0.930556, pts=9
I0419 21:02:56.320884 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0411429m maha_sq=0.0726788 (gate chi2=5.99) pose_sigma=(0.150814, 0.150814, rho=0) det_map=(-0.315301, -2.54783) lm_pos=(-0.285, -2.52) delta=(-0.0303012, -0.0278312) -> 1 candidate(s)
I0419 21:02:56.320964 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293757572624.
I0419 21:02:56.321878 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:56.392496 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.068851s, prior_pose=(-1.29172, -1.86069), yaw=-10.8016 deg
I0419 21:02:56.392599 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=889, max_intensity=248, threshold=230, above_threshold=9, candidates=9
I0419 21:02:56.392751 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293758181428.
I0419 21:02:56.394387 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293758454372.
I0419 21:02:56.464011 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:56.464104 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:56.464195 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293759059148.
I0419 21:02:56.465052 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:56.536808 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:56.536911 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:56.537000 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293759654918.
I0419 21:02:56.537968 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.16088, -1.62797)
I0419 21:02:56.538874 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:56.538959 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:56.538982 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293759938400.
I0419 21:02:56.541716 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293760219397.
I0419 21:02:56.542670 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.954423, 1.80769), points=6, range=2.04083, residual=0.0140888, extent=0.0374889
I0419 21:02:56.542734 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.954423, 1.80769), tracking=(-1.25292, -1.80769), map_predicted=(-2.80412, -3.46814), range=2.04083, pts=6
I0419 21:02:56.542802 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69164m maha_sq=311.91 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80412, -3.46814) lm_pos=(-0.285, -2.52) delta=(-2.51912, -0.948138) -> 0 candidate(s)
I0419 21:02:56.545037 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:02:56.612465 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.30318, -1.85481), yaw=-8.46631 deg backend=(-1.29757, -1.86438)
I0419 21:02:56.613243 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:56.613348 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293760538328.
I0419 21:02:56.615759 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0101805 range=0.936625 variance=0.000528717 t_weight=5674.11 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.30318, -1.85481, -8.46631deg) obs_actual=(1.09421, -0.497192) obs_expected=(1.10502, -0.508036) delta=(-0.0108097, 0.010844) |delta|=0.0153116m
I0419 21:02:56.615908 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293760813400.
I0419 21:02:56.618768 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293761100539.
I0419 21:02:56.619774 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.1716, -1.60442)
I0419 21:02:56.621731 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:56.621863 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293761416337.
I0419 21:02:56.623442 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0706631s, prior_pose=(-1.30326, -1.8548), yaw=-8.68059 deg
I0419 21:02:56.623515 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=894, max_intensity=251, threshold=230, above_threshold=7, candidates=7
I0419 21:02:56.623606 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293761702254.
I0419 21:02:56.695763 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293761971984.
I0419 21:02:56.698977 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:56.699069 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:56.699164 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293762300761.
I0419 21:02:56.700099 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.16306, -1.61166), points=4, range=3.54975, residual=0.0128889, extent=0.0309825
I0419 21:02:56.700160 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:56.700176 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.16306, -1.61166), tracking=(-3.46156, 1.61166), map_predicted=(-4.48422, 0.253002), range=3.54975, pts=4
I0419 21:02:56.700197 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0322m maha_sq=1081.9 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48422, 0.253002) lm_pos=(-0.285, -2.52) delta=(-4.19922, 2.773) -> 0 candidate(s)
I0419 21:02:56.700904 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:56.700969 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:56.701037 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293762576112.
I0419 21:02:56.703066 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.1616, -1.60515)
I0419 21:02:56.704010 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293762901083.
I0419 21:02:56.775039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293763172100.
I0419 21:02:56.776728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293763452066.
I0419 21:02:56.779663 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293763777496.
I0419 21:02:56.782447 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293764055080.
I0419 21:02:56.783365 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.16025, -1.61605)
I0419 21:02:56.784153 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.795055, -0.498071), points=6, range=0.936333, residual=0.00924958, extent=0.0224698
I0419 21:02:56.784209 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.795055, -0.498071), tracking=(1.09356, -0.498071), map_predicted=(-0.293296, -2.5158), range=0.936333, pts=6
I0419 21:02:56.784236 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00929764m maha_sq=0.00375322 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.293296, -2.5158) lm_pos=(-0.285, -2.52) delta=(-0.00829559, 0.00419872) -> 1 candidate(s)
I0419 21:02:56.784304 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293764340411.
I0419 21:02:56.851971 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:56.852733 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564539s, prior_pose=(-1.29984, -1.85527), yaw=-8.5532 deg
I0419 21:02:56.852790 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=892, max_intensity=250, threshold=230, above_threshold=10, candidates=10
I0419 21:02:56.852911 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293764619619.
I0419 21:02:56.855626 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293764934595.
I0419 21:02:56.857458 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:56.857519 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:56.857590 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293765214843.
I0419 21:02:56.859404 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:56.860177 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:56.860222 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:56.860299 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293765538938.
I0419 21:02:56.861187 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.13994, -1.66373)
I0419 21:02:56.930240 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:56.930370 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:56.930435 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293765817803.
I0419 21:02:56.932193 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293766092747.
I0419 21:02:56.934235 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.13409, -1.6899), points=4, range=3.55725, residual=0.0145716, extent=0.0344552
I0419 21:02:56.934314 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.13409, -1.6899), tracking=(-3.43259, 1.6899), map_predicted=(-4.46435, 0.272281), range=3.55725, pts=4
I0419 21:02:56.934340 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02631m maha_sq=1073.95 (gate chi2=5.99) pose_sigma=(0.150234, 0.150234, rho=0) det_map=(-4.46435, 0.272281) lm_pos=(-0.285, -2.52) delta=(-4.17935, 2.79228) -> 0 candidate(s)
I0419 21:02:56.935086 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:56.935155 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00193199 range=0.933571 variance=0.000542202 t_weight=5533 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.28778, -1.86029, -7.66372deg) obs_actual=(1.0752, -0.521112) obs_expected=(1.0818, -0.520089) delta=(-0.00660356, -0.0010229) |delta|=0.00668231m
I0419 21:02:56.935206 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293766417960.
I0419 21:02:56.938162 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293766701495.
I0419 21:02:56.939854 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293766980716.
I0419 21:02:57.010391 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.13262, -1.68911)
I0419 21:02:57.011248 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:02:57.011335 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293767253555.
I0419 21:02:57.014036 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399056s, prior_pose=(-1.28903, -1.86386), yaw=-7.39768 deg
I0419 21:02:57.014110 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=896, max_intensity=249, threshold=230, above_threshold=9, candidates=9
I0419 21:02:57.014230 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293767572057.
I0419 21:02:57.015864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293767862464.
I0419 21:02:57.017777 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.990504, 1.78081), points=5, range=2.0352, residual=0.0109103, extent=0.0285576
I0419 21:02:57.017841 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.990504, 1.78081), tracking=(-1.289, -1.78081), map_predicted=(-2.79813, -3.46495), range=2.0352, pts=5
I0419 21:02:57.017866 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68491m maha_sq=310.833 (gate chi2=5.99) pose_sigma=(0.150147, 0.150147, rho=0) det_map=(-2.79813, -3.46495) lm_pos=(-0.285, -2.52) delta=(-2.51313, -0.944946) -> 0 candidate(s)
I0419 21:02:57.018615 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:57.018656 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:57.018736 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293768139761.
I0419 21:02:57.019835 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:57.087822 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:57.087946 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:57.088038 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293768454325.
I0419 21:02:57.089051 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.13203, -1.6888)
I0419 21:02:57.089886 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293768735353.
I0419 21:02:57.092628 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293769055640.
I0419 21:02:57.094806 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.29115, -1.86625), yaw=-7.38435 deg backend=(-1.29624, -1.86611)
I0419 21:02:57.095441 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293769334528.
I0419 21:02:57.097316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293769616565.
I0419 21:02:57.167498 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:57.167625 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293769936163.
I0419 21:02:57.168592 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.13572, -1.68491)
I0419 21:02:57.168650 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.13664, -1.67952), points=4, range=3.55975, residual=0.0136225, extent=0.0332956
I0419 21:02:57.168673 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.13664, -1.67952), tracking=(-3.43514, 1.67952), map_predicted=(-4.47849, 0.240598), range=3.55975, pts=4
I0419 21:02:57.168691 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02058m maha_sq=1075.93 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.47849, 0.240598) lm_pos=(-0.285, -2.52) delta=(-4.19349, 2.7606) -> 0 candidate(s)
I0419 21:02:57.170581 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293770220925.
I0419 21:02:57.171674 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:57.172391 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684086s, prior_pose=(-1.28867, -1.86797), yaw=-7.41846 deg
I0419 21:02:57.172446 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=893, max_intensity=250, threshold=230, above_threshold=11, candidates=11
I0419 21:02:57.172541 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293770498729.
I0419 21:02:57.175388 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293770819315.
I0419 21:02:57.244621 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:57.244735 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:57.244835 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293771094071.
I0419 21:02:57.245872 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:57.246666 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:57.246722 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:57.246788 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293771374837.
I0419 21:02:57.248667 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.12868, -1.68112)
I0419 21:02:57.249505 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:57.249568 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:57.249588 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293771693968.
I0419 21:02:57.252177 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.780474, -0.521473), points=7, range=0.936, residual=0.0102966, extent=0.029811
I0419 21:02:57.252247 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.780474, -0.521473), tracking=(1.07897, -0.521473), map_predicted=(-0.286497, -2.52468), range=0.936, pts=7
I0419 21:02:57.252274 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00491712m maha_sq=0.00104881 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.286497, -2.52468) lm_pos=(-0.285, -2.52) delta=(-0.00149704, -0.00468369) -> 1 candidate(s)
I0419 21:02:57.252318 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00104881 range=0.936 variance=0.000552921 t_weight=5425.73 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.28939, -1.86869, -7.39385deg) obs_actual=(1.07897, -0.521473) obs_expected=(1.07986, -0.516635) delta=(-0.000881848, -0.00483739) |delta|=0.00491712m
I0419 21:02:57.252355 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293771975620.
I0419 21:02:57.253957 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:57.254047 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293772259072.
I0419 21:02:57.322851 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293772575243.
I0419 21:02:57.325543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293772836481.
I0419 21:02:57.326556 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.13144, -1.68848)
I0419 21:02:57.327368 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:57.327428 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293773136321.
I0419 21:02:57.342094 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0580194s, prior_pose=(-1.2918, -1.86406), yaw=-7.38287 deg
I0419 21:02:57.342177 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=893, max_intensity=252, threshold=230, above_threshold=9, candidates=9
I0419 21:02:57.342308 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293773416675.
I0419 21:02:57.440908 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293773733535.
I0419 21:02:57.442224 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.991273, 1.77609), points=4, range=2.0315, residual=0.00899022, extent=0.0208487
I0419 21:02:57.442292 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.991273, 1.77609), tracking=(-1.28977, -1.77609), map_predicted=(-2.7994, -3.46387), range=2.0315, pts=4
I0419 21:02:57.442379 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68572m maha_sq=312.134 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7994, -3.46387) lm_pos=(-0.285, -2.52) delta=(-2.5144, -0.943871) -> 0 candidate(s)
I0419 21:02:57.443302 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:57.443378 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:57.443531 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293774016350.
I0419 21:02:57.446076 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:57.446988 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:57.447049 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:57.447134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293774337186.
I0419 21:02:57.450795 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.13262, -1.68911)
I0419 21:02:57.462163 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293774615375.
I0419 21:02:57.490796 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293774898498.
I0419 21:02:57.598651 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293775261350.
I0419 21:02:57.601541 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293775501043.
I0419 21:02:57.603317 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293775780516.
I0419 21:02:57.605298 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.12733, -1.68627)
I0419 21:02:57.605384 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.13017, -1.69366), points=3, range=3.553, residual=0.0145548, extent=0.0294603
I0419 21:02:57.605407 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.13017, -1.69366), tracking=(-3.42867, 1.69366), map_predicted=(-4.47043, 0.250955), range=3.553, pts=3
I0419 21:02:57.605425 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01956m maha_sq=1073.49 (gate chi2=5.99) pose_sigma=(0.150062, 0.150062, rho=0) det_map=(-4.47043, 0.250955) lm_pos=(-0.285, -2.52) delta=(-4.18543, 2.77095) -> 0 candidate(s)
I0419 21:02:57.610777 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293776101008.
I0419 21:02:57.630967 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:57.716372 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0398246s, prior_pose=(-1.28342, -1.86765), yaw=-7.27518 deg
I0419 21:02:57.716473 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=894, max_intensity=251, threshold=230, above_threshold=7, candidates=7
I0419 21:02:57.716605 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293776377698.
I0419 21:02:57.718317 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293776654496.
I0419 21:02:57.721061 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:57.721153 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:57.721232 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293776978605.
I0419 21:02:57.722158 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:57.727130 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:57.727224 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:57.727335 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293777265920.
I0419 21:02:57.746224 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.1285, -1.70457)
I0419 21:02:57.758692 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:57.758862 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:57.758893 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293777581430.
I0419 21:02:57.832759 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.769239, -0.52867), points=7, range=0.930429, residual=0.00864861, extent=0.0214346
I0419 21:02:57.832878 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.769239, -0.52867), tracking=(1.06774, -0.52867), map_predicted=(-0.285814, -2.52535), range=0.930429, pts=7
I0419 21:02:57.832911 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00540806m maha_sq=0.00126912 (gate chi2=5.99) pose_sigma=(0.150079, 0.150079, rho=0) det_map=(-0.285814, -2.52535) lm_pos=(-0.285, -2.52) delta=(-0.00081417, -0.00534642) -> 1 candidate(s)
I0419 21:02:57.832969 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00126912 range=0.930429 variance=0.000521441 t_weight=5753.29 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.28003, -1.86876, -7.09965deg) obs_actual=(1.06774, -0.52867) obs_expected=(1.06789, -0.523264) delta=(-0.000147135, -0.00540606) |delta|=0.00540806m
I0419 21:02:57.833027 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293777855038.
I0419 21:02:57.835418 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.27649, -1.86919), yaw=-6.92185 deg backend=(-1.28019, -1.86838)
I0419 21:02:57.835994 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:57.836087 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293778139005.
I0419 21:02:57.842545 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293778420160.
I0419 21:02:57.874467 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293778740425.
I0419 21:02:57.894469 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.04495, 1.75063)
I0419 21:02:57.969230 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:57.969342 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293779016357.
I0419 21:02:57.971357 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684536s, prior_pose=(-1.27422, -1.87018), yaw=-6.54472 deg
I0419 21:02:57.971449 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=896, max_intensity=249, threshold=230, above_threshold=10, candidates=10
I0419 21:02:57.971609 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293779337879.
I0419 21:02:57.974996 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293779621465.
I0419 21:02:57.982972 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06123, 1.74315), points=6, range=2.03833, residual=0.0129694, extent=0.0357331
I0419 21:02:57.983089 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06123, 1.74315), tracking=(-1.35973, -1.74315), map_predicted=(-2.81559, -3.45233), range=2.03833, pts=6
I0419 21:02:57.983122 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69688m maha_sq=313.537 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.81559, -3.45233) lm_pos=(-0.285, -2.52) delta=(-2.53059, -0.932334) -> 0 candidate(s)
I0419 21:02:57.994860 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:57.995008 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:57.995201 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293779941937.
I0419 21:02:58.010200 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:58.022608 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:58.022761 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:58.022986 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293780218541.
I0419 21:02:58.130487 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.07534, 1.73213)
I0419 21:02:58.131474 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293780496785.
I0419 21:02:58.135136 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293780773277.
I0419 21:02:58.139261 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293781100154.
I0419 21:02:58.144832 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293781375063.
I0419 21:02:58.265756 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.716094, -0.558475), points=8, range=0.907, residual=0.00953548, extent=0.0286314
I0419 21:02:58.265851 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.716094, -0.558475), tracking=(1.01459, -0.558475), map_predicted=(-0.294703, -2.52397), range=0.907, pts=8
I0419 21:02:58.265882 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0104833m maha_sq=0.00475481 (gate chi2=5.99) pose_sigma=(0.150257, 0.150257, rho=0) det_map=(-0.294703, -2.52397) lm_pos=(-0.285, -2.52) delta=(-0.00970345, -0.00396781) -> 1 candidate(s)
I0419 21:02:58.265955 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293781657657.
I0419 21:02:58.266953 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1028, 1.72001)
I0419 21:02:58.267848 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293781980441.
I0419 21:02:58.269820 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:58.270548 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060203s, prior_pose=(-1.2513, -1.87299), yaw=-5.32757 deg
I0419 21:02:58.270601 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=908, max_intensity=250, threshold=230, above_threshold=11, candidates=11
I0419 21:02:58.270700 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293782259687.
I0419 21:02:58.273244 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293782539256.
I0419 21:02:58.286895 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:58.287345 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:58.287839 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293782861984.
I0419 21:02:58.394832 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:58.395594 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:58.395660 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:58.395749 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293783138600.
I0419 21:02:58.396648 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1167, 1.71961)
I0419 21:02:58.399355 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:58.399477 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0299142 range=0.8955 variance=0.000530462 t_weight=5655.45 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.24752, -1.87628, -5.28904deg) obs_actual=(0.993712, -0.562949) obs_expected=(1.01776, -0.552257) delta=(-0.0240472, -0.010692) |delta|=0.026317m
I0419 21:02:58.399559 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:58.399595 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293783462448.
I0419 21:02:58.401546 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11875, 1.72824), points=5, range=2.0554, residual=0.0126099, extent=0.0331644
I0419 21:02:58.401651 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11875, 1.72824), tracking=(-1.41725, -1.72824), map_predicted=(-2.81804, -3.46652), range=2.0554, pts=5
I0419 21:02:58.401706 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.70411m maha_sq=315.322 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.81804, -3.46652) lm_pos=(-0.285, -2.52) delta=(-2.53304, -0.946516) -> 0 candidate(s)
I0419 21:02:58.403404 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293783735711.
I0419 21:02:58.409320 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:58.409859 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293784017622.
I0419 21:02:58.515954 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293784332122.
I0419 21:02:58.517132 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:02:58.517910 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293784620959.
I0419 21:02:58.519949 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.1287, 1.72707)
I0419 21:02:58.520795 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:58.520874 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293784901021.
I0419 21:02:58.523463 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399913s, prior_pose=(-1.22665, -1.8772), yaw=-5.35882 deg
I0419 21:02:58.523528 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=913, max_intensity=252, threshold=230, above_threshold=10, candidates=10
I0419 21:02:58.523622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293785219865.
I0419 21:02:58.550724 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293785497259.
I0419 21:02:58.642629 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.15497, -1.81542), points=3, range=3.636, residual=0.012294, extent=0.0248212
I0419 21:02:58.642742 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.15497, -1.81542), tracking=(-3.45347, 1.81542), map_predicted=(-4.48804, 0.249933), range=3.636, pts=3
I0419 21:02:58.642771 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.03369m maha_sq=1072.95 (gate chi2=5.99) pose_sigma=(0.150694, 0.150694, rho=0) det_map=(-4.48804, 0.249933) lm_pos=(-0.285, -2.52) delta=(-4.20304, 2.76993) -> 0 candidate(s)
I0419 21:02:58.643498 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:58.643548 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:58.643633 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293785774531.
I0419 21:02:58.644549 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:58.646139 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:58.646209 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:58.646267 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293786063364.
I0419 21:02:58.647256 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.14469, 1.72948)
I0419 21:02:58.648043 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293786372601.
I0419 21:02:58.666332 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293786658152.
I0419 21:02:58.756731 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.20653, -1.87862), yaw=-5.35444 deg backend=(-1.19989, -1.87412)
I0419 21:02:58.757613 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293786953436.
I0419 21:02:58.759418 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293787258735.
I0419 21:02:58.762269 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.651483, -0.559659), points=11, range=0.858182, residual=0.010304, extent=0.0332027
I0419 21:02:58.762379 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.651483, -0.559659), tracking=(0.949983, -0.559659), map_predicted=(-0.309363, -2.52504), range=0.858182, pts=11
I0419 21:02:58.762406 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0248788m maha_sq=0.0267562 (gate chi2=5.99) pose_sigma=(0.150279, 0.150279, rho=0) det_map=(-0.309363, -2.52504) lm_pos=(-0.285, -2.52) delta=(-0.0243629, -0.00504059) -> 1 candidate(s)
I0419 21:02:58.762528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293787535950.
I0419 21:02:58.774417 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.15941, 1.72977)
I0419 21:02:58.782680 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293787821187.
I0419 21:02:58.806660 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:58.814577 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684686s, prior_pose=(-1.19782, -1.87944), yaw=-5.35746 deg
I0419 21:02:58.814734 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=924, max_intensity=251, threshold=230, above_threshold=13, candidates=13
I0419 21:02:58.815068 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293788139373.
I0419 21:02:58.918529 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293788421219.
I0419 21:02:58.921392 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:58.921492 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:58.921590 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293788698782.
I0419 21:02:58.922542 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:58.923341 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:58.923413 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:58.923492 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293789013358.
I0419 21:02:58.925472 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1771, 1.7288)
I0419 21:02:58.930315 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:02:58.930399 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0337063 range=0.8453 variance=0.000516908 t_weight=5803.74 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.18404, -1.88094, -5.33033deg) obs_actual=(0.928172, -0.561977) obs_expected=(0.954518, -0.552781) delta=(-0.0263462, -0.00919584) |delta|=0.0279049m
I0419 21:02:58.930493 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:58.930521 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293789297541.
I0419 21:02:58.950742 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18169, 1.72476), points=5, range=2.0866, residual=0.014361, extent=0.03704
I0419 21:02:58.950904 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18169, 1.72476), tracking=(-1.48019, -1.72476), map_predicted=(-2.81805, -3.46073), range=2.0866, pts=5
I0419 21:02:58.950951 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.7021m maha_sq=314.17 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.81805, -3.46073) lm_pos=(-0.285, -2.52) delta=(-2.53305, -0.940734) -> 0 candidate(s)
I0419 21:02:59.053170 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293789614300.
I0419 21:02:59.055115 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:02:59.055249 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293789899891.
I0419 21:02:59.057947 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293790173479.
I0419 21:02:59.062886 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293790493965.
I0419 21:02:59.070600 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.19662, 1.73032)
I0419 21:02:59.078159 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:59.078358 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293790776323.
I0419 21:02:59.171272 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565793s, prior_pose=(-1.16543, -1.88151), yaw=-5.29737 deg
I0419 21:02:59.171389 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=935, max_intensity=253, threshold=230, above_threshold=13, candidates=13
I0419 21:02:59.171509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293791059758.
I0419 21:02:59.174432 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293791376546.
I0419 21:02:59.175424 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.21367, -1.80591), points=4, range=3.68825, residual=0.0154883, extent=0.0373473
I0419 21:02:59.175485 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.21367, -1.80591), tracking=(-3.51217, 1.80591), map_predicted=(-4.49027, 0.24091), range=3.68825, pts=4
I0419 21:02:59.175510 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0306m maha_sq=1076.66 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49027, 0.24091) lm_pos=(-0.285, -2.52) delta=(-4.20527, 2.76091) -> 0 candidate(s)
I0419 21:02:59.176120 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:59.176177 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:59.176252 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293791659088.
I0419 21:02:59.186970 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:59.193785 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:59.193935 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:59.194103 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293791931906.
I0419 21:02:59.218827 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.20988, 1.72792)
I0419 21:02:59.327876 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293792260407.
I0419 21:02:59.329857 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293792539224.
I0419 21:02:59.332700 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293792813797.
I0419 21:02:59.335587 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293793138659.
I0419 21:02:59.342347 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.583648, -0.560292), points=13, range=0.808692, residual=0.0110916, extent=0.0376467
I0419 21:02:59.342502 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.583648, -0.560292), tracking=(0.882148, -0.560292), map_predicted=(-0.32066, -2.52387), range=0.808692, pts=13
I0419 21:02:59.342552 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0358695m maha_sq=0.0557839 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.32066, -2.52387) lm_pos=(-0.285, -2.52) delta=(-0.0356596, -0.00387444) -> 1 candidate(s)
I0419 21:02:59.342706 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293793416398.
I0419 21:02:59.461992 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.22722, 1.72056)
I0419 21:02:59.463158 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293793739663.
I0419 21:02:59.464514 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:59.466634 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0403111s, prior_pose=(-1.13579, -1.88207), yaw=-5.24129 deg
I0419 21:02:59.466753 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=930, max_intensity=252, threshold=230, above_threshold=15, candidates=15
I0419 21:02:59.466876 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293794020626.
I0419 21:02:59.468801 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293794299384.
I0419 21:02:59.471873 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:59.471946 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:59.472031 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293794575825.
I0419 21:02:59.478142 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:59.553674 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:02:59.561257 1218967 pose_graph_2d.cc:160] Inserted submap (1, 48).
I0419 21:02:59.562182 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:02:59.562287 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:59.562377 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293794896022.
I0419 21:02:59.563638 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.24565, 1.72506)
I0419 21:02:59.564615 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:02:59.564707 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0439134 range=0.796667 variance=0.000552158 t_weight=5433.23 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.12034, -1.88783, -5.2748deg) obs_actual=(0.859768, -0.56285) obs_expected=(0.889922, -0.552698) delta=(-0.0301536, -0.0101518) |delta|=0.0318166m
I0419 21:02:59.564761 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:02:59.564782 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293795181243.
I0419 21:02:59.566967 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25925, -1.81285), points=3, range=3.73133, residual=0.0117555, extent=0.0243263
I0419 21:02:59.567077 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.25925, -1.81285), tracking=(-3.55775, 1.81285), map_predicted=(-4.48547, 0.244051), range=3.73133, pts=3
I0419 21:02:59.567102 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02831m maha_sq=1068.5 (gate chi2=5.99) pose_sigma=(0.150837, 0.150837, rho=0) det_map=(-4.48547, 0.244051) lm_pos=(-0.285, -2.52) delta=(-4.20047, 2.76405) -> 0 candidate(s)
I0419 21:02:59.567906 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293795459460.
I0419 21:02:59.570130 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-1.10044, -1.88788), yaw=-5.24724 deg backend=(-1.10281, -1.88433)
I0419 21:02:59.579677 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:02:59.579909 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293795785541.
I0419 21:02:59.606469 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293796057394.
I0419 21:02:59.683303 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293796335433.
I0419 21:02:59.684378 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.26319, 1.72283)
I0419 21:02:59.686388 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:02:59.686492 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293796661825.
I0419 21:02:59.694254 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682401s, prior_pose=(-1.08797, -1.88659), yaw=-5.25161 deg
I0419 21:02:59.694507 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=936, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:02:59.694607 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32631, 0.717616), points=3, range=1.512, residual=0.00907747, extent=0.0191395
I0419 21:02:59.694635 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.32631, 0.717616), tracking=(1.62481, 0.717616), map_predicted=(0.595695, -1.3207), range=1.512, pts=3
I0419 21:02:59.694676 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0193181m maha_sq=0.0161802 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.595695, -1.3207) lm_pos=(0.615, -1.32) delta=(-0.0193054, -0.000699556) -> 1 candidate(s)
I0419 21:02:59.694810 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293796938832.
I0419 21:02:59.727393 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293797268556.
I0419 21:02:59.824314 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:02:59.824474 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:02:59.824576 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293797538213.
I0419 21:02:59.825663 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:02:59.826419 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:02:59.826483 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:02:59.826606 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293797821411.
I0419 21:02:59.828698 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.28899, 1.72099)
I0419 21:02:59.829607 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293798098051.
I0419 21:02:59.843039 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293798421784.
I0419 21:02:59.859634 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30181, 1.72236), points=5, range=2.1556, residual=0.0130913, extent=0.0347004
I0419 21:02:59.859858 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30181, 1.72236), tracking=(-1.60031, -1.72236), map_predicted=(-2.80176, -3.46391), range=2.1556, pts=5
I0419 21:02:59.859928 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68794m maha_sq=311.255 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80176, -3.46391) lm_pos=(-0.285, -2.52) delta=(-2.51676, -0.94391) -> 0 candidate(s)
I0419 21:02:59.870301 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293798695688.
I0419 21:02:59.946358 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00635593 range=0.754929 variance=0.00058242 t_weight=5150.92 r_weight=0 yaml=(-0.285, -2.52) prior=(-1.04255, -1.8891, -5.04474deg) obs_actual=(0.797945, -0.562809) obs_expected=(0.810092, -0.561837) delta=(-0.012147, -0.000971633) |delta|=0.0121858m
I0419 21:02:59.946530 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293798978335.
I0419 21:02:59.949762 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293799297501.
I0419 21:02:59.949867 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 18
I0419 21:02:59.950862 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.32146, 1.71187)
I0419 21:02:59.962165 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293799615657.
I0419 21:02:59.977860 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:02:59.986328 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562648s, prior_pose=(-1.03074, -1.89188), yaw=-4.99924 deg
I0419 21:02:59.986521 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=947, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:02:59.986725 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293799860149.
I0419 21:03:00.079998 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293800172587.
I0419 21:03:00.081259 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33732, 1.71686), points=5, range=2.1726, residual=0.0139198, extent=0.0369779
I0419 21:03:00.081396 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.33732, 1.71686), tracking=(-1.63582, -1.71686), map_predicted=(-2.80398, -3.46225), range=2.1726, pts=5
I0419 21:03:00.081431 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68945m maha_sq=311.279 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80398, -3.46225) lm_pos=(-0.285, -2.52) delta=(-2.51898, -0.942254) -> 0 candidate(s)
I0419 21:03:00.082140 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:00.082194 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:00.082297 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293800452110.
I0419 21:03:00.084249 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:00.084926 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:00.084978 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:00.085040 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293800739529.
I0419 21:03:00.098444 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.35134, 1.70908)
I0419 21:03:00.106215 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:00.106333 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:00.106359 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293801057472.
I0419 21:03:00.133903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293801333268.
I0419 21:03:00.204231 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:00.204404 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293801658482.
I0419 21:03:00.207058 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25783, 0.709227), points=3, range=1.44233, residual=0.00494526, extent=0.00976369
I0419 21:03:00.207178 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.25783, 0.709227), tracking=(1.55633, 0.709227), map_predicted=(0.617739, -1.32008), range=1.44233, pts=3
I0419 21:03:00.207208 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00273982m maha_sq=0.000323699 (gate chi2=5.99) pose_sigma=(0.150628, 0.150628, rho=0) det_map=(0.617739, -1.32008) lm_pos=(0.615, -1.32) delta=(0.00273862, -8.11402e-05) -> 1 candidate(s)
I0419 21:03:00.207293 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293801936832.
I0419 21:03:00.222393 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293802218128.
I0419 21:03:00.246235 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.37836, 1.71234)
I0419 21:03:00.254750 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:00.254873 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00397729 range=1.41867 variance=0.000553243 t_weight=5422.58 r_weight=0 yaml=(0.615, -1.32) prior=(-0.981846, -1.89813, -4.76478deg) obs_actual=(1.536, 0.702511) obs_expected=(1.54331, 0.708776) delta=(-0.00730687, -0.00626463) |delta|=0.00962476m
I0419 21:03:00.254985 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293802541385.
I0419 21:03:00.256760 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:03:00.364705 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0363975s, prior_pose=(-0.969495, -1.89881), yaw=-4.74136 deg
I0419 21:03:00.364851 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=950, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 21:03:00.365059 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.58629 deg, rms_residual=0.00218885m, sigma_yaw=0.00290998 rad, N=2
I0419 21:03:00.365149 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.962904, -1.90104, -4.58629deg) inliers=2 rms=0.00218885m
I0419 21:03:00.365198 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293802822096.
I0419 21:03:00.367395 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293803096574.
I0419 21:03:00.370472 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:00.370540 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:00.370563 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22862, 0.706955), points=3, range=1.419, residual=0.005525, extent=0.0114915
I0419 21:03:00.370584 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.22862, 0.706955), tracking=(1.52712, 0.706955), map_predicted=(0.617133, -1.32423), range=1.419, pts=3
I0419 21:03:00.370602 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00473442m maha_sq=0.000967335 (gate chi2=5.99) pose_sigma=(0.150551, 0.150551, rho=0) det_map=(0.617133, -1.32423) lm_pos=(0.615, -1.32) delta=(0.00213329, -0.00422656) -> 1 candidate(s)
I0419 21:03:00.370677 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293803421152.
I0419 21:03:00.371698 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:00.373669 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:00.373734 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:00.373804 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293803692786.
I0419 21:03:00.390285 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.40736, 1.70729)
I0419 21:03:00.403628 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293804022141.
I0419 21:03:00.489187 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293804259686.
I0419 21:03:00.491791 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.934517, -1.9058), yaw=-4.76195 deg backend=(-0.932977, -1.89361)
I0419 21:03:00.492643 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293804572878.
I0419 21:03:00.494378 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293804856398.
I0419 21:03:00.510174 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.41223, -1.83988), points=3, range=3.87667, residual=0.010048, extent=0.0239211
I0419 21:03:00.510282 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.41223, -1.83988), tracking=(-3.71073, 1.83988), map_predicted=(-4.4752, 0.234403), range=3.87667, pts=3
I0419 21:03:00.510324 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.01443m maha_sq=1069.66 (gate chi2=5.99) pose_sigma=(0.150351, 0.150351, rho=0) det_map=(-4.4752, 0.234403) lm_pos=(-0.285, -2.52) delta=(-4.1902, 2.7544) -> 0 candidate(s)
I0419 21:03:00.518939 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293805181309.
I0419 21:03:00.538137 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.43363, 1.70859)
I0419 21:03:00.606905 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293805459032.
I0419 21:03:00.607944 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:03:00.608918 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0679477s, prior_pose=(-0.923077, -1.90895), yaw=-4.73144 deg
I0419 21:03:00.609020 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=942, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:00.609213 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0177846 range=0.677167 variance=0.00062673 t_weight=4786.75 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.923077, -1.90895, -4.73144deg) obs_actual=(0.66839, -0.56584) obs_expected=(0.686305, -0.556334) delta=(-0.0179147, -0.00950599) |delta|=0.0202805m
I0419 21:03:00.609284 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293805776704.
I0419 21:03:00.611958 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293806055460.
I0419 21:03:00.633971 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:00.634047 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:00.634184 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293806334253.
I0419 21:03:00.653986 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.44119, -1.84903), points=3, range=3.90433, residual=0.0115086, extent=0.0237639
I0419 21:03:00.654090 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:00.654110 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.44119, -1.84903), tracking=(-3.73969, 1.84903), map_predicted=(-4.48375, 0.234159), range=3.90433, pts=3
I0419 21:03:00.654135 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02145m maha_sq=1075.79 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48375, 0.234159) lm_pos=(-0.285, -2.52) delta=(-4.19875, 2.75416) -> 0 candidate(s)
I0419 21:03:00.662376 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:00.662480 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:00.662613 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293806619099.
I0419 21:03:00.737901 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.46293, 1.70791)
I0419 21:03:00.738904 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:00.738994 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:00.739019 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293806938973.
I0419 21:03:00.741886 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293807217920.
I0419 21:03:00.754483 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:00.754676 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293807540784.
I0419 21:03:00.787606 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293807870391.
I0419 21:03:00.802671 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47133, -1.83928), points=3, range=3.929, residual=0.0113405, extent=0.0233899
I0419 21:03:00.802769 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.47133, -1.83928), tracking=(-3.76983, 1.83928), map_predicted=(-4.48617, 0.228477), range=3.929, pts=3
I0419 21:03:00.802799 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02035m maha_sq=1075.28 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48617, 0.228477) lm_pos=(-0.285, -2.52) delta=(-4.20117, 2.74848) -> 0 candidate(s)
I0419 21:03:00.878876 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293808099283.
I0419 21:03:00.879985 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.49367, 1.70825)
I0419 21:03:00.880944 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:00.881050 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293808375332.
I0419 21:03:00.883762 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599169s, prior_pose=(-0.864205, -1.91648), yaw=-4.69653 deg
I0419 21:03:00.883854 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=947, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:03:00.883987 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0196665 range=0.647789 variance=0.000604785 t_weight=4960.44 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.864205, -1.91648, -4.69653deg) obs_actual=(0.609634, -0.566998) obs_expected=(0.626676, -0.554071) delta=(-0.0170416, -0.0129272) |delta|=0.02139m
I0419 21:03:00.884057 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293808698452.
I0419 21:03:00.898633 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.16287 deg, rms_residual=0.0075077m, sigma_yaw=0.00991106 rad, N=2
I0419 21:03:00.898762 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.850431, -1.91569, -4.16287deg) inliers=2 rms=0.0075077m
I0419 21:03:00.898874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293808981317.
I0419 21:03:00.927461 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:00.927556 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:00.927696 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293809269061.
I0419 21:03:00.992913 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51473, 1.70711), points=5, range=2.2848, residual=0.0134171, extent=0.0357997
I0419 21:03:00.993038 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:00.993057 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.51473, 1.70711), tracking=(-1.81323, -1.70711), map_predicted=(-2.79839, -3.46715), range=2.2848, pts=5
I0419 21:03:00.993260 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68593m maha_sq=309.953 (gate chi2=5.99) pose_sigma=(0.150132, 0.150132, rho=0) det_map=(-2.79839, -3.46715) lm_pos=(-0.285, -2.52) delta=(-2.51339, -0.947148) -> 0 candidate(s)
I0419 21:03:00.994235 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:00.994328 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:00.994421 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293809574259.
I0419 21:03:00.995616 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.52262, 1.71099)
I0419 21:03:00.997589 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293809858625.
I0419 21:03:01.018473 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293810179738.
I0419 21:03:01.045934 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293810453334.
I0419 21:03:01.142940 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293810778851.
I0419 21:03:01.143930 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5485, 1.71479), points=5, range=2.3064, residual=0.0149611, extent=0.0402401
I0419 21:03:01.144033 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.5485, 1.71479), tracking=(-1.847, -1.71479), map_predicted=(-2.80198, -3.47396), range=2.3064, pts=5
I0419 21:03:01.144062 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69169m maha_sq=311.196 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80198, -3.47396) lm_pos=(-0.285, -2.52) delta=(-2.51698, -0.953959) -> 0 candidate(s)
I0419 21:03:01.145181 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293811060405.
I0419 21:03:01.147099 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.54957, 1.71098)
I0419 21:03:01.148070 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293811335447.
I0419 21:03:01.153965 1218530 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:03:01.161758 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0355791s, prior_pose=(-0.804222, -1.91979), yaw=-4.6393 deg
I0419 21:03:01.161866 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=967, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:03:01.162046 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0177641 range=0.626211 variance=0.000588732 t_weight=5095.7 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.804222, -1.91979, -4.6393deg) obs_actual=(0.551547, -0.570464) obs_expected=(0.566067, -0.556243) delta=(-0.0145202, -0.0142206) |delta|=0.020324m
I0419 21:03:01.162135 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293811613913.
I0419 21:03:01.194942 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293811942017.
I0419 21:03:01.270752 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:01.270860 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:01.270995 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293812211696.
I0419 21:03:01.272006 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5722, 1.71579), points=6, range=2.32467, residual=0.0150141, extent=0.042655
I0419 21:03:01.272082 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:01.272099 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.5722, 1.71579), tracking=(-1.8707, -1.71579), map_predicted=(-2.79811, -3.47777), range=2.32467, pts=6
I0419 21:03:01.272120 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68943m maha_sq=310.623 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.79811, -3.47777) lm_pos=(-0.285, -2.52) delta=(-2.51311, -0.957769) -> 0 candidate(s)
I0419 21:03:01.274013 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:01.274108 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:01.274217 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293812542030.
I0419 21:03:01.275226 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.57759, 1.71166)
I0419 21:03:01.282953 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:01.283167 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:01.283205 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293812818260.
I0419 21:03:01.310506 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293813098576.
I0419 21:03:01.426117 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.771414, -1.92158), yaw=-4.65011 deg backend=(-0.766672, -1.90364)
I0419 21:03:01.426978 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:01.427098 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293813418570.
I0419 21:03:01.428162 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:01.428993 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293813694938.
I0419 21:03:01.430999 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.60176, 1.7127), points=5, range=2.3418, residual=0.0135328, extent=0.0356456
I0419 21:03:01.431124 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.60176, 1.7127), tracking=(-1.90026, -1.7127), map_predicted=(-2.79491, -3.4746), range=2.3418, pts=5
I0419 21:03:01.431154 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68531m maha_sq=307.61 (gate chi2=5.99) pose_sigma=(0.150654, 0.150654, rho=0) det_map=(-2.79491, -3.4746) lm_pos=(-0.285, -2.52) delta=(-2.50991, -0.954599) -> 0 candidate(s)
I0419 21:03:01.432046 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293813982774.
I0419 21:03:01.433106 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.60783, 1.70424)
I0419 21:03:01.434926 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:01.435034 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293814254302.
I0419 21:03:01.458303 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06783s, prior_pose=(-0.755512, -1.9202), yaw=-4.60123 deg
I0419 21:03:01.458411 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=980, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:01.458606 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00139727 range=1.242 variance=0.000569371 t_weight=5268.97 r_weight=0 yaml=(0.615, -1.32) prior=(-0.755512, -1.9202, -4.60123deg) obs_actual=(1.32358, 0.708904) obs_expected=(1.31795, 0.708212) delta=(0.00563514, 0.000692275) |delta|=0.00567751m
I0419 21:03:01.458665 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293814578949.
I0419 21:03:01.524055 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293814860399.
I0419 21:03:01.526868 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:01.526971 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:01.527068 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293815134630.
I0419 21:03:01.534417 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:01.542990 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:01.543099 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:01.543202 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293815425028.
I0419 21:03:01.565866 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.64283, 1.70124)
I0419 21:03:01.565972 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.61714, -1.85631), points=4, range=4.06225, residual=0.0160038, extent=0.0380876
I0419 21:03:01.566000 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.61714, -1.85631), tracking=(-3.91564, 1.85631), map_predicted=(-4.48803, 0.244403), range=4.06225, pts=4
I0419 21:03:01.566028 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.03065m maha_sq=1068.94 (gate chi2=5.99) pose_sigma=(0.150272, 0.150272, rho=0) det_map=(-4.48803, 0.244403) lm_pos=(-0.285, -2.52) delta=(-4.20303, 2.7644) -> 0 candidate(s)
I0419 21:03:01.573729 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.29327 deg, rms_residual=0.00873281m, sigma_yaw=0.0115097 rad, N=2
I0419 21:03:01.573838 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.720535, -1.92046, -4.29327deg) inliers=2 rms=0.00873281m
I0419 21:03:01.573877 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293815731951.
I0419 21:03:01.668491 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293816020933.
I0419 21:03:01.670578 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293816334058.
I0419 21:03:01.673491 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293816619426.
I0419 21:03:01.690652 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293816899078.
I0419 21:03:01.714742 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.66934, 1.70867)
I0419 21:03:01.714938 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.6442, -1.85683), points=3, range=4.09, residual=0.0101487, extent=0.0243057
I0419 21:03:01.715027 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.6442, -1.85683), tracking=(-3.9427, 1.85683), map_predicted=(-4.48926, 0.23447), range=4.09, pts=3
I0419 21:03:01.715167 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02622m maha_sq=1077.48 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48926, 0.23447) lm_pos=(-0.285, -2.52) delta=(-4.20426, 2.75447) -> 0 candidate(s)
I0419 21:03:01.722154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293817216070.
I0419 21:03:01.789490 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:03:01.790861 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059925s, prior_pose=(-0.694988, -1.90777), yaw=-4.40828 deg
I0419 21:03:01.790979 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:01.791307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293817498328.
I0419 21:03:01.795974 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00722344 range=1.17925 variance=0.000604686 t_weight=4961.25 r_weight=0 yaml=(0.615, -1.32) prior=(-0.685269, -1.91491, -4.40014deg) obs_actual=(1.24154, 0.702038) obs_expected=(1.25079, 0.692914) delta=(-0.00925251, 0.00912396) |delta|=0.0129944m
I0419 21:03:01.796201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293817816008.
I0419 21:03:01.810269 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:01.810370 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:01.810503 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293818098288.
I0419 21:03:01.829794 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:01.837817 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:01.837913 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:01.838040 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293818373678.
I0419 21:03:01.857821 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.70084, 1.70088)
I0419 21:03:01.857913 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.66822, -1.87578), points=3, range=4.117, residual=0.0125856, extent=0.0255785
I0419 21:03:01.857940 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.66822, -1.87578), tracking=(-3.96672, 1.87578), map_predicted=(-4.49002, 0.253086), range=4.117, pts=3
I0419 21:03:01.857965 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.03709m maha_sq=1079.34 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.49002, 0.253086) lm_pos=(-0.285, -2.52) delta=(-4.20502, 2.77309) -> 0 candidate(s)
I0419 21:03:01.926577 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:01.926716 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:01.926772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293818695901.
I0419 21:03:01.928624 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293818964267.
I0419 21:03:01.931357 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:01.931505 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293819258516.
I0419 21:03:01.953974 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293819533668.
I0419 21:03:01.986464 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293819856433.
I0419 21:03:02.058355 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.68638, -1.87831)
I0419 21:03:02.058461 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.68638, -1.87831), points=3, range=4.13733, residual=0.0101689, extent=0.0240801
I0419 21:03:02.058496 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.68638, -1.87831), tracking=(-3.98488, 1.87831), map_predicted=(-4.47896, 0.241367), range=4.13733, pts=3
I0419 21:03:02.058519 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.0214m maha_sq=1069.49 (gate chi2=5.99) pose_sigma=(0.150399, 0.150399, rho=0) det_map=(-4.47896, 0.241367) lm_pos=(-0.285, -2.52) delta=(-4.19396, 2.76137) -> 0 candidate(s)
I0419 21:03:02.059291 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:02.059403 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293820136712.
I0419 21:03:02.062251 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0361918s, prior_pose=(-0.633447, -1.92674), yaw=-4.05871 deg
I0419 21:03:02.062351 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1029, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:02.062561 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293820421469.
I0419 21:03:02.073930 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293820733587.
I0419 21:03:02.102526 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:02.102645 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:02.102756 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0265248 range=0.583909 variance=0.000559815 t_weight=5358.91 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.626544, -1.92741, -3.84828deg) obs_actual=(0.358609, -0.579938) obs_expected=(0.380545, -0.568336) delta=(-0.0219361, -0.011602) |delta|=0.0248153m
I0419 21:03:02.102867 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293821018950.
I0419 21:03:02.121968 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:02.213625 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.84529, -0.477228)
I0419 21:03:02.213778 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:02.213811 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:02.213907 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293821302342.
I0419 21:03:02.215237 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.78666, 1.66613), points=6, range=2.43883, residual=0.018331, extent=0.0505095
I0419 21:03:02.215337 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.78666, 1.66613), tracking=(-2.08516, -1.66613), map_predicted=(-2.79247, -3.46535), range=2.43883, pts=6
I0419 21:03:02.215369 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67975m maha_sq=306.756 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.79247, -3.46535) lm_pos=(-0.285, -2.52) delta=(-2.50747, -0.945347) -> 0 candidate(s)
I0419 21:03:02.216383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293821614134.
I0419 21:03:02.219856 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293821910294.
I0419 21:03:02.222448 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.598596, -1.93071), yaw=-3.16506 deg backend=(-0.589707, -1.9243)
I0419 21:03:02.223138 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.53996 deg, rms_residual=0.0110466m, sigma_yaw=0.014515 rad, N=2
I0419 21:03:02.223204 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.591964, -1.93396, -2.53996deg) inliers=2 rms=0.0110466m
I0419 21:03:02.223242 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293822217733.
I0419 21:03:02.250068 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293822494140.
I0419 21:03:02.314522 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.71298, -1.94663)
I0419 21:03:02.315549 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293822779217.
I0419 21:03:02.318439 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0144237, -0.582866), points=22, range=0.583818, residual=0.0115279, extent=0.0411022
I0419 21:03:02.318590 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0144237, -0.582866), tracking=(0.312924, -0.582866), map_predicted=(-0.300185, -2.52894), range=0.583818, pts=22
I0419 21:03:02.318622 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0176232m maha_sq=0.0133298 (gate chi2=5.99) pose_sigma=(0.150775, 0.150775, rho=0) det_map=(-0.300185, -2.52894) lm_pos=(-0.285, -2.52) delta=(-0.0151853, -0.0089433) -> 1 candidate(s)
I0419 21:03:02.318706 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293823097445.
I0419 21:03:02.330120 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:03:02.337710 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0675472s, prior_pose=(-0.581501, -1.93018), yaw=-3.06453 deg
I0419 21:03:02.337823 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1089, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:02.338070 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293823374073.
I0419 21:03:02.370682 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293823699970.
I0419 21:03:02.387374 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.84554, 1.65209)
I0419 21:03:02.484356 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:02.484546 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:02.484643 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00123626 range=1.08083 variance=0.000545232 t_weight=5502.25 r_weight=0 yaml=(0.615, -1.32) prior=(-0.55753, -1.92917, -2.88187deg) obs_actual=(1.14326, 0.671913) obs_expected=(1.14042, 0.667349) delta=(0.00283882, 0.00456449) |delta|=0.00537526m
I0419 21:03:02.484697 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293823979522.
I0419 21:03:02.485790 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:02.486515 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:02.486603 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:02.486711 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293824261362.
I0419 21:03:02.489471 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0143895, -0.582645), points=22, range=0.582545, residual=0.0113636, extent=0.0398406
I0419 21:03:02.489573 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0143895, -0.582645), tracking=(0.28411, -0.582645), map_predicted=(-0.294777, -2.5265), range=0.582545, pts=22
I0419 21:03:02.489599 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0117382m maha_sq=0.00592718 (gate chi2=5.99) pose_sigma=(0.150611, 0.150611, rho=0) det_map=(-0.294777, -2.5265) lm_pos=(-0.285, -2.52) delta=(-0.00977697, -0.00649585) -> 1 candidate(s)
I0419 21:03:02.489656 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:02.489717 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:02.489738 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293824540116.
I0419 21:03:02.492741 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293824863394.
I0419 21:03:02.513864 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.825081, 0.670732)
I0419 21:03:02.514004 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:02.514142 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293825132180.
I0419 21:03:02.597703 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293825459309.
I0419 21:03:02.600521 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293825737246.
I0419 21:03:02.602393 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0426253, -0.585331), points=21, range=0.586762, residual=0.0110494, extent=0.0349974
I0419 21:03:02.602490 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0426253, -0.585331), tracking=(0.255875, -0.585331), map_predicted=(-0.304855, -2.52876), range=0.586762, pts=21
I0419 21:03:02.602520 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0217021m maha_sq=0.0204279 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.304855, -2.52876) lm_pos=(-0.285, -2.52) delta=(-0.0198553, -0.00876052) -> 1 candidate(s)
I0419 21:03:02.602558 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:02.602634 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293826017848.
I0419 21:03:02.630827 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563316s, prior_pose=(-0.521803, -1.9316), yaw=-2.89493 deg
I0419 21:03:02.630980 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1156, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:02.631421 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293826300562.
I0419 21:03:02.651054 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.77906, -1.96028)
I0419 21:03:02.754606 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293826617497.
I0419 21:03:02.756417 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:02.756502 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:02.756574 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.000420367 range=1.035 variance=0.000563922 t_weight=5319.89 r_weight=0 yaml=(0.615, -1.32) prior=(-0.506669, -1.93205, -2.86108deg) obs_actual=(1.09036, 0.670321) obs_expected=(1.08972, 0.667274) delta=(0.000643837, 0.00304644) |delta|=0.00311373m
I0419 21:03:02.756632 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293826901154.
I0419 21:03:02.758589 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:02.759333 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:02.759397 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:02.759467 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293827212644.
I0419 21:03:02.762118 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0718861, -0.585544), points=21, range=0.589905, residual=0.0110635, extent=0.0344362
I0419 21:03:02.762218 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0718861, -0.585544), tracking=(0.226614, -0.585544), map_predicted=(-0.291433, -2.52978), range=0.589905, pts=21
I0419 21:03:02.762246 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0117098m maha_sq=0.00588909 (gate chi2=5.99) pose_sigma=(0.150757, 0.150757, rho=0) det_map=(-0.291433, -2.52978) lm_pos=(-0.285, -2.52) delta=(-0.00643311, -0.00978444) -> 1 candidate(s)
I0419 21:03:02.762331 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293827498805.
I0419 21:03:02.779111 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293827779970.
I0419 21:03:02.884009 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.80242, -1.96539)
I0419 21:03:02.884569 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:02.885015 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.48886 deg, rms_residual=0.0104955m, sigma_yaw=0.0138008 rad, N=2
I0419 21:03:02.885116 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.475635, -1.93354, -2.48886deg) inliers=2 rms=0.0104955m
I0419 21:03:02.885156 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293828100365.
I0419 21:03:02.888072 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293828380048.
I0419 21:03:02.889900 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293828659037.
I0419 21:03:02.894845 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.103376, -0.586308), points=21, range=0.595381, residual=0.0110854, extent=0.0348988
I0419 21:03:02.894991 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.103376, -0.586308), tracking=(0.195124, -0.586308), map_predicted=(-0.300634, -2.52816), range=0.595381, pts=21
I0419 21:03:02.895046 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0176338m maha_sq=0.0133797 (gate chi2=5.99) pose_sigma=(0.150611, 0.150611, rho=0) det_map=(-0.300634, -2.52816) lm_pos=(-0.285, -2.52) delta=(-0.0156342, -0.00815599) -> 1 candidate(s)
I0419 21:03:02.895195 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293828939302.
I0419 21:03:02.918572 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:03:03.005479 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0389181s, prior_pose=(-0.455367, -1.93623), yaw=-2.85559 deg
I0419 21:03:03.005581 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1208, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:03.005790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293829256955.
I0419 21:03:03.006767 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.8268, -1.96392)
I0419 21:03:03.007591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293829533419.
I0419 21:03:03.010109 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:03.010188 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:03.010250 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00208278 range=0.98825 variance=0.000580359 t_weight=5169.22 r_weight=0 yaml=(0.615, -1.32) prior=(-0.447048, -1.93518, -2.82303deg) obs_actual=(1.02352, 0.666255) obs_expected=(1.03046, 0.66674) delta=(-0.00694469, -0.000485156) |delta|=0.00696162m
I0419 21:03:03.010296 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293829857375.
I0419 21:03:03.011286 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:03.014312 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:03.014389 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:03.014464 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293830138747.
I0419 21:03:03.042737 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.136934, -0.585492), points=21, range=0.602095, residual=0.0114126, extent=0.0382801
I0419 21:03:03.042866 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.136934, -0.585492), tracking=(0.161566, -0.585492), map_predicted=(-0.303451, -2.52692), range=0.602095, pts=21
I0419 21:03:03.042898 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0197068m maha_sq=0.0168381 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.303451, -2.52692) lm_pos=(-0.285, -2.52) delta=(-0.0184511, -0.00692209) -> 1 candidate(s)
I0419 21:03:03.043004 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:03.043056 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:03.043074 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293830421825.
I0419 21:03:03.112576 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.712516, 0.664361)
I0419 21:03:03.112793 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293830698761.
I0419 21:03:03.114950 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.416197, -1.93146), yaw=-2.63027 deg backend=(-0.416043, -1.92559)
I0419 21:03:03.115581 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:03.115670 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293831015746.
I0419 21:03:03.134820 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293831341482.
I0419 21:03:03.161526 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:03.162683 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293831619684.
I0419 21:03:03.246829 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.16465, -0.590344), points=21, range=0.612571, residual=0.0113703, extent=0.0357657
I0419 21:03:03.246953 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.16465, -0.590344), tracking=(0.13385, -0.590344), map_predicted=(-0.292603, -2.52168), range=0.612571, pts=21
I0419 21:03:03.246991 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0077869m maha_sq=0.00259804 (gate chi2=5.99) pose_sigma=(0.150915, 0.150915, rho=0) det_map=(-0.292603, -2.52168) lm_pos=(-0.285, -2.52) delta=(-0.00760272, -0.00168358) -> 1 candidate(s)
I0419 21:03:03.247028 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:03.247084 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293831897921.
I0419 21:03:03.248817 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.064006s, prior_pose=(-0.399083, -1.9258), yaw=-2.64341 deg
I0419 21:03:03.248914 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1267, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:03.249011 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.682129, 0.664409)
I0419 21:03:03.249125 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293832179554.
I0419 21:03:03.251808 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293832501126.
I0419 21:03:03.277616 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:03.277879 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:03.277987 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00391035 range=0.940625 variance=0.000579445 t_weight=5177.37 r_weight=0 yaml=(0.615, -1.32) prior=(-0.380866, -1.93038, -2.58196deg) obs_actual=(0.964035, 0.663573) obs_expected=(0.967358, 0.654624) delta=(-0.00332341, 0.00894882) |delta|=0.00954601m
I0419 21:03:03.278110 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293832771901.
I0419 21:03:03.297950 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:03.305828 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:03.305929 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:03.306056 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293833053125.
I0419 21:03:03.379341 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.19567, -0.590478), points=21, range=0.621905, residual=0.0117098, extent=0.0364016
I0419 21:03:03.379478 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.19567, -0.590478), tracking=(0.10283, -0.590478), map_predicted=(-0.29945, -2.5232), range=0.621905, pts=21
I0419 21:03:03.379505 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0147994m maha_sq=0.00944283 (gate chi2=5.99) pose_sigma=(0.150408, 0.150408, rho=0) det_map=(-0.29945, -2.5232) lm_pos=(-0.285, -2.52) delta=(-0.0144503, -0.00319534) -> 1 candidate(s)
I0419 21:03:03.379606 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293833377928.
I0419 21:03:03.382347 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.205951, -0.589735)
I0419 21:03:03.382556 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293833660174.
I0419 21:03:03.394382 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.46109 deg, rms_residual=0.0119751m, sigma_yaw=0.0157158 rad, N=2
I0419 21:03:03.394526 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.354869, -1.93514, -2.46109deg) inliers=2 rms=0.0119751m
I0419 21:03:03.394565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293833938223.
I0419 21:03:03.426378 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293834256593.
I0419 21:03:03.527606 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293834532458.
I0419 21:03:03.529620 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.231736, -0.590769)
I0419 21:03:03.529748 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.229116, -0.591671), points=18, range=0.634667, residual=0.0102038, extent=0.0315657
I0419 21:03:03.529776 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.229116, -0.591671), tracking=(0.0693844, -0.591671), map_predicted=(-0.303844, -2.52654), range=0.634667, pts=18
I0419 21:03:03.529798 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.019945m maha_sq=0.0172664 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.303844, -2.52654) lm_pos=(-0.285, -2.52) delta=(-0.0188438, -0.00653579) -> 1 candidate(s)
I0419 21:03:03.529891 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293834854931.
I0419 21:03:03.531530 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:03:03.532327 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0610827s, prior_pose=(-0.336542, -1.93319), yaw=-2.58117 deg
I0419 21:03:03.532436 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1317, max_intensity=254, threshold=230, above_threshold=33, candidates=33
I0419 21:03:03.532616 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293835143285.
I0419 21:03:03.542982 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293835418222.
I0419 21:03:03.570240 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:03.570387 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:03.570538 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00650018 range=0.901778 variance=0.000674262 t_weight=4449.31 r_weight=0 yaml=(0.615, -1.32) prior=(-0.323723, -1.93384, -2.53588deg) obs_actual=(0.902058, 0.663542) obs_expected=(0.910645, 0.654772) delta=(-0.00858643, 0.00876984) |delta|=0.0122734m
I0419 21:03:03.570673 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293835695640.
I0419 21:03:03.660650 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(-0.3323, 0.591363)
I0419 21:03:03.660759 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:03.661617 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:03.661698 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:03.661785 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293836014973.
I0419 21:03:03.662739 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.10954, 1.6334), points=5, range=2.6692, residual=0.0135622, extent=0.0349033
I0419 21:03:03.662837 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.10954, 1.6334), tracking=(-2.40804, -1.6334), map_predicted=(-2.78671, -3.4618), range=2.6692, pts=5
I0419 21:03:03.662863 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.67312m maha_sq=306.846 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.78671, -3.4618) lm_pos=(-0.285, -2.52) delta=(-2.50171, -0.941799) -> 0 candidate(s)
I0419 21:03:03.664624 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:03.664731 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:03.664755 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293836293713.
I0419 21:03:03.665769 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:03.666770 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293836623612.
I0419 21:03:03.680014 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:03.691426 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.54821, -0.513025)
I0419 21:03:03.691664 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:03.691857 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293836905778.
I0419 21:03:03.809621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293837218386.
I0419 21:03:03.810794 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.13754, 1.63034), points=4, range=2.6915, residual=0.0122576, extent=0.0302104
I0419 21:03:03.810907 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.13754, 1.63034), tracking=(-2.43604, -1.63034), map_predicted=(-2.78289, -3.45999), range=2.6915, pts=4
I0419 21:03:03.810933 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6689m maha_sq=306.282 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.78289, -3.45999) lm_pos=(-0.285, -2.52) delta=(-2.49789, -0.939989) -> 0 candidate(s)
I0419 21:03:03.811890 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293837500326.
I0419 21:03:03.814733 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(-0.296535, -0.588367)
I0419 21:03:03.814908 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293837781600.
I0419 21:03:03.817425 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.035947s, prior_pose=(-0.262317, -1.9377), yaw=-2.35124 deg
I0419 21:03:03.817492 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1365, max_intensity=254, threshold=230, above_threshold=40, candidates=40
I0419 21:03:03.817667 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293838058789.
I0419 21:03:03.835253 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293838341696.
I0419 21:03:03.933019 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.15905, 1.62208), points=5, range=2.7032, residual=0.0165782, extent=0.0434302
I0419 21:03:03.933152 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.15905, 1.62208), tracking=(-2.45755, -1.62208), map_predicted=(-2.78292, -3.45745), range=2.7032, pts=5
I0419 21:03:03.933185 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66803m maha_sq=304.005 (gate chi2=5.99) pose_sigma=(0.15011, 0.15011, rho=0) det_map=(-2.78292, -3.45745) lm_pos=(-0.285, -2.52) delta=(-2.49792, -0.937452) -> 0 candidate(s)
I0419 21:03:03.933930 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=45, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:03.933983 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=32, centroid=(-0.325866, -0.577404)
I0419 21:03:03.934006 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:03.934083 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00544427 range=0.852833 variance=0.00060953 t_weight=4921.83 r_weight=0 yaml=(0.615, -1.32) prior=(-0.260857, -1.93762, -2.35255deg) obs_actual=(0.840452, 0.659317) obs_expected=(0.849766, 0.653052) delta=(-0.00931371, 0.00626486) |delta|=0.0112247m
I0419 21:03:03.934146 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293838657881.
I0419 21:03:03.935222 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:03.936905 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:03.936978 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:03.937067 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293838935916.
I0419 21:03:03.938980 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293839252878.
I0419 21:03:03.946592 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:03.954910 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=13, centroid=(0.521884, 0.655983)
I0419 21:03:03.955075 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 15 -> 11 (threshold=0.03, iters=3)
I0419 21:03:03.955312 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293839539472.
I0419 21:03:03.974996 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.19479, 1.62406), points=4, range=2.73275, residual=0.0114379, extent=0.028171
I0419 21:03:03.975196 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.19479, 1.62406), tracking=(-2.49329, -1.62406), map_predicted=(-2.7902, -3.46722), range=2.73275, pts=4
I0419 21:03:03.975250 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67829m maha_sq=308.625 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7902, -3.46722) lm_pos=(-0.285, -2.52) delta=(-2.5052, -0.947216) -> 0 candidate(s)
I0419 21:03:04.091662 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.225478, -1.94357), yaw=-2.20968 deg backend=(-0.236826, -1.93903)
I0419 21:03:04.092629 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:04.092730 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293839820225.
I0419 21:03:04.095166 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293840135180.
I0419 21:03:04.101682 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293840421160.
I0419 21:03:04.104566 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.21162, 1.62661)
I0419 21:03:04.111004 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677962s, prior_pose=(-0.21267, -1.94165), yaw=-2.15016 deg
I0419 21:03:04.111182 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 21:03:04.111378 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293841019202.
I0419 21:03:04.180794 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.2295, 1.62479), points=5, range=2.7572, residual=0.0126652, extent=0.0333007
I0419 21:03:04.180902 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.2295, 1.62479), tracking=(-2.528, -1.62479), map_predicted=(-2.79644, -3.47128), range=2.7572, pts=5
I0419 21:03:04.180929 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68557m maha_sq=308.786 (gate chi2=5.99) pose_sigma=(0.150271, 0.150271, rho=0) det_map=(-2.79644, -3.47128) lm_pos=(-0.285, -2.52) delta=(-2.51144, -0.951279) -> 0 candidate(s)
I0419 21:03:04.181999 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293841300464.
I0419 21:03:04.185362 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:04.185468 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:04.186736 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.24324, 1.61989)
I0419 21:03:04.186810 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:04.190647 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:04.190738 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:04.190850 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293841902200.
I0419 21:03:04.210196 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:04.219280 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293842184765.
I0419 21:03:04.238605 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:04.339242 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293842459120.
I0419 21:03:04.340480 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.26449, 1.6252), points=4, range=2.7845, residual=0.0119859, extent=0.0296555
I0419 21:03:04.340582 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.26449, 1.6252), tracking=(-2.56299, -1.6252), map_predicted=(-2.7961, -3.47673), range=2.7845, pts=4
I0419 21:03:04.340610 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68718m maha_sq=310.412 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.7961, -3.47673) lm_pos=(-0.285, -2.52) delta=(-2.5111, -0.956727) -> 0 candidate(s)
I0419 21:03:04.340655 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:04.341466 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:04.341558 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:04.341607 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:04.341629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293842781549.
I0419 21:03:04.344152 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.444719, 0.648977)
I0419 21:03:04.344331 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293843053955.
I0419 21:03:04.346992 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293843376538.
I0419 21:03:04.367313 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293843662666.
I0419 21:03:04.457144 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560645s, prior_pose=(-0.148133, -1.9439), yaw=-1.91067 deg
I0419 21:03:04.457254 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:03:04.457391 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293843937183.
I0419 21:03:04.458353 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.30196, 1.61186), points=6, range=2.812, residual=0.015701, extent=0.0442975
I0419 21:03:04.458410 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.30196, 1.61186), tracking=(-2.60046, -1.61186), map_predicted=(-2.80088, -3.46816), range=2.812, pts=6
I0419 21:03:04.458432 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68862m maha_sq=309.325 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80088, -3.46816) lm_pos=(-0.285, -2.52) delta=(-2.51588, -0.948159) -> 0 candidate(s)
I0419 21:03:04.460029 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.4156, 0.643937)
I0419 21:03:04.460111 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0182199 range=0.766467 variance=0.000580649 t_weight=5166.63 r_weight=0 yaml=(0.615, -1.32) prior=(-0.137011, -1.94427, -1.88391deg) obs_actual=(0.711121, 0.643487) obs_expected=(0.731082, 0.648651) delta=(-0.0199604, -0.0051643) |delta|=0.0206177m
I0419 21:03:04.460155 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293844213730.
I0419 21:03:04.461881 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:04.461939 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:04.461997 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293844537000.
I0419 21:03:04.473871 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:04.481773 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:04.481868 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:04.570405 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293845097153.
I0419 21:03:04.571738 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:04.572500 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.387976, 0.643461)
I0419 21:03:04.572566 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.389192, 0.643417), points=14, range=0.751429, residual=0.010355, extent=0.0359201
I0419 21:03:04.572589 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.389192, 0.643417), tracking=(0.687692, 0.643417), map_predicted=(0.593943, -1.32209), range=0.751429, pts=14
I0419 21:03:04.572610 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0211601m maha_sq=0.0194283 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.593943, -1.32209) lm_pos=(0.615, -1.32) delta=(-0.021057, -0.00208664) -> 1 candidate(s)
I0419 21:03:04.575150 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:04.575248 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293845692191.
I0419 21:03:04.602029 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293846015124.
I0419 21:03:04.698167 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.362712, 0.640965)
I0419 21:03:04.699214 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.37159, 1.59966), points=4, range=2.8635, residual=0.0124442, extent=0.0307929
I0419 21:03:04.699275 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.37159, 1.59966), tracking=(-2.67009, -1.59966), map_predicted=(-2.80882, -3.45886), range=2.8635, pts=4
I0419 21:03:04.699298 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69279m maha_sq=309.863 (gate chi2=5.99) pose_sigma=(0.150387, 0.150387, rho=0) det_map=(-2.80882, -3.45886) lm_pos=(-0.285, -2.52) delta=(-2.52382, -0.938859) -> 0 candidate(s)
I0419 21:03:04.699331 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:04.700951 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0368709s, prior_pose=(-0.0787154, -1.94426), yaw=-1.74029 deg
I0419 21:03:04.701097 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:03:04.746194 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:04.746311 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:04.771245 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:04.870589 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.337014, 0.640423)
I0419 21:03:04.870703 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:04.870726 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:04.871784 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.39534, 1.60556), points=4, range=2.88025, residual=0.0125322, extent=0.0297787
I0419 21:03:04.871874 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.39534, 1.60556), tracking=(-2.69384, -1.60556), map_predicted=(-2.80086, -3.47052), range=2.88025, pts=4
I0419 21:03:04.871902 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68943m maha_sq=300.676 (gate chi2=5.99) pose_sigma=(0.152533, 0.152533, rho=0) det_map=(-2.80086, -3.47052) lm_pos=(-0.285, -2.52) delta=(-2.51586, -0.950524) -> 0 candidate(s)
I0419 21:03:04.874722 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:04.877589 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-0.0407225, -1.9456), yaw=-1.6102 deg backend=(-0.0384912, -1.94548)
I0419 21:03:04.878294 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:04.894337 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.27344, -0.547113)
I0419 21:03:04.894680 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293848936236.
I0419 21:03:04.985980 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24868, -0.547237), points=4, range=1.3685, residual=0.0155947, extent=0.0379219
I0419 21:03:04.986100 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.24868, -0.547237), tracking=(1.54718, -0.547237), map_predicted=(1.50277, -2.53393), range=1.3685, pts=4
I0419 21:03:04.986130 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.242634m maha_sq=2.50599 (gate chi2=5.99) pose_sigma=(0.150921, 0.150921, rho=0) det_map=(1.50277, -2.53393) lm_pos=(1.745, -2.52) delta=(-0.242234, -0.0139266) -> 1 candidate(s)
I0419 21:03:04.991050 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0673498s, prior_pose=(-0.0166368, -1.94407), yaw=-1.57875 deg
I0419 21:03:04.991200 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:04.991315 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:05.010576 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.23643, -0.545059)
I0419 21:03:05.120223 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:05.120325 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:05.120358 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.274289, 0.638313), points=18, range=0.696167, residual=0.0120837, extent=0.0415739
I0419 21:03:05.120409 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.274289, 0.638313), tracking=(0.572789, 0.638313), map_predicted=(0.591555, -1.32185), range=0.696167, pts=18
I0419 21:03:05.120436 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.023518m maha_sq=0.0230181 (gate chi2=5.99) pose_sigma=(0.15312, 0.15312, rho=0) det_map=(0.591555, -1.32185) lm_pos=(0.615, -1.32) delta=(-0.0234449, -0.00185267) -> 1 candidate(s)
I0419 21:03:05.121564 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:05.122413 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:05.122483 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:05.126946 1218530 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:03:05.127058 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:05.130590 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.21174, -0.550064)
I0419 21:03:05.158916 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:05.256954 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.27138, -2.05262), points=4, range=4.738, residual=0.0170384, extent=0.0413776
I0419 21:03:05.257107 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.27138, -2.05262), tracking=(-4.56988, 2.05262), map_predicted=(-4.48723, 0.230302), range=4.738, pts=4
I0419 21:03:05.257148 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02224m maha_sq=997.528 (gate chi2=5.99) pose_sigma=(0.154948, 0.154948, rho=0) det_map=(-4.48723, 0.230302) lm_pos=(-0.285, -2.52) delta=(-4.20223, 2.7503) -> 0 candidate(s)
I0419 21:03:05.262498 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.18669, -0.549139)
I0419 21:03:05.275143 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564308s, prior_pose=(0.0464731, -1.94434), yaw=-1.50497 deg
I0419 21:03:05.275359 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:03:05.275660 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:05.295056 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.31695, -2.03602), points=3, range=4.77367, residual=0.0134436, extent=0.0280548
I0419 21:03:05.295641 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.31695, -2.03602), tracking=(-4.61545, 2.03602), map_predicted=(-4.51392, 0.212194), range=4.77367, pts=3
I0419 21:03:05.295977 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.03474m maha_sq=988.543 (gate chi2=5.99) pose_sigma=(0.156419, 0.156419, rho=0) det_map=(-4.51392, 0.212194) lm_pos=(-0.285, -2.52) delta=(-4.22892, 2.73219) -> 0 candidate(s)
I0419 21:03:05.402360 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:05.402491 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:05.404434 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:05.405308 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.15587, -0.553323)
I0419 21:03:05.405390 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:05.405412 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:05.414861 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0762162, 0.585444), points=20, range=0.59085, residual=0.0107031, extent=0.0328807
I0419 21:03:05.415007 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0762162, 0.585444), tracking=(-0.374716, -0.585444), map_predicted=(-0.304024, -2.5188), range=0.59085, pts=20
I0419 21:03:05.415055 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0190621m maha_sq=0.014032 (gate chi2=5.99) pose_sigma=(0.159207, 0.159207, rho=0) det_map=(-0.304024, -2.5188) lm_pos=(-0.285, -2.52) delta=(-0.0190244, 0.00119687) -> 1 candidate(s)
I0419 21:03:05.415095 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:05.514802 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:05.517803 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.12738, -0.555898)
I0419 21:03:05.538376 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.159516, 0.635798), points=19, range=0.655895, residual=0.011311, extent=0.0350187
I0419 21:03:05.538537 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.159516, 0.635798), tracking=(0.458016, 0.635798), map_predicted=(0.590265, -1.32029), range=0.655895, pts=19
I0419 21:03:05.538592 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0247368m maha_sq=0.022997 (gate chi2=5.99) pose_sigma=(0.161383, 0.161383, rho=0) det_map=(0.590265, -1.32029) lm_pos=(0.615, -1.32) delta=(-0.024735, -0.000293661) -> 1 candidate(s)
I0419 21:03:05.664817 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.040575s, prior_pose=(0.123063, -1.94455), yaw=-1.4416 deg
I0419 21:03:05.664919 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:05.665088 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:05.666929 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.09758, -0.555135)
I0419 21:03:05.669516 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:05.669579 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:05.670435 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:05.672184 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:05.672238 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:05.678783 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.138635, 0.585092), points=22, range=0.602091, residual=0.0119777, extent=0.0380457
I0419 21:03:05.678897 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.138635, 0.585092), tracking=(-0.437135, -0.585092), map_predicted=(-0.307474, -2.51916), range=0.602091, pts=22
I0419 21:03:05.678954 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0224893m maha_sq=0.0185657 (gate chi2=5.99) pose_sigma=(0.163293, 0.163293, rho=0) det_map=(-0.307474, -2.51916) lm_pos=(-0.285, -2.52) delta=(-0.0224737, 0.000838583) -> 1 candidate(s)
I0419 21:03:05.790495 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:05.791445 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:05.791478 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.06825, -0.558377)
I0419 21:03:05.794003 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.166442, -1.94691), yaw=-1.33458 deg backend=(0.168673, -1.9468)
I0419 21:03:05.794742 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:05.823225 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.42548, -2.06365), points=3, range=4.883, residual=0.0119636, extent=0.0288361
I0419 21:03:05.823321 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.42548, -2.06365), tracking=(-4.72398, 2.06365), map_predicted=(-4.49994, 0.224248), range=4.883, pts=3
I0419 21:03:05.823350 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.02958m maha_sq=886.362 (gate chi2=5.99) pose_sigma=(0.165456, 0.165456, rho=0) det_map=(-4.49994, 0.224248) lm_pos=(-0.285, -2.52) delta=(-4.21494, 2.74425) -> 0 candidate(s)
I0419 21:03:05.901889 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.04798, -0.565022)
I0419 21:03:05.903692 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0664173s, prior_pose=(0.186893, -1.94649), yaw=-1.23092 deg
I0419 21:03:05.903786 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:05.903899 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:05.921972 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:05.922101 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:05.942747 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.205957, 0.584269), points=20, range=0.6206, residual=0.0112897, extent=0.0358247
I0419 21:03:05.942883 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:05.942921 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.205957, 0.584269), tracking=(-0.504457, -0.584269), map_predicted=(-0.309278, -2.52095), range=0.6206, pts=20
I0419 21:03:05.942970 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0242965m maha_sq=0.0206106 (gate chi2=5.99) pose_sigma=(0.16757, 0.16757, rho=0) det_map=(-0.309278, -2.52095) lm_pos=(-0.285, -2.52) delta=(-0.0242778, -0.000953019) -> 1 candidate(s)
I0419 21:03:05.950214 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.02124, -0.566803)
I0419 21:03:05.950299 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:05.950326 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:06.011533 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:06.038174 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:06.070222 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.990516, -0.568741)
I0419 21:03:06.070323 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.996909, -0.56977), points=5, range=1.1422, residual=0.0152609, extent=0.0368945
I0419 21:03:06.070353 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.996909, -0.56977), tracking=(1.29541, -0.56977), map_predicted=(1.51701, -2.54012), range=1.1422, pts=5
I0419 21:03:06.070379 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.228872m maha_sq=1.78547 (gate chi2=5.99) pose_sigma=(0.169256, 0.169256, rho=0) det_map=(1.51701, -2.54012) lm_pos=(1.745, -2.52) delta=(-0.227986, -0.0201163) -> 1 candidate(s)
I0419 21:03:06.162206 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606956s, prior_pose=(0.254837, -1.94538), yaw=-0.961559 deg
I0419 21:03:06.162379 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:06.162514 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:06.187148 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.958898, -0.572296)
I0419 21:03:06.187258 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.962831, -0.572776), points=7, range=1.11671, residual=0.0142642, extent=0.041792
I0419 21:03:06.187327 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.962831, -0.572776), tracking=(1.26133, -0.572776), map_predicted=(1.51939, -2.53731), range=1.11671, pts=7
I0419 21:03:06.187361 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.226268m maha_sq=1.70122 (gate chi2=5.99) pose_sigma=(0.171566, 0.171566, rho=0) det_map=(1.51939, -2.53731) lm_pos=(1.745, -2.52) delta=(-0.225605, -0.0173074) -> 1 candidate(s)
I0419 21:03:06.214015 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:06.214190 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:06.287843 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:06.288750 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:06.288908 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:06.293977 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.290295, 0.584284)
I0419 21:03:06.294108 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:06.302534 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00904997, 0.620812), points=21, range=0.620857, residual=0.0114709, extent=0.0391382
I0419 21:03:06.302671 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.00904997, 0.620812), tracking=(0.28945, 0.620812), map_predicted=(0.592141, -1.32781), range=0.620857, pts=21
I0419 21:03:06.302713 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0241572m maha_sq=0.0190524 (gate chi2=5.99) pose_sigma=(0.173388, 0.173388, rho=0) det_map=(0.592141, -1.32781) lm_pos=(0.615, -1.32) delta=(-0.022859, -0.00781267) -> 1 candidate(s)
I0419 21:03:06.335001 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:06.457017 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.79822, 1.55111)
I0419 21:03:06.460395 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.040078s, prior_pose=(0.325213, -1.94496), yaw=-0.617927 deg
I0419 21:03:06.460495 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:06.460593 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0388418, 0.62073), points=21, range=0.621714, residual=0.0123264, extent=0.03997
I0419 21:03:06.460623 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0388418, 0.62073), tracking=(0.259658, 0.62073), map_predicted=(0.59155, -1.32707), range=0.621714, pts=21
I0419 21:03:06.460646 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0244923m maha_sq=0.0191435 (gate chi2=5.99) pose_sigma=(0.175354, 0.175354, rho=0) det_map=(0.59155, -1.32707) lm_pos=(0.615, -1.32) delta=(-0.0234495, -0.00707042) -> 1 candidate(s)
I0419 21:03:06.460711 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:06.571180 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:06.571292 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:06.572232 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:06.573832 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.0634329, 0.621005)
I0419 21:03:06.573894 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:06.573920 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:06.590905 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:06.598845 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0771745, 0.621041), points=22, range=0.625773, residual=0.0119503, extent=0.0396373
I0419 21:03:06.598963 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0771745, 0.621041), tracking=(0.221326, 0.621041), map_predicted=(0.587358, -1.32533), range=0.625773, pts=22
I0419 21:03:06.599015 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0281518m maha_sq=0.0246802 (gate chi2=5.99) pose_sigma=(0.177579, 0.177579, rho=0) det_map=(0.587358, -1.32533) lm_pos=(0.615, -1.32) delta=(-0.0276424, -0.0053314) -> 1 candidate(s)
I0419 21:03:06.701794 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.369114, -1.94477), yaw=-0.520374 deg backend=(0.37336, -1.94439)
I0419 21:03:06.710034 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.17846 deg, rms_residual=0.00362207m, sigma_yaw=0.00400839 rad, N=2
I0419 21:03:06.710193 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.398509, -1.94245, -0.17846deg) inliers=2 rms=0.00362207m
I0419 21:03:06.710234 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293866575181.
I0419 21:03:06.712076 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 21:03:06.712997 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.831409, -0.585169)
I0419 21:03:06.746541 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678233s, prior_pose=(0.396937, -1.94361), yaw=-0.434963 deg
I0419 21:03:06.746754 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:06.747063 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.824131, -0.585994), points=9, range=1.00933, residual=0.0111309, extent=0.0350004
I0419 21:03:06.747130 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.824131, -0.585994), tracking=(1.12263, -0.585994), map_predicted=(1.51509, -2.53811), range=1.00933, pts=9
I0419 21:03:06.747181 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.230626m maha_sq=2.24414 (gate chi2=5.99) pose_sigma=(0.152074, 0.152074, rho=0) det_map=(1.51509, -2.53811) lm_pos=(1.745, -2.52) delta=(-0.229913, -0.0181143) -> 1 candidate(s)
I0419 21:03:06.828333 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:06.831759 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:06.831878 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.80657, -0.587136)
I0419 21:03:06.831944 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:06.833045 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:06.833966 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:06.834046 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:06.882660 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:06.964708 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779705, -0.587505), points=9, range=0.975667, residual=0.0131672, extent=0.0450998
I0419 21:03:06.964813 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.779705, -0.587505), tracking=(1.0782, -0.587505), map_predicted=(1.50238, -2.53756), range=0.975667, pts=9
I0419 21:03:06.964843 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.243253m maha_sq=2.42227 (gate chi2=5.99) pose_sigma=(0.154292, 0.154292, rho=0) det_map=(1.50238, -2.53756) lm_pos=(1.745, -2.52) delta=(-0.242618, -0.0175649) -> 1 candidate(s)
I0419 21:03:06.966719 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.779579, -0.58916)
I0419 21:03:06.970917 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:03:07.102180 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599896s, prior_pose=(0.451854, -1.94355), yaw=-0.2292 deg
I0419 21:03:07.105602 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:07.105911 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.6468, 0.626652)
I0419 21:03:07.105971 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.747241, -0.587295), points=9, range=0.951222, residual=0.00969198, extent=0.0312534
I0419 21:03:07.106025 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.747241, -0.587295), tracking=(1.04574, -0.587295), map_predicted=(1.49524, -2.53502), range=0.951222, pts=9
I0419 21:03:07.106073 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.250214m maha_sq=2.51272 (gate chi2=5.99) pose_sigma=(0.156124, 0.156124, rho=0) det_map=(1.49524, -2.53502) lm_pos=(1.745, -2.52) delta=(-0.249763, -0.0150206) -> 1 candidate(s)
I0419 21:03:07.108474 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:07.114666 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:07.114805 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:07.118142 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:07.126012 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:07.126128 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:07.235636 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.60452, 0.63472)
I0419 21:03:07.236589 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:07.236754 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:07.237632 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.715692, -0.581233), points=11, range=0.922818, residual=0.0119872, extent=0.036171
I0419 21:03:07.237741 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.715692, -0.581233), tracking=(1.01419, -0.581233), map_predicted=(1.49746, -2.53334), range=0.922818, pts=11
I0419 21:03:07.237812 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.247904m maha_sq=2.38152 (gate chi2=5.99) pose_sigma=(0.158794, 0.158794, rho=0) det_map=(1.49746, -2.53334) lm_pos=(1.745, -2.52) delta=(-0.247545, -0.0133408) -> 1 candidate(s)
I0419 21:03:07.266996 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:03:07.274717 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.69726, -0.576414)
I0419 21:03:07.347683 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293872924451.
I0419 21:03:07.349575 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.99082, 1.59027), points=4, range=3.39, residual=0.0159169, extent=0.0380669
I0419 21:03:07.349650 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.99082, 1.59027), tracking=(-3.28932, -1.59027), map_predicted=(-2.80818, -3.47922), range=3.39, pts=4
I0419 21:03:07.349677 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.69936m maha_sq=310.519 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.80818, -3.47922) lm_pos=(-0.285, -2.52) delta=(-2.52318, -0.959217) -> 0 candidate(s)
I0419 21:03:07.349740 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293873221440.
I0419 21:03:07.351220 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0374797s, prior_pose=(0.529476, -1.9392), yaw=-1.14015 deg
I0419 21:03:07.351287 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:07.354347 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293873537150.
I0419 21:03:07.358737 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.270495, 0.621897)
I0419 21:03:07.381965 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293873812903.
I0419 21:03:07.390172 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:07.390266 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:07.410699 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:07.410849 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293874101612.
I0419 21:03:07.490376 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:07.490489 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:07.490532 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:07.491643 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 25 -> 14 (threshold=0.03, iters=3)
I0419 21:03:07.491688 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.01999, 1.61704), points=4, range=3.423, residual=0.0134062, extent=0.0321752
I0419 21:03:07.491711 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.01999, 1.61704), tracking=(-3.31849, -1.61704), map_predicted=(-2.79252, -3.46624), range=3.423, pts=4
I0419 21:03:07.491734 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.68012m maha_sq=300.77 (gate chi2=5.99) pose_sigma=(0.151606, 0.151606, rho=0) det_map=(-2.79252, -3.46624) lm_pos=(-0.285, -2.52) delta=(-2.50752, -0.946241) -> 0 candidate(s)
I0419 21:03:07.491849 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293874424232.
I0419 21:03:07.494421 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.375566, -0.61487)
I0419 21:03:07.494504 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:07.494549 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00489795 range=0.69275 variance=0.000565783 t_weight=5302.38 r_weight=0 yaml=(0.615, -1.32) prior=(0.577616, -1.92799, -1.44165deg) obs_actual=(0.014359, 0.616144) obs_expected=(0.0220757, 0.608736) delta=(-0.00771671, 0.00740767) |delta|=0.0106968m
I0419 21:03:07.494596 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293874696410.
I0419 21:03:07.498214 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293874976190.
I0419 21:03:07.499387 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.592943, -1.92965), yaw=-1.47293 deg backend=(0.587921, -1.94176)
I0419 21:03:07.506320 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:07.506454 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:07.506480 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293875058823.
I0419 21:03:07.529949 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293875293018.
I0419 21:03:07.538722 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.50351, 0.664151)
I0419 21:03:07.538839 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.324147, 0.624802), points=14, range=0.702929, residual=0.00991669, extent=0.0305379
I0419 21:03:07.538874 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.324147, 0.624802), tracking=(-0.0256466, 0.624802), map_predicted=(0.583365, -1.3044), range=0.702929, pts=14
I0419 21:03:07.538903 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[1] 'ref_2' eucl_dist=0.0352732m maha_sq=0.0540116 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.583365, -1.3044) lm_pos=(0.615, -1.32) delta=(-0.031635, 0.0156021) -> 1 candidate(s)
I0419 21:03:07.539520 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293875381141.
I0419 21:03:07.619270 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:07.619410 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293875582238.
I0419 21:03:07.620280 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293875654101.
I0419 21:03:07.621503 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293875898010.
I0419 21:03:07.624127 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293876181493.
I0419 21:03:07.627048 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.068442s, prior_pose=(0.616445, -1.93405), yaw=-1.50994 deg
I0419 21:03:07.627140 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=254, threshold=230, above_threshold=43, candidates=43
I0419 21:03:07.627336 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.612075, -0.570146)
I0419 21:03:07.646728 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293876458136.
I0419 21:03:07.646965 1218970 collated_trajectory_builder.cc:82] imu rate: 184.93 Hz 5.41e-03 s +/- 6.27e-03 s (pulsed at 101.41% real time)
I0419 21:03:07.647166 1218970 collated_trajectory_builder.cc:82] odom rate: 229.95 Hz 4.35e-03 s +/- 3.97e-03 s (pulsed at 101.24% real time)
I0419 21:03:07.647347 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 31.66 Hz 3.16e-02 s +/- 1.00e-02 s (pulsed at 101.17% real time)
I0419 21:03:07.647403 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 32.26 Hz 3.10e-02 s +/- 7.36e-03 s (pulsed at 101.35% real time)
I0419 21:03:07.655277 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.60764, -0.569873), points=13, range=0.83, residual=0.0135257, extent=0.0416533
I0419 21:03:07.655441 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.60764, -0.569873), tracking=(0.90614, -0.569873), map_predicted=(1.51763, -2.52678), range=0.83, pts=13
I0419 21:03:07.655478 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.227467m maha_sq=2.23745 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.51763, -2.52678) lm_pos=(1.745, -2.52) delta=(-0.227366, -0.0067792) -> 1 candidate(s)
I0419 21:03:07.674561 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00376332 range=0.669632 variance=0.000586851 t_weight=5112.03 r_weight=0 yaml=(0.615, -1.32) prior=(0.626464, -1.93377, -1.47516deg) obs_actual=(-0.0364662, 0.614735) obs_expected=(-0.0272611, 0.613269) delta=(-0.00920512, 0.00146592) |delta|=0.00932112m
I0419 21:03:07.674876 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293876740154.
I0419 21:03:07.725559 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:03:07.725666 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:03:07.726830 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:07.726955 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293877055760.
I0419 21:03:07.727679 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.591818, -0.571397)
I0419 21:03:07.727741 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:07.727763 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:07.733903 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293877333470.
I0419 21:03:07.766614 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:07.766739 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.7153 deg, rms_residual=0.00903391m, sigma_yaw=0.0119019 rad, N=2
I0419 21:03:07.766819 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.668614, -1.92677, -0.7153deg) inliers=2 rms=0.00903391m
I0419 21:03:07.766865 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293877660145.
I0419 21:03:07.790575 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.230358, -0.61336), points=19, range=0.656053, residual=0.0113849, extent=0.035332
I0419 21:03:07.790671 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.230358, -0.61336), tracking=(-0.0681421, 0.61336), map_predicted=(0.608506, -1.31689), range=0.656053, pts=19
I0419 21:03:07.790726 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00719861m maha_sq=0.00221178 (gate chi2=5.99) pose_sigma=(0.151207, 0.151207, rho=0) det_map=(0.608506, -1.31689) lm_pos=(0.615, -1.32) delta=(-0.00649428, 0.00310553) -> 1 candidate(s)
I0419 21:03:07.790858 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293877900902.
I0419 21:03:07.880475 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(3.10476, 1.62772)
I0419 21:03:07.880666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293878220475.
I0419 21:03:07.882671 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:07.882807 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293878494036.
I0419 21:03:07.885454 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293878778712.
I0419 21:03:07.910037 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293879094644.
I0419 21:03:07.918634 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566314s, prior_pose=(0.692589, -1.93226), yaw=-1.78612 deg
I0419 21:03:07.918743 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 21:03:07.918833 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40132, 0.680933), points=3, range=1.562, residual=0.00953518, extent=0.0201611
I0419 21:03:07.918861 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40132, 0.680933), tracking=(1.69982, 0.680933), map_predicted=(2.4128, -1.30464), range=1.562, pts=3
I0419 21:03:07.918884 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0155187m maha_sq=0.0104359 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.4128, -1.30464) lm_pos=(2.415, -1.32) delta=(-0.0021963, 0.0153625) -> 1 candidate(s)
I0419 21:03:07.938534 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.12221, 1.6427)
I0419 21:03:07.938753 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293879380797.
I0419 21:03:07.994771 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.000507563 range=0.639 variance=0.000546452 t_weight=5489.97 r_weight=0 yaml=(0.615, -1.32) prior=(0.707101, -1.93275, -1.94486deg) obs_actual=(-0.115387, 0.611592) obs_expected=(-0.112843, 0.60927) delta=(-0.00254383, 0.00232212) |delta|=0.00344432m
I0419 21:03:07.994930 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293879700594.
I0419 21:03:07.995683 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:07.995738 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:07.997587 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:07.997720 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293879972243.
I0419 21:03:08.007558 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:08.007714 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:08.026422 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:08.026571 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:08.026599 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293880259283.
I0419 21:03:08.057734 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.1362, 1.67343)
I0419 21:03:08.057837 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.154372, -0.611517), points=20, range=0.63135, residual=0.0116278, extent=0.0352633
I0419 21:03:08.057878 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.154372, -0.611517), tracking=(-0.144128, 0.611517), map_predicted=(0.60941, -1.31608), range=0.63135, pts=20
I0419 21:03:08.057904 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00682851m maha_sq=0.00199534 (gate chi2=5.99) pose_sigma=(0.150992, 0.150992, rho=0) det_map=(0.60941, -1.31608) lm_pos=(0.615, -1.32) delta=(-0.00558958, 0.00392239) -> 1 candidate(s)
I0419 21:03:08.057924 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:08.058034 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293880572084.
I0419 21:03:08.131814 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293880855872.
I0419 21:03:08.132756 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:08.133908 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293881141176.
I0419 21:03:08.146504 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:08.146783 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293881459141.
I0419 21:03:08.174120 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.16339, 1.69382)
I0419 21:03:08.174275 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.127569, -0.608773), points=21, range=0.622333, residual=0.011921, extent=0.036585
I0419 21:03:08.174315 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.127569, -0.608773), tracking=(-0.170931, 0.608773), map_predicted=(0.619138, -1.31757), range=0.622333, pts=21
I0419 21:03:08.174353 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00479995m maha_sq=0.000989162 (gate chi2=5.99) pose_sigma=(0.150716, 0.150716, rho=0) det_map=(0.619138, -1.31757) lm_pos=(0.615, -1.32) delta=(0.0041381, 0.00243221) -> 1 candidate(s)
I0419 21:03:08.174535 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293881734386.
I0419 21:03:08.206182 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293882051970.
I0419 21:03:08.289363 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0378347s, prior_pose=(0.782246, -1.93191), yaw=-2.84908 deg
I0419 21:03:08.289471 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:08.290792 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293882334429.
I0419 21:03:08.293449 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00152173 range=0.61515 variance=0.000557254 t_weight=5383.54 r_weight=0 yaml=(0.615, -1.32) prior=(0.788942, -1.93139, -2.84009deg) obs_actual=(-0.19981, 0.606214) obs_expected=(-0.204021, 0.602021) delta=(0.0042119, 0.00419247) |delta|=0.00594281m
I0419 21:03:08.293613 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293882616247.
I0419 21:03:08.294423 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:08.294487 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:08.295473 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.19096, 1.69667)
I0419 21:03:08.295528 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0938788, -0.604039), points=22, range=0.612818, residual=0.0119196, extent=0.0385387
I0419 21:03:08.295554 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:08.295573 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0938788, -0.604039), tracking=(-0.204621, 0.604039), map_predicted=(0.614501, -1.31796), range=0.612818, pts=22
I0419 21:03:08.295591 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00210491m maha_sq=0.000191998 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.614501, -1.31796) lm_pos=(0.615, -1.32) delta=(-0.000499092, 0.00204488) -> 1 candidate(s)
I0419 21:03:08.295667 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293882912463.
I0419 21:03:08.302022 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:08.302099 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:08.322371 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293883213093.
I0419 21:03:08.381443 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:08.381572 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.0065 deg, rms_residual=0.00458518m, sigma_yaw=0.00607643 rad, N=2
I0419 21:03:08.381633 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.816618, -1.92596, -2.0065deg) inliers=2 rms=0.00458518m
I0419 21:03:08.381672 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293883498800.
I0419 21:03:08.383666 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293883828984.
I0419 21:03:08.384759 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.820989, -1.92909), yaw=-2.92104 deg backend=(0.79938, -1.95011)
I0419 21:03:08.407912 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.22222, 1.6953)
I0419 21:03:08.408062 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0625301, -0.603422), points=22, range=0.607591, residual=0.0116894, extent=0.0376155
I0419 21:03:08.408130 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0625301, -0.603422), tracking=(-0.23597, 0.603422), map_predicted=(0.616076, -1.31442), range=0.607591, pts=22
I0419 21:03:08.408179 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0056789m maha_sq=0.00138183 (gate chi2=5.99) pose_sigma=(0.15089, 0.15089, rho=0) det_map=(0.616076, -1.31442) lm_pos=(0.615, -1.32) delta=(0.00107636, 0.00557596) -> 1 candidate(s)
I0419 21:03:08.408402 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293884064248.
I0419 21:03:08.439101 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:08.439311 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293884382449.
I0419 21:03:08.470520 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293884694996.
I0419 21:03:08.553586 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293884974787.
I0419 21:03:08.554394 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678307s, prior_pose=(0.841359, -1.92829), yaw=-2.84253 deg
I0419 21:03:08.554499 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:08.556514 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.256, 1.68895)
I0419 21:03:08.556609 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0324793, -0.602821), points=20, range=0.60395, residual=0.0108257, extent=0.0336034
I0419 21:03:08.556644 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0324793, -0.602821), tracking=(-0.266021, 0.602821), map_predicted=(0.616044, -1.31271), range=0.60395, pts=20
I0419 21:03:08.556667 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.00736247m maha_sq=0.00232728 (gate chi2=5.99) pose_sigma=(0.150799, 0.150799, rho=0) det_map=(0.616044, -1.31271) lm_pos=(0.615, -1.32) delta=(0.00104357, 0.00728814) -> 1 candidate(s)
I0419 21:03:08.556756 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293885258814.
I0419 21:03:08.558652 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00416192 range=0.604364 variance=0.00056779 t_weight=5283.64 r_weight=0 yaml=(0.615, -1.32) prior=(0.852028, -1.92791, -2.8252deg) obs_actual=(-0.273057, 0.60295) obs_expected=(-0.266704, 0.595491) delta=(-0.00635303, 0.00745958) |delta|=0.00979829m
I0419 21:03:08.558755 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293885565807.
I0419 21:03:08.566061 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:08.566182 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:08.587556 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:08.593820 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:08.593917 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:08.645948 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293886139851.
I0419 21:03:08.648011 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.2858, 1.68023)
I0419 21:03:08.648149 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.28691, 1.67477), points=4, range=3.6905, residual=0.0150744, extent=0.0359337
I0419 21:03:08.648178 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.28691, 1.67477), tracking=(-3.58541, -1.67477), map_predicted=(-2.79367, -3.42616), range=3.6905, pts=4
I0419 21:03:08.648201 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66731m maha_sq=302.84 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.79367, -3.42616) lm_pos=(-0.285, -2.52) delta=(-2.50867, -0.906158) -> 0 candidate(s)
I0419 21:03:08.648262 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:08.648288 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:08.649222 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:08.674034 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:08.674156 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:08.674181 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293886733700.
I0419 21:03:08.706692 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293887059517.
I0419 21:03:08.733938 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:08.734104 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293887332902.
I0419 21:03:08.785583 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.32142, 1.67414)
I0419 21:03:08.785713 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.892324, 0.632564), points=6, range=1.09183, residual=0.00792957, extent=0.0204848
I0419 21:03:08.785739 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.892324, 0.632564), tracking=(-1.19082, -0.632564), map_predicted=(-0.319701, -2.50663), range=1.09183, pts=6
I0419 21:03:08.785760 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0371881m maha_sq=0.0597378 (gate chi2=5.99) pose_sigma=(0.150442, 0.150442, rho=0) det_map=(-0.319701, -2.50663) lm_pos=(-0.285, -2.52) delta=(-0.0347014, 0.0133704) -> 1 candidate(s)
I0419 21:03:08.785835 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293887611589.
I0419 21:03:08.790210 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293887896157.
I0419 21:03:08.802266 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603248s, prior_pose=(0.912483, -1.9294), yaw=-2.59611 deg
I0419 21:03:08.802572 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:08.821836 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293888212024.
I0419 21:03:08.850973 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293888502127.
I0419 21:03:08.859688 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:08.859791 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:08.910804 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.34639, 1.67455)
I0419 21:03:08.911022 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:08.911895 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:08.911984 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.293652, -0.554154), points=21, range=0.629286, residual=0.0131733, extent=0.0403581
I0419 21:03:08.912055 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:08.912083 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.293652, -0.554154), tracking=(0.592152, -0.554154), map_predicted=(1.50993, -2.50759), range=0.629286, pts=21
I0419 21:03:08.912117 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.235392m maha_sq=2.36544 (gate chi2=5.99) pose_sigma=(0.15105, 0.15105, rho=0) det_map=(1.50993, -2.50759) lm_pos=(1.745, -2.52) delta=(-0.235065, 0.0124059) -> 1 candidate(s)
I0419 21:03:08.938007 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:08.938155 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293889375601.
I0419 21:03:08.999715 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.36822, 1.70386)
I0419 21:03:08.999895 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00555741 range=0.606826 variance=0.000590379 t_weight=5081.48 r_weight=0 yaml=(0.615, -1.32) prior=(0.963133, -1.9281, -2.69987deg) obs_actual=(-0.384477, 0.599048) obs_expected=(-0.37639, 0.59103) delta=(-0.00808655, 0.00801814) |delta|=0.0113878m
I0419 21:03:08.999991 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293889991977.
I0419 21:03:09.051427 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0964655, -0.597734), points=22, range=0.605864, residual=0.0117915, extent=0.0374325
I0419 21:03:09.051560 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0964655, -0.597734), tracking=(-0.394965, 0.597734), map_predicted=(0.611761, -1.28914), range=0.605864, pts=22
I0419 21:03:09.051597 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0310307m maha_sq=0.0406248 (gate chi2=5.99) pose_sigma=(0.152083, 0.152083, rho=0) det_map=(0.611761, -1.28914) lm_pos=(0.615, -1.32) delta=(-0.00323911, 0.0308612) -> 1 candidate(s)
I0419 21:03:09.051631 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:03:09.054488 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293890540112.
I0419 21:03:09.086670 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293890856290.
I0419 21:03:09.094560 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0401676s, prior_pose=(1.00026, -1.9163), yaw=-3.06224 deg
I0419 21:03:09.094658 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:09.094779 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.10097, 0.71724)
I0419 21:03:09.094839 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:09.114794 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.57179 deg, rms_residual=0.00499788m, sigma_yaw=0.00661973 rad, N=2
I0419 21:03:09.114938 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.0103, -1.92828, -2.57179deg) inliers=2 rms=0.00499788m
I0419 21:03:09.114979 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293891141807.
I0419 21:03:09.184105 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.97219, 0.655733), points=4, range=1.175, residual=0.00761334, extent=0.0189989
I0419 21:03:09.184263 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.97219, 0.655733), tracking=(-1.27069, -0.655733), map_predicted=(-0.293742, -2.5045), range=1.175, pts=4
I0419 21:03:09.184296 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0177951m maha_sq=0.0135894 (gate chi2=5.99) pose_sigma=(0.150947, 0.150947, rho=0) det_map=(-0.293742, -2.5045) lm_pos=(-0.285, -2.52) delta=(-0.00874188, 0.0154999) -> 1 candidate(s)
I0419 21:03:09.184378 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293891411968.
I0419 21:03:09.185282 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:09.185359 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:09.186458 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:09.188088 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:09.188181 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:09.202911 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293892023517.
I0419 21:03:09.210466 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.06367, 0.729853)
I0419 21:03:09.233726 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:09.233911 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293892332276.
I0419 21:03:09.265763 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293892651651.
I0419 21:03:09.314419 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.03987, -1.92715), yaw=-3.95006 deg backend=(1.00897, -1.95336)
I0419 21:03:09.315299 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.212245, -0.541026), points=24, range=0.583583, residual=0.0143057, extent=0.0434338
I0419 21:03:09.315385 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.212245, -0.541026), tracking=(0.510745, -0.541026), map_predicted=(1.51213, -2.50207), range=0.583583, pts=24
I0419 21:03:09.315418 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.233559m maha_sq=2.33812 (gate chi2=5.99) pose_sigma=(0.15064, 0.15064, rho=0) det_map=(1.51213, -2.50207) lm_pos=(1.745, -2.52) delta=(-0.23287, 0.0179309) -> 1 candidate(s)
I0419 21:03:09.322875 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:09.323096 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293893221520.
I0419 21:03:09.326968 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.02152, 0.744429)
I0419 21:03:09.350769 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293893501069.
I0419 21:03:09.378774 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0059035 range=0.619263 variance=0.000545135 t_weight=5503.22 r_weight=0 yaml=(0.615, -1.32) prior=(1.06411, -1.92965, -4.32911deg) obs_actual=(-0.496315, 0.585504) obs_expected=(-0.493845, 0.574013) delta=(-0.0024702, 0.0114913) |delta|=0.0117538m
I0419 21:03:09.378984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293893778773.
I0419 21:03:09.386590 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0638314s, prior_pose=(1.06411, -1.92965), yaw=-4.32911 deg
I0419 21:03:09.387086 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:09.438220 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.210696, -0.586828), points=20, range=0.62345, residual=0.0112721, extent=0.0374198
I0419 21:03:09.438516 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.210696, -0.586828), tracking=(-0.509196, 0.586828), map_predicted=(0.615164, -1.30508), range=0.62345, pts=20
I0419 21:03:09.438679 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0149208m maha_sq=0.00952616 (gate chi2=5.99) pose_sigma=(0.151025, 0.151025, rho=0) det_map=(0.615164, -1.30508) lm_pos=(0.615, -1.32) delta=(0.000163557, 0.0149199) -> 1 candidate(s)
I0419 21:03:09.438890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293894100335.
I0419 21:03:09.446513 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:09.446659 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.986248, 0.741654)
I0419 21:03:09.446694 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:09.466394 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:09.466522 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:09.466614 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:09.466639 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293894659257.
I0419 21:03:09.474293 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:09.474380 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:09.499568 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293894985299.
I0419 21:03:09.526389 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06969, 0.683652), points=3, range=1.26533, residual=0.00828564, extent=0.0167068
I0419 21:03:09.526542 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.06969, 0.683652), tracking=(-1.36819, -0.683652), map_predicted=(-0.313846, -2.50517), range=1.26533, pts=3
I0419 21:03:09.526598 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0324348m maha_sq=0.0456729 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.313846, -2.50517) lm_pos=(-0.285, -2.52) delta=(-0.0288464, 0.014829) -> 1 candidate(s)
I0419 21:03:09.526644 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:09.526795 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293895254551.
I0419 21:03:09.611248 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293895537253.
I0419 21:03:09.612391 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.959113, 0.7426)
I0419 21:03:09.614527 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293895858034.
I0419 21:03:09.615458 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:09.616457 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:09.616549 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293896134947.
I0419 21:03:09.646660 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10403, 0.678754), points=5, range=1.294, residual=0.00736345, extent=0.0186229
I0419 21:03:09.646790 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.10403, 0.678754), tracking=(-1.40253, -0.678754), map_predicted=(-0.30809, -2.50488), range=1.294, pts=5
I0419 21:03:09.646826 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.027601m maha_sq=0.0326079 (gate chi2=5.99) pose_sigma=(0.151135, 0.151135, rho=0) det_map=(-0.30809, -2.50488) lm_pos=(-0.285, -2.52) delta=(-0.0230899, 0.0151218) -> 1 candidate(s)
I0419 21:03:09.646951 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293896459822.
I0419 21:03:09.707031 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293896732423.
I0419 21:03:09.707857 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0610081s, prior_pose=(1.14622, -1.93549), yaw=-4.35315 deg
I0419 21:03:09.707955 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:09.708076 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.928569, 0.741537)
I0419 21:03:09.709256 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0180221 range=0.657191 variance=0.000625307 t_weight=4797.65 r_weight=0 yaml=(0.615, -1.32) prior=(1.14622, -1.93549, -4.35315deg) obs_actual=(-0.587616, 0.590458) obs_expected=(-0.576409, 0.573394) delta=(-0.0112067, 0.0170639) |delta|=0.0204149m
I0419 21:03:09.709394 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293897020111.
I0419 21:03:09.734745 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293897335549.
I0419 21:03:09.741935 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:09.742030 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:09.762733 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:09.763022 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293897618836.
I0419 21:03:09.771113 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:09.771262 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.90936, 0.738554), points=5, range=1.1682, residual=0.00982743, extent=0.0258466
I0419 21:03:09.771301 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:09.771327 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.90936, 0.738554), tracking=(1.20786, 0.738554), map_predicted=(2.43329, -1.29244), range=1.1682, pts=5
I0419 21:03:09.771366 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0330769m maha_sq=0.0474539 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.43329, -1.29244) lm_pos=(2.415, -1.32) delta=(0.0182887, 0.027561) -> 1 candidate(s)
I0419 21:03:09.790555 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.58647 deg, rms_residual=0.00695423m, sigma_yaw=0.00918712 rad, N=2
I0419 21:03:09.790730 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.18789, -1.94136, -3.58647deg) inliers=2 rms=0.00695423m
I0419 21:03:09.790800 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293897899480.
I0419 21:03:09.847553 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.898892, 0.739507)
I0419 21:03:09.848837 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:09.849002 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293898178304.
I0419 21:03:09.852025 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293898498159.
I0419 21:03:09.878487 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293898772586.
I0419 21:03:09.907321 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.56611, 1.79746), points=3, range=3.98933, residual=0.013552, extent=0.028188
I0419 21:03:09.907518 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.56611, 1.79746), tracking=(-3.86461, -1.79746), map_predicted=(-2.76978, -3.45338), range=3.98933, pts=3
I0419 21:03:09.907584 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65431m maha_sq=296.368 (gate chi2=5.99) pose_sigma=(0.150883, 0.150883, rho=0) det_map=(-2.76978, -3.45338) lm_pos=(-0.285, -2.52) delta=(-2.48478, -0.933382) -> 0 candidate(s)
I0419 21:03:09.907671 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:09.907862 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293899059571.
I0419 21:03:09.915042 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(0.0435742, -0.543086)
I0419 21:03:09.995636 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293899378636.
I0419 21:03:09.997653 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293899663384.
I0419 21:03:09.999086 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0361027s, prior_pose=(1.22981, -1.94382), yaw=-4.18593 deg
I0419 21:03:09.999169 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:10.000464 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00936642 range=0.693812 variance=0.000554793 t_weight=5407.42 r_weight=0 yaml=(0.615, -1.32) prior=(1.22981, -1.94382, -4.18593deg) obs_actual=(-0.662284, 0.591657) obs_expected=(-0.658708, 0.577281) delta=(-0.00357601, 0.0143759) |delta|=0.014814m
I0419 21:03:10.000558 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293899975312.
I0419 21:03:10.026499 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.370886, -0.593126)
I0419 21:03:10.026955 1258777 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:03:10.034613 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:10.034746 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:10.054553 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.373522, -0.59384), points=18, range=0.703722, residual=0.0128833, extent=0.0381523
I0419 21:03:10.054793 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:10.054836 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.373522, -0.59384), tracking=(-0.672022, 0.59384), map_predicted=(0.613904, -1.30348), range=0.703722, pts=18
I0419 21:03:10.054883 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0165566m maha_sq=0.0117362 (gate chi2=5.99) pose_sigma=(0.150843, 0.150843, rho=0) det_map=(0.613904, -1.30348) lm_pos=(0.615, -1.32) delta=(-0.00109606, 0.0165203) -> 1 candidate(s)
I0419 21:03:10.055110 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293900535232.
I0419 21:03:10.136317 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:10.136425 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:10.137025 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:10.138542 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.818229, 0.730668)
I0419 21:03:10.145365 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:10.145483 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:10.148087 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:10.148241 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:10.148277 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293901460080.
I0419 21:03:10.150007 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.28003, -1.94534), yaw=-4.05667 deg backend=(1.24397, -1.96502)
I0419 21:03:10.174633 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24822, 0.670689), points=3, range=1.414, residual=0.00656938, extent=0.0129451
I0419 21:03:10.174793 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.24822, 0.670689), tracking=(-1.54672, -0.670689), map_predicted=(-0.310267, -2.50493), range=1.414, pts=3
I0419 21:03:10.174852 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0294192m maha_sq=0.0370887 (gate chi2=5.99) pose_sigma=(0.151055, 0.151055, rho=0) det_map=(-0.310267, -2.50493) lm_pos=(-0.285, -2.52) delta=(-0.0252672, 0.0150684) -> 1 candidate(s)
I0419 21:03:10.175031 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293901736870.
I0419 21:03:10.182686 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.76674, -0.402477)
I0419 21:03:10.269126 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:10.269306 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293902021749.
I0419 21:03:10.274127 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293902618874.
I0419 21:03:10.274911 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0676313s, prior_pose=(1.29719, -1.94383), yaw=-4.06093 deg
I0419 21:03:10.274968 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:10.290364 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.67105, 1.7773)
I0419 21:03:10.290583 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293902899119.
I0419 21:03:10.298542 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0636327, -0.544255), points=25, range=0.5484, residual=0.0121525, extent=0.0385769
I0419 21:03:10.298663 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0636327, -0.544255), tracking=(0.234867, -0.544255), map_predicted=(1.50497, -2.50524), range=0.5484, pts=25
I0419 21:03:10.298722 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.240478m maha_sq=2.50561 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.50497, -2.50524) lm_pos=(1.745, -2.52) delta=(-0.240025, 0.0147589) -> 1 candidate(s)
I0419 21:03:10.378199 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:10.378295 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:10.379463 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:10.380347 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:10.380398 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:10.385756 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.0832319, -0.545768)
I0419 21:03:10.406332 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:10.445781 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.103093, -0.547197), points=23, range=0.556304, residual=0.0116526, extent=0.0355574
I0419 21:03:10.445880 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.103093, -0.547197), tracking=(0.195407, -0.547197), map_predicted=(1.48835, -2.51125), range=0.556304, pts=23
I0419 21:03:10.445915 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.256799m maha_sq=2.7963 (gate chi2=5.99) pose_sigma=(0.151706, 0.151706, rho=0) det_map=(1.48835, -2.51125) lm_pos=(1.745, -2.52) delta=(-0.25665, 0.0087521) -> 1 candidate(s)
I0419 21:03:10.483984 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:10.509344 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.50581, 0.729014)
I0419 21:03:10.510444 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:10.511583 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:10.511684 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293904942948.
I0419 21:03:10.526284 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:03:10.526474 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293905258434.
I0419 21:03:10.534277 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.697829, 0.725576)
I0419 21:03:10.554586 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293905536367.
I0419 21:03:10.566798 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601389s, prior_pose=(1.36543, -1.93481), yaw=-3.75505 deg
I0419 21:03:10.566915 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:03:10.582552 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[0] 'ref_1' maha_sq=0.309075 range=1.537 variance=0.000826041 t_weight=3631.78 r_weight=0 yaml=(-0.285, -2.52) prior=(1.36543, -1.93481, -3.75505deg) obs_actual=(-1.69099, -0.671634) obs_expected=(-1.60856, -0.692024) delta=(-0.0824241, 0.0203903) |delta|=0.0849088m
I0419 21:03:10.582809 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293905815620.
I0419 21:03:10.664288 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.688153, 0.724391), points=7, range=0.995571, residual=0.0140436, extent=0.0402508
I0419 21:03:10.664387 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.688153, 0.724391), tracking=(0.986653, 0.724391), map_predicted=(2.42083, -1.27599), range=0.995571, pts=7
I0419 21:03:10.664417 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0443965m maha_sq=0.0831822 (gate chi2=5.99) pose_sigma=(0.151817, 0.151817, rho=0) det_map=(2.42083, -1.27599) lm_pos=(2.415, -1.32) delta=(0.00583165, 0.0440118) -> 1 candidate(s)
I0419 21:03:10.665647 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293906136006.
I0419 21:03:10.666543 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:10.666615 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.147475, -0.550301)
I0419 21:03:10.666635 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:10.668406 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:10.668530 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293906414504.
I0419 21:03:10.669451 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:10.669517 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:10.670528 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293906692557.
I0419 21:03:10.702005 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:10.702183 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.68943 deg, rms_residual=0.0156372m, sigma_yaw=0.0204238 rad, N=2
I0419 21:03:10.702292 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.43863, -1.94801, -2.68943deg) inliers=2 rms=0.0156372m
I0419 21:03:10.702349 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293907013637.
I0419 21:03:10.710150 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.62903, -0.418765)
I0419 21:03:10.786927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293907300099.
I0419 21:03:10.788090 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.649359, 0.723239), points=9, range=0.970111, residual=0.0111586, extent=0.0355868
I0419 21:03:10.788188 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.649359, 0.723239), tracking=(0.947859, 0.723239), map_predicted=(2.41699, -1.27645), range=0.970111, pts=9
I0419 21:03:10.788221 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0435931m maha_sq=0.0823629 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.41699, -1.27645) lm_pos=(2.415, -1.32) delta=(0.00198885, 0.0435477) -> 1 candidate(s)
I0419 21:03:10.789578 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293907574274.
I0419 21:03:10.792382 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:10.792500 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293907868070.
I0419 21:03:10.798600 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.59791, -0.423185)
I0419 21:03:10.818531 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293908179331.
I0419 21:03:10.846621 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293908461041.
I0419 21:03:10.902915 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0394477s, prior_pose=(1.47322, -1.95318), yaw=-3.45978 deg
I0419 21:03:10.903036 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=253, threshold=230, above_threshold=31, candidates=31
I0419 21:03:10.904440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293908774569.
I0419 21:03:10.907033 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293909056636.
I0419 21:03:10.914500 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:10.914621 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:10.914676 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.232923, -0.55082), points=22, range=0.5975, residual=0.012281, extent=0.0368636
I0419 21:03:10.914726 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.232923, -0.55082), tracking=(0.0655769, -0.55082), map_predicted=(1.51284, -2.50963), range=0.5975, pts=22
I0419 21:03:10.914765 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.232391m maha_sq=2.33945 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.51284, -2.50963) lm_pos=(1.745, -2.52) delta=(-0.23216, 0.0103674) -> 1 candidate(s)
I0419 21:03:10.934711 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.611349, -0.607734)
I0419 21:03:10.934866 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:10.934967 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:10.935015 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.029386 range=0.862077 variance=0.000572514 t_weight=5240.05 r_weight=0 yaml=(0.615, -1.32) prior=(1.48025, -1.95588, -3.42065deg) obs_actual=(-0.913655, 0.606226) obs_expected=(-0.901645, 0.583123) delta=(-0.0120108, 0.023103) |delta|=0.0260386m
I0419 21:03:10.935153 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:10.935192 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293909339497.
I0419 21:03:10.950730 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:10.950841 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:10.966217 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293909652136.
I0419 21:03:11.057793 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:11.058036 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293909941274.
I0419 21:03:11.060425 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293910260124.
I0419 21:03:11.061510 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.50092, -1.97021), yaw=-3.20522 deg backend=(1.44515, -1.97306)
I0419 21:03:11.063076 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.48101, 0.649084)
I0419 21:03:11.063200 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293910547025.
I0419 21:03:11.063995 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:11.082647 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:11.082904 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293910816665.
I0419 21:03:11.091952 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.557589, 0.713639), points=11, range=0.904545, residual=0.0097952, extent=0.0271688
I0419 21:03:11.092258 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.557589, 0.713639), tracking=(0.856089, 0.713639), map_predicted=(2.40132, -1.30901), range=0.904545, pts=11
I0419 21:03:11.092535 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.017547m maha_sq=0.0133628 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40132, -1.30901) lm_pos=(2.415, -1.32) delta=(-0.0136823, 0.010986) -> 1 candidate(s)
I0419 21:03:11.190064 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(-0.307271, 0.550365)
I0419 21:03:11.191154 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0684076s, prior_pose=(1.51271, -1.97638), yaw=-3.15438 deg
I0419 21:03:11.191280 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=255, threshold=230, above_threshold=47, candidates=47
I0419 21:03:11.210462 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:11.210626 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:11.230022 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:11.238685 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.49256, -0.442107)
I0419 21:03:11.238816 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:11.238873 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.49736, -0.441173), points=3, range=1.55667, residual=0.00866548, extent=0.0158363
I0419 21:03:11.238915 1218530 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:11.238947 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.49736, -0.441173), tracking=(1.79586, -0.441173), map_predicted=(3.30727, -2.51456), range=1.55667, pts=3
I0419 21:03:11.238987 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.222799m maha_sq=2.08833 (gate chi2=5.99) pose_sigma=(0.152346, 0.152346, rho=0) det_map=(3.30727, -2.51456) lm_pos=(3.53, -2.52) delta=(-0.222732, 0.00544351) -> 1 candidate(s)
I0419 21:03:11.239153 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293912378920.
I0419 21:03:11.327416 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293912653765.
I0419 21:03:11.330307 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:11.333904 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293912981984.
I0419 21:03:11.337018 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293913300159.
I0419 21:03:11.346383 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.54751, 0.635727)
I0419 21:03:11.358609 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293913577349.
I0419 21:03:11.379211 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:11.409889 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:03:11.461555 1232263 pose_graph_2d.cc:160] Inserted submap (1, 49).
I0419 21:03:11.462399 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293913862488.
I0419 21:03:11.464474 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293914133872.
I0419 21:03:11.466419 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.744433, -0.6191), points=9, range=0.969778, residual=0.0103121, extent=0.0311895
I0419 21:03:11.466532 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.744433, -0.6191), tracking=(-1.04293, 0.6191), map_predicted=(0.73855, -1.31264), range=0.969778, pts=9
I0419 21:03:11.466562 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.12377m maha_sq=0.651862 (gate chi2=5.99) pose_sigma=(0.151477, 0.151477, rho=0) det_map=(0.73855, -1.31264) lm_pos=(0.615, -1.32) delta=(0.12355, 0.00736169) -> 1 candidate(s)
I0419 21:03:11.467339 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551166s, prior_pose=(1.74898, -1.98348), yaw=-2.88703 deg
I0419 21:03:11.467410 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=254, threshold=230, above_threshold=15, candidates=15
I0419 21:03:11.467521 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293914413654.
I0419 21:03:11.468740 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57992, 0.632983)
I0419 21:03:11.474179 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293914736844.
I0419 21:03:11.502287 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:11.502404 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:11.502506 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293915018552.
I0419 21:03:11.551908 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:11.552378 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:11.553771 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:11.554112 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:11.554314 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293915296444.
I0419 21:03:11.568833 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293915681849.
I0419 21:03:11.581990 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:11.591982 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.40252, -0.45345)
I0419 21:03:11.592170 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.405145 range=0.823786 variance=0.00062109 t_weight=4830.22 r_weight=0 yaml=(2.415, -1.32) prior=(1.75846, -1.98575, -2.74203deg) obs_actual=(0.720392, 0.704355) obs_expected=(0.623935, 0.696395) delta=(0.0964574, 0.00796082) |delta|=0.0967853m
I0419 21:03:11.592233 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293915914880.
I0419 21:03:11.621534 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.414726, 0.703977), points=13, range=0.818615, residual=0.0109019, extent=0.03428
I0419 21:03:11.621640 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.414726, 0.703977), tracking=(0.713226, 0.703977), map_predicted=(2.51645, -1.31631), range=0.818615, pts=13
I0419 21:03:11.621670 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.101512m maha_sq=0.441344 (gate chi2=5.99) pose_sigma=(0.150957, 0.150957, rho=0) det_map=(2.51645, -1.31631) lm_pos=(2.415, -1.32) delta=(0.101445, 0.00368848) -> 1 candidate(s)
I0419 21:03:11.621749 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293916209713.
I0419 21:03:11.691383 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:11.691538 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:11.691563 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293916497619.
I0419 21:03:11.695276 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:11.696329 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293916777788.
I0419 21:03:11.710809 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.393053, 0.704051)
I0419 21:03:11.739713 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.041276s, prior_pose=(1.81903, -1.98721), yaw=-2.53347 deg
I0419 21:03:11.739838 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=254, threshold=230, above_threshold=16, candidates=16
I0419 21:03:11.740018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293917393078.
I0419 21:03:11.808497 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 121
I0419 21:03:11.831143 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:11.831233 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:11.831259 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33763, -0.458399), points=3, range=1.42033, residual=0.0133659, extent=0.0282346
I0419 21:03:11.831277 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.33763, -0.458399), tracking=(1.63613, -0.458399), map_predicted=(3.4348, -2.51789), range=1.42033, pts=3
I0419 21:03:11.831300 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.0952188m maha_sq=0.390984 (gate chi2=5.99) pose_sigma=(0.150117, 0.150117, rho=0) det_map=(3.4348, -2.51789) lm_pos=(3.53, -2.52) delta=(-0.0951954, 0.00210831) -> 1 candidate(s)
I0419 21:03:11.832396 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:11.834196 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:11.834271 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:11.854079 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.33152, -0.46281)
I0419 21:03:11.877724 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:11.954061 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.8537, -1.98736), yaw=-2.38035 deg backend=(1.65545, -1.98271)
I0419 21:03:11.954869 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:11.956642 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29224, -0.463952), points=3, range=1.37733, residual=0.0101836, extent=0.0215425
I0419 21:03:11.956699 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29224, -0.463952), tracking=(1.59074, -0.463952), map_predicted=(3.4238, -2.51698), range=1.37733, pts=3
I0419 21:03:11.956723 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.106247m maha_sq=0.473057 (gate chi2=5.99) pose_sigma=(0.152599, 0.152599, rho=0) det_map=(3.4238, -2.51698) lm_pos=(3.53, -2.52) delta=(-0.106204, 0.00302171) -> 1 candidate(s)
I0419 21:03:11.963593 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:12.002684 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.28289, -0.46482)
I0419 21:03:12.002863 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293920020980.
I0419 21:03:12.030632 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0669693s, prior_pose=(1.8776, -1.98837), yaw=-2.43619 deg
I0419 21:03:12.030786 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:03:12.110239 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293920619141.
I0419 21:03:12.112708 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:12.112780 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:12.113867 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0373312, 0.54472), points=26, range=0.546885, residual=0.0130098, extent=0.0414485
I0419 21:03:12.113930 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:12.113945 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0373312, 0.54472), tracking=(-0.261169, -0.54472), map_predicted=(1.61693, -2.52316), range=0.546885, pts=26
I0419 21:03:12.113965 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.128108m maha_sq=0.700617 (gate chi2=5.99) pose_sigma=(0.151073, 0.151073, rho=0) det_map=(1.61693, -2.52316) lm_pos=(1.745, -2.52) delta=(-0.128069, -0.00316099) -> 1 candidate(s)
I0419 21:03:12.118180 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:12.118269 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:12.142293 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.026254, 0.546085)
I0419 21:03:12.150863 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293921501165.
I0419 21:03:12.170600 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:12.258656 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:12.258769 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:12.266319 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.238959, 0.697115)
I0419 21:03:12.266390 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21428, -0.46611), points=5, range=1.2924, residual=0.0149308, extent=0.0283191
I0419 21:03:12.266417 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.21428, -0.46611), tracking=(1.51278, -0.46611), map_predicted=(3.43687, -2.51681), range=1.2924, pts=5
I0419 21:03:12.266439 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.0931851m maha_sq=0.362703 (gate chi2=5.99) pose_sigma=(0.152484, 0.152484, rho=0) det_map=(3.43687, -2.51681) lm_pos=(3.53, -2.52) delta=(-0.0931305, 0.00319226) -> 1 candidate(s)
I0419 21:03:12.352334 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602092s, prior_pose=(1.95423, -1.99025), yaw=-2.31577 deg
I0419 21:03:12.352483 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:12.387017 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:12.387212 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:12.406831 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.88119, 0.611231)
I0419 21:03:12.407048 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:12.415149 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:12.415314 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.196722, 0.697408), points=18, range=0.726611, residual=0.0130132, extent=0.0429846
I0419 21:03:12.415357 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:12.415390 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.196722, 0.697408), tracking=(0.495222, 0.697408), map_predicted=(2.5014, -1.31409), range=0.726611, pts=18
I0419 21:03:12.415446 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0865974m maha_sq=0.304336 (gate chi2=5.99) pose_sigma=(0.155027, 0.155027, rho=0) det_map=(2.5014, -1.31409) lm_pos=(2.415, -1.32) delta=(0.0863956, 0.00590772) -> 1 candidate(s)
I0419 21:03:12.516657 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293924419042.
I0419 21:03:12.518044 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:12.523231 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.0807289, 0.54532)
I0419 21:03:12.530282 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293925294668.
I0419 21:03:12.550923 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:12.562371 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293925614007.
I0419 21:03:12.643313 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.147335, 0.693148), points=19, range=0.710211, residual=0.0127814, extent=0.0436174
I0419 21:03:12.643483 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.147335, 0.693148), tracking=(0.445835, 0.693148), map_predicted=(2.47031, -1.32006), range=0.710211, pts=19
I0419 21:03:12.643586 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0553077m maha_sq=0.130925 (gate chi2=5.99) pose_sigma=(0.150875, 0.150875, rho=0) det_map=(2.47031, -1.32006) lm_pos=(2.415, -1.32) delta=(0.0553077, -6.19321e-05) -> 1 candidate(s)
I0419 21:03:12.643628 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:12.646557 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359429s, prior_pose=(2.01251, -1.99585), yaw=-2.24968 deg
I0419 21:03:12.646656 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:12.647933 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(0.115889, 0.548698)
I0419 21:03:12.678413 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:12.678558 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:12.678778 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293926774904.
I0419 21:03:12.699082 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:12.775270 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:12.775395 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:12.779210 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:12.779984 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.0722, -0.477365)
I0419 21:03:12.780109 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293927660054.
I0419 21:03:12.786773 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.156511, 0.548632), points=24, range=0.571792, residual=0.0126613, extent=0.0415617
I0419 21:03:12.786914 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.156511, 0.548632), tracking=(-0.455011, -0.548632), map_predicted=(1.59454, -2.52907), range=0.571792, pts=24
I0419 21:03:12.786965 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.150729m maha_sq=0.983798 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.59454, -2.52907) lm_pos=(1.745, -2.52) delta=(-0.150456, -0.00907264) -> 1 candidate(s)
I0419 21:03:12.789355 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.08392, -1.9979), yaw=-2.1148 deg backend=(1.95432, -2.00558)
I0419 21:03:12.827091 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:03:12.827479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293928257594.
I0419 21:03:12.908390 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:12.912424 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.04028, -0.479551)
I0419 21:03:12.912704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293928817767.
I0419 21:03:12.914819 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0682064s, prior_pose=(2.1063, -1.99773), yaw=-2.09798 deg
I0419 21:03:12.914917 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:03:12.943082 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0497857, 0.683468), points=18, range=0.686278, residual=0.0107526, extent=0.0342559
I0419 21:03:12.943280 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0497857, 0.683468), tracking=(0.348286, 0.683468), map_predicted=(2.45445, -1.27937), range=0.686278, pts=18
I0419 21:03:12.943346 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.056635m maha_sq=0.132559 (gate chi2=5.99) pose_sigma=(0.153768, 0.153768, rho=0) det_map=(2.45445, -1.27937) lm_pos=(2.415, -1.32) delta=(0.0394522, 0.0406331) -> 1 candidate(s)
I0419 21:03:12.943550 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293929421905.
I0419 21:03:12.963018 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:13.046492 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:13.046689 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:13.047786 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:13.048254 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:13.049054 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.00174, -0.48135)
I0419 21:03:13.049163 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:13.049194 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:13.053002 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:13.174676 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(0.250887, 0.550319)
I0419 21:03:13.175710 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.977974, -0.485817), points=5, range=1.0892, residual=0.00830279, extent=0.0211852
I0419 21:03:13.175786 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.977974, -0.485817), tracking=(1.27647, -0.485817), map_predicted=(3.32083, -2.49769), range=1.0892, pts=5
I0419 21:03:13.175820 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.210353m maha_sq=1.84508 (gate chi2=5.99) pose_sigma=(0.153161, 0.153161, rho=0) det_map=(3.32083, -2.49769) lm_pos=(3.53, -2.52) delta=(-0.209167, 0.0223059) -> 1 candidate(s)
I0419 21:03:13.176898 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:13.198467 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.972458, -0.509833)
I0419 21:03:13.206127 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601121s, prior_pose=(2.08307, -1.97741), yaw=-1.45642 deg
I0419 21:03:13.206255 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:13.307844 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:13.308843 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:13.308909 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:13.310703 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.25085, -0.644221)
I0419 21:03:13.310774 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:13.311499 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:13.311586 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:13.314314 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25405, -0.64127), points=3, range=1.4, residual=0.0152766, extent=0.0273038
I0419 21:03:13.314401 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25405, -0.64127), tracking=(-1.55255, 0.64127), map_predicted=(0.580483, -1.30026), range=1.4, pts=3
I0419 21:03:13.314426 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0397632m maha_sq=0.0620023 (gate chi2=5.99) pose_sigma=(0.15746, 0.15746, rho=0) det_map=(0.580483, -1.30026) lm_pos=(0.615, -1.32) delta=(-0.034517, 0.0197406) -> 1 candidate(s)
I0419 21:03:13.347003 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:13.354738 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293933538472.
I0419 21:03:13.436493 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.15804, -0.577382)
I0419 21:03:13.441321 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:13.462790 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.28333, -0.63985)
I0419 21:03:13.474581 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.085395, 0.679131), points=18, range=0.685722, residual=0.0109214, extent=0.034787
I0419 21:03:13.474742 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.085395, 0.679131), tracking=(0.213105, 0.679131), map_predicted=(2.38003, -1.3111), range=0.685722, pts=18
I0419 21:03:13.474802 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0360836m maha_sq=0.055111 (gate chi2=5.99) pose_sigma=(0.151886, 0.151886, rho=0) det_map=(2.38003, -1.3111) lm_pos=(2.415, -1.32) delta=(-0.0349695, 0.00889718) -> 1 candidate(s)
I0419 21:03:13.557678 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.039699s, prior_pose=(2.15189, -1.99294), yaw=-0.937646 deg
I0419 21:03:13.557813 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:13.560143 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.100827, 0.681335)
I0419 21:03:13.563151 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:13.563234 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:13.563280 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:13.583114 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:13.590770 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:13.590962 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:13.703019 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.26633, -0.604009)
I0419 21:03:13.703212 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:13.706696 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.19136, -1.99329), yaw=-0.629081 deg backend=(2.19422, -2.00625)
I0419 21:03:13.707520 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.808419, -0.508397), points=6, range=0.951, residual=0.0130698, extent=0.0366885
I0419 21:03:13.707600 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.808419, -0.508397), tracking=(1.10692, -0.508397), map_predicted=(3.29263, -2.51381), range=0.951, pts=6
I0419 21:03:13.707702 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.237449m maha_sq=2.27895 (gate chi2=5.99) pose_sigma=(0.155312, 0.155312, rho=0) det_map=(3.29263, -2.51381) lm_pos=(3.53, -2.52) delta=(-0.237368, 0.00618819) -> 1 candidate(s)
I0419 21:03:13.726532 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:13.758774 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.37543, -0.660966)
I0419 21:03:13.837709 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0679011s, prior_pose=(2.23375, -1.99062), yaw=-0.558449 deg
I0419 21:03:13.837849 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:13.837998 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[3] 'ref_4' maha_sq=0.0732929 range=0.697389 variance=0.000589749 t_weight=5086.91 r_weight=0 yaml=(2.415, -1.32) prior=(2.23375, -1.99062, -0.558449deg) obs_actual=(0.13138, 0.674411) obs_expected=(0.174705, 0.672356) delta=(-0.0433252, 0.00205495) |delta|=0.043374m
I0419 21:03:13.838056 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293937938373.
I0419 21:03:13.840672 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.76488, -0.512657), points=6, range=0.922667, residual=0.00928916, extent=0.0264505
I0419 21:03:13.840791 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.76488, -0.512657), tracking=(1.06338, -0.512657), map_predicted=(3.30981, -2.51297), range=0.922667, pts=6
I0419 21:03:13.840818 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.220301m maha_sq=2.07205 (gate chi2=5.99) pose_sigma=(0.151294, 0.151294, rho=0) det_map=(3.30981, -2.51297) lm_pos=(3.53, -2.52) delta=(-0.220189, 0.00703142) -> 1 candidate(s)
I0419 21:03:13.854372 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:13.854521 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:13.854737 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293938536187.
I0419 21:03:13.874359 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.41101, -0.662953)
I0419 21:03:13.874541 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:13.882912 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:13.883049 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:13.883129 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:13.972465 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:13.975075 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.499206, 0.541523), points=14, range=0.741429, residual=0.0153769, extent=0.0441013
I0419 21:03:13.975211 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.499206, 0.541523), tracking=(-0.797706, -0.541523), map_predicted=(1.48297, -2.52861), range=0.741429, pts=14
I0419 21:03:13.975239 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[2] 'ref_3' eucl_dist=0.262174m maha_sq=2.91062 (gate chi2=5.99) pose_sigma=(0.15146, 0.15146, rho=0) det_map=(1.48297, -2.52861) lm_pos=(1.745, -2.52) delta=(-0.262032, -0.00860511) -> 1 candidate(s)
I0419 21:03:13.975359 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293939619140.
I0419 21:03:13.976111 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.60054, 0.71258)
I0419 21:03:13.976207 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293939699279.
I0419 21:03:13.991063 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293939898395.
I0419 21:03:14.022498 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:14.102989 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:14.103154 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:14.103179 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293940494706.
I0419 21:03:14.104110 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.701431, -0.517389)
I0419 21:03:14.104338 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293940574697.
I0419 21:03:14.106707 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.47238, -0.668417), points=3, range=1.61267, residual=0.0088964, extent=0.0176888
I0419 21:03:14.106809 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.47238, -0.668417), tracking=(-1.77088, 0.668417), map_predicted=(0.555048, -1.3182), range=1.61267, pts=3
I0419 21:03:14.106838 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0599795m maha_sq=0.153484 (gate chi2=5.99) pose_sigma=(0.151229, 0.151229, rho=0) det_map=(0.555048, -1.3182) lm_pos=(0.615, -1.32) delta=(-0.0599524, 0.00180422) -> 1 candidate(s)
I0419 21:03:14.106923 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293940816154.
I0419 21:03:14.107625 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565015s, prior_pose=(2.32218, -1.99647), yaw=-0.319095 deg
I0419 21:03:14.107712 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:14.110419 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293941096266.
I0419 21:03:14.115821 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293941149698.
I0419 21:03:14.138078 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=12, centroid=(0.562179, 0.542189)
I0419 21:03:14.146195 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:14.146337 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:14.216821 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:14.217562 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:14.217648 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:14.217706 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[3] 'ref_4' maha_sq=0.0473531 range=0.732833 variance=0.000587656 t_weight=5105.03 r_weight=0 yaml=(2.415, -1.32) prior=(2.35742, -1.99746, -0.187346deg) obs_actual=(0.0221301, 0.678264) obs_expected=(0.055365, 0.677644) delta=(-0.0332348, 0.000620207) |delta|=0.0332406m
I0419 21:03:14.217821 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293941734617.
I0419 21:03:14.219012 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.50044, -0.670651), points=3, range=1.63667, residual=0.0132033, extent=0.0267493
I0419 21:03:14.219091 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.50044, -0.670651), tracking=(-1.79894, 0.670651), map_predicted=(0.560684, -1.32093), range=1.63667, pts=3
I0419 21:03:14.219121 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0543239m maha_sq=0.127387 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.560684, -1.32093) lm_pos=(0.615, -1.32) delta=(-0.0543159, -0.000929975) -> 1 candidate(s)
I0419 21:03:14.219167 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.027984 deg, rms_residual=0.0146135m, sigma_yaw=0.0159778 rad, N=2
I0419 21:03:14.219197 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(2.399, -1.99153, -0.027984deg) inliers=2 rms=0.0146135m
I0419 21:03:14.219224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293941973016.
I0419 21:03:14.227298 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:14.234222 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.6455, -0.521074)
I0419 21:03:14.375509 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293942940707.
I0419 21:03:14.376674 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:14.377523 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.313513, 0.677373)
I0419 21:03:14.377619 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.49711, 0.700755), points=3, range=1.65567, residual=0.00769752, extent=0.0161756
I0419 21:03:14.377645 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.49711, 0.700755), tracking=(1.79561, 0.700755), map_predicted=(4.25936, -1.29831), range=1.65567, pts=3
I0419 21:03:14.377668 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.049375m maha_sq=0.105753 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.25936, -1.29831) lm_pos=(4.215, -1.32) delta=(0.0443559, 0.0216899) -> 1 candidate(s)
I0419 21:03:14.377753 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293943219834.
I0419 21:03:14.379545 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293943416234.
I0419 21:03:14.381443 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:14.435472 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402195s, prior_pose=(2.44618, -1.99195), yaw=-0.157609 deg
I0419 21:03:14.435595 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:03:14.436260 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:14.437566 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.336338, 0.679451)
I0419 21:03:14.440143 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=43, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:03:14.440223 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:03:14.461741 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57205, -0.675404), points=3, range=1.705, residual=0.0118822, extent=0.0241304
I0419 21:03:14.461915 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:03:14.461966 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.57205, -0.675404), tracking=(-1.87055, 0.675404), map_predicted=(0.58056, -1.31301), range=1.705, pts=3
I0419 21:03:14.462024 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0351422m maha_sq=0.0526802 (gate chi2=5.99) pose_sigma=(0.15101, 0.15101, rho=0) det_map=(0.58056, -1.31301) lm_pos=(0.615, -1.32) delta=(-0.0344404, 0.00698784) -> 1 candidate(s)
I0419 21:03:14.462136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293944613208.
I0419 21:03:14.469748 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:14.469839 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:14.498015 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.568224, -0.522045)
I0419 21:03:14.543608 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:14.544587 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293945268556.
I0419 21:03:14.550884 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(2.49645, -1.99261), yaw=-0.120757 deg backend=(2.53222, -1.9967)
I0419 21:03:14.558646 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.346465, 0.608245)
I0419 21:03:14.558854 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293945581774.
I0419 21:03:14.587718 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.539697, -0.524147), points=13, range=0.755308, residual=0.0127059, extent=0.040718
I0419 21:03:14.587848 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.539697, -0.524147), tracking=(0.838197, -0.524147), map_predicted=(3.33354, -2.51852), range=0.755308, pts=13
I0419 21:03:14.587880 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.196463m maha_sq=1.67084 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.33354, -2.51852) lm_pos=(3.53, -2.52) delta=(-0.196457, 0.0014826) -> 1 candidate(s)
I0419 21:03:14.606387 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:14.705790 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.41864, 0.699556)
I0419 21:03:14.707675 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06797s, prior_pose=(2.47267, -2.01169), yaw=-0.147197 deg
I0419 21:03:14.707765 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=249, threshold=230, above_threshold=17, candidates=17
I0419 21:03:14.710335 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:14.734300 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:14.734397 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:14.753960 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.174005, -0.664795), points=16, range=0.688375, residual=0.0103532, extent=0.0312332
I0419 21:03:14.754058 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:14.754101 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.174005, -0.664795), tracking=(-0.124495, 0.664795), map_predicted=(2.36046, -1.33712), range=0.688375, pts=16
I0419 21:03:14.754127 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0571623m maha_sq=0.135764 (gate chi2=5.99) pose_sigma=(0.153374, 0.153374, rho=0) det_map=(2.36046, -1.33712) lm_pos=(2.415, -1.32) delta=(-0.0545376, -0.0171226) -> 1 candidate(s)
I0419 21:03:14.761824 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.39109, 0.698622)
I0419 21:03:14.761929 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:14.761956 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:14.814782 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:14.903724 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788545, 0.535642), points=9, range=0.948444, residual=0.0153822, extent=0.0396476
I0419 21:03:14.903829 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.788545, 0.535642), tracking=(-1.08704, -0.535642), map_predicted=(1.39383, -2.53985), range=0.948444, pts=9
I0419 21:03:14.903863 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.35173m maha_sq=4.86884 (gate chi2=5.99) pose_sigma=(0.157243, 0.157243, rho=0) det_map=(1.39383, -2.53985) lm_pos=(1.745, -2.52) delta=(-0.351169, -0.0198527) -> 1 candidate(s)
I0419 21:03:14.903901 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:14.947809 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.34994, 0.692776)
I0419 21:03:14.969918 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557255s, prior_pose=(2.50012, -2.00287), yaw=0.161797 deg
I0419 21:03:14.970013 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:03:14.998441 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:15.026674 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:15.026767 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:15.096253 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.7238, -0.690636)
I0419 21:03:15.096378 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.831533, 0.53539), points=7, range=0.987143, residual=0.0101241, extent=0.0271552
I0419 21:03:15.096410 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:15.096422 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.831533, 0.53539), tracking=(-1.13003, -0.53539), map_predicted=(1.4032, -2.54063), range=0.987143, pts=7
I0419 21:03:15.096446 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.342427m maha_sq=4.43733 (gate chi2=5.99) pose_sigma=(0.160851, 0.160851, rho=0) det_map=(1.4032, -2.54063) lm_pos=(1.745, -2.52) delta=(-0.341805, -0.0206299) -> 1 candidate(s)
I0419 21:03:15.097379 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:15.097456 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:15.106112 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:15.166565 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.859668, 0.533658)
I0419 21:03:15.247215 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:15.248466 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.356742, -0.5288), points=17, range=0.639412, residual=0.0111928, extent=0.0359892
I0419 21:03:15.248570 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.356742, -0.5288), tracking=(0.655242, -0.5288), map_predicted=(3.21465, -2.52777), range=0.639412, pts=17
I0419 21:03:15.248605 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.315449m maha_sq=3.68023 (gate chi2=5.99) pose_sigma=(0.162721, 0.162721, rho=0) det_map=(3.21465, -2.52777) lm_pos=(3.53, -2.52) delta=(-0.315353, -0.00777323) -> 1 candidate(s)
I0419 21:03:15.262527 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359249s, prior_pose=(2.58287, -2.0027), yaw=0.512947 deg
I0419 21:03:15.262638 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:03:15.290995 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.332576, -0.530355)
I0419 21:03:15.291189 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:15.368706 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:15.368870 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:15.370194 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:15.371822 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:15.371898 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.313536, -0.528631), points=18, range=0.615722, residual=0.0125278, extent=0.047212
I0419 21:03:15.371922 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:15.371940 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.313536, -0.528631), tracking=(0.612036, -0.528631), map_predicted=(3.21541, -2.52646), range=0.615722, pts=18
I0419 21:03:15.371963 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.314655m maha_sq=3.53175 (gate chi2=5.99) pose_sigma=(0.165657, 0.165657, rho=0) det_map=(3.21541, -2.52646) lm_pos=(3.53, -2.52) delta=(-0.314589, -0.00646359) -> 1 candidate(s)
I0419 21:03:15.398793 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:15.430608 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.751532, -0.288488)
I0419 21:03:15.430722 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:03:15.475184 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.629, -1.99922), yaw=0.616946 deg backend=(2.69994, -1.99354)
I0419 21:03:15.496829 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:15.497671 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.957453, 0.523431), points=6, range=1.09283, residual=0.00929823, extent=0.0247588
I0419 21:03:15.497745 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.957453, 0.523431), tracking=(-1.25595, -0.523431), map_predicted=(1.39097, -2.5377), range=1.09283, pts=6
I0419 21:03:15.497771 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.35447m maha_sq=4.34095 (gate chi2=5.99) pose_sigma=(0.168534, 0.168534, rho=0) det_map=(1.39097, -2.5377) lm_pos=(1.745, -2.52) delta=(-0.354028, -0.0176968) -> 1 candidate(s)
I0419 21:03:15.546646 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.0325178, -0.657007)
I0419 21:03:15.554425 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0572479s, prior_pose=(2.65785, -1.99886), yaw=0.780026 deg
I0419 21:03:15.554601 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:15.630439 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:15.633023 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:15.633133 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:15.634284 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:15.634392 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293956336299.
I0419 21:03:15.646484 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:15.646601 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:15.665943 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0643709, -0.658387), points=17, range=0.662471, residual=0.00990544, extent=0.0311338
I0419 21:03:15.666056 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0643709, -0.658387), tracking=(-0.362871, 0.658387), map_predicted=(2.31718, -1.34533), range=0.662471, pts=17
I0419 21:03:15.666092 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.101043m maha_sq=0.438776 (gate chi2=5.99) pose_sigma=(0.150779, 0.150779, rho=0) det_map=(2.31718, -1.34533) lm_pos=(2.415, -1.32) delta=(-0.0978164, -0.0253289) -> 1 candidate(s)
I0419 21:03:15.674603 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.14786, 0.667163)
I0419 21:03:15.694183 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:15.784601 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:15.811280 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.099771, -0.660952), points=19, range=0.670158, residual=0.0116882, extent=0.0359991
I0419 21:03:15.811404 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.099771, -0.660952), tracking=(-0.398271, 0.660952), map_predicted=(2.31987, -1.34612), range=0.670158, pts=19
I0419 21:03:15.811437 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0986515m maha_sq=0.401427 (gate chi2=5.99) pose_sigma=(0.153854, 0.153854, rho=0) det_map=(2.31987, -1.34612) lm_pos=(2.415, -1.32) delta=(-0.095132, -0.0261153) -> 1 candidate(s)
I0419 21:03:15.819458 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.105, 0.661741)
I0419 21:03:15.864784 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:15.864905 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600054s, prior_pose=(2.7424, -1.99732), yaw=1.24359 deg
I0419 21:03:15.865008 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:15.906006 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:15.910307 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:15.910403 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:15.930091 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:15.938129 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:15.938226 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:15.957645 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.142042, -0.663418), points=17, range=0.679824, residual=0.0105491, extent=0.0321814
I0419 21:03:15.957747 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.142042, -0.663418), tracking=(-0.440542, 0.663418), map_predicted=(2.31202, -1.34443), range=0.679824, pts=17
I0419 21:03:15.957782 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.105836m maha_sq=0.447063 (gate chi2=5.99) pose_sigma=(0.156548, 0.156548, rho=0) det_map=(2.31202, -1.34443) lm_pos=(2.415, -1.32) delta=(-0.102979, -0.0244261) -> 1 candidate(s)
I0419 21:03:16.010295 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.127623, -0.541148)
I0419 21:03:16.011595 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:16.074522 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:16.074656 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293960740142.
I0419 21:03:16.146358 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293961058449.
I0419 21:03:16.147270 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0829178, -0.543579)
I0419 21:03:16.148540 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.192508, -0.671287), points=18, range=0.699389, residual=0.011772, extent=0.0355791
I0419 21:03:16.148640 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.192508, -0.671287), tracking=(-0.491008, 0.671287), map_predicted=(2.3048, -1.3384), range=0.699389, pts=18
I0419 21:03:16.148670 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.111723m maha_sq=0.540916 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.3048, -1.3384) lm_pos=(2.415, -1.32) delta=(-0.110197, -0.0184026) -> 1 candidate(s)
I0419 21:03:16.150101 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0403845s, prior_pose=(2.82986, -1.99512), yaw=1.62217 deg
I0419 21:03:16.150185 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:16.202277 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:16.202381 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:16.226181 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:16.226293 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:16.272435 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:16.272552 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:16.274636 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.0414839, -0.545799)
I0419 21:03:16.282546 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:16.310683 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293963100632.
I0419 21:03:16.312757 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.87623, -1.99163), yaw=1.4158 deg backend=(2.94712, -1.98355)
I0419 21:03:16.318495 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0253458, -0.544002), points=21, range=0.544952, residual=0.0100615, extent=0.0341134
I0419 21:03:16.318614 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0253458, -0.544002), tracking=(0.323846, -0.544002), map_predicted=(3.21341, -2.52747), range=0.544952, pts=21
I0419 21:03:16.318665 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.316674m maha_sq=4.28861 (gate chi2=5.99) pose_sigma=(0.151161, 0.151161, rho=0) det_map=(3.21341, -2.52747) lm_pos=(3.53, -2.52) delta=(-0.316586, -0.00746666) -> 1 candidate(s)
I0419 21:03:16.343065 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293963421978.
I0419 21:03:16.426949 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:16.430621 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.00232341, -0.543584)
I0419 21:03:16.431713 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.606657 range=0.726235 variance=0.000579494 t_weight=5176.93 r_weight=0 yaml=(2.415, -1.32) prior=(2.89609, -1.98998, 1.27579deg) obs_actual=(-0.584638, 0.665936) obs_expected=(-0.466053, 0.680525) delta=(-0.118585, -0.0145888) |delta|=0.119479m
I0419 21:03:16.431809 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293964261025.
I0419 21:03:16.437711 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0673725s, prior_pose=(2.89609, -1.98998), yaw=1.27579 deg
I0419 21:03:16.437824 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:16.458731 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293964581636.
I0419 21:03:16.494450 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:16.495028 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:16.495123 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293964936176.
I0419 21:03:16.569835 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:16.569954 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:16.569988 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0316651, -0.543906), points=21, range=0.545333, residual=0.010368, extent=0.0332963
I0419 21:03:16.570009 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0316651, -0.543906), tracking=(0.266835, -0.543906), map_predicted=(3.19411, -2.52848), range=0.545333, pts=21
I0419 21:03:16.570039 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.335998m maha_sq=4.86404 (gate chi2=5.99) pose_sigma=(0.150566, 0.150566, rho=0) det_map=(3.19411, -2.52848) lm_pos=(3.53, -2.52) delta=(-0.335891, -0.00847563) -> 1 candidate(s)
I0419 21:03:16.571259 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:16.572029 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:16.572083 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:16.574159 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293965459458.
I0419 21:03:16.574877 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(-0.0453589, -0.546071)
I0419 21:03:16.576145 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:16.606150 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:16.685096 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.849301, 0.66552), points=5, range=1.08, residual=0.00613164, extent=0.0160504
I0419 21:03:16.685245 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.849301, 0.66552), tracking=(1.1478, 0.66552), map_predicted=(4.09704, -1.30108), range=1.08, pts=5
I0419 21:03:16.685274 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.119472m maha_sq=0.600489 (gate chi2=5.99) pose_sigma=(0.152572, 0.152572, rho=0) det_map=(4.09704, -1.30108) lm_pos=(4.215, -1.32) delta=(-0.117964, 0.0189206) -> 1 candidate(s)
I0419 21:03:16.686678 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:16.694339 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.31286, 0.521551)
I0419 21:03:16.734045 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553669s, prior_pose=(2.98966, -1.98748), yaw=0.939256 deg
I0419 21:03:16.734248 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:16.835974 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:16.836187 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:16.836239 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.807016, 0.668195), points=5, range=1.0458, residual=0.00800176, extent=0.0187439
I0419 21:03:16.836267 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.807016, 0.668195), tracking=(1.10552, 0.668195), map_predicted=(4.0855, -1.30081), range=1.0458, pts=5
I0419 21:03:16.836298 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.130918m maha_sq=0.700531 (gate chi2=5.99) pose_sigma=(0.154758, 0.154758, rho=0) det_map=(4.0855, -1.30081) lm_pos=(4.215, -1.32) delta=(-0.129504, 0.0191855) -> 1 candidate(s)
I0419 21:03:16.838886 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:16.840008 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:16.840101 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:16.841449 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.416157, -0.665919)
I0419 21:03:16.841614 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293968376664.
I0419 21:03:16.871243 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:16.956403 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:16.957968 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293969263475.
I0419 21:03:16.961442 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.83824, -0.250954)
I0419 21:03:16.961628 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:16.961808 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293969579060.
I0419 21:03:16.967160 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.169751, -0.543829), points=22, range=0.568955, residual=0.0112037, extent=0.0361029
I0419 21:03:16.967334 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.169751, -0.543829), tracking=(0.128749, -0.543829), map_predicted=(3.19661, -2.52804), range=0.568955, pts=22
I0419 21:03:16.967387 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.33349m maha_sq=4.82316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.19661, -2.52804) lm_pos=(3.53, -2.52) delta=(-0.333393, -0.00803758) -> 1 candidate(s)
I0419 21:03:16.986855 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293969857142.
I0419 21:03:17.019366 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293970182766.
I0419 21:03:17.094272 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0395766s, prior_pose=(3.07803, -1.98558), yaw=0.610457 deg
I0419 21:03:17.094448 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:17.096319 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293970457997.
I0419 21:03:17.099498 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293970742843.
I0419 21:03:17.100473 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:17.100579 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.200669, -0.546289)
I0419 21:03:17.100601 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:17.102411 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:17.102619 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293971017730.
I0419 21:03:17.118108 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:17.118255 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:17.134984 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293971340747.
I0419 21:03:17.213457 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.518247, -0.665251), points=14, range=0.845714, residual=0.0133272, extent=0.0416743
I0419 21:03:17.213575 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.518247, -0.665251), tracking=(-0.816747, 0.665251), map_predicted=(2.28924, -1.32612), range=0.845714, pts=14
I0419 21:03:17.213608 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.125908m maha_sq=0.680405 (gate chi2=5.99) pose_sigma=(0.150595, 0.150595, rho=0) det_map=(2.28924, -1.32612) lm_pos=(2.415, -1.32) delta=(-0.125759, -0.00612256) -> 1 candidate(s)
I0419 21:03:17.213630 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:17.213696 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293971621452.
I0419 21:03:17.215535 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293971900851.
I0419 21:03:17.216617 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.12573, -1.98349), yaw=0.50526 deg backend=(3.19662, -1.97546)
I0419 21:03:17.223666 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293972231710.
I0419 21:03:17.230403 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.242801, -0.545255)
I0419 21:03:17.250487 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:17.250654 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293972499805.
I0419 21:03:17.278679 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293972781687.
I0419 21:03:17.342365 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:17.342664 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293973104437.
I0419 21:03:17.343541 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.068201s, prior_pose=(3.13302, -1.98392), yaw=0.388217 deg
I0419 21:03:17.343645 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1365, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:03:17.345571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293973434987.
I0419 21:03:17.350317 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.622026, 0.676807), points=10, range=0.9212, residual=0.00984333, extent=0.0284288
I0419 21:03:17.350414 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.622026, 0.676807), tracking=(0.920526, 0.676807), map_predicted=(4.06076, -1.30102), range=0.9212, pts=10
I0419 21:03:17.350440 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.1554m maha_sq=1.048 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.06076, -1.30102) lm_pos=(4.215, -1.32) delta=(-0.154237, 0.0189785) -> 1 candidate(s)
I0419 21:03:17.370215 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=1.05716 range=0.8872 variance=0.000572052 t_weight=5244.28 r_weight=0 yaml=(2.415, -1.32) prior=(3.14469, -1.98384, 0.375003deg) obs_actual=(-0.881453, 0.664687) obs_expected=(-0.725326, 0.6686) delta=(-0.156126, -0.0039133) |delta|=0.156175m
I0419 21:03:17.370337 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293973697627.
I0419 21:03:17.378075 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=43, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:17.378155 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=31, centroid=(-0.300934, -0.541438)
I0419 21:03:17.378175 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:17.398048 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:17.407925 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:17.408039 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:17.464440 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:17.465523 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:17.494541 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.57928, 0.674187)
I0419 21:03:17.514300 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.636321, -0.666567), points=11, range=0.919, residual=0.0128163, extent=0.0380232
I0419 21:03:17.514453 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.636321, -0.666567), tracking=(-0.934821, 0.666567), map_predicted=(2.2502, -1.32087), range=0.919, pts=11
I0419 21:03:17.514492 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.164803m maha_sq=1.12694 (gate chi2=5.99) pose_sigma=(0.153265, 0.153265, rho=0) det_map=(2.2502, -1.32087) lm_pos=(2.415, -1.32) delta=(-0.1648, -0.000871957) -> 1 candidate(s)
I0419 21:03:17.526585 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293975260200.
I0419 21:03:17.545855 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:03:17.606380 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:17.606510 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:17.606534 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293975532660.
I0419 21:03:17.608289 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293975811411.
I0419 21:03:17.610776 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564887s, prior_pose=(3.22311, -1.98511), yaw=0.390013 deg
I0419 21:03:17.610870 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:03:17.610989 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293976097547.
I0419 21:03:17.634040 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:17.634292 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.237333, 0.543562)
I0419 21:03:17.642546 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293976415776.
I0419 21:03:17.674170 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:17.674264 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:17.674365 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293976738393.
I0419 21:03:17.734088 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.219971, 0.542079), points=19, range=0.586263, residual=0.0105224, extent=0.0315685
I0419 21:03:17.734196 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:17.734213 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.219971, 0.542079), tracking=(-0.0785293, -0.542079), map_predicted=(3.21824, -2.52241), range=0.586263, pts=19
I0419 21:03:17.734237 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.311774m maha_sq=3.99845 (gate chi2=5.99) pose_sigma=(0.154162, 0.154162, rho=0) det_map=(3.21824, -2.52241) lm_pos=(3.53, -2.52) delta=(-0.311764, -0.00241192) -> 1 candidate(s)
I0419 21:03:17.735055 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:17.735131 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:17.735215 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293977014060.
I0419 21:03:17.737838 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293977301212.
I0419 21:03:17.750825 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:17.758870 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293977581177.
I0419 21:03:17.782337 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.196952, 0.543376)
I0419 21:03:17.786862 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293977862061.
I0419 21:03:17.888545 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293978179146.
I0419 21:03:17.889714 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:17.890522 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.469028, 0.669801), points=13, range=0.819923, residual=0.0111881, extent=0.0339875
I0419 21:03:17.890590 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.469028, 0.669801), tracking=(0.767528, 0.669801), map_predicted=(4.14985, -1.30299), range=0.819923, pts=13
I0419 21:03:17.890616 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0673356m maha_sq=0.196561 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.14985, -1.30299) lm_pos=(4.215, -1.32) delta=(-0.0651504, 0.0170149) -> 1 candidate(s)
I0419 21:03:17.890707 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293978461864.
I0419 21:03:17.893180 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293978780003.
I0419 21:03:17.906029 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0352523s, prior_pose=(3.42573, -1.96864), yaw=0.117001 deg
I0419 21:03:17.906186 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:03:17.906404 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0909228 range=0.810385 variance=0.000585963 t_weight=5119.78 r_weight=0 yaml=(4.215, -1.32) prior=(3.42573, -1.96864, 0.117001deg) obs_actual=(0.750186, 0.669588) obs_expected=(0.790596, 0.647022) delta=(-0.0404108, 0.0225656) |delta|=0.0462843m
I0419 21:03:17.906527 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293979054720.
I0419 21:03:17.926810 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.760305, -0.666722)
I0419 21:03:17.935103 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293979339871.
I0419 21:03:18.020514 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:18.021512 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:18.021626 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:18.021763 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293979652470.
I0419 21:03:18.023170 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:18.024701 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:18.024796 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:18.024927 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293979942186.
I0419 21:03:18.026049 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783171, -0.663957), points=5, range=1.0288, residual=0.00896843, extent=0.0247224
I0419 21:03:18.026118 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.783171, -0.663957), tracking=(-1.08167, 0.663957), map_predicted=(2.37225, -1.30317), range=1.0288, pts=5
I0419 21:03:18.026144 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0459408m maha_sq=0.0916361 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.37225, -1.30317) lm_pos=(2.415, -1.32) delta=(-0.0427486, 0.0168258) -> 1 candidate(s)
I0419 21:03:18.027009 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293980213796.
I0419 21:03:18.043171 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:18.055200 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293980541650.
I0419 21:03:18.074254 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.805256, -0.663752)
I0419 21:03:18.152962 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.48289, -1.96521), yaw=0.0424698 deg backend=(3.44347, -1.97027)
I0419 21:03:18.154453 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293980814539.
I0419 21:03:18.156981 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293981133280.
I0419 21:03:18.159159 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:18.160265 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:18.160379 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.3618 deg, rms_residual=0.0145701m, sigma_yaw=0.0190565 rad, N=2
I0419 21:03:18.160415 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.51495, -1.96081, -1.3618deg) inliers=2 rms=0.0145701m
I0419 21:03:18.160456 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:18.160475 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293981423387.
I0419 21:03:18.161829 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.836141, -0.663087), points=7, range=1.06529, residual=0.00912946, extent=0.0258491
I0419 21:03:18.161921 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.836141, -0.663087), tracking=(-1.13464, 0.663087), map_predicted=(2.36377, -1.30189), range=1.06529, pts=7
I0419 21:03:18.161954 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0543364m maha_sq=0.128162 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.36377, -1.30189) lm_pos=(2.415, -1.32) delta=(-0.0512297, 0.0181097) -> 1 candidate(s)
I0419 21:03:18.174059 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293981729312.
I0419 21:03:18.197772 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.064086s, prior_pose=(3.51448, -1.96336), yaw=0.0389057 deg
I0419 21:03:18.197921 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:03:18.198110 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.364428, 0.670925)
I0419 21:03:18.198240 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.108922 range=0.763588 variance=0.000683492 t_weight=4389.22 r_weight=0 yaml=(4.215, -1.32) prior=(3.51448, -1.96336, 0.0389057deg) obs_actual=(0.658042, 0.669028) obs_expected=(0.70096, 0.642888) delta=(-0.0429172, 0.0261399) |delta|=0.0502512m
I0419 21:03:18.198351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293981973176.
I0419 21:03:18.258558 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293982303747.
I0419 21:03:18.261009 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:18.261129 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:18.261243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293982580661.
I0419 21:03:18.282814 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:18.286317 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:18.286473 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:18.286706 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293982854098.
I0419 21:03:18.310756 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.88173, -0.662392), points=7, range=1.10071, residual=0.0100526, extent=0.0284348
I0419 21:03:18.310921 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.88173, -0.662392), tracking=(-1.18023, 0.662392), map_predicted=(2.37765, -1.29823), range=1.10071, pts=7
I0419 21:03:18.310969 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0432306m maha_sq=0.0801139 (gate chi2=5.99) pose_sigma=(0.150902, 0.150902, rho=0) det_map=(2.37765, -1.29823) lm_pos=(2.415, -1.32) delta=(-0.0373506, 0.0217672) -> 1 candidate(s)
I0419 21:03:18.318948 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293983179218.
I0419 21:03:18.339334 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:18.426100 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.318033, 0.669137)
I0419 21:03:18.426291 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293983454022.
I0419 21:03:18.428426 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293983775890.
I0419 21:03:18.431159 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293984062896.
I0419 21:03:18.432291 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:18.434010 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293984335933.
I0419 21:03:18.458827 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.923744, -0.660896), points=7, range=1.133, residual=0.0115541, extent=0.0326222
I0419 21:03:18.459007 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.923744, -0.660896), tracking=(-1.22224, 0.660896), map_predicted=(2.36698, -1.29954), range=1.133, pts=7
I0419 21:03:18.459131 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0521971m maha_sq=0.117993 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.36698, -1.29954) lm_pos=(2.415, -1.32) delta=(-0.04802, 0.0204599) -> 1 candidate(s)
I0419 21:03:18.467581 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293984661392.
I0419 21:03:18.549907 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602908s, prior_pose=(3.6179, -1.9646), yaw=-0.169693 deg
I0419 21:03:18.550068 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:18.550164 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.274246, 0.670181)
I0419 21:03:18.550258 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.051241 range=0.724187 variance=0.00057655 t_weight=5203.37 r_weight=0 yaml=(4.215, -1.32) prior=(3.6179, -1.9646, -0.169693deg) obs_actual=(0.568972, 0.669378) obs_expected=(0.595192, 0.646367) delta=(-0.0262197, 0.0230108) |delta|=0.0348851m
I0419 21:03:18.550330 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293984938841.
I0419 21:03:18.553359 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293985218009.
I0419 21:03:18.554561 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:18.555429 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:18.555491 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:18.555572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293985544720.
I0419 21:03:18.574771 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:18.582626 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:18.582762 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:18.582973 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293985818771.
I0419 21:03:18.602399 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0476041, 0.544042), points=21, range=0.546571, residual=0.0103801, extent=0.0321717
I0419 21:03:18.602511 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0476041, 0.544042), tracking=(-0.346104, -0.544042), map_predicted=(3.29141, -2.50727), range=0.546571, pts=21
I0419 21:03:18.602548 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.238931m maha_sq=2.47775 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.29141, -2.50727) lm_pos=(3.53, -2.52) delta=(-0.238592, 0.012726) -> 1 candidate(s)
I0419 21:03:18.667696 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.18141, -0.525941)
I0419 21:03:18.667977 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293986137911.
I0419 21:03:18.669356 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:18.670455 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293986415570.
I0419 21:03:18.673409 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293986698503.
I0419 21:03:18.698318 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293986977709.
I0419 21:03:18.722385 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:18.730479 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:18.730625 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.70854 deg, rms_residual=0.0152862m, sigma_yaw=0.0199745 rad, N=2
I0419 21:03:18.730742 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.68876, -1.96363, -1.70854deg) inliers=2 rms=0.0152862m
I0419 21:03:18.730814 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:18.730850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293987294563.
I0419 21:03:18.814778 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:18.814783 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293987579720.
I0419 21:03:18.817461 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402135s, prior_pose=(3.70165, -1.96281), yaw=-0.372025 deg
I0419 21:03:18.817577 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:18.817660 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.182021, 0.671277)
I0419 21:03:18.817691 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.178499, 0.670011), points=17, range=0.695588, residual=0.0119066, extent=0.0355415
I0419 21:03:18.817710 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.178499, 0.670011), tracking=(0.476999, 0.670011), map_predicted=(4.18299, -1.29591), range=0.695588, pts=17
I0419 21:03:18.817731 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.040067m maha_sq=0.0686829 (gate chi2=5.99) pose_sigma=(0.150979, 0.150979, rho=0) det_map=(4.18299, -1.29591) lm_pos=(4.215, -1.32) delta=(-0.0320149, 0.0240917) -> 1 candidate(s)
I0419 21:03:18.817787 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0686829 range=0.695588 variance=0.000578862 t_weight=5182.58 r_weight=0 yaml=(4.215, -1.32) prior=(3.70165, -1.96281, -0.372025deg) obs_actual=(0.476999, 0.670011) obs_expected=(0.509169, 0.646128) delta=(-0.0321706, 0.0238833) |delta|=0.040067m
I0419 21:03:18.817836 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293987902194.
I0419 21:03:18.819723 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293988178654.
I0419 21:03:18.846750 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:18.846916 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:18.847131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293988459627.
I0419 21:03:18.867012 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:18.946602 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:18.946720 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:18.946851 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293988740032.
I0419 21:03:18.948629 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293989025940.
I0419 21:03:18.950489 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:18.951287 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293989336779.
I0419 21:03:18.959829 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.74968, -1.96084), yaw=-0.60965 deg backend=(3.69386, -1.96685)
I0419 21:03:18.961999 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.08376, -0.520764)
I0419 21:03:18.962173 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293989615062.
I0419 21:03:18.994297 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07378, -0.519822), points=6, range=1.18833, residual=0.0152216, extent=0.0408072
I0419 21:03:18.994412 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.07378, -0.519822), tracking=(1.37228, -0.519822), map_predicted=(5.11635, -2.49523), range=1.18833, pts=6
I0419 21:03:18.994442 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0248053m maha_sq=0.0265308 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11635, -2.49523) lm_pos=(5.115, -2.52) delta=(0.00135485, 0.0247683) -> 1 candidate(s)
I0419 21:03:18.994534 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293989937709.
I0419 21:03:19.041194 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:19.046036 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293990216260.
I0419 21:03:19.050917 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293990498946.
I0419 21:03:19.078457 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641796s, prior_pose=(3.78865, -1.96006), yaw=-0.690894 deg
I0419 21:03:19.078570 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:19.078759 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.055414 range=0.674056 variance=0.000549834 t_weight=5456.2 r_weight=0 yaml=(4.215, -1.32) prior=(3.78865, -1.96006, -0.690894deg) obs_actual=(0.390257, 0.666931) obs_expected=(0.418597, 0.645157) delta=(-0.0283404, 0.0217739) |delta|=0.0357391m
I0419 21:03:19.078827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293990780929.
I0419 21:03:19.110719 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.89395, 0.708115)
I0419 21:03:19.110954 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293991101134.
I0419 21:03:19.130594 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:19.175309 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:19.175429 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:19.175546 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293991378645.
I0419 21:03:19.176558 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:19.177362 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:19.177436 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:19.177510 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293991695060.
I0419 21:03:19.190069 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.212653, 0.553935), points=20, range=0.59485, residual=0.0112668, extent=0.0344359
I0419 21:03:19.190184 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.212653, 0.553935), tracking=(-0.511153, -0.553935), map_predicted=(3.29343, -2.50844), range=0.59485, pts=20
I0419 21:03:19.190218 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.236848m maha_sq=2.39682 (gate chi2=5.99) pose_sigma=(0.151142, 0.151142, rho=0) det_map=(3.29343, -2.50844) lm_pos=(3.53, -2.52) delta=(-0.236566, 0.0115588) -> 1 candidate(s)
I0419 21:03:19.198625 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293991979720.
I0419 21:03:19.218989 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:19.227325 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293992264007.
I0419 21:03:19.257719 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85036, 0.710281)
I0419 21:03:19.257921 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293992573284.
I0419 21:03:19.315605 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293992862936.
I0419 21:03:19.316794 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:19.318318 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:19.318418 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.32539 deg, rms_residual=0.0135741m, sigma_yaw=0.017777 rad, N=2
I0419 21:03:19.318447 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.86238, -1.9595, -2.32539deg) inliers=2 rms=0.0135741m
I0419 21:03:19.318478 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:19.318493 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293993136239.
I0419 21:03:19.346900 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293993455961.
I0419 21:03:19.374383 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599652s, prior_pose=(3.86752, -1.97791), yaw=-1.06464 deg
I0419 21:03:19.374570 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:19.374814 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44162e-05, 0.659348), points=18, range=0.661111, residual=0.0112683, extent=0.033218
I0419 21:03:19.374879 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44162e-05, 0.659348), tracking=(0.298514, 0.659348), map_predicted=(4.17824, -1.32422), range=0.661111, pts=18
I0419 21:03:19.374924 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0370043m maha_sq=0.0584486 (gate chi2=5.99) pose_sigma=(0.151211, 0.151211, rho=0) det_map=(4.17824, -1.32422) lm_pos=(4.215, -1.32) delta=(-0.0367631, -0.00421838) -> 1 candidate(s)
I0419 21:03:19.375111 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0584486 range=0.661111 variance=0.000562901 t_weight=5329.53 r_weight=0 yaml=(4.215, -1.32) prior=(3.86752, -1.97791, -1.06464deg) obs_actual=(0.298514, 0.659348) obs_expected=(0.335193, 0.664248) delta=(-0.0366784, -0.00490072) |delta|=0.0370043m
I0419 21:03:19.375262 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293993735891.
I0419 21:03:19.497148 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(-0.00866807, 0.66355)
I0419 21:03:19.497327 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293994055543.
I0419 21:03:19.499096 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:19.499173 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:19.499259 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293994335873.
I0419 21:03:19.501214 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:19.501343 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122293994532388.
I0419 21:03:19.502429 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:19.502506 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:19.502583 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293994621985.
I0419 21:03:19.505219 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293994901216.
I0419 21:03:19.514779 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:19.522490 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293995218877.
I0419 21:03:19.574435 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.75587, 0.71536)
I0419 21:03:19.574607 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293995501366.
I0419 21:03:19.578888 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905912, -0.515987), points=8, range=1.03975, residual=0.0123598, extent=0.0350176
I0419 21:03:19.579026 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.905912, -0.515987), tracking=(1.20441, -0.515987), map_predicted=(5.13223, -2.50622), range=1.03975, pts=8
I0419 21:03:19.579069 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0220576m maha_sq=0.0208146 (gate chi2=5.99) pose_sigma=(0.150898, 0.150898, rho=0) det_map=(5.13223, -2.50622) lm_pos=(5.115, -2.52) delta=(0.0172274, 0.0137752) -> 1 candidate(s)
I0419 21:03:19.579234 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293995780064.
I0419 21:03:19.602342 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:19.611030 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293996092492.
I0419 21:03:19.638818 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293996377805.
I0419 21:03:19.736232 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0397341s, prior_pose=(3.94885, -1.96594), yaw=-1.30503 deg
I0419 21:03:19.736409 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:03:19.736665 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0089973 range=1.01667 variance=0.000652771 t_weight=4595.79 r_weight=0 yaml=(5.115, -2.52) prior=(3.94885, -1.96594, -1.30503deg) obs_actual=(1.1816, -0.513249) obs_expected=(1.17846, -0.527356) delta=(0.00313325, 0.0141073) |delta|=0.014451m
I0419 21:03:19.736739 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293996697144.
I0419 21:03:19.738909 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.0976971, 0.666753)
I0419 21:03:19.739169 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293996972735.
I0419 21:03:19.741983 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:19.742056 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:19.742156 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293997256769.
I0419 21:03:19.750402 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:19.750535 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:03:19.758343 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:19.758504 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:19.758720 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293997575483.
I0419 21:03:19.778096 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.385233, 0.562202), points=16, range=0.683125, residual=0.0110135, extent=0.0333577
I0419 21:03:19.778235 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.385233, 0.562202), tracking=(-0.683733, -0.562202), map_predicted=(3.28652, -2.51279), range=0.683125, pts=16
I0419 21:03:19.778316 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.243586m maha_sq=2.57326 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.28652, -2.51279) lm_pos=(3.53, -2.52) delta=(-0.243479, 0.00720946) -> 1 candidate(s)
I0419 21:03:19.789343 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293997852808.
I0419 21:03:19.868327 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:19.869320 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293998141376.
I0419 21:03:19.871389 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.0206, -1.96722), yaw=-1.4045 deg backend=(3.97055, -1.97844)
I0419 21:03:19.871963 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.140495, 0.665532)
I0419 21:03:19.872093 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293998455502.
I0419 21:03:19.878558 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:19.878741 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:19.878787 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293998777396.
I0419 21:03:19.902329 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:19.906783 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.05196 deg, rms_residual=0.0104021m, sigma_yaw=0.0111035 rad, N=3
I0419 21:03:19.906909 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.03689, -1.97534, -2.05196deg) inliers=3 rms=0.0104021m
I0419 21:03:19.906961 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122293999061748.
I0419 21:03:19.974864 1258777 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 10 -> 9 (threshold=0.03, iters=3)
I0419 21:03:19.975042 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0408564 range=0.688105 variance=0.000580156 t_weight=5171.02 r_weight=0 yaml=(4.215, -1.32) prior=(4.03689, -1.97534, -1.44575deg) obs_actual=(0.131362, 0.666102) obs_expected=(0.161521, 0.659622) delta=(-0.0301587, 0.00647924) |delta|=0.0308469m
I0419 21:03:19.975111 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293999333646.
I0419 21:03:19.977128 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602414s, prior_pose=(4.03689, -1.97534), yaw=-1.44575 deg
I0419 21:03:19.977265 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:03:19.977403 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.794971, -0.509643), points=11, range=0.940636, residual=0.0147328, extent=0.040318
I0419 21:03:19.977434 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.794971, -0.509643), tracking=(1.09347, -0.509643), map_predicted=(5.11715, -2.51241), range=0.940636, pts=11
I0419 21:03:19.977458 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.00789212m maha_sq=0.00268887 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11715, -2.51241) lm_pos=(5.115, -2.52) delta=(0.00215249, 0.00759291) -> 1 candidate(s)
I0419 21:03:19.977540 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293999619963.
I0419 21:03:19.990639 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.187648, 0.668932)
I0419 21:03:19.990895 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122293999900657.
I0419 21:03:20.022154 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:20.022248 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:20.022400 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294000216975.
I0419 21:03:20.042335 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:20.050045 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:20.050127 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:20.050273 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294000496089.
I0419 21:03:20.105057 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294000819024.
I0419 21:03:20.107157 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:20.111619 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294001103839.
I0419 21:03:20.130836 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(-0.383221, -0.668177)
I0419 21:03:20.130940 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.48811, 0.569789), points=12, range=0.752083, residual=0.00970301, extent=0.0274745
I0419 21:03:20.130965 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.48811, 0.569789), tracking=(-0.78661, -0.569789), map_predicted=(3.28349, -2.52322), range=0.752083, pts=12
I0419 21:03:20.130991 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.246531m maha_sq=2.63867 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.28349, -2.52322) lm_pos=(3.53, -2.52) delta=(-0.24651, -0.00321811) -> 1 candidate(s)
I0419 21:03:20.138552 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294001380803.
I0419 21:03:20.166129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294001655227.
I0419 21:03:20.190282 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:20.280354 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[5] 'ref_6' maha_sq=0.0659035 range=0.720062 variance=0.000558081 t_weight=5375.56 r_weight=3132 yaml=(4.215, -1.32) prior=(4.11229, -1.97734, -1.81541deg) obs_actual=(0.0446989, 0.672752) obs_expected=(0.0818321, 0.660266) delta=(-0.0371332, 0.0124858) |delta|=0.0391761m
I0419 21:03:20.280489 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294001974297.
I0419 21:03:20.280570 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:20.282447 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294002252073.
I0419 21:03:20.284348 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.408695, -0.664736)
I0419 21:03:20.285006 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565856s, prior_pose=(4.12801, -1.97703), yaw=-1.89878 deg
I0419 21:03:20.285105 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:20.285208 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.270969, 0.673408), points=15, range=0.726533, residual=0.0103668, extent=0.0297939
I0419 21:03:20.285234 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.270969, 0.673408), tracking=(0.0275313, 0.673408), map_predicted=(4.17784, -1.3049), range=0.726533, pts=15
I0419 21:03:20.285256 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[5] 'ref_6' eucl_dist=0.0401116m maha_sq=0.0687601 (gate chi2=5.99) pose_sigma=(0.151174, 0.151174, rho=0) det_map=(4.17784, -1.3049) lm_pos=(4.215, -1.32) delta=(-0.0371619, 0.0150976) -> 1 candidate(s)
I0419 21:03:20.285331 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294002540153.
I0419 21:03:20.288071 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294002860130.
I0419 21:03:20.314261 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294003134912.
I0419 21:03:20.314980 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:20.315078 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:20.382833 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:20.382992 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:20.383714 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.301215, 0.6712)
I0419 21:03:20.383807 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:20.383838 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:20.383934 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294003458832.
I0419 21:03:20.386996 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294003737645.
I0419 21:03:20.394305 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:20.403437 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.316653, 0.673882), points=16, range=0.745562, residual=0.0117719, extent=0.0327833
I0419 21:03:20.403534 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.316653, 0.673882), tracking=(-0.0181531, 0.673882), map_predicted=(4.18264, -1.30636), range=0.745562, pts=16
I0419 21:03:20.403563 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0351157m maha_sq=0.0534336 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.18264, -1.30636) lm_pos=(4.215, -1.32) delta=(-0.0323589, 0.0136388) -> 1 candidate(s)
I0419 21:03:20.403645 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294004029239.
I0419 21:03:20.434837 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294004341613.
I0419 21:03:20.513197 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.642681, -0.495962)
I0419 21:03:20.513366 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:20.513401 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0399492 range=0.753333 variance=0.000565586 t_weight=5304.23 r_weight=0 yaml=(4.215, -1.32) prior=(4.19572, -1.98639, -2.3518deg) obs_actual=(-0.0380233, 0.672457) obs_expected=(-0.00808478, 0.666616) delta=(-0.0299385, 0.00584173) |delta|=0.0305031m
I0419 21:03:20.513450 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:20.513470 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294004615451.
I0419 21:03:20.514470 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:20.515295 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.29701 deg, rms_residual=0.0255752m, sigma_yaw=0.0329758 rad, N=2
I0419 21:03:20.515343 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.22856, -1.97333, -4.29701deg) inliers=2 rms=0.0255752m
I0419 21:03:20.515376 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294004900600.
I0419 21:03:20.522578 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294005220308.
I0419 21:03:20.541563 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.61092, 0.584753)
I0419 21:03:20.541653 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.615649, 0.584182), points=10, range=0.8457, residual=0.010838, extent=0.0267592
I0419 21:03:20.541676 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.615649, 0.584182), tracking=(-0.914149, -0.584182), map_predicted=(3.27478, -2.52722), range=0.8457, pts=10
I0419 21:03:20.541699 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.255324m maha_sq=2.82695 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.27478, -2.52722) lm_pos=(3.53, -2.52) delta=(-0.255222, -0.00721974) -> 1 candidate(s)
I0419 21:03:20.550187 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365099s, prior_pose=(4.22379, -1.98173), yaw=-2.52683 deg
I0419 21:03:20.550290 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=254, threshold=230, above_threshold=38, candidates=38
I0419 21:03:20.550537 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294005498605.
I0419 21:03:20.578866 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294005779356.
I0419 21:03:20.654387 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:03:20.654493 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.43302, 0.764601)
I0419 21:03:20.654515 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:03:20.654628 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294006101577.
I0419 21:03:20.655678 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:20.657361 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:20.657419 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:20.657502 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294006382169.
I0419 21:03:20.666178 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.592202, -0.493867), points=15, range=0.768, residual=0.0156013, extent=0.0490793
I0419 21:03:20.666286 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.592202, -0.493867), tracking=(0.890702, -0.493867), map_predicted=(5.10441, -2.50386), range=0.768, pts=15
I0419 21:03:20.666313 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0193024m maha_sq=0.0160713 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.10441, -2.50386) lm_pos=(5.115, -2.52) delta=(-0.0105912, 0.0161373) -> 1 candidate(s)
I0419 21:03:20.666390 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294006656200.
I0419 21:03:20.689718 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:20.698747 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294006982239.
I0419 21:03:20.718340 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.6238, -0.577679)
I0419 21:03:20.787272 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.26501, -2.01033), yaw=-3.06839 deg backend=(4.21904, -1.9867)
I0419 21:03:20.788203 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0370902 range=0.749923 variance=0.000643677 t_weight=4660.72 r_weight=0 yaml=(5.115, -2.52) prior=(4.26501, -2.01033, -3.06839deg) obs_actual=(0.868327, -0.492336) obs_expected=(0.876056, -0.463442) delta=(-0.00772917, -0.0288947) |delta|=0.0299106m
I0419 21:03:20.788309 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294007257081.
I0419 21:03:20.790246 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294007532398.
I0419 21:03:20.792155 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:03:20.792284 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294007735422.
I0419 21:03:20.793253 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294007855230.
I0419 21:03:20.814510 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294008139420.
I0419 21:03:20.838251 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.65698, -0.58135)
I0419 21:03:20.838356 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.15387, -0.657789), points=18, range=0.677667, residual=0.0123094, extent=0.03461
I0419 21:03:20.838385 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.15387, -0.657789), tracking=(-0.14463, 0.657789), map_predicted=(4.18912, -1.33269), range=0.677667, pts=18
I0419 21:03:20.838410 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0288273m maha_sq=0.0359933 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.18912, -1.33269) lm_pos=(4.215, -1.32) delta=(-0.0258834, -0.0126911) -> 1 candidate(s)
I0419 21:03:20.842553 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0686523s, prior_pose=(4.29841, -1.99727), yaw=-3.06111 deg
I0419 21:03:20.842633 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:20.842835 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294008421945.
I0419 21:03:20.909452 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294008734985.
I0419 21:03:20.910686 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294008943132.
I0419 21:03:20.912210 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:20.912286 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:20.912377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294009016182.
I0419 21:03:20.921643 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:20.930511 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:20.930601 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:20.930711 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294009299993.
I0419 21:03:20.954170 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.68407, -0.582607)
I0419 21:03:20.962330 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294009612885.
I0419 21:03:20.983224 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.112291, -0.65352), points=17, range=0.664059, residual=0.0103743, extent=0.0314819
I0419 21:03:20.983386 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.112291, -0.65352), tracking=(-0.186209, 0.65352), map_predicted=(4.18706, -1.3281), range=0.664059, pts=17
I0419 21:03:20.983443 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0290847m maha_sq=0.0367094 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.18706, -1.3281) lm_pos=(4.215, -1.32) delta=(-0.0279353, -0.00809545) -> 1 candidate(s)
I0419 21:03:20.983489 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:20.983538 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:21.077271 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:21.077363 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0104368 range=1.536 variance=0.00052118 t_weight=5756.17 r_weight=0 yaml=(6.015, -1.32) prior=(4.34807, -1.99028, -2.82949deg) obs_actual=(1.632, 0.767306) obs_expected=(1.63181, 0.751745) delta=(0.000189871, 0.0155617) |delta|=0.0155628m
I0419 21:03:21.077411 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:21.077430 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294009895898.
I0419 21:03:21.079252 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294010181866.
I0419 21:03:21.081861 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294010493152.
I0419 21:03:21.082885 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71215, -0.583978)
I0419 21:03:21.082974 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:21.084473 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294010772024.
I0419 21:03:21.107036 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294011059304.
I0419 21:03:21.198252 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788223, 0.586799), points=5, range=0.9862, residual=0.00780534, extent=0.0165936
I0419 21:03:21.198357 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.788223, 0.586799), tracking=(-1.08672, -0.586799), map_predicted=(3.26459, -2.52805), range=0.9862, pts=5
I0419 21:03:21.198387 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.265531m maha_sq=3.03861 (gate chi2=5.99) pose_sigma=(0.150643, 0.150643, rho=0) det_map=(3.26459, -2.52805) lm_pos=(3.53, -2.52) delta=(-0.265409, -0.00804596) -> 1 candidate(s)
I0419 21:03:21.199162 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609626s, prior_pose=(4.3789, -1.99548), yaw=-2.82317 deg
I0419 21:03:21.199231 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:03:21.199407 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294011381650.
I0419 21:03:21.202016 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.15646 deg, rms_residual=0.00688267m, sigma_yaw=0.00909345 rad, N=2
I0419 21:03:21.202157 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.41299, -1.99143, -3.15646deg) inliers=2 rms=0.00688267m
I0419 21:03:21.202193 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294011662304.
I0419 21:03:21.203967 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:21.204046 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.421231, -0.495845)
I0419 21:03:21.204066 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:21.204142 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294011973625.
I0419 21:03:21.218775 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:21.226267 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:21.226418 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:21.226713 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294012255582.
I0419 21:03:21.328586 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294012535339.
I0419 21:03:21.330587 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.837722, 0.582948), points=6, range=1.01917, residual=0.00689996, extent=0.0161605
I0419 21:03:21.330721 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.837722, 0.582948), tracking=(-1.13622, -0.582948), map_predicted=(3.26537, -2.52735), range=1.01917, pts=6
I0419 21:03:21.330767 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.264736m maha_sq=3.04736 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.26537, -2.52735) lm_pos=(3.53, -2.52) delta=(-0.264634, -0.00734694) -> 1 candidate(s)
I0419 21:03:21.330811 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:21.332528 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294012854103.
I0419 21:03:21.335507 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0187804 range=0.629619 variance=0.000658632 t_weight=4554.89 r_weight=0 yaml=(5.115, -2.52) prior=(4.43868, -2.00001, -2.6796deg) obs_actual=(0.680885, -0.496671) obs_expected=(0.699888, -0.487802) delta=(-0.0190023, -0.00886893) |delta|=0.0209701m
I0419 21:03:21.335687 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294013133188.
I0419 21:03:21.336791 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0152264, -0.653792)
I0419 21:03:21.342060 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294013415620.
I0419 21:03:21.366161 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:21.373951 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294013732705.
I0419 21:03:21.456672 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294013942554.
I0419 21:03:21.457580 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294014014530.
I0419 21:03:21.459957 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0356654s, prior_pose=(4.4718, -2.00105), yaw=-2.42514 deg
I0419 21:03:21.460022 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:21.460125 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.344239, -0.49919), points=22, range=0.6075, residual=0.0137008, extent=0.0509959
I0419 21:03:21.460152 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.344239, -0.49919), tracking=(0.642739, -0.49919), map_predicted=(5.09284, -2.52699), range=0.6075, pts=22
I0419 21:03:21.460172 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.023239m maha_sq=0.0229373 (gate chi2=5.99) pose_sigma=(0.151402, 0.151402, rho=0) det_map=(5.09284, -2.52699) lm_pos=(5.115, -2.52) delta=(-0.0221643, -0.00698533) -> 1 candidate(s)
I0419 21:03:21.460247 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294014299208.
I0419 21:03:21.462080 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19477, 0.756249)
I0419 21:03:21.462208 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294014580174.
I0419 21:03:21.490200 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:21.490353 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:21.490607 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294014893463.
I0419 21:03:21.510653 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:21.607244 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:21.607352 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:21.607457 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294015174235.
I0419 21:03:21.608705 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:21.608831 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:21.608858 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294015416440.
I0419 21:03:21.609805 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294015461785.
I0419 21:03:21.611608 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:21.612449 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16895, 0.756706), points=3, range=1.38867, residual=0.00769284, extent=0.0144606
I0419 21:03:21.612531 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16895, 0.756706), tracking=(1.46745, 0.756706), map_predicted=(6.02239, -1.30656), range=1.38867, pts=3
I0419 21:03:21.612558 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0153372m maha_sq=0.010135 (gate chi2=5.99) pose_sigma=(0.150589, 0.150589, rho=0) det_map=(6.02239, -1.30656) lm_pos=(6.015, -1.32) delta=(0.0073918, 0.0134384) -> 1 candidate(s)
I0419 21:03:21.612612 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0107446 range=0.587409 variance=0.000629616 t_weight=4764.81 r_weight=0 yaml=(5.115, -2.52) prior=(4.52563, -2.00349, -2.31045deg) obs_actual=(0.59734, -0.502188) obs_expected=(0.609716, -0.492327) delta=(-0.0123767, -0.00986103) |delta|=0.0158247m
I0419 21:03:21.612694 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294015776463.
I0419 21:03:21.613812 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.939837, 0.577801)
I0419 21:03:21.614832 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.53743, -2.00504), yaw=-2.24267 deg backend=(4.47834, -1.9982)
I0419 21:03:21.615406 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294016081777.
I0419 21:03:21.630064 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294016295285.
I0419 21:03:21.636655 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294016361156.
I0419 21:03:21.701166 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:21.701263 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:21.702054 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294016657001.
I0419 21:03:21.702939 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:21.704720 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294016938253.
I0419 21:03:21.726171 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0680165s, prior_pose=(4.55459, -2.00649), yaw=-2.1676 deg
I0419 21:03:21.726267 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:21.726495 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294017257946.
I0419 21:03:21.745877 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.986227, 0.571291)
I0419 21:03:21.745975 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0965267, -0.652352), points=17, range=0.661412, residual=0.0107992, extent=0.0337571
I0419 21:03:21.746003 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0965267, -0.652352), tracking=(-0.395027, 0.652352), map_predicted=(4.19668, -1.34012), range=0.661412, pts=17
I0419 21:03:21.746028 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0272122m maha_sq=0.0317302 (gate chi2=5.99) pose_sigma=(0.150947, 0.150947, rho=0) det_map=(4.19668, -1.34012) lm_pos=(4.215, -1.32) delta=(-0.0183212, -0.0201205) -> 1 candidate(s)
I0419 21:03:21.753908 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.93271 deg, rms_residual=0.0149473m, sigma_yaw=0.0195404 rad, N=2
I0419 21:03:21.754037 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.5802, -2.00865, -1.93271deg) inliers=2 rms=0.0149473m
I0419 21:03:21.754079 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294017532830.
I0419 21:03:21.839254 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:21.839668 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:21.839967 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294017816990.
I0419 21:03:21.841544 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:21.842646 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:21.842914 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:21.843166 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294018105711.
I0419 21:03:21.846146 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0153753 range=1.32 variance=0.000498249 t_weight=6021.08 r_weight=0 yaml=(6.015, -1.32) prior=(4.5847, -2.00768, -1.96739deg) obs_actual=(1.38879, 0.744666) obs_expected=(1.40584, 0.736378) delta=(-0.0170491, 0.00828839) |delta|=0.0189571m
I0419 21:03:21.846457 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294018436025.
I0419 21:03:21.862743 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:21.872462 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294018716879.
I0419 21:03:21.893848 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.02925, 0.572467)
I0419 21:03:21.894124 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03205, 0.572069), points=4, range=1.17775, residual=0.00631027, extent=0.0136465
I0419 21:03:21.894272 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.03205, 0.572069), tracking=(-1.33055, -0.572069), map_predicted=(3.25397, -2.53409), range=1.17775, pts=4
I0419 21:03:21.894412 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.276392m maha_sq=3.3215 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.25397, -2.53409) lm_pos=(3.53, -2.52) delta=(-0.276033, -0.0140894) -> 1 candidate(s)
I0419 21:03:21.902691 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294019020953.
I0419 21:03:21.965773 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 27 -> 26 (threshold=0.03, iters=3)
I0419 21:03:21.965978 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294019299606.
I0419 21:03:21.967028 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:21.968655 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294019578280.
I0419 21:03:21.990495 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294019898369.
I0419 21:03:22.011397 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294020107976.
I0419 21:03:22.017985 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598641s, prior_pose=(4.64736, -2.007), yaw=-1.94824 deg
I0419 21:03:22.018077 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:22.018316 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294020176921.
I0419 21:03:22.037906 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.07538, 0.569762)
I0419 21:03:22.116217 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.153198, -0.51154), points=27, range=0.534778, residual=0.0133689, extent=0.0424103
I0419 21:03:22.116374 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.153198, -0.51154), tracking=(0.451698, -0.51154), map_predicted=(5.10297, -2.54346), range=0.534778, pts=27
I0419 21:03:22.116406 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0263692m maha_sq=0.0294081 (gate chi2=5.99) pose_sigma=(0.151768, 0.151768, rho=0) det_map=(5.10297, -2.54346) lm_pos=(5.115, -2.52) delta=(-0.0120343, -0.023463) -> 1 candidate(s)
I0419 21:03:22.116464 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:22.116513 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:22.116528 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294020452849.
I0419 21:03:22.118561 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:22.118667 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:22.118752 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294020773338.
I0419 21:03:22.120453 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:22.120596 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294020979266.
I0419 21:03:22.121505 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:22.121583 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:22.121655 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294021056729.
I0419 21:03:22.129956 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294021291924.
I0419 21:03:22.134644 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0173418 range=0.527148 variance=0.000600346 t_weight=4997.12 r_weight=0 yaml=(5.115, -2.52) prior=(4.69322, -2.01078, -1.96004deg) obs_actual=(0.426607, -0.510444) obs_expected=(0.438946, -0.494499) delta=(-0.0123395, -0.0159453) |delta|=0.0201622m
I0419 21:03:22.134959 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294021341404.
I0419 21:03:22.158406 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:22.158593 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294021579093.
I0419 21:03:22.166337 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294021657910.
I0419 21:03:22.230862 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.12403, 0.568597)
I0419 21:03:22.231875 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294021937801.
I0419 21:03:22.234690 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294022256186.
I0419 21:03:22.246963 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.242709, -0.66078), points=17, range=0.705176, residual=0.0120426, extent=0.0339342
I0419 21:03:22.247105 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.242709, -0.66078), tracking=(-0.541209, 0.66078), map_predicted=(4.184, -1.32801), range=0.705176, pts=17
I0419 21:03:22.247198 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0320162m maha_sq=0.0444076 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.184, -1.32801) lm_pos=(4.215, -1.32) delta=(-0.0309981, -0.00800958) -> 1 candidate(s)
I0419 21:03:22.247274 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:22.254839 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294022538284.
I0419 21:03:22.283201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294022820680.
I0419 21:03:22.387506 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0408011s, prior_pose=(4.74168, -2.00487), yaw=-1.88351 deg
I0419 21:03:22.387650 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:03:22.387894 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294023140393.
I0419 21:03:22.388962 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.16228, 0.562697)
I0419 21:03:22.391270 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294023421301.
I0419 21:03:22.393055 1218530 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:03:22.393998 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:22.394060 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:22.394186 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294023700392.
I0419 21:03:22.395238 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18366, 0.562459), points=3, range=1.30767, residual=0.0061233, extent=0.0117801
I0419 21:03:22.395298 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:22.395318 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18366, 0.562459), tracking=(-1.48216, -0.562459), map_predicted=(3.25591, -2.52003), range=1.30767, pts=3
I0419 21:03:22.395337 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.274088m maha_sq=3.26552 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.25591, -2.52003) lm_pos=(3.53, -2.52) delta=(-0.274088, -3.22759e-05) -> 1 candidate(s)
I0419 21:03:22.399241 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:22.399374 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:22.399541 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294023983157.
I0419 21:03:22.431654 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294024302641.
I0419 21:03:22.529978 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:22.531039 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00658897 range=0.514259 variance=0.00057653 t_weight=5203.54 r_weight=0 yaml=(5.115, -2.52) prior=(4.80345, -2.00946, -1.75867deg) obs_actual=(0.329145, -0.513089) obs_expected=(0.327076, -0.500737) delta=(0.00206894, -0.0123522) |delta|=0.0125243m
I0419 21:03:22.531208 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294024578042.
I0419 21:03:22.532359 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.20666, 0.560533)
I0419 21:03:22.532513 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294024819679.
I0419 21:03:22.533524 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.81132, -2.00915), yaw=-1.69575 deg backend=(4.74572, -2.00766)
I0419 21:03:22.534171 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.46012 deg, rms_residual=0.0134481m, sigma_yaw=0.017615 rad, N=2
I0419 21:03:22.534250 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.80443, -2.01086, -1.46012deg) inliers=2 rms=0.0134481m
I0419 21:03:22.534287 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294024876588.
I0419 21:03:22.535363 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:22.535431 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:22.535454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294025097942.
I0419 21:03:22.536320 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294025177740.
I0419 21:03:22.538326 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:22.546257 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.8867, 0.728752), points=5, range=1.145, residual=0.00966027, extent=0.0252505
I0419 21:03:22.546409 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.8867, 0.728752), tracking=(1.1852, 0.728752), map_predicted=(6.02685, -1.31443), range=1.145, pts=5
I0419 21:03:22.546474 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0130974m maha_sq=0.00737125 (gate chi2=5.99) pose_sigma=(0.150734, 0.150734, rho=0) det_map=(6.02685, -1.31443) lm_pos=(6.015, -1.32) delta=(0.0118544, 0.00556914) -> 1 candidate(s)
I0419 21:03:22.546638 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294025457422.
I0419 21:03:22.570464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294025698543.
I0419 21:03:22.632956 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294025776181.
I0419 21:03:22.634232 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294025973818.
I0419 21:03:22.635023 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0674564s, prior_pose=(4.81824, -2.00774), yaw=-1.56121 deg
I0419 21:03:22.635107 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:22.635301 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294026053320.
I0419 21:03:22.636998 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.25237, 0.5554)
I0419 21:03:22.637151 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294026262706.
I0419 21:03:22.637889 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294026371617.
I0419 21:03:22.658128 1218970 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.39e-03 s (pulsed at 100.07% real time)
I0419 21:03:22.658334 1218970 collated_trajectory_builder.cc:82] odom rate: 247.92 Hz 4.03e-03 s +/- 7.93e-04 s (pulsed at 99.98% real time)
I0419 21:03:22.658452 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.11e-03 s (pulsed at 99.93% real time)
I0419 21:03:22.658490 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.37e-03 s (pulsed at 99.99% real time)
I0419 21:03:22.663440 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:22.663575 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:22.663745 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00453681 range=1.1165 variance=0.000559334 t_weight=5363.52 r_weight=0 yaml=(6.015, -1.32) prior=(4.84911, -2.00639, -1.44383deg) obs_actual=(1.15058, 0.72558) obs_expected=(1.14822, 0.715554) delta=(0.00235698, 0.0100262) |delta|=0.0102995m
I0419 21:03:22.663872 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294026621392.
I0419 21:03:22.685892 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:22.686098 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294026854564.
I0419 21:03:22.693926 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:22.694037 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:22.694170 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294026933991.
I0419 21:03:22.741839 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294027140184.
I0419 21:03:22.742923 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294027218148.
I0419 21:03:22.746500 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.385535, -0.669949), points=14, range=0.775357, residual=0.0126233, extent=0.0346455
I0419 21:03:22.746606 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.385535, -0.669949), tracking=(-0.684035, 0.669949), map_predicted=(4.17629, -1.31946), range=0.775357, pts=14
I0419 21:03:22.746637 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0387132m maha_sq=0.0648812 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.17629, -1.31946) lm_pos=(4.215, -1.32) delta=(-0.0387094, 0.0005426) -> 1 candidate(s)
I0419 21:03:22.746660 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:22.754448 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.75586, -0.459553)
I0419 21:03:22.754665 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294027539465.
I0419 21:03:22.782874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294027822539.
I0419 21:03:22.802870 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294028021860.
I0419 21:03:22.810247 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294028095337.
I0419 21:03:22.830937 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:03:22.901701 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294028417453.
I0419 21:03:22.903255 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294028623018.
I0419 21:03:22.904628 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:22.904770 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:22.904796 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294028703804.
I0419 21:03:22.906991 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294028939959.
I0419 21:03:22.908030 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600309s, prior_pose=(4.92711, -2.00873), yaw=-1.1297 deg
I0419 21:03:22.908147 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:03:22.908329 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=26, centroid=(-0.108766, -0.51529)
I0419 21:03:22.908366 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.781714, 0.718354), points=7, range=1.05986, residual=0.0101313, extent=0.028744
I0419 21:03:22.908389 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.781714, 0.718354), tracking=(1.08021, 0.718354), map_predicted=(6.02128, -1.31181), range=1.05986, pts=7
I0419 21:03:22.908414 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0103159m maha_sq=0.00461567 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02128, -1.31181) lm_pos=(6.015, -1.32) delta=(0.00627533, 0.00818767) -> 1 candidate(s)
I0419 21:03:22.908468 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0084249 range=0.526769 variance=0.000583971 t_weight=5137.25 r_weight=0 yaml=(5.115, -2.52) prior=(4.92711, -2.00873, -1.1297deg) obs_actual=(0.185959, -0.514613) obs_expected=(0.197935, -0.507467) delta=(-0.0119755, -0.00714616) |delta|=0.0139456m
I0419 21:03:22.908527 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294029017762.
I0419 21:03:22.922801 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294029221663.
I0419 21:03:22.929912 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294029292998.
I0419 21:03:22.949951 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294029493840.
I0419 21:03:22.957968 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:22.958058 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:22.958215 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294029572680.
I0419 21:03:23.040274 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:23.040438 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294029782992.
I0419 21:03:23.041312 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:23.041409 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:23.041538 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294029862901.
I0419 21:03:23.042632 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294030098674.
I0419 21:03:23.044324 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294030181481.
I0419 21:03:23.045502 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:23.045605 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294030377919.
I0419 21:03:23.046347 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(-0.157526, -0.520443)
I0419 21:03:23.046468 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294030457576.
I0419 21:03:23.066664 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294030661280.
I0419 21:03:23.074600 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.06474 deg, rms_residual=0.0103465m, sigma_yaw=0.0136077 rad, N=2
I0419 21:03:23.075380 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.98263, -2.00486, -1.06474deg) inliers=2 rms=0.0103465m
I0419 21:03:23.075448 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294030740063.
I0419 21:03:23.097981 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0115144 range=0.835417 variance=0.000579177 t_weight=5179.77 r_weight=0 yaml=(4.215, -1.32) prior=(4.97124, -2.00837, -0.894148deg) obs_actual=(-0.783165, 0.677328) obs_expected=(-0.766886, 0.676482) delta=(-0.0162797, 0.000846291) |delta|=0.0163017m
I0419 21:03:23.098148 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294030973888.
I0419 21:03:23.178321 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.172436, -0.520224), points=25, range=0.54932, residual=0.0126645, extent=0.0397365
I0419 21:03:23.178458 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.172436, -0.520224), tracking=(0.126064, -0.520224), map_predicted=(5.08396, -2.52865), range=0.54932, pts=25
I0419 21:03:23.178488 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0322223m maha_sq=0.0446856 (gate chi2=5.99) pose_sigma=(0.150473, 0.150473, rho=0) det_map=(5.08396, -2.52865) lm_pos=(5.115, -2.52) delta=(-0.0310394, -0.00865055) -> 1 candidate(s)
I0419 21:03:23.178576 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294031040471.
I0419 21:03:23.179880 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:23.179951 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294031253766.
I0419 21:03:23.180882 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294031333177.
I0419 21:03:23.182873 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294031537954.
I0419 21:03:23.183887 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:23.183969 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:23.185117 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294031615683.
I0419 21:03:23.186780 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294031856503.
I0419 21:03:23.190702 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:23.194479 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402062s, prior_pose=(5.00301, -2.0081), yaw=-0.677708 deg
I0419 21:03:23.194586 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=253, threshold=230, above_threshold=34, candidates=34
I0419 21:03:23.194762 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.61471, -0.488539)
I0419 21:03:23.194901 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294031940016.
I0419 21:03:23.214803 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294032142784.
I0419 21:03:23.222716 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294032220603.
I0419 21:03:23.248805 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:03:23.303478 1232263 pose_graph_2d.cc:160] Inserted submap (1, 50).
I0419 21:03:23.304698 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294032460151.
I0419 21:03:23.305562 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:23.305639 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:23.305744 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294032538596.
I0419 21:03:23.306787 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:23.306905 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294032733842.
I0419 21:03:23.308499 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:23.308579 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:23.308640 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00739897 range=0.9783 variance=0.00064657 t_weight=4639.87 r_weight=0 yaml=(6.015, -1.32) prior=(5.03743, -2.00873, -0.521611deg) obs_actual=(0.977507, 0.709214) obs_expected=(0.971262, 0.697601) delta=(0.00624475, 0.0116134) |delta|=0.0131859m
I0419 21:03:23.308699 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294032818328.
I0419 21:03:23.309784 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.545473, -0.68981), points=11, range=0.881727, residual=0.0109807, extent=0.0331865
I0419 21:03:23.309860 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.545473, -0.68981), tracking=(-0.843973, 0.68981), map_predicted=(4.19977, -1.31127), range=0.881727, pts=11
I0419 21:03:23.309890 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0175583m maha_sq=0.0133663 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.19977, -1.31127) lm_pos=(4.215, -1.32) delta=(-0.0152314, 0.00873485) -> 1 candidate(s)
I0419 21:03:23.309952 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294033022300.
I0419 21:03:23.311077 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294033098924.
I0419 21:03:23.331377 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:23.331543 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294033307172.
I0419 21:03:23.342852 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.57291, -0.498451)
I0419 21:03:23.343627 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294033423051.
I0419 21:03:23.362540 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294033615353.
I0419 21:03:23.425922 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.06068, -2.00565), yaw=-0.389957 deg backend=(4.95207, -2.00825)
I0419 21:03:23.427018 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294033702864.
I0419 21:03:23.428143 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294033905137.
I0419 21:03:23.429164 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294033978729.
I0419 21:03:23.430932 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:23.431051 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294034187068.
I0419 21:03:23.431984 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294034272966.
I0419 21:03:23.450624 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294034500569.
I0419 21:03:23.458637 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:23.458802 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:23.458832 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294034579746.
I0419 21:03:23.478276 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.600221, -0.694421)
I0419 21:03:23.478494 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294034777578.
I0419 21:03:23.489279 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0681277s, prior_pose=(5.09298, -2.00695), yaw=-0.254477 deg
I0419 21:03:23.489494 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:03:23.489691 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.606903, 0.696048), points=10, range=0.9283, residual=0.0148802, extent=0.0395062
I0419 21:03:23.489723 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.606903, 0.696048), tracking=(0.905403, 0.696048), map_predicted=(6.00146, -1.31494), range=0.9283, pts=10
I0419 21:03:23.489750 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0144533m maha_sq=0.00901667 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00146, -1.31494) lm_pos=(6.015, -1.32) delta=(-0.0135368, 0.0050649) -> 1 candidate(s)
I0419 21:03:23.489818 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0366887 range=0.601783 variance=0.000627194 t_weight=4783.21 r_weight=0 yaml=(5.115, -2.52) prior=(5.09298, -2.00695, -0.254477deg) obs_actual=(-0.0028129, -0.523589) obs_expected=(0.0243009, -0.512942) delta=(-0.0271138, -0.0106467) |delta|=0.0291292m
I0419 21:03:23.489921 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294034868345.
I0419 21:03:23.533934 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294035096493.
I0419 21:03:23.534896 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294035139309.
I0419 21:03:23.538456 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294035379157.
I0419 21:03:23.547467 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:23.547998 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:23.548130 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294035468464.
I0419 21:03:23.570501 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:23.570694 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294035699386.
I0419 21:03:23.573758 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:23.573864 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:23.573946 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294035733405.
I0419 21:03:23.598402 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=33, centroid=(-0.28368, 0.521862)
I0419 21:03:23.598603 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.424259 deg, rms_residual=0.0172325m, sigma_yaw=0.0224606 rad, N=2
I0419 21:03:23.598654 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.13806, -2.01162, -0.424259deg) inliers=2 rms=0.0172325m
I0419 21:03:23.598692 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294035977276.
I0419 21:03:23.609993 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294036093615.
I0419 21:03:23.629232 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:23.629405 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294036285771.
I0419 21:03:23.668821 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294036337089.
I0419 21:03:23.670099 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00420013 range=0.579136 variance=0.000591675 t_weight=5070.35 r_weight=0 yaml=(5.115, -2.52) prior=(5.14869, -2.00432, -0.0652018deg) obs_actual=(-0.0419302, -0.520092) obs_expected=(-0.0331062, -0.515719) delta=(-0.00882403, -0.00437316) |delta|=0.00984825m
I0419 21:03:23.670212 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294036534886.
I0419 21:03:23.670953 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.558719, 0.689883), points=11, range=0.891727, residual=0.0140693, extent=0.0390174
I0419 21:03:23.671012 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.558719, 0.689883), tracking=(0.857219, 0.689883), map_predicted=(6.0067, -1.31541), range=0.891727, pts=11
I0419 21:03:23.671038 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00948673m maha_sq=0.00388881 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.0067, -1.31541) lm_pos=(6.015, -1.32) delta=(-0.00830381, 0.00458746) -> 1 candidate(s)
I0419 21:03:23.671130 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294036616566.
I0419 21:03:23.686175 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294036854870.
I0419 21:03:23.690464 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294036898496.
I0419 21:03:23.714509 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:23.714645 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294037138111.
I0419 21:03:23.722098 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294037215429.
I0419 21:03:23.742427 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.677928, -0.701002)
I0419 21:03:23.742620 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294037418714.
I0419 21:03:23.749686 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:23.749791 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:23.749816 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294037491626.
I0419 21:03:23.833631 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294037740534.
I0419 21:03:23.834426 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602752s, prior_pose=(5.19022, -2.00647), yaw=0.0502977 deg
I0419 21:03:23.834497 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:03:23.834596 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294037818181.
I0419 21:03:23.835618 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294038012797.
I0419 21:03:23.837018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294038100168.
I0419 21:03:23.838261 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294038295676.
I0419 21:03:23.839031 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:23.839076 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:23.839126 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0016098 range=0.85175 variance=0.000587259 t_weight=5108.48 r_weight=0 yaml=(6.015, -1.32) prior=(5.20663, -2.00638, 0.145147deg) obs_actual=(0.804569, 0.681773) obs_expected=(0.810102, 0.684332) delta=(-0.00553303, -0.00255959) |delta|=0.00609639m
I0419 21:03:23.839164 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294038374623.
I0419 21:03:23.862825 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.707317, -0.705227), points=8, range=0.999, residual=0.010553, extent=0.03381
I0419 21:03:23.862972 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:23.862994 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.707317, -0.705227), tracking=(-1.00582, 0.705227), map_predicted=(4.20847, -1.30512), range=0.999, pts=8
I0419 21:03:23.863023 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0162519m maha_sq=0.0113394 (gate chi2=5.99) pose_sigma=(0.150769, 0.150769, rho=0) det_map=(4.20847, -1.30512) lm_pos=(4.215, -1.32) delta=(-0.00652775, 0.0148833) -> 1 candidate(s)
I0419 21:03:23.863123 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294038622792.
I0419 21:03:23.870438 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.499561, 0.681562)
I0419 21:03:23.870548 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:23.870572 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:23.870707 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294038699863.
I0419 21:03:23.891158 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294038898239.
I0419 21:03:23.982903 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294038979814.
I0419 21:03:23.987210 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:23.987347 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294039220564.
I0419 21:03:23.988224 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294039259894.
I0419 21:03:23.990314 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294039502289.
I0419 21:03:23.991218 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294039581324.
I0419 21:03:23.992282 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294039780677.
I0419 21:03:23.993789 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.37394, -0.536569)
I0419 21:03:23.993896 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294039907939.
I0419 21:03:24.006089 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:24.006198 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0077937 range=0.539042 variance=0.000576136 t_weight=5207.1 r_weight=0 yaml=(5.115, -2.52) prior=(5.25484, -2.00734, 0.585931deg) obs_actual=(-0.156303, -0.518534) obs_expected=(-0.145073, -0.511204) delta=(-0.0112298, -0.00733077) |delta|=0.0134108m
I0419 21:03:24.006296 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294040056015.
I0419 21:03:24.013990 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.457835, 0.678708), points=13, range=0.820462, residual=0.0109818, extent=0.0319556
I0419 21:03:24.014081 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.457835, 0.678708), tracking=(0.756335, 0.678708), map_predicted=(6.00419, -1.32093), range=0.820462, pts=13
I0419 21:03:24.014111 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0108482m maha_sq=0.00510278 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00419, -1.32093) lm_pos=(6.015, -1.32) delta=(-0.010808, -0.000932145) -> 1 candidate(s)
I0419 21:03:24.014231 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294040134967.
I0419 21:03:24.057588 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294040377024.
I0419 21:03:24.058360 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:24.058435 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:24.058459 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294040454647.
I0419 21:03:24.066121 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.977853 deg, rms_residual=0.00931422m, sigma_yaw=0.0122666 rad, N=2
I0419 21:03:24.066248 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.28472, -2.00539, 0.977853deg) inliers=2 rms=0.00931422m
I0419 21:03:24.066299 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294040655327.
I0419 21:03:24.073668 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0355299s, prior_pose=(5.28897, -2.00456), yaw=0.634627 deg
I0419 21:03:24.073776 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:03:24.073972 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294040732323.
I0419 21:03:24.094617 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.775104, -0.710196)
I0419 21:03:24.094821 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294040939859.
I0419 21:03:24.102950 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294041023479.
I0419 21:03:24.126418 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294041258263.
I0419 21:03:24.133836 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:24.133906 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:24.134028 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294041334049.
I0419 21:03:24.153872 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:24.154054 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294041532967.
I0419 21:03:24.213829 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:24.213968 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:24.214089 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294041620379.
I0419 21:03:24.215565 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0267041 range=0.525852 variance=0.000590701 t_weight=5078.72 r_weight=0 yaml=(5.115, -2.52) prior=(5.29386, -2.00372, 0.857987deg) obs_actual=(-0.211102, -0.517399) obs_expected=(-0.186572, -0.51354) delta=(-0.0245301, -0.00385903) |delta|=0.0248318m
I0419 21:03:24.215721 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294041821108.
I0419 21:03:24.216699 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.407893, 0.672123), points=14, range=0.787357, residual=0.0106889, extent=0.0318504
I0419 21:03:24.216763 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.407893, 0.672123), tracking=(0.706393, 0.672123), map_predicted=(5.99011, -1.3211), range=0.787357, pts=14
I0419 21:03:24.216794 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.024913m maha_sq=0.0269211 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.99011, -1.3211) lm_pos=(6.015, -1.32) delta=(-0.0248888, -0.00109784) -> 1 candidate(s)
I0419 21:03:24.216861 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294041939832.
I0419 21:03:24.219151 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.808131, -0.716995)
I0419 21:03:24.219300 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:24.219421 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294042135521.
I0419 21:03:24.222021 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294042214530.
I0419 21:03:24.243813 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294042413429.
I0419 21:03:24.247138 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.33075, -2.00538), yaw=1.02001 deg backend=(5.20149, -2.00565)
I0419 21:03:24.250514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294042495637.
I0419 21:03:24.270828 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294042698658.
I0419 21:03:24.282362 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294042812552.
I0419 21:03:24.360049 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:24.360250 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043020417.
I0419 21:03:24.361477 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043101363.
I0419 21:03:24.362886 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=30, centroid=(-0.043269, 0.520304)
I0419 21:03:24.363111 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043293159.
I0419 21:03:24.364957 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:24.365099 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:24.365132 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043418847.
I0419 21:03:24.366559 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0182275 range=0.519963 variance=0.000592528 t_weight=5063.05 r_weight=0 yaml=(5.115, -2.52) prior=(5.35329, -2.00288, 1.05247deg) obs_actual=(-0.267558, -0.517988) obs_expected=(-0.247747, -0.512654) delta=(-0.0198106, -0.00533468) |delta|=0.0205163m
I0419 21:03:24.366683 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043622644.
I0419 21:03:24.367514 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640117s, prior_pose=(5.35329, -2.00288), yaw=1.05247 deg
I0419 21:03:24.367570 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:24.367657 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25648, -0.55723), points=3, range=1.36833, residual=0.0116938, extent=0.0233933
I0419 21:03:24.367690 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.25648, -0.55723), tracking=(1.55498, -0.55723), map_predicted=(6.91824, -2.53146), range=1.36833, pts=3
I0419 21:03:24.367713 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0119058m maha_sq=0.00613406 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.91824, -2.53146) lm_pos=(6.915, -2.52) delta=(0.00324141, -0.0114561) -> 1 candidate(s)
I0419 21:03:24.367794 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043660534.
I0419 21:03:24.391022 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043898190.
I0419 21:03:24.399080 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294043974419.
I0419 21:03:24.418830 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294044175931.
I0419 21:03:24.521310 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:24.521416 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:24.521517 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294044263096.
I0419 21:03:24.522644 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:24.522727 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.77078 deg, rms_residual=0.00873353m, sigma_yaw=0.0115107 rad, N=2
I0419 21:03:24.522773 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.39958, -2.00012, 1.77078deg) inliers=2 rms=0.00873353m
I0419 21:03:24.522800 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294044500939.
I0419 21:03:24.523536 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.22763, -0.561618)
I0419 21:03:24.523592 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:24.523614 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:24.523663 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294044572276.
I0419 21:03:24.525401 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294044774576.
I0419 21:03:24.526190 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294044853657.
I0419 21:03:24.527292 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:24.527375 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294045099302.
I0419 21:03:24.528620 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.318289, 0.664749), points=16, range=0.738312, residual=0.0115458, extent=0.0375159
I0419 21:03:24.528734 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.318289, 0.664749), tracking=(0.616789, 0.664749), map_predicted=(6.01771, -1.31961), range=0.738312, pts=16
I0419 21:03:24.528759 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00274194m maha_sq=0.000321222 (gate chi2=5.99) pose_sigma=(0.151107, 0.151107, rho=0) det_map=(6.01771, -1.31961) lm_pos=(6.015, -1.32) delta=(0.0027134, 0.000394575) -> 1 candidate(s)
I0419 21:03:24.528803 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.036545 range=1.33233 variance=0.000627119 t_weight=4783.78 r_weight=0 yaml=(6.915, -2.52) prior=(5.41739, -1.99926, 1.40372deg) obs_actual=(1.51287, -0.564117) obs_expected=(1.4844, -0.557266) delta=(0.028468, -0.00685049) |delta|=0.0292807m
I0419 21:03:24.528848 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294045133177.
I0419 21:03:24.538741 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294045377792.
I0419 21:03:24.546471 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294045454359.
I0419 21:03:24.624254 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294045658279.
I0419 21:03:24.625422 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.09572, 0.607534)
I0419 21:03:24.625620 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294045775272.
I0419 21:03:24.625682 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:24.626971 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:24.627076 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294045982653.
I0419 21:03:24.628649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046015560.
I0419 21:03:24.630261 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046261428.
I0419 21:03:24.631240 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:24.631336 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:24.631363 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046307840.
I0419 21:03:24.655623 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046534269.
I0419 21:03:24.662379 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601428s, prior_pose=(5.441, -1.98717), yaw=1.67722 deg
I0419 21:03:24.662563 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:03:24.662871 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0155857 range=0.719625 variance=0.000563349 t_weight=5325.29 r_weight=0 yaml=(6.015, -1.32) prior=(5.441, -1.98717, 1.67722deg) obs_actual=(0.578225, 0.661604) obs_expected=(0.593284, 0.650085) delta=(-0.0150592, 0.0115186) |delta|=0.0189594m
I0419 21:03:24.663017 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046616988.
I0419 21:03:24.683024 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.926274, -0.73022), points=5, range=1.1748, residual=0.0116957, extent=0.0275803
I0419 21:03:24.683228 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.926274, -0.73022), tracking=(-1.22477, 0.73022), map_predicted=(4.19537, -1.29311), range=1.1748, pts=5
I0419 21:03:24.683288 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0332881m maha_sq=0.0479773 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.19537, -1.29311) lm_pos=(4.215, -1.32) delta=(-0.0196251, 0.0268878) -> 1 candidate(s)
I0419 21:03:24.683470 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046820088.
I0419 21:03:24.752158 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.15483, -0.575744)
I0419 21:03:24.752373 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294046898925.
I0419 21:03:24.753559 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294047134509.
I0419 21:03:24.754317 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:24.754374 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:24.754449 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294047214484.
I0419 21:03:24.756217 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:24.756310 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294047413791.
I0419 21:03:24.757063 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:24.757141 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:24.757198 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294047493868.
I0419 21:03:24.770139 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294047694548.
I0419 21:03:24.778762 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294047777762.
I0419 21:03:24.802874 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:24.803062 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294048020276.
I0419 21:03:24.811334 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294048100682.
I0419 21:03:24.895511 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294048302424.
I0419 21:03:24.896726 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.55347 deg, rms_residual=0.0129333m, sigma_yaw=0.016952 rad, N=2
I0419 21:03:24.896814 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.49789, -1.9822, 1.55347deg) inliers=2 rms=0.0129333m
I0419 21:03:24.896876 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294048374815.
I0419 21:03:24.898247 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(0.124798, 0.516046)
I0419 21:03:24.898406 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.01819 range=0.531071 variance=0.000621276 t_weight=4828.77 r_weight=0 yaml=(5.115, -2.52) prior=(5.49738, -1.98324, 1.99394deg) obs_actual=(-0.419931, -0.515663) obs_expected=(-0.400829, -0.523126) delta=(-0.0191018, 0.00746321) |delta|=0.020508m
I0419 21:03:24.898491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294048576409.
I0419 21:03:24.900529 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22489, 0.656124), points=18, range=0.694667, residual=0.011949, extent=0.0348978
I0419 21:03:24.900637 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.22489, 0.656124), tracking=(0.52339, 0.656124), map_predicted=(6.00795, -1.30797), range=0.694667, pts=18
I0419 21:03:24.900661 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.013939m maha_sq=0.00832754 (gate chi2=5.99) pose_sigma=(0.150837, 0.150837, rho=0) det_map=(6.00795, -1.30797) lm_pos=(6.015, -1.32) delta=(-0.00704807, 0.0120258) -> 1 candidate(s)
I0419 21:03:24.900767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294048654709.
I0419 21:03:24.902227 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:24.902343 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294048901208.
I0419 21:03:24.903514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294048973255.
I0419 21:03:24.917806 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294049172483.
I0419 21:03:24.927065 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:24.927186 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:24.927213 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294049266335.
I0419 21:03:24.945794 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294049452695.
I0419 21:03:24.987407 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0366145s, prior_pose=(5.52049, -1.98066), yaw=2.21992 deg
I0419 21:03:24.987542 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:24.987723 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294049538628.
I0419 21:03:24.988756 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294049736592.
I0419 21:03:24.989657 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294049855688.
I0419 21:03:25.006537 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294050057326.
I0419 21:03:25.013978 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:25.014106 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:25.014235 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294050135063.
I0419 21:03:25.022406 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:25.038663 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:25.038875 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294050378801.
I0419 21:03:25.045969 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.0516, -0.59293)
I0419 21:03:25.046049 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:25.046074 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:25.046172 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294050456430.
I0419 21:03:25.066373 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0469317 range=0.549077 variance=0.000612084 t_weight=4901.29 r_weight=0 yaml=(5.115, -2.52) prior=(5.5492, -1.9803, 2.30582deg) obs_actual=(-0.487882, -0.515464) obs_expected=(-0.455561, -0.52179) delta=(-0.0323214, 0.00632602) |delta|=0.0329346m
I0419 21:03:25.066530 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294050657590.
I0419 21:03:25.074221 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04249, -0.591786), points=5, range=1.1932, residual=0.0152567, extent=0.0385662
I0419 21:03:25.074311 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04249, -0.591786), tracking=(1.34099, -0.591786), map_predicted=(6.91291, -2.51766), range=1.1932, pts=5
I0419 21:03:25.074340 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00314034m maha_sq=0.000425197 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.91291, -2.51766) lm_pos=(6.915, -2.52) delta=(-0.00209261, 0.00234152) -> 1 candidate(s)
I0419 21:03:25.074433 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294050737551.
I0419 21:03:25.135823 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:25.135987 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294050936917.
I0419 21:03:25.136907 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294051021248.
I0419 21:03:25.138095 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294051215023.
I0419 21:03:25.139153 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.56899, -1.97539), yaw=2.3301 deg backend=(5.55933, -1.99354)
I0419 21:03:25.139796 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294051292976.
I0419 21:03:25.154439 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294051535331.
I0419 21:03:25.162586 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294051614834.
I0419 21:03:25.182216 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:25.182394 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294051815572.
I0419 21:03:25.190668 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:03:25.190975 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294051898026.
I0419 21:03:25.215377 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294052141555.
I0419 21:03:25.292456 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.996398, -0.594723)
I0419 21:03:25.292690 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:25.292759 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:25.292785 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294052213297.
I0419 21:03:25.294114 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294052414008.
I0419 21:03:25.295037 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677334s, prior_pose=(5.59698, -1.97055), yaw=2.38822 deg
I0419 21:03:25.295120 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:25.295305 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294052492906.
I0419 21:03:25.297407 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294052738323.
I0419 21:03:25.298384 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.1024, 0.646489), points=18, range=0.655778, residual=0.0106313, extent=0.0328321
I0419 21:03:25.298446 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.1024, 0.646489), tracking=(0.4009, 0.646489), map_predicted=(5.98462, -1.30694), range=0.655778, pts=18
I0419 21:03:25.298473 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0330693m maha_sq=0.0474462 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98462, -1.30694) lm_pos=(6.015, -1.32) delta=(-0.0303801, 0.0130623) -> 1 candidate(s)
I0419 21:03:25.298525 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00398885 range=1.1435 variance=0.000595195 t_weight=5040.37 r_weight=0 yaml=(6.915, -2.52) prior=(5.61126, -1.96971, 2.41deg) obs_actual=(1.28023, -0.595057) obs_expected=(1.27945, -0.604623) delta=(0.000782098, 0.00956617) |delta|=0.00959809m
I0419 21:03:25.298575 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294052774536.
I0419 21:03:25.306197 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294053034910.
I0419 21:03:25.312083 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:25.312285 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:25.312523 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294053092496.
I0419 21:03:25.330354 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:25.330648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294053292358.
I0419 21:03:25.338048 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:25.338184 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:25.338714 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294053373117.
I0419 21:03:25.435261 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294053579499.
I0419 21:03:25.436189 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.943869, -0.593561)
I0419 21:03:25.436326 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294053660710.
I0419 21:03:25.437366 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:25.437464 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294053897487.
I0419 21:03:25.440037 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294053944251.
I0419 21:03:25.442198 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294054175347.
I0419 21:03:25.443590 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294054261077.
I0419 21:03:25.446794 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294054455057.
I0419 21:03:25.454366 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294054536198.
I0419 21:03:25.478358 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.14067, -0.731364)
I0419 21:03:25.478503 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:25.478551 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0695829 range=0.603714 variance=0.000585008 t_weight=5128.14 r_weight=0 yaml=(5.115, -2.52) prior=(5.66121, -1.96816, 2.46256deg) obs_actual=(-0.607836, -0.51643) obs_expected=(-0.569421, -0.527859) delta=(-0.0384147, 0.0114294) |delta|=0.040079m
I0419 21:03:25.478636 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294054778494.
I0419 21:03:25.526262 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.919454, -0.600888), points=6, range=1.09583, residual=0.00967065, extent=0.0271505
I0419 21:03:25.526367 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.919454, -0.600888), tracking=(1.21795, -0.600888), map_predicted=(6.92241, -2.51343), range=1.09583, pts=6
I0419 21:03:25.526396 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00990615m maha_sq=0.00418268 (gate chi2=5.99) pose_sigma=(0.15137, 0.15137, rho=0) det_map=(6.92241, -2.51343) lm_pos=(6.915, -2.52) delta=(0.00741162, 0.00657264) -> 1 candidate(s)
I0419 21:03:25.526485 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294054868010.
I0419 21:03:25.527580 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294055052175.
I0419 21:03:25.528391 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:25.528455 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.87859 deg, rms_residual=0.00979768m, sigma_yaw=0.0128951 rad, N=2
I0419 21:03:25.528499 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.69818, -1.96664, 1.87859deg) inliers=2 rms=0.00979768m
I0419 21:03:25.528559 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:25.528597 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294055132827.
I0419 21:03:25.534268 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294055337108.
I0419 21:03:25.541724 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0545774s, prior_pose=(5.6937, -1.9659), yaw=2.51265 deg
I0419 21:03:25.541821 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:25.542042 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294055413784.
I0419 21:03:25.566437 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.07518, -0.658873)
I0419 21:03:25.566640 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294055658605.
I0419 21:03:25.575470 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294055748797.
I0419 21:03:25.594579 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294055940052.
I0419 21:03:25.602500 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:25.602584 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:25.602715 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294056020464.
I0419 21:03:25.673834 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:25.673995 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294056220350.
I0419 21:03:25.674837 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:25.674917 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:25.675014 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294056301064.
I0419 21:03:25.676126 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361936, 0.515162), points=22, range=0.6315, residual=0.0143784, extent=0.0496655
I0419 21:03:25.676204 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.361936, 0.515162), tracking=(-0.660436, -0.515162), map_predicted=(5.08903, -2.50913), range=0.6315, pts=22
I0419 21:03:25.676231 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0281508m maha_sq=0.034244 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08903, -2.50913) lm_pos=(5.115, -2.52) delta=(-0.0259669, 0.0108713) -> 1 candidate(s)
I0419 21:03:25.676283 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.12719 range=1.43167 variance=0.000548516 t_weight=5469.3 r_weight=0 yaml=(4.215, -1.32) prior=(5.72682, -1.96618, 2.45263deg) obs_actual=(-1.52746, 0.740869) obs_expected=(-1.48278, 0.71028) delta=(-0.0446749, 0.0305894) |delta|=0.0541438m
I0419 21:03:25.676343 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294056541268.
I0419 21:03:25.677966 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294056618211.
I0419 21:03:25.682511 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.373816, 0.515918)
I0419 21:03:25.682627 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:25.682725 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294056820870.
I0419 21:03:25.690754 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294056901409.
I0419 21:03:25.714434 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294057138142.
I0419 21:03:25.718986 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294057181717.
I0419 21:03:25.742677 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294057416588.
I0419 21:03:25.830855 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294057496086.
I0419 21:03:25.832074 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:25.832201 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294057699586.
I0419 21:03:25.833328 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294057779542.
I0419 21:03:25.835575 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294057981422.
I0419 21:03:25.836432 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.820132, -0.605582)
I0419 21:03:25.836505 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0518088, 0.646055), points=19, range=0.648842, residual=0.0112603, extent=0.0349155
I0419 21:03:25.836531 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0518088, 0.646055), tracking=(0.246691, 0.646055), map_predicted=(5.98872, -1.31219), range=0.648842, pts=19
I0419 21:03:25.836552 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0274179m maha_sq=0.032596 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.98872, -1.31219) lm_pos=(6.015, -1.32) delta=(-0.0262817, 0.00781109) -> 1 candidate(s)
I0419 21:03:25.836596 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:25.836612 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0024745 range=1.0195 variance=0.000563777 t_weight=5321.26 r_weight=0 yaml=(6.915, -2.52) prior=(5.77279, -1.96917, 2.70505deg) obs_actual=(1.12229, -0.605853) obs_expected=(1.11494, -0.604125) delta=(0.00735433, -0.00172776) |delta|=0.00755456m
I0419 21:03:25.836664 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:25.836685 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058058261.
I0419 21:03:25.837956 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058293606.
I0419 21:03:25.839485 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0399288s, prior_pose=(5.79494, -1.97304), yaw=2.74975 deg
I0419 21:03:25.839555 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:25.839733 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058380710.
I0419 21:03:25.858898 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058578134.
I0419 21:03:25.866961 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.25126 deg, rms_residual=0.0111591m, sigma_yaw=0.0146607 rad, N=2
I0419 21:03:25.867223 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.80049, -1.96629, 2.25126deg) inliers=2 rms=0.0111591m
I0419 21:03:25.867301 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058658167.
I0419 21:03:25.947906 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058861317.
I0419 21:03:25.948729 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:25.948787 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:25.948889 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294058997061.
I0419 21:03:25.949965 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:25.950073 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294059179668.
I0419 21:03:25.951480 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.71632, 0.560417)
I0419 21:03:25.951551 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:25.951574 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:25.951653 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294059257336.
I0419 21:03:25.952737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294059457525.
I0419 21:03:25.954339 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.02996 range=0.650526 variance=0.000568111 t_weight=5280.66 r_weight=0 yaml=(6.015, -1.32) prior=(5.8155, -1.96584, 2.68646deg) obs_actual=(0.204274, 0.643015) obs_expected=(0.229549, 0.635782) delta=(-0.0252747, 0.00723269) |delta|=0.0262892m
I0419 21:03:25.954449 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294059539557.
I0419 21:03:25.978108 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31489, -0.751518), points=3, range=1.51767, residual=0.00721989, extent=0.0148994
I0419 21:03:25.978260 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.31489, -0.751518), tracking=(-1.61339, 0.751518), map_predicted=(4.17999, -1.28979), range=1.51767, pts=3
I0419 21:03:25.978303 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0462443m maha_sq=0.0917798 (gate chi2=5.99) pose_sigma=(0.150884, 0.150884, rho=0) det_map=(4.17999, -1.28979) lm_pos=(4.215, -1.32) delta=(-0.0350142, 0.0302083) -> 1 candidate(s)
I0419 21:03:25.978335 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:25.978495 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294059774512.
I0419 21:03:25.986661 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294059853389.
I0419 21:03:26.006832 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294060061254.
I0419 21:03:26.089643 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.83534, -1.96421), yaw=2.71286 deg backend=(5.80177, -1.97596)
I0419 21:03:26.090708 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294060139118.
I0419 21:03:26.090822 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:26.092720 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.992834, -0.554121)
I0419 21:03:26.092854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294060338025.
I0419 21:03:26.094271 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294060420788.
I0419 21:03:26.096300 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:26.096369 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294060653625.
I0419 21:03:26.097729 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294060732280.
I0419 21:03:26.099123 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294060939441.
I0419 21:03:26.102559 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:26.102648 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:26.102710 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294061020414.
I0419 21:03:26.122208 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294061216689.
I0419 21:03:26.130056 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640884s, prior_pose=(5.86557, -1.96332), yaw=2.72337 deg
I0419 21:03:26.130194 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:26.130529 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294061294509.
I0419 21:03:26.194583 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.05824, -0.582576)
I0419 21:03:26.194753 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.045406 range=0.734733 variance=0.000582841 t_weight=5147.21 r_weight=0 yaml=(5.115, -2.52) prior=(5.87023, -1.96091, 2.80747deg) obs_actual=(-0.814142, -0.52009) obs_expected=(-0.781712, -0.521423) delta=(-0.0324297, 0.00133316) |delta|=0.0324571m
I0419 21:03:26.194808 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294061539778.
I0419 21:03:26.195596 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.712014, -0.609838), points=10, range=0.9321, residual=0.016704, extent=0.0529101
I0419 21:03:26.195652 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.712014, -0.609838), tracking=(1.01051, -0.609838), map_predicted=(6.90941, -2.52053), range=0.9321, pts=10
I0419 21:03:26.195678 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00561854m maha_sq=0.00135918 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90941, -2.52053) lm_pos=(6.915, -2.52) delta=(-0.00559386, -0.000526004) -> 1 candidate(s)
I0419 21:03:26.195752 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294061573265.
I0419 21:03:26.196754 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294061816160.
I0419 21:03:26.198230 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:26.198347 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:26.198437 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294061867283.
I0419 21:03:26.210515 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:26.210817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294062099913.
I0419 21:03:26.217975 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:26.218068 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:26.218412 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294062174852.
I0419 21:03:26.242571 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.989783, -0.526279)
I0419 21:03:26.242746 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294062421304.
I0419 21:03:26.250317 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294062497918.
I0419 21:03:26.270252 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:26.270596 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294062697951.
I0419 21:03:26.322552 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294062779328.
I0419 21:03:26.323766 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294062983099.
I0419 21:03:26.324525 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00524714 range=0.677235 variance=0.000567099 t_weight=5290.08 r_weight=0 yaml=(6.015, -1.32) prior=(5.93755, -1.96147, 2.74637deg) obs_actual=(0.101955, 0.646151) obs_expected=(0.108098, 0.637024) delta=(-0.00614253, 0.00912719) |delta|=0.0110016m
I0419 21:03:26.324607 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294063059416.
I0419 21:03:26.330013 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.568436, 0.522307), points=15, range=0.772667, residual=0.0126205, extent=0.0395157
I0419 21:03:26.330088 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.568436, 0.522307), tracking=(-0.866936, -0.522307), map_predicted=(5.10361, -2.52442), range=0.772667, pts=15
I0419 21:03:26.330116 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0122201m maha_sq=0.00641937 (gate chi2=5.99) pose_sigma=(0.150543, 0.150543, rho=0) det_map=(5.10361, -2.52442) lm_pos=(5.115, -2.52) delta=(-0.0113918, -0.00442247) -> 1 candidate(s)
I0419 21:03:26.330179 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294063296263.
I0419 21:03:26.333969 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294063334855.
I0419 21:03:26.358547 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:26.358672 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294063580972.
I0419 21:03:26.365711 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.58883, 0.562596)
I0419 21:03:26.365857 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.17081 deg, rms_residual=0.0110415m, sigma_yaw=0.0145084 rad, N=2
I0419 21:03:26.365933 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.95277, -1.95996, 2.17081deg) inliers=2 rms=0.0110415m
I0419 21:03:26.365967 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294063653578.
I0419 21:03:26.385797 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294063851979.
I0419 21:03:26.394305 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:03:26.394428 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:26.394452 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294063937059.
I0419 21:03:26.442601 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294064173517.
I0419 21:03:26.443303 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565358s, prior_pose=(5.96357, -1.96038), yaw=2.63988 deg
I0419 21:03:26.443382 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:26.443534 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294064218936.
I0419 21:03:26.446079 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294064455794.
I0419 21:03:26.453711 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294064531637.
I0419 21:03:26.474409 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0126887 range=0.806917 variance=0.000572958 t_weight=5235.99 r_weight=0 yaml=(5.115, -2.52) prior=(5.98124, -1.95893, 2.54671deg) obs_actual=(-0.906664, -0.527062) obs_expected=(-0.890311, -0.522029) delta=(-0.0163534, -0.00503311) |delta|=0.0171104m
I0419 21:03:26.474530 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294064738778.
I0419 21:03:26.481941 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:26.482035 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.254978, 0.644388)
I0419 21:03:26.482056 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:26.482084 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.620704, -0.604563), points=12, range=0.863083, residual=0.0147376, extent=0.0453278
I0419 21:03:26.482111 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.620704, -0.604563), tracking=(0.919204, -0.604563), map_predicted=(6.92639, -2.52205), range=0.863083, pts=12
I0419 21:03:26.482139 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0115772m maha_sq=0.00578696 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92639, -2.52205) lm_pos=(6.915, -2.52) delta=(0.0113944, -0.00204922) -> 1 candidate(s)
I0419 21:03:26.482240 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294064814282.
I0419 21:03:26.506857 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:26.507004 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294065063579.
I0419 21:03:26.514395 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:26.514474 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:26.514565 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294065139544.
I0419 21:03:26.534811 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294065337210.
I0419 21:03:26.610890 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294065419302.
I0419 21:03:26.612071 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:26.612186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294065630879.
I0419 21:03:26.612972 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 13 -> 12 (threshold=0.03, iters=3)
I0419 21:03:26.613104 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294065701145.
I0419 21:03:26.614867 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.50011, -0.723569)
I0419 21:03:26.614985 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294065934893.
I0419 21:03:26.615793 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.287614, 0.643442), points=15, range=0.7074, residual=0.0114863, extent=0.0329039
I0419 21:03:26.615844 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.287614, 0.643442), tracking=(0.0108856, 0.643442), map_predicted=(6.00026, -1.3138), range=0.7074, pts=15
I0419 21:03:26.615870 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0159924m maha_sq=0.0110863 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00026, -1.3138) lm_pos=(6.015, -1.32) delta=(-0.0147433, 0.00619591) -> 1 candidate(s)
I0419 21:03:26.615916 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00112498 range=0.835923 variance=0.000695544 t_weight=4313.17 r_weight=0 yaml=(6.915, -2.52) prior=(6.01463, -1.95718, 2.2487deg) obs_actual=(0.873104, -0.600147) obs_expected=(0.877597, -0.597717) delta=(-0.00449294, -0.00243063) |delta|=0.00510827m
I0419 21:03:26.615973 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294065982067.
I0419 21:03:26.622568 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294066218679.
I0419 21:03:26.631283 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294066300562.
I0419 21:03:26.650797 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:26.651031 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294066498660.
I0419 21:03:26.663043 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294066618216.
I0419 21:03:26.761857 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.668667, 0.534366)
I0419 21:03:26.762015 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.61495 deg, rms_residual=0.00718621m, sigma_yaw=0.00949068 rad, N=2
I0419 21:03:26.762058 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.05642, -1.94776, 2.61495deg) inliers=2 rms=0.00718621m
I0419 21:03:26.762130 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294066822426.
I0419 21:03:26.762986 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:26.763073 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:26.763098 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294066894290.
I0419 21:03:26.764163 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294067099216.
I0419 21:03:26.765583 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0356782s, prior_pose=(6.05764, -1.9509), yaw=1.95356 deg
I0419 21:03:26.765651 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=44, candidates=44
I0419 21:03:26.765837 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294067179208.
I0419 21:03:26.766876 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0366609 range=0.872889 variance=0.000604865 t_weight=4959.78 r_weight=0 yaml=(5.115, -2.52) prior=(6.05764, -1.9509, 1.95356deg) obs_actual=(-0.9906, -0.536964) obs_expected=(-0.961497, -0.536635) delta=(-0.0291022, -0.000329107) |delta|=0.029104m
I0419 21:03:26.766976 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294067380643.
I0419 21:03:26.767760 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.325349, 0.567331)
I0419 21:03:26.767807 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.534309, -0.593287), points=14, range=0.8035, residual=0.0170927, extent=0.0542265
I0419 21:03:26.767833 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.534309, -0.593287), tracking=(0.832809, -0.593287), map_predicted=(6.91019, -2.51545), range=0.8035, pts=14
I0419 21:03:26.767853 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00661617m maha_sq=0.00188409 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.91019, -2.51545) lm_pos=(6.915, -2.52) delta=(-0.00480541, 0.00454772) -> 1 candidate(s)
I0419 21:03:26.767920 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294067455984.
I0419 21:03:26.770964 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294067700558.
I0419 21:03:26.785336 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:03:26.785452 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:03:26.785691 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294067781109.
I0419 21:03:26.798511 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:26.798866 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294067975155.
I0419 21:03:26.865901 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:26.866070 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:26.866206 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294068059267.
I0419 21:03:26.867601 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294068300909.
I0419 21:03:26.868373 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.44946, 0.595444)
I0419 21:03:26.868525 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294068335887.
I0419 21:03:26.870854 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:26.870959 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.037068 range=0.903125 variance=0.000620427 t_weight=4835.38 r_weight=0 yaml=(5.115, -2.52) prior=(6.08327, -1.95064, 1.65299deg) obs_actual=(-1.01332, -0.545156) obs_expected=(-0.984287, -0.541195) delta=(-0.0290382, -0.00396033) |delta|=0.0293071m
I0419 21:03:26.871037 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294068575872.
I0419 21:03:26.871798 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.50434, -0.590434), points=14, range=0.778071, residual=0.0123547, extent=0.0413731
I0419 21:03:26.871855 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.50434, -0.590434), tracking=(0.80284, -0.590434), map_predicted=(6.9028, -2.51767), range=0.778071, pts=14
I0419 21:03:26.871886 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0124177m maha_sq=0.00667738 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.9028, -2.51767) lm_pos=(6.915, -2.52) delta=(-0.0121966, 0.00233281) -> 1 candidate(s)
I0419 21:03:26.871956 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294068623022.
I0419 21:03:26.887073 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294068861218.
I0419 21:03:26.891745 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.10371, -1.94817), yaw=1.48738 deg backend=(6.06928, -1.95635)
I0419 21:03:26.895484 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294068942261.
I0419 21:03:26.918838 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294069177681.
I0419 21:03:26.923331 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294069223208.
I0419 21:03:27.015369 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:27.015508 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294069454025.
I0419 21:03:27.016233 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.48319, -0.586028)
I0419 21:03:27.016363 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294069533288.
I0419 21:03:27.017421 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294069738016.
I0419 21:03:27.018877 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:27.018950 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:27.018970 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294069817137.
I0419 21:03:27.019979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070021107.
I0419 21:03:27.020730 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.064517s, prior_pose=(6.13338, -1.94292), yaw=1.13477 deg
I0419 21:03:27.020778 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 21:03:27.020870 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.12428 deg, rms_residual=0.00987139m, sigma_yaw=0.0129909 rad, N=2
I0419 21:03:27.020907 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.13713, -1.96025, 1.12428deg) inliers=2 rms=0.00987139m
I0419 21:03:27.020932 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070099195.
I0419 21:03:27.034171 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.764056, 0.558494), points=8, range=0.948, residual=0.00911109, extent=0.0273077
I0419 21:03:27.034307 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.764056, 0.558494), tracking=(-1.06256, -0.558494), map_predicted=(5.08951, -2.52511), range=0.948, pts=8
I0419 21:03:27.034365 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0259945m maha_sq=0.0290548 (gate chi2=5.99) pose_sigma=(0.150752, 0.150752, rho=0) det_map=(5.08951, -2.52511) lm_pos=(5.115, -2.52) delta=(-0.025488, -0.00510685) -> 1 candidate(s)
I0419 21:03:27.034484 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00146797 range=0.651722 variance=0.000568936 t_weight=5273 r_weight=0 yaml=(6.015, -1.32) prior=(6.14206, -1.94798, 1.00953deg) obs_actual=(-0.120711, 0.626684) obs_expected=(-0.115979, 0.63012) delta=(-0.00473195, -0.00343585) |delta|=0.00584777m
I0419 21:03:27.034614 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070333228.
I0419 21:03:27.043087 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070422142.
I0419 21:03:27.062897 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070617251.
I0419 21:03:27.151559 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:27.151661 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:27.151762 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070693079.
I0419 21:03:27.152863 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.156016, -0.625653)
I0419 21:03:27.152944 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:27.153038 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294070943917.
I0419 21:03:27.153913 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:27.154006 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:27.154074 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071024524.
I0419 21:03:27.155820 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071214691.
I0419 21:03:27.156656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071299781.
I0419 21:03:27.157744 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:27.157828 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071502246.
I0419 21:03:27.160745 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071598988.
I0419 21:03:27.182018 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.808192, 0.568472), points=9, range=0.986, residual=0.0123924, extent=0.0365621
I0419 21:03:27.182204 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.808192, 0.568472), tracking=(-1.10669, -0.568472), map_predicted=(5.08295, -2.52423), range=0.986, pts=9
I0419 21:03:27.182308 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0323296m maha_sq=0.0452412 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08295, -2.52423) lm_pos=(5.115, -2.52) delta=(-0.0320518, -0.00422893) -> 1 candidate(s)
I0419 21:03:27.182478 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00322096 range=0.639632 variance=0.000557993 t_weight=5376.41 r_weight=0 yaml=(6.015, -1.32) prior=(6.18395, -1.94482, 0.567672deg) obs_actual=(-0.17128, 0.625204) obs_expected=(-0.162755, 0.626464) delta=(-0.00852533, -0.00126001) |delta|=0.00861794m
I0419 21:03:27.182665 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071811753.
I0419 21:03:27.186838 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294071859733.
I0419 21:03:27.269510 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072099638.
I0419 21:03:27.270426 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.32646, 0.637415)
I0419 21:03:27.270578 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072181758.
I0419 21:03:27.271627 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:27.271734 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072382060.
I0419 21:03:27.273236 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072460096.
I0419 21:03:27.274420 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072661279.
I0419 21:03:27.278162 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:27.278311 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:27.278347 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072775040.
I0419 21:03:27.299045 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294072981083.
I0419 21:03:27.306385 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595088s, prior_pose=(6.22165, -1.94831), yaw=0.163774 deg
I0419 21:03:27.306569 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:27.306911 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.109607 deg, rms_residual=0.00857696m, sigma_yaw=0.0113066 rad, N=2
I0419 21:03:27.307034 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.22395, -1.9591, 0.109607deg) inliers=2 rms=0.00857696m
I0419 21:03:27.307181 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294073055184.
I0419 21:03:27.326532 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.850584, 0.577298), points=7, range=1.02414, residual=0.0112221, extent=0.0283547
I0419 21:03:27.326683 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.850584, 0.577298), tracking=(-1.14908, -0.577298), map_predicted=(5.07422, -2.52889), range=1.02414, pts=7
I0419 21:03:27.326737 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0417342m maha_sq=0.0754748 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07422, -2.52889) lm_pos=(5.115, -2.52) delta=(-0.0407757, -0.00889288) -> 1 candidate(s)
I0419 21:03:27.326865 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0116291 range=0.628895 variance=0.000547262 t_weight=5481.84 r_weight=0 yaml=(6.015, -1.32) prior=(6.22165, -1.94831, 0.163774deg) obs_actual=(-0.220144, 0.623042) obs_expected=(-0.204857, 0.628901) delta=(-0.0152872, -0.00585823) |delta|=0.0163713m
I0419 21:03:27.327008 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294073256874.
I0419 21:03:27.403297 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294073335338.
I0419 21:03:27.404974 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.851535, 0.57973)
I0419 21:03:27.405285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294073572232.
I0419 21:03:27.406129 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:27.406231 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:27.406358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294073654224.
I0419 21:03:27.408495 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:27.408648 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294073856083.
I0419 21:03:27.409567 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:27.409642 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:27.409732 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294073908236.
I0419 21:03:27.418494 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294074175990.
I0419 21:03:27.422309 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294074214579.
I0419 21:03:27.446517 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:27.446837 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294074455192.
I0419 21:03:27.454672 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294074535795.
I0419 21:03:27.527446 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0552943 range=1.06686 variance=0.000561937 t_weight=5338.68 r_weight=0 yaml=(5.115, -2.52) prior=(6.27685, -1.94807, -0.397165deg) obs_actual=(-1.19281, -0.588172) obs_expected=(-1.15786, -0.579974) delta=(-0.03495, -0.00819779) |delta|=0.0358985m
I0419 21:03:27.527518 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:27.527622 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294074739599.
I0419 21:03:27.528790 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.341559, -0.562772), points=17, range=0.658471, residual=0.0109337, extent=0.0356384
I0419 21:03:27.528852 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.341559, -0.562772), tracking=(0.640059, -0.562772), map_predicted=(6.913, -2.51526), range=0.658471, pts=17
I0419 21:03:27.528878 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00514584m maha_sq=0.00114852 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.913, -2.51526) lm_pos=(6.915, -2.52) delta=(-0.00200488, 0.00473921) -> 1 candidate(s)
I0419 21:03:27.528952 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294074822740.
I0419 21:03:27.530187 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.894533, 0.59202)
I0419 21:03:27.530311 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075061746.
I0419 21:03:27.531733 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075096598.
I0419 21:03:27.533731 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:27.534024 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075332270.
I0419 21:03:27.539036 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075378544.
I0419 21:03:27.562558 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075615529.
I0419 21:03:27.571306 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:27.571524 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:27.571579 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075702306.
I0419 21:03:27.590677 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075900136.
I0419 21:03:27.652191 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365729s, prior_pose=(6.31733, -1.94212), yaw=-0.815969 deg
I0419 21:03:27.652326 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:27.652521 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294075981258.
I0419 21:03:27.653784 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.331852 deg, rms_residual=0.00915934m, sigma_yaw=0.0120651 rad, N=2
I0419 21:03:27.653885 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0593137 range=1.1012 variance=0.000616815 t_weight=4863.7 r_weight=0 yaml=(5.115, -2.52) prior=(6.31733, -1.94212, -0.815969deg) obs_actual=(-1.2309, -0.592041) obs_expected=(-1.19398, -0.594944) delta=(-0.036915, 0.00290259) |delta|=0.037029m
I0419 21:03:27.653925 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.33695, -1.92817, 0.331852deg) inliers=2 rms=0.00915934m
I0419 21:03:27.654002 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294076214113.
I0419 21:03:27.654881 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.30132, -0.56461), points=21, range=0.64119, residual=0.0128143, extent=0.0430683
I0419 21:03:27.654963 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.30132, -0.56461), tracking=(0.59982, -0.56461), map_predicted=(6.90905, -2.51521), range=0.64119, pts=21
I0419 21:03:27.654990 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00763477m maha_sq=0.00252342 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90905, -2.51521) lm_pos=(6.915, -2.52) delta=(-0.00594867, 0.00478571) -> 1 candidate(s)
I0419 21:03:27.655064 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294076291874.
I0419 21:03:27.656875 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.937057, 0.593086)
I0419 21:03:27.657039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294076493612.
I0419 21:03:27.657953 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:27.658015 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:27.658103 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294076574678.
I0419 21:03:27.678107 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:27.678247 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294076777266.
I0419 21:03:27.688002 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:27.688241 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:27.688400 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294076871545.
I0419 21:03:27.710489 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294077098687.
I0419 21:03:27.718186 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294077175831.
I0419 21:03:27.776268 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:27.776415 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294077375268.
I0419 21:03:27.777392 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294077454907.
I0419 21:03:27.778836 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0480914 range=1.14029 variance=0.000585448 t_weight=5124.28 r_weight=0 yaml=(5.115, -2.52) prior=(6.35714, -1.943, -0.767399deg) obs_actual=(-1.26762, -0.593843) obs_expected=(-1.2343, -0.593583) delta=(-0.0333188, -0.000260241) |delta|=0.0333199m
I0419 21:03:27.778965 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294077655421.
I0419 21:03:27.780018 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.37289, -1.93856), yaw=-0.743445 deg backend=(6.32657, -1.95084)
I0419 21:03:27.780608 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.253326, -0.56666), points=22, range=0.621591, residual=0.0128621, extent=0.0460787
I0419 21:03:27.780686 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.253326, -0.56666), tracking=(0.551826, -0.56666), map_predicted=(6.91731, -2.51234), range=0.621591, pts=22
I0419 21:03:27.780718 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00800472m maha_sq=0.00273031 (gate chi2=5.99) pose_sigma=(0.151222, 0.151222, rho=0) det_map=(6.91731, -2.51234) lm_pos=(6.915, -2.52) delta=(0.0023122, 0.0076635) -> 1 candidate(s)
I0419 21:03:27.780767 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294077732958.
I0419 21:03:27.797766 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.982886, 0.592488)
I0419 21:03:27.797938 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294077972775.
I0419 21:03:27.805732 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078052404.
I0419 21:03:27.825699 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:27.825843 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078251857.
I0419 21:03:27.835328 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078344216.
I0419 21:03:27.854014 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078535007.
I0419 21:03:27.900560 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:27.900696 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:27.900722 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078611699.
I0419 21:03:27.902033 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078858233.
I0419 21:03:27.902668 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0687211s, prior_pose=(6.39418, -1.94115), yaw=-0.662946 deg
I0419 21:03:27.902746 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:27.902901 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294078939068.
I0419 21:03:27.914839 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294079139639.
I0419 21:03:27.922117 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1157, 0.65283), points=4, range=1.2885, residual=0.0103951, extent=0.0226355
I0419 21:03:27.922194 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1157, 0.65283), tracking=(1.4142, 0.65283), map_predicted=(7.82253, -1.30854), range=1.2885, pts=4
I0419 21:03:27.922219 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0137108m maha_sq=0.00814694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.82253, -1.30854) lm_pos=(7.815, -1.32) delta=(0.00753212, 0.0114566) -> 1 candidate(s)
I0419 21:03:27.922277 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.322208 deg, rms_residual=0.00996784m, sigma_yaw=0.0131161 rad, N=2
I0419 21:03:27.922335 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00495894 range=0.606476 variance=0.00056842 t_weight=5277.78 r_weight=0 yaml=(6.915, -2.52) prior=(6.40137, -1.94608, -0.617932deg) obs_actual=(0.509093, -0.568228) obs_expected=(0.519788, -0.568344) delta=(-0.0106949, 0.000115881) |delta|=0.0106956m
I0419 21:03:27.922386 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.40313, -1.95689, -0.322208deg) inliers=2 rms=0.00996784m
I0419 21:03:27.922420 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294079217049.
I0419 21:03:27.942436 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.02773, 0.589295)
I0419 21:03:27.942642 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294079418301.
I0419 21:03:27.950994 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:27.951124 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:27.951318 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294079498355.
I0419 21:03:27.974480 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:27.974735 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294079735805.
I0419 21:03:27.982271 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:27.982398 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:27.982571 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294079814317.
I0419 21:03:28.081679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080023037.
I0419 21:03:28.082756 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080096432.
I0419 21:03:28.083954 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:28.084106 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080334214.
I0419 21:03:28.086162 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080460201.
I0419 21:03:28.087291 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080621480.
I0419 21:03:28.088332 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0338189 range=1.2486 variance=0.000512365 t_weight=5855.21 r_weight=0 yaml=(7.815, -1.32) prior=(6.45255, -1.92955, -0.478775deg) obs_actual=(1.36565, 0.64754) obs_expected=(1.35731, 0.620917) delta=(0.00833502, 0.0266229) |delta|=0.0278972m
I0419 21:03:28.088442 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080694749.
I0419 21:03:28.094280 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.07545, 0.582861)
I0419 21:03:28.094404 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.141047, -0.619017), points=18, range=0.637667, residual=0.0125975, extent=0.0376836
I0419 21:03:28.094452 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.141047, -0.619017), tracking=(-0.439547, 0.619017), map_predicted=(6.02594, -1.31418), range=0.637667, pts=18
I0419 21:03:28.094532 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.012391m maha_sq=0.00657858 (gate chi2=5.99) pose_sigma=(0.150814, 0.150814, rho=0) det_map=(6.02594, -1.31418) lm_pos=(6.015, -1.32) delta=(0.01094, 0.00581838) -> 1 candidate(s)
I0419 21:03:28.094678 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080935056.
I0419 21:03:28.098057 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294080974468.
I0419 21:03:28.118443 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:28.118628 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294081177713.
I0419 21:03:28.189361 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294081297470.
I0419 21:03:28.190498 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294081498130.
I0419 21:03:28.191315 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:28.191391 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:28.191414 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294081577595.
I0419 21:03:28.193132 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294081818089.
I0419 21:03:28.193836 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555152s, prior_pose=(6.48239, -1.93758), yaw=-0.294134 deg
I0419 21:03:28.193892 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:28.194037 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294081852622.
I0419 21:03:28.211411 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082101086.
I0419 21:03:28.218235 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0328202 range=1.20983 variance=0.000570184 t_weight=5261.46 r_weight=0 yaml=(7.815, -1.32) prior=(6.50123, -1.93312, -0.197082deg) obs_actual=(1.32871, 0.639561) obs_expected=(1.31166, 0.617639) delta=(0.0170558, 0.0219217) |delta|=0.0277752m
I0419 21:03:28.218499 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082174355.
I0419 21:03:28.237735 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.12454, 0.576032)
I0419 21:03:28.237833 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.180956, -0.62418), points=18, range=0.652556, residual=0.0126557, extent=0.0379919
I0419 21:03:28.237857 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.180956, -0.62418), tracking=(-0.479456, 0.62418), map_predicted=(6.02392, -1.3073), range=0.652556, pts=18
I0419 21:03:28.237879 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0155222m maha_sq=0.0104321 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02392, -1.3073) lm_pos=(6.015, -1.32) delta=(0.00892091, 0.0127025) -> 1 candidate(s)
I0419 21:03:28.237939 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.47266 deg, rms_residual=0.0149871m, sigma_yaw=0.0195913 rad, N=2
I0419 21:03:28.238031 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.51933, -1.91966, 1.47266deg) inliers=2 rms=0.0149871m
I0419 21:03:28.238066 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082373073.
I0419 21:03:28.245967 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:28.246058 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:28.246201 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082453817.
I0419 21:03:28.308530 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:28.308709 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082658332.
I0419 21:03:28.309507 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:28.309589 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:28.309687 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082735965.
I0419 21:03:28.310986 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294082977015.
I0419 21:03:28.312526 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083029251.
I0419 21:03:28.325910 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:28.326099 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083253627.
I0419 21:03:28.334872 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083342576.
I0419 21:03:28.354535 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083539858.
I0419 21:03:28.362162 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0140958 range=1.175 variance=0.000565552 t_weight=5304.55 r_weight=0 yaml=(7.815, -1.32) prior=(6.5363, -1.94113, -0.0693227deg) obs_actual=(1.28735, 0.638059) obs_expected=(1.27795, 0.622675) delta=(0.00940591, 0.0153836) |delta|=0.0180313m
I0419 21:03:28.362303 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083616534.
I0419 21:03:28.386729 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.16659, 0.573162)
I0419 21:03:28.387068 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.225908, -0.626247), points=19, range=0.668947, residual=0.0135022, extent=0.0413643
I0419 21:03:28.387331 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.225908, -0.626247), tracking=(-0.524408, 0.626247), map_predicted=(6.01265, -1.31425), range=0.668947, pts=19
I0419 21:03:28.387396 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0062127m maha_sq=0.00166956 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.01265, -1.31425) lm_pos=(6.015, -1.32) delta=(-0.00234799, 0.00575192) -> 1 candidate(s)
I0419 21:03:28.387560 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083861727.
I0419 21:03:28.443261 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294083896926.
I0419 21:03:28.444450 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:28.444554 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294084138163.
I0419 21:03:28.445397 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294084216965.
I0419 21:03:28.447191 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294084419484.
I0419 21:03:28.450518 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:28.450850 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:28.450897 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294084498673.
I0419 21:03:28.474959 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294084742528.
I0419 21:03:28.482527 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0402257s, prior_pose=(6.57721, -1.93446), yaw=0.0695296 deg
I0419 21:03:28.482805 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:28.483071 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294084821741.
I0419 21:03:28.502864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085018565.
I0419 21:03:28.511528 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0187047 range=1.1342 variance=0.0004991 t_weight=6010.82 r_weight=0 yaml=(7.815, -1.32) prior=(6.57721, -1.93446, 0.0695296deg) obs_actual=(1.2408, 0.633579) obs_expected=(1.23854, 0.612961) delta=(0.00226115, 0.0206174) |delta|=0.020741m
I0419 21:03:28.511767 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085099938.
I0419 21:03:28.591701 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.271485, -0.629208)
I0419 21:03:28.591813 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.268799, -0.628089), points=15, range=0.685333, residual=0.0111775, extent=0.036804
I0419 21:03:28.591846 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.268799, -0.628089), tracking=(-0.567299, 0.628089), map_predicted=(6.02312, -1.31217), range=0.685333, pts=15
I0419 21:03:28.591872 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0112821m maha_sq=0.00543834 (gate chi2=5.99) pose_sigma=(0.151141, 0.151141, rho=0) det_map=(6.02312, -1.31217) lm_pos=(6.015, -1.32) delta=(0.00811977, 0.007833) -> 1 candidate(s)
I0419 21:03:28.591933 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.39611 deg, rms_residual=0.0154834m, sigma_yaw=0.020227 rad, N=2
I0419 21:03:28.591960 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.60672, -1.92169, 1.39611deg) inliers=2 rms=0.0154834m
I0419 21:03:28.591990 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085300859.
I0419 21:03:28.592851 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:28.592911 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:28.593055 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085380149.
I0419 21:03:28.594157 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:28.594270 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085614782.
I0419 21:03:28.595695 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:28.595755 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:28.595827 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085695413.
I0419 21:03:28.596856 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085894967.
I0419 21:03:28.598547 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294085975271.
I0419 21:03:28.622596 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:28.622881 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294086217313.
I0419 21:03:28.627017 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294086261607.
I0419 21:03:28.650724 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294086497864.
I0419 21:03:28.744318 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.61674, -1.94124), yaw=0.277502 deg backend=(6.57667, -1.94767)
I0419 21:03:28.745108 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0168175, -0.579213)
I0419 21:03:28.745278 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294086576174.
I0419 21:03:28.746346 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26118, 0.565913), points=4, range=1.37925, residual=0.00795426, extent=0.0162813
I0419 21:03:28.746413 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26118, 0.565913), tracking=(-1.55968, -0.565913), map_predicted=(5.05982, -2.5147), range=1.37925, pts=4
I0419 21:03:28.746443 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0554325m maha_sq=0.13339 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.05982, -2.5147) lm_pos=(5.115, -2.52) delta=(-0.0551787, 0.00529785) -> 1 candidate(s)
I0419 21:03:28.746495 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00539147 range=0.704059 variance=0.000615564 t_weight=4873.58 r_weight=0 yaml=(6.015, -1.32) prior=(6.61674, -1.94124, 0.277502deg) obs_actual=(-0.60818, 0.630089) obs_expected=(-0.598727, 0.624149) delta=(-0.00945242, 0.00593957) |delta|=0.0111636m
I0419 21:03:28.746557 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294086776568.
I0419 21:03:28.747390 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294086880818.
I0419 21:03:28.749238 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:28.749346 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087101351.
I0419 21:03:28.750082 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087136023.
I0419 21:03:28.751332 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087381995.
I0419 21:03:28.752679 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:28.752760 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:28.752789 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087441909.
I0419 21:03:28.766901 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087663141.
I0419 21:03:28.774328 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0638552s, prior_pose=(6.65244, -1.93776), yaw=0.412968 deg
I0419 21:03:28.774426 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:28.774663 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087739903.
I0419 21:03:28.838366 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.29141, 0.561481)
I0419 21:03:28.838568 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294087934725.
I0419 21:03:28.839510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088016652.
I0419 21:03:28.840569 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3058, 0.55876), points=4, range=1.41675, residual=0.00899704, extent=0.0202054
I0419 21:03:28.840662 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3058, 0.55876), tracking=(-1.6043, -0.55876), map_predicted=(5.07852, -2.51142), range=1.41675, pts=4
I0419 21:03:28.840688 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0374741m maha_sq=0.0609081 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.07852, -2.51142) lm_pos=(5.115, -2.52) delta=(-0.0364796, 0.00857557) -> 1 candidate(s)
I0419 21:03:28.840747 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00595657 range=0.724533 variance=0.000574068 t_weight=5225.86 r_weight=0 yaml=(6.015, -1.32) prior=(6.67838, -1.94008, 0.450202deg) obs_actual=(-0.648727, 0.631758) obs_expected=(-0.658491, 0.625269) delta=(0.0097641, 0.00648881) |delta|=0.0117236m
I0419 21:03:28.840796 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088255119.
I0419 21:03:28.842308 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:28.842392 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:28.842461 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.623957 deg, rms_residual=0.00820002m, sigma_yaw=0.0108151 rad, N=2
I0419 21:03:28.842492 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.67994, -1.94884, 0.623957deg) inliers=2 rms=0.00820002m
I0419 21:03:28.842523 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088332763.
I0419 21:03:28.854789 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:28.854974 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088542425.
I0419 21:03:28.862598 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:28.862708 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:28.862839 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088620748.
I0419 21:03:28.886044 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088852541.
I0419 21:03:28.890681 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294088900552.
I0419 21:03:28.914562 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.379567, -0.635637)
I0419 21:03:28.914676 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:28.915146 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294089140141.
I0419 21:03:28.967118 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294089219985.
I0419 21:03:28.967113 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:28.968214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294089416584.
I0419 21:03:28.969125 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294089493816.
I0419 21:03:28.970855 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3524, 0.550984), points=4, range=1.458, residual=0.00702616, extent=0.0150073
I0419 21:03:28.970925 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3524, 0.550984), tracking=(-1.6509, -0.550984), map_predicted=(5.08105, -2.51028), range=1.458, pts=4
I0419 21:03:28.970952 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0353135m maha_sq=0.0537787 (gate chi2=5.99) pose_sigma=(0.150536, 0.150536, rho=0) det_map=(5.08105, -2.51028) lm_pos=(5.115, -2.52) delta=(-0.0339481, 0.00972469) -> 1 candidate(s)
I0419 21:03:28.971014 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00929793 range=0.749214 variance=0.000590458 t_weight=5080.8 r_weight=0 yaml=(6.015, -1.32) prior=(6.72417, -1.9365, 0.792692deg) obs_actual=(-0.689574, 0.636016) obs_expected=(-0.700571, 0.626257) delta=(0.0109979, 0.00975889) |delta|=0.0147034m
I0419 21:03:28.971060 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294089704867.
I0419 21:03:28.977767 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294089773003.
I0419 21:03:29.003748 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:29.003875 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090019095.
I0419 21:03:29.010357 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090098301.
I0419 21:03:29.030570 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090298623.
I0419 21:03:29.038156 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.136566, -0.584089)
I0419 21:03:29.038492 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:29.038559 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:29.038618 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090376856.
I0419 21:03:29.099799 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090614697.
I0419 21:03:29.100510 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562395s, prior_pose=(6.73954, -1.93437), yaw=0.947022 deg
I0419 21:03:29.100584 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:29.100759 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090660696.
I0419 21:03:29.101825 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090876355.
I0419 21:03:29.103334 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294090972075.
I0419 21:03:29.117837 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38646, 0.54846), points=3, range=1.49367, residual=0.00743611, extent=0.0156331
I0419 21:03:29.117941 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.38646, 0.54846), tracking=(-1.68496, -0.54846), map_predicted=(5.08566, -2.50937), range=1.49367, pts=3
I0419 21:03:29.117970 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0312042m maha_sq=0.0422687 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.08566, -2.50937) lm_pos=(5.115, -2.52) delta=(-0.0293369, 0.0106326) -> 1 candidate(s)
I0419 21:03:29.118039 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0118153 range=0.774462 variance=0.000604971 t_weight=4958.92 r_weight=0 yaml=(6.015, -1.32) prior=(6.76064, -1.93115, 1.015deg) obs_actual=(-0.739791, 0.639977) obs_expected=(-0.734699, 0.624259) delta=(-0.00509212, 0.0157182) |delta|=0.0165225m
I0419 21:03:29.118091 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294091174427.
I0419 21:03:29.125937 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:29.126025 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:29.126109 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.21372 deg, rms_residual=0.0120336m, sigma_yaw=0.0157914 rad, N=2
I0419 21:03:29.126143 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.76545, -1.94468, 1.21372deg) inliers=2 rms=0.0120336m
I0419 21:03:29.126171 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294091255264.
I0419 21:03:29.150230 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:29.150381 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294091497977.
I0419 21:03:29.154608 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.173439, -0.588488)
I0419 21:03:29.154697 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:29.154728 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:29.154824 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294091541572.
I0419 21:03:29.177763 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294091772180.
I0419 21:03:29.223361 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294091860184.
I0419 21:03:29.224591 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:29.224699 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294092061557.
I0419 21:03:29.225461 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294092139269.
I0419 21:03:29.234314 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294092337520.
I0419 21:03:29.242223 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294092414727.
I0419 21:03:29.266475 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294092659879.
I0419 21:03:29.274610 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.61696, -0.620696)
I0419 21:03:29.276477 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.724699, 0.609206), points=10, range=0.9453, residual=0.0125663, extent=0.0385387
I0419 21:03:29.276530 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.724699, 0.609206), tracking=(1.0232, 0.609206), map_predicted=(7.81662, -1.29889), range=0.9453, pts=10
I0419 21:03:29.276558 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.021172m maha_sq=0.0189805 (gate chi2=5.99) pose_sigma=(0.151694, 0.151694, rho=0) det_map=(7.81662, -1.29889) lm_pos=(7.815, -1.32) delta=(0.00162299, 0.0211097) -> 1 candidate(s)
I0419 21:03:29.276626 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00092878 range=0.627762 variance=0.000585568 t_weight=5123.23 r_weight=0 yaml=(6.915, -2.52) prior=(6.80671, -1.92988, 1.22774deg) obs_actual=(0.0911342, -0.590963) obs_expected=(0.0956193, -0.592305) delta=(-0.00448512, 0.00134159) |delta|=0.00468147m
I0419 21:03:29.276681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294092740684.
I0419 21:03:29.294025 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:29.294198 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294092934841.
I0419 21:03:29.305938 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294093053232.
I0419 21:03:29.364459 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294093255154.
I0419 21:03:29.365340 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:03:29.365445 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:29.365473 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294093332648.
I0419 21:03:29.366478 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294093532315.
I0419 21:03:29.368374 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365811s, prior_pose=(6.81803, -1.93614), yaw=1.19772 deg
I0419 21:03:29.368445 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:29.368657 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294093620965.
I0419 21:03:29.382040 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294093815287.
I0419 21:03:29.389886 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.57358, -0.614559)
I0419 21:03:29.390146 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294093893037.
I0419 21:03:29.414448 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294094138025.
I0419 21:03:29.418743 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:29.418840 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:29.418988 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294094181901.
I0419 21:03:29.442572 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.327825, 0.593467), points=8, range=0.675375, residual=0.00735986, extent=0.0195899
I0419 21:03:29.442672 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:29.442688 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.327825, 0.593467), tracking=(0.0293248, -0.593467), map_predicted=(6.882, -2.53032), range=0.675375, pts=8
I0419 21:03:29.442714 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0345787m maha_sq=0.0520076 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.882, -2.53032) lm_pos=(6.915, -2.52) delta=(-0.033004, -0.0103161) -> 1 candidate(s)
I0419 21:03:29.442783 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0253939 range=0.841083 variance=0.000579891 t_weight=5173.39 r_weight=0 yaml=(6.015, -1.32) prior=(6.84078, -1.93756, 1.14829deg) obs_actual=(-0.834869, 0.64486) obs_expected=(-0.813242, 0.63398) delta=(-0.021627, 0.0108795) |delta|=0.0242093m
I0419 21:03:29.442878 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294094421041.
I0419 21:03:29.480115 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:29.480219 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:29.480306 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294094500425.
I0419 21:03:29.481534 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294094693062.
I0419 21:03:29.482568 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294094781392.
I0419 21:03:29.502626 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.555912, -0.643203)
I0419 21:03:29.502753 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:29.502872 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095021255.
I0419 21:03:29.510448 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.730943 deg, rms_residual=0.00926448m, sigma_yaw=0.0122019 rad, N=2
I0419 21:03:29.510569 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.88419, -1.93914, 0.730943deg) inliers=2 rms=0.00926448m
I0419 21:03:29.510679 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095099180.
I0419 21:03:29.530061 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095293476.
I0419 21:03:29.531159 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.88153, -1.93884), yaw=0.97828 deg backend=(6.83169, -1.9371)
I0419 21:03:29.537873 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095372651.
I0419 21:03:29.563383 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095622719.
I0419 21:03:29.567008 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095661233.
I0419 21:03:29.636938 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.52606, 0.555437)
I0419 21:03:29.637095 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.29965, 0.58584), points=16, range=0.658875, residual=0.0137067, extent=0.0456225
I0419 21:03:29.637135 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.29965, 0.58584), tracking=(0.0011499, -0.58584), map_predicted=(6.92134, -2.52585), range=0.658875, pts=16
I0419 21:03:29.637166 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0086303m maha_sq=0.00313095 (gate chi2=5.99) pose_sigma=(0.152201, 0.152201, rho=0) det_map=(6.92134, -2.52585) lm_pos=(6.915, -2.52) delta=(0.00634108, -0.00585429) -> 1 candidate(s)
I0419 21:03:29.637205 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:29.637243 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00453914 range=0.871455 variance=0.0005618 t_weight=5339.98 r_weight=0 yaml=(6.015, -1.32) prior=(6.91107, -1.9401, 0.891955deg) obs_actual=(-0.88553, 0.644326) obs_expected=(-0.88631, 0.633977) delta=(0.000779988, 0.0103485) |delta|=0.0103779m
I0419 21:03:29.637310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095897868.
I0419 21:03:29.638285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294095975236.
I0419 21:03:29.639403 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294096174929.
I0419 21:03:29.640921 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:29.641005 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:29.641031 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294096252272.
I0419 21:03:29.650180 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294096496095.
I0419 21:03:29.654497 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643298s, prior_pose=(6.92429, -1.93973), yaw=0.790106 deg
I0419 21:03:29.654599 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1362, max_intensity=254, threshold=230, above_threshold=45, candidates=45
I0419 21:03:29.654760 1264424 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 32 -> 24 (threshold=0.03, iters=3)
I0419 21:03:29.654881 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294096541166.
I0419 21:03:29.677637 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.611468, -0.636833)
I0419 21:03:29.677896 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294096772076.
I0419 21:03:29.687808 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294096862106.
I0419 21:03:29.714488 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294097138882.
I0419 21:03:29.715561 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:29.715668 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:29.715859 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294097139078.
I0419 21:03:29.768350 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.254629, 0.585556), points=20, range=0.63985, residual=0.0116885, extent=0.0378048
I0419 21:03:29.768461 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:29.768481 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.254629, 0.585556), tracking=(-0.043871, -0.585556), map_predicted=(6.89504, -2.52525), range=0.63985, pts=20
I0419 21:03:29.768507 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0206428m maha_sq=0.0184329 (gate chi2=5.99) pose_sigma=(0.150153, 0.150153, rho=0) det_map=(6.89504, -2.52525) lm_pos=(6.915, -2.52) delta=(-0.0199635, -0.00525206) -> 1 candidate(s)
I0419 21:03:29.768567 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.025219 range=0.8977 variance=0.000542899 t_weight=5525.89 r_weight=0 yaml=(6.015, -1.32) prior=(6.93233, -1.93924, 0.643339deg) obs_actual=(-0.933362, 0.636663) obs_expected=(-0.910319, 0.629501) delta=(-0.023043, 0.00716193) |delta|=0.0241304m
I0419 21:03:29.768625 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294097374189.
I0419 21:03:29.769112 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:29.769176 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:29.769250 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294097422840.
I0419 21:03:29.771481 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294097658553.
I0419 21:03:29.772567 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47156, -0.599536)
I0419 21:03:29.772862 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294097713809.
I0419 21:03:29.795193 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:29.795449 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294097939162.
I0419 21:03:29.802132 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294098014291.
I0419 21:03:29.826749 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294098260623.
I0419 21:03:29.829902 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294098293756.
I0419 21:03:29.880178 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.728446 deg, rms_residual=0.00525554m, sigma_yaw=0.00695863 rad, N=2
I0419 21:03:29.880327 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.98374, -1.9386, 0.728446deg) inliers=2 rms=0.00525554m
I0419 21:03:29.880366 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294098534522.
I0419 21:03:29.881237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294098612177.
I0419 21:03:29.882540 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:29.882685 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294098815313.
I0419 21:03:29.889998 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294098893589.
I0419 21:03:29.914203 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.688628, -0.632807)
I0419 21:03:29.914305 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.205156, 0.587412), points=22, range=0.623273, residual=0.0122404, extent=0.0385396
I0419 21:03:29.914332 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.205156, 0.587412), tracking=(-0.0933444, -0.587412), map_predicted=(6.90087, -2.5271), range=0.623273, pts=22
I0419 21:03:29.914358 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0158124m maha_sq=0.0108311 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90087, -2.5271) lm_pos=(6.915, -2.52) delta=(-0.0141283, -0.00710086) -> 1 candidate(s)
I0419 21:03:29.914422 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00808534 range=0.93525 variance=0.000539689 t_weight=5558.75 r_weight=0 yaml=(6.015, -1.32) prior=(6.99052, -1.93911, 0.360164deg) obs_actual=(-0.983011, 0.632739) obs_expected=(-0.971611, 0.625234) delta=(-0.0114002, 0.00750454) |delta|=0.0136486m
I0419 21:03:29.914505 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294099137304.
I0419 21:03:29.921841 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:29.921957 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:29.921983 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294099214072.
I0419 21:03:29.942183 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294099415937.
I0419 21:03:29.946399 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567618s, prior_pose=(7.00195, -1.93796), yaw=0.286983 deg
I0419 21:03:29.946486 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:03:29.946686 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294099461207.
I0419 21:03:29.969972 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294099693938.
I0419 21:03:30.010893 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294099771833.
I0419 21:03:30.012219 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294100013989.
I0419 21:03:30.013036 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:30.013110 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:30.013185 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294100059471.
I0419 21:03:30.030107 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:30.030297 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294100294843.
I0419 21:03:30.037765 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.474228, 0.616079)
I0419 21:03:30.037845 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:30.037868 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:30.037963 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294100374483.
I0419 21:03:30.058634 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294100579960.
I0419 21:03:30.066212 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294100657064.
I0419 21:03:30.088248 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:30.088385 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.00517231 range=0.607619 variance=0.000579688 t_weight=5175.2 r_weight=0 yaml=(6.915, -2.52) prior=(7.04368, -1.93902, 0.0107491deg) obs_actual=(-0.139039, -0.584745) obs_expected=(-0.128791, -0.580955) delta=(-0.0102476, -0.00378981) |delta|=0.0109259m
I0419 21:03:30.088487 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294100877657.
I0419 21:03:30.093736 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38653, -0.581416), points=3, range=1.49767, residual=0.0115308, extent=0.0236611
I0419 21:03:30.093837 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.38653, -0.581416), tracking=(1.68503, -0.581416), map_predicted=(8.72882, -2.52012), range=1.49767, pts=3
I0419 21:03:30.093863 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0138212m maha_sq=0.00826449 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72882, -2.52012) lm_pos=(8.715, -2.52) delta=(0.0138207, -0.00012045) -> 1 candidate(s)
I0419 21:03:30.093982 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294100932429.
I0419 21:03:30.144717 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294101180401.
I0419 21:03:30.145920 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294101259579.
I0419 21:03:30.147297 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294101461378.
I0419 21:03:30.154631 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294101539967.
I0419 21:03:30.178421 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:30.178602 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294101779171.
I0419 21:03:30.191522 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.35904, -0.574545)
I0419 21:03:30.191753 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294101908658.
I0419 21:03:30.206985 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294102060725.
I0419 21:03:30.216698 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:30.216931 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:30.216966 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294102142977.
I0419 21:03:30.235195 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294102339573.
I0419 21:03:30.330140 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357861s, prior_pose=(7.0913, -1.93599), yaw=-0.573642 deg
I0419 21:03:30.330276 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:03:30.330462 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294102418586.
I0419 21:03:30.331811 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294102656422.
I0419 21:03:30.332671 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.395419, 0.624624), points=15, range=0.739933, residual=0.0101599, extent=0.0313348
I0419 21:03:30.332751 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.395419, 0.624624), tracking=(0.693919, 0.624624), map_predicted=(7.79144, -1.31834), range=0.739933, pts=15
I0419 21:03:30.332779 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.023618m maha_sq=0.0242085 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79144, -1.31834) lm_pos=(7.815, -1.32) delta=(-0.0235597, 0.00165813) -> 1 candidate(s)
I0419 21:03:30.332830 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0040769 range=1.44967 variance=0.000604062 t_weight=4966.38 r_weight=0 yaml=(8.715, -2.52) prior=(7.0913, -1.93599, -0.573642deg) obs_actual=(1.63912, -0.566757) obs_expected=(1.62946, -0.567728) delta=(0.00965664, 0.00097075) |delta|=0.00970531m
I0419 21:03:30.332927 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294102742582.
I0419 21:03:30.335014 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294102940192.
I0419 21:03:30.335826 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:30.335927 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:30.335988 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.64337 deg, rms_residual=0.0113603m, sigma_yaw=0.0149211 rad, N=2
I0419 21:03:30.336025 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.10417, -1.91764, -1.64337deg) inliers=2 rms=0.0113603m
I0419 21:03:30.336084 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294103021096.
I0419 21:03:30.337193 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:30.337291 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294103218732.
I0419 21:03:30.338966 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.32819, -0.5615)
I0419 21:03:30.339020 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:30.339067 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:30.339130 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294103297367.
I0419 21:03:30.354866 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294103542057.
I0419 21:03:30.362751 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294103622023.
I0419 21:03:30.409482 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:30.409629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294103817843.
I0419 21:03:30.410518 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:30.410558 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294103893969.
I0419 21:03:30.413817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294104132283.
I0419 21:03:30.414916 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.14654, -1.93877), yaw=-1.23309 deg backend=(7.09534, -1.93425)
I0419 21:03:30.418071 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294104175871.
I0419 21:03:30.442365 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0689885, 0.590222), points=23, range=0.595565, residual=0.0123633, extent=0.0412518
I0419 21:03:30.442478 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0689885, 0.590222), tracking=(-0.229511, -0.590222), map_predicted=(6.90438, -2.52392), range=0.595565, pts=23
I0419 21:03:30.442516 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0113143m maha_sq=0.0055449 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90438, -2.52392) lm_pos=(6.915, -2.52) delta=(-0.0106154, -0.00391501) -> 1 candidate(s)
I0419 21:03:30.442592 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0237995 range=1.0574 variance=0.000508499 t_weight=5899.72 r_weight=0 yaml=(6.015, -1.32) prior=(7.14654, -1.93877, -1.23309deg) obs_actual=(-1.1675, 0.599093) obs_expected=(-1.1446, 0.594275) delta=(-0.0228993, 0.004818) |delta|=0.0234007m
I0419 21:03:30.442646 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294104418579.
I0419 21:03:30.445971 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294104452581.
I0419 21:03:30.470542 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.684464, -0.458787)
I0419 21:03:30.470700 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:30.470772 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294104700055.
I0419 21:03:30.478349 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294104778308.
I0419 21:03:30.498852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294104982182.
I0419 21:03:30.545574 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:30.545745 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:30.545773 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294105059877.
I0419 21:03:30.547654 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294105300835.
I0419 21:03:30.548398 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678214s, prior_pose=(7.16763, -1.93066), yaw=-1.57652 deg
I0419 21:03:30.548457 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:30.548592 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294105378269.
I0419 21:03:30.558187 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294105576719.
I0419 21:03:30.565835 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294105653444.
I0419 21:03:30.587128 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294105857873.
I0419 21:03:30.594508 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:30.594790 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:30.595046 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294105940706.
I0419 21:03:30.618530 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:30.618695 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294106180436.
I0419 21:03:30.626299 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:30.626403 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:30.626477 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.043251 range=0.697824 variance=0.000551749 t_weight=5437.26 r_weight=0 yaml=(7.815, -1.32) prior=(7.18814, -1.92587, -1.90284deg) obs_actual=(0.577495, 0.639063) obs_expected=(0.606399, 0.626352) delta=(-0.028904, 0.0127109) |delta|=0.0315755m
I0419 21:03:30.626535 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294106259248.
I0419 21:03:30.672541 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.0171993, 0.594203)
I0419 21:03:30.672693 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0181139, 0.59279), points=23, range=0.594565, residual=0.0125797, extent=0.0414826
I0419 21:03:30.672716 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0181139, 0.59279), tracking=(-0.280386, -0.59279), map_predicted=(6.89367, -2.50625), range=0.594565, pts=23
I0419 21:03:30.672739 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0253772m maha_sq=0.0276878 (gate chi2=5.99) pose_sigma=(0.150557, 0.150557, rho=0) det_map=(6.89367, -2.50625) lm_pos=(6.915, -2.52) delta=(-0.0213324, 0.0137451) -> 1 candidate(s)
I0419 21:03:30.672807 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294106461644.
I0419 21:03:30.673563 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294106538918.
I0419 21:03:30.674551 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:30.674633 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294106740269.
I0419 21:03:30.682675 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294106819318.
I0419 21:03:30.706046 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294107054144.
I0419 21:03:30.710533 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294107098684.
I0419 21:03:30.734732 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294107341272.
I0419 21:03:30.742637 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294107420276.
I0419 21:03:30.766685 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:30.766832 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294107662037.
I0419 21:03:30.826104 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294107701215.
I0419 21:03:30.827351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294107933001.
I0419 21:03:30.828176 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:30.828260 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:30.828289 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294108013419.
I0419 21:03:30.830212 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294108213859.
I0419 21:03:30.831030 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599452s, prior_pose=(7.25501, -1.92125), yaw=-2.24257 deg
I0419 21:03:30.831085 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:30.831156 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.216021, 0.639365)
I0419 21:03:30.831183 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.213235, 0.64031), points=17, range=0.674941, residual=0.0107433, extent=0.0316254
I0419 21:03:30.831202 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.213235, 0.64031), tracking=(0.511735, 0.64031), map_predicted=(7.79141, -1.30146), range=0.674941, pts=17
I0419 21:03:30.831220 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0300062m maha_sq=0.0390587 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79141, -1.30146) lm_pos=(7.815, -1.32) delta=(-0.0235914, 0.0185424) -> 1 candidate(s)
I0419 21:03:30.831264 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.20597 deg, rms_residual=0.0138435m, sigma_yaw=0.0181235 rad, N=2
I0419 21:03:30.831282 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0140486 range=1.304 variance=0.000568797 t_weight=5274.29 r_weight=0 yaml=(8.715, -2.52) prior=(7.25501, -1.92125, -2.24257deg) obs_actual=(1.49526, -0.528665) obs_expected=(1.4823, -0.541159) delta=(0.0129611, 0.0124938) |delta|=0.0180024m
I0419 21:03:30.831362 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.25995, -1.91961, -3.20597deg) inliers=2 rms=0.0138435m
I0419 21:03:30.831390 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294108300667.
I0419 21:03:30.853767 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294108531735.
I0419 21:03:30.862563 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294108619009.
I0419 21:03:30.882997 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294108821306.
I0419 21:03:30.890900 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:30.891064 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:30.891350 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294108898047.
I0419 21:03:30.989198 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:30.989393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294109094290.
I0419 21:03:30.990211 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:30.990285 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:30.990389 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294109177123.
I0419 21:03:30.992197 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294109418310.
I0419 21:03:30.993778 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294109498570.
I0419 21:03:30.994891 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:30.994978 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294109699425.
I0419 21:03:30.995800 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294109777257.
I0419 21:03:30.998270 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294109978041.
I0419 21:03:31.006081 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294110055244.
I0419 21:03:31.030602 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0680601 range=0.601864 variance=0.000578493 t_weight=5185.89 r_weight=0 yaml=(6.915, -2.52) prior=(7.30088, -1.9196, -1.9777deg) obs_actual=(-0.398547, -0.592376) obs_expected=(-0.364925, -0.613359) delta=(-0.0336219, 0.0209831) |delta|=0.0396324m
I0419 21:03:31.030778 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294110300476.
I0419 21:03:31.083899 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.12745, -0.543789)
I0419 21:03:31.084019 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13267, -0.544297), points=4, range=1.25175, residual=0.0115626, extent=0.0263589
I0419 21:03:31.084053 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.13267, -0.544297), tracking=(1.43117, -0.544297), map_predicted=(8.72696, -2.51062), range=1.25175, pts=4
I0419 21:03:31.084115 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0152033m maha_sq=0.00987389 (gate chi2=5.99) pose_sigma=(0.151034, 0.151034, rho=0) det_map=(8.72696, -2.51062) lm_pos=(8.715, -2.52) delta=(0.0119634, 0.00938171) -> 1 candidate(s)
I0419 21:03:31.084223 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294110377677.
I0419 21:03:31.085608 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:31.085747 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294110573300.
I0419 21:03:31.086778 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294110658769.
I0419 21:03:31.088757 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294110869971.
I0419 21:03:31.094722 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:31.095103 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:31.095259 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294110938184.
I0419 21:03:31.118422 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294111178686.
I0419 21:03:31.125990 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0386686s, prior_pose=(7.33821, -1.91759), yaw=-1.7328 deg
I0419 21:03:31.126083 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:31.126302 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294111256657.
I0419 21:03:31.146025 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294111454416.
I0419 21:03:31.155162 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294111544253.
I0419 21:03:31.224754 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294111742332.
I0419 21:03:31.225654 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:31.225729 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:31.225836 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294111819208.
I0419 21:03:31.226928 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:31.227023 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294112055571.
I0419 21:03:31.228358 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:31.228408 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:31.228487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294112099081.
I0419 21:03:31.234333 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.165122, 0.598346)
I0419 21:03:31.234489 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0446259 range=0.620818 variance=0.00063922 t_weight=4693.22 r_weight=0 yaml=(6.915, -2.52) prior=(7.36577, -1.91773, -1.61046deg) obs_actual=(-0.460317, -0.596739) obs_expected=(-0.433669, -0.614697) delta=(-0.0266478, 0.0179583) |delta|=0.0321342m
I0419 21:03:31.234709 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294112337653.
I0419 21:03:31.242121 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06648, -0.555167), points=4, range=1.19675, residual=0.012766, extent=0.0280067
I0419 21:03:31.242218 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.06648, -0.555167), tracking=(1.36498, -0.555167), map_predicted=(8.71462, -2.51104), range=1.19675, pts=4
I0419 21:03:31.242249 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00896622m maha_sq=0.00347664 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.71462, -2.51104) lm_pos=(8.715, -2.52) delta=(-0.000384631, 0.00895796) -> 1 candidate(s)
I0419 21:03:31.242364 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294112416903.
I0419 21:03:31.266784 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:31.267007 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294112658780.
I0419 21:03:31.270164 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294112695613.
I0419 21:03:31.295562 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294112942973.
I0419 21:03:31.386767 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.40145, -1.91842), yaw=-1.50167 deg backend=(7.37677, -1.93803)
I0419 21:03:31.387599 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294113012707.
I0419 21:03:31.388972 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294113258522.
I0419 21:03:31.389701 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294113295807.
I0419 21:03:31.391446 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:31.391525 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294113501489.
I0419 21:03:31.392292 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294113579643.
I0419 21:03:31.393360 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294113814500.
I0419 21:03:31.394770 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:31.394837 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:31.394860 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294113898751.
I0419 21:03:31.410765 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294114095794.
I0419 21:03:31.418202 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.067425s, prior_pose=(7.42159, -1.91898), yaw=-1.37687 deg
I0419 21:03:31.418344 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:31.418615 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.01026, -0.562546)
I0419 21:03:31.418817 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294114175739.
I0419 21:03:31.504297 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294114381257.
I0419 21:03:31.505300 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0652578 range=0.627263 variance=0.000544134 t_weight=5513.35 r_weight=0 yaml=(7.815, -1.32) prior=(7.41961, -1.91924, -1.35999deg) obs_actual=(0.34584, 0.624693) obs_expected=(0.381056, 0.608456) delta=(-0.0352164, 0.0162363) |delta|=0.038779m
I0419 21:03:31.505430 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294114456103.
I0419 21:03:31.506644 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.238373, 0.59483), points=20, range=0.6394, residual=0.0131283, extent=0.0423458
I0419 21:03:31.506726 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.238373, 0.59483), tracking=(-0.536873, -0.59483), map_predicted=(6.86877, -2.50116), range=0.6394, pts=20
I0419 21:03:31.506757 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0499208m maha_sq=0.107847 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.86877, -2.50116) lm_pos=(6.915, -2.52) delta=(-0.0462299, 0.0188383) -> 1 candidate(s)
I0419 21:03:31.506832 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294114692570.
I0419 21:03:31.508351 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:31.508419 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:31.508513 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294114784639.
I0419 21:03:31.509655 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:31.509766 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294114981752.
I0419 21:03:31.510592 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:31.510659 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:31.510743 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294115060874.
I0419 21:03:31.527369 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294115266940.
I0419 21:03:31.535634 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.87445 deg, rms_residual=0.0121939m, sigma_yaw=0.0159985 rad, N=2
I0419 21:03:31.535913 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.4663, -1.92256, -1.87445deg) inliers=2 rms=0.0121939m
I0419 21:03:31.535995 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294115335536.
I0419 21:03:31.559062 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:31.559358 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294115582481.
I0419 21:03:31.632220 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.0117857, 0.620951)
I0419 21:03:31.632400 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294115661007.
I0419 21:03:31.633566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294115863401.
I0419 21:03:31.634440 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294115938315.
I0419 21:03:31.636045 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294116136092.
I0419 21:03:31.636930 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294116213694.
I0419 21:03:31.646986 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:31.647223 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294116460075.
I0419 21:03:31.653987 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0144604, 0.621383), points=19, range=0.621842, residual=0.0102836, extent=0.0329365
I0419 21:03:31.654127 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0144604, 0.621383), tracking=(0.28404, 0.621383), map_predicted=(7.78401, -1.30391), range=0.621842, pts=19
I0419 21:03:31.654170 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0349208m maha_sq=0.0521462 (gate chi2=5.99) pose_sigma=(0.151146, 0.151146, rho=0) det_map=(7.78401, -1.30391) lm_pos=(7.815, -1.32) delta=(-0.0309921, 0.0160919) -> 1 candidate(s)
I0419 21:03:31.654255 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00594994 range=1.09875 variance=0.000543723 t_weight=5517.51 r_weight=0 yaml=(8.715, -2.52) prior=(7.48919, -1.92025, -0.99779deg) obs_actual=(1.24283, -0.568648) obs_expected=(1.23607, -0.578313) delta=(0.00676428, 0.00966466) |delta|=0.0117967m
I0419 21:03:31.654371 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294116532982.
I0419 21:03:31.675239 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294116740774.
I0419 21:03:31.683039 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.930909, -0.568592)
I0419 21:03:31.683275 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:31.683398 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:31.683472 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294116822252.
I0419 21:03:31.763980 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294117055648.
I0419 21:03:31.764695 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567127s, prior_pose=(7.51701, -1.92027), yaw=-0.985043 deg
I0419 21:03:31.764766 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:31.764938 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294117100109.
I0419 21:03:31.766042 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294117337492.
I0419 21:03:31.767557 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294117415848.
I0419 21:03:31.768631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294117613742.
I0419 21:03:31.769745 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:31.769804 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:31.769886 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294117694155.
I0419 21:03:31.794529 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:31.794871 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294117935430.
I0419 21:03:31.798817 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:31.798954 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:31.799157 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294117981067.
I0419 21:03:31.822089 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294118213321.
I0419 21:03:31.887025 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.881448, -0.576042)
I0419 21:03:31.887322 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294118298144.
I0419 21:03:31.888727 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:31.888924 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0390057 range=0.691611 variance=0.00062532 t_weight=4797.54 r_weight=0 yaml=(6.915, -2.52) prior=(7.54326, -1.92329, -0.756787deg) obs_actual=(-0.647984, -0.593259) obs_expected=(-0.620323, -0.604959) delta=(-0.027661, 0.0117) |delta|=0.0300336m
I0419 21:03:31.889026 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294118500817.
I0419 21:03:31.890652 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:31.891613 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.875262, -0.574906), points=6, range=1.043, residual=0.0135505, extent=0.0359
I0419 21:03:31.891726 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.875262, -0.574906), tracking=(1.17376, -0.574906), map_predicted=(8.70933, -2.51365), range=1.043, pts=6
I0419 21:03:31.891760 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00851891m maha_sq=0.00313678 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.70933, -2.51365) lm_pos=(8.715, -2.52) delta=(-0.00567499, 0.00635345) -> 1 candidate(s)
I0419 21:03:31.891898 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294118660891.
I0419 21:03:31.894059 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294118782322.
I0419 21:03:31.895160 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294118896208.
I0419 21:03:31.910468 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294119098332.
I0419 21:03:31.918171 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294119175191.
I0419 21:03:31.942042 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:31.942307 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294119414452.
I0419 21:03:31.946491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294119459653.
I0419 21:03:32.007784 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294119696102.
I0419 21:03:32.008545 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.837451, -0.579129)
I0419 21:03:32.008666 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:32.008708 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:32.008728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294119733178.
I0419 21:03:32.010007 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294119972941.
I0419 21:03:32.011492 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365902s, prior_pose=(7.59478, -1.92485), yaw=-0.595465 deg
I0419 21:03:32.011572 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:32.011749 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294120062004.
I0419 21:03:32.026554 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294120261123.
I0419 21:03:32.034883 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.064487 range=0.6344 variance=0.000551113 t_weight=5443.53 r_weight=0 yaml=(7.815, -1.32) prior=(7.59478, -1.92485, -0.595465deg) obs_actual=(0.178485, 0.622288) obs_expected=(0.213925, 0.607105) delta=(-0.0354396, 0.0151833) |delta|=0.0385551m
I0419 21:03:32.035027 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294120341867.
I0419 21:03:32.058395 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.412289, 0.592374), points=16, range=0.725, residual=0.0135304, extent=0.0423704
I0419 21:03:32.058506 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.412289, 0.592374), tracking=(-0.710789, -0.592374), map_predicted=(6.89243, -2.51132), range=0.725, pts=16
I0419 21:03:32.058538 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0241803m maha_sq=0.0249415 (gate chi2=5.99) pose_sigma=(0.151066, 0.151066, rho=0) det_map=(6.89243, -2.51132) lm_pos=(6.915, -2.52) delta=(-0.0225701, 0.00867627) -> 1 candidate(s)
I0419 21:03:32.058624 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294120579053.
I0419 21:03:32.066391 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:32.066501 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:32.066612 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294120659200.
I0419 21:03:32.086463 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:32.086630 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294120853017.
I0419 21:03:32.146523 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:32.146625 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:32.146752 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294120937962.
I0419 21:03:32.147792 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294121134349.
I0419 21:03:32.148567 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.796239, -0.580239)
I0419 21:03:32.148658 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.19824 deg, rms_residual=0.014924m, sigma_yaw=0.0195104 rad, N=2
I0419 21:03:32.148692 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.63967, -1.92926, -1.19824deg) inliers=2 rms=0.014924m
I0419 21:03:32.148715 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294121217733.
I0419 21:03:32.150631 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:32.150743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294121452229.
I0419 21:03:32.154542 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294121541209.
I0419 21:03:32.174326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294121738353.
I0419 21:03:32.175407 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.64967, -1.92733), yaw=-0.548242 deg backend=(7.61349, -1.94006)
I0419 21:03:32.182647 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294121821000.
I0419 21:03:32.201826 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294122013131.
I0419 21:03:32.209750 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294122092597.
I0419 21:03:32.271636 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:32.271763 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294122341270.
I0419 21:03:32.272575 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.185247, 0.625285), points=19, range=0.651316, residual=0.0117194, extent=0.0344023
I0419 21:03:32.272636 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.185247, 0.625285), tracking=(0.113253, 0.625285), map_predicted=(7.77717, -1.30279), range=0.651316, pts=19
I0419 21:03:32.272663 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0415567m maha_sq=0.0748478 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.77717, -1.30279) lm_pos=(7.815, -1.32) delta=(-0.0378254, 0.0172104) -> 1 candidate(s)
I0419 21:03:32.272711 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.000876433 range=0.958625 variance=0.000573458 t_weight=5231.42 r_weight=0 yaml=(8.715, -2.52) prior=(7.65869, -1.9271, -0.480124deg) obs_actual=(1.0591, -0.580071) obs_expected=(1.06125, -0.584024) delta=(-0.0021431, 0.00395341) |delta|=0.00449693m
I0419 21:03:32.272753 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294122413886.
I0419 21:03:32.273706 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294122613508.
I0419 21:03:32.275178 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.752562, -0.580293)
I0419 21:03:32.275337 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:32.275375 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:32.275398 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294122692853.
I0419 21:03:32.290210 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294122894160.
I0419 21:03:32.301862 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.067167s, prior_pose=(7.6756, -1.92801), yaw=-0.492827 deg
I0419 21:03:32.301997 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:32.302300 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294123012940.
I0419 21:03:32.310274 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:32.322687 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294123221251.
I0419 21:03:32.330765 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294123300885.
I0419 21:03:32.350899 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294123503010.
I0419 21:03:32.422065 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:32.422169 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:32.422272 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294123581369.
I0419 21:03:32.423343 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:32.423452 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294123826401.
I0419 21:03:32.424119 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.719662, -0.579284)
I0419 21:03:32.424170 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:32.424192 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:32.424255 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294123859831.
I0419 21:03:32.426154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294124098845.
I0419 21:03:32.426982 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0390364 range=0.666556 variance=0.000586739 t_weight=5113.01 r_weight=0 yaml=(7.815, -1.32) prior=(7.71229, -1.93319, -0.65593deg) obs_actual=(0.066784, 0.622437) obs_expected=(0.0956876, 0.614325) delta=(-0.0289036, 0.00811202) |delta|=0.0300204m
I0419 21:03:32.427062 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294124177422.
I0419 21:03:32.438768 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.526183, 0.601714), points=13, range=0.801154, residual=0.0110471, extent=0.0318658
I0419 21:03:32.438912 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.526183, 0.601714), tracking=(-0.824683, -0.601714), map_predicted=(6.88077, -2.52542), range=0.801154, pts=13
I0419 21:03:32.439018 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.034658m maha_sq=0.0520823 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.88077, -2.52542) lm_pos=(6.915, -2.52) delta=(-0.0342312, -0.00542281) -> 1 candidate(s)
I0419 21:03:32.439066 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:32.439193 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294124379447.
I0419 21:03:32.446662 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294124458806.
I0419 21:03:32.471772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294124701610.
I0419 21:03:32.474774 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294124737910.
I0419 21:03:32.554984 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.354941, -0.620964)
I0419 21:03:32.555154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294124975165.
I0419 21:03:32.555918 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125055846.
I0419 21:03:32.556924 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:32.556980 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125257666.
I0419 21:03:32.558470 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125337268.
I0419 21:03:32.559587 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125540901.
I0419 21:03:32.566922 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:32.567159 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:32.567217 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125659268.
I0419 21:03:32.586923 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.573332, 0.604127)
I0419 21:03:32.587131 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.570562, 0.604748), points=11, range=0.832909, residual=0.00927019, extent=0.0256269
I0419 21:03:32.587193 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.570562, 0.604748), tracking=(-0.869062, -0.604748), map_predicted=(6.89262, -2.52459), range=0.832909, pts=11
I0419 21:03:32.587249 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0228482m maha_sq=0.0224215 (gate chi2=5.99) pose_sigma=(0.150847, 0.150847, rho=0) det_map=(6.89262, -2.52459) lm_pos=(6.915, -2.52) delta=(-0.0223814, -0.00459481) -> 1 candidate(s)
I0419 21:03:32.587358 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.505516 deg, rms_residual=0.00950157m, sigma_yaw=0.0125103 rad, N=2
I0419 21:03:32.587399 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00377989 range=0.701444 variance=0.000748387 t_weight=4008.62 r_weight=0 yaml=(7.815, -1.32) prior=(7.7693, -1.93095, -0.728575deg) obs_actual=(0.031583, 0.618449) obs_expected=(0.0379277, 0.611478) delta=(-0.00634471, 0.00697021) |delta|=0.00942545m
I0419 21:03:32.588249 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.78366, -1.93054, -0.505516deg) inliers=2 rms=0.00950157m
I0419 21:03:32.588491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125858339.
I0419 21:03:32.594434 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600773s, prior_pose=(7.7693, -1.93095), yaw=-0.728575 deg
I0419 21:03:32.594591 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=253, threshold=230, above_threshold=29, candidates=29
I0419 21:03:32.595036 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294125938041.
I0419 21:03:32.614899 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294126138307.
I0419 21:03:32.694051 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294126218249.
I0419 21:03:32.695643 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294126454994.
I0419 21:03:32.696671 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:03:32.696782 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:03:32.696883 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294126500735.
I0419 21:03:32.699069 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.2989, -0.615025)
I0419 21:03:32.699208 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:32.699292 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294126735181.
I0419 21:03:32.700266 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:32.700351 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:32.700436 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294126813657.
I0419 21:03:32.702481 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294127017901.
I0419 21:03:32.711023 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[9] 'ref_10' maha_sq=0.0422984 range=0.707318 variance=0.000856912 t_weight=3500.94 r_weight=2685.76 yaml=(7.815, -1.32) prior=(7.81593, -1.93054, -0.918492deg) obs_actual=(-0.0409679, 0.619915) obs_expected=(-0.0107182, 0.610445) delta=(-0.0302497, 0.00947003) |delta|=0.0316974m
I0419 21:03:32.711231 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294127099301.
I0419 21:03:32.731122 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.280875, -0.611528), points=18, range=0.673944, residual=0.0113946, extent=0.0343679
I0419 21:03:32.731298 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.280875, -0.611528), tracking=(-0.0176252, 0.611528), map_predicted=(7.80811, -1.31881), range=0.673944, pts=18
I0419 21:03:32.731359 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00699137m maha_sq=0.00211908 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.80811, -1.31881) lm_pos=(7.815, -1.32) delta=(-0.00688875, 0.00119347) -> 1 candidate(s)
I0419 21:03:32.731406 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:32.731572 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294127303201.
I0419 21:03:32.742594 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.48418, 0.653041)
I0419 21:03:32.742841 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294127419772.
I0419 21:03:32.833364 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294127614147.
I0419 21:03:32.834316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294127692195.
I0419 21:03:32.835381 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294127943252.
I0419 21:03:32.836838 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294127982189.
I0419 21:03:32.837862 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:32.837944 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294128222560.
I0419 21:03:32.838652 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.46529, 0.654934)
I0419 21:03:32.838733 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294128297490.
I0419 21:03:32.851043 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294128499576.
I0419 21:03:32.858453 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:32.858600 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0118843 range=1.59133 variance=0.00056418 t_weight=5317.45 r_weight=0 yaml=(9.615, -1.32) prior=(7.85464, -1.92875, -0.99243deg) obs_actual=(1.75322, 0.655294) obs_expected=(1.74956, 0.639148) delta=(0.0036626, 0.0161458) |delta|=0.016556m
I0419 21:03:32.858729 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:32.858771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294128574480.
I0419 21:03:32.883039 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.231928, -0.612134), points=17, range=0.654706, residual=0.0102155, extent=0.0305685
I0419 21:03:32.883216 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.231928, -0.612134), tracking=(-0.0665722, 0.612134), map_predicted=(7.79868, -1.31555), range=0.654706, pts=17
I0419 21:03:32.883275 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0169176m maha_sq=0.012422 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79868, -1.31555) lm_pos=(7.815, -1.32) delta=(-0.0163231, 0.00444525) -> 1 candidate(s)
I0419 21:03:32.883509 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294128820728.
I0419 21:03:32.978801 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0355614s, prior_pose=(7.86967, -1.92909), yaw=-1.0641 deg
I0419 21:03:32.978914 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=249, threshold=230, above_threshold=14, candidates=14
I0419 21:03:32.979038 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.59911 deg, rms_residual=0.00507253m, sigma_yaw=0.00671794 rad, N=2
I0419 21:03:32.979074 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.85178, -1.92517, -1.59911deg) inliers=2 rms=0.00507253m
I0419 21:03:32.979130 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294128855190.
I0419 21:03:32.980320 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294129099260.
I0419 21:03:32.981094 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294129179180.
I0419 21:03:32.982851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294129382318.
I0419 21:03:32.983575 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:32.983628 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.41888, 0.659109)
I0419 21:03:32.983647 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:32.983706 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294129460744.
I0419 21:03:32.984644 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:32.984738 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294129658581.
I0419 21:03:32.986094 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:32.986161 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:32.986228 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294129737672.
I0419 21:03:32.998991 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294129975672.
I0419 21:03:33.002449 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294130015478.
I0419 21:03:33.098150 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:33.098300 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294130254299.
I0419 21:03:33.099037 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294130335192.
I0419 21:03:33.100194 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.704894, 0.61274), points=9, range=0.936556, residual=0.0103594, extent=0.0277959
I0419 21:03:33.100255 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.704894, 0.61274), tracking=(-1.00339, -0.61274), map_predicted=(6.89491, -2.52021), range=0.936556, pts=9
I0419 21:03:33.100281 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0200933m maha_sq=0.0175127 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.89491, -2.52021) lm_pos=(6.915, -2.52) delta=(-0.0200922, -0.000211926) -> 1 candidate(s)
I0419 21:03:33.100330 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0025326 range=0.636056 variance=0.000546589 t_weight=5488.59 r_weight=0 yaml=(7.815, -1.32) prior=(7.91068, -1.92822, -1.1775deg) obs_actual=(-0.115681, 0.607471) obs_expected=(-0.10816, 0.606126) delta=(-0.0075205, 0.00134526) |delta|=0.00763988m
I0419 21:03:33.100383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294130581666.
I0419 21:03:33.101325 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.92578, -1.92764), yaw=-1.21984 deg backend=(7.87451, -1.94176)
I0419 21:03:33.101774 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294130616414.
I0419 21:03:33.102880 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.172386, -0.607952)
I0419 21:03:33.102983 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294130854680.
I0419 21:03:33.103689 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294130915945.
I0419 21:03:33.115334 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:33.115577 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294131142930.
I0419 21:03:33.122262 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294131213183.
I0419 21:03:33.147814 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294131461058.
I0419 21:03:33.245998 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:33.246106 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:33.246130 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294131496059.
I0419 21:03:33.247514 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294131734619.
I0419 21:03:33.248318 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0669542s, prior_pose=(7.9458, -1.92826), yaw=-1.2483 deg
I0419 21:03:33.248385 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 21:03:33.248531 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294131812472.
I0419 21:03:33.250344 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.755544, 0.616851)
I0419 21:03:33.250495 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132021329.
I0419 21:03:33.251283 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35024, 0.665857), points=3, range=1.50033, residual=0.0102804, extent=0.0209069
I0419 21:03:33.251341 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35024, 0.665857), tracking=(1.64874, 0.665857), map_predicted=(9.61719, -1.30303), range=1.50033, pts=3
I0419 21:03:33.251368 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0171091m maha_sq=0.0126791 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61719, -1.30303) lm_pos=(9.615, -1.32) delta=(0.00219015, 0.0169684) -> 1 candidate(s)
I0419 21:03:33.251413 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00127653 range=0.737692 variance=0.000550699 t_weight=5447.62 r_weight=0 yaml=(8.715, -2.52) prior=(7.95384, -1.93152, -1.29281deg) obs_actual=(0.774681, -0.56575) obs_expected=(0.774241, -0.571157) delta=(0.000440416, 0.00540657) |delta|=0.00542448m
I0419 21:03:33.251466 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132100826.
I0419 21:03:33.252570 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132340319.
I0419 21:03:33.254240 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:33.254302 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:33.254395 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132373246.
I0419 21:03:33.262104 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:33.262267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132615683.
I0419 21:03:33.270309 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:33.270438 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:33.270614 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132696194.
I0419 21:03:33.363353 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.412093 deg, rms_residual=0.0101042m, sigma_yaw=0.0132932 rad, N=2
I0419 21:03:33.363473 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.00208, -1.91857, -0.412093deg) inliers=2 rms=0.0101042m
I0419 21:03:33.363515 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132897985.
I0419 21:03:33.363590 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:33.364346 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294132978211.
I0419 21:03:33.365427 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:33.365553 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294133215012.
I0419 21:03:33.366981 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294133259352.
I0419 21:03:33.368044 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.802194, 0.61923)
I0419 21:03:33.368153 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294133493207.
I0419 21:03:33.368908 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30569, 0.667669), points=3, range=1.46233, residual=0.0085333, extent=0.0172422
I0419 21:03:33.368965 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30569, 0.667669), tracking=(1.60419, 0.667669), map_predicted=(9.62577, -1.30139), range=1.46233, pts=3
I0419 21:03:33.369004 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0215014m maha_sq=0.0200558 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.62577, -1.30139) lm_pos=(9.615, -1.32) delta=(0.0107664, 0.0186117) -> 1 candidate(s)
I0419 21:03:33.369047 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00183372 range=0.714857 variance=0.000585074 t_weight=5127.56 r_weight=0 yaml=(8.715, -2.52) prior=(8.00576, -1.92971, -1.39826deg) obs_actual=(0.728041, -0.568209) obs_expected=(0.723435, -0.572804) delta=(0.00460675, 0.00459451) |delta|=0.00650628m
I0419 21:03:33.369102 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294133573421.
I0419 21:03:33.379113 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294133779918.
I0419 21:03:33.390213 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294133854088.
I0419 21:03:33.406829 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:33.407078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294134057965.
I0419 21:03:33.477607 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294134138958.
I0419 21:03:33.479121 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294134377831.
I0419 21:03:33.480113 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:33.480224 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:33.480252 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294134455688.
I0419 21:03:33.482436 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294134658792.
I0419 21:03:33.483214 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600121s, prior_pose=(8.02953, -1.93387), yaw=-1.49652 deg
I0419 21:03:33.483314 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:33.483454 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294134739079.
I0419 21:03:33.494324 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.847968, 0.6192)
I0419 21:03:33.494505 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294134938173.
I0419 21:03:33.502310 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294135017351.
I0419 21:03:33.530324 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854509, 0.616998), points=4, range=1.057, residual=0.0102235, extent=0.0218002
I0419 21:03:33.530426 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.854509, 0.616998), tracking=(-1.15301, -0.616998), map_predicted=(6.88225, -2.51668), range=1.057, pts=4
I0419 21:03:33.530455 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.032914m maha_sq=0.0469841 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.88225, -2.51668) lm_pos=(6.915, -2.52) delta=(-0.0327466, 0.00331586) -> 1 candidate(s)
I0419 21:03:33.530522 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.000719354 range=0.607 variance=0.000550397 t_weight=5450.61 r_weight=0 yaml=(7.815, -1.32) prior=(8.05078, -1.92961, -1.47673deg) obs_actual=(-0.255338, 0.604406) obs_expected=(-0.251412, 0.603326) delta=(-0.00392619, 0.00108003) |delta|=0.00407203m
I0419 21:03:33.530715 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294135298721.
I0419 21:03:33.533823 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:33.533905 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:33.534034 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294135332468.
I0419 21:03:33.589535 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:33.589736 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294135542366.
I0419 21:03:33.590642 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:33.590705 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:33.590783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294135613357.
I0419 21:03:33.592069 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294135866147.
I0419 21:03:33.593580 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294135902972.
I0419 21:03:33.614209 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:33.614326 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.325937 deg, rms_residual=0.0100645m, sigma_yaw=0.0132416 rad, N=2
I0419 21:03:33.614370 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.09936, -1.91852, -0.325937deg) inliers=2 rms=0.0100645m
I0419 21:03:33.614403 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294136137088.
I0419 21:03:33.618604 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294136180841.
I0419 21:03:33.642525 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.89204, 0.613053)
I0419 21:03:33.642724 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294136420899.
I0419 21:03:33.650348 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294136497856.
I0419 21:03:33.674032 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.90608, 0.61306), points=5, range=1.0922, residual=0.00716145, extent=0.0174682
I0419 21:03:33.674140 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.90608, 0.61306), tracking=(-1.20458, -0.61306), map_predicted=(6.86909, -2.51861), range=1.0922, pts=5
I0419 21:03:33.674175 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0459265m maha_sq=0.091682 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.86909, -2.51861) lm_pos=(6.915, -2.52) delta=(-0.0459054, 0.00139212) -> 1 candidate(s)
I0419 21:03:33.674238 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00691906 range=0.606809 variance=0.000589838 t_weight=5086.15 r_weight=0 yaml=(7.815, -1.32) prior=(8.08771, -1.93393, -1.34232deg) obs_actual=(-0.299402, 0.604875) obs_expected=(-0.287012, 0.607377) delta=(-0.0123894, -0.00250253) |delta|=0.0126396m
I0419 21:03:33.674291 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294136734937.
I0419 21:03:33.739670 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294136781077.
I0419 21:03:33.740872 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:33.740953 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137015418.
I0419 21:03:33.741783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137093755.
I0419 21:03:33.743610 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137339709.
I0419 21:03:33.744426 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:33.744488 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:33.744511 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137373975.
I0419 21:03:33.762568 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137618623.
I0419 21:03:33.766391 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0320246s, prior_pose=(8.13062, -1.92963), yaw=-1.12721 deg
I0419 21:03:33.766506 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:33.766688 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137659955.
I0419 21:03:33.789834 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.936751, 0.610253)
I0419 21:03:33.790011 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294137893460.
I0419 21:03:33.797919 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294137974184.
I0419 21:03:33.845255 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294138172850.
I0419 21:03:33.846055 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:33.846112 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:33.846140 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16884, 0.655275), points=3, range=1.34, residual=0.0132542, extent=0.032195
I0419 21:03:33.846163 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16884, 0.655275), tracking=(1.46734, 0.655275), map_predicted=(9.61297, -1.30402), range=1.34, pts=3
I0419 21:03:33.846181 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0161063m maha_sq=0.0112079 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61297, -1.30402) lm_pos=(9.615, -1.32) delta=(-0.00203409, 0.0159774) -> 1 candidate(s)
I0419 21:03:33.846233 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00630555 range=0.642944 variance=0.000608625 t_weight=4929.15 r_weight=0 yaml=(8.715, -2.52) prior=(8.13291, -1.93005, -1.13702deg) obs_actual=(0.582517, -0.573695) obs_expected=(0.593682, -0.578282) delta=(-0.0111656, 0.00458721) |delta|=0.0120711m
I0419 21:03:33.846284 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294138253775.
I0419 21:03:33.847458 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:33.847570 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294138471326.
I0419 21:03:33.854107 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:33.854182 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:33.854280 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294138537229.
I0419 21:03:33.878266 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294138777486.
I0419 21:03:33.888409 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294138857852.
I0419 21:03:33.906050 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:33.906220 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294139056090.
I0419 21:03:33.913782 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294139132824.
I0419 21:03:33.938268 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.983306, 0.607793)
I0419 21:03:33.938470 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294139378459.
I0419 21:03:33.995432 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.16474, -1.93574), yaw=-0.879339 deg backend=(8.11676, -1.94164)
I0419 21:03:33.996201 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.84947 deg, rms_residual=0.0114299m, sigma_yaw=0.015011 rad, N=2
I0419 21:03:33.996816 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.17308, -1.94362, -0.84947deg) inliers=2 rms=0.0114299m
I0419 21:03:33.996897 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294139457576.
I0419 21:03:33.998114 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294139661306.
I0419 21:03:33.998813 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00781289 range=1.3072 variance=0.000637317 t_weight=4707.24 r_weight=0 yaml=(9.615, -1.32) prior=(8.16474, -1.93574, -0.879339deg) obs_actual=(1.43758, 0.651018) obs_expected=(1.44064, 0.637926) delta=(-0.00306308, 0.0130915) |delta|=0.013445m
I0419 21:03:33.998890 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294139738089.
I0419 21:03:34.000535 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0874108, -0.602828), points=19, range=0.610474, residual=0.0104545, extent=0.0327643
I0419 21:03:34.000588 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0874108, -0.602828), tracking=(-0.385911, 0.602828), map_predicted=(7.79953, -1.33052), range=0.610474, pts=19
I0419 21:03:34.000614 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0187109m maha_sq=0.0150109 (gate chi2=5.99) pose_sigma=(0.150928, 0.150928, rho=0) det_map=(7.79953, -1.33052) lm_pos=(7.815, -1.32) delta=(-0.0154723, -0.0105216) -> 1 candidate(s)
I0419 21:03:34.000658 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:34.000707 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294139935745.
I0419 21:03:34.001730 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294140013022.
I0419 21:03:34.026178 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294140255488.
I0419 21:03:34.034447 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:34.034637 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:34.034660 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294140338438.
I0419 21:03:34.055330 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294140540745.
I0419 21:03:34.062858 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0685721s, prior_pose=(8.19988, -1.93097), yaw=-0.817471 deg
I0419 21:03:34.063035 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:34.063457 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294140621466.
I0419 21:03:34.132915 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.02968, 0.603808)
I0419 21:03:34.133173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294140856762.
I0419 21:03:34.134088 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294140903324.
I0419 21:03:34.135437 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294141139275.
I0419 21:03:34.137037 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:34.137137 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:34.137238 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294141217572.
I0419 21:03:34.142676 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04987, 0.600033), points=6, range=1.2035, residual=0.0126845, extent=0.0265632
I0419 21:03:34.142854 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:34.142901 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04987, 0.600033), tracking=(-1.34837, -0.600033), map_predicted=(6.88158, -2.51251), range=1.2035, pts=6
I0419 21:03:34.142962 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0342511m maha_sq=0.0507366 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.88158, -2.51251) lm_pos=(6.915, -2.52) delta=(-0.0334228, 0.00748703) -> 1 candidate(s)
I0419 21:03:34.143102 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.000871885 range=0.622833 variance=0.000531265 t_weight=5646.9 r_weight=0 yaml=(7.815, -1.32) prior=(8.23731, -1.92931, -0.713054deg) obs_actual=(-0.430609, 0.608423) obs_expected=(-0.429862, 0.604004) delta=(-0.000747135, 0.00441842) |delta|=0.00448114m
I0419 21:03:34.143225 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294141417724.
I0419 21:03:34.150475 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:34.150612 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:34.150760 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294141498564.
I0419 21:03:34.171409 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294141702114.
I0419 21:03:34.179227 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294141782291.
I0419 21:03:34.203106 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:34.203438 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142019819.
I0419 21:03:34.296913 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142098694.
I0419 21:03:34.298070 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.07783, 0.601548)
I0419 21:03:34.298237 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294142293633.
I0419 21:03:34.299010 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 21 -> 20 (threshold=0.03, iters=3)
I0419 21:03:34.299139 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142382936.
I0419 21:03:34.300864 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142576618.
I0419 21:03:34.301620 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142656505.
I0419 21:03:34.302709 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:34.302775 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.530603 deg, rms_residual=0.012424m, sigma_yaw=0.0162954 rad, N=2
I0419 21:03:34.302822 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.29721, -1.91741, 0.530603deg) inliers=2 rms=0.012424m
I0419 21:03:34.302853 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142895225.
I0419 21:03:34.304117 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04546, 0.64483), points=4, range=1.222, residual=0.0143699, extent=0.0327727
I0419 21:03:34.304181 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.04546, 0.64483), tracking=(1.34396, 0.64483), map_predicted=(9.63457, -1.29806), range=1.222, pts=4
I0419 21:03:34.304205 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0293949m maha_sq=0.0365673 (gate chi2=5.99) pose_sigma=(0.151527, 0.151527, rho=0) det_map=(9.63457, -1.29806) lm_pos=(9.615, -1.32) delta=(0.0195653, 0.0219377) -> 1 candidate(s)
I0419 21:03:34.304248 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00161849 range=0.597158 variance=0.000548439 t_weight=5470.07 r_weight=0 yaml=(8.715, -2.52) prior=(8.28468, -1.93039, -0.531653deg) obs_actual=(0.436747, -0.579497) obs_expected=(0.435774, -0.585588) delta=(0.000973896, 0.00609103) |delta|=0.0061684m
I0419 21:03:34.304306 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294142939268.
I0419 21:03:34.318789 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294143179763.
I0419 21:03:34.327055 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:34.327251 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:34.327299 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294143262077.
I0419 21:03:34.408999 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294143500679.
I0419 21:03:34.409876 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594793s, prior_pose=(8.30355, -1.92443), yaw=-0.515849 deg
I0419 21:03:34.409972 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:34.410233 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294143534061.
I0419 21:03:34.411533 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.1234, 0.597317)
I0419 21:03:34.411656 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294143820121.
I0419 21:03:34.413228 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294143855267.
I0419 21:03:34.414381 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294144056792.
I0419 21:03:34.415107 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:34.415158 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:34.415226 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294144140937.
I0419 21:03:34.438650 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:34.438961 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294144379727.
I0419 21:03:34.442534 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:34.442677 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:34.442867 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294144416718.
I0419 21:03:34.466025 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14822, 0.595599), points=3, range=1.29, residual=0.00705662, extent=0.0124959
I0419 21:03:34.466182 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.14822, 0.595599), tracking=(-1.44672, -0.595599), map_predicted=(6.87333, -2.51337), range=1.29, pts=3
I0419 21:03:34.466235 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0421908m maha_sq=0.0773389 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.87333, -2.51337) lm_pos=(6.915, -2.52) delta=(-0.0416666, 0.00662993) -> 1 candidate(s)
I0419 21:03:34.466367 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00328429 range=0.652389 variance=0.000580677 t_weight=5166.38 r_weight=0 yaml=(7.815, -1.32) prior=(8.32443, -1.92853, -0.425609deg) obs_actual=(-0.519164, 0.611697) obs_expected=(-0.51394, 0.604733) delta=(-0.00522451, 0.00696478) |delta|=0.00870653m
I0419 21:03:34.466506 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294144653055.
I0419 21:03:34.558758 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294144732703.
I0419 21:03:34.559937 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:34.560038 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294144939936.
I0419 21:03:34.560858 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145027279.
I0419 21:03:34.562985 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.164, 0.597345)
I0419 21:03:34.563182 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145253546.
I0419 21:03:34.564029 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145298215.
I0419 21:03:34.565348 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145533067.
I0419 21:03:34.567037 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145581391.
I0419 21:03:34.582810 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:34.583034 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145819863.
I0419 21:03:34.591518 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294145899651.
I0419 21:03:34.687570 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19611, 0.598525), points=3, range=1.33367, residual=0.00761711, extent=0.0142847
I0419 21:03:34.687696 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19611, 0.598525), tracking=(-1.49461, -0.598525), map_predicted=(6.87376, -2.51986), range=1.33367, pts=3
I0419 21:03:34.687727 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0412439m maha_sq=0.0731501 (gate chi2=5.99) pose_sigma=(0.150754, 0.150754, rho=0) det_map=(6.87376, -2.51986) lm_pos=(6.915, -2.52) delta=(-0.0412436, 0.000144191) -> 1 candidate(s)
I0419 21:03:34.687798 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.688858 deg, rms_residual=0.0141749m, sigma_yaw=0.0185493 rad, N=2
I0419 21:03:34.687819 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.00120785 range=0.670062 variance=0.000566462 t_weight=5296.03 r_weight=0 yaml=(7.815, -1.32) prior=(8.37251, -1.93178, -0.400121deg) obs_actual=(-0.562963, 0.613041) obs_expected=(-0.561764, 0.607874) delta=(-0.00119826, 0.0051671) |delta|=0.00530422m
I0419 21:03:34.687850 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.3938, -1.91489, 0.688858deg) inliers=2 rms=0.0141749m
I0419 21:03:34.687878 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294146135209.
I0419 21:03:34.688707 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:34.688778 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:34.688800 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294146181304.
I0419 21:03:34.689819 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294146414383.
I0419 21:03:34.691174 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0358551s, prior_pose=(8.39317, -1.92647), yaw=-0.444235 deg
I0419 21:03:34.691236 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:34.691315 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.93943, 0.639585)
I0419 21:03:34.691394 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294146493760.
I0419 21:03:34.692440 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294146692587.
I0419 21:03:34.693239 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294146775244.
I0419 21:03:34.702466 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294147018561.
I0419 21:03:34.710424 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:34.710543 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:34.710719 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294147097484.
I0419 21:03:34.730882 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:34.731184 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294147299807.
I0419 21:03:34.825536 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:34.825635 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:34.825726 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294147379543.
I0419 21:03:34.825942 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:34.826818 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294147614036.
I0419 21:03:34.827617 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294147659330.
I0419 21:03:34.829212 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.24359, 0.602051)
I0419 21:03:34.829275 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24837, 0.602136), points=3, range=1.38167, residual=0.00847221, extent=0.0161386
I0419 21:03:34.829294 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.24837, 0.602136), tracking=(-1.54687, -0.602136), map_predicted=(6.85364, -2.52666), range=1.38167, pts=3
I0419 21:03:34.829313 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.061719m maha_sq=0.163628 (gate chi2=5.99) pose_sigma=(0.150783, 0.150783, rho=0) det_map=(6.85364, -2.52666) lm_pos=(6.915, -2.52) delta=(-0.0613588, -0.00665822) -> 1 candidate(s)
I0419 21:03:34.829330 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:34.829372 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0201684 range=0.69225 variance=0.000579738 t_weight=5174.75 r_weight=0 yaml=(7.815, -1.32) prior=(8.40531, -1.93699, -0.46119deg) obs_actual=(-0.616931, 0.611649) obs_expected=(-0.595254, 0.612221) delta=(-0.0216772, -0.000572118) |delta|=0.0216847m
I0419 21:03:34.829411 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294147895841.
I0419 21:03:34.830080 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294147941698.
I0419 21:03:34.836385 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294148176166.
I0419 21:03:34.838587 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.431, -1.93143), yaw=-0.561939 deg backend=(8.37148, -1.94147)
I0419 21:03:34.839977 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294148256868.
I0419 21:03:34.846238 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294148452864.
I0419 21:03:34.854206 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294148533336.
I0419 21:03:34.929889 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:34.930039 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294148772225.
I0419 21:03:34.930792 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294148827302.
I0419 21:03:34.932036 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294149060496.
I0419 21:03:34.933614 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:34.933728 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:34.933753 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294149138352.
I0419 21:03:34.934803 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.28254, 0.607157)
I0419 21:03:34.934947 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0780147 range=1.419 variance=0.000502941 t_weight=5964.91 r_weight=0 yaml=(6.915, -2.52) prior=(8.46337, -1.93421, -0.668288deg) obs_actual=(-1.58373, -0.60615) obs_expected=(-1.54143, -0.60381) delta=(-0.0422976, -0.00234011) |delta|=0.0423623m
I0419 21:03:34.935002 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294149340879.
I0419 21:03:34.942191 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0645678s, prior_pose=(8.46337, -1.93421), yaw=-0.668288 deg
I0419 21:03:34.942291 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:34.942410 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0460234, -0.584812), points=19, range=0.586368, residual=0.00984266, extent=0.0332942
I0419 21:03:34.942438 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0460234, -0.584812), tracking=(0.252477, -0.584812), map_predicted=(8.70901, -2.52193), range=0.586368, pts=19
I0419 21:03:34.942464 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0062927m maha_sq=0.00171938 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.70901, -2.52193) lm_pos=(8.715, -2.52) delta=(-0.00599049, -0.00192668) -> 1 candidate(s)
I0419 21:03:34.942555 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294149417903.
I0419 21:03:34.966871 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294149663560.
I0419 21:03:34.970152 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.708606 deg, rms_residual=0.0123893m, sigma_yaw=0.0162506 rad, N=2
I0419 21:03:34.970227 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.47421, -1.94338, -0.708606deg) inliers=2 rms=0.0123893m
I0419 21:03:34.970265 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294149696811.
I0419 21:03:34.994061 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294149934641.
I0419 21:03:35.054044 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:35.054198 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:35.054303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294150015374.
I0419 21:03:35.055944 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:35.056136 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294150211697.
I0419 21:03:35.057001 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:35.057262 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:35.057384 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294150299544.
I0419 21:03:35.059321 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294150494107.
I0419 21:03:35.060710 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.809144, 0.647408)
I0419 21:03:35.060890 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294150603117.
I0419 21:03:35.082453 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:35.082618 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294150819707.
I0419 21:03:35.091008 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0269674 range=1.02971 variance=0.0005922 t_weight=5065.85 r_weight=0 yaml=(9.615, -1.32) prior=(8.51622, -1.92921, -0.951403deg) obs_actual=(1.10199, 0.648673) obs_expected=(1.08852, 0.627371) delta=(0.0134733, 0.0213023) |delta|=0.0252055m
I0419 21:03:35.091499 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294150899959.
I0419 21:03:35.113982 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.424143, -0.609426), points=15, range=0.745533, residual=0.0136647, extent=0.0415501
I0419 21:03:35.114167 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.424143, -0.609426), tracking=(-0.722643, 0.609426), map_predicted=(7.80379, -1.30787), range=0.745533, pts=15
I0419 21:03:35.114207 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0165166m maha_sq=0.0117963 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.80379, -1.30787) lm_pos=(7.815, -1.32) delta=(-0.0112089, 0.0121309) -> 1 candidate(s)
I0419 21:03:35.114326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294151132652.
I0419 21:03:35.118723 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294151179616.
I0419 21:03:35.213687 1237626 pose_graph_2d.cc:160] Inserted submap (1, 51).
I0419 21:03:35.214833 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294151417048.
I0419 21:03:35.215652 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294151467192.
I0419 21:03:35.216665 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:35.216728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294151702135.
I0419 21:03:35.218267 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294151780161.
I0419 21:03:35.219355 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294151980955.
I0419 21:03:35.220140 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.68019, -0.540533)
I0419 21:03:35.220232 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:35.220268 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:35.220288 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152057539.
I0419 21:03:35.222082 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:03:35.230427 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152297718.
I0419 21:03:35.238713 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601614s, prior_pose=(8.55869, -1.93391), yaw=-1.20807 deg
I0419 21:03:35.238889 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:35.239399 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152381775.
I0419 21:03:35.258224 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37131, 0.627346), points=3, range=1.50333, residual=0.00924678, extent=0.0182306
I0419 21:03:35.258410 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.37131, 0.627346), tracking=(-1.66981, -0.627346), map_predicted=(6.87602, -2.52592), range=1.50333, pts=3
I0419 21:03:35.258477 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0394238m maha_sq=0.0673791 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.87602, -2.52592) lm_pos=(6.915, -2.52) delta=(-0.0389774, -0.00591567) -> 1 candidate(s)
I0419 21:03:35.258579 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0170659 range=0.772667 variance=0.000521575 t_weight=5751.81 r_weight=0 yaml=(7.815, -1.32) prior=(8.55869, -1.93391, -1.20807deg) obs_actual=(-0.772972, 0.609075) obs_expected=(-0.756468, 0.598099) delta=(-0.0165045, 0.0109766) |delta|=0.0198213m
I0419 21:03:35.258663 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152578384.
I0419 21:03:35.303649 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152660806.
I0419 21:03:35.304857 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152937483.
I0419 21:03:35.305250 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:35.305308 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:35.305382 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294152937586.
I0419 21:03:35.318152 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:35.318318 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294153177436.
I0419 21:03:35.322566 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:35.322907 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:35.323375 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.67019 deg, rms_residual=0.012576m, sigma_yaw=0.0164914 rad, N=2
I0419 21:03:35.323580 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.57647, -1.93781, -1.67019deg) inliers=2 rms=0.012576m
I0419 21:03:35.323769 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294153220727.
I0419 21:03:35.346747 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.502455, -0.605868)
I0419 21:03:35.347234 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294153460351.
I0419 21:03:35.354270 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294153536223.
I0419 21:03:35.378625 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:35.378768 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294153781630.
I0419 21:03:35.382290 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294153816709.
I0419 21:03:35.449781 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294154060306.
I0419 21:03:35.450914 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0247136 range=0.9597 variance=0.00073313 t_weight=4092.04 r_weight=0 yaml=(9.615, -1.32) prior=(8.60909, -1.93395, -1.62543deg) obs_actual=(0.999569, 0.66327) obs_expected=(0.988088, 0.642238) delta=(0.0114813, 0.0210322) |delta|=0.0239619m
I0419 21:03:35.451134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294154139163.
I0419 21:03:35.452553 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.537302, -0.601934), points=11, range=0.804455, residual=0.0109642, extent=0.0302323
I0419 21:03:35.452658 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.537302, -0.601934), tracking=(-0.835802, 0.601934), map_predicted=(7.7907, -1.30855), range=0.804455, pts=11
I0419 21:03:35.452685 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0268607m maha_sq=0.031286 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.7907, -1.30855) lm_pos=(7.815, -1.32) delta=(-0.0242993, 0.0114474) -> 1 candidate(s)
I0419 21:03:35.452750 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294154378400.
I0419 21:03:35.454514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294154413229.
I0419 21:03:35.466745 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.538434, -0.601434)
I0419 21:03:35.466918 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:35.466979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294154652409.
I0419 21:03:35.470227 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294154695886.
I0419 21:03:35.494665 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294154939044.
I0419 21:03:35.502523 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:35.502681 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:35.502749 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294155012465.
I0419 21:03:35.523694 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294155229661.
I0419 21:03:35.570503 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0367593s, prior_pose=(8.63138, -1.9379), yaw=-1.91605 deg
I0419 21:03:35.570609 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:35.570816 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294155306637.
I0419 21:03:35.571982 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294155541257.
I0419 21:03:35.572862 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294155621128.
I0419 21:03:35.582278 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294155818762.
I0419 21:03:35.590008 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:35.590101 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.226425, -0.589726)
I0419 21:03:35.590122 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:35.590250 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294155895036.
I0419 21:03:35.609900 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:35.610071 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294156095215.
I0419 21:03:35.617691 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:35.617763 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.638393, 0.668737), points=11, range=0.921727, residual=0.013086, extent=0.0385026
I0419 21:03:35.617781 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:35.617798 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.638393, 0.668737), tracking=(0.936893, 0.668737), map_predicted=(9.6203, -1.30415), range=0.921727, pts=11
I0419 21:03:35.617820 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0167094m maha_sq=0.011909 (gate chi2=5.99) pose_sigma=(0.151087, 0.151087, rho=0) det_map=(9.6203, -1.30415) lm_pos=(9.615, -1.32) delta=(0.00529636, 0.0158478) -> 1 candidate(s)
I0419 21:03:35.617875 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0120812 range=0.633313 variance=0.000527905 t_weight=5682.84 r_weight=0 yaml=(8.715, -2.52) prior=(8.65994, -1.93873, -2.06275deg) obs_actual=(0.0625029, -0.588979) obs_expected=(0.0759465, -0.578908) delta=(-0.0134437, -0.0100711) |delta|=0.0167976m
I0419 21:03:35.617938 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294156172399.
I0419 21:03:35.642498 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294156419555.
I0419 21:03:35.646028 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294156453280.
I0419 21:03:35.713546 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:35.713730 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294156699055.
I0419 21:03:35.714646 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294156777544.
I0419 21:03:35.715734 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(-0.333858, 0.59211)
I0419 21:03:35.715848 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294157011430.
I0419 21:03:35.716807 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.68494, -1.93926), yaw=-2.16439 deg backend=(8.63349, -1.93954)
I0419 21:03:35.717509 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157060020.
I0419 21:03:35.726625 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157262097.
I0419 21:03:35.734750 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157340187.
I0419 21:03:35.758291 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:35.758455 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157577676.
I0419 21:03:35.766710 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157660940.
I0419 21:03:35.787993 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00291231 range=0.670259 variance=0.000749493 t_weight=4002.71 r_weight=0 yaml=(8.715, -2.52) prior=(8.69741, -1.939, -2.11841deg) obs_actual=(0.0326134, -0.585081) obs_expected=(0.03905, -0.579955) delta=(-0.0064366, -0.00512638) |delta|=0.00822859m
I0419 21:03:35.788165 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157870989.
I0419 21:03:35.841063 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(-0.286153, -0.588844)
I0419 21:03:35.841198 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.288967, -0.588112), points=16, range=0.65475, residual=0.00943495, extent=0.0286038
I0419 21:03:35.841226 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.288967, -0.588112), tracking=(0.00953343, -0.588112), map_predicted=(8.7087, -2.53112), range=0.65475, pts=16
I0419 21:03:35.841252 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0127838m maha_sq=0.00694206 (gate chi2=5.99) pose_sigma=(0.151713, 0.151713, rho=0) det_map=(8.7087, -2.53112) lm_pos=(8.715, -2.52) delta=(-0.00630111, -0.011123) -> 1 candidate(s)
I0419 21:03:35.841308 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:35.841324 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.92003 deg, rms_residual=0.0148491m, sigma_yaw=0.0194144 rad, N=2
I0419 21:03:35.841347 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.71627, -1.94378, -1.92003deg) inliers=2 rms=0.0148491m
I0419 21:03:35.841377 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:35.841392 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294157938116.
I0419 21:03:35.842741 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294158173640.
I0419 21:03:35.843425 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0642345s, prior_pose=(8.72002, -1.94304), yaw=-2.03153 deg
I0419 21:03:35.843503 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1368, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 21:03:35.843703 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294158220021.
I0419 21:03:35.850147 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294158495386.
I0419 21:03:35.854609 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294158539731.
I0419 21:03:35.874619 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-0.351529, 0.577409)
I0419 21:03:35.874841 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294158742024.
I0419 21:03:35.882184 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=43, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:35.882287 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:35.882442 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294158816165.
I0419 21:03:35.906745 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:35.907007 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294159060575.
I0419 21:03:35.914572 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:03:35.914727 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:35.914844 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[11] 'ref_12' maha_sq=0.0147878 range=0.859083 variance=0.000592822 t_weight=5060.54 r_weight=2561.28 yaml=(9.615, -1.32) prior=(8.76165, -1.94344, -1.91921deg) obs_actual=(0.847399, 0.661874) obs_expected=(0.831991, 0.651671) delta=(0.015408, 0.0102022) |delta|=0.0184795m
I0419 21:03:35.914975 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294159138616.
I0419 21:03:35.971544 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.683428, -0.602855), points=8, range=0.91225, residual=0.00827707, extent=0.0215506
I0419 21:03:35.971657 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.683428, -0.602855), tracking=(-0.981928, 0.602855), map_predicted=(7.7941, -1.31078), range=0.91225, pts=8
I0419 21:03:35.971685 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0228429m maha_sq=0.0225225 (gate chi2=5.99) pose_sigma=(0.150511, 0.150511, rho=0) det_map=(7.7941, -1.31078) lm_pos=(7.815, -1.32) delta=(-0.0208986, 0.00922201) -> 1 candidate(s)
I0419 21:03:35.971781 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294159338825.
I0419 21:03:35.972623 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294159420793.
I0419 21:03:35.980721 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:35.980985 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294159621716.
I0419 21:03:35.982613 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.47559, -0.527358)
I0419 21:03:35.982788 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294159698899.
I0419 21:03:35.991156 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294159904662.
I0419 21:03:35.998826 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294159980689.
I0419 21:03:36.022652 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294160221069.
I0419 21:03:36.029721 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294160291588.
I0419 21:03:36.050700 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:36.051066 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294160501819.
I0419 21:03:36.094643 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294160575646.
I0419 21:03:36.095865 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.223733, 0.582744), points=18, range=0.625167, residual=0.0106649, extent=0.0313688
I0419 21:03:36.095986 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.223733, 0.582744), tracking=(-0.0747666, -0.582744), map_predicted=(8.71327, -2.52717), range=0.625167, pts=18
I0419 21:03:36.096016 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.00737644m maha_sq=0.00236076 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.71327, -2.52717) lm_pos=(8.715, -2.52) delta=(-0.00172747, -0.00717131) -> 1 candidate(s)
I0419 21:03:36.096091 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0132191 range=0.9466 variance=0.00050271 t_weight=5967.66 r_weight=0 yaml=(7.815, -1.32) prior=(8.80539, -1.94692, -1.70947deg) obs_actual=(-1.02374, 0.605836) obs_expected=(-1.00865, 0.597093) delta=(-0.0150879, 0.00874243) |delta|=0.0174378m
I0419 21:03:36.096171 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294160817278.
I0419 21:03:36.096939 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.494459, 0.653988)
I0419 21:03:36.097050 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:36.097131 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:36.097157 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294160861023.
I0419 21:03:36.110090 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294161094837.
I0419 21:03:36.117519 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596757s, prior_pose=(8.80863, -1.94192), yaw=-1.67604 deg
I0419 21:03:36.117616 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 21:03:36.117758 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.06911 deg, rms_residual=0.0117443m, sigma_yaw=0.0154177 rad, N=2
I0419 21:03:36.117817 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.80428, -1.93349, -2.06911deg) inliers=2 rms=0.0117443m
I0419 21:03:36.117856 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294161172403.
I0419 21:03:36.138805 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294161381436.
I0419 21:03:36.146500 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294161458544.
I0419 21:03:36.169806 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294161692770.
I0419 21:03:36.174068 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:36.174149 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:36.174278 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294161736645.
I0419 21:03:36.231222 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:36.231393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294161978146.
I0419 21:03:36.231652 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:36.232167 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:36.232231 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:36.232311 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294162056132.
I0419 21:03:36.233455 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294162255844.
I0419 21:03:36.235113 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.38931, -0.539086)
I0419 21:03:36.235265 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00395995 range=0.788462 variance=0.000574227 t_weight=5224.41 r_weight=0 yaml=(9.615, -1.32) prior=(8.85973, -1.94024, -1.45143deg) obs_actual=(0.745587, 0.646419) obs_expected=(0.739317, 0.639172) delta=(0.00626915, 0.00724722) |delta|=0.0095825m
I0419 21:03:36.235324 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294162346355.
I0419 21:03:36.258616 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.169522, 0.581465), points=17, range=0.606176, residual=0.00981732, extent=0.0312851
I0419 21:03:36.258718 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.169522, 0.581465), tracking=(-0.128978, -0.581465), map_predicted=(8.71606, -2.51825), range=0.606176, pts=17
I0419 21:03:36.258749 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00204706m maha_sq=0.000181951 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.71606, -2.51825) lm_pos=(8.715, -2.52) delta=(0.00106462, 0.00174843) -> 1 candidate(s)
I0419 21:03:36.258772 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:36.258843 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294162581285.
I0419 21:03:36.262370 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294162617124.
I0419 21:03:36.287534 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294162863313.
I0419 21:03:36.294680 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294162938314.
I0419 21:03:36.315025 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294163142520.
I0419 21:03:36.370743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294163230928.
I0419 21:03:36.372021 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:36.372109 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294163457201.
I0419 21:03:36.372774 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294163501541.
I0419 21:03:36.374935 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294163744903.
I0419 21:03:36.382386 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:36.382725 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:36.382786 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294163816902.
I0419 21:03:36.402551 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294164019319.
I0419 21:03:36.410024 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0351245s, prior_pose=(8.89319, -1.93323), yaw=-1.269 deg
I0419 21:03:36.410133 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:36.410319 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294164096148.
I0419 21:03:36.433951 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.70366, 0.620078)
I0419 21:03:36.434346 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294164334589.
I0419 21:03:36.441839 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.389086, 0.643197), points=16, range=0.752937, residual=0.0123227, extent=0.0407882
I0419 21:03:36.441931 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.389086, 0.643197), tracking=(0.687586, 0.643197), map_predicted=(9.59485, -1.30542), range=0.752937, pts=16
I0419 21:03:36.441962 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0248731m maha_sq=0.0267927 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.59485, -1.30542) lm_pos=(9.615, -1.32) delta=(-0.0201488, 0.0145841) -> 1 candidate(s)
I0419 21:03:36.442028 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00287762 range=1.44467 variance=0.000498687 t_weight=6015.8 r_weight=0 yaml=(10.515, -2.52) prior=(8.89319, -1.93323, -1.269deg) obs_actual=(1.63842, -0.543632) obs_expected=(1.63441, -0.550711) delta=(0.00400885, 0.00707888) |delta|=0.00813519m
I0419 21:03:36.442090 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294164413945.
I0419 21:03:36.500046 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294164612551.
I0419 21:03:36.500922 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:36.501006 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:36.501127 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294164697047.
I0419 21:03:36.502174 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:36.502285 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294164905918.
I0419 21:03:36.503770 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:36.503834 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:36.503916 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294164991839.
I0419 21:03:36.522395 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294165216919.
I0419 21:03:36.526573 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294165261254.
I0419 21:03:36.550720 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:36.550868 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294165502004.
I0419 21:03:36.559630 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294165590578.
I0419 21:03:36.579041 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294165785357.
I0419 21:03:36.633783 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.93023, -1.93479), yaw=-1.23345 deg backend=(8.947, -1.94512)
I0419 21:03:36.634554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294165854074.
I0419 21:03:36.639182 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0632223, 0.584882)
I0419 21:03:36.639340 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294166101279.
I0419 21:03:36.640199 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294166179881.
I0419 21:03:36.642578 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:36.642715 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0392123 range=0.5875 variance=0.000552279 t_weight=5432.04 r_weight=0 yaml=(8.715, -2.52) prior=(8.94512, -1.93336, -1.23986deg) obs_actual=(-0.246589, -0.583518) obs_expected=(-0.217371, -0.591482) delta=(-0.0292181, 0.0079645) |delta|=0.0302841m
I0419 21:03:36.642820 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294166422100.
I0419 21:03:36.646224 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28493, -0.552049), points=3, range=1.39467, residual=0.00778773, extent=0.0153207
I0419 21:03:36.646368 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.28493, -0.552049), tracking=(1.58343, -0.552049), map_predicted=(10.5162, -2.51954), range=1.39467, pts=3
I0419 21:03:36.646431 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00131273m maha_sq=7.48132e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5162, -2.51954) lm_pos=(10.515, -2.52) delta=(0.00123013, 0.0004583) -> 1 candidate(s)
I0419 21:03:36.646564 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294166459174.
I0419 21:03:36.671262 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294166701974.
I0419 21:03:36.673821 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:36.673900 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.92738 deg, rms_residual=0.0126806m, sigma_yaw=0.0166264 rad, N=2
I0419 21:03:36.673951 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.96905, -1.93004, -1.92738deg) inliers=2 rms=0.0126806m
I0419 21:03:36.673988 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:36.674005 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294166733774.
I0419 21:03:36.698247 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294166976753.
I0419 21:03:36.706028 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0633702s, prior_pose=(8.96124, -1.93221), yaw=-1.24054 deg
I0419 21:03:36.706118 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:36.706358 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294167055802.
I0419 21:03:36.764834 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294167261053.
I0419 21:03:36.765617 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294167338456.
I0419 21:03:36.766896 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294167579219.
I0419 21:03:36.768196 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:36.768266 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:36.768343 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294167621179.
I0419 21:03:36.786432 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:36.786631 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294167860050.
I0419 21:03:36.794472 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.23659, -0.552712)
I0419 21:03:36.794570 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:36.794597 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:36.794732 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294167938978.
I0419 21:03:36.814251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294168136217.
I0419 21:03:36.824263 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.047775 range=0.698471 variance=0.000562423 t_weight=5334.06 r_weight=0 yaml=(9.615, -1.32) prior=(8.99884, -1.93044, -1.20291deg) obs_actual=(0.574736, 0.6403) obs_expected=(0.603212, 0.623245) delta=(-0.0284768, 0.0170552) |delta|=0.0331935m
I0419 21:03:36.824424 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294168234828.
I0419 21:03:36.842516 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00506989, 0.583265), points=19, range=0.584211, residual=0.00998228, extent=0.0309311
I0419 21:03:36.843098 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00506989, 0.583265), tracking=(-0.30357, -0.583265), map_predicted=(8.68309, -2.50721), range=0.584211, pts=19
I0419 21:03:36.843145 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0343797m maha_sq=0.0513157 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.68309, -2.50721) lm_pos=(8.715, -2.52) delta=(-0.0319111, 0.0127925) -> 1 candidate(s)
I0419 21:03:36.843175 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:36.843307 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294168420494.
I0419 21:03:36.892009 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294168500297.
I0419 21:03:36.893263 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294168734040.
I0419 21:03:36.894213 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294168813604.
I0419 21:03:36.901930 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294169014752.
I0419 21:03:36.910754 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294169101936.
I0419 21:03:36.933774 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:36.933936 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294169333119.
I0419 21:03:36.942070 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294169415498.
I0419 21:03:36.962620 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294169621438.
I0419 21:03:36.970295 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:36.970440 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:36.970466 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294169698128.
I0419 21:03:37.016230 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0514605, 0.586796)
I0419 21:03:37.016430 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294169898339.
I0419 21:03:37.017231 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0572064s, prior_pose=(9.05012, -1.93082), yaw=-1.19599 deg
I0419 21:03:37.017323 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:37.017508 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294169987562.
I0419 21:03:37.019315 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294170182856.
I0419 21:03:37.026746 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.213071, 0.642891), points=18, range=0.677444, residual=0.011392, extent=0.0339594
I0419 21:03:37.027118 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.213071, 0.642891), tracking=(0.511571, 0.642891), map_predicted=(9.58813, -1.29874), range=0.677444, pts=18
I0419 21:03:37.027155 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0342661m maha_sq=0.0502568 (gate chi2=5.99) pose_sigma=(0.150987, 0.150987, rho=0) det_map=(9.58813, -1.29874) lm_pos=(9.615, -1.32) delta=(-0.0268703, 0.0212638) -> 1 candidate(s)
I0419 21:03:37.027266 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00105763 range=1.295 variance=0.000545016 t_weight=5504.43 r_weight=0 yaml=(10.515, -2.52) prior=(9.06332, -1.93087, -1.18986deg) obs_actual=(1.46789, -0.556354) obs_expected=(1.4636, -0.558863) delta=(0.00428872, 0.0025088) |delta|=0.00496862m
I0419 21:03:37.027369 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294170261818.
I0419 21:03:37.050037 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294170494953.
I0419 21:03:37.057796 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:37.057895 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:37.058033 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294170572899.
I0419 21:03:37.078177 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:37.078368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294170777524.
I0419 21:03:37.085871 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:37.086006 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:37.086156 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294170854497.
I0419 21:03:37.110682 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294171098844.
I0419 21:03:37.173722 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294171177221.
I0419 21:03:37.174774 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:37.174853 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294171375321.
I0419 21:03:37.175675 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294171461844.
I0419 21:03:37.177357 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294171661783.
I0419 21:03:37.177968 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.171313, 0.639254)
I0419 21:03:37.178058 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294171741512.
I0419 21:03:37.198302 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294171976374.
I0419 21:03:37.204818 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294172020196.
I0419 21:03:37.226670 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:37.226775 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0543003 range=0.599222 variance=0.000537177 t_weight=5584.76 r_weight=0 yaml=(8.715, -2.52) prior=(9.11012, -1.9323, -1.25859deg) obs_actual=(-0.415943, -0.585898) obs_expected=(-0.382121, -0.59624) delta=(-0.0338226, 0.010342) |delta|=0.0353684m
I0419 21:03:37.226886 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294172262195.
I0419 21:03:37.234519 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11359, -0.555215), points=4, range=1.2405, residual=0.00907866, extent=0.02014
I0419 21:03:37.234623 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.11359, -0.555215), tracking=(1.41209, -0.555215), map_predicted=(10.5097, -2.51839), range=1.2405, pts=4
I0419 21:03:37.234653 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0055535m maha_sq=0.00133826 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5097, -2.51839) lm_pos=(10.515, -2.52) delta=(-0.00531637, 0.0016055) -> 1 candidate(s)
I0419 21:03:37.234777 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294172340529.
I0419 21:03:37.297531 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294172584887.
I0419 21:03:37.298374 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:37.298432 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.03051 deg, rms_residual=0.0154404m, sigma_yaw=0.020172 rad, N=2
I0419 21:03:37.298473 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.1444, -1.92972, -2.03051deg) inliers=2 rms=0.0154404m
I0419 21:03:37.298509 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:37.298527 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294172619283.
I0419 21:03:37.299810 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294172861342.
I0419 21:03:37.301158 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0314666s, prior_pose=(9.15219, -1.93021), yaw=-1.41298 deg
I0419 21:03:37.301250 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:37.301430 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294172899553.
I0419 21:03:37.315289 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294173142960.
I0419 21:03:37.322134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294173211888.
I0419 21:03:37.346621 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294173457863.
I0419 21:03:37.351075 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:37.351181 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:37.351368 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294173502425.
I0419 21:03:37.374712 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:37.374953 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294173737579.
I0419 21:03:37.472278 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.06921, -0.554604)
I0419 21:03:37.472374 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:37.472397 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:37.472537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294173818103.
I0419 21:03:37.473646 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294174012897.
I0419 21:03:37.474507 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0603359 range=0.64415 variance=0.000581136 t_weight=5162.3 r_weight=0 yaml=(9.615, -1.32) prior=(9.17135, -1.92839, -1.38393deg) obs_actual=(0.395378, 0.635475) obs_expected=(0.428824, 0.618923) delta=(-0.0334464, 0.0165517) |delta|=0.0373178m
I0419 21:03:37.474594 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294174093310.
I0419 21:03:37.476228 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.176349, 0.592116), points=19, range=0.620263, residual=0.0124231, extent=0.0398026
I0419 21:03:37.476282 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.176349, 0.592116), tracking=(-0.474849, -0.592116), map_predicted=(8.6952, -2.50935), range=0.620263, pts=19
I0419 21:03:37.476310 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0224764m maha_sq=0.0216072 (gate chi2=5.99) pose_sigma=(0.150969, 0.150969, rho=0) det_map=(8.6952, -2.50935) lm_pos=(8.715, -2.52) delta=(-0.0197953, 0.0106461) -> 1 candidate(s)
I0419 21:03:37.476332 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:37.476389 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294174297018.
I0419 21:03:37.477294 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294174374011.
I0419 21:03:37.481914 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294174615888.
I0419 21:03:37.483592 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.19857, -1.9293), yaw=-1.42689 deg backend=(9.19432, -1.94699)
I0419 21:03:37.484205 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294174659256.
I0419 21:03:37.490561 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294174899642.
I0419 21:03:37.498219 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294174976807.
I0419 21:03:37.571636 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:37.571797 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294175218314.
I0419 21:03:37.572695 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294175251729.
I0419 21:03:37.573755 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294175494522.
I0419 21:03:37.575259 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:37.575341 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:37.575368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294175580972.
I0419 21:03:37.578119 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.220727, 0.595522)
I0419 21:03:37.578315 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294175777132.
I0419 21:03:37.586361 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639625s, prior_pose=(9.22108, -1.92737), yaw=-1.53323 deg
I0419 21:03:37.586568 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:37.586959 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294175857939.
I0419 21:03:37.606575 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294176058823.
I0419 21:03:37.618917 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294176180531.
I0419 21:03:37.638486 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0465788 range=0.641375 variance=0.000542397 t_weight=5531 r_weight=0 yaml=(8.715, -2.52) prior=(9.23415, -1.92767, -1.53873deg) obs_actual=(-0.533827, -0.59481) obs_expected=(-0.503055, -0.606054) delta=(-0.0307713, 0.0112434) |delta|=0.0327611m
I0419 21:03:37.638653 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294176378671.
I0419 21:03:37.718849 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:37.718976 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:37.719007 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.987789, -0.548777), points=4, range=1.12325, residual=0.0156291, extent=0.0350083
I0419 21:03:37.719027 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.987789, -0.548777), tracking=(1.28629, -0.548777), map_predicted=(10.5024, -2.51047), range=1.12325, pts=4
I0419 21:03:37.719049 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0157826m maha_sq=0.0107083 (gate chi2=5.99) pose_sigma=(0.150202, 0.150202, rho=0) det_map=(10.5024, -2.51047) lm_pos=(10.515, -2.52) delta=(-0.0125808, 0.0095296) -> 1 candidate(s)
I0419 21:03:37.719127 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294176457330.
I0419 21:03:37.719221 1219494 collated_trajectory_builder.cc:82] imu rate: 200.10 Hz 5.00e-03 s +/- 4.32e-03 s (pulsed at 100.02% real time)
I0419 21:03:37.719378 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:37.719343 1219494 collated_trajectory_builder.cc:82] odom rate: 248.73 Hz 4.02e-03 s +/- 7.23e-04 s (pulsed at 99.72% real time)
I0419 21:03:37.719561 1219494 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.12e-03 s (pulsed at 100.00% real time)
I0419 21:03:37.719630 1219494 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.06e-03 s (pulsed at 100.33% real time)
I0419 21:03:37.720768 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:37.720958 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294176659381.
I0419 21:03:37.721678 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:37.721752 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:37.721825 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294176737217.
I0419 21:03:37.723702 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294176972608.
I0419 21:03:37.724509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294177019665.
I0419 21:03:37.726279 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:37.726372 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294177259540.
I0419 21:03:37.734513 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294177338219.
I0419 21:03:37.754981 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294177540876.
I0419 21:03:37.762135 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(-0.0092128, 0.633596)
I0419 21:03:37.762441 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294177613796.
I0419 21:03:37.847914 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294177862219.
I0419 21:03:37.848659 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294177895858.
I0419 21:03:37.849684 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:37.849746 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294178132074.
I0419 21:03:37.851181 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0251154 range=0.631095 variance=0.000587196 t_weight=5109.03 r_weight=0 yaml=(9.615, -1.32) prior=(9.30207, -1.92957, -1.68617deg) obs_actual=(0.272876, 0.628767) obs_expected=(0.294853, 0.618519) delta=(-0.0219772, 0.0102481) |delta|=0.0242492m
I0419 21:03:37.851265 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294178212115.
I0419 21:03:37.852288 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.293769, 0.597836), points=15, range=0.667667, residual=0.00998098, extent=0.0299167
I0419 21:03:37.852332 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.293769, 0.597836), tracking=(-0.592269, -0.597836), map_predicted=(8.69247, -2.50972), range=0.667667, pts=15
I0419 21:03:37.852355 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0247623m maha_sq=0.0266182 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.69247, -2.50972) lm_pos=(8.715, -2.52) delta=(-0.0225296, 0.0102754) -> 1 candidate(s)
I0419 21:03:37.852403 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294178456075.
I0419 21:03:37.853055 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:37.853119 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:37.853142 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294178499875.
I0419 21:03:37.874718 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294178739740.
I0419 21:03:37.885901 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606056s, prior_pose=(9.31376, -1.92888), yaw=-1.72661 deg
I0419 21:03:37.886039 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:37.886351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294178818171.
I0419 21:03:37.902285 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294179017599.
I0419 21:03:37.964046 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.25213 deg, rms_residual=0.00961876m, sigma_yaw=0.0126626 rad, N=2
I0419 21:03:37.964156 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.34325, -1.93439, -2.25213deg) inliers=2 rms=0.00961876m
I0419 21:03:37.964195 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294179097260.
I0419 21:03:37.965263 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294179332322.
I0419 21:03:37.966064 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:37.966115 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:37.966209 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294179380849.
I0419 21:03:37.967818 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:37.967891 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294179619617.
I0419 21:03:37.970031 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.894383, -0.546588)
I0419 21:03:37.970086 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:37.970111 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:37.970175 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294179696587.
I0419 21:03:37.990553 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294179899683.
I0419 21:03:37.999480 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294179988958.
I0419 21:03:38.022169 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:38.022300 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294180216745.
I0419 21:03:38.026484 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0888243, 0.632018), points=21, range=0.639619, residual=0.0120761, extent=0.0381679
I0419 21:03:38.026584 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0888243, 0.632018), tracking=(0.209676, 0.632018), map_predicted=(9.58357, -1.30549), range=0.639619, pts=21
I0419 21:03:38.026614 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0346166m maha_sq=0.0519173 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.58357, -1.30549) lm_pos=(9.615, -1.32) delta=(-0.0314294, 0.0145087) -> 1 candidate(s)
I0419 21:03:38.026680 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00193896 range=1.032 variance=0.000552626 t_weight=5428.62 r_weight=0 yaml=(10.515, -2.52) prior=(9.35377, -1.93047, -1.8344deg) obs_actual=(1.17748, -0.545679) obs_expected=(1.17951, -0.552052) delta=(-0.00202115, 0.00637283) |delta|=0.00668566m
I0419 21:03:38.026732 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294180260757.
I0419 21:03:38.091730 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294180457273.
I0419 21:03:38.092648 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294180580189.
I0419 21:03:38.093698 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294180779908.
I0419 21:03:38.095269 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294180867335.
I0419 21:03:38.106156 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:38.106292 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294181056532.
I0419 21:03:38.113857 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(-0.118523, 0.634179)
I0419 21:03:38.114032 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294181133279.
I0419 21:03:38.134317 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294181338254.
I0419 21:03:38.146245 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 21 -> 20 (threshold=0.03, iters=3)
I0419 21:03:38.146385 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:38.146438 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:38.146457 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294181458101.
I0419 21:03:38.166013 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294181655384.
I0419 21:03:38.229524 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0395396s, prior_pose=(9.41358, -1.95079), yaw=-2.32736 deg
I0419 21:03:38.229645 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:38.229851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294181733650.
I0419 21:03:38.230962 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294181937519.
I0419 21:03:38.231750 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.147826, 0.631819), points=19, range=0.649684, residual=0.0111075, extent=0.0349155
I0419 21:03:38.231822 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.147826, 0.631819), tracking=(0.150674, 0.631819), map_predicted=(9.58979, -1.32561), range=0.649684, pts=19
I0419 21:03:38.231849 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0258261m maha_sq=0.0289253 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.58979, -1.32561) lm_pos=(9.615, -1.32) delta=(-0.0252102, -0.00560659) -> 1 candidate(s)
I0419 21:03:38.231897 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0129256 range=0.987556 variance=0.000592315 t_weight=5064.87 r_weight=0 yaml=(10.515, -2.52) prior=(9.41358, -1.95079, -2.32736deg) obs_actual=(1.12135, -0.541143) obs_expected=(1.12362, -0.524017) delta=(-0.00227868, -0.0171257) |delta|=0.0172767m
I0419 21:03:38.231937 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294182017082.
I0419 21:03:38.233700 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294182254672.
I0419 21:03:38.234515 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:38.234575 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:38.234642 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294182340478.
I0419 21:03:38.254124 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:38.254298 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294182537015.
I0419 21:03:38.263260 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(-0.163589, 0.632514)
I0419 21:03:38.263384 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:38.263447 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:38.263648 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294182618247.
I0419 21:03:38.286346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294182854460.
I0419 21:03:38.290776 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294182898755.
I0419 21:03:38.388618 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:38.388782 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294183137009.
I0419 21:03:38.389848 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294183216506.
I0419 21:03:38.391721 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294183419711.
I0419 21:03:38.392817 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.46561, -1.94037), yaw=-2.80057 deg backend=(9.43762, -1.94797)
I0419 21:03:38.393520 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294183498705.
I0419 21:03:38.394541 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294183700887.
I0419 21:03:38.395385 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0243352 range=0.6667 variance=0.0006089 t_weight=4926.92 r_weight=0 yaml=(9.615, -1.32) prior=(9.46561, -1.94037, -2.80057deg) obs_actual=(0.0959091, 0.632736) obs_expected=(0.118902, 0.626932) delta=(-0.022993, 0.00580361) |delta|=0.0237141m
I0419 21:03:38.395471 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294183778280.
I0419 21:03:38.402575 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.447697, 0.61994), points=14, range=0.768143, residual=0.0128269, extent=0.0343901
I0419 21:03:38.402743 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.447697, 0.61994), tracking=(-0.746197, -0.61994), map_predicted=(8.70091, -2.5218), range=0.768143, pts=14
I0419 21:03:38.402796 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0142017m maha_sq=0.00862946 (gate chi2=5.99) pose_sigma=(0.15089, 0.15089, rho=0) det_map=(8.70091, -2.5218) lm_pos=(8.715, -2.52) delta=(-0.0140873, -0.00179844) -> 1 candidate(s)
I0419 21:03:38.402880 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:38.403066 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294184015775.
I0419 21:03:38.410086 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(-0.213287, 0.634185)
I0419 21:03:38.410275 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.10765 deg, rms_residual=0.010271m, sigma_yaw=0.0135096 rad, N=2
I0419 21:03:38.410356 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.48593, -1.93907, -3.10765deg) inliers=2 rms=0.010271m
I0419 21:03:38.410405 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294184093928.
I0419 21:03:38.431396 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294184303581.
I0419 21:03:38.527667 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:38.527786 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:38.527808 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294184374316.
I0419 21:03:38.528865 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294184579819.
I0419 21:03:38.529641 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643833s, prior_pose=(9.49422, -1.94041), yaw=-3.02112 deg
I0419 21:03:38.529712 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:38.529865 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294184659608.
I0419 21:03:38.531690 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294184894354.
I0419 21:03:38.532542 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294184979117.
I0419 21:03:38.533628 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294185218183.
I0419 21:03:38.535019 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:38.535071 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:38.535147 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294185261897.
I0419 21:03:38.549962 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.359796, -0.631485)
I0419 21:03:38.550043 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:38.550104 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0113795 range=0.797 variance=0.000567129 t_weight=5289.81 r_weight=0 yaml=(8.715, -2.52) prior=(9.52068, -1.94198, -3.25498deg) obs_actual=(-0.787483, -0.625819) obs_expected=(-0.771559, -0.62283) delta=(-0.0159236, -0.00298852) |delta|=0.0162016m
I0419 21:03:38.550185 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294185494638.
I0419 21:03:38.554427 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:38.554498 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.726297, -0.524429), points=9, range=0.898667, residual=0.0105042, extent=0.0303577
I0419 21:03:38.554553 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:38.554574 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.726297, -0.524429), tracking=(1.0248, -0.524429), map_predicted=(10.514, -2.52375), range=0.898667, pts=9
I0419 21:03:38.554598 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00387292m maha_sq=0.00065058 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.514, -2.52375) lm_pos=(10.515, -2.52) delta=(-0.000954934, -0.00375334) -> 1 candidate(s)
I0419 21:03:38.554713 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294185539463.
I0419 21:03:38.622695 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294185782332.
I0419 21:03:38.623611 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294185860649.
I0419 21:03:38.624668 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:38.624780 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186061283.
I0419 21:03:38.626359 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186141837.
I0419 21:03:38.638849 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186378002.
I0419 21:03:38.646040 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.704581, -0.520882)
I0419 21:03:38.646283 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186456549.
I0419 21:03:38.666952 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186657607.
I0419 21:03:38.675699 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186745854.
I0419 21:03:38.699501 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:38.699728 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0155631 range=0.8269 variance=0.000534929 t_weight=5608.22 r_weight=0 yaml=(8.715, -2.52) prior=(9.56043, -1.94451, -3.54748deg) obs_actual=(-0.825712, -0.633891) obs_expected=(-0.808198, -0.626695) delta=(-0.0175133, -0.00719575) |delta|=0.018934m
I0419 21:03:38.699915 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294186983795.
I0419 21:03:38.801625 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.693094, -0.517488), points=12, range=0.861833, residual=0.0137206, extent=0.0406407
I0419 21:03:38.801725 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.693094, -0.517488), tracking=(0.991594, -0.517488), map_predicted=(10.5258, -2.52663), range=0.861833, pts=12
I0419 21:03:38.801759 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.012704m maha_sq=0.00691157 (gate chi2=5.99) pose_sigma=(0.150729, 0.150729, rho=0) det_map=(10.5258, -2.52663) lm_pos=(10.515, -2.52) delta=(0.0108349, -0.00663297) -> 1 candidate(s)
I0419 21:03:38.801846 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187020437.
I0419 21:03:38.803023 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.30877 deg, rms_residual=0.0092809m, sigma_yaw=0.0122233 rad, N=2
I0419 21:03:38.803130 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.59159, -1.94105, -3.30877deg) inliers=2 rms=0.0092809m
I0419 21:03:38.803166 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187253332.
I0419 21:03:38.803943 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:38.804024 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:38.804049 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187299493.
I0419 21:03:38.805791 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.547942, 0.635848)
I0419 21:03:38.805958 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187541870.
I0419 21:03:38.806656 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600093s, prior_pose=(9.58207, -1.94559), yaw=-3.85487 deg
I0419 21:03:38.806707 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=255, threshold=230, above_threshold=44, candidates=44
I0419 21:03:38.806900 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187620530.
I0419 21:03:38.807953 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187823453.
I0419 21:03:38.809566 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294187925166.
I0419 21:03:38.814079 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294188134028.
I0419 21:03:38.819028 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:38.819132 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:38.819384 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294188178906.
I0419 21:03:38.919312 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:38.919461 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0144178 range=0.8595 variance=0.000515976 t_weight=5814.23 r_weight=0 yaml=(8.715, -2.52) prior=(9.60932, -1.9451, -4.0985deg) obs_actual=(-0.8689, -0.640923) obs_expected=(-0.850943, -0.637352) delta=(-0.0179579, -0.00357136) |delta|=0.0183096m
I0419 21:03:38.919531 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294188417625.
I0419 21:03:38.920338 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:38.920408 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.645232, -0.511644), points=13, range=0.823615, residual=0.0127772, extent=0.0407058
I0419 21:03:38.920425 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:38.920439 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.645232, -0.511644), tracking=(0.943732, -0.511644), map_predicted=(10.5141, -2.52288), range=0.823615, pts=13
I0419 21:03:38.920459 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00302858m maha_sq=0.000396979 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5141, -2.52288) lm_pos=(10.515, -2.52) delta=(-0.000930237, -0.00288218) -> 1 candidate(s)
I0419 21:03:38.920569 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294188498441.
I0419 21:03:38.921554 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.245041, -0.627299)
I0419 21:03:38.921690 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294188702612.
I0419 21:03:38.923233 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294188774739.
I0419 21:03:38.924356 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:38.924454 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294189016843.
I0419 21:03:38.925246 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294189095717.
I0419 21:03:38.930564 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294189295504.
I0419 21:03:38.938957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294189378630.
I0419 21:03:38.963227 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294189619514.
I0419 21:03:39.065183 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294189653873.
I0419 21:03:39.066373 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:39.066464 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294189903448.
I0419 21:03:39.067239 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294189978316.
I0419 21:03:39.068956 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294190176630.
I0419 21:03:39.069713 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:39.069763 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.000824735 range=0.780077 variance=0.000571628 t_weight=5248.17 r_weight=0 yaml=(10.515, -2.52) prior=(9.6624, -1.94563, -4.618deg) obs_actual=(0.891973, -0.50534) obs_expected=(0.896077, -0.503863) delta=(-0.00410455, -0.00147669) |delta|=0.00436211m
I0419 21:03:39.069814 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:39.069835 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294190252770.
I0419 21:03:39.070847 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.63017, 0.651758)
I0419 21:03:39.070886 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.187005, -0.624537), points=20, range=0.65305, residual=0.0123152, extent=0.0371107
I0419 21:03:39.070909 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.187005, -0.624537), tracking=(-0.111495, 0.624537), map_predicted=(9.60155, -1.31414), range=0.65305, pts=20
I0419 21:03:39.070932 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0146721m maha_sq=0.00932425 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60155, -1.31414) lm_pos=(9.615, -1.32) delta=(-0.0134517, 0.0058586) -> 1 candidate(s)
I0419 21:03:39.071034 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294190498112.
I0419 21:03:39.072183 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365822s, prior_pose=(9.67972, -1.94654), yaw=-4.72184 deg
I0419 21:03:39.072229 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=249, threshold=230, above_threshold=13, candidates=13
I0419 21:03:39.072322 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294190542452.
I0419 21:03:39.078696 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294190779387.
I0419 21:03:39.090626 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294190899174.
I0419 21:03:39.167645 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294191057205.
I0419 21:03:39.167644 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:39.168437 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:39.168494 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:39.168566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294191136577.
I0419 21:03:39.169621 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:39.169732 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294191341842.
I0419 21:03:39.171237 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:39.171319 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:39.171377 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294191413123.
I0419 21:03:39.172621 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-4.63179 deg, rms_residual=0.00767901m, sigma_yaw=0.0101349 rad, N=2
I0419 21:03:39.172683 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.72183, -1.94934, -4.63179deg) inliers=2 rms=0.00767901m
I0419 21:03:39.172722 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294191659034.
I0419 21:03:39.174047 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294191734517.
I0419 21:03:39.194458 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:39.194687 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294191937385.
I0419 21:03:39.202461 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294192014417.
I0419 21:03:39.223151 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0246756 range=0.945667 variance=0.000503739 t_weight=5955.46 r_weight=0 yaml=(8.715, -2.52) prior=(9.72163, -1.95002, -5.12567deg) obs_actual=(-0.975509, -0.657573) obs_expected=(-0.951684, -0.657634) delta=(-0.0238249, 6.06538e-05) |delta|=0.023825m
I0419 21:03:39.223368 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294192222160.
I0419 21:03:39.313797 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.73435, -1.94953), yaw=-5.11258 deg backend=(9.69146, -1.96141)
I0419 21:03:39.314610 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.537473, -0.49676), points=15, range=0.731067, residual=0.0123194, extent=0.0429592
I0419 21:03:39.314664 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.537473, -0.49676), tracking=(0.835973, -0.49676), map_predicted=(10.5227, -2.51881), range=0.731067, pts=15
I0419 21:03:39.314697 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00781819m maha_sq=0.00261477 (gate chi2=5.99) pose_sigma=(0.150951, 0.150951, rho=0) det_map=(10.5227, -2.51881) lm_pos=(10.515, -2.52) delta=(0.00772778, 0.00118551) -> 1 candidate(s)
I0419 21:03:39.314774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294192318860.
I0419 21:03:39.315791 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.120492, -0.624594)
I0419 21:03:39.315893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294192537240.
I0419 21:03:39.316691 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294192616763.
I0419 21:03:39.318349 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:39.318419 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294192815794.
I0419 21:03:39.319144 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294192900241.
I0419 21:03:39.320235 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294193147495.
I0419 21:03:39.321648 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:39.321733 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:39.321755 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294193182231.
I0419 21:03:39.342036 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294193415047.
I0419 21:03:39.346665 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.06481s, prior_pose=(9.76342, -1.9497), yaw=-5.14543 deg
I0419 21:03:39.346788 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 21:03:39.346967 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294193463894.
I0419 21:03:39.412107 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294193697776.
I0419 21:03:39.412969 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294193777891.
I0419 21:03:39.414019 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294194014678.
I0419 21:03:39.415467 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:39.415519 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:39.415578 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294194095652.
I0419 21:03:39.430406 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:39.430635 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0317671 range=0.9945 variance=0.000502586 t_weight=5969.13 r_weight=0 yaml=(8.715, -2.52) prior=(9.78974, -1.95046, -5.1887deg) obs_actual=(-1.04458, -0.656189) obs_expected=(-1.01883, -0.664403) delta=(-0.0257537, 0.00821407) |delta|=0.027032m
I0419 21:03:39.430744 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294194298080.
I0419 21:03:39.438375 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.470959, -0.497589)
I0419 21:03:39.438558 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:39.438628 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.466956, -0.49775), points=16, range=0.685188, residual=0.0126169, extent=0.0403532
I0419 21:03:39.438685 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:39.438740 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.466956, -0.49775), tracking=(0.765456, -0.49775), map_predicted=(10.507, -2.51539), range=0.685188, pts=16
I0419 21:03:39.438804 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00919146m maha_sq=0.00365792 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.507, -2.51539) lm_pos=(10.515, -2.52) delta=(-0.00795428, 0.0046057) -> 1 candidate(s)
I0419 21:03:39.438962 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294194379476.
I0419 21:03:39.458281 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294194577424.
I0419 21:03:39.466014 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294194654962.
I0419 21:03:39.487577 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:39.487732 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294194870755.
I0419 21:03:39.555348 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294194935654.
I0419 21:03:39.556788 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294195176841.
I0419 21:03:39.557699 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294195258148.
I0419 21:03:39.559640 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294195498811.
I0419 21:03:39.560364 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294195532429.
I0419 21:03:39.578588 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:39.578742 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294195779733.
I0419 21:03:39.584508 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:39.587031 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294195861371.
I0419 21:03:39.606415 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294196054590.
I0419 21:03:39.614255 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:39.614471 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:39.614516 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294196133509.
I0419 21:03:39.719471 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.818147, 0.650753)
I0419 21:03:39.719640 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0430516 range=1.0454 variance=0.000503971 t_weight=5952.73 r_weight=0 yaml=(8.715, -2.52) prior=(9.85739, -1.95006, -4.83242deg) obs_actual=(-1.11904, -0.65072) obs_expected=(-1.09031, -0.664155) delta=(-0.028727, 0.0134354) |delta|=0.0317136m
I0419 21:03:39.719710 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294196338297.
I0419 21:03:39.720444 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554304s, prior_pose=(9.85739, -1.95006), yaw=-4.83242 deg
I0419 21:03:39.720510 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:39.720595 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.410793, -0.501172), points=19, range=0.645158, residual=0.0138663, extent=0.0439413
I0419 21:03:39.720619 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.410793, -0.501172), tracking=(0.709293, -0.501172), map_predicted=(10.5219, -2.5092), range=0.645158, pts=19
I0419 21:03:39.720643 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0128385m maha_sq=0.00712683 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5219, -2.5092) lm_pos=(10.515, -2.52) delta=(0.00693787, 0.0108025) -> 1 candidate(s)
I0419 21:03:39.720709 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294196415675.
I0419 21:03:39.721930 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294196659867.
I0419 21:03:39.723392 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294196741871.
I0419 21:03:39.724588 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294196978698.
I0419 21:03:39.725253 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:39.725320 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:39.725376 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294197012208.
I0419 21:03:39.727131 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:39.727253 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294197221267.
I0419 21:03:39.730499 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:39.730613 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:39.730736 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294197298672.
I0419 21:03:39.755025 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294197539440.
I0419 21:03:39.842130 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294197576489.
I0419 21:03:39.843288 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:39.843400 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294197817378.
I0419 21:03:39.844250 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294197896546.
I0419 21:03:39.846012 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.45435 deg, rms_residual=0.00893467m, sigma_yaw=0.0117726 rad, N=2
I0419 21:03:39.846110 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.92062, -1.9493, -3.45435deg) inliers=2 rms=0.00893467m
I0419 21:03:39.846144 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294198141207.
I0419 21:03:39.846904 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294198174602.
I0419 21:03:39.847910 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0491925, -0.622098)
I0419 21:03:39.847961 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.885877, 0.651523), points=4, range=1.09675, residual=0.00757838, extent=0.0169501
I0419 21:03:39.847987 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.885877, 0.651523), tracking=(-1.18438, -0.651523), map_predicted=(8.67335, -2.50785), range=1.09675, pts=4
I0419 21:03:39.848009 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0433893m maha_sq=0.0818091 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.67335, -2.50785) lm_pos=(8.715, -2.52) delta=(-0.0416545, 0.0121463) -> 1 candidate(s)
I0419 21:03:39.848054 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00747116 range=0.6225 variance=0.000561178 t_weight=5345.9 r_weight=0 yaml=(9.615, -1.32) prior=(9.90626, -1.95363, -4.61deg) obs_actual=(-0.348149, 0.619332) obs_expected=(-0.34124, 0.608171) delta=(-0.00690895, 0.0111607) |delta|=0.0131261m
I0419 21:03:39.848099 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294198421769.
I0419 21:03:39.850724 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294198501540.
I0419 21:03:39.870316 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:39.870595 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294198693452.
I0419 21:03:39.878887 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294198778978.
I0419 21:03:39.966192 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294199018370.
I0419 21:03:39.966986 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:39.967068 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:39.967094 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294199054302.
I0419 21:03:39.968178 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294199300215.
I0419 21:03:39.969486 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0328038s, prior_pose=(9.95417, -1.95312), yaw=-4.51878 deg
I0419 21:03:39.969591 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:03:39.969728 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294199346408.
I0419 21:03:39.970988 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294199572200.
I0419 21:03:39.971875 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294199657947.
I0419 21:03:39.986727 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294199860781.
I0419 21:03:39.994534 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:39.994623 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:39.994741 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294199941063.
I0419 21:03:40.019075 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:40.019413 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294200182098.
I0419 21:03:40.104121 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.289582, -0.506339)
I0419 21:03:40.104213 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:40.104235 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:40.104306 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294200219835.
I0419 21:03:40.105504 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.949343, 0.646363), points=5, range=1.1496, residual=0.00700011, extent=0.0166952
I0419 21:03:40.105578 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.949343, 0.646363), tracking=(-1.24784, -0.646363), map_predicted=(8.67974, -2.50161), range=1.1496, pts=5
I0419 21:03:40.105604 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0397617m maha_sq=0.0687177 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.67974, -2.50161) lm_pos=(8.715, -2.52) delta=(-0.0352557, 0.0183854) -> 1 candidate(s)
I0419 21:03:40.105655 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0124207 range=0.63065 variance=0.000559062 t_weight=5366.13 r_weight=0 yaml=(9.615, -1.32) prior=(9.97375, -1.9535, -4.42681deg) obs_actual=(-0.405185, 0.62078) obs_expected=(-0.406581, 0.603914) delta=(0.00139635, 0.0168659) |delta|=0.0169236m
I0419 21:03:40.105716 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294200457425.
I0419 21:03:40.106475 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294200535400.
I0419 21:03:40.108283 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:40.108403 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294200742295.
I0419 21:03:40.109265 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294200820858.
I0419 21:03:40.110514 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294201059598.
I0419 21:03:40.111526 1218530 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.001, -1.95482), yaw=-4.3458 deg backend=(9.95528, -1.98336)
I0419 21:03:40.111977 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294201096190.
I0419 21:03:40.134806 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294201337885.
I0419 21:03:40.142478 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294201414256.
I0419 21:03:40.238087 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:40.238233 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294201662551.
I0419 21:03:40.239008 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294201698308.
I0419 21:03:40.240170 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294201936493.
I0419 21:03:40.241683 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:40.241757 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:40.241781 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294202018040.
I0419 21:03:40.242679 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.00257, 0.637325)
I0419 21:03:40.242769 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294202213409.
I0419 21:03:40.243444 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0630221s, prior_pose=(10.0232, -1.95606), yaw=-4.18528 deg
I0419 21:03:40.243492 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:40.243631 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294202292772.
I0419 21:03:40.250430 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294202498587.
I0419 21:03:40.258777 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294202579841.
I0419 21:03:40.282596 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.120749 range=1.20125 variance=0.000496697 t_weight=6039.9 r_weight=0 yaml=(8.715, -2.52) prior=(10.0314, -1.95614, -4.11869deg) obs_actual=(-1.31998, -0.634175) obs_expected=(-1.27246, -0.656944) delta=(-0.0475223, 0.0227696) |delta|=0.0526955m
I0419 21:03:40.282832 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294202816840.
I0419 21:03:40.374630 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:40.374760 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:40.374814 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.202777, -0.512425), points=26, range=0.552846, residual=0.0138227, extent=0.0444454
I0419 21:03:40.374848 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.202777, -0.512425), tracking=(0.501277, -0.512425), map_predicted=(10.5133, -2.50457), range=0.552846, pts=26
I0419 21:03:40.374883 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0155153m maha_sq=0.0102262 (gate chi2=5.99) pose_sigma=(0.151381, 0.151381, rho=0) det_map=(10.5133, -2.50457) lm_pos=(10.515, -2.52) delta=(-0.00165455, 0.0154268) -> 1 candidate(s)
I0419 21:03:40.375005 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294202896624.
I0419 21:03:40.376083 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:40.376214 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203138212.
I0419 21:03:40.377043 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:40.377140 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:40.377211 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203173627.
I0419 21:03:40.379019 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203412423.
I0419 21:03:40.379889 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203461661.
I0419 21:03:40.380971 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:40.381065 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203694621.
I0419 21:03:40.382589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203778762.
I0419 21:03:40.398742 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294203978329.
I0419 21:03:40.414834 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294204138882.
I0419 21:03:40.515527 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.213181, -0.630764)
I0419 21:03:40.515700 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294204300701.
I0419 21:03:40.516486 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294204337216.
I0419 21:03:40.517781 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:40.517886 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294204577633.
I0419 21:03:40.519399 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294204652351.
I0419 21:03:40.520491 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294204855238.
I0419 21:03:40.521363 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:40.521459 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:40.521483 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294204936446.
I0419 21:03:40.523443 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294205182015.
I0419 21:03:40.524019 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565849s, prior_pose=(10.0999, -1.96245), yaw=-3.81903 deg
I0419 21:03:40.524081 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:40.524299 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294205218200.
I0419 21:03:40.546078 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10835, 0.629204), points=3, range=1.27133, residual=0.00653921, extent=0.0116425
I0419 21:03:40.546206 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10835, 0.629204), tracking=(-1.40685, -0.629204), map_predicted=(8.65424, -2.49656), range=1.27133, pts=3
I0419 21:03:40.546259 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0651214m maha_sq=0.184317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.65424, -2.49656) lm_pos=(8.715, -2.52) delta=(-0.0607553, 0.0234432) -> 1 candidate(s)
I0419 21:03:40.546365 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0354651 range=0.680789 variance=0.000632644 t_weight=4742 r_weight=0 yaml=(9.615, -1.32) prior=(10.0999, -1.96245, -3.81903deg) obs_actual=(-0.542429, 0.632601) obs_expected=(-0.526598, 0.608732) delta=(-0.0158319, 0.0238695) |delta|=0.0286426m
I0419 21:03:40.546482 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294205452968.
I0419 21:03:40.649241 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294205542533.
I0419 21:03:40.649760 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:40.650743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294205777969.
I0419 21:03:40.651487 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:40.651597 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:40.651697 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294205812661.
I0419 21:03:40.653620 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:40.653795 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294206059879.
I0419 21:03:40.654577 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(0.104653, -0.517813)
I0419 21:03:40.654649 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:40.654673 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:40.654726 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294206094581.
I0419 21:03:40.655730 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294206337958.
I0419 21:03:40.657294 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294206417495.
I0419 21:03:40.666210 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:40.666354 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294206656625.
I0419 21:03:40.670946 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294206701905.
I0419 21:03:40.751966 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294206937253.
I0419 21:03:40.752889 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294207017879.
I0419 21:03:40.753988 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294207217514.
I0419 21:03:40.755563 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00729999 range=0.523115 variance=0.000579132 t_weight=5180.17 r_weight=0 yaml=(10.515, -2.52) prior=(10.1869, -1.96756, -3.50551deg) obs_actual=(0.362936, -0.518376) obs_expected=(0.361233, -0.531348) delta=(0.00170251, 0.0129715) |delta|=0.0130828m
I0419 21:03:40.755659 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294207261782.
I0419 21:03:40.756768 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.301775, -0.634959), points=17, range=0.706706, residual=0.0146215, extent=0.0469882
I0419 21:03:40.756829 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.301775, -0.634959), tracking=(-0.600275, 0.634959), map_predicted=(9.6266, -1.29708), range=0.706706, pts=17
I0419 21:03:40.756852 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0256863m maha_sq=0.0284988 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6266, -1.29708) lm_pos=(9.615, -1.32) delta=(0.0116039, 0.0229158) -> 1 candidate(s)
I0419 21:03:40.756889 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:40.756912 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.21539 deg, rms_residual=0.0102759m, sigma_yaw=0.0135161 rad, N=2
I0419 21:03:40.756930 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.1964, -1.96947, -2.21539deg) inliers=2 rms=0.0102759m
I0419 21:03:40.756954 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294207537253.
I0419 21:03:40.758167 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294207576500.
I0419 21:03:40.782577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294207819580.
I0419 21:03:40.790084 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:40.790213 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:40.790243 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294207894408.
I0419 21:03:40.810218 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.322826, -0.637956)
I0419 21:03:40.810400 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294208097960.
I0419 21:03:40.872004 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0357653s, prior_pose=(10.217, -1.96963), yaw=-3.36331 deg
I0419 21:03:40.872114 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:40.872315 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294208177233.
I0419 21:03:40.873406 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294208418335.
I0419 21:03:40.874217 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294208461385.
I0419 21:03:40.875916 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294208700658.
I0419 21:03:40.876565 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:40.876602 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:40.876662 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294208736457.
I0419 21:03:40.898607 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:40.898813 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294208980433.
I0419 21:03:40.906739 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:40.906863 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:40.906955 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294209059371.
I0419 21:03:40.926429 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0659864 range=1.37067 variance=0.000502855 t_weight=5965.93 r_weight=0 yaml=(8.715, -2.52) prior=(10.2433, -1.96918, -3.26005deg) obs_actual=(-1.52635, -0.614412) obs_expected=(-1.49449, -0.636835) delta=(-0.0318608, 0.0224224) |delta|=0.0389599m
I0419 21:03:40.926568 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294209259666.
I0419 21:03:40.934091 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00530599, -0.520339), points=27, range=0.519556, residual=0.0126586, extent=0.0416622
I0419 21:03:40.934185 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.00530599, -0.520339), tracking=(0.303806, -0.520339), map_predicted=(10.517, -2.50596), range=0.519556, pts=27
I0419 21:03:40.934214 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0141854m maha_sq=0.00871405 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.517, -2.50596) lm_pos=(10.515, -2.52) delta=(0.0020128, 0.0140418) -> 1 candidate(s)
I0419 21:03:40.934301 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294209336247.
I0419 21:03:41.000057 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:41.000205 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294209579276.
I0419 21:03:41.001057 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.79132, -0.402599)
I0419 21:03:41.001237 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294209659030.
I0419 21:03:41.002372 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294209863516.
I0419 21:03:41.003392 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.2657, -1.95997), yaw=-3.0881 deg backend=(10.2257, -2.00043)
I0419 21:03:41.003918 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294209931920.
I0419 21:03:41.013867 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294210133454.
I0419 21:03:41.023277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294210221627.
I0419 21:03:41.046633 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:41.046885 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294210456026.
I0419 21:03:41.051105 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294210499384.
I0419 21:03:41.074932 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294210740396.
I0419 21:03:41.145741 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:41.145869 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:41.145891 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294210816668.
I0419 21:03:41.147094 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211061585.
I0419 21:03:41.147665 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0638666s, prior_pose=(10.2859, -1.96501), yaw=-3.04023 deg
I0419 21:03:41.147733 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:41.147843 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.74197, -0.40751)
I0419 21:03:41.147914 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211094692.
I0419 21:03:41.149830 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211334079.
I0419 21:03:41.150730 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211413671.
I0419 21:03:41.162319 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211615829.
I0419 21:03:41.170302 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:41.170413 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:41.170599 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211693975.
I0419 21:03:41.195160 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:41.195425 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0429648 range=0.775187 variance=0.000656094 t_weight=4572.52 r_weight=0 yaml=(9.615, -1.32) prior=(10.302, -1.96836, -2.91464deg) obs_actual=(-0.725793, 0.643416) obs_expected=(-0.719117, 0.612589) delta=(-0.0066761, 0.0308274) |delta|=0.031542m
I0419 21:03:41.195971 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211941102.
I0419 21:03:41.198318 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:41.198434 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0868199, -0.523373), points=25, range=0.53028, residual=0.0119561, extent=0.037364
I0419 21:03:41.198484 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:41.198519 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0868199, -0.523373), tracking=(0.21168, -0.523373), map_predicted=(10.4868, -2.50182), range=0.53028, pts=25
I0419 21:03:41.198565 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0335249m maha_sq=0.0487071 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4868, -2.50182) lm_pos=(10.515, -2.52) delta=(-0.0281685, 0.0181782) -> 1 candidate(s)
I0419 21:03:41.198776 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294211975440.
I0419 21:03:41.296525 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294212216011.
I0419 21:03:41.297564 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294212295076.
I0419 21:03:41.298682 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:41.298830 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294212536542.
I0419 21:03:41.300439 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294212580567.
I0419 21:03:41.301635 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294212816553.
I0419 21:03:41.302488 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294212861236.
I0419 21:03:41.310747 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.33246, 0.595561)
I0419 21:03:41.310968 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213097555.
I0419 21:03:41.318611 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213180144.
I0419 21:03:41.342644 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:41.342905 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213418244.
I0419 21:03:41.439682 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213457806.
I0419 21:03:41.440892 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213694627.
I0419 21:03:41.441627 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:41.441728 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:41.441751 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213739629.
I0419 21:03:41.443647 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294213978199.
I0419 21:03:41.444406 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600978s, prior_pose=(10.3528, -1.97011), yaw=-2.62442 deg
I0419 21:03:41.444470 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=254, threshold=230, above_threshold=25, candidates=25
I0419 21:03:41.444638 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214058784.
I0419 21:03:41.446744 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214255187.
I0419 21:03:41.449651 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214333904.
I0419 21:03:41.458258 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214572883.
I0419 21:03:41.470583 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:41.470779 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:41.470989 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214696739.
I0419 21:03:41.564395 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.519055, -0.650436)
I0419 21:03:41.564527 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:41.564584 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0587014 range=0.832214 variance=0.000641421 t_weight=4677.12 r_weight=0 yaml=(9.615, -1.32) prior=(10.3809, -1.97246, -2.49683deg) obs_actual=(-0.81374, 0.649596) obs_expected=(-0.79358, 0.618473) delta=(-0.0201604, 0.0311231) |delta|=0.0370822m
I0419 21:03:41.564632 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214853702.
I0419 21:03:41.565497 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:41.565577 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.170337, -0.524102), points=24, range=0.551917, residual=0.0124315, extent=0.0367905
I0419 21:03:41.565598 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:41.565613 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.170337, -0.524102), tracking=(0.128163, -0.524102), map_predicted=(10.4861, -2.50165), range=0.551917, pts=24
I0419 21:03:41.565637 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0342423m maha_sq=0.0507872 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4861, -2.50165) lm_pos=(10.515, -2.52) delta=(-0.0289075, 0.0183545) -> 1 candidate(s)
I0419 21:03:41.565706 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294214911104.
I0419 21:03:41.566918 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294215176358.
I0419 21:03:41.568426 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294215214845.
I0419 21:03:41.569655 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:41.569780 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294215459483.
I0419 21:03:41.570536 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294215536900.
I0419 21:03:41.574481 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294215735209.
I0419 21:03:41.579104 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294215780843.
I0419 21:03:41.602644 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216018214.
I0419 21:03:41.702991 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216097235.
I0419 21:03:41.704068 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:41.704164 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216337704.
I0419 21:03:41.704980 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216412927.
I0419 21:03:41.706732 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.569405, -0.656842)
I0419 21:03:41.706898 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216613595.
I0419 21:03:41.707665 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:41.707732 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:41.707757 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216702731.
I0419 21:03:41.708729 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216938635.
I0419 21:03:41.710101 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0366224s, prior_pose=(10.4458, -1.97428), yaw=-2.1915 deg
I0419 21:03:41.710171 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=254, threshold=230, above_threshold=24, candidates=24
I0419 21:03:41.710296 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294216979819.
I0419 21:03:41.722378 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294217216148.
I0419 21:03:41.730989 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294217299300.
I0419 21:03:41.833648 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294217498377.
I0419 21:03:41.834594 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:41.834672 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:03:41.834767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294217580440.
I0419 21:03:41.835846 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:41.835945 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.162244 range=0.899364 variance=0.000614201 t_weight=4884.39 r_weight=0 yaml=(9.615, -1.32) prior=(10.4555, -1.97476, -2.124deg) obs_actual=(-0.911059, 0.662583) obs_expected=(-0.864203, 0.623154) delta=(-0.0468563, 0.0394288) |delta|=0.0612384m
I0419 21:03:41.836025 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294217817211.
I0419 21:03:41.837632 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:41.837707 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.269483, -0.523115), points=19, range=0.587316, residual=0.0109669, extent=0.0332942
I0419 21:03:41.837728 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:41.837744 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.269483, -0.523115), tracking=(0.0290167, -0.523115), map_predicted=(10.4811, -2.49914), range=0.587316, pts=19
I0419 21:03:41.837771 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0398085m maha_sq=0.0677184 (gate chi2=5.99) pose_sigma=(0.151155, 0.151155, rho=0) det_map=(10.4811, -2.49914) lm_pos=(10.515, -2.52) delta=(-0.0339045, 0.0208615) -> 1 candidate(s)
I0419 21:03:41.837857 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294217867984.
I0419 21:03:41.838898 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218100234.
I0419 21:03:41.839807 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.54328, -0.449826)
I0419 21:03:41.839911 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218178380.
I0419 21:03:41.841617 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:41.841730 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218387819.
I0419 21:03:41.846486 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218459941.
I0419 21:03:41.866148 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218656759.
I0419 21:03:41.938874 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(10.4978, -1.97419), yaw=-2.00966 deg backend=(10.4774, -2.00775)
I0419 21:03:41.939488 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218739506.
I0419 21:03:41.940675 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294218975260.
I0419 21:03:41.941489 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294219054621.
I0419 21:03:41.943256 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:41.943353 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294219257568.
I0419 21:03:41.943991 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.299719, -0.527971)
I0419 21:03:41.944110 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294219334100.
I0419 21:03:41.958824 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294219578690.
I0419 21:03:41.986487 1264424 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 31 -> 28 (threshold=0.03, iters=3)
I0419 21:03:41.987149 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:41.987625 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:41.987958 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294219853925.
I0419 21:03:41.994331 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0678781s, prior_pose=(10.5266, -1.97995), yaw=-2.00626 deg
I0419 21:03:41.994513 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=232, threshold=230, above_threshold=2, candidates=2
I0419 21:03:42.094482 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294220141066.
I0419 21:03:42.094636 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:42.096472 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294220464796.
I0419 21:03:42.097817 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=2, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:42.097930 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:03:42.099205 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294220737002.
I0419 21:03:42.102627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294221020124.
I0419 21:03:42.130259 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.228812, 0.521847)
I0419 21:03:42.130432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294221297817.
I0419 21:03:42.191702 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0145251 range=1.51833 variance=0.000576524 t_weight=5203.6 r_weight=0 yaml=(12.315, -2.52) prior=(10.5778, -1.98863, -1.89353deg) obs_actual=(1.74656, -0.456553) obs_expected=(1.75379, -0.473677) delta=(-0.00723185, 0.0171246) |delta|=0.0185891m
I0419 21:03:42.191831 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294221375335.
I0419 21:03:42.192853 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.223379, 0.521867), points=25, range=0.56628, residual=0.0138637, extent=0.0402711
I0419 21:03:42.192906 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:42.192924 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.223379, 0.521867), tracking=(-0.0751215, -0.521867), map_predicted=(10.4855, -2.50773), range=0.56628, pts=25
I0419 21:03:42.192946 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0319574m maha_sq=0.0441627 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4855, -2.50773) lm_pos=(10.515, -2.52) delta=(-0.0295087, 0.0122683) -> 1 candidate(s)
I0419 21:03:42.193002 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294221627302.
I0419 21:03:42.195456 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:42.195534 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:42.195605 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294221901522.
I0419 21:03:42.222662 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294222220984.
I0419 21:03:42.250808 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294222501570.
I0419 21:03:42.325824 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:42.326047 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294222776274.
I0419 21:03:42.326828 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604722s, prior_pose=(10.6027, -1.98804), yaw=-1.79598 deg
I0419 21:03:42.326965 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=237, threshold=230, above_threshold=2, candidates=2
I0419 21:03:42.328112 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294223096207.
I0419 21:03:42.329628 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.40413, -0.463009)
I0419 21:03:42.338075 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294223375250.
I0419 21:03:42.346127 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=2, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:42.346235 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:03:42.370863 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294223700549.
I0419 21:03:42.403988 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294224030749.
I0419 21:03:42.405133 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294224030912.
I0419 21:03:42.484759 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.690603, -0.569291)
I0419 21:03:42.484905 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:42.484979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294224257169.
I0419 21:03:42.485499 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294224337488.
I0419 21:03:42.487793 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294224580498.
I0419 21:03:42.489748 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:42.489866 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:42.489889 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294224853966.
I0419 21:03:42.491204 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294224908681.
I0419 21:03:42.514572 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0277728 range=0.535593 variance=0.000593147 t_weight=5057.77 r_weight=0 yaml=(10.515, -2.52) prior=(10.6951, -1.98727, -1.73868deg) obs_actual=(-0.183538, -0.52199) obs_expected=(-0.163873, -0.537948) delta=(-0.0196651, 0.0159576) |delta|=0.0253251m
I0419 21:03:42.514803 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294225138005.
I0419 21:03:42.522647 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33385, -0.457108), points=3, range=1.41267, residual=0.00689028, extent=0.0145423
I0419 21:03:42.522825 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.33385, -0.457108), tracking=(1.63235, -0.457108), map_predicted=(12.3128, -2.4937), range=1.41267, pts=3
I0419 21:03:42.522877 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0263913m maha_sq=0.0302533 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3128, -2.4937) lm_pos=(12.315, -2.52) delta=(-0.00215432, 0.0263033) -> 1 candidate(s)
I0419 21:03:42.523077 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294225217549.
I0419 21:03:42.641059 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.839556, -0.65985)
I0419 21:03:42.641258 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294225462369.
I0419 21:03:42.642014 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294225496839.
I0419 21:03:42.643309 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294225737747.
I0419 21:03:42.644699 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0309831s, prior_pose=(10.7268, -1.99884), yaw=-1.90161 deg
I0419 21:03:42.644789 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=238, threshold=230, above_threshold=3, candidates=3
I0419 21:03:42.644824 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:42.644912 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294225772200.
I0419 21:03:42.646214 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:42.646268 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:42.646328 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294226014722.
I0419 21:03:42.647177 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294226096899.
I0419 21:03:42.649197 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294226292223.
I0419 21:03:42.650086 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:03:42.650127 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:03:42.650152 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:42.650197 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294226373451.
I0419 21:03:42.663021 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294226619237.
I0419 21:03:42.755628 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294226697248.
I0419 21:03:42.756776 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294226892975.
I0419 21:03:42.757553 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294226951046.
I0419 21:03:42.759306 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0599037, 0.525586), points=28, range=0.52975, residual=0.0130364, extent=0.0423889
I0419 21:03:42.759399 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0599037, 0.525586), tracking=(-0.238596, -0.525586), map_predicted=(10.512, -2.52234), range=0.52975, pts=28
I0419 21:03:42.759426 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.00378433m maha_sq=0.000612794 (gate chi2=5.99) pose_sigma=(0.150892, 0.150892, rho=0) det_map=(10.512, -2.52234) lm_pos=(10.515, -2.52) delta=(-0.00297666, -0.00233681) -> 1 candidate(s)
I0419 21:03:42.759490 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.38065 deg, rms_residual=0.012701m, sigma_yaw=0.0166527 rad, N=2
I0419 21:03:42.759507 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0304939 range=1.1164 variance=0.000511169 t_weight=5868.9 r_weight=0 yaml=(9.615, -1.32) prior=(10.7707, -2.00634, -2.21031deg) obs_actual=(-1.20374, 0.655665) obs_expected=(-1.18132, 0.64126) delta=(-0.022414, 0.0144048) |delta|=0.0266436m
I0419 21:03:42.759552 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.7828, -2.01494, -2.38065deg) inliers=2 rms=0.012701m
I0419 21:03:42.759581 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294227182741.
I0419 21:03:42.760288 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.28349, -0.448192)
I0419 21:03:42.760349 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:42.760394 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294227254260.
I0419 21:03:42.761561 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294227499955.
I0419 21:03:42.762563 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.7863, -2.00876), yaw=-2.3334 deg backend=(10.7452, -2.00873)
I0419 21:03:42.762918 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294227533058.
I0419 21:03:42.779349 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:42.779588 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:42.779635 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294227781114.
I0419 21:03:42.786728 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294227861681.
I0419 21:03:42.849185 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294228097444.
I0419 21:03:42.849900 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294228141273.
I0419 21:03:42.851222 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294228386904.
I0419 21:03:42.852622 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294228420863.
I0419 21:03:42.866214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294228655114.
I0419 21:03:42.873706 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635333s, prior_pose=(10.8157, -2.01165), yaw=-2.26546 deg
I0419 21:03:42.873868 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=235, threshold=230, above_threshold=6, candidates=6
I0419 21:03:42.873939 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:42.874079 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294228732777.
I0419 21:03:42.898542 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.00612744, 0.5252)
I0419 21:03:42.898690 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:42.898730 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:42.898942 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294228974917.
I0419 21:03:42.902580 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0335988 range=1.31325 variance=0.000514477 t_weight=5831.16 r_weight=0 yaml=(12.315, -2.52) prior=(10.8256, -2.01347, -2.27212deg) obs_actual=(1.53612, -0.446389) obs_expected=(1.50832, -0.44708) delta=(0.027799, 0.000690462) |delta|=0.0278075m
I0419 21:03:42.902772 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294229020617.
I0419 21:03:42.926146 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.965915, -0.655597), points=6, range=1.16583, residual=0.00816401, extent=0.0213506
I0419 21:03:42.926509 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.965915, -0.655597), tracking=(-1.26442, 0.655597), map_predicted=(9.58816, -1.30826), range=1.16583, pts=6
I0419 21:03:42.926708 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0292949m maha_sq=0.0372712 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.58816, -1.30826) lm_pos=(9.615, -1.32) delta=(-0.0268412, 0.0117364) -> 1 candidate(s)
I0419 21:03:42.927387 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294229255092.
I0419 21:03:43.009837 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:43.009938 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:43.010002 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:43.010072 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294229293891.
I0419 21:03:43.011436 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294229538051.
I0419 21:03:43.012458 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294229615298.
I0419 21:03:43.014732 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294229826976.
I0419 21:03:43.015692 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294229893319.
I0419 21:03:43.018069 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294230132254.
I0419 21:03:43.020200 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:43.020303 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294230196129.
I0419 21:03:43.042337 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294230416342.
I0419 21:03:43.050071 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.18996, -0.450817)
I0419 21:03:43.050247 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294230493746.
I0419 21:03:43.112524 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:43.112687 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:43.112720 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294230737477.
I0419 21:03:43.113624 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294230775343.
I0419 21:03:43.114773 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294231018712.
I0419 21:03:43.116276 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:03:43.130187 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.064728, 0.527101), points=26, range=0.531923, residual=0.0118977, extent=0.0392668
I0419 21:03:43.130272 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.064728, 0.527101), tracking=(-0.363228, -0.527101), map_predicted=(10.507, -2.52927), range=0.531923, pts=26
I0419 21:03:43.130307 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0122653m maha_sq=0.00642864 (gate chi2=5.99) pose_sigma=(0.151088, 0.151088, rho=0) det_map=(10.507, -2.52927) lm_pos=(10.515, -2.52) delta=(-0.00802884, -0.00927229) -> 1 candidate(s)
I0419 21:03:43.130375 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0213147 range=1.21825 variance=0.000534922 t_weight=5608.29 r_weight=0 yaml=(9.615, -1.32) prior=(10.8908, -2.01698, -2.27174deg) obs_actual=(-1.32025, 0.659302) obs_expected=(-1.30243, 0.645864) delta=(-0.0178155, 0.0134377) |delta|=0.0223151m
I0419 21:03:43.130482 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294231296799.
I0419 21:03:43.162024 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294231611792.
I0419 21:03:43.166213 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597194s, prior_pose=(10.9015, -2.01688), yaw=-2.26556 deg
I0419 21:03:43.166314 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=236, threshold=230, above_threshold=3, candidates=3
I0419 21:03:43.190052 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294231893150.
I0419 21:03:43.256179 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294231980803.
I0419 21:03:43.257414 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:43.257546 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294232221110.
I0419 21:03:43.258216 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:43.258287 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.14248, -0.453862)
I0419 21:03:43.258307 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=0
I0419 21:03:43.260102 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:43.260185 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:43.260269 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294232494013.
I0419 21:03:43.260848 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294232537245.
I0419 21:03:43.278472 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294232779292.
I0419 21:03:43.286350 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:43.286522 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294232859912.
I0419 21:03:43.306617 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294233059780.
I0419 21:03:43.313987 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294233132807.
I0419 21:03:43.386334 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294233372936.
I0419 21:03:43.387306 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294233454982.
I0419 21:03:43.388427 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294233655135.
I0419 21:03:43.389853 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.93346, 0.790983)
I0419 21:03:43.398119 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:43.398237 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.00927881 range=0.546304 variance=0.000562411 t_weight=5334.17 r_weight=0 yaml=(10.515, -2.52) prior=(10.9717, -2.02087, -2.07386deg) obs_actual=(-0.449191, -0.525379) obs_expected=(-0.438371, -0.515332) delta=(-0.0108197, -0.0100461) |delta|=0.0147645m
I0419 21:03:43.398332 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294233976195.
I0419 21:03:43.402609 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08815, -0.458148), points=4, range=1.1745, residual=0.0140791, extent=0.0316924
I0419 21:03:43.402695 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.08815, -0.458148), tracking=(1.38665, -0.458148), map_predicted=(12.3409, -2.5289), range=1.1745, pts=4
I0419 21:03:43.402724 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0273788m maha_sq=0.0323693 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3409, -2.5289) lm_pos=(12.315, -2.52) delta=(0.0258931, -0.00889641) -> 1 candidate(s)
I0419 21:03:43.402822 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294234022050.
I0419 21:03:43.426044 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294234253806.
I0419 21:03:43.430174 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:43.430388 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:43.430455 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294234297191.
I0419 21:03:43.454660 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.94285 deg, rms_residual=0.0138192m, sigma_yaw=0.0180923 rad, N=2
I0419 21:03:43.454851 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.0026, -2.02124, -1.94285deg) inliers=2 rms=0.0138192m
I0419 21:03:43.454919 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294234535233.
I0419 21:03:43.548261 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0360952s, prior_pose=(11.0032, -2.0203), yaw=-2.05103 deg
I0419 21:03:43.548368 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=242, threshold=230, above_threshold=4, candidates=4
I0419 21:03:43.548530 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:43.549700 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294234863063.
I0419 21:03:43.550365 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294234899266.
I0419 21:03:43.552066 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294235095792.
I0419 21:03:43.552754 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:43.552805 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.04163, -0.45829)
I0419 21:03:43.552824 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:43.552876 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294235173792.
I0419 21:03:43.553906 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294235417615.
I0419 21:03:43.555375 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:43.555428 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:43.555444 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:43.555491 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294235494890.
I0419 21:03:43.572741 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294235720041.
I0419 21:03:43.578311 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294235776587.
I0419 21:03:43.669517 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236023244.
I0419 21:03:43.670363 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:43.670500 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236056408.
I0419 21:03:43.671648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236301814.
I0419 21:03:43.672664 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.0303, -2.02159), yaw=-1.62883 deg backend=(11.0105, -2.01681)
I0419 21:03:43.673252 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236352992.
I0419 21:03:43.674484 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236577119.
I0419 21:03:43.675407 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0067253 range=1.1102 variance=0.000547064 t_weight=5483.82 r_weight=0 yaml=(12.315, -2.52) prior=(11.0303, -2.02159, -1.62883deg) obs_actual=(1.30836, -0.469105) obs_expected=(1.29835, -0.461694) delta=(0.0100033, -0.00741159) |delta|=0.0124498m
I0419 21:03:43.675509 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236653847.
I0419 21:03:43.694038 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.242305, 0.519507), points=21, range=0.573571, residual=0.0111941, extent=0.0358071
I0419 21:03:43.696020 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.242305, 0.519507), tracking=(-0.540805, -0.519507), map_predicted=(10.4856, -2.52658), range=0.573571, pts=21
I0419 21:03:43.696710 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.030167m maha_sq=0.0390894 (gate chi2=5.99) pose_sigma=(0.15074, 0.15074, rho=0) det_map=(10.4856, -2.52658) lm_pos=(10.515, -2.52) delta=(-0.0294403, -0.00658159) -> 1 candidate(s)
I0419 21:03:43.697000 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236884771.
I0419 21:03:43.698999 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:43.699136 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294236932092.
I0419 21:03:43.718158 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.249877, 0.519776)
I0419 21:03:43.718374 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294237174813.
I0419 21:03:43.786728 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294237244995.
I0419 21:03:43.788146 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:43.788369 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:43.788419 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294237501411.
I0419 21:03:43.788990 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0661117s, prior_pose=(11.0593, -2.02346), yaw=-1.46702 deg
I0419 21:03:43.789053 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=244, threshold=230, above_threshold=6, candidates=6
I0419 21:03:43.789157 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294237545888.
I0419 21:03:43.791019 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294237774547.
I0419 21:03:43.791666 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294237818794.
I0419 21:03:43.805851 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238053223.
I0419 21:03:43.813930 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:43.814038 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:43.814141 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238133899.
I0419 21:03:43.836787 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=21, centroid=(0.288332, 0.516603)
I0419 21:03:43.836977 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238363632.
I0419 21:03:43.842583 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:43.842692 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:43.842710 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:43.842787 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238421236.
I0419 21:03:43.907191 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238660991.
I0419 21:03:43.907888 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238695331.
I0419 21:03:43.909029 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294238942161.
I0419 21:03:43.910570 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:43.910697 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239019383.
I0419 21:03:43.926119 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239256200.
I0419 21:03:43.930671 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239300438.
I0419 21:03:43.954164 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239534968.
I0419 21:03:43.958446 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.012822 range=1.034 variance=0.000526074 t_weight=5702.62 r_weight=0 yaml=(12.315, -2.52) prior=(11.1237, -2.02363, -0.912461deg) obs_actual=(1.21358, -0.486545) obs_expected=(1.19908, -0.477337) delta=(0.0145064, -0.00920888) |delta|=0.0171825m
I0419 21:03:43.958647 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239579103.
I0419 21:03:43.981621 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.334193, 0.514425), points=22, range=0.616409, residual=0.0153737, extent=0.0497084
I0419 21:03:43.981770 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.334193, 0.514425), tracking=(-0.632693, -0.514425), map_predicted=(10.4829, -2.52791), range=0.616409, pts=22
I0419 21:03:43.981822 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0330904m maha_sq=0.0472566 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4829, -2.52791) lm_pos=(10.515, -2.52) delta=(-0.0321302, -0.00791363) -> 1 candidate(s)
I0419 21:03:43.981957 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239811712.
I0419 21:03:44.041469 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.76417, 0.739767)
I0419 21:03:44.041604 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:44.041658 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294239901515.
I0419 21:03:44.042804 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240139133.
I0419 21:03:44.043653 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240172092.
I0419 21:03:44.045676 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:44.045789 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:44.045814 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240426759.
I0419 21:03:44.046454 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553516s, prior_pose=(11.1411, -2.02452), yaw=-0.730758 deg
I0419 21:03:44.046527 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=243, threshold=230, above_threshold=7, candidates=7
I0419 21:03:44.046573 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:03:44.046644 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240455031.
I0419 21:03:44.070602 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240699139.
I0419 21:03:44.078135 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240775841.
I0419 21:03:44.098489 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294240978729.
I0419 21:03:44.106212 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:44.106308 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:44.106437 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241058279.
I0419 21:03:44.186563 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241296533.
I0419 21:03:44.193545 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:44.193650 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:44.193694 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:44.193802 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241374241.
I0419 21:03:44.194947 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241581800.
I0419 21:03:44.196554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241660216.
I0419 21:03:44.197580 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.399992, 0.508758)
I0419 21:03:44.197723 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241863040.
I0419 21:03:44.198439 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:44.198520 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294241954879.
I0419 21:03:44.218632 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294242179741.
I0419 21:03:44.226616 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294242260002.
I0419 21:03:44.249110 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294242484267.
I0419 21:03:44.316812 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00455419 range=0.961167 variance=0.000520087 t_weight=5768.26 r_weight=0 yaml=(12.315, -2.52) prior=(11.1954, -2.02463, -0.24283deg) obs_actual=(1.12123, -0.500859) obs_expected=(1.12164, -0.49062) delta=(-0.000415644, -0.0102392) |delta|=0.0102476m
I0419 21:03:44.316948 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294242540676.
I0419 21:03:44.318163 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.427868, 0.506807), points=16, range=0.667125, residual=0.0141251, extent=0.0413049
I0419 21:03:44.318236 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.427868, 0.506807), tracking=(-0.726368, -0.506807), map_predicted=(10.4669, -2.52835), range=0.667125, pts=16
I0419 21:03:44.318264 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0487831m maha_sq=0.102863 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4669, -2.52835) lm_pos=(10.515, -2.52) delta=(-0.0480624, -0.00835474) -> 1 candidate(s)
I0419 21:03:44.318353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294242778467.
I0419 21:03:44.319008 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:44.319082 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294242812939.
I0419 21:03:44.320875 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294243057236.
I0419 21:03:44.321659 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294243135426.
I0419 21:03:44.334717 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:44.335258 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:44.335294 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294243335728.
I0419 21:03:44.342159 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0358199s, prior_pose=(11.2218, -2.02469), yaw=-0.0443142 deg
I0419 21:03:44.342337 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:03:44.342692 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294243415435.
I0419 21:03:44.366354 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294243658258.
I0419 21:03:44.369625 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.66712, 0.713355)
I0419 21:03:44.369808 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294243693062.
I0419 21:03:44.430398 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294243934147.
I0419 21:03:44.431363 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:44.431470 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:44.431596 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294243988307.
I0419 21:03:44.432898 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294244261333.
I0419 21:03:44.434435 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:44.434557 1218530 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:44.434595 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:44.434681 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294244296144.
I0419 21:03:44.454470 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294244533592.
I0419 21:03:44.458995 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294244584090.
I0419 21:03:44.482782 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294244822457.
I0419 21:03:44.490379 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:44.490574 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0783493 range=1.779 variance=0.000555699 t_weight=5398.61 r_weight=0 yaml=(13.215, -1.32) prior=(11.2615, -2.00685, 0.19643deg) obs_actual=(1.92617, 0.710542) obs_expected=(1.95588, 0.680151) delta=(-0.0297127, 0.03039) |delta|=0.0425017m
I0419 21:03:44.490733 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294244895269.
I0419 21:03:44.510740 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.403837, -0.711359), points=5, range=0.817, residual=0.00461204, extent=0.0099884
I0419 21:03:44.510887 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.403837, -0.711359), tracking=(0.105337, 0.711359), map_predicted=(11.3644, -1.29514), range=0.817, pts=5
I0419 21:03:44.510949 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0564131m maha_sq=0.13859 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.3644, -1.29514) lm_pos=(11.415, -1.32) delta=(-0.0506384, 0.0248634) -> 1 candidate(s)
I0419 21:03:44.511195 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294245099558.
I0419 21:03:44.607632 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.2886, -2.01111), yaw=0.262236 deg backend=(11.2665, -2.01846)
I0419 21:03:44.608467 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294245180058.
I0419 21:03:44.609603 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294245418738.
I0419 21:03:44.610311 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.6235, 0.705905)
I0419 21:03:44.610445 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294245452577.
I0419 21:03:44.612298 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294245692449.
I0419 21:03:44.613005 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:44.613067 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294245780676.
I0419 21:03:44.614207 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294245978057.
I0419 21:03:44.615655 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294246066051.
I0419 21:03:44.631006 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:44.631181 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:44.631222 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294246301830.
I0419 21:03:44.638751 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0688927s, prior_pose=(11.3202, -2.01544), yaw=0.37262 deg
I0419 21:03:44.638897 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=249, threshold=230, above_threshold=9, candidates=9
I0419 21:03:44.639139 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294246381376.
I0419 21:03:44.735890 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294246620645.
I0419 21:03:44.736769 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57648, 0.701879), points=4, range=1.72775, residual=0.00812014, extent=0.0186687
I0419 21:03:44.736847 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.57648, 0.701879), tracking=(1.87498, 0.701879), map_predicted=(13.2148, -1.30577), range=1.72775, pts=4
I0419 21:03:44.736873 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0142268m maha_sq=0.00877512 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2148, -1.30577) lm_pos=(13.215, -1.32) delta=(-0.000179384, 0.0142257) -> 1 candidate(s)
I0419 21:03:44.736928 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00909634 range=0.852429 variance=0.000539896 t_weight=5556.62 r_weight=0 yaml=(12.315, -2.52) prior=(11.3437, -2.01782, 0.31101deg) obs_actual=(0.982416, -0.511695) obs_expected=(0.968577, -0.507445) delta=(0.0138387, -0.00425072) |delta|=0.0144768m
I0419 21:03:44.736989 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294246694858.
I0419 21:03:44.738125 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294246900217.
I0419 21:03:44.739403 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:44.739462 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.57283, 0.700241)
I0419 21:03:44.739480 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:44.739562 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294246933181.
I0419 21:03:44.740862 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294247180963.
I0419 21:03:44.741672 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:44.741729 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:44.741747 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:44.741811 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294247254244.
I0419 21:03:44.746091 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294247453202.
I0419 21:03:44.754976 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294247542169.
I0419 21:03:44.779124 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294247778183.
I0419 21:03:44.870388 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:44.870507 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.14139 deg, rms_residual=0.00975596m, sigma_yaw=0.0128409 rad, N=2
I0419 21:03:44.870553 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.3679, -2.01231, 0.14139deg) inliers=2 rms=0.00975596m
I0419 21:03:44.870591 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294247815362.
I0419 21:03:44.871927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294248062002.
I0419 21:03:44.872690 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294248140666.
I0419 21:03:44.874514 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.617336, 0.501681), points=10, range=0.7918, residual=0.0141934, extent=0.0378224
I0419 21:03:44.874622 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.617336, 0.501681), tracking=(-0.915836, -0.501681), map_predicted=(10.4798, -2.52737), range=0.7918, pts=10
I0419 21:03:44.874655 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0359447m maha_sq=0.0549511 (gate chi2=5.99) pose_sigma=(0.151229, 0.151229, rho=0) det_map=(10.4798, -2.52737) lm_pos=(10.515, -2.52) delta=(-0.0351805, -0.00737273) -> 1 candidate(s)
I0419 21:03:44.874727 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0111092 range=0.781412 variance=0.000604418 t_weight=4963.46 r_weight=0 yaml=(11.415, -1.32) prior=(11.391, -2.01734, 0.52384deg) obs_actual=(0.0216872, 0.710724) obs_expected=(0.0303442, 0.697092) delta=(-0.00865704, 0.0136323) |delta|=0.0161488m
I0419 21:03:44.874799 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294248336958.
I0419 21:03:44.875610 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.52955, 0.69166)
I0419 21:03:44.875741 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294248416731.
I0419 21:03:44.876791 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294248621824.
I0419 21:03:44.878374 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:44.878484 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294248701279.
I0419 21:03:44.894488 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294248938432.
I0419 21:03:44.898075 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294248975207.
I0419 21:03:44.957978 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:44.958102 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:44.958133 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294249215052.
I0419 21:03:44.958002 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:44.958894 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593117s, prior_pose=(11.4207, -2.01887), yaw=0.646844 deg
I0419 21:03:44.958981 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=252, threshold=230, above_threshold=15, candidates=15
I0419 21:03:44.959115 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294249294396.
I0419 21:03:44.960239 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294249512765.
I0419 21:03:44.961869 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294249572413.
I0419 21:03:44.982810 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0236374 range=0.823364 variance=0.000621892 t_weight=4823.99 r_weight=0 yaml=(10.515, -2.52) prior=(11.4368, -2.01914, 0.709531deg) obs_actual=(-0.949159, -0.499186) obs_expected=(-0.927923, -0.48941) delta=(-0.0212361, -0.00977594) |delta|=0.0233782m
I0419 21:03:44.982942 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294249822553.
I0419 21:03:44.990454 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:44.990549 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.49935, 0.691196)
I0419 21:03:44.990571 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:44.990599 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.576306, -0.520367), points=12, range=0.775833, residual=0.0113949, extent=0.0396445
I0419 21:03:44.990621 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.576306, -0.520367), tracking=(0.874806, -0.520367), map_predicted=(12.318, -2.52863), range=0.775833, pts=12
I0419 21:03:44.990645 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00912913m maha_sq=0.00361255 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.318, -2.52863) lm_pos=(12.315, -2.52) delta=(0.00297418, -0.00863107) -> 1 candidate(s)
I0419 21:03:44.990758 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294249900191.
I0419 21:03:45.010573 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294250100389.
I0419 21:03:45.018152 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:45.018258 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:45.018278 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:45.018363 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294250176407.
I0419 21:03:45.042466 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294250419329.
I0419 21:03:45.112932 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294250456479.
I0419 21:03:45.114116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294250701452.
I0419 21:03:45.114907 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:45.115005 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294250782726.
I0419 21:03:45.116614 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251011520.
I0419 21:03:45.117390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294251055335.
I0419 21:03:45.130232 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251296584.
I0419 21:03:45.133965 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.45536, 0.683789)
I0419 21:03:45.134114 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251336040.
I0419 21:03:45.158006 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.711116, 0.496663), points=7, range=0.867286, residual=0.0101133, extent=0.0313524
I0419 21:03:45.158107 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.711116, 0.496663), tracking=(-1.00962, -0.496663), map_predicted=(10.4861, -2.53058), range=0.867286, pts=7
I0419 21:03:45.158138 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0308093m maha_sq=0.0411876 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.4861, -2.53058) lm_pos=(10.515, -2.52) delta=(-0.0289362, -0.0105788) -> 1 candidate(s)
I0419 21:03:45.158198 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.92149 deg, rms_residual=0.0172336m, sigma_yaw=0.0224619 rad, N=2
I0419 21:03:45.158216 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0141092 range=0.753706 variance=0.000593568 t_weight=5054.18 r_weight=0 yaml=(11.415, -1.32) prior=(11.4879, -2.01837, 0.885866deg) obs_actual=(-0.0693128, 0.715945) obs_expected=(-0.0620748, 0.699409) delta=(-0.00723805, 0.0165361) |delta|=0.0180508m
I0419 21:03:45.158252 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.5062, -2.02095, 0.92149deg) inliers=2 rms=0.0172336m
I0419 21:03:45.158280 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251575423.
I0419 21:03:45.162254 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:45.162398 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251618780.
I0419 21:03:45.226282 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251864358.
I0419 21:03:45.227483 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294251932755.
I0419 21:03:45.228694 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:45.228775 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:45.228799 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294252179664.
I0419 21:03:45.230106 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0348837s, prior_pose=(11.5129, -2.01819), yaw=0.985895 deg
I0419 21:03:45.230197 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=251, threshold=230, above_threshold=16, candidates=16
I0419 21:03:45.230304 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294252213195.
I0419 21:03:45.246348 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294252458683.
I0419 21:03:45.254729 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294252540035.
I0419 21:03:45.274955 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294252742514.
I0419 21:03:45.282611 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:45.282702 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.414, 0.684561)
I0419 21:03:45.282728 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:45.282882 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294252820052.
I0419 21:03:45.307085 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0774748 range=0.9085 variance=0.000508228 t_weight=5902.87 r_weight=0 yaml=(10.515, -2.52) prior=(11.5213, -2.0138, 1.02088deg) obs_actual=(-1.05613, -0.49827) obs_expected=(-1.01513, -0.488191) delta=(-0.0409996, -0.0100792) |delta|=0.0422203m
I0419 21:03:45.307365 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253061995.
I0419 21:03:45.402391 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:45.402508 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471087, -0.524628), points=17, range=0.706, residual=0.0133548, extent=0.0465444
I0419 21:03:45.402531 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:45.402549 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:45.402565 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471087, -0.524628), tracking=(0.769587, -0.524628), map_predicted=(12.3248, -2.53195), range=0.706, pts=17
I0419 21:03:45.402590 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0154222m maha_sq=0.0100399 (gate chi2=5.99) pose_sigma=(0.151902, 0.151902, rho=0) det_map=(12.3248, -2.53195) lm_pos=(12.315, -2.52) delta=(0.00975461, -0.0119454) -> 1 candidate(s)
I0419 21:03:45.402704 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253096973.
I0419 21:03:45.403918 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253339689.
I0419 21:03:45.404752 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253420244.
I0419 21:03:45.406806 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253659911.
I0419 21:03:45.407538 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:45.407608 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253693795.
I0419 21:03:45.408622 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294253939836.
I0419 21:03:45.409662 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.5694, -2.02094), yaw=1.16315 deg backend=(11.5321, -2.01357)
I0419 21:03:45.410230 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294254022858.
I0419 21:03:45.421633 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294254211819.
I0419 21:03:45.430665 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.36622, 0.67866)
I0419 21:03:45.430840 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294254302276.
I0419 21:03:45.504122 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294254540444.
I0419 21:03:45.504906 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3689, 0.680017), points=3, range=1.525, residual=0.00750117, extent=0.0149201
I0419 21:03:45.504966 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3689, 0.680017), tracking=(1.6674, 0.680017), map_predicted=(13.2365, -1.30577), range=1.525, pts=3
I0419 21:03:45.504992 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0257767m maha_sq=0.0288392 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2365, -1.30577) lm_pos=(13.215, -1.32) delta=(0.0214901, 0.0142343) -> 1 candidate(s)
I0419 21:03:45.505028 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:45.505053 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00463975 range=0.676125 variance=0.000586713 t_weight=5113.23 r_weight=0 yaml=(12.315, -2.52) prior=(11.5831, -2.01927, 1.15563deg) obs_actual=(0.720486, -0.525675) obs_expected=(0.721607, -0.515386) delta=(-0.00112123, -0.0102888) |delta|=0.0103497m
I0419 21:03:45.505142 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294254573719.
I0419 21:03:45.506181 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.30643 deg, rms_residual=0.0275064m, sigma_yaw=0.0353777 rad, N=2
I0419 21:03:45.506246 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.6051, -2.02202, 1.30643deg) inliers=2 rms=0.0275064m
I0419 21:03:45.506278 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294254811643.
I0419 21:03:45.507746 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294254894369.
I0419 21:03:45.509961 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:45.510056 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:45.510082 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255095430.
I0419 21:03:45.515084 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604272s, prior_pose=(11.6006, -2.01987), yaw=1.20496 deg
I0419 21:03:45.515206 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:45.515496 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255144716.
I0419 21:03:45.542485 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255415083.
I0419 21:03:45.546943 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255460261.
I0419 21:03:45.570470 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255693190.
I0419 21:03:45.665531 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:45.665629 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.32078, 0.672943)
I0419 21:03:45.665648 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:45.665748 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255739088.
I0419 21:03:45.667086 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294255981467.
I0419 21:03:45.667994 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:45.668083 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32226, 0.673705), points=4, range=1.478, residual=0.0140051, extent=0.0317262
I0419 21:03:45.668103 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:45.668114 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:45.668123 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.32226, 0.673705), tracking=(1.62076, 0.673705), map_predicted=(13.2196, -1.31135), range=1.478, pts=4
I0419 21:03:45.668140 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.00979176m maha_sq=0.00413702 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2196, -1.31135) lm_pos=(13.215, -1.32) delta=(0.00459531, 0.00864649) -> 1 candidate(s)
I0419 21:03:45.668190 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.020206 range=0.649056 variance=0.000613106 t_weight=4893.12 r_weight=0 yaml=(12.315, -2.52) prior=(11.6138, -2.02006, 1.2429deg) obs_actual=(0.672155, -0.52699) obs_expected=(0.690158, -0.515035) delta=(-0.0180033, -0.0119543) |delta|=0.0216107m
I0419 21:03:45.668258 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256060012.
I0419 21:03:45.670094 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256293988.
I0419 21:03:45.670845 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256339241.
I0419 21:03:45.671974 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256573726.
I0419 21:03:45.673326 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:45.673429 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256619024.
I0419 21:03:45.687198 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256860079.
I0419 21:03:45.694331 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294256932655.
I0419 21:03:45.779984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294257184005.
I0419 21:03:45.780781 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.28298, 0.670235)
I0419 21:03:45.780941 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294257219934.
I0419 21:03:45.782325 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294257458879.
I0419 21:03:45.783890 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:45.784011 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294257493342.
I0419 21:03:45.785161 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0435304 range=1.0285 variance=0.000511122 t_weight=5869.44 r_weight=0 yaml=(10.515, -2.52) prior=(11.6821, -2.01679, 1.51326deg) obs_actual=(-1.208, -0.486976) obs_expected=(-1.18, -0.472216) delta=(-0.027997, -0.0147598) |delta|=0.0316494m
I0419 21:03:45.785275 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294257738613.
I0419 21:03:45.786078 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.324815, -0.531631), points=19, range=0.621, residual=0.013004, extent=0.0410279
I0419 21:03:45.786144 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.324815, -0.531631), tracking=(0.623315, -0.531631), map_predicted=(12.3193, -2.53177), range=0.621, pts=19
I0419 21:03:45.786171 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0125173m maha_sq=0.00678172 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3193, -2.53177) lm_pos=(12.315, -2.52) delta=(0.00425501, -0.0117719) -> 1 candidate(s)
I0419 21:03:45.786249 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294257816242.
I0419 21:03:45.802704 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:45.802969 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:45.803016 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294258021818.
I0419 21:03:45.810621 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608186s, prior_pose=(11.6852, -2.01588), yaw=1.54507 deg
I0419 21:03:45.810763 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:45.811131 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294258101528.
I0419 21:03:45.926079 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.72641 deg, rms_residual=0.0169128m, sigma_yaw=0.022053 rad, N=2
I0419 21:03:45.926187 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.6878, -2.0205, 1.72641deg) inliers=2 rms=0.0169128m
I0419 21:03:45.926229 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294258380616.
I0419 21:03:45.927285 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294258619489.
I0419 21:03:45.928092 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:45.928151 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.2442, 0.66619)
I0419 21:03:45.928171 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:45.928241 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294258696167.
I0419 21:03:45.929989 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294258901191.
I0419 21:03:45.930843 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294258985680.
I0419 21:03:45.931818 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:45.931871 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:45.931890 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:45.931948 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294259221103.
I0419 21:03:45.933462 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294259297882.
I0419 21:03:45.949887 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0899738 range=1.081 variance=0.000493051 t_weight=6084.56 r_weight=0 yaml=(10.515, -2.52) prior=(11.7212, -2.01742, 1.62857deg) obs_actual=(-1.2599, -0.489845) obs_expected=(-1.21995, -0.468096) delta=(-0.0399472, -0.0217485) |delta|=0.0454838m
I0419 21:03:45.950083 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294259492952.
I0419 21:03:45.958742 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.26867, -0.532865), points=22, range=0.597, residual=0.0136621, extent=0.0505533
I0419 21:03:45.958843 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.26867, -0.532865), tracking=(0.56717, -0.532865), map_predicted=(12.3032, -2.53395), range=0.597, pts=22
I0419 21:03:45.958890 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0182475m maha_sq=0.0144015 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3032, -2.53395) lm_pos=(12.315, -2.52) delta=(-0.0117602, -0.0139524) -> 1 candidate(s)
I0419 21:03:45.959030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294259580527.
I0419 21:03:46.041932 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:46.042091 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294259857912.
I0419 21:03:46.043141 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294260096714.
I0419 21:03:46.044622 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294260141544.
I0419 21:03:46.045791 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.983532, 0.486756)
I0419 21:03:46.045903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294260376802.
I0419 21:03:46.046693 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294260456542.
I0419 21:03:46.070845 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294260696602.
I0419 21:03:46.075091 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:46.075299 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294260741897.
I0419 21:03:46.099095 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294260982213.
I0419 21:03:46.190340 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.036367s, prior_pose=(11.7691, -2.01386), yaw=1.47519 deg
I0419 21:03:46.190448 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:46.190646 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294261060272.
I0419 21:03:46.191665 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:46.191723 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:46.191745 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294261258493.
I0419 21:03:46.192421 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0075401 range=1.34267 variance=0.000526105 t_weight=5702.28 r_weight=0 yaml=(13.215, -1.32) prior=(11.7691, -2.01386, 1.47519deg) obs_actual=(1.46568, 0.669355) obs_expected=(1.46326, 0.656405) delta=(0.00242743, 0.0129509) |delta|=0.0131765m
I0419 21:03:46.192487 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294261338744.
I0419 21:03:46.195252 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0578445, -0.721398), points=15, range=0.723533, residual=0.00975573, extent=0.0294282
I0419 21:03:46.195364 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0578445, -0.721398), tracking=(-0.356344, 0.721398), map_predicted=(11.4049, -1.30112), range=0.723533, pts=15
I0419 21:03:46.195394 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0213998m maha_sq=0.0196946 (gate chi2=5.99) pose_sigma=(0.15073, 0.15073, rho=0) det_map=(11.4049, -1.30112) lm_pos=(11.415, -1.32) delta=(-0.0100696, 0.0188827) -> 1 candidate(s)
I0419 21:03:46.195482 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294261579329.
I0419 21:03:46.196132 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:46.196195 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:46.196265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294261615280.
I0419 21:03:46.197511 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.02602, 0.493035)
I0419 21:03:46.197628 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294261862376.
I0419 21:03:46.198999 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294261943791.
I0419 21:03:46.215745 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294262143203.
I0419 21:03:46.221891 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:46.222004 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:46.222025 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:46.222146 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294262213161.
I0419 21:03:46.300395 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294262500011.
I0419 21:03:46.302345 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.8196, -2.00966), yaw=1.22806 deg backend=(11.7752, -2.00068)
I0419 21:03:46.303012 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294262812819.
I0419 21:03:46.305783 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294263052958.
I0419 21:03:46.310333 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:46.310494 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294263097782.
I0419 21:03:46.330895 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.06347, 0.499658)
I0419 21:03:46.331230 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294263301510.
I0419 21:03:46.339409 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294263380849.
I0419 21:03:46.363116 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294263620333.
I0419 21:03:46.453605 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294263694035.
I0419 21:03:46.453914 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:46.454679 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0434156 range=0.7295 variance=0.000560941 t_weight=5348.15 r_weight=0 yaml=(11.415, -1.32) prior=(11.8356, -2.00913, 1.14162deg) obs_actual=(-0.430899, 0.71786) obs_expected=(-0.406783, 0.697376) delta=(-0.0241163, 0.0204844) |delta|=0.0316418m
I0419 21:03:46.454769 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294263932610.
I0419 21:03:46.455467 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0677481s, prior_pose=(11.8356, -2.00913), yaw=1.14162 deg
I0419 21:03:46.455525 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:46.455636 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.141379, -0.530559), points=24, range=0.551167, residual=0.0129523, extent=0.0446668
I0419 21:03:46.455662 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.141379, -0.530559), tracking=(0.439879, -0.530559), map_predicted=(12.286, -2.53082), range=0.551167, pts=24
I0419 21:03:46.455715 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0309928m maha_sq=0.0415818 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.286, -2.53082) lm_pos=(12.315, -2.52) delta=(-0.0290417, -0.0108229) -> 1 candidate(s)
I0419 21:03:46.455752 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:46.455778 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.925888 deg, rms_residual=0.0152095m, sigma_yaw=0.0198763 rad, N=2
I0419 21:03:46.455803 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.8575, -2.00879, 0.925888deg) inliers=2 rms=0.0152095m
I0419 21:03:46.455830 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294263978991.
I0419 21:03:46.457512 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294264216521.
I0419 21:03:46.458364 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294264340773.
I0419 21:03:46.459290 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:46.459348 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:46.459369 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294264499852.
I0419 21:03:46.460811 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:46.460871 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:46.460932 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294264577553.
I0419 21:03:46.478170 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.10834, 0.505082)
I0419 21:03:46.478482 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294264773404.
I0419 21:03:46.486701 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294264852633.
I0419 21:03:46.578229 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294265101235.
I0419 21:03:46.579190 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294265174239.
I0419 21:03:46.581558 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294265454438.
I0419 21:03:46.583132 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:46.583195 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:46.583213 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:46.583261 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294265738015.
I0419 21:03:46.598050 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294265975335.
I0419 21:03:46.605850 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01557, 0.685002), points=4, range=1.22175, residual=0.00819478, extent=0.0183916
I0419 21:03:46.605927 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01557, 0.685002), tracking=(1.31407, 0.685002), map_predicted=(13.2109, -1.30351), range=1.22175, pts=4
I0419 21:03:46.605994 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0170054m maha_sq=0.0125572 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2109, -1.30351) lm_pos=(13.215, -1.32) delta=(-0.00413819, 0.0164942) -> 1 candidate(s)
I0419 21:03:46.606061 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0171475 range=0.537923 variance=0.000586007 t_weight=5119.4 r_weight=0 yaml=(12.315, -2.52) prior=(11.9059, -2.00563, 0.749042deg) obs_actual=(0.385726, -0.530556) obs_expected=(0.402385, -0.519677) delta=(-0.0166588, -0.0108789) |delta|=0.0198964m
I0419 21:03:46.606108 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294266053540.
I0419 21:03:46.695312 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294266336040.
I0419 21:03:46.696419 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.1585, 0.511744)
I0419 21:03:46.697178 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:46.697278 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294266619365.
I0419 21:03:46.699118 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294266863324.
I0419 21:03:46.699685 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565542s, prior_pose=(11.9237, -2.0048), yaw=0.667774 deg
I0419 21:03:46.699750 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:46.699888 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294266901582.
I0419 21:03:46.714174 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294267136844.
I0419 21:03:46.722247 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294267215138.
I0419 21:03:46.746178 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294267453174.
I0419 21:03:46.750553 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:46.750671 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:46.750773 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:46.750912 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294267497361.
I0419 21:03:46.752429 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:46.840649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294267778320.
I0419 21:03:46.842067 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294268019369.
I0419 21:03:46.843984 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:46.844105 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:46.844128 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294268096127.
I0419 21:03:46.845208 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.20563, 0.52421)
I0419 21:03:46.845322 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294268340645.
I0419 21:03:46.846143 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294268375137.
I0419 21:03:46.867111 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294268660457.
I0419 21:03:46.898514 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294268972126.
I0419 21:03:46.982475 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294269020374.
I0419 21:03:46.983501 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.171859 range=1.34175 variance=0.000501093 t_weight=5986.91 r_weight=0 yaml=(10.515, -2.52) prior=(11.9835, -2.00369, 0.126136deg) obs_actual=(-1.52983, -0.531133) obs_expected=(-1.4696, -0.513081) delta=(-0.0602251, -0.0180524) |delta|=0.0628725m
I0419 21:03:46.983589 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294269221038.
I0419 21:03:46.984426 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:46.984495 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00690826, -0.528831), points=25, range=0.529, residual=0.0116746, extent=0.0396891
I0419 21:03:46.984517 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:46.984532 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:46.984545 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.00690826, -0.528831), tracking=(0.291592, -0.528831), map_predicted=(12.2762, -2.53187), range=0.529, pts=25
I0419 21:03:46.984566 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0405519m maha_sq=0.0712864 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2762, -2.53187) lm_pos=(12.315, -2.52) delta=(-0.0387749, -0.0118727) -> 1 candidate(s)
I0419 21:03:46.984634 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294269255696.
I0419 21:03:46.986721 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294269494759.
I0419 21:03:46.987733 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294269576628.
I0419 21:03:46.990410 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.036571s, prior_pose=(12.0189, -2.00229), yaw=-0.131726 deg
I0419 21:03:46.990476 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:03:46.990655 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294269860469.
I0419 21:03:47.004190 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:03:47.010324 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.343102, -0.697429)
I0419 21:03:47.010469 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:47.010609 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294270097031.
I0419 21:03:47.014623 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294270137578.
I0419 21:03:47.084257 1237626 pose_graph_2d.cc:160] Inserted submap (1, 52).
I0419 21:03:47.085707 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294270375736.
I0419 21:03:47.086863 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:47.087131 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:47.087401 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294270460969.
I0419 21:03:47.088554 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294270698752.
I0419 21:03:47.090143 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294270732900.
I0419 21:03:47.106320 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:47.106437 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0123659 range=1.0972 variance=0.000528144 t_weight=5680.27 r_weight=0 yaml=(13.215, -1.32) prior=(12.0646, -2.00117, -0.298662deg) obs_actual=(1.14332, 0.703669) obs_expected=(1.1468, 0.687155) delta=(-0.00347228, 0.0165138) |delta|=0.0168749m
I0419 21:03:47.106501 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294271058366.
I0419 21:03:47.126716 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.380966, -0.693206), points=5, range=0.7912, residual=0.00467456, extent=0.0118822
I0419 21:03:47.126833 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.380966, -0.693206), tracking=(-0.679466, 0.693206), map_predicted=(11.3993, -1.30314), range=0.7912, pts=5
I0419 21:03:47.126863 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0230179m maha_sq=0.0228631 (gate chi2=5.99) pose_sigma=(0.150702, 0.150702, rho=0) det_map=(11.3993, -1.30314) lm_pos=(11.415, -1.32) delta=(-0.0156711, 0.0168593) -> 1 candidate(s)
I0419 21:03:47.126947 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294271263549.
I0419 21:03:47.134459 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294271338432.
I0419 21:03:47.158370 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.392928, -0.692096)
I0419 21:03:47.158537 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:47.158632 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:47.158681 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294271578729.
I0419 21:03:47.220638 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.0808, -1.99805), yaw=-0.515272 deg backend=(12.0291, -1.9921)
I0419 21:03:47.221451 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.07249 deg, rms_residual=0.0118257m, sigma_yaw=0.0155229 rad, N=2
I0419 21:03:47.221516 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.0865, -1.99735, -1.07249deg) inliers=2 rms=0.0118257m
I0419 21:03:47.221556 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294271614759.
I0419 21:03:47.222740 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294271862506.
I0419 21:03:47.223456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294271902542.
I0419 21:03:47.225216 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294272146164.
I0419 21:03:47.225950 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294272216157.
I0419 21:03:47.246521 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294272460521.
I0419 21:03:47.249864 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:47.249964 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:47.249984 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:47.250069 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294272493893.
I0419 21:03:47.274796 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294272740790.
I0419 21:03:47.277854 1218530 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0628657s, prior_pose=(12.1065, -1.99784), yaw=-0.791162 deg
I0419 21:03:47.277973 1218530 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:47.278203 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294272774821.
I0419 21:03:47.354969 1218530 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.44605, -0.6897)
I0419 21:03:47.355171 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294273012452.
I0419 21:03:47.356006 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777676, 0.715367), points=4, range=1.05475, residual=0.00683207, extent=0.0171662
I0419 21:03:47.356078 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.777676, 0.715367), tracking=(1.07618, 0.715367), map_predicted=(13.2067, -1.29942), range=1.05475, pts=4
I0419 21:03:47.356106 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0221978m maha_sq=0.0214241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2067, -1.29942) lm_pos=(13.215, -1.32) delta=(-0.00832173, 0.020579) -> 1 candidate(s)
I0419 21:03:47.356129 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:47.356169 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0215419 range=0.541174 variance=0.000553798 t_weight=5417.13 r_weight=0 yaml=(12.315, -2.52) prior=(12.119, -1.99717, -0.932926deg) obs_actual=(0.184388, -0.529189) obs_expected=(0.204489, -0.519568) delta=(-0.0201013, -0.00962075) |delta|=0.022285m
I0419 21:03:47.356225 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294273099433.
I0419 21:03:47.357368 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294273294023.
I0419 21:03:47.358950 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:47.359025 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:47.359162 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294273380206.
I0419 21:03:47.361696 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294273612098.
I0419 21:03:47.366205 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294273656493.
I0419 21:03:47.393791 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294273932139.
I0419 21:03:47.398536 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:47.398736 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294273978975.
I0419 21:03:47.498205 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294274262068.
I0419 21:03:47.499243 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.37381, 0.56904)
I0419 21:03:47.499392 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294274501450.
I0419 21:03:47.500135 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:47.500209 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:47.500238 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294274535924.
I0419 21:03:47.502156 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294274779810.
I0419 21:03:47.503037 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294274853344.
I0419 21:03:47.510509 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0750492 range=0.850111 variance=0.000508402 t_weight=5900.84 r_weight=0 yaml=(11.415, -1.32) prior=(12.1721, -1.99628, -1.3472deg) obs_actual=(-0.808762, 0.679154) obs_expected=(-0.772822, 0.658296) delta=(-0.0359399, 0.0208587) |delta|=0.0415543m
I0419 21:03:47.511022 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294275098994.
I0419 21:03:47.513705 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.172544, -0.53091), points=23, range=0.557348, residual=0.0117384, extent=0.0359563
I0419 21:03:47.513782 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.172544, -0.53091), tracking=(0.125956, -0.53091), map_predicted=(12.3006, -2.53089), range=0.557348, pts=23
I0419 21:03:47.513808 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0180324m maha_sq=0.0138744 (gate chi2=5.99) pose_sigma=(0.151215, 0.151215, rho=0) det_map=(12.3006, -2.53089) lm_pos=(12.315, -2.52) delta=(-0.0143714, -0.0108918) -> 1 candidate(s)
I0419 21:03:47.513899 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294275132735.
I0419 21:03:47.538401 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294275377767.
I0419 21:03:47.543291 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294275421552.
I0419 21:03:47.645526 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:47.645741 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:47.645859 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:47.645998 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294275657444.
I0419 21:03:47.646697 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602477s, prior_pose=(12.1982, -1.9962), yaw=-1.60952 deg
I0419 21:03:47.646840 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:47.647010 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.63112, -0.449798)
I0419 21:03:47.647161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294275735212.
I0419 21:03:47.648679 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294275975457.
I0419 21:03:47.650420 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294276019631.
I0419 21:03:47.652251 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:47.652386 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294276253191.
I0419 21:03:47.653403 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:47.653478 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:47.653623 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294276341488.
I0419 21:03:47.655771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294276544709.
I0419 21:03:47.662722 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294276621646.
I0419 21:03:47.686532 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294276858682.
I0419 21:03:47.750633 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.642763, 0.73282)
I0419 21:03:47.750799 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0222071 range=0.9748 variance=0.000614524 t_weight=4881.83 r_weight=0 yaml=(13.215, -1.32) prior=(12.2419, -1.99709, -2.02678deg) obs_actual=(0.945819, 0.733756) obs_expected=(0.948527, 0.711083) delta=(-0.00270771, 0.022673) |delta|=0.0228341m
I0419 21:03:47.750861 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294276894550.
I0419 21:03:47.752074 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.580494, -0.665796), points=8, range=0.8835, residual=0.00920204, extent=0.030586
I0419 21:03:47.752146 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.580494, -0.665796), tracking=(-0.878994, 0.665796), map_predicted=(11.387, -1.30062), range=0.8835, pts=8
I0419 21:03:47.752172 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[13] 'ref_14' eucl_dist=0.0340331m maha_sq=0.0502949 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(11.387, -1.30062) lm_pos=(11.415, -1.32) delta=(-0.0279796, 0.019375) -> 1 candidate(s)
I0419 21:03:47.752209 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:47.752266 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294277137121.
I0419 21:03:47.753214 1218530 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.94792 deg, rms_residual=0.0130137m, sigma_yaw=0.0170556 rad, N=2
I0419 21:03:47.753364 1218530 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.2562, -1.9979, -2.94792deg) inliers=2 rms=0.0130137m
I0419 21:03:47.753422 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294277182201.
I0419 21:03:47.755298 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294277415502.
I0419 21:03:47.756198 1218530 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:47.756294 1218530 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:47.756325 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294277494153.
I0419 21:03:47.770393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294277699089.
I0419 21:03:47.778146 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294277775306.
I0419 21:03:47.803170 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294278023152.
I0419 21:03:47.809156 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294278054592.
I0419 21:03:47.877259 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47267, 0.609994)
I0419 21:03:47.877444 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294278294536.
I0419 21:03:47.877455 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:47.878348 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294278374367.
I0419 21:03:47.879307 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:47.879372 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:47.879388 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:47.879441 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294278621141.
I0419 21:03:47.880867 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0361912s, prior_pose=(12.2948, -1.99922), yaw=-2.76682 deg
I0419 21:03:47.880946 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1369, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 21:03:47.881151 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294278656448.
I0419 21:03:47.890144 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294278896392.
I0419 21:03:47.897964 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.57333, 0.742633), points=10, range=0.9364, residual=0.0115883, extent=0.040261
I0419 21:03:47.898252 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.57333, 0.742633), tracking=(0.87183, 0.742633), map_predicted=(13.2015, -1.29953), range=0.9364, pts=10
I0419 21:03:47.898504 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0245268m maha_sq=0.0260629 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2015, -1.29953) lm_pos=(13.215, -1.32) delta=(-0.0135167, 0.0204661) -> 1 candidate(s)
I0419 21:03:47.898643 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0211468 range=0.594222 variance=0.0005386 t_weight=5570 r_weight=0 yaml=(12.315, -2.52) prior=(12.2948, -1.99922, -2.76682deg) obs_actual=(0.0252778, -0.528506) obs_expected=(0.0452933, -0.519202) delta=(-0.0200155, -0.00930432) |delta|=0.0220724m
I0419 21:03:47.898715 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294278973947.
I0419 21:03:47.918272 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:47.918524 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294279174333.
I0419 21:03:47.926379 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=46, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:47.926504 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:47.926707 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294279254504.
I0419 21:03:47.950771 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294279501423.
I0419 21:03:48.020496 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.52831, -0.404752)
I0419 21:03:48.020691 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294279536892.
I0419 21:03:48.021945 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294279779237.
I0419 21:03:48.022835 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294279857649.
I0419 21:03:48.024477 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:48.024552 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294280061068.
I0419 21:03:48.025261 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294280136927.
I0419 21:03:48.038535 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294280379425.
I0419 21:03:48.039829 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.3505, -2.00445), yaw=-3.32623 deg backend=(12.2897, -1.99536)
I0419 21:03:48.043115 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:48.043206 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:48.043236 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294280426226.
I0419 21:03:48.066237 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0061347 range=0.603 variance=0.000755121 t_weight=3972.87 r_weight=0 yaml=(12.315, -2.52) prior=(12.3505, -2.00445, -3.32623deg) obs_actual=(-0.00165852, -0.528028) obs_expected=(-0.00557537, -0.516745) delta=(0.00391684, -0.0112837) |delta|=0.0119442m
I0419 21:03:48.066390 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294280656202.
I0419 21:03:48.073674 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.51071, -0.404796)
I0419 21:03:48.073799 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.50653, 0.743903), points=10, range=0.9016, residual=0.00913759, extent=0.0274512
I0419 21:03:48.073823 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.50653, 0.743903), tracking=(0.80503, 0.743903), map_predicted=(13.1974, -1.30851), range=0.9016, pts=10
I0419 21:03:48.073846 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0210328m maha_sq=0.0192099 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1974, -1.30851) lm_pos=(13.215, -1.32) delta=(-0.0176161, 0.0114914) -> 1 candidate(s)
I0419 21:03:48.073920 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294280732655.
I0419 21:03:48.142140 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294280941385.
I0419 21:03:48.143024 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294281016593.
I0419 21:03:48.144228 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294281258681.
I0419 21:03:48.145522 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294281303590.
I0419 21:03:48.153822 1218530 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:48.153909 1218530 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:48.153939 1218530 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:48.154026 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294281532960.
I0419 21:03:48.161813 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0671879s, prior_pose=(12.3879, -2.00836), yaw=-3.30234 deg
I0419 21:03:48.161916 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=13, candidates=13
I0419 21:03:48.162086 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294281613264.
I0419 21:03:48.182847 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294281822053.
I0419 21:03:48.189862 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294281893576.
I0419 21:03:48.214205 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:48.214398 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294282135956.
I0419 21:03:48.287789 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:48.288021 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.46329, -0.414992)
I0419 21:03:48.288057 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:48.288160 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294282180487.
I0419 21:03:48.290424 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.87385 deg, rms_residual=0.0138574m, sigma_yaw=0.0181414 rad, N=2
I0419 21:03:48.290556 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.4183, -2.01115, -2.87385deg) inliers=2 rms=0.0138574m
I0419 21:03:48.290598 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294282417542.
I0419 21:03:48.291575 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294282497580.
I0419 21:03:48.294952 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.216091, 0.523717), points=22, range=0.568682, residual=0.0123901, extent=0.0384165
I0419 21:03:48.295045 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.216091, 0.523717), tracking=(-0.0824089, -0.523717), map_predicted=(12.3026, -2.51652), range=0.568682, pts=22
I0419 21:03:48.295078 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.012884m maha_sq=0.00707318 (gate chi2=5.99) pose_sigma=(0.151268, 0.151268, rho=0) det_map=(12.3026, -2.51652) lm_pos=(12.315, -2.52) delta=(-0.0124057, 0.00347794) -> 1 candidate(s)
I0419 21:03:48.295147 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[13] 'ref_14' maha_sq=0.0329751 range=0.99175 variance=0.000531392 t_weight=5645.55 r_weight=0 yaml=(11.415, -1.32) prior=(12.413, -1.99799, -3.07931deg) obs_actual=(-1.04466, 0.648618) obs_expected=(-1.033, 0.623397) delta=(-0.0116608, 0.0252206) |delta|=0.0277859m
I0419 21:03:48.295195 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294282736416.
I0419 21:03:48.295915 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294282779692.
I0419 21:03:48.302757 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:48.302909 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294283022701.
I0419 21:03:48.307291 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294283063155.
I0419 21:03:48.330735 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294283300977.
I0419 21:03:48.334689 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:48.334825 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:48.334851 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294283341581.
I0419 21:03:48.412542 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.780686, -0.652156)
I0419 21:03:48.412804 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294283578284.
I0419 21:03:48.413870 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294283657355.
I0419 21:03:48.415164 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294283900260.
I0419 21:03:48.416927 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294283942251.
I0419 21:03:48.418504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294284180549.
I0419 21:03:48.425812 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294284253013.
I0419 21:03:48.450440 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:48.450582 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:48.450672 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:48.450881 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294284495597.
I0419 21:03:48.454646 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598325s, prior_pose=(12.4739, -2.01185), yaw=-2.82516 deg
I0419 21:03:48.454790 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:03:48.455087 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294284540576.
I0419 21:03:48.478473 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0108283 range=0.5452 variance=0.000589546 t_weight=5088.66 r_weight=0 yaml=(12.315, -2.52) prior=(12.4739, -2.01185, -2.82516deg) obs_actual=(-0.147936, -0.522149) obs_expected=(-0.133653, -0.515365) delta=(-0.0142827, -0.0067842) |delta|=0.015812m
I0419 21:03:48.478720 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294284773778.
I0419 21:03:48.577421 1218530 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.394169, 0.7309)
I0419 21:03:48.577517 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.390587, 0.729428), points=13, range=0.830462, residual=0.0126231, extent=0.0411988
I0419 21:03:48.577540 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.390587, 0.729428), tracking=(0.689087, 0.729428), map_predicted=(13.2039, -1.31559), range=0.830462, pts=13
I0419 21:03:48.577562 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0119889m maha_sq=0.00617807 (gate chi2=5.99) pose_sigma=(0.150544, 0.150544, rho=0) det_map=(13.2039, -1.31559) lm_pos=(13.215, -1.32) delta=(-0.0111499, 0.0044059) -> 1 candidate(s)
I0419 21:03:48.577630 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294284858304.
I0419 21:03:48.578845 1218530 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:48.578985 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294285059448.
I0419 21:03:48.579628 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:48.579706 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:48.579773 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294285139478.
I0419 21:03:48.581899 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294285377686.
I0419 21:03:48.582682 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294285421965.
I0419 21:03:48.583918 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294285661250.
I0419 21:03:48.585516 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294285736970.
I0419 21:03:48.595108 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:48.595402 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294285938607.
I0419 21:03:48.606547 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294286057503.
I0419 21:03:48.689841 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294286251712.
I0419 21:03:48.690665 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:48.690768 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:48.690793 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294286296651.
I0419 21:03:48.691839 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.847546, -0.652299)
I0419 21:03:48.691978 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294286542476.
I0419 21:03:48.693531 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294286619656.
I0419 21:03:48.694643 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294286815803.
I0419 21:03:48.695518 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294286895882.
I0419 21:03:48.715245 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0105292 range=0.529542 variance=0.000559236 t_weight=5364.46 r_weight=0 yaml=(12.315, -2.52) prior=(12.536, -2.00506, -2.40878deg) obs_actual=(-0.214841, -0.523128) obs_expected=(-0.199208, -0.523778) delta=(-0.0156335, 0.000649896) |delta|=0.0156471m
I0419 21:03:48.715549 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294287141365.
I0419 21:03:48.718469 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2954, -0.43972), points=3, range=1.37367, residual=0.0123949, extent=0.0262441
I0419 21:03:48.718627 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.2954, -0.43972), tracking=(1.5939, -0.43972), map_predicted=(14.1101, -2.51138), range=1.37367, pts=3
I0419 21:03:48.718689 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00993744m maha_sq=0.00427024 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1101, -2.51138) lm_pos=(14.115, -2.52) delta=(-0.00494184, 0.00862154) -> 1 candidate(s)
I0419 21:03:48.718894 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294287176456.
I0419 21:03:48.743670 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:48.743996 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:48.744043 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:48.744338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294287424847.
I0419 21:03:48.854135 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0318324s, prior_pose=(12.5493, -2.00567), yaw=-2.31291 deg
I0419 21:03:48.854260 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:03:48.854425 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294287459689.
I0419 21:03:48.855563 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294287696077.
I0419 21:03:48.856456 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294287780920.
I0419 21:03:48.858425 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.907554, -0.657994)
I0419 21:03:48.858522 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:48.858604 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294288017030.
I0419 21:03:48.859328 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:48.859376 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:48.859450 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294288054632.
I0419 21:03:48.860605 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294288301103.
I0419 21:03:48.862123 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294288373990.
I0419 21:03:48.863438 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294288619703.
I0419 21:03:48.866379 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294288654561.
I0419 21:03:48.962293 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:48.962422 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294288902218.
I0419 21:03:48.963376 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294288980067.
I0419 21:03:48.964579 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0536874 range=0.524481 variance=0.000592825 t_weight=5060.52 r_weight=0 yaml=(12.315, -2.52) prior=(12.5842, -2.00225, -2.19873deg) obs_actual=(-0.28406, -0.522939) obs_expected=(-0.249172, -0.527696) delta=(-0.0348879, 0.00475697) |delta|=0.0352107m
I0419 21:03:48.964687 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294289181545.
I0419 21:03:48.965842 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.5985, -2.00104), yaw=-2.13804 deg backend=(12.6045, -2.02529)
I0419 21:03:48.966503 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24835, -0.444113), points=3, range=1.32267, residual=0.00552689, extent=0.00975004
I0419 21:03:48.966570 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.24835, -0.444113), tracking=(1.54685, -0.444113), map_predicted=(14.1277, -2.50256), range=1.32267, pts=3
I0419 21:03:48.966599 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0215544m maha_sq=0.0199221 (gate chi2=5.99) pose_sigma=(0.151067, 0.151067, rho=0) det_map=(14.1277, -2.50256) lm_pos=(14.115, -2.52) delta=(0.0126636, 0.017442) -> 1 candidate(s)
I0419 21:03:48.966655 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:48.966692 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:48.966712 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294289259576.
I0419 21:03:48.967783 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(0.950375, -0.663357)
I0419 21:03:48.967878 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294289452772.
I0419 21:03:48.968753 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294289541060.
I0419 21:03:48.978871 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294289777317.
I0419 21:03:48.986997 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294289862302.
I0419 21:03:49.007125 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294290060909.
I0419 21:03:49.087883 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.20688 deg, rms_residual=0.0144289m, sigma_yaw=0.0188754 rad, N=2
I0419 21:03:49.088024 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.6296, -1.99792, -3.20688deg) inliers=2 rms=0.0144289m
I0419 21:03:49.088080 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294290098401.
I0419 21:03:49.089254 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:49.089339 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:49.089362 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:49.089439 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294290333510.
I0419 21:03:49.090199 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0636397s, prior_pose=(12.6192, -1.99748), yaw=-2.01387 deg
I0419 21:03:49.090279 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:49.090449 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294290413714.
I0419 21:03:49.092458 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294290658642.
I0419 21:03:49.093187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294290692303.
I0419 21:03:49.094982 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:49.095183 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294290941171.
I0419 21:03:49.102341 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:49.102466 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.19144, -0.45535)
I0419 21:03:49.102504 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:49.102626 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.052332 range=0.7532 variance=0.000580782 t_weight=5165.45 r_weight=0 yaml=(13.215, -1.32) prior=(12.6493, -2.00073, -1.91796deg) obs_actual=(0.513866, 0.71933) obs_expected=(0.542575, 0.699283) delta=(-0.0287093, 0.0200473) |delta|=0.035016m
I0419 21:03:49.102747 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294291015144.
I0419 21:03:49.122980 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0451442, 0.524537), points=25, range=0.52728, residual=0.0115691, extent=0.0373582
I0419 21:03:49.123117 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0451442, 0.524537), tracking=(-0.343644, -0.524537), map_predicted=(12.2883, -2.51347), range=0.52728, pts=25
I0419 21:03:49.123212 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0274685m maha_sq=0.0327115 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2883, -2.51347) lm_pos=(12.315, -2.52) delta=(-0.026682, 0.00652603) -> 1 candidate(s)
I0419 21:03:49.123410 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294291218158.
I0419 21:03:49.130745 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294291297902.
I0419 21:03:49.212456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294291542145.
I0419 21:03:49.213413 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294291575876.
I0419 21:03:49.214506 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:49.214599 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294291816071.
I0419 21:03:49.216234 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294291862616.
I0419 21:03:49.217844 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294292100632.
I0419 21:03:49.219250 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:49.219352 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:49.219396 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294292178293.
I0419 21:03:49.242982 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294292420070.
I0419 21:03:49.246227 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294292455450.
I0419 21:03:49.270833 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294292696609.
I0419 21:03:49.348929 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294292775031.
I0419 21:03:49.349735 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:49.350030 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.10352, 0.524158)
I0419 21:03:49.350145 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294293014219.
I0419 21:03:49.350854 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.160878, 0.710975), points=17, range=0.729588, residual=0.0107437, extent=0.034267
I0419 21:03:49.350907 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.160878, 0.710975), tracking=(0.459378, 0.710975), map_predicted=(13.185, -1.30566), range=0.729588, pts=17
I0419 21:03:49.350934 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0332447m maha_sq=0.0479405 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.185, -1.30566) lm_pos=(13.215, -1.32) delta=(-0.0299945, 0.0143365) -> 1 candidate(s)
I0419 21:03:49.350978 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00877448 range=1.2235 variance=0.000524157 t_weight=5723.48 r_weight=0 yaml=(14.115, -2.52) prior=(12.7056, -2.00333, -1.62506deg) obs_actual=(1.43315, -0.466124) obs_expected=(1.42344, -0.476499) delta=(0.00971458, 0.0103756) |delta|=0.0142136m
I0419 21:03:49.351056 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294293052990.
I0419 21:03:49.352720 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:49.352773 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:49.352789 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:49.352836 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294293299741.
I0419 21:03:49.353464 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603801s, prior_pose=(12.7156, -2.0017), yaw=-1.54317 deg
I0419 21:03:49.353529 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:49.353654 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294293378832.
I0419 21:03:49.362658 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294293620084.
I0419 21:03:49.366227 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294293655250.
I0419 21:03:49.390494 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:49.390822 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294293893377.
I0419 21:03:49.394654 1218530 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:49.395114 1218530 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:49.395358 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294293937857.
I0419 21:03:49.484444 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294294180834.
I0419 21:03:49.485420 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294294259612.
I0419 21:03:49.486466 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294294457433.
I0419 21:03:49.487964 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.119189, 0.705881)
I0419 21:03:49.488095 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294294544872.
I0419 21:03:49.489298 1218530 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:49.489387 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294294776818.
I0419 21:03:49.490065 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294294820992.
I0419 21:03:49.506026 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294295053541.
I0419 21:03:49.510335 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:49.510479 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:49.510507 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294295098349.
I0419 21:03:49.534549 1218530 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0435979 range=0.550727 variance=0.000552367 t_weight=5431.17 r_weight=0 yaml=(12.315, -2.52) prior=(12.7706, -1.99706, -1.23985deg) obs_actual=(-0.47386, -0.521464) obs_expected=(-0.444205, -0.532672) delta=(-0.0296548, 0.0112083) |delta|=0.0317023m
I0419 21:03:49.534683 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294295339685.
I0419 21:03:49.600503 1218530 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06259, -0.476796), points=4, range=1.1595, residual=0.0118724, extent=0.02696
I0419 21:03:49.600615 1218530 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.06259, -0.476796), tracking=(1.36109, -0.476796), map_predicted=(14.1306, -2.50103), range=1.1595, pts=4
I0419 21:03:49.600648 1218530 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0245521m maha_sq=0.0258623 (gate chi2=5.99) pose_sigma=(0.150694, 0.150694, rho=0) det_map=(14.1306, -2.50103) lm_pos=(14.115, -2.52) delta=(0.015588, 0.0189689) -> 1 candidate(s)
I0419 21:03:49.600733 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294295419852.
I0419 21:03:49.601933 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294295654729.
I0419 21:03:49.602587 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294295698095.
I0419 21:03:49.604346 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294295933611.
I0419 21:03:49.605113 1218530 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.0772556, 0.70528)
I0419 21:03:49.605208 1218530 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294295980655.
I0419 21:03:49.621889 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:49.621968 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:49.621989 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:49.622057 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294296215516.
I0419 21:03:49.629613 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0358974s, prior_pose=(12.8031, -1.99601), yaw=-1.09016 deg
I0419 21:03:49.629709 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:03:49.629921 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294296292585.
I0419 21:03:49.653996 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294296533825.
I0419 21:03:49.658262 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294296577667.
I0419 21:03:49.720032 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:49.720181 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294296821559.
I0419 21:03:49.721037 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:49.721122 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:49.721210 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294296898658.
I0419 21:03:49.722282 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294297092610.
I0419 21:03:49.723763 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.4397 deg, rms_residual=0.0135124m, sigma_yaw=0.0176976 rad, N=2
I0419 21:03:49.723816 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.8381, -1.99474, -2.4397deg) inliers=2 rms=0.0135124m
I0419 21:03:49.723850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294297180848.
I0419 21:03:49.742059 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0724031 range=0.572619 variance=0.0005661 t_weight=5299.42 r_weight=0 yaml=(12.315, -2.52) prior=(12.828, -1.9958, -0.973185deg) obs_actual=(-0.542541, -0.519279) obs_expected=(-0.50399, -0.532837) delta=(-0.0385515, 0.0135588) |delta|=0.0408663m
I0419 21:03:49.742192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294297413845.
I0419 21:03:49.745910 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.85128, 0.744823)
I0419 21:03:49.746037 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.995222, -0.483594), points=5, range=1.1016, residual=0.0132382, extent=0.0316819
I0419 21:03:49.746068 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.995222, -0.483594), tracking=(1.29372, -0.483594), map_predicted=(14.1133, -2.5013), range=1.1016, pts=5
I0419 21:03:49.746094 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0187817m maha_sq=0.0152505 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1133, -2.5013) lm_pos=(14.115, -2.52) delta=(-0.00171118, 0.0187036) -> 1 candidate(s)
I0419 21:03:49.746209 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294297453573.
I0419 21:03:49.770545 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:49.770694 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294297701276.
I0419 21:03:49.774631 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294297736928.
I0419 21:03:49.798126 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294297973616.
I0419 21:03:49.858359 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.8569, -2.0239), yaw=-0.927746 deg backend=(12.8709, -2.02421)
I0419 21:03:49.859201 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:49.859303 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:49.865134 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294298069458.
I0419 21:03:49.866621 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294298297669.
I0419 21:03:49.867518 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294298341751.
I0419 21:03:49.869592 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294298579410.
I0419 21:03:49.870266 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294298617448.
I0419 21:03:49.887297 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.288727, 0.52069)
I0419 21:03:49.887522 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294298867534.
I0419 21:03:49.894304 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294298936608.
I0419 21:03:49.918537 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:49.918637 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:49.918656 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:49.918767 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294299181478.
I0419 21:03:49.921815 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635642s, prior_pose=(12.8836, -2.01029), yaw=-0.816299 deg
I0419 21:03:49.921905 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:49.922075 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0568285 range=0.698111 variance=0.00063833 t_weight=4699.76 r_weight=0 yaml=(13.215, -1.32) prior=(12.8836, -2.01029, -0.816299deg) obs_actual=(0.285288, 0.695812) obs_expected=(0.32154, 0.694939) delta=(-0.0362513, 0.000872926) |delta|=0.0362618m
I0419 21:03:49.922160 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294299215052.
I0419 21:03:49.988322 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.30321, 0.518087), points=20, range=0.60255, residual=0.0125313, extent=0.0413301
I0419 21:03:49.988469 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.30321, 0.518087), tracking=(-0.60171, -0.518087), map_predicted=(12.2779, -2.51361), range=0.60255, pts=20
I0419 21:03:49.988502 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0376917m maha_sq=0.0611035 (gate chi2=5.99) pose_sigma=(0.150529, 0.150529, rho=0) det_map=(12.2779, -2.51361) lm_pos=(12.315, -2.52) delta=(-0.0371458, 0.00639135) -> 1 candidate(s)
I0419 21:03:49.988580 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294299456950.
I0419 21:03:49.995910 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294299500587.
I0419 21:03:49.997566 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:49.997694 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294299741366.
I0419 21:03:49.999145 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:49.999226 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:49.999321 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294299833716.
I0419 21:03:50.006443 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294300058063.
I0419 21:03:50.010797 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.915717, -0.495443)
I0419 21:03:50.011008 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294300102773.
I0419 21:03:50.034123 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294300335556.
I0419 21:03:50.041721 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294300412437.
I0419 21:03:50.062777 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:50.062938 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294300622304.
I0419 21:03:50.130278 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294300700051.
I0419 21:03:50.131501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294300937019.
I0419 21:03:50.132661 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:50.132784 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:50.132822 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294300982000.
I0419 21:03:50.135125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294301216149.
I0419 21:03:50.135975 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.875808, -0.502231)
I0419 21:03:50.136046 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0724209, 0.698493), points=17, range=0.702471, residual=0.0110865, extent=0.0331906
I0419 21:03:50.136075 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0724209, 0.698493), tracking=(0.226079, 0.698493), map_predicted=(13.1764, -1.30452), range=0.702471, pts=17
I0419 21:03:50.136098 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0415685m maha_sq=0.0749314 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1764, -1.30452) lm_pos=(13.215, -1.32) delta=(-0.0385787, 0.0154797) -> 1 candidate(s)
I0419 21:03:50.136148 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00160417 range=1.0096 variance=0.00051511 t_weight=5824 r_weight=0 yaml=(14.115, -2.52) prior=(12.9438, -2.00088, -0.533386deg) obs_actual=(1.17733, -0.502284) obs_expected=(1.17593, -0.508196) delta=(0.00140205, 0.00591222) |delta|=0.00607619m
I0419 21:03:50.136205 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294301298400.
I0419 21:03:50.154698 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294301541176.
I0419 21:03:50.157853 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294301572699.
I0419 21:03:50.182099 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294301812861.
I0419 21:03:50.186996 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294301862644.
I0419 21:03:50.265226 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:50.265337 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:50.265354 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:50.265437 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294302098372.
I0419 21:03:50.266188 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060308s, prior_pose=(12.984, -2.00082), yaw=-0.332514 deg
I0419 21:03:50.266263 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:50.266439 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294302175779.
I0419 21:03:50.267566 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294302379304.
I0419 21:03:50.269043 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.842254, -0.506059)
I0419 21:03:50.269248 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294302456453.
I0419 21:03:50.270262 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:50.270358 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294302692389.
I0419 21:03:50.274331 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:50.274415 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:50.274500 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.17392 deg, rms_residual=0.0132572m, sigma_yaw=0.0173693 rad, N=2
I0419 21:03:50.274572 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.0015, -2.00172, -1.17392deg) inliers=2 rms=0.0132572m
I0419 21:03:50.274614 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294302737040.
I0419 21:03:50.298935 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294302981195.
I0419 21:03:50.306530 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.11547, 0.696082), points=17, range=0.706941, residual=0.0112711, extent=0.0344766
I0419 21:03:50.306635 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.11547, 0.696082), tracking=(0.18303, 0.696082), map_predicted=(13.1903, -1.30597), range=0.706941, pts=17
I0419 21:03:50.306667 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.028404m maha_sq=0.0349795 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1903, -1.30597) lm_pos=(13.215, -1.32) delta=(-0.0246958, 0.0140323) -> 1 candidate(s)
I0419 21:03:50.306735 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0016503 range=0.9642 variance=0.000550656 t_weight=5448.05 r_weight=0 yaml=(14.115, -2.52) prior=(13.0051, -2.00147, -0.18146deg) obs_actual=(1.11319, -0.509067) obs_expected=(1.11157, -0.515016) delta=(0.0016277, 0.00594904) |delta|=0.0061677m
I0419 21:03:50.306820 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294303060135.
I0419 21:03:50.330461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294303298049.
I0419 21:03:50.390008 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294303332387.
I0419 21:03:50.391258 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:50.391363 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294303577755.
I0419 21:03:50.392138 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.80002, -0.509632)
I0419 21:03:50.392295 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294303656281.
I0419 21:03:50.394048 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294303855163.
I0419 21:03:50.394894 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:50.394980 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:50.395009 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294303934804.
I0419 21:03:50.415958 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294304152152.
I0419 21:03:50.422591 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294304219980.
I0419 21:03:50.446755 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294304461880.
I0419 21:03:50.450186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294304495279.
I0419 21:03:50.517201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294304733458.
I0419 21:03:50.518143 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.762603, -0.51434)
I0419 21:03:50.518273 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.166832, 0.694825), points=16, range=0.716313, residual=0.0109768, extent=0.0317952
I0419 21:03:50.518326 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.166832, 0.694825), tracking=(0.131668, 0.694825), map_predicted=(13.1885, -1.30785), range=0.716313, pts=16
I0419 21:03:50.518371 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[15] 'ref_16' eucl_dist=0.0291978m maha_sq=0.0369719 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1885, -1.30785) lm_pos=(13.215, -1.32) delta=(-0.0265489, 0.0121518) -> 1 candidate(s)
I0419 21:03:50.518451 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0248418 range=1.804 variance=0.000598713 t_weight=5010.75 r_weight=4162.81 yaml=(15.015, -1.32) prior=(13.0575, -2.0028, 0.0551143deg) obs_actual=(1.9591, 0.704854) obs_expected=(1.9582, 0.680916) delta=(0.00089142, 0.0239378) |delta|=0.0239544m
I0419 21:03:50.518524 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294304821781.
I0419 21:03:50.519564 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:50.519623 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:50.519639 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:50.519696 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294305015871.
I0419 21:03:50.521163 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.036407s, prior_pose=(13.0609, -2.00557), yaw=0.123201 deg
I0419 21:03:50.521252 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:50.521435 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294305097528.
I0419 21:03:50.535802 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294305350505.
I0419 21:03:50.537912 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294305373899.
I0419 21:03:50.561895 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:50.562045 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294305613873.
I0419 21:03:50.569742 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:50.569834 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:50.570003 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294305692668.
I0419 21:03:50.594625 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.395055, -0.688966)
I0419 21:03:50.594853 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294305942379.
I0419 21:03:50.659399 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294305975837.
I0419 21:03:50.665745 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294306215034.
I0419 21:03:50.666764 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294306262193.
I0419 21:03:50.668550 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.525928, 0.512262), points=12, range=0.737333, residual=0.0124805, extent=0.0377458
I0419 21:03:50.668697 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.525928, 0.512262), tracking=(-0.824428, -0.512262), map_predicted=(12.2924, -2.52354), range=0.737333, pts=12
I0419 21:03:50.668757 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0228469m maha_sq=0.0223917 (gate chi2=5.99) pose_sigma=(0.150722, 0.150722, rho=0) det_map=(12.2924, -2.52354) lm_pos=(12.315, -2.52) delta=(-0.0225712, -0.0035388) -> 1 candidate(s)
I0419 21:03:50.668818 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:50.668864 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0125684 range=0.807437 variance=0.000672504 t_weight=4460.94 r_weight=0 yaml=(13.215, -1.32) prior=(13.114, -2.00663, 0.323375deg) obs_actual=(0.0987003, 0.702028) obs_expected=(0.104922, 0.686051) delta=(-0.00622135, 0.015977) |delta|=0.0171455m
I0419 21:03:50.668926 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294306493095.
I0419 21:03:50.669855 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294306593395.
I0419 21:03:50.681984 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.43129, -0.724043)
I0419 21:03:50.682134 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.916292 deg, rms_residual=0.016345m, sigma_yaw=0.0213285 rad, N=2
I0419 21:03:50.682194 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.1404, -2.00706, 0.916292deg) inliers=2 rms=0.016345m
I0419 21:03:50.682230 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294306814962.
I0419 21:03:50.683275 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.1327, -2.0067), yaw=0.342386 deg backend=(13.1326, -2.0224)
I0419 21:03:50.685771 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:50.685902 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:50.685927 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294306852479.
I0419 21:03:50.710326 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307096694.
I0419 21:03:50.714229 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307135905.
I0419 21:03:50.782606 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307379452.
I0419 21:03:50.782753 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:50.783742 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307462127.
I0419 21:03:50.784823 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.425547, -0.692125)
I0419 21:03:50.785161 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307693678.
I0419 21:03:50.786720 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307737864.
I0419 21:03:50.797763 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:50.797861 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.582794, 0.512841), points=11, range=0.773, residual=0.0137362, extent=0.0388576
I0419 21:03:50.797883 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:50.797899 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:50.797909 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.582794, 0.512841), tracking=(-0.881294, -0.512841), map_predicted=(12.2806, -2.5272), range=0.773, pts=11
I0419 21:03:50.797933 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0351199m maha_sq=0.0533281 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2806, -2.5272) lm_pos=(12.315, -2.52) delta=(-0.0343736, -0.00720151) -> 1 candidate(s)
I0419 21:03:50.797995 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00601877 range=0.780714 variance=0.00055301 t_weight=5424.86 r_weight=0 yaml=(13.215, -1.32) prior=(13.1582, -2.00803, 0.412684deg) obs_actual=(0.0537182, 0.696216) obs_expected=(0.0617503, 0.6876) delta=(-0.00803209, 0.00861605) |delta|=0.0117793m
I0419 21:03:50.798048 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294307972408.
I0419 21:03:50.806427 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0679277s, prior_pose=(13.1582, -2.00803), yaw=0.412684 deg
I0419 21:03:50.806535 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:50.806797 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294308058729.
I0419 21:03:50.826259 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294308257145.
I0419 21:03:50.834231 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294308335093.
I0419 21:03:50.858404 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.596215, 0.512125)
I0419 21:03:50.858533 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:50.858624 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294308577132.
I0419 21:03:50.938208 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:50.938323 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:50.938431 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294308619032.
I0419 21:03:50.940181 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294308870900.
I0419 21:03:50.941390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294308903866.
I0419 21:03:50.945492 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294309176890.
I0419 21:03:50.946404 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.2972, 0.700099), points=15, range=0.7618, residual=0.0113001, extent=0.0314784
I0419 21:03:50.946508 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.2972, 0.700099), tracking=(0.00130003, 0.700099), map_predicted=(13.1845, -1.3089), range=0.7618, pts=15
I0419 21:03:50.946637 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0324127m maha_sq=0.0455446 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1845, -1.3089) lm_pos=(13.215, -1.32) delta=(-0.0304539, 0.011097) -> 1 candidate(s)
I0419 21:03:50.946709 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00109385 range=0.811364 variance=0.00057744 t_weight=5195.34 r_weight=0 yaml=(14.115, -2.52) prior=(13.1884, -2.00899, 0.420791deg) obs_actual=(0.918333, -0.52003) obs_expected=(0.922834, -0.517798) delta=(-0.00450148, -0.00223156) |delta|=0.00502426m
I0419 21:03:50.946864 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294309212369.
I0419 21:03:50.948549 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:50.948657 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294309460085.
I0419 21:03:50.950379 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.307946, 0.699797)
I0419 21:03:50.950503 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294309493421.
I0419 21:03:50.974488 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.435459 deg, rms_residual=0.00827403m, sigma_yaw=0.0109117 rad, N=2
I0419 21:03:50.974777 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.2324, -2.00514, 0.435459deg) inliers=2 rms=0.00827403m
I0419 21:03:50.974833 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294309738231.
I0419 21:03:50.978809 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:50.978940 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:50.978968 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294309782677.
I0419 21:03:51.037744 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294310056625.
I0419 21:03:51.038539 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294310103716.
I0419 21:03:51.039637 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294310335617.
I0419 21:03:51.042130 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294310416004.
I0419 21:03:51.062058 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.53645, -0.711029)
I0419 21:03:51.062160 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.662006, 0.515604), points=10, range=0.8358, residual=0.0122804, extent=0.036306
I0419 21:03:51.062187 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.662006, 0.515604), tracking=(-0.960506, -0.515604), map_predicted=(12.283, -2.52634), range=0.8358, pts=10
I0419 21:03:51.062211 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0325745m maha_sq=0.0459483 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.283, -2.52634) lm_pos=(12.315, -2.52) delta=(-0.0319515, -0.00634023) -> 1 candidate(s)
I0419 21:03:51.062270 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00504161 range=0.74 variance=0.000564189 t_weight=5317.36 r_weight=0 yaml=(13.215, -1.32) prior=(13.2414, -2.00665, 0.243896deg) obs_actual=(-0.0339419, 0.689151) obs_expected=(-0.0234275, 0.686758) delta=(-0.0105144, 0.00239329) |delta|=0.0107834m
I0419 21:03:51.062321 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294310616171.
I0419 21:03:51.069795 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294310692018.
I0419 21:03:51.094064 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:51.094168 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:51.094189 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:51.094288 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294310934291.
I0419 21:03:51.097577 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556291s, prior_pose=(13.2398, -2.01301), yaw=0.209528 deg
I0419 21:03:51.097674 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=39, candidates=39
I0419 21:03:51.097885 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294310972295.
I0419 21:03:51.118886 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294311180843.
I0419 21:03:51.180605 1218970 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.306031, 0.526523)
I0419 21:03:51.180814 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294311264312.
I0419 21:03:51.181892 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:51.182000 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294311494317.
I0419 21:03:51.182736 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:03:51.182824 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=3
I0419 21:03:51.182893 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294311581673.
I0419 21:03:51.184703 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294311814907.
I0419 21:03:51.186745 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45868, 0.703579), points=3, range=1.617, residual=0.00625922, extent=0.0123445
I0419 21:03:51.186872 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45868, 0.703579), tracking=(1.75718, 0.703579), map_predicted=(15.0284, -1.29918), range=1.617, pts=3
I0419 21:03:51.186903 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.024745m maha_sq=0.0265882 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0284, -1.29918) lm_pos=(15.015, -1.32) delta=(0.0133756, 0.0208185) -> 1 candidate(s)
I0419 21:03:51.186971 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.000652115 range=0.748231 variance=0.000561369 t_weight=5344.07 r_weight=3023.11 yaml=(14.115, -2.52) prior=(13.2735, -2.00858, 0.189898deg) obs_actual=(0.837108, -0.51703) obs_expected=(0.839765, -0.514206) delta=(-0.00265694, -0.00282477) |delta|=0.00387797m
I0419 21:03:51.187029 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294311852202.
I0419 21:03:51.206779 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.703489, 0.518595)
I0419 21:03:51.206984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294312063926.
I0419 21:03:51.214635 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294312137218.
I0419 21:03:51.238636 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:51.238797 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294312380471.
I0419 21:03:51.247316 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294312457368.
I0419 21:03:51.310132 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.353057 deg, rms_residual=0.00711974m, sigma_yaw=0.00940372 rad, N=2
I0419 21:03:51.310329 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.3184, -2.00114, 0.353057deg) inliers=2 rms=0.00711974m
I0419 21:03:51.310397 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294312655228.
I0419 21:03:51.311254 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:51.311362 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:51.311388 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294312733856.
I0419 21:03:51.312592 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294312974227.
I0419 21:03:51.314065 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.506132, -0.516425)
I0419 21:03:51.314217 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294313018415.
I0419 21:03:51.326521 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.734066, 0.520359), points=6, range=0.897167, residual=0.0093417, extent=0.0264312
I0419 21:03:51.326670 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.734066, 0.520359), tracking=(-1.03257, -0.520359), map_predicted=(12.2778, -2.52558), range=0.897167, pts=6
I0419 21:03:51.326707 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0376564m maha_sq=0.0615655 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2778, -2.52558) lm_pos=(12.315, -2.52) delta=(-0.0372404, -0.00558165) -> 1 candidate(s)
I0419 21:03:51.326778 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0176571 range=0.706467 variance=0.000533325 t_weight=5625.09 r_weight=0 yaml=(13.215, -1.32) prior=(13.3111, -2.00668, -0.080787deg) obs_actual=(-0.11675, 0.68234) obs_expected=(-0.0970264, 0.686543) delta=(-0.019724, -0.00420279) |delta|=0.0201668m
I0419 21:03:51.326867 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294313259792.
I0419 21:03:51.334254 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294313337116.
I0419 21:03:51.354526 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294313537703.
I0419 21:03:51.362221 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294313617154.
I0419 21:03:51.386570 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:51.386711 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:51.386747 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:51.386914 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294313858840.
I0419 21:03:51.461659 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0363609s, prior_pose=(13.3475, -1.99829), yaw=-0.106397 deg
I0419 21:03:51.461778 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=251, threshold=230, above_threshold=20, candidates=20
I0419 21:03:51.461957 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294313901312.
I0419 21:03:51.463228 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294314141338.
I0419 21:03:51.464067 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294314218403.
I0419 21:03:51.466094 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:51.466249 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294314456057.
I0419 21:03:51.466938 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:51.466988 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.462069, -0.515856)
I0419 21:03:51.467010 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:51.467096 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294314536667.
I0419 21:03:51.474869 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294314741803.
I0419 21:03:51.482811 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37191, 0.71163), points=3, range=1.54067, residual=0.00962469, extent=0.0192149
I0419 21:03:51.482933 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.37191, 0.71163), tracking=(1.67041, 0.71163), map_predicted=(15.0454, -1.29188), range=1.54067, pts=3
I0419 21:03:51.482968 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.041376m maha_sq=0.0726782 (gate chi2=5.99) pose_sigma=(0.151587, 0.151587, rho=0) det_map=(15.0454, -1.29188) lm_pos=(15.015, -1.32) delta=(0.0303515, 0.0281205) -> 1 candidate(s)
I0419 21:03:51.483043 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00196695 range=0.687857 variance=0.00054302 t_weight=5524.66 r_weight=0 yaml=(14.115, -2.52) prior=(13.3733, -1.99969, -0.130819deg) obs_actual=(0.749538, -0.517273) obs_expected=(0.742869, -0.518611) delta=(0.00666889, 0.0013386) |delta|=0.00680191m
I0419 21:03:51.483136 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294314823899.
I0419 21:03:51.502806 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315019605.
I0419 21:03:51.511085 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315101342.
I0419 21:03:51.587453 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:51.587607 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315334177.
I0419 21:03:51.588543 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315381444.
I0419 21:03:51.589654 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315611368.
I0419 21:03:51.590691 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.3985, -2.00022), yaw=-0.1594 deg backend=(13.3869, -2.01641)
I0419 21:03:51.591312 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:51.591398 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:51.591420 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294315655666.
I0419 21:03:51.592473 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.7066, -0.701093)
I0419 21:03:51.592593 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315898640.
I0419 21:03:51.598755 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.0930277 deg, rms_residual=0.014484m, sigma_yaw=0.0189461 rad, N=2
I0419 21:03:51.598891 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.3923, -2.01636, -0.0930277deg) inliers=2 rms=0.014484m
I0419 21:03:51.598929 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294315982277.
I0419 21:03:51.622596 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294316218706.
I0419 21:03:51.625821 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0188446 range=1.49425 variance=0.000619596 t_weight=4841.87 r_weight=0 yaml=(15.015, -1.32) prior=(13.4034, -2.00508, -0.167086deg) obs_actual=(1.62028, 0.707732) obs_expected=(1.60963, 0.689778) delta=(0.0106463, 0.0179537) |delta|=0.0208729m
I0419 21:03:51.625996 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294316252898.
I0419 21:03:51.650283 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0876974, -0.681661), points=18, range=0.687667, residual=0.0108617, extent=0.0350906
I0419 21:03:51.650403 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0876974, -0.681661), tracking=(-0.210803, 0.681661), map_predicted=(13.1945, -1.32281), range=0.687667, pts=18
I0419 21:03:51.650444 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0206446m maha_sq=0.0184865 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1945, -1.32281) lm_pos=(13.215, -1.32) delta=(-0.0204528, -0.00280813) -> 1 candidate(s)
I0419 21:03:51.650602 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294316494422.
I0419 21:03:51.734045 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294316538554.
I0419 21:03:51.735409 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:51.735509 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:51.735530 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:51.735643 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294316776231.
I0419 21:03:51.736297 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634359s, prior_pose=(13.4244, -2.0016), yaw=-0.138309 deg
I0419 21:03:51.736377 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:03:51.736537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294316853065.
I0419 21:03:51.738530 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317092320.
I0419 21:03:51.739259 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.379222, -0.515468)
I0419 21:03:51.739394 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317138225.
I0419 21:03:51.740573 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:51.740684 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317382041.
I0419 21:03:51.746348 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:51.746469 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:51.746665 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317456521.
I0419 21:03:51.766510 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317655489.
I0419 21:03:51.774362 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317734004.
I0419 21:03:51.871618 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.881652, 0.522778), points=6, range=1.02333, residual=0.0071418, extent=0.019092
I0419 21:03:51.871721 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.881652, 0.522778), tracking=(-1.18015, -0.522778), map_predicted=(12.2853, -2.52405), range=1.02333, pts=6
I0419 21:03:51.871795 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0299792m maha_sq=0.0386009 (gate chi2=5.99) pose_sigma=(0.150934, 0.150934, rho=0) det_map=(12.2853, -2.52405) lm_pos=(12.315, -2.52) delta=(-0.0297044, -0.00404933) -> 1 candidate(s)
I0419 21:03:51.871858 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.000447844 range=0.682471 variance=0.000547202 t_weight=5482.44 r_weight=0 yaml=(13.215, -1.32) prior=(13.4661, -2.00277, -0.0727098deg) obs_actual=(-0.254878, 0.681025) obs_expected=(-0.251976, 0.68245) delta=(-0.00290148, -0.00142435) |delta|=0.00323224m
I0419 21:03:51.871910 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294317980689.
I0419 21:03:51.872630 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294318014046.
I0419 21:03:51.873839 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:51.873950 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294318256700.
I0419 21:03:51.875300 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294318301391.
I0419 21:03:51.876472 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.574067, -0.226132)
I0419 21:03:51.876582 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294318565546.
I0419 21:03:51.877275 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:51.877341 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:51.877362 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294318620295.
I0419 21:03:51.887161 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294318861209.
I0419 21:03:51.891167 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294318900433.
I0419 21:03:51.915490 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294319142440.
I0419 21:03:52.009224 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.134669 deg, rms_residual=0.0187861m, sigma_yaw=0.024436 rad, N=2
I0419 21:03:52.009326 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.4878, -2.02063, 0.134669deg) inliers=2 rms=0.0187861m
I0419 21:03:52.009366 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294319223396.
I0419 21:03:52.010527 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0826113 range=1.059 variance=0.000523102 t_weight=5735.02 r_weight=0 yaml=(12.315, -2.52) prior=(13.494, -2.00017, -0.0781069deg) obs_actual=(-1.22184, -0.524159) obs_expected=(-1.17831, -0.521433) delta=(-0.0435263, -0.00272585) |delta|=0.0436116m
I0419 21:03:52.010628 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294319455097.
I0419 21:03:52.011256 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.23252, 0.709204)
I0419 21:03:52.011309 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.305752, -0.515497), points=20, range=0.60175, residual=0.0129733, extent=0.042347
I0419 21:03:52.011375 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.305752, -0.515497), tracking=(0.604252, -0.515497), map_predicted=(14.0976, -2.51649), range=0.60175, pts=20
I0419 21:03:52.011396 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0177766m maha_sq=0.0136786 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0976, -2.51649) lm_pos=(14.115, -2.52) delta=(-0.0174275, 0.00350595) -> 1 candidate(s)
I0419 21:03:52.011456 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294319501513.
I0419 21:03:52.013245 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:52.013317 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:52.013332 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:52.013402 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294319737831.
I0419 21:03:52.014052 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592972s, prior_pose=(13.5107, -1.99645), yaw=-0.0835643 deg
I0419 21:03:52.014108 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:52.014249 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294319816368.
I0419 21:03:52.015234 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320022358.
I0419 21:03:52.016671 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320102194.
I0419 21:03:52.034667 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:52.034951 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294320334110.
I0419 21:03:52.038903 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:52.039013 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:52.039211 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320381863.
I0419 21:03:52.136647 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320620009.
I0419 21:03:52.137660 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320697299.
I0419 21:03:52.138685 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.963898, 0.523306)
I0419 21:03:52.138827 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320899083.
I0419 21:03:52.140331 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0775854 range=1.384 variance=0.000490736 t_weight=6113.27 r_weight=0 yaml=(15.015, -1.32) prior=(13.5586, -1.99926, -0.188376deg) obs_actual=(1.48671, 0.711596) obs_expected=(1.45414, 0.684049) delta=(0.0325757, 0.027547) |delta|=0.0426617m
I0419 21:03:52.140429 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294320978556.
I0419 21:03:52.141396 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0484706, -0.678438), points=18, range=0.680722, residual=0.0111468, extent=0.0341548
I0419 21:03:52.141510 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0484706, -0.678438), tracking=(-0.346971, 0.678438), map_predicted=(13.2139, -1.31969), range=0.680722, pts=18
I0419 21:03:52.141537 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00115953m maha_sq=5.83029e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2139, -1.31969) lm_pos=(13.215, -1.32) delta=(-0.00111715, 0.000310642) -> 1 candidate(s)
I0419 21:03:52.141573 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:52.141608 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294321216465.
I0419 21:03:52.142421 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294321260693.
I0419 21:03:52.150847 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294321498423.
I0419 21:03:52.154842 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:52.155090 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:52.155143 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294321538174.
I0419 21:03:52.178455 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294321777633.
I0419 21:03:52.259958 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294321822360.
I0419 21:03:52.260895 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:52.261257 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294322102083.
I0419 21:03:52.261909 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294322139909.
I0419 21:03:52.263655 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.0812865, -0.678016)
I0419 21:03:52.263777 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294322377316.
I0419 21:03:52.264449 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294322422876.
I0419 21:03:52.266744 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:52.266855 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02343, 0.525209), points=4, range=1.14675, residual=0.00867054, extent=0.0197166
I0419 21:03:52.266885 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:52.266904 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:52.266921 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02343, 0.525209), tracking=(-1.32193, -0.525209), map_predicted=(12.2606, -2.52277), range=1.14675, pts=4
I0419 21:03:52.266952 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0544964m maha_sq=0.128939 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2606, -2.52277) lm_pos=(12.315, -2.52) delta=(-0.0544257, -0.00277471) -> 1 candidate(s)
I0419 21:03:52.267027 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.00874 deg, rms_residual=0.0116146m, sigma_yaw=0.01525 rad, N=2
I0419 21:03:52.267100 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0110254 range=0.684556 variance=0.00058834 t_weight=5099.09 r_weight=0 yaml=(13.215, -1.32) prior=(13.5841, -2.00148, -0.169606deg) obs_actual=(-0.386684, 0.677095) obs_expected=(-0.371072, 0.680385) delta=(-0.015612, -0.00329003) |delta|=0.0159549m
I0419 21:03:52.267148 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6205, -1.98089, 1.00874deg) inliers=2 rms=0.0116146m
I0419 21:03:52.267186 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294322661802.
I0419 21:03:52.273801 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0354412s, prior_pose=(13.6066, -1.99534), yaw=-0.207929 deg
I0419 21:03:52.273896 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:52.274153 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294322731728.
I0419 21:03:52.294991 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294322939249.
I0419 21:03:52.303375 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294323019040.
I0419 21:03:52.390376 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:52.390530 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294323262682.
I0419 21:03:52.391201 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:52.391261 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:52.391351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294323297155.
I0419 21:03:52.392334 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294323538098.
I0419 21:03:52.393883 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294323617304.
I0419 21:03:52.394883 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.124599, -0.67756)
I0419 21:03:52.394991 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294323855242.
I0419 21:03:52.395673 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294323893520.
I0419 21:03:52.414283 1258777 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 17 -> 16 (threshold=0.03, iters=3)
I0419 21:03:52.414420 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:52.414489 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294324138425.
I0419 21:03:52.418020 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0198067 range=1.28733 variance=0.000632291 t_weight=4744.65 r_weight=0 yaml=(15.015, -1.32) prior=(13.6314, -2.00807, -0.367822deg) obs_actual=(1.36362, 0.711673) obs_expected=(1.37915, 0.696942) delta=(-0.0155291, 0.0147317) |delta|=0.021405m
I0419 21:03:52.418156 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294324173907.
I0419 21:03:52.445984 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.142556, -0.675284), points=17, range=0.691706, residual=0.0114706, extent=0.0340686
I0419 21:03:52.446086 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.142556, -0.675284), tracking=(-0.441056, 0.675284), map_predicted=(13.1947, -1.32997), range=0.691706, pts=17
I0419 21:03:52.446121 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0226226m maha_sq=0.0221854 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1947, -1.32997) lm_pos=(13.215, -1.32) delta=(-0.020306, -0.00997256) -> 1 candidate(s)
I0419 21:03:52.446214 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294324455857.
I0419 21:03:52.505513 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.6644, -2.00067), yaw=-0.381398 deg backend=(13.6613, -2.01467)
I0419 21:03:52.506156 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:52.506242 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:52.506269 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294324500946.
I0419 21:03:52.507390 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294324739324.
I0419 21:03:52.508178 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294324772415.
I0419 21:03:52.509899 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294325015159.
I0419 21:03:52.510780 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294325096076.
I0419 21:03:52.530306 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.172749, -0.679986)
I0419 21:03:52.530561 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294325299426.
I0419 21:03:52.538295 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294325378599.
I0419 21:03:52.558295 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:52.558398 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:52.558414 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:52.558490 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294325578056.
I0419 21:03:52.565904 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639939s, prior_pose=(13.6787, -2.00637), yaw=-0.502481 deg
I0419 21:03:52.566025 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:52.566262 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294325655098.
I0419 21:03:52.627811 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294325902961.
I0419 21:03:52.628732 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294325951532.
I0419 21:03:52.629864 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:52.629956 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0455623 range=0.708588 variance=0.000579663 t_weight=5175.42 r_weight=0 yaml=(13.215, -1.32) prior=(13.6773, -2.01165, -0.577505deg) obs_actual=(-0.500565, 0.678353) obs_expected=(-0.469298, 0.686951) delta=(-0.0312672, -0.00859781) |delta|=0.0324278m
I0419 21:03:52.630048 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294326220100.
I0419 21:03:52.631457 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:52.631521 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:52.631546 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.109781, -0.512603), points=24, range=0.526167, residual=0.0123602, extent=0.0416606
I0419 21:03:52.631567 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.109781, -0.512603), tracking=(0.408281, -0.512603), map_predicted=(14.0951, -2.53061), range=0.526167, pts=24
I0419 21:03:52.631587 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0225748m maha_sq=0.0217402 (gate chi2=5.99) pose_sigma=(0.151185, 0.151185, rho=0) det_map=(14.0951, -2.53061) lm_pos=(14.115, -2.52) delta=(-0.0199275, -0.0106075) -> 1 candidate(s)
I0419 21:03:52.631655 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294326253646.
I0419 21:03:52.650969 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294326502111.
I0419 21:03:52.654352 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294326536199.
I0419 21:03:52.678324 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.22046, -0.678352)
I0419 21:03:52.678532 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294326778138.
I0419 21:03:52.686906 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294326859807.
I0419 21:03:52.710731 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:52.710960 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294327099389.
I0419 21:03:52.805016 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.621909 deg, rms_residual=0.0180189m, sigma_yaw=0.0234615 rad, N=2
I0419 21:03:52.805138 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.7259, -2.01563, -0.621909deg) inliers=2 rms=0.0180189m
I0419 21:03:52.805181 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294327133651.
I0419 21:03:52.805286 1218970 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.46% real time)
I0419 21:03:52.805405 1218970 collated_trajectory_builder.cc:82] odom rate: 248.73 Hz 4.02e-03 s +/- 7.41e-04 s (pulsed at 99.83% real time)
I0419 21:03:52.805511 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.20e-03 s (pulsed at 100.33% real time)
I0419 21:03:52.805539 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.08e-03 s (pulsed at 100.48% real time)
I0419 21:03:52.806962 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294327382942.
I0419 21:03:52.807677 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:52.807826 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:52.807854 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294327416693.
I0419 21:03:52.809794 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294327653981.
I0419 21:03:52.810519 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294327733153.
I0419 21:03:52.811566 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16765, 0.550697), points=3, range=1.289, residual=0.00498729, extent=0.00959944
I0419 21:03:52.811630 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16765, 0.550697), tracking=(-1.46615, -0.550697), map_predicted=(12.2602, -2.53205), range=1.289, pts=3
I0419 21:03:52.811655 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.056103m maha_sq=0.136901 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.2602, -2.53205) lm_pos=(12.315, -2.52) delta=(-0.0547946, -0.0120457) -> 1 candidate(s)
I0419 21:03:52.811705 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0208899 range=0.723 variance=0.000571806 t_weight=5246.53 r_weight=0 yaml=(13.215, -1.32) prior=(13.7357, -2.00695, -0.997246deg) obs_actual=(-0.554418, 0.675375) obs_expected=(-0.532597, 0.677783) delta=(-0.0218212, -0.00240855) |delta|=0.0219537m
I0419 21:03:52.811760 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294327937924.
I0419 21:03:52.813287 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294328017925.
I0419 21:03:52.826586 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.267029, -0.674904)
I0419 21:03:52.826877 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294328258025.
I0419 21:03:52.838744 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294328376053.
I0419 21:03:52.935213 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:52.935339 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:52.935354 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:52.935444 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294328540184.
I0419 21:03:52.936168 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604595s, prior_pose=(13.7666, -2.00401), yaw=-1.21102 deg
I0419 21:03:52.936234 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:52.936463 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294328622520.
I0419 21:03:52.937562 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294328821818.
I0419 21:03:52.939147 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294328903037.
I0419 21:03:52.940261 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:52.940338 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294329132509.
I0419 21:03:52.941143 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:52.941197 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:52.941279 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294329177494.
I0419 21:03:52.946811 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294329457125.
I0419 21:03:52.950794 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.904527, 0.737667)
I0419 21:03:52.950960 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.908194, 0.73761), points=5, range=1.1672, residual=0.00965611, extent=0.0247201
I0419 21:03:52.951018 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.908194, 0.73761), tracking=(1.20669, 0.73761), map_predicted=(15.0213, -1.29575), range=1.1672, pts=5
I0419 21:03:52.951063 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0250551m maha_sq=0.0272318 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0213, -1.29575) lm_pos=(15.015, -1.32) delta=(0.00631926, 0.0242451) -> 1 candidate(s)
I0419 21:03:52.951161 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00573791 range=0.514154 variance=0.000583023 t_weight=5145.59 r_weight=0 yaml=(14.115, -2.52) prior=(13.7959, -2.00189, -1.4828deg) obs_actual=(0.321721, -0.51407) obs_expected=(0.332358, -0.509678) delta=(-0.0106376, -0.00439202) |delta|=0.0115086m
I0419 21:03:52.951270 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294329495964.
I0419 21:03:52.974758 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294329736922.
I0419 21:03:53.067865 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294329783410.
I0419 21:03:53.069005 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:53.069149 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294329984756.
I0419 21:03:53.070080 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294330063182.
I0419 21:03:53.071887 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294330296813.
I0419 21:03:53.072667 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:53.072757 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:53.072782 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294330340973.
I0419 21:03:53.073937 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294330612283.
I0419 21:03:53.075443 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.66462 deg, rms_residual=0.0150051m, sigma_yaw=0.0196143 rad, N=2
I0419 21:03:53.075513 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8382, -2.01051, -1.66462deg) inliers=2 rms=0.0150051m
I0419 21:03:53.075544 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294330657274.
I0419 21:03:53.090176 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.24338, 0.564449)
I0419 21:03:53.090499 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294330894135.
I0419 21:03:53.094535 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294330937031.
I0419 21:03:53.165136 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00109986 range=0.761933 variance=0.000594406 t_weight=5047.06 r_weight=0 yaml=(13.215, -1.32) prior=(13.8494, -2.00509, -1.74146deg) obs_actual=(-0.656233, 0.670404) obs_expected=(-0.654909, 0.665499) delta=(-0.00132389, 0.00490558) |delta|=0.00508108m
I0419 21:03:53.165264 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294331182783.
I0419 21:03:53.166065 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0321448, -0.513573), points=25, range=0.51504, residual=0.0114479, extent=0.0394063
I0419 21:03:53.166134 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0321448, -0.513573), tracking=(0.266355, -0.513573), map_predicted=(14.1, -2.52652), range=0.51504, pts=25
I0419 21:03:53.166162 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0163502m maha_sq=0.0115914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1, -2.52652) lm_pos=(14.115, -2.52) delta=(-0.0149924, -0.00652345) -> 1 candidate(s)
I0419 21:03:53.166249 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294331257596.
I0419 21:03:53.167276 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:53.167348 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:53.167366 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:53.167425 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294331460679.
I0419 21:03:53.168704 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0356917s, prior_pose=(13.8612, -2.00808), yaw=-1.75261 deg
I0419 21:03:53.168771 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:53.168946 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294331539700.
I0419 21:03:53.178898 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294331782326.
I0419 21:03:53.182488 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294331816613.
I0419 21:03:53.206094 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:53.206287 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294332054710.
I0419 21:03:53.210614 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:53.210697 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:53.210875 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294332100844.
I0419 21:03:53.234831 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.29318, 0.560047)
I0419 21:03:53.235039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294332340880.
I0419 21:03:53.298606 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294332417766.
I0419 21:03:53.299856 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294332665965.
I0419 21:03:53.300583 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294332701394.
I0419 21:03:53.302439 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:53.302521 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294332938591.
I0419 21:03:53.303349 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.793744, 0.737994), points=8, range=1.08675, residual=0.0103906, extent=0.0298302
I0419 21:03:53.303406 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.793744, 0.737994), tracking=(1.09224, 0.737994), map_predicted=(15.0128, -1.30164), range=1.08675, pts=8
I0419 21:03:53.303429 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0184886m maha_sq=0.0148218 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0128, -1.30164) lm_pos=(15.015, -1.32) delta=(-0.00215977, 0.018362) -> 1 candidate(s)
I0419 21:03:53.303494 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0173965 range=0.520625 variance=0.000544643 t_weight=5508.19 r_weight=0 yaml=(14.115, -2.52) prior=(13.899, -2.00666, -1.71278deg) obs_actual=(0.212511, -0.513788) obs_expected=(0.231221, -0.506659) delta=(-0.0187104, -0.00712872) |delta|=0.0200224m
I0419 21:03:53.303534 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294333020164.
I0419 21:03:53.325956 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294333253965.
I0419 21:03:53.327075 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.9191, -2.00379), yaw=-1.65699 deg backend=(13.8998, -2.01416)
I0419 21:03:53.330775 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:53.330922 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:53.330994 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294333298642.
I0419 21:03:53.354530 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294333539000.
I0419 21:03:53.358182 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294333574064.
I0419 21:03:53.424249 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.34401, 0.552128)
I0419 21:03:53.424420 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294333821853.
I0419 21:03:53.425354 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294333867405.
I0419 21:03:53.426596 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294334140191.
I0419 21:03:53.428238 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294334172939.
I0419 21:03:53.441998 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:53.442205 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:53.442273 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:53.442431 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294334415737.
I0419 21:03:53.445924 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634625s, prior_pose=(13.9421, -2.00773), yaw=-1.49653 deg
I0419 21:03:53.446003 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:03:53.446256 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294334456478.
I0419 21:03:53.470297 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294334697493.
I0419 21:03:53.478130 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0110448 range=1.04275 variance=0.000546845 t_weight=5486.02 r_weight=0 yaml=(15.015, -1.32) prior=(13.9521, -2.01036, -1.50426deg) obs_actual=(1.03722, 0.732269) obs_expected=(1.04441, 0.718029) delta=(-0.00719537, 0.0142399) |delta|=0.0159546m
I0419 21:03:53.478298 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294334775023.
I0419 21:03:53.503015 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471943, -0.676034), points=12, range=0.826667, residual=0.0110583, extent=0.0326654
I0419 21:03:53.503207 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.471943, -0.676034), tracking=(-0.770443, 0.676034), map_predicted=(13.1997, -1.31434), range=0.826667, pts=12
I0419 21:03:53.503268 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0163441m maha_sq=0.0115819 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1997, -1.31434) lm_pos=(13.215, -1.32) delta=(-0.015332, 0.00566198) -> 1 candidate(s)
I0419 21:03:53.503314 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:53.504292 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294335014714.
I0419 21:03:53.587158 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:53.587268 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:53.587414 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294335059883.
I0419 21:03:53.588949 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294335298603.
I0419 21:03:53.590287 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.157316, -0.517159)
I0419 21:03:53.590514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294335376859.
I0419 21:03:53.592870 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294335580176.
I0419 21:03:53.594281 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294335662107.
I0419 21:03:53.595425 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:53.595508 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294335899388.
I0419 21:03:53.597204 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.73988 deg, rms_residual=0.0142334m, sigma_yaw=0.0186244 rad, N=2
I0419 21:03:53.597281 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9935, -2.0105, -1.73988deg) inliers=2 rms=0.0142334m
I0419 21:03:53.597312 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294335935381.
I0419 21:03:53.619091 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294336181180.
I0419 21:03:53.622403 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:53.622583 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:53.622632 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294336214682.
I0419 21:03:53.725131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294336498302.
I0419 21:03:53.725692 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:53.725874 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294336535171.
I0419 21:03:53.728540 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294336776853.
I0419 21:03:53.731638 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.19942, -0.514933)
I0419 21:03:53.731791 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.680164, 0.737864), points=10, range=1.0013, residual=0.0130182, extent=0.0420802
I0419 21:03:53.731848 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.680164, 0.737864), tracking=(0.978664, 0.737864), map_predicted=(15.0199, -1.30291), range=1.0013, pts=10
I0419 21:03:53.731894 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0177697m maha_sq=0.0134764 (gate chi2=5.99) pose_sigma=(0.151034, 0.151034, rho=0) det_map=(15.0199, -1.30291) lm_pos=(15.015, -1.32) delta=(0.00486979, 0.0170894) -> 1 candidate(s)
I0419 21:03:53.731997 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0100214 range=0.552286 variance=0.000534137 t_weight=5616.54 r_weight=0 yaml=(14.115, -2.52) prior=(14.0198, -2.01144, -1.69848deg) obs_actual=(0.098219, -0.514935) obs_expected=(0.110266, -0.50551) delta=(-0.0120469, -0.0094247) |delta|=0.0152955m
I0419 21:03:53.732079 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294336820979.
I0419 21:03:53.734481 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294337055882.
I0419 21:03:53.735877 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294337137909.
I0419 21:03:53.738131 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:53.738227 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:53.738246 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:53.738301 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294337377700.
I0419 21:03:53.742447 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060021s, prior_pose=(14.0299, -2.01151), yaw=-1.77345 deg
I0419 21:03:53.742527 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:53.742796 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294337421189.
I0419 21:03:53.767269 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294337664418.
I0419 21:03:53.849733 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294337699117.
I0419 21:03:53.850966 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:53.851052 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294337939736.
I0419 21:03:53.851764 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:53.851810 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:53.851878 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294338017733.
I0419 21:03:53.853504 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.584998, -0.672849)
I0419 21:03:53.853593 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294338218281.
I0419 21:03:53.854358 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294338294734.
I0419 21:03:53.855410 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294338538305.
I0419 21:03:53.859223 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294338582338.
I0419 21:03:53.881731 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:53.881939 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.021961 range=0.9023 variance=0.000573927 t_weight=5227.14 r_weight=0 yaml=(13.215, -1.32) prior=(14.0672, -2.01311, -2.07043deg) obs_actual=(-0.897302, 0.670858) obs_expected=(-0.876665, 0.661869) delta=(-0.0206378, 0.0089894) |delta|=0.0225106m
I0419 21:03:53.882047 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294338811976.
I0419 21:03:53.886052 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.261095, -0.516064), points=21, range=0.577524, residual=0.0113723, extent=0.0333751
I0419 21:03:53.886153 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.261095, -0.516064), tracking=(0.037405, -0.516064), map_predicted=(14.0859, -2.53019), range=0.577524, pts=21
I0419 21:03:53.886184 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0308158m maha_sq=0.0411754 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0859, -2.53019) lm_pos=(14.115, -2.52) delta=(-0.0290834, -0.0101868) -> 1 candidate(s)
I0419 21:03:53.886270 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294338855636.
I0419 21:03:53.946915 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294339097239.
I0419 21:03:53.947827 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:53.947906 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:53.947973 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294339172481.
I0419 21:03:53.948902 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47826, 0.577336)
I0419 21:03:53.948990 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294339419037.
I0419 21:03:53.950517 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294339453499.
I0419 21:03:53.970230 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294339695476.
I0419 21:03:53.978031 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294339772873.
I0419 21:03:54.002022 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294340015507.
I0419 21:03:54.006368 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294340058957.
I0419 21:03:54.030777 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:54.030879 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:54.030897 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:54.030978 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294340302847.
I0419 21:03:54.088874 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:03:54.091746 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0321788s, prior_pose=(14.1264, -2.01069), yaw=-2.42839 deg
I0419 21:03:54.091845 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1343, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:03:54.092041 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294340337295.
I0419 21:03:54.093339 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(-0.291602, 0.520623)
I0419 21:03:54.093473 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294340580046.
I0419 21:03:54.094240 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0172719 range=0.925909 variance=0.000568476 t_weight=5277.27 r_weight=0 yaml=(15.015, -1.32) prior=(14.1264, -2.01069, -2.42839deg) obs_actual=(0.847782, 0.744539) obs_expected=(0.858525, 0.727716) delta=(-0.0107429, 0.0168234) |delta|=0.0199609m
I0419 21:03:54.094316 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294340657276.
I0419 21:03:54.096055 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.67664, -0.666797), points=10, range=0.9472, residual=0.0126421, extent=0.0359599
I0419 21:03:54.096118 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.67664, -0.666797), tracking=(-0.97514, 0.666797), map_predicted=(13.1936, -1.30211), range=0.9472, pts=10
I0419 21:03:54.096146 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0278897m maha_sq=0.0332638 (gate chi2=5.99) pose_sigma=(0.150919, 0.150919, rho=0) det_map=(13.1936, -1.30211) lm_pos=(13.215, -1.32) delta=(-0.0213961, 0.0178896) -> 1 candidate(s)
I0419 21:03:54.096166 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:54.096253 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294340858456.
I0419 21:03:54.096954 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:54.096994 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:03:54.097059 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294340938522.
I0419 21:03:54.118916 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294341182249.
I0419 21:03:54.122036 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294341215524.
I0419 21:03:54.145946 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294341451574.
I0419 21:03:54.153995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294341532215.
I0419 21:03:54.224669 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.700739, -0.664882)
I0419 21:03:54.224972 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:54.225050 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.62039 deg, rms_residual=0.0145011m, sigma_yaw=0.0189681 rad, N=2
I0419 21:03:54.225126 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.1787, -2.01902, -2.62039deg) inliers=2 rms=0.0145011m
I0419 21:03:54.225168 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294341775596.
I0419 21:03:54.226225 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294341820004.
I0419 21:03:54.227893 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294342059507.
I0419 21:03:54.229190 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.1861, -2.0176), yaw=-2.76058 deg backend=(14.168, -2.01635)
I0419 21:03:54.229697 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:54.229804 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:54.229830 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294342092713.
I0419 21:03:54.234475 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294342340064.
I0419 21:03:54.243151 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294342422125.
I0419 21:03:54.266641 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00509423 range=0.56813 variance=0.000628286 t_weight=4774.89 r_weight=0 yaml=(14.115, -2.52) prior=(14.1964, -2.01892, -2.82101deg) obs_actual=(-0.0625879, -0.513602) obs_expected=(-0.0566092, -0.504477) delta=(-0.00597871, -0.00912486) |delta|=0.0109091m
I0419 21:03:54.266887 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294342652968.
I0419 21:03:54.270262 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.482561, 0.743025), points=11, range=0.886727, residual=0.00980252, extent=0.0315298
I0419 21:03:54.270392 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.482561, 0.743025), tracking=(0.781061, 0.743025), map_predicted=(15.0131, -1.31524), range=0.886727, pts=11
I0419 21:03:54.270506 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00514607m maha_sq=0.00114936 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0131, -1.31524) lm_pos=(15.015, -1.32) delta=(-0.00194756, 0.0047633) -> 1 candidate(s)
I0419 21:03:54.270674 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294342695352.
I0419 21:03:54.294865 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294342935447.
I0419 21:03:54.380626 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294342980790.
I0419 21:03:54.381953 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.74832, -0.661954)
I0419 21:03:54.382038 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:54.382062 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:54.382078 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:54.382162 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294343255842.
I0419 21:03:54.382779 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0649252s, prior_pose=(14.2074, -2.01816), yaw=-2.9319 deg
I0419 21:03:54.382851 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1331, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:03:54.382954 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294343302220.
I0419 21:03:54.384831 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294343535222.
I0419 21:03:54.385679 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294343581683.
I0419 21:03:54.386818 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:54.386957 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294343812490.
I0419 21:03:54.388370 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:54.388447 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:54.388525 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294343861991.
I0419 21:03:54.411412 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294344102391.
I0419 21:03:54.417989 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294344172365.
I0419 21:03:54.497449 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294344377647.
I0419 21:03:54.498315 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.22138, 0.823177)
I0419 21:03:54.498451 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294344455542.
I0419 21:03:54.499502 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.178422, 0.513166), points=24, range=0.542167, residual=0.0125084, extent=0.0368963
I0419 21:03:54.499614 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.178422, 0.513166), tracking=(-0.120078, -0.513166), map_predicted=(14.1083, -2.52724), range=0.542167, pts=24
I0419 21:03:54.499683 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00984765m maha_sq=0.00420014 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1083, -2.52724) lm_pos=(14.115, -2.52) delta=(-0.0066792, -0.00723633) -> 1 candidate(s)
I0419 21:03:54.499732 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:54.499763 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0342084 range=1.03375 variance=0.000579214 t_weight=5179.43 r_weight=0 yaml=(13.215, -1.32) prior=(14.2531, -2.02047, -2.76991deg) obs_actual=(-1.09387, 0.665384) obs_expected=(-1.0707, 0.64949) delta=(-0.0231703, 0.0158947) |delta|=0.0280981m
I0419 21:03:54.499828 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294344702542.
I0419 21:03:54.501245 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294344736474.
I0419 21:03:54.502619 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294344974380.
I0419 21:03:54.506266 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:54.506407 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:54.506449 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294345057021.
I0419 21:03:54.531126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294345298941.
I0419 21:03:54.534458 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294345334745.
I0419 21:03:54.558507 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294345573754.
I0419 21:03:54.648883 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294345652277.
I0419 21:03:54.650309 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294345854018.
I0419 21:03:54.650954 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.34984, -0.427757)
I0419 21:03:54.651055 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294345935781.
I0419 21:03:54.653760 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:54.653878 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:54.653908 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:54.654037 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294346175364.
I0419 21:03:54.655192 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567837s, prior_pose=(14.3041, -2.02244), yaw=-2.5531 deg
I0419 21:03:54.655303 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1327, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:03:54.655499 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294346220114.
I0419 21:03:54.658083 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00702159 range=0.52576 variance=0.000568192 t_weight=5279.91 r_weight=0 yaml=(14.115, -2.52) prior=(14.3041, -2.02244, -2.5531deg) obs_actual=(-0.178049, -0.511382) obs_expected=(-0.166769, -0.505489) delta=(-0.0112806, -0.0058927) |delta|=0.012727m
I0419 21:03:54.658250 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294346452494.
I0419 21:03:54.660705 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.371419, 0.73418), points=12, range=0.824333, residual=0.0102252, extent=0.032134
I0419 21:03:54.660799 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.371419, 0.73418), tracking=(0.669919, 0.73418), map_predicted=(15.0216, -1.31981), range=0.824333, pts=12
I0419 21:03:54.660851 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00662667m maha_sq=0.00187571 (gate chi2=5.99) pose_sigma=(0.151211, 0.151211, rho=0) det_map=(15.0216, -1.31981) lm_pos=(15.015, -1.32) delta=(0.00662388, 0.000192507) -> 1 candidate(s)
I0419 21:03:54.660969 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294346494985.
I0419 21:03:54.674969 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:54.675197 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294346741033.
I0419 21:03:54.682655 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:54.682763 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:03:54.682912 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294346819392.
I0419 21:03:54.770993 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347070487.
I0419 21:03:54.771695 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-3.01286 deg, rms_residual=0.00828265m, sigma_yaw=0.0109229 rad, N=2
I0419 21:03:54.771800 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3194, -2.0128, -3.01286deg) inliers=2 rms=0.00828265m
I0419 21:03:54.771840 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347092976.
I0419 21:03:54.773005 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(-0.0925433, 0.511422)
I0419 21:03:54.773161 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347338296.
I0419 21:03:54.774585 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347418424.
I0419 21:03:54.775774 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:54.775858 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347657478.
I0419 21:03:54.776484 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347702161.
I0419 21:03:54.794489 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347933664.
I0419 21:03:54.798501 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:54.798640 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.000477089 range=0.804786 variance=0.000553124 t_weight=5423.74 r_weight=0 yaml=(15.015, -1.32) prior=(14.3523, -2.02345, -2.48034deg) obs_actual=(0.628782, 0.733166) obs_expected=(0.631631, 0.731469) delta=(-0.00284916, 0.00169725) |delta|=0.00331638m
I0419 21:03:54.798841 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:54.798880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294347978209.
I0419 21:03:54.822681 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.897943, -0.670493), points=7, range=1.11829, residual=0.0106062, extent=0.0309085
I0419 21:03:54.822865 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.897943, -0.670493), tracking=(-1.19644, 0.670493), map_predicted=(13.186, -1.30181), range=1.11829, pts=7
I0419 21:03:54.822925 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0342352m maha_sq=0.0508068 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.186, -1.30181) lm_pos=(13.215, -1.32) delta=(-0.0290005, 0.0181939) -> 1 candidate(s)
I0419 21:03:54.823130 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294348217597.
I0419 21:03:54.908849 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294348261982.
I0419 21:03:54.910091 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294348532435.
I0419 21:03:54.911140 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294348656064.
I0419 21:03:54.912985 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(-0.0479408, 0.513373)
I0419 21:03:54.913167 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294348818758.
I0419 21:03:54.914049 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294348852943.
I0419 21:03:54.915236 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:54.915302 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:54.915324 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:54.915403 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294349104332.
I0419 21:03:54.916795 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0321868s, prior_pose=(14.3942, -2.02114), yaw=-2.31432 deg
I0419 21:03:54.916860 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1320, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:03:54.916996 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294349140626.
I0419 21:03:54.942790 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294349416202.
I0419 21:03:54.946599 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00295463 range=0.784 variance=0.00061629 t_weight=4867.84 r_weight=0 yaml=(15.015, -1.32) prior=(14.3942, -2.02114, -2.31432deg) obs_actual=(0.583895, 0.727544) obs_expected=(0.591937, 0.725638) delta=(-0.00804176, 0.00190532) |delta|=0.00826439m
I0419 21:03:54.946830 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294349456334.
I0419 21:03:55.041385 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.930909, -0.67634), points=4, range=1.15275, residual=0.00623776, extent=0.0149106
I0419 21:03:55.041519 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.930909, -0.67634), tracking=(-1.22941, 0.67634), map_predicted=(13.1966, -1.29289), range=1.15275, pts=4
I0419 21:03:55.041554 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0327565m maha_sq=0.0464166 (gate chi2=5.99) pose_sigma=(0.150397, 0.150397, rho=0) det_map=(13.1966, -1.29289) lm_pos=(13.215, -1.32) delta=(-0.0183792, 0.0271145) -> 1 candidate(s)
I0419 21:03:55.041577 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:55.041652 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294349699950.
I0419 21:03:55.042364 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:55.042433 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:55.042531 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294349734758.
I0419 21:03:55.043821 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350017409.
I0419 21:03:55.045384 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.5552 deg, rms_residual=0.00718763m, sigma_yaw=0.00949253 rad, N=2
I0419 21:03:55.045507 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4096, -2.01544, -2.5552deg) inliers=2 rms=0.00718763m
I0419 21:03:55.045549 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350054135.
I0419 21:03:55.046677 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.000668613, 0.512606)
I0419 21:03:55.046818 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350293043.
I0419 21:03:55.047529 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294350337728.
I0419 21:03:55.058634 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:55.058784 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350579694.
I0419 21:03:55.062264 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350618498.
I0419 21:03:55.086905 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350861843.
I0419 21:03:55.158486 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4474, -2.02575), yaw=-2.1043 deg backend=(14.4214, -2.02558)
I0419 21:03:55.159185 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:55.159263 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:55.159288 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294350935480.
I0419 21:03:55.159614 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:55.160449 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0209523, 0.514351), points=26, range=0.514462, residual=0.0120523, extent=0.0378171
I0419 21:03:55.160542 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0209523, 0.514351), tracking=(-0.319452, -0.514351), map_predicted=(14.1093, -2.52802), range=0.514462, pts=26
I0419 21:03:55.160570 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00985996m maha_sq=0.00421282 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1093, -2.52802) lm_pos=(14.115, -2.52) delta=(-0.00572881, -0.00802493) -> 1 candidate(s)
I0419 21:03:55.160621 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0361254 range=1.1902 variance=0.000537328 t_weight=5583.18 r_weight=0 yaml=(13.215, -1.32) prior=(14.4474, -2.02575, -2.1043deg) obs_actual=(-1.2807, 0.677141) obs_expected=(-1.25748, 0.660023) delta=(-0.023221, 0.0171178) |delta|=0.0288485m
I0419 21:03:55.160668 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294351175159.
I0419 21:03:55.161377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294351220093.
I0419 21:03:55.163339 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(0.0352284, 0.514133)
I0419 21:03:55.163496 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294351453872.
I0419 21:03:55.164119 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294351497955.
I0419 21:03:55.175010 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294351740929.
I0419 21:03:55.182718 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294351821363.
I0419 21:03:55.206349 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:55.206488 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:55.206513 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:55.206714 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352055602.
I0419 21:03:55.210611 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0647066s, prior_pose=(14.4718, -2.02416), yaw=-2.05228 deg
I0419 21:03:55.210728 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1316, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:03:55.210958 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294352100938.
I0419 21:03:55.280169 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352338501.
I0419 21:03:55.281044 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352375932.
I0419 21:03:55.282116 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.0708992, 0.51523)
I0419 21:03:55.282196 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:55.282244 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0120461 range=0.5202 variance=0.000556515 t_weight=5390.69 r_weight=0 yaml=(14.115, -2.52) prior=(14.4872, -2.0255, -1.92566deg) obs_actual=(-0.370064, -0.514625) obs_expected=(-0.355385, -0.506732) delta=(-0.0146782, -0.00789254) |delta|=0.0166656m
I0419 21:03:55.282286 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352613415.
I0419 21:03:55.283739 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:55.283804 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:55.283830 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15821, -0.448457), points=4, range=1.23675, residual=0.0119622, extent=0.0263015
I0419 21:03:55.283854 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15821, -0.448457), tracking=(1.45671, -0.448457), map_predicted=(15.9458, -2.52415), range=1.23675, pts=4
I0419 21:03:55.283875 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0310457m maha_sq=0.0410017 (gate chi2=5.99) pose_sigma=(0.15133, 0.15133, rho=0) det_map=(15.9458, -2.52415) lm_pos=(15.915, -2.52) delta=(0.0307666, -0.00415327) -> 1 candidate(s)
I0419 21:03:55.283934 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352701556.
I0419 21:03:55.294281 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352937178.
I0419 21:03:55.297859 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294352972740.
I0419 21:03:55.322428 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294353216064.
I0419 21:03:55.329985 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294353293864.
I0419 21:03:55.349938 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:55.350059 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.98511 deg, rms_residual=0.0166044m, sigma_yaw=0.0216596 rad, N=2
I0419 21:03:55.350103 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5401, -2.03366, -1.98511deg) inliers=2 rms=0.0166044m
I0419 21:03:55.350138 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294353494128.
I0419 21:03:55.410933 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294353574908.
I0419 21:03:55.412042 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.104679, 0.514463)
I0419 21:03:55.412187 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294353817056.
I0419 21:03:55.412999 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:55.413092 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:55.413120 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294353866422.
I0419 21:03:55.414839 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294354093514.
I0419 21:03:55.415510 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00141638 range=0.737722 variance=0.000592207 t_weight=5065.8 r_weight=0 yaml=(15.015, -1.32) prior=(14.536, -2.02364, -1.92674deg) obs_actual=(0.449585, 0.721016) obs_expected=(0.455055, 0.719348) delta=(-0.00547042, 0.00166791) |delta|=0.00571904m
I0419 21:03:55.415578 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294354138818.
I0419 21:03:55.438091 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.122773, 0.51465), points=25, range=0.53096, residual=0.0127604, extent=0.0418902
I0419 21:03:55.438212 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.122773, 0.51465), tracking=(-0.421273, -0.51465), map_predicted=(14.0977, -2.52384), range=0.53096, pts=25
I0419 21:03:55.438254 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0177417m maha_sq=0.0136294 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0977, -2.52384) lm_pos=(14.115, -2.52) delta=(-0.0173219, -0.00383656) -> 1 candidate(s)
I0419 21:03:55.438355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294354374255.
I0419 21:03:55.445834 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294354453535.
I0419 21:03:55.470676 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294354699389.
I0419 21:03:55.474074 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294354733406.
I0419 21:03:55.562656 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.141721, 0.516468)
I0419 21:03:55.562762 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:55.562791 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:55.562804 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:55.562922 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294354973466.
I0419 21:03:55.563701 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599432s, prior_pose=(14.5548, -2.01178), yaw=-1.89221 deg
I0419 21:03:55.563763 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1310, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:03:55.563938 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294355052967.
I0419 21:03:55.565061 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294355254858.
I0419 21:03:55.566527 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294355334426.
I0419 21:03:55.567759 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:55.567852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294355581733.
I0419 21:03:55.568459 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:55.568496 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:55.568572 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294355615238.
I0419 21:03:55.586166 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00992274 range=0.54292 variance=0.000585544 t_weight=5123.44 r_weight=0 yaml=(14.115, -2.52) prior=(14.5826, -2.01727, -1.87112deg) obs_actual=(-0.465958, -0.515294) obs_expected=(-0.450968, -0.517731) delta=(-0.0149904, 0.00243738) |delta|=0.0151873m
I0419 21:03:55.586470 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294355852124.
I0419 21:03:55.594391 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0974649, 0.716206), points=17, range=0.724765, residual=0.011527, extent=0.0344845
I0419 21:03:55.594936 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0974649, 0.716206), tracking=(0.395965, 0.716206), map_predicted=(15.0018, -1.31437), range=0.724765, pts=17
I0419 21:03:55.595014 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0143759m maha_sq=0.00895784 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0018, -1.31437) lm_pos=(15.015, -1.32) delta=(-0.0132294, 0.00562572) -> 1 candidate(s)
I0419 21:03:55.595233 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294355931944.
I0419 21:03:55.618279 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.177043, 0.51647)
I0419 21:03:55.618636 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294356174418.
I0419 21:03:55.710623 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294356219563.
I0419 21:03:55.711952 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:55.712033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294356455881.
I0419 21:03:55.712669 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294356500578.
I0419 21:03:55.714497 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294356816158.
I0419 21:03:55.714934 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:55.714994 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:55.715016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294356816331.
I0419 21:03:55.716209 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294357021365.
I0419 21:03:55.716747 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.02591, -0.45675)
I0419 21:03:55.716828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294357100634.
I0419 21:03:55.734964 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294357333020.
I0419 21:03:55.739804 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294357377808.
I0419 21:03:55.831137 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294357622607.
I0419 21:03:55.832190 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294357701457.
I0419 21:03:55.833462 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:55.833566 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:55.833588 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:55.833622 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.053677 range=0.563545 variance=0.000577476 t_weight=5195.02 r_weight=0 yaml=(14.115, -2.52) prior=(14.6232, -2.01527, -1.74754deg) obs_actual=(-0.52723, -0.513674) obs_expected=(-0.492607, -0.519998) delta=(-0.0346227, 0.00632474) |delta|=0.0351956m
I0419 21:03:55.833714 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294357900086.
I0419 21:03:55.835191 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.035927s, prior_pose=(14.6365, -2.0141), yaw=-1.64965 deg
I0419 21:03:55.835260 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1304, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:03:55.835345 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.993939, -0.459922)
I0419 21:03:55.835371 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.998732, -0.460403), points=5, range=1.0952, residual=0.0126653, extent=0.0307428
I0419 21:03:55.835393 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.998732, -0.460403), tracking=(1.29723, -0.460403), map_predicted=(15.9199, -2.51166), range=1.0952, pts=5
I0419 21:03:55.835412 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00967832m maha_sq=0.00400055 (gate chi2=5.99) pose_sigma=(0.150993, 0.150993, rho=0) det_map=(15.9199, -2.51166) lm_pos=(15.915, -2.52) delta=(0.0049076, 0.00834178) -> 1 candidate(s)
I0419 21:03:55.835455 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-2.28595 deg, rms_residual=0.00709717m, sigma_yaw=0.00937419 rad, N=2
I0419 21:03:55.835495 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6414, -2.0139, -2.28595deg) inliers=2 rms=0.00709717m
I0419 21:03:55.835526 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294357981877.
I0419 21:03:55.836874 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294358221645.
I0419 21:03:55.838045 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294358254829.
I0419 21:03:55.850720 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:55.850903 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294358499176.
I0419 21:03:55.858069 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:55.858137 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:55.858237 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294358577464.
I0419 21:03:55.882836 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294358820271.
I0419 21:03:55.965667 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294358856524.
I0419 21:03:55.966852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294359100979.
I0419 21:03:55.967490 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.960598, -0.459836)
I0419 21:03:55.967618 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294359134575.
I0419 21:03:55.969583 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:55.969692 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294359379169.
I0419 21:03:55.970496 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.30874e-05, 0.709496), points=16, range=0.711375, residual=0.0108407, extent=0.0317102
I0419 21:03:55.970570 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.30874e-05, 0.709496), tracking=(0.298487, 0.709496), map_predicted=(14.9984, -1.31679), range=0.711375, pts=16
I0419 21:03:55.970597 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0169158m maha_sq=0.0124112 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9984, -1.31679) lm_pos=(15.015, -1.32) delta=(-0.0166079, 0.00321247) -> 1 candidate(s)
I0419 21:03:55.970661 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00103321 range=1.0592 variance=0.00073672 t_weight=4072.11 r_weight=0 yaml=(15.915, -2.52) prior=(14.6802, -2.01765, -1.60441deg) obs_actual=(1.24641, -0.463115) obs_expected=(1.24842, -0.467581) delta=(-0.00201605, 0.00446587) |delta|=0.00489984m
I0419 21:03:55.970705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294359461831.
I0419 21:03:55.971745 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294359670634.
I0419 21:03:55.972762 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6936, -2.01717), yaw=-1.54164 deg backend=(14.6896, -2.03235)
I0419 21:03:55.975654 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:03:55.975816 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:55.975857 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294359746878.
I0419 21:03:55.998448 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294359976953.
I0419 21:03:56.001763 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360011855.
I0419 21:03:56.076853 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360256077.
I0419 21:03:56.078114 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.929746, -0.468588)
I0419 21:03:56.078377 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360335660.
I0419 21:03:56.080096 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360574384.
I0419 21:03:56.082240 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360621381.
I0419 21:03:56.086053 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:56.086148 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:56.086167 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:56.086265 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360856388.
I0419 21:03:56.090394 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0644033s, prior_pose=(14.7267, -2.01985), yaw=-1.43964 deg
I0419 21:03:56.090497 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:03:56.090763 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294360900110.
I0419 21:03:56.113694 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.327901, 0.512974), points=19, range=0.610474, residual=0.0117082, extent=0.0354765
I0419 21:03:56.113781 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.327901, 0.512974), tracking=(-0.626401, -0.512974), map_predicted=(14.0955, -2.5153), range=0.610474, pts=19
I0419 21:03:56.113811 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0200542m maha_sq=0.0172955 (gate chi2=5.99) pose_sigma=(0.150604, 0.150604, rho=0) det_map=(14.0955, -2.5153) lm_pos=(14.115, -2.52) delta=(-0.0194962, 0.0046978) -> 1 candidate(s)
I0419 21:03:56.113879 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.110318 range=1.44433 variance=0.000742663 t_weight=4039.51 r_weight=0 yaml=(13.215, -1.32) prior=(14.7346, -2.01818, -1.43575deg) obs_actual=(-1.57643, 0.691454) obs_expected=(-1.53658, 0.659891) delta=(-0.0398481, 0.0315631) |delta|=0.0508341m
I0419 21:03:56.113960 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294361132175.
I0419 21:03:56.122496 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294361218974.
I0419 21:03:56.142589 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:56.142724 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-1.24517 deg, rms_residual=0.0161133m, sigma_yaw=0.0210326 rad, N=2
I0419 21:03:56.142802 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.7763, -2.03341, -1.24517deg) inliers=2 rms=0.0161133m
I0419 21:03:56.142836 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294361421023.
I0419 21:03:56.202591 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:56.202694 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.889976, -0.471489)
I0419 21:03:56.202713 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:56.202811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294361497676.
I0419 21:03:56.203977 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294361741467.
I0419 21:03:56.204802 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294361774675.
I0419 21:03:56.206893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294362057412.
I0419 21:03:56.210692 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:03:56.210896 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294362101324.
I0419 21:03:56.234364 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:56.234529 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294362336873.
I0419 21:03:56.238973 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294362381233.
I0419 21:03:56.262621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294362617640.
I0419 21:03:56.267068 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.858632, -0.475901)
I0419 21:03:56.267303 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0933543, 0.708914), points=16, range=0.716438, residual=0.0105417, extent=0.0316316
I0419 21:03:56.267367 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0933543, 0.708914), tracking=(0.205146, 0.708914), map_predicted=(15.0068, -1.32093), range=0.716438, pts=16
I0419 21:03:56.267421 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00829202m maha_sq=0.00298311 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0068, -1.32093) lm_pos=(15.015, -1.32) delta=(-0.00823939, -0.000932753) -> 1 candidate(s)
I0419 21:03:56.267513 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:56.267547 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00912958 range=0.981714 variance=0.000559299 t_weight=5363.86 r_weight=0 yaml=(15.915, -2.52) prior=(14.7855, -2.02497, -1.31058deg) obs_actual=(1.15285, -0.4768) obs_expected=(1.14057, -0.469066) delta=(0.0122766, -0.00773343) |delta|=0.0145094m
I0419 21:03:56.267669 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:56.267702 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294362663044.
I0419 21:03:56.349772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294362940326.
I0419 21:03:56.350615 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294362974680.
I0419 21:03:56.351660 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294363212424.
I0419 21:03:56.353217 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294363257579.
I0419 21:03:56.354290 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294363495297.
I0419 21:03:56.355116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294363541814.
I0419 21:03:56.378858 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:56.378989 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:56.379027 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:56.379174 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294363781595.
I0419 21:03:56.386133 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597521s, prior_pose=(14.8115, -2.01156), yaw=-1.1522 deg
I0419 21:03:56.386261 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1291, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:03:56.386396 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.66652, 0.753612)
I0419 21:03:56.386566 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294363855100.
I0419 21:03:56.410797 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294364095012.
I0419 21:03:56.506541 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.132177, 0.70735), points=17, range=0.721647, residual=0.0116887, extent=0.0351444
I0419 21:03:56.506685 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.132177, 0.70735), tracking=(0.166323, 0.70735), map_predicted=(15.0185, -1.31162), range=0.721647, pts=17
I0419 21:03:56.506716 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00906345m maha_sq=0.00346635 (gate chi2=5.99) pose_sigma=(0.152064, 0.152064, rho=0) det_map=(15.0185, -1.31162) lm_pos=(15.015, -1.32) delta=(0.00345254, 0.0083801) -> 1 candidate(s)
I0419 21:03:56.506775 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0342799 range=0.942286 variance=0.000535144 t_weight=5605.96 r_weight=0 yaml=(15.915, -2.52) prior=(14.8389, -2.01573, -1.07485deg) obs_actual=(1.11329, -0.478336) obs_expected=(1.08538, -0.484) delta=(0.0279094, 0.00566392) |delta|=0.0284783m
I0419 21:03:56.506824 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294364140425.
I0419 21:03:56.507975 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:56.508103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294364381100.
I0419 21:03:56.508888 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:56.508965 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:56.509054 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294364459811.
I0419 21:03:56.510834 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294364661931.
I0419 21:03:56.511708 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294364740607.
I0419 21:03:56.512822 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294364972149.
I0419 21:03:56.514140 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.63366, 0.747366)
I0419 21:03:56.514300 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294365022590.
I0419 21:03:56.526503 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:56.526611 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.646893 deg, rms_residual=0.0143386m, sigma_yaw=0.0187594 rad, N=2
I0419 21:03:56.526685 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.8864, -2.02789, -0.646893deg) inliers=2 rms=0.0143386m
I0419 21:03:56.526738 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294365258146.
I0419 21:03:56.534969 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294365340993.
I0419 21:03:56.605316 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294365542599.
I0419 21:03:56.606065 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:56.606202 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.62502, 0.743412), points=3, range=1.782, residual=0.0102763, extent=0.0207691
I0419 21:03:56.606293 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.62502, 0.743412), tracking=(1.92352, 0.743412), map_predicted=(16.7952, -1.30483), range=1.782, pts=3
I0419 21:03:56.606323 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0249209m maha_sq=0.0268738 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7952, -1.30483) lm_pos=(16.815, -1.32) delta=(-0.0197687, 0.015174) -> 1 candidate(s)
I0419 21:03:56.606417 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:03:56.606439 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000514675 range=0.904111 variance=0.000527391 t_weight=5688.38 r_weight=5000 yaml=(15.915, -2.52) prior=(14.8593, -2.01518, -0.981569deg) obs_actual=(1.06441, -0.483224) obs_expected=(1.06424, -0.486663) delta=(0.000169695, 0.00343843) |delta|=0.00344262m
I0419 21:03:56.606485 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:56.606503 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294365612892.
I0419 21:03:56.607704 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294365860763.
I0419 21:03:56.609120 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294365895440.
I0419 21:03:56.614567 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.404916, -0.706136)
I0419 21:03:56.614785 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294366138437.
I0419 21:03:56.622156 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294366212722.
I0419 21:03:56.642129 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294366412800.
I0419 21:03:56.650259 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294366493194.
I0419 21:03:56.673961 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:56.674059 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:56.674085 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:56.674177 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294366734701.
I0419 21:03:56.736819 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0367027s, prior_pose=(14.8994, -2.01911), yaw=-0.778586 deg
I0419 21:03:56.736927 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1285, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:03:56.737169 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294366779827.
I0419 21:03:56.738469 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.40623, -0.712916)
I0419 21:03:56.738654 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.523736, 0.511611), points=13, range=0.729923, residual=0.0115007, extent=0.0356879
I0419 21:03:56.738796 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.523736, 0.511611), tracking=(-0.822236, -0.511611), map_predicted=(14.0703, -2.5195), range=0.729923, pts=13
I0419 21:03:56.738936 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0446818m maha_sq=0.0865372 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0703, -2.5195) lm_pos=(14.115, -2.52) delta=(-0.044679, 0.00049961) -> 1 candidate(s)
I0419 21:03:56.739123 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00819184 range=0.8202 variance=0.000803239 t_weight=3734.88 r_weight=0 yaml=(15.015, -1.32) prior=(14.8994, -2.01911, -0.778586deg) obs_actual=(0.112173, 0.713005) obs_expected=(0.106057, 0.700616) delta=(0.0061165, 0.0123889) |delta|=0.0138165m
I0419 21:03:56.739336 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294367012643.
I0419 21:03:56.740419 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294367101699.
I0419 21:03:56.742420 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 26 -> 18 (threshold=0.03, iters=3)
I0419 21:03:56.742509 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:56.742578 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294367300711.
I0419 21:03:56.743386 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:56.743440 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:03:56.743525 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294367377234.
I0419 21:03:56.762775 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294367620783.
I0419 21:03:56.765997 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294367654409.
I0419 21:03:56.790406 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.434704, -0.707047)
I0419 21:03:56.837679 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294367898314.
I0419 21:03:56.838725 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294367949974.
I0419 21:03:56.899827 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:03:56.899966 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[16] 'ref_17' maha_sq=0.0324556 range=0.75625 variance=0.000644164 t_weight=4657.2 r_weight=4994.33 yaml=(14.115, -2.52) prior=(14.9455, -2.01933, -0.692881deg) obs_actual=(-0.851919, -0.510278) obs_expected=(-0.824336, -0.510677) delta=(-0.0275821, 0.000398861) |delta|=0.027585m
I0419 21:03:56.900043 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294368220177.
I0419 21:03:56.900866 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.676967, -0.488791), points=10, range=0.8384, residual=0.0119364, extent=0.0324433
I0419 21:03:56.900923 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.676967, -0.488791), tracking=(0.975467, -0.488791), map_predicted=(15.9149, -2.51988), range=0.8384, pts=10
I0419 21:03:56.900954 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00013493m maha_sq=7.88655e-07 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9149, -2.51988) lm_pos=(15.915, -2.52) delta=(-6.34322e-05, 0.00011909) -> 1 candidate(s)
I0419 21:03:56.901016 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.88041 deg, rms_residual=0.010124m, sigma_yaw=0.0133189 rad, N=2
I0419 21:03:56.901039 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.9532, -2.02438, -0.88041deg) inliers=2 rms=0.010124m
I0419 21:03:56.901067 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294368254283.
I0419 21:03:56.902390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294368493255.
I0419 21:03:56.903337 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.9667, -2.01877), yaw=-0.661688 deg backend=(14.9553, -2.03253)
I0419 21:03:56.903853 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:56.903910 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:56.903934 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294368538222.
I0419 21:03:56.904996 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.4928, -0.704049)
I0419 21:03:56.905113 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294368773463.
I0419 21:03:56.905946 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294368862933.
I0419 21:03:56.910401 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294369098953.
I0419 21:03:56.913766 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294369131706.
I0419 21:03:56.938383 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294369378597.
I0419 21:03:57.001948 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294369433525.
I0419 21:03:57.003245 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:57.003326 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.597095, 0.508536), points=11, range=0.787909, residual=0.0142399, extent=0.0384566
I0419 21:03:57.003346 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:57.003360 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:57.003371 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.597095, 0.508536), tracking=(-0.895595, -0.508536), map_predicted=(14.0899, -2.51748), range=0.787909, pts=11
I0419 21:03:57.003399 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0252291m maha_sq=0.0275029 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0899, -2.51748) lm_pos=(14.115, -2.52) delta=(-0.0251027, 0.00252269) -> 1 candidate(s)
I0419 21:03:57.003461 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00136538 range=0.770267 variance=0.000585603 t_weight=5122.93 r_weight=0 yaml=(15.015, -1.32) prior=(14.991, -2.01885, -0.632061deg) obs_actual=(0.0118779, 0.702607) obs_expected=(0.0162414, 0.699074) delta=(-0.00436356, 0.00353269) |delta|=0.00561432m
I0419 21:03:57.003523 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294369658442.
I0419 21:03:57.004024 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602616s, prior_pose=(14.991, -2.01885), yaw=-0.632061 deg
I0419 21:03:57.004077 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1277, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:03:57.004156 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.63598, -0.489379)
I0419 21:03:57.004253 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294369701569.
I0419 21:03:57.006209 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294369947816.
I0419 21:03:57.007031 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294370016921.
I0419 21:03:57.026104 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:03:57.026262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294370256521.
I0419 21:03:57.030256 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:03:57.030323 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:03:57.030432 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294370298768.
I0419 21:03:57.053805 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294370532089.
I0419 21:03:57.062568 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=14, centroid=(-0.321395, 0.713391)
I0419 21:03:57.062811 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294370621265.
I0419 21:03:57.120496 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.011392 range=0.8133 variance=0.000634274 t_weight=4729.82 r_weight=0 yaml=(14.115, -2.52) prior=(15.0319, -2.01712, -0.475093deg) obs_actual=(-0.92873, -0.507997) obs_expected=(-0.91265, -0.510464) delta=(-0.0160804, 0.00246602) |delta|=0.0162684m
I0419 21:03:57.120643 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294370861949.
I0419 21:03:57.121338 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.604903, -0.49267), points=13, range=0.777154, residual=0.0138587, extent=0.0412653
I0419 21:03:57.121402 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.604903, -0.49267), tracking=(0.903403, -0.49267), map_predicted=(15.9311, -2.51727), range=0.777154, pts=13
I0419 21:03:57.121430 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0163685m maha_sq=0.0115824 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9311, -2.51727) lm_pos=(15.915, -2.52) delta=(0.0161385, 0.00273415) -> 1 candidate(s)
I0419 21:03:57.121512 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294370899675.
I0419 21:03:57.122563 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:57.122634 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294371137099.
I0419 21:03:57.124135 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.76313 deg, rms_residual=0.0122878m, sigma_yaw=0.0161197 rad, N=2
I0419 21:03:57.124218 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.0349, -2.02416, -0.76313deg) inliers=2 rms=0.0122878m
I0419 21:03:57.124257 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294371181229.
I0419 21:03:57.142194 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294371414411.
I0419 21:03:57.149655 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(-0.42479, 0.688729)
I0419 21:03:57.149825 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:03:57.149892 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:57.149914 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294371492064.
I0419 21:03:57.174686 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294371739814.
I0419 21:03:57.177860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294371773080.
I0419 21:03:57.202643 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294372018324.
I0419 21:03:57.282986 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44484, 0.728255), points=3, range=1.61533, residual=0.00644577, extent=0.0123357
I0419 21:03:57.283102 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44484, 0.728255), tracking=(1.74334, 0.728255), map_predicted=(16.8098, -1.30563), range=1.61533, pts=3
I0419 21:03:57.283134 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0152741m maha_sq=0.00996102 (gate chi2=5.99) pose_sigma=(0.151292, 0.151292, rho=0) det_map=(16.8098, -1.30563) lm_pos=(16.815, -1.32) delta=(-0.00518917, 0.0143656) -> 1 candidate(s)
I0419 21:03:57.283200 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00463169 range=0.748615 variance=0.000628875 t_weight=4770.42 r_weight=4694.87 yaml=(15.915, -2.52) prior=(15.0621, -2.02344, -0.343145deg) obs_actual=(0.865795, -0.494514) obs_expected=(0.855818, -0.491448) delta=(0.00997651, -0.00306555) |delta|=0.0104369m
I0419 21:03:57.283257 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294372097872.
I0419 21:03:57.284508 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294372301642.
I0419 21:03:57.285382 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.4369, 0.732121)
I0419 21:03:57.285532 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294372378672.
I0419 21:03:57.287261 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:57.287362 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:57.287385 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:57.287492 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294372580665.
I0419 21:03:57.288264 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563144s, prior_pose=(15.0723, -2.02587), yaw=-0.298067 deg
I0419 21:03:57.288347 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1278, max_intensity=255, threshold=230, above_threshold=39, candidates=39
I0419 21:03:57.288534 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294372661016.
I0419 21:03:57.290534 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294372899347.
I0419 21:03:57.299499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294372977761.
I0419 21:03:57.319005 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.712714, 0.506082)
I0419 21:03:57.319185 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:57.319321 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294373180998.
I0419 21:03:57.326898 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:03:57.327072 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=3
I0419 21:03:57.327121 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.41176, 0.727094), points=3, range=1.58133, residual=0.0127813, extent=0.0257
I0419 21:03:57.327167 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.41176, 0.727094), tracking=(1.71026, 0.727094), map_predicted=(16.8068, -1.30276), range=1.58133, pts=3
I0419 21:03:57.327214 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0190833m maha_sq=0.0157304 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8068, -1.30276) lm_pos=(16.815, -1.32) delta=(-0.00817756, 0.0172424) -> 1 candidate(s)
I0419 21:03:57.327339 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00132556 range=0.723786 variance=0.000624843 t_weight=4801.21 r_weight=5000 yaml=(15.915, -2.52) prior=(15.0931, -2.02174, -0.271612deg) obs_actual=(0.829368, -0.496399) obs_expected=(0.82422, -0.494362) delta=(0.00514822, -0.00203694) |delta|=0.00553654m
I0419 21:03:57.327488 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294373261676.
I0419 21:03:57.406077 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294373498534.
I0419 21:03:57.406875 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294373532100.
I0419 21:03:57.408135 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294373778481.
I0419 21:03:57.409657 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294373815162.
I0419 21:03:57.410930 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.190538, -0.70279)
I0419 21:03:57.411033 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:57.411088 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374100601.
I0419 21:03:57.414817 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-0.885241 deg, rms_residual=0.0053145m, sigma_yaw=0.00703615 rad, N=2
I0419 21:03:57.414960 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.1182, -2.01343, -0.885241deg) inliers=2 rms=0.0053145m
I0419 21:03:57.415007 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374137816.
I0419 21:03:57.438866 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374381937.
I0419 21:03:57.442971 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:57.443089 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0492262 range=1.54867 variance=0.000621141 t_weight=4829.82 r_weight=0 yaml=(16.815, -1.32) prior=(15.1242, -2.01968, -0.0999185deg) obs_actual=(1.66239, 0.722632) obs_expected=(1.68955, 0.702624) delta=(-0.027163, 0.0200084) |delta|=0.0337367m
I0419 21:03:57.443199 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:57.443303 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374415923.
I0419 21:03:57.466233 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.169436, -0.69684), points=17, range=0.719176, residual=0.0124253, extent=0.039956
I0419 21:03:57.466346 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.169436, -0.69684), tracking=(-0.129064, 0.69684), map_predicted=(14.9964, -1.32261), range=0.719176, pts=17
I0419 21:03:57.466385 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0188047m maha_sq=0.0153132 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9964, -1.32261) lm_pos=(15.015, -1.32) delta=(-0.0186223, -0.00261249) -> 1 candidate(s)
I0419 21:03:57.466526 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374657019.
I0419 21:03:57.552829 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374732131.
I0419 21:03:57.554085 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294374948332.
I0419 21:03:57.554940 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375036810.
I0419 21:03:57.556991 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375220261.
I0419 21:03:57.558066 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375297362.
I0419 21:03:57.559410 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.146917, -0.696761)
I0419 21:03:57.559466 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:57.559499 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:57.559518 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:57.559588 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375540391.
I0419 21:03:57.561409 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.035739s, prior_pose=(15.1733, -2.01362), yaw=0.0213729 deg
I0419 21:03:57.561484 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1257, max_intensity=254, threshold=230, above_threshold=20, candidates=20
I0419 21:03:57.561646 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375577651.
I0419 21:03:57.586112 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375854420.
I0419 21:03:57.590605 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0312779 range=1.5215 variance=0.00056269 t_weight=5331.53 r_weight=0 yaml=(16.815, -1.32) prior=(15.1733, -2.01362, 0.0213729deg) obs_actual=(1.64291, 0.71985) obs_expected=(1.642, 0.693007) delta=(0.000908402, 0.0268427) |delta|=0.026858m
I0419 21:03:57.590772 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294375901107.
I0419 21:03:57.672808 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.12942, -0.692679), points=16, range=0.706312, residual=0.0109228, extent=0.0327582
I0419 21:03:57.672926 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.12942, -0.692679), tracking=(-0.16908, 0.692679), map_predicted=(15.0104, -1.32312), range=0.706312, pts=16
I0419 21:03:57.672998 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00556019m maha_sq=0.00133118 (gate chi2=5.99) pose_sigma=(0.150557, 0.150557, rho=0) det_map=(15.0104, -1.32312) lm_pos=(15.015, -1.32) delta=(-0.00460345, -0.00311832) -> 1 candidate(s)
I0419 21:03:57.673023 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:57.673158 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294376132379.
I0419 21:03:57.673955 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:57.674010 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:57.674099 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294376176221.
I0419 21:03:57.675249 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294376411888.
I0419 21:03:57.676816 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294376455710.
I0419 21:03:57.678035 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294376733416.
I0419 21:03:57.678859 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294376777169.
I0419 21:03:57.701965 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.104866, -0.696676)
I0419 21:03:57.702127 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:57.702235 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377013331.
I0419 21:03:57.706405 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294377058359.
I0419 21:03:57.730885 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.35808 deg, rms_residual=0.00926348m, sigma_yaw=0.0122006 rad, N=2
I0419 21:03:57.731055 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2391, -2.00046, 1.35808deg) inliers=2 rms=0.00926348m
I0419 21:03:57.731109 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377301644.
I0419 21:03:57.800498 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.227, -2.0119), yaw=0.21755 deg backend=(15.2082, -2.03139)
I0419 21:03:57.801335 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:57.801422 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:57.801448 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377378780.
I0419 21:03:57.802533 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.854122, 0.498089), points=5, range=0.9872, residual=0.00689361, extent=0.0181148
I0419 21:03:57.802623 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.854122, 0.498089), tracking=(-1.15262, -0.498089), map_predicted=(14.0763, -2.51436), range=0.9872, pts=5
I0419 21:03:57.802652 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0391476m maha_sq=0.0666408 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0763, -2.51436) lm_pos=(14.115, -2.52) delta=(-0.0387393, 0.0056392) -> 1 candidate(s)
I0419 21:03:57.802765 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000427358 range=0.699941 variance=0.000557871 t_weight=5377.58 r_weight=0 yaml=(15.015, -1.32) prior=(15.227, -2.0119, 0.21755deg) obs_actual=(-0.206228, 0.692979) obs_expected=(-0.209354, 0.692699) delta=(0.00312664, 0.000279409) |delta|=0.0031391m
I0419 21:03:57.802830 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377577289.
I0419 21:03:57.803692 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377658074.
I0419 21:03:57.805683 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377899122.
I0419 21:03:57.806506 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294377932653.
I0419 21:03:57.818771 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294378181958.
I0419 21:03:57.822324 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294378217415.
I0419 21:03:57.850507 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.0658011, -0.693824)
I0419 21:03:57.850615 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:57.850643 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:57.850663 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:57.850791 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294378499655.
I0419 21:03:57.853991 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.063653s, prior_pose=(15.2495, -2.01429), yaw=0.337333 deg
I0419 21:03:57.854072 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1239, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:03:57.854285 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294378535652.
I0419 21:03:57.916469 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294378773996.
I0419 21:03:57.917425 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294378818064.
I0419 21:03:57.918787 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:57.918870 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0839949 range=1.0228 variance=0.000512001 t_weight=5859.36 r_weight=0 yaml=(14.115, -2.52) prior=(15.2624, -2.01512, 0.356495deg) obs_actual=(-1.19448, -0.498339) obs_expected=(-1.15052, -0.497728) delta=(-0.0439604, -0.000610817) |delta|=0.0439647m
I0419 21:03:57.918969 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379060639.
I0419 21:03:57.920410 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:57.920462 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:03:57.920485 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.334981, -0.504408), points=20, range=0.60795, residual=0.0126616, extent=0.0402488
I0419 21:03:57.920567 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.334981, -0.504408), tracking=(0.633481, -0.504408), map_predicted=(15.9189, -2.50905), range=0.60795, pts=20
I0419 21:03:57.920586 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0116383m maha_sq=0.00575174 (gate chi2=5.99) pose_sigma=(0.151509, 0.151509, rho=0) det_map=(15.9189, -2.50905) lm_pos=(15.915, -2.52) delta=(0.00393627, 0.0109525) -> 1 candidate(s)
I0419 21:03:57.920656 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294379137357.
I0419 21:03:57.934284 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379337080.
I0419 21:03:57.941932 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379414450.
I0419 21:03:57.966624 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379660113.
I0419 21:03:57.974269 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379737083.
I0419 21:03:57.993984 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0251728, -0.692297)
I0419 21:03:57.994107 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:57.994208 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379934961.
I0419 21:03:58.049417 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294379983825.
I0419 21:03:58.050228 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:58.050817 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294380254058.
I0419 21:03:58.051530 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:58.051616 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:58.051641 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294380293787.
I0419 21:03:58.054185 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.78174 deg, rms_residual=0.00838807m, sigma_yaw=0.0110604 rad, N=2
I0419 21:03:58.054308 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3308, -1.99485, 1.78174deg) inliers=2 rms=0.00838807m
I0419 21:03:58.054358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294380534869.
I0419 21:03:58.057994 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19578, 0.706699), points=3, range=1.39333, residual=0.0108322, extent=0.0225534
I0419 21:03:58.058182 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19578, 0.706699), tracking=(1.49428, 0.706699), map_predicted=(16.8, -1.28839), range=1.39333, pts=3
I0419 21:03:58.058264 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.034994m maha_sq=0.053033 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8, -1.28839) lm_pos=(16.815, -1.32) delta=(-0.0150164, 0.0316083) -> 1 candidate(s)
I0419 21:03:58.058373 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00486293 range=0.586286 variance=0.000591631 t_weight=5070.73 r_weight=0 yaml=(15.915, -2.52) prior=(15.313, -2.01024, 0.582279deg) obs_actual=(0.590513, -0.507341) obs_expected=(0.596827, -0.515852) delta=(-0.00631402, 0.00851035) |delta|=0.0105968m
I0419 21:03:58.058499 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294380575317.
I0419 21:03:58.082691 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294380821175.
I0419 21:03:58.089658 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294380888735.
I0419 21:03:58.114377 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294381136440.
I0419 21:03:58.122323 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294381216666.
I0419 21:03:58.179847 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.267764, -0.510523)
I0419 21:03:58.179984 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:58.180011 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:58.180029 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:58.180126 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294381472183.
I0419 21:03:58.180437 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0583588s, prior_pose=(15.3445, -1.99989), yaw=0.630594 deg
I0419 21:03:58.180490 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1436, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:03:58.180624 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294381472323.
I0419 21:03:58.181952 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294381699774.
I0419 21:03:58.182636 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294381781045.
I0419 21:03:58.202867 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:58.204169 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294382023864.
I0419 21:03:58.206176 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:58.206261 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:58.206367 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294382057453.
I0419 21:03:58.230579 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.995344, 0.489044), points=4, range=1.106, residual=0.00741527, extent=0.0161781
I0419 21:03:58.230690 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.995344, 0.489044), tracking=(-1.29384, -0.489044), map_predicted=(14.0785, -2.51497), range=1.106, pts=4
I0419 21:03:58.230726 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0368607m maha_sq=0.0586608 (gate chi2=5.99) pose_sigma=(0.150505, 0.150505, rho=0) det_map=(14.0785, -2.51497) lm_pos=(14.115, -2.52) delta=(-0.0365159, 0.00503019) -> 1 candidate(s)
I0419 21:03:58.230790 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000697078 range=0.693824 variance=0.00056056 t_weight=5351.79 r_weight=0 yaml=(15.015, -1.32) prior=(15.3655, -2.00827, 0.783828deg) obs_actual=(-0.337724, 0.690768) obs_expected=(-0.341069, 0.693003) delta=(0.0033446, -0.00223481) |delta|=0.00402252m
I0419 21:03:58.230882 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294382300826.
I0419 21:03:58.239046 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294382380901.
I0419 21:03:58.258396 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294382578569.
I0419 21:03:58.313774 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294382654118.
I0419 21:03:58.314949 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.057951, -0.695172)
I0419 21:03:58.315106 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:58.315156 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294382899825.
I0419 21:03:58.315912 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294382933194.
I0419 21:03:58.318507 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294383180697.
I0419 21:03:58.326320 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:58.326454 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:58.326479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294383258343.
I0419 21:03:58.346362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294383458013.
I0419 21:03:58.354353 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294383537260.
I0419 21:03:58.377789 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0705481 range=1.147 variance=0.000526164 t_weight=5701.65 r_weight=0 yaml=(14.115, -2.52) prior=(15.4097, -2.00218, 0.881614deg) obs_actual=(-1.34106, -0.486142) obs_expected=(-1.30249, -0.497834) delta=(-0.0385712, 0.0116927) |delta|=0.0403045m
I0419 21:03:58.377942 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294383773119.
I0419 21:03:58.382362 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.197074, -0.515495), points=22, range=0.550909, residual=0.0114854, extent=0.0365032
I0419 21:03:58.382529 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.197074, -0.515495), tracking=(0.495574, -0.515495), map_predicted=(15.9131, -2.50999), range=0.550909, pts=22
I0419 21:03:58.382588 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0101823m maha_sq=0.00449522 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9131, -2.50999) lm_pos=(15.915, -2.52) delta=(-0.00188084, 0.0100071) -> 1 candidate(s)
I0419 21:03:58.382683 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.109521 deg, rms_residual=0.00755618m, sigma_yaw=0.00997441 rad, N=2
I0419 21:03:58.382733 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.4139, -2.0115, 0.109521deg) inliers=2 rms=0.00755618m
I0419 21:03:58.382772 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294383818383.
I0419 21:03:58.457015 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294384061880.
I0419 21:03:58.457840 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294384102386.
I0419 21:03:58.459174 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.0963499, -0.692643)
I0419 21:03:58.459246 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:58.459271 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:58.459288 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:58.459367 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294384379572.
I0419 21:03:58.460572 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0351417s, prior_pose=(15.4397, -2.00437), yaw=0.98703 deg
I0419 21:03:58.460633 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1220, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:03:58.460812 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294384413297.
I0419 21:03:58.468515 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294384678638.
I0419 21:03:58.469054 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294384678868.
I0419 21:03:58.494380 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:58.494629 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294384938617.
I0419 21:03:58.502792 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:58.502910 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:58.503115 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294385019618.
I0419 21:03:58.521791 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294385212360.
I0419 21:03:58.578075 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0387436 range=1.2682 variance=0.000582939 t_weight=5146.33 r_weight=0 yaml=(16.815, -1.32) prior=(15.4588, -2.00378, 1.08677deg) obs_actual=(1.3681, 0.687963) obs_expected=(1.36897, 0.657935) delta=(-0.000873708, 0.0300274) |delta|=0.0300401m
I0419 21:03:58.578228 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294385295769.
I0419 21:03:58.579322 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.127059, -0.691155), points=17, range=0.704706, residual=0.0113393, extent=0.034744
I0419 21:03:58.579404 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.127059, -0.691155), tracking=(-0.425559, 0.691155), map_predicted=(15.0202, -1.32082), range=0.704706, pts=17
I0419 21:03:58.579432 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00522737m maha_sq=0.00118466 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0202, -1.32082) lm_pos=(15.015, -1.32) delta=(0.00516229, -0.000822314) -> 1 candidate(s)
I0419 21:03:58.579496 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294385538712.
I0419 21:03:58.580370 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294385572132.
I0419 21:03:58.582439 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.137305, -0.695324)
I0419 21:03:58.582564 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:58.582614 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294385820823.
I0419 21:03:58.590072 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294385894192.
I0419 21:03:58.613941 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294386133083.
I0419 21:03:58.615281 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.4868, -1.99997), yaw=1.22823 deg backend=(15.4699, -2.02604)
I0419 21:03:58.618505 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:58.618646 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:58.618669 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294386177988.
I0419 21:03:58.638653 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294386380944.
I0419 21:03:58.646997 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294386460200.
I0419 21:03:58.729308 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294386701717.
I0419 21:03:58.730194 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294386735903.
I0419 21:03:58.731525 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294387017196.
I0419 21:03:58.733162 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01295, 0.6768), points=5, range=1.2216, residual=0.0114173, extent=0.0306775
I0419 21:03:58.733274 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01295, 0.6768), tracking=(1.31145, 0.6768), map_predicted=(16.8052, -1.29676), range=1.2216, pts=5
I0419 21:03:58.733309 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0252234m maha_sq=0.027216 (gate chi2=5.99) pose_sigma=(0.150944, 0.150944, rho=0) det_map=(16.8052, -1.29676) lm_pos=(16.815, -1.32) delta=(-0.0097994, 0.0232421) -> 1 candidate(s)
I0419 21:03:58.733368 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0024976 range=0.52676 variance=0.000578044 t_weight=5189.91 r_weight=0 yaml=(15.915, -2.52) prior=(15.5108, -2.00561, 1.4092deg) obs_actual=(0.386783, -0.518118) obs_expected=(0.391431, -0.524179) delta=(-0.00464862, 0.00606132) |delta|=0.00763867m
I0419 21:03:58.733433 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294387061860.
I0419 21:03:58.734560 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=25, centroid=(0.0824503, -0.52019)
I0419 21:03:58.734615 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:58.734638 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:58.734658 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:58.734768 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294387321205.
I0419 21:03:58.735090 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.061969s, prior_pose=(15.5108, -2.00561), yaw=1.4092 deg
I0419 21:03:58.735138 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1435, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:03:58.735268 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294387321407.
I0419 21:03:58.758253 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294387577120.
I0419 21:03:58.761782 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.846119 deg, rms_residual=0.00579673m, sigma_yaw=0.0076697 rad, N=2
I0419 21:03:58.761905 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.5296, -2.00786, 0.846119deg) inliers=2 rms=0.00579673m
I0419 21:03:58.761950 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294387612268.
I0419 21:03:58.790409 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:58.790695 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294387896334.
I0419 21:03:58.850805 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:58.850898 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:58.851001 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294387940963.
I0419 21:03:58.852317 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294388174286.
I0419 21:03:58.853019 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294388220207.
I0419 21:03:58.855013 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 16 -> 15 (threshold=0.03, iters=3)
I0419 21:03:58.855152 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294388456893.
I0419 21:03:58.855962 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294388536980.
I0419 21:03:58.871573 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:03:58.874078 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.215052, -0.703332)
I0419 21:03:58.874339 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20038, 0.462783), points=3, range=1.28333, residual=0.00655776, extent=0.012475
I0419 21:03:58.874502 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20038, 0.462783), tracking=(-1.49888, -0.462783), map_predicted=(14.0624, -2.50992), range=1.28333, pts=3
I0419 21:03:58.874647 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.053566m maha_sq=0.124703 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0624, -2.50992) lm_pos=(14.115, -2.52) delta=(-0.0526088, 0.0100811) -> 1 candidate(s)
I0419 21:03:58.874698 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:03:58.874737 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000416645 range=0.735533 variance=0.000559886 t_weight=5358.24 r_weight=0 yaml=(15.015, -1.32) prior=(15.5473, -2.00404, 1.65504deg) obs_actual=(-0.513182, 0.702099) obs_expected=(-0.512301, 0.699127) delta=(-0.000880541, 0.00297194) |delta|=0.00309964m
I0419 21:03:58.874840 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294388734754.
I0419 21:03:58.881894 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294388813153.
I0419 21:03:58.906057 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389053869.
I0419 21:03:58.912307 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:58.912523 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:58.912592 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389116518.
I0419 21:03:58.972587 1264424 pose_graph_2d.cc:160] Inserted submap (1, 53).
I0419 21:03:58.973791 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389348088.
I0419 21:03:58.974681 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389381468.
I0419 21:03:58.975864 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389653981.
I0419 21:03:58.977612 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389699339.
I0419 21:03:58.994742 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389941212.
I0419 21:03:59.000507 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294389999624.
I0419 21:03:59.022013 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.255809, -0.709074)
I0419 21:03:59.022100 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:59.022125 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2449, 0.455156), points=3, range=1.32267, residual=0.00614779, extent=0.0110934
I0419 21:03:59.022140 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:59.022152 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:59.022163 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2449, 0.455156), tracking=(-1.5434, -0.455156), map_predicted=(14.0743, -2.50855), range=1.32267, pts=3
I0419 21:03:59.022187 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0422344m maha_sq=0.0767519 (gate chi2=5.99) pose_sigma=(0.150777, 0.150777, rho=0) det_map=(14.0743, -2.50855) lm_pos=(14.115, -2.52) delta=(-0.0406529, 0.011449) -> 1 candidate(s)
I0419 21:03:59.022254 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00696529 range=0.753867 variance=0.000603476 t_weight=4971.2 r_weight=0 yaml=(15.015, -1.32) prior=(15.6004, -1.99837, 2.05393deg) obs_actual=(-0.551399, 0.70758) obs_expected=(-0.560755, 0.698918) delta=(0.00935559, 0.00866163) |delta|=0.0127495m
I0419 21:03:59.022311 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294390215693.
I0419 21:03:59.026476 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562164s, prior_pose=(15.6004, -1.99837), yaw=2.05393 deg
I0419 21:03:59.026635 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1203, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:03:59.026906 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294390261503.
I0419 21:03:59.050832 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294390503397.
I0419 21:03:59.103091 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294390589837.
I0419 21:03:59.104276 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:59.104382 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=3.50241 deg, rms_residual=0.0125848m, sigma_yaw=0.0165028 rad, N=2
I0419 21:03:59.104437 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6398, -1.98145, 3.50241deg) inliers=2 rms=0.0125848m
I0419 21:03:59.104468 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294390816791.
I0419 21:03:59.105252 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:59.105330 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:59.105419 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294390860161.
I0419 21:03:59.109907 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294391094440.
I0419 21:03:59.114667 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294391139595.
I0419 21:03:59.138751 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294391382483.
I0419 21:03:59.145897 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294391453011.
I0419 21:03:59.170423 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.296074, -0.711751)
I0419 21:03:59.170542 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:59.170622 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294391700032.
I0419 21:03:59.173682 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.893743, 0.654868), points=6, range=1.1055, residual=0.0114795, extent=0.0307878
I0419 21:03:59.173744 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.893743, 0.654868), tracking=(1.19224, 0.654868), map_predicted=(16.8069, -1.29622), range=1.1055, pts=6
I0419 21:03:59.173772 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0251276m maha_sq=0.0273482 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8069, -1.29622) lm_pos=(16.815, -1.32) delta=(-0.0081042, 0.0237848) -> 1 candidate(s)
I0419 21:03:59.173849 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00904224 range=0.531667 variance=0.000556766 t_weight=5388.26 r_weight=0 yaml=(15.915, -2.52) prior=(15.6418, -1.9982, 2.2901deg) obs_actual=(0.238298, -0.52825) obs_expected=(0.252158, -0.5323) delta=(-0.0138594, 0.00404979) |delta|=0.014439m
I0419 21:03:59.173911 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294391732833.
I0419 21:03:59.248505 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294391973220.
I0419 21:03:59.249686 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:59.249848 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:59.249876 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294392051958.
I0419 21:03:59.251106 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294392297565.
I0419 21:03:59.252758 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294392341561.
I0419 21:03:59.258113 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294392574054.
I0419 21:03:59.262590 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294392618379.
I0419 21:03:59.291342 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294392901548.
I0419 21:03:59.295114 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294392936000.
I0419 21:03:59.318326 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.334598, -0.71477)
I0419 21:03:59.318482 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:03:59.318532 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:59.318564 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:03:59.318778 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294393175119.
I0419 21:03:59.404390 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359676s, prior_pose=(15.7141, -1.99346), yaw=2.58276 deg
I0419 21:03:59.404501 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1206, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:03:59.404736 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294393261224.
I0419 21:03:59.405838 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0402937 range=0.793769 variance=0.000564724 t_weight=5312.33 r_weight=0 yaml=(15.015, -1.32) prior=(15.7141, -1.99346, 2.58276deg) obs_actual=(-0.639418, 0.714732) obs_expected=(-0.668056, 0.704281) delta=(0.0286382, 0.0104506) |delta|=0.0304854m
I0419 21:03:59.405954 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294393459632.
I0419 21:03:59.406759 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.115726, -0.529269), points=25, range=0.5424, residual=0.0120653, extent=0.0396976
I0419 21:03:59.406831 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.115726, -0.529269), tracking=(0.182774, -0.529269), map_predicted=(15.9206, -2.51396), range=0.5424, pts=25
I0419 21:03:59.406858 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00820712m maha_sq=0.00291867 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9206, -2.51396) lm_pos=(15.915, -2.52) delta=(0.00555282, 0.00604342) -> 1 candidate(s)
I0419 21:03:59.406950 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294393539270.
I0419 21:03:59.408668 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:59.408775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294393741266.
I0419 21:03:59.409597 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:59.409659 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:59.409751 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294393819559.
I0419 21:03:59.410941 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294394059256.
I0419 21:03:59.412386 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294394096317.
I0419 21:03:59.434301 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294394335028.
I0419 21:03:59.442504 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294394412819.
I0419 21:03:59.531519 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.375479, -0.71862)
I0419 21:03:59.531680 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:59.531731 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294394657817.
I0419 21:03:59.532315 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:03:59.532462 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294394701810.
I0419 21:03:59.533741 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294394975682.
I0419 21:03:59.534214 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:59.534286 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=3.87559 deg, rms_residual=0.00905358m, sigma_yaw=0.0119275 rad, N=2
I0419 21:03:59.534313 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.7519, -1.98308, 3.87559deg) inliers=2 rms=0.00905358m
I0419 21:03:59.534343 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:59.534356 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294394975907.
I0419 21:03:59.535313 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.7425, -1.99471), yaw=2.92209 deg backend=(15.729, -2.00844)
I0419 21:03:59.536463 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294395218882.
I0419 21:03:59.537143 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788731, 0.642447), points=9, range=1.02178, residual=0.0144049, extent=0.0423071
I0419 21:03:59.537212 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.788731, 0.642447), tracking=(1.08723, 0.642447), map_predicted=(16.7956, -1.29767), range=1.02178, pts=9
I0419 21:03:59.537237 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0295972m maha_sq=0.0378258 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7956, -1.29767) lm_pos=(16.815, -1.32) delta=(-0.0194296, 0.0223268) -> 1 candidate(s)
I0419 21:03:59.537336 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0155513 range=0.558227 variance=0.000551988 t_weight=5434.9 r_weight=0 yaml=(15.915, -2.52) prior=(15.7425, -1.99471, 2.92209deg) obs_actual=(0.126654, -0.531513) obs_expected=(0.145494, -0.5334) delta=(-0.0188395, 0.00188694) |delta|=0.0189338m
I0419 21:03:59.537380 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294395296887.
I0419 21:03:59.554805 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294395539058.
I0419 21:03:59.558521 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294395574704.
I0419 21:03:59.583016 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294395821200.
I0419 21:03:59.648561 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.778645, 0.637991)
I0419 21:03:59.648782 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294395856445.
I0419 21:03:59.650044 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:59.650164 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:59.650182 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:59.650262 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294396097009.
I0419 21:03:59.650970 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602629s, prior_pose=(15.7653, -1.99724), yaw=3.12397 deg
I0419 21:03:59.651052 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1211, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:03:59.651235 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294396141687.
I0419 21:03:59.653046 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294396373325.
I0419 21:03:59.653949 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294396460303.
I0419 21:03:59.670312 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:03:59.670442 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294396698208.
I0419 21:03:59.674567 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:59.674633 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:59.674733 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294396741493.
I0419 21:03:59.698551 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294396979945.
I0419 21:03:59.706596 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294397059529.
I0419 21:03:59.760066 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00291865 range=0.855455 variance=0.000537737 t_weight=5578.93 r_weight=0 yaml=(15.015, -1.32) prior=(15.8032, -1.99589, 3.39261deg) obs_actual=(-0.743816, 0.72902) obs_expected=(-0.746834, 0.72135) delta=(0.00301784, 0.00767029) |delta|=0.00824262m
I0419 21:03:59.760255 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294397300790.
I0419 21:03:59.760948 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.231843, -0.53527), points=22, range=0.584136, residual=0.0116597, extent=0.0357745
I0419 21:03:59.761026 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.231843, -0.53527), tracking=(0.0666565, -0.53527), map_predicted=(15.9014, -2.52628), range=0.584136, pts=22
I0419 21:03:59.761059 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0149527m maha_sq=0.00969171 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9014, -2.52628) lm_pos=(15.915, -2.52) delta=(-0.0135713, -0.00627719) -> 1 candidate(s)
I0419 21:03:59.761171 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294397333960.
I0419 21:03:59.762650 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:03:59.762773 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294397577209.
I0419 21:03:59.764370 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294397623318.
I0419 21:03:59.787505 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.464548, -0.733827)
I0419 21:03:59.787716 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294397870826.
I0419 21:03:59.794153 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:03:59.794271 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:03:59.794297 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294397935688.
I0419 21:03:59.813858 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294398134010.
I0419 21:03:59.821879 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294398212781.
I0419 21:03:59.843482 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294398422884.
I0419 21:03:59.900422 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294398499583.
I0419 21:03:59.901561 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294398735125.
I0419 21:03:59.902433 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294398778135.
I0419 21:03:59.906543 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:03:59.906643 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:03:59.906663 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:03:59.906738 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294399061257.
I0419 21:03:59.909792 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594992s, prior_pose=(15.8613, -1.99396), yaw=3.70199 deg
I0419 21:03:59.909893 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1231, max_intensity=255, threshold=230, above_threshold=42, candidates=42
I0419 21:03:59.910181 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0154014 range=0.9298 variance=0.000574345 t_weight=5223.34 r_weight=0 yaml=(16.815, -1.32) prior=(15.8613, -1.99396, 3.70199deg) obs_actual=(0.982875, 0.625237) obs_expected=(0.995208, 0.61098) delta=(-0.0123335, 0.014257) |delta|=0.0188514m
I0419 21:03:59.910248 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399094575.
I0419 21:03:59.934067 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.507808, -0.736468)
I0419 21:03:59.934170 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.503963, -0.735514), points=10, range=0.8946, residual=0.0111933, extent=0.0325747
I0419 21:03:59.934197 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.503963, -0.735514), tracking=(-0.802463, 0.735514), map_predicted=(15.013, -1.3118), range=0.8946, pts=10
I0419 21:03:59.934226 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00843464m maha_sq=0.00308376 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.013, -1.3118) lm_pos=(15.015, -1.32) delta=(-0.00196161, 0.00820337) -> 1 candidate(s)
I0419 21:03:59.934319 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399334963.
I0419 21:03:59.938441 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399378881.
I0419 21:03:59.965978 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:03:59.966137 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399655103.
I0419 21:03:59.969735 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:03:59.969868 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:03:59.969991 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399691744.
I0419 21:04:00.052428 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399938669.
I0419 21:04:00.053263 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=2.95165 deg, rms_residual=0.00319446m, sigma_yaw=0.00424122 rad, N=2
I0419 21:04:00.053352 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8932, -1.98705, 2.95165deg) inliers=2 rms=0.00319446m
I0419 21:04:00.053391 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294399971414.
I0419 21:04:00.054533 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294400221244.
I0419 21:04:00.056047 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294400255309.
I0419 21:04:00.057206 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:00.057297 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294400543073.
I0419 21:04:00.057765 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294400543224.
I0419 21:04:00.082319 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(-0.255732, 0.532022)
I0419 21:04:00.082603 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0236079 range=0.590368 variance=0.000557565 t_weight=5380.54 r_weight=0 yaml=(15.915, -2.52) prior=(15.9133, -2.0068, 3.93396deg) obs_actual=(-0.0455238, -0.532262) obs_expected=(-0.0335221, -0.512109) delta=(-0.0120017, -0.0201533) |delta|=0.0234563m
I0419 21:04:00.082793 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294400815152.
I0419 21:04:00.087025 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.63168, 0.617107), points=12, range=0.883667, residual=0.0112359, extent=0.0376875
I0419 21:04:00.087152 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.63168, 0.617107), tracking=(0.93018, 0.617107), map_predicted=(16.799, -1.32733), range=0.883667, pts=12
I0419 21:04:00.087203 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0176347m maha_sq=0.0134796 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.799, -1.32733) lm_pos=(16.815, -1.32) delta=(-0.0160401, -0.00732791) -> 1 candidate(s)
I0419 21:04:00.087294 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:00.087379 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:00.087417 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294400863783.
I0419 21:04:00.110163 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294401091823.
I0419 21:04:00.196642 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294401138317.
I0419 21:04:00.198094 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294401419903.
I0419 21:04:00.198889 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294401458772.
I0419 21:04:00.200762 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294401699130.
I0419 21:04:00.201503 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294401734136.
I0419 21:04:00.202737 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:00.202806 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:00.202827 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:00.202896 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294401973055.
I0419 21:04:00.206344 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359372s, prior_pose=(15.9518, -1.99305), yaw=4.18041 deg
I0419 21:04:00.206471 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1227, max_intensity=252, threshold=230, above_threshold=11, candidates=11
I0419 21:04:00.206658 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294402058502.
I0419 21:04:00.226222 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294402252886.
I0419 21:04:00.234192 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294402334277.
I0419 21:04:00.321802 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:00.321955 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294402541758.
I0419 21:04:00.322825 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:04:00.322892 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:04:00.322973 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294402621838.
I0419 21:04:00.324115 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.60905, -0.75427)
I0419 21:04:00.324178 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.192769, 0.531908), points=21, range=0.565952, residual=0.0111618, extent=0.0336749
I0419 21:04:00.324203 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.192769, 0.531908), tracking=(-0.105731, -0.531908), map_predicted=(15.8944, -2.52717), range=0.565952, pts=21
I0419 21:04:00.324225 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0218426m maha_sq=0.0206916 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.8944, -2.52717) lm_pos=(15.915, -2.52) delta=(-0.0206325, -0.00716936) -> 1 candidate(s)
I0419 21:04:00.324275 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.016935 range=0.9695 variance=0.000576595 t_weight=5202.96 r_weight=0 yaml=(15.015, -1.32) prior=(15.9605, -1.9889, 4.24057deg) obs_actual=(-0.903619, 0.75392) obs_expected=(-0.893428, 0.736981) delta=(-0.0101908, 0.0169396) |delta|=0.0197687m
I0419 21:04:00.324326 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294402860939.
I0419 21:04:00.325709 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294402896502.
I0419 21:04:00.326992 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294403181461.
I0419 21:04:00.346632 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:00.346956 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294403456912.
I0419 21:04:00.351378 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294403504484.
I0419 21:04:00.374965 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294403734065.
I0419 21:04:00.459337 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.003, -1.98485), yaw=4.48446 deg backend=(15.9865, -1.9823)
I0419 21:04:00.461491 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294404089690.
I0419 21:04:00.462354 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.12152, -2.54331)
I0419 21:04:00.464298 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:00.464406 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:00.464438 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294404338968.
I0419 21:04:00.465113 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294404373536.
I0419 21:04:00.466156 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.658416, -0.757371), points=9, range=1.007, residual=0.0120853, extent=0.0350004
I0419 21:04:00.466214 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.658416, -0.757371), tracking=(-0.956916, 0.757371), map_predicted=(14.9992, -1.30476), range=1.007, pts=9
I0419 21:04:00.466280 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0219654m maha_sq=0.0208898 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9992, -1.30476) lm_pos=(15.015, -1.32) delta=(-0.015822, 0.0152362) -> 1 candidate(s)
I0419 21:04:00.466337 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294404620975.
I0419 21:04:00.496397 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:00.496539 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:00.496565 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:00.496762 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294404941602.
I0419 21:04:00.497958 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.063629s, prior_pose=(16.0311, -1.982), yaw=4.58225 deg
I0419 21:04:00.498059 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1235, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:04:00.568002 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00791911 range=0.546167 variance=0.000568788 t_weight=5274.37 r_weight=0 yaml=(15.915, -2.52) prior=(16.0441, -1.98019, 4.61006deg) obs_actual=(-0.184212, -0.533775) obs_expected=(-0.172046, -0.52769) delta=(-0.0121653, -0.00608446) |delta|=0.013602m
I0419 21:04:00.568145 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294405214398.
I0419 21:04:00.570072 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:00.570257 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294405537180.
I0419 21:04:00.573472 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:00.573603 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.06102, -2.54514)
I0419 21:04:00.573647 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:00.582473 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=5.45724 deg, rms_residual=0.0069831m, sigma_yaw=0.00922491 rad, N=2
I0419 21:04:00.582609 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.0707, -1.97646, 5.45724deg) inliers=2 rms=0.0069831m
I0419 21:04:00.582659 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294405819311.
I0419 21:04:00.586470 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294405853007.
I0419 21:04:00.610823 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0873391, 0.531434), points=23, range=0.539826, residual=0.0114188, extent=0.0357765
I0419 21:04:00.610993 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0873391, 0.531434), tracking=(-0.211161, -0.531434), map_predicted=(15.9047, -2.52546), range=0.539826, pts=23
I0419 21:04:00.611055 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0116252m maha_sq=0.00579851 (gate chi2=5.99) pose_sigma=(0.150812, 0.150812, rho=0) det_map=(15.9047, -2.52546) lm_pos=(15.915, -2.52) delta=(-0.0102632, -0.00546007) -> 1 candidate(s)
I0419 21:04:00.611361 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294406098829.
I0419 21:04:00.614456 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294406136636.
I0419 21:04:00.638602 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:00.638981 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294406375941.
I0419 21:04:00.720904 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294406455609.
I0419 21:04:00.722102 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294406694771.
I0419 21:04:00.724705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294406976629.
I0419 21:04:00.725528 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.02235, -2.54241)
I0419 21:04:00.726717 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294407261005.
I0419 21:04:00.734917 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294407341647.
I0419 21:04:00.758836 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00539292 range=0.5346 variance=0.000577942 t_weight=5190.83 r_weight=0 yaml=(15.915, -2.52) prior=(16.1128, -1.97474, 4.66913deg) obs_actual=(-0.252003, -0.531172) obs_expected=(-0.241523, -0.527349) delta=(-0.0104806, -0.00382297) |delta|=0.0111561m
I0419 21:04:00.759054 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294407581496.
I0419 21:04:00.828828 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:00.828935 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.766724, -0.76221), points=8, range=1.07925, residual=0.0120301, extent=0.0340386
I0419 21:04:00.828963 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:00.828979 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:00.828991 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.766724, -0.76221), tracking=(-1.06522, 0.76221), map_predicted=(14.9945, -1.29931), range=1.07925, pts=8
I0419 21:04:00.829017 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0291039m maha_sq=0.0364561 (gate chi2=5.99) pose_sigma=(0.150451, 0.150451, rho=0) det_map=(14.9945, -1.29931) lm_pos=(15.015, -1.32) delta=(-0.0204649, 0.0206937) -> 1 candidate(s)
I0419 21:04:00.829147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294407861722.
I0419 21:04:00.829843 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556396s, prior_pose=(16.1183, -1.97225), yaw=4.67044 deg
I0419 21:04:00.829912 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1225, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:00.830066 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294407898043.
I0419 21:04:00.831311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294408137638.
I0419 21:04:00.846370 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:00.846506 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:00.846575 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:00.846596 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294408459526.
I0419 21:04:00.849638 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:00.849704 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.98642, -2.55013)
I0419 21:04:00.849728 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:00.849826 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294408492430.
I0419 21:04:00.874624 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294408735617.
I0419 21:04:00.878311 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294408773335.
I0419 21:04:00.903049 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294409016537.
I0419 21:04:00.993403 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294409095104.
I0419 21:04:00.994060 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:00.994777 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:00.994843 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:00.995347 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294409377690.
I0419 21:04:00.997609 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.817816, -0.753754), points=7, range=1.11657, residual=0.0116943, extent=0.0294058
I0419 21:04:00.997723 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.817816, -0.753754), tracking=(-1.11632, 0.753754), map_predicted=(15.0048, -1.30407), range=1.11657, pts=7
I0419 21:04:00.997756 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0188969m maha_sq=0.0153057 (gate chi2=5.99) pose_sigma=(0.150791, 0.150791, rho=0) det_map=(15.0048, -1.30407) lm_pos=(15.015, -1.32) delta=(-0.0101594, 0.0159336) -> 1 candidate(s)
I0419 21:04:00.997844 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294409613851.
I0419 21:04:00.998422 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294409657966.
I0419 21:04:00.999856 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0217317 range=1.12267 variance=0.000633964 t_weight=4732.13 r_weight=0 yaml=(15.015, -1.32) prior=(16.1766, -1.96845, 4.47385deg) obs_actual=(-1.12295, 0.753259) obs_expected=(-1.10743, 0.737077) delta=(-0.0155205, 0.016182) |delta|=0.0224219m
I0419 21:04:00.999955 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294409950539.
I0419 21:04:01.001566 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.94581, -2.53581)
I0419 21:04:01.022897 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294410217899.
I0419 21:04:01.103116 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294410500931.
I0419 21:04:01.104128 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294410579843.
I0419 21:04:01.105348 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:01.105427 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:01.105448 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:01.105521 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294410817329.
I0419 21:04:01.107059 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365501s, prior_pose=(16.2201, -1.9664), yaw=4.37595 deg
I0419 21:04:01.107141 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1192, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:01.107292 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294410866432.
I0419 21:04:01.110399 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294411098694.
I0419 21:04:01.113668 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.323005, 0.60317), points=19, range=0.684158, residual=0.0118286, extent=0.0388469
I0419 21:04:01.113766 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.323005, 0.60317), tracking=(0.621505, 0.60317), map_predicted=(16.7938, -1.31757), range=0.684158, pts=19
I0419 21:04:01.113797 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0213463m maha_sq=0.0197457 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7938, -1.31757) lm_pos=(16.815, -1.32) delta=(-0.0212069, 0.00243493) -> 1 candidate(s)
I0419 21:04:01.137856 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:01.137988 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294411373814.
I0419 21:04:01.142216 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:01.142297 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.91475, -2.53328)
I0419 21:04:01.142323 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:01.142402 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294411417462.
I0419 21:04:01.170408 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=4.72731 deg, rms_residual=0.00853495m, sigma_yaw=0.0112519 rad, N=2
I0419 21:04:01.170528 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.2469, -1.96339, 4.72731deg) inliers=2 rms=0.00853495m
I0419 21:04:01.170576 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294411698437.
I0419 21:04:01.224838 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294411951145.
I0419 21:04:01.227744 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:01.227866 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:01.227903 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00200593 range=0.5438 variance=0.000576596 t_weight=5202.95 r_weight=0 yaml=(15.915, -2.52) prior=(16.2587, -1.96394, 4.09934deg) obs_actual=(-0.386551, -0.535632) obs_expected=(-0.382586, -0.530062) delta=(-0.00396507, -0.00556963) |delta|=0.00683685m
I0419 21:04:01.228003 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:01.228029 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294412254711.
I0419 21:04:01.254760 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294412541833.
I0419 21:04:01.255925 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.2754, -1.96336), yaw=4.01892 deg backend=(16.2508, -1.95602)
I0419 21:04:01.262643 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.77585, -4.32276)
I0419 21:04:01.262743 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.89385, -2.52086), points=3, range=3.15167, residual=0.00911086, extent=0.0185727
I0419 21:04:01.262771 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.89385, -2.52086), tracking=(2.19235, -2.52086), map_predicted=(18.6391, -4.32437), range=3.15167, pts=3
I0419 21:04:01.262794 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.26744m maha_sq=451.763 (gate chi2=5.99) pose_sigma=(0.151248, 0.151248, rho=0) det_map=(18.6391, -4.32437) lm_pos=(15.915, -2.52) delta=(2.72405, -1.80437) -> 0 candidate(s)
I0419 21:04:01.282716 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294412821636.
I0419 21:04:01.349625 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294413143640.
I0419 21:04:01.351411 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294413418986.
I0419 21:04:01.374490 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:01.374601 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:01.374627 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:01.374718 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294413740848.
I0419 21:04:01.378113 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0631565s, prior_pose=(16.3042, -1.96319), yaw=3.93109 deg
I0419 21:04:01.378255 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1189, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:01.378466 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.74617, -4.3219)
I0419 21:04:01.378526 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.240927, 0.603839), points=19, range=0.650158, residual=0.0111536, extent=0.0347676
I0419 21:04:01.378575 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.240927, 0.603839), tracking=(0.539427, 0.603839), map_predicted=(16.801, -1.32379), range=0.650158, pts=19
I0419 21:04:01.378620 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0145175m maha_sq=0.00913961 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.801, -1.32379) lm_pos=(16.815, -1.32) delta=(-0.0140148, -0.00378737) -> 1 candidate(s)
I0419 21:04:01.382656 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:01.407605 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294414057495.
I0419 21:04:01.431006 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:01.431659 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294414302187.
I0419 21:04:01.438774 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:01.438891 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:01.520695 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294414614777.
I0419 21:04:01.524362 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294414895698.
I0419 21:04:01.525406 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.204347, 0.601919)
I0419 21:04:01.525491 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:01.525611 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294414941346.
I0419 21:04:01.526814 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:01.526885 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294415177380.
I0419 21:04:01.550480 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294415497935.
I0419 21:04:01.581476 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.18702, 0.599193), points=20, range=0.6283, residual=0.0108461, extent=0.0353086
I0419 21:04:01.581570 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.18702, 0.599193), tracking=(0.48552, 0.599193), map_predicted=(16.7801, -1.32094), range=0.6283, pts=20
I0419 21:04:01.581606 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0348705m maha_sq=0.0527472 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7801, -1.32094) lm_pos=(16.815, -1.32) delta=(-0.0348578, -0.000942539) -> 1 candidate(s)
I0419 21:04:01.636256 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294415773134.
I0419 21:04:01.666751 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0801745 range=0.576048 variance=0.000577392 t_weight=5195.78 r_weight=0 yaml=(15.915, -2.52) prior=(16.3374, -1.95316, 4.11064deg) obs_actual=(-0.50487, -0.53751) obs_expected=(-0.461923, -0.535108) delta=(-0.042947, -0.00240212) |delta|=0.0430142m
I0419 21:04:01.666896 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294416060690.
I0419 21:04:01.670279 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.213348, 0.536883)
I0419 21:04:01.670766 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294416375091.
I0419 21:04:01.674219 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:01.674299 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:01.674316 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:01.674391 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294416654812.
I0419 21:04:01.674997 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557324s, prior_pose=(16.3636, -1.95123), yaw=4.282 deg
I0419 21:04:01.675082 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1157, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:04:01.675204 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:01.697765 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294416972443.
I0419 21:04:01.810387 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.238846, 0.536402), points=21, range=0.588952, residual=0.011618, extent=0.0353965
I0419 21:04:01.822615 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.238846, 0.536402), tracking=(-0.537346, -0.536402), map_predicted=(15.8794, -2.5274), range=0.588952, pts=21
I0419 21:04:01.822693 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0363992m maha_sq=0.0568384 (gate chi2=5.99) pose_sigma=(0.150802, 0.150802, rho=0) det_map=(15.8794, -2.5274) lm_pos=(15.915, -2.52) delta=(-0.0356397, -0.00739678) -> 1 candidate(s)
I0419 21:04:01.822724 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:01.822836 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294417257622.
I0419 21:04:01.823792 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:01.823854 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:04:01.826229 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294417541963.
I0419 21:04:01.827248 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.59518, -4.34332)
I0419 21:04:01.828498 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:01.828568 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:01.828598 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294417823784.
I0419 21:04:01.832628 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:01.832803 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294418136393.
I0419 21:04:01.905094 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294418424108.
I0419 21:04:01.924113 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294418732941.
I0419 21:04:01.927672 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.55284, -4.34483)
I0419 21:04:01.927832 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.66983, -2.54691), points=3, range=3.04633, residual=0.00906642, extent=0.0187036
I0419 21:04:01.927896 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.66983, -2.54691), tracking=(1.96833, -2.54691), map_predicted=(18.5883, -4.32773), range=3.04633, pts=3
I0419 21:04:01.927949 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.22715m maha_sq=441.274 (gate chi2=5.99) pose_sigma=(0.151201, 0.151201, rho=0) det_map=(18.5883, -4.32773) lm_pos=(15.915, -2.52) delta=(2.67332, -1.80773) -> 0 candidate(s)
I0419 21:04:01.929890 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294419057349.
I0419 21:04:01.932497 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294419293932.
I0419 21:04:01.962365 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:01.962525 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:01.962566 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:01.962740 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294419615486.
I0419 21:04:02.054221 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0367998s, prior_pose=(16.4516, -1.94479), yaw=4.572 deg
I0419 21:04:02.054342 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1123, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:04:02.055697 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294419900064.
I0419 21:04:02.056447 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.52301, -4.3409)
I0419 21:04:02.058597 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:02.058749 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294420221181.
I0419 21:04:02.059402 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:02.059468 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:04:02.059494 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.6285, -2.54805), points=3, range=3.02667, residual=0.0101513, extent=0.0213054
I0419 21:04:02.059517 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.6285, -2.54805), tracking=(1.927, -2.54805), map_predicted=(18.5867, -4.33016), range=3.02667, pts=3
I0419 21:04:02.059535 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.22718m maha_sq=447.806 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5867, -4.33016) lm_pos=(15.915, -2.52) delta=(2.6717, -1.81016) -> 0 candidate(s)
I0419 21:04:02.060716 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294420499252.
I0419 21:04:02.103910 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294420775242.
I0419 21:04:02.175321 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:02.208040 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294421101718.
I0419 21:04:02.209578 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.50676, -4.33492)
I0419 21:04:02.211270 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294421376343.
I0419 21:04:02.212401 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(16.5091, -1.93968), yaw=4.3634 deg backend=(16.5197, -1.93732)
I0419 21:04:02.214069 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294421656374.
I0419 21:04:02.214886 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00781059, 0.597325), points=22, range=0.598955, residual=0.0121966, extent=0.0402899
I0419 21:04:02.214978 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00781059, 0.597325), tracking=(0.306311, 0.597325), map_predicted=(16.7691, -1.32078), range=0.598955, pts=22
I0419 21:04:02.215023 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0459543m maha_sq=0.0914883 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7691, -1.32078) lm_pos=(16.815, -1.32) delta=(-0.0459478, -0.000777296) -> 1 candidate(s)
I0419 21:04:02.217123 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0396708 range=0.660062 variance=0.000539073 t_weight=5565.11 r_weight=0 yaml=(15.915, -2.52) prior=(16.5185, -1.93896, 4.34969deg) obs_actual=(-0.675527, -0.540088) obs_expected=(-0.645857, -0.533596) delta=(-0.0296697, -0.00649218) |delta|=0.0303717m
I0419 21:04:02.217283 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294421942200.
I0419 21:04:02.218122 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.47991, -4.33888)
I0419 21:04:02.226871 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294422260944.
I0419 21:04:02.317914 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:02.318018 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:02.318033 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:02.318109 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294422540043.
I0419 21:04:02.318748 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0633095s, prior_pose=(16.5367, -1.93852), yaw=4.30684 deg
I0419 21:04:02.318805 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1107, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 21:04:02.318945 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:02.321156 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294422862159.
I0419 21:04:02.321895 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.220972, -2.40486)
I0419 21:04:02.323002 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:02.323107 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294423136603.
I0419 21:04:02.324649 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:04:02.324713 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:04:02.324740 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45702, -4.33362), points=3, range=4.575, residual=0.0143525, extent=0.0300684
I0419 21:04:02.324765 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45702, -4.33362), tracking=(1.75552, -4.33362), map_predicted=(18.6231, -6.13455), range=4.575, pts=3
I0419 21:04:02.324787 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51653m maha_sq=848.724 (gate chi2=5.99) pose_sigma=(0.151264, 0.151264, rho=0) det_map=(18.6231, -6.13455) lm_pos=(15.915, -2.52) delta=(2.70815, -3.61455) -> 0 candidate(s)
I0419 21:04:02.347137 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294423461399.
I0419 21:04:02.365027 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(1.67928, -0.727266)
I0419 21:04:02.454743 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:02.454877 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:02.454937 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294423705746.
I0419 21:04:02.455138 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:02.457015 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:02.457147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294424081680.
I0419 21:04:02.459792 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294424296581.
I0419 21:04:02.460451 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.217891, -2.49049)
I0419 21:04:02.460520 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.24912, -2.40411), points=5, range=2.4134, residual=0.0155976, extent=0.0418358
I0419 21:04:02.460551 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.24912, -2.40411), tracking=(0.0493805, -2.40411), map_predicted=(16.8009, -4.3256), range=2.4134, pts=5
I0419 21:04:02.460577 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01124m maha_sq=173.505 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8009, -4.3256) lm_pos=(15.915, -2.52) delta=(0.885926, -1.8056) -> 0 candidate(s)
I0419 21:04:02.462785 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294424574152.
I0419 21:04:02.494385 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.44513, -4.31896)
I0419 21:04:02.494553 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:02.495404 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294424936174.
I0419 21:04:02.561733 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294425182361.
I0419 21:04:02.564313 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:02.564391 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:02.564407 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:02.564455 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294425457917.
I0419 21:04:02.565048 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599081s, prior_pose=(16.6232, -1.92876), yaw=3.65195 deg
I0419 21:04:02.565116 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1114, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 21:04:02.565229 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(1.62602, -0.712629)
I0419 21:04:02.565255 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.43683, -4.31507), points=3, range=4.54933, residual=0.0131088, extent=0.0273722
I0419 21:04:02.565281 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.43683, -4.31507), tracking=(1.73533, -4.31507), map_predicted=(18.6298, -6.12453), range=4.54933, pts=3
I0419 21:04:02.565301 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51254m maha_sq=862.317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6298, -6.12453) lm_pos=(15.915, -2.52) delta=(2.71484, -3.60453) -> 0 candidate(s)
I0419 21:04:02.578569 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294425780984.
I0419 21:04:02.606638 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:02.606775 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294426062193.
I0419 21:04:02.614595 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=41, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:04:02.614671 1258777 reflector_detector.cc:209] [Detect]   cluster[6]: points=22, centroid=(-0.136829, 0.604511)
I0419 21:04:02.614692 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=6
I0419 21:04:02.682089 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294426377095.
I0419 21:04:02.682912 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5089, -2.5112), points=4, range=2.9245, residual=0.0159188, extent=0.0378767
I0419 21:04:02.682977 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.5089, -2.5112), tracking=(1.8074, -2.5112), map_predicted=(18.6006, -4.32332), range=2.9245, pts=4
I0419 21:04:02.683005 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23487m maha_sq=447.344 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6006, -4.32332) lm_pos=(15.915, -2.52) delta=(2.6856, -1.80332) -> 0 candidate(s)
I0419 21:04:02.684302 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294426655006.
I0419 21:04:02.694473 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.35284, -0.716788)
I0419 21:04:02.694629 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:02.694692 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294426940716.
I0419 21:04:02.726996 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294427259581.
I0419 21:04:02.729915 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42255, -4.314), points=3, range=4.53533, residual=0.0182679, extent=0.0377482
I0419 21:04:02.730020 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.42255, -4.314), tracking=(1.72105, -4.314), map_predicted=(18.6375, -6.1319), range=4.53533, pts=3
I0419 21:04:02.730049 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52303m maha_sq=860.55 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6375, -6.1319) lm_pos=(15.915, -2.52) delta=(2.7225, -3.6119) -> 0 candidate(s)
I0419 21:04:02.755033 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.542179, 0.563012)
I0419 21:04:02.755312 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294427539874.
I0419 21:04:02.858305 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0620352 range=0.786583 variance=0.000519049 t_weight=5779.81 r_weight=0 yaml=(15.915, -2.52) prior=(16.6917, -1.92159, 3.13363deg) obs_actual=(-0.845251, -0.564499) obs_expected=(-0.808291, -0.55505) delta=(-0.0369596, -0.00944934) |delta|=0.0381484m
I0419 21:04:02.858464 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294427819960.
I0419 21:04:02.861186 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294428136920.
I0419 21:04:02.861958 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.46482, -2.49502)
I0419 21:04:02.862998 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:02.863050 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39598, -0.698545), points=3, range=1.55833, residual=0.00654411, extent=0.0134965
I0419 21:04:02.863116 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:02.863131 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:02.863143 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.39598, -0.698545), tracking=(-1.69448, 0.698545), map_predicted=(14.9718, -1.3142), range=1.55833, pts=3
I0419 21:04:02.863162 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0436075m maha_sq=0.0825764 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.9718, -1.3142) lm_pos=(15.015, -1.32) delta=(-0.04322, 0.0058003) -> 1 candidate(s)
I0419 21:04:02.863226 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294428413614.
I0419 21:04:02.864655 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0364489s, prior_pose=(16.7261, -1.90955), yaw=2.99343 deg
I0419 21:04:02.864717 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1112, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:04:02.864835 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:02.870890 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294428701039.
I0419 21:04:02.984936 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.583503, 0.571672)
I0419 21:04:02.985067 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:02.985157 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294429018953.
I0419 21:04:02.986037 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:02.986114 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:02.986141 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.238583, 0.60297), points=18, range=0.647, residual=0.0119857, extent=0.0328165
I0419 21:04:02.986162 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.238583, 0.60297), tracking=(0.0599173, 0.60297), map_predicted=(16.7674, -1.30431), range=0.647, pts=18
I0419 21:04:02.986186 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=0.0500965m maha_sq=0.108742 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7674, -1.30431) lm_pos=(16.815, -1.32) delta=(-0.0475758, 0.0156908) -> 1 candidate(s)
I0419 21:04:02.987291 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294429299653.
I0419 21:04:02.990067 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:02.990221 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:02.990247 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294429580689.
I0419 21:04:02.995867 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.43887, -2.48381)
I0419 21:04:02.999045 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:02.999202 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294429861206.
I0419 21:04:03.018507 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.341166, -0.598911), points=15, range=0.6908, residual=0.00997783, extent=0.0300539
I0419 21:04:03.018658 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.341166, -0.598911), tracking=(0.0426657, 0.598911), map_predicted=(16.7724, -1.30688), range=0.6908, pts=15
I0419 21:04:03.018704 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0445519m maha_sq=0.086162 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7724, -1.30688) lm_pos=(16.815, -1.32) delta=(-0.0425777, 0.0131152) -> 1 candidate(s)
I0419 21:04:03.018903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294430177519.
I0419 21:04:03.102357 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.7815, -1.90818), yaw=2.48489 deg backend=(16.783, -1.91586)
I0419 21:04:03.102887 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=19, centroid=(-0.274054, 0.601187)
I0419 21:04:03.104363 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294430499107.
I0419 21:04:03.107326 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294430772520.
I0419 21:04:03.108054 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.42291, -2.47284), points=3, range=2.855, residual=0.00926679, extent=0.0193827
I0419 21:04:03.108131 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.42291, -2.47284), tracking=(1.72141, -2.47284), map_predicted=(18.6176, -4.30959), range=2.855, pts=3
I0419 21:04:03.108161 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24142m maha_sq=452.594 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6176, -4.30959) lm_pos=(15.915, -2.52) delta=(2.70262, -1.78959) -> 0 candidate(s)
I0419 21:04:03.109243 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.328588, -0.594533)
I0419 21:04:03.109375 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294431057254.
I0419 21:04:03.134881 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:03.134996 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:03.135031 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:03.135108 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0155631 range=0.869 variance=0.000529964 t_weight=5660.76 r_weight=0 yaml=(15.915, -2.52) prior=(16.8175, -1.90847, 2.07625deg) obs_actual=(-0.942467, -0.583681) obs_expected=(-0.924076, -0.578432) delta=(-0.0183907, -0.00524974) |delta|=0.0191253m
I0419 21:04:03.135213 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294431340328.
I0419 21:04:03.141746 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639749s, prior_pose=(16.8175, -1.90847), yaw=2.07625 deg
I0419 21:04:03.141857 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1120, max_intensity=254, threshold=230, above_threshold=50, candidates=50
I0419 21:04:03.142130 1219452 reflector_detector.cc:209] [Detect]   cluster[6]: points=3, centroid=(-0.3108, 0.538396)
I0419 21:04:03.239722 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294431662087.
I0419 21:04:03.240473 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.38535, -2.41038), points=5, range=2.4388, residual=0.012238, extent=0.0320836
I0419 21:04:03.240585 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.38535, -2.41038), tracking=(-0.0868499, -2.41038), map_predicted=(16.8272, -4.31984), range=2.4388, pts=5
I0419 21:04:03.240613 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01783m maha_sq=175.324 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8272, -4.31984) lm_pos=(15.915, -2.52) delta=(0.912248, -1.79984) -> 0 candidate(s)
I0419 21:04:03.241792 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:03.241889 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294431945520.
I0419 21:04:03.243310 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:03.243357 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(1.45973, -0.657555)
I0419 21:04:03.243374 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:03.244516 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294432213918.
I0419 21:04:03.245260 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.329081, 0.59369), points=7, range=0.672429, residual=0.0130408, extent=0.0300185
I0419 21:04:03.245316 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[5]: sensor=(-0.329081, 0.59369), tracking=(-0.0305805, 0.59369), map_predicted=(16.8016, -1.31523), range=0.672429, pts=7
I0419 21:04:03.245342 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[5] nearest lm[19] 'ref_20' eucl_dist=0.014266m maha_sq=0.00880791 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8016, -1.31523) lm_pos=(16.815, -1.32) delta=(-0.0134461, 0.00476673) -> 1 candidate(s)
I0419 21:04:03.254840 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.539 deg, rms_residual=0.00514034m, sigma_yaw=0.00680713 rad, N=2
I0419 21:04:03.255023 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.8737, -1.90745, 1.539deg) inliers=2 rms=0.00514034m
I0419 21:04:03.255095 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294432538356.
I0419 21:04:03.283111 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.25229, -0.591883)
I0419 21:04:03.283505 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294432821363.
I0419 21:04:03.375269 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:03.375406 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294433140105.
I0419 21:04:03.375962 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39379, -2.44687), points=4, range=2.812, residual=0.0135568, extent=0.0322882
I0419 21:04:03.376020 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.39379, -2.44687), tracking=(1.69229, -2.44687), map_predicted=(18.6352, -4.30594), range=2.812, pts=4
I0419 21:04:03.376046 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25409m maha_sq=454.342 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6352, -4.30594) lm_pos=(15.915, -2.52) delta=(2.72021, -1.78594) -> 0 candidate(s)
I0419 21:04:03.378058 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294433418165.
I0419 21:04:03.378780 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.418398, -4.21661)
I0419 21:04:03.379894 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294433696320.
I0419 21:04:03.399065 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294433978514.
I0419 21:04:03.508534 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.202332, -0.590352)
I0419 21:04:03.508632 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:03.508659 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.92009, 4.26249), points=3, range=4.67367, residual=0.0132427, extent=0.0273485
I0419 21:04:03.508680 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:03.508695 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:03.508704 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.92009, 4.26249), tracking=(1.62159, -4.26249), map_predicted=(18.6114, -6.13608), range=4.67367, pts=3
I0419 21:04:03.508726 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51072m maha_sq=853.086 (gate chi2=5.99) pose_sigma=(0.150679, 0.150679, rho=0) det_map=(18.6114, -6.13608) lm_pos=(15.915, -2.52) delta=(2.6964, -3.61608) -> 0 candidate(s)
I0419 21:04:03.508798 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.00955483 range=0.942714 variance=0.000501161 t_weight=5986.1 r_weight=0 yaml=(15.915, -2.52) prior=(16.9152, -1.90274, 1.00682deg) obs_actual=(-1.02566, -0.601172) obs_expected=(-1.01085, -0.59959) delta=(-0.0148062, -0.0015813) |delta|=0.0148904m
I0419 21:04:03.508858 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294434295313.
I0419 21:04:03.509490 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601589s, prior_pose=(16.9152, -1.90274), yaw=1.00682 deg
I0419 21:04:03.509560 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1100, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:04:03.510934 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:03.511073 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294434574373.
I0419 21:04:03.513913 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294434897449.
I0419 21:04:03.514559 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:03.514624 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.436936, -4.21615)
I0419 21:04:03.514642 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:03.518354 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.749703, 0.607977), points=5, range=0.9668, residual=0.00728989, extent=0.0184877
I0419 21:04:03.518478 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.749703, 0.607977), tracking=(-1.0482, -0.607977), map_predicted=(15.903, -2.52383), range=0.9668, pts=5
I0419 21:04:03.518523 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.012619m maha_sq=0.00685881 (gate chi2=5.99) pose_sigma=(0.150715, 0.150715, rho=0) det_map=(15.903, -2.52383) lm_pos=(15.915, -2.52) delta=(-0.0120232, -0.00383162) -> 1 candidate(s)
I0419 21:04:03.518676 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294435176537.
I0419 21:04:03.547151 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:03.547396 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:03.547456 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294435460429.
I0419 21:04:03.668648 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.15152, -0.585769)
I0419 21:04:03.668874 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294435777063.
I0419 21:04:03.672098 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783724, 0.610078), points=6, range=0.991667, residual=0.00856658, extent=0.0229006
I0419 21:04:03.672212 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.783724, 0.610078), tracking=(-1.08222, -0.610078), map_predicted=(15.8971, -2.52025), range=0.991667, pts=6
I0419 21:04:03.672243 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0179437m maha_sq=0.0138228 (gate chi2=5.99) pose_sigma=(0.150898, 0.150898, rho=0) det_map=(15.8971, -2.52025) lm_pos=(15.915, -2.52) delta=(-0.0179419, -0.000251678) -> 1 candidate(s)
I0419 21:04:03.672331 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294436056058.
I0419 21:04:03.674572 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294436339448.
I0419 21:04:03.676543 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.456214, -4.22241)
I0419 21:04:03.678077 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294436659911.
I0419 21:04:03.761636 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.807249, 0.615678), points=5, range=1.0138, residual=0.00730203, extent=0.0190129
I0419 21:04:03.761781 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.807249, 0.615678), tracking=(-1.10575, -0.615678), map_predicted=(15.9014, -2.5217), range=1.0138, pts=5
I0419 21:04:03.761816 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.013675m maha_sq=0.00802256 (gate chi2=5.99) pose_sigma=(0.151016, 0.151016, rho=0) det_map=(15.9014, -2.5217) lm_pos=(15.915, -2.52) delta=(-0.013569, -0.00169901) -> 1 candidate(s)
I0419 21:04:03.761927 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294436934914.
I0419 21:04:03.763957 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.104652, -0.583502)
I0419 21:04:03.764019 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:03.764041 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:03.764055 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:03.764070 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:03.764112 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0297474 range=1.023 variance=0.000503728 t_weight=5955.59 r_weight=0 yaml=(15.915, -2.52) prior=(17.0025, -1.89769, 0.4327deg) obs_actual=(-1.1183, -0.615255) obs_expected=(-1.09217, -0.614081) delta=(-0.0261328, -0.00117311) |delta|=0.0261591m
I0419 21:04:03.764170 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294437222703.
I0419 21:04:03.766420 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0366379s, prior_pose=(17.0192, -1.89695), yaw=0.317027 deg
I0419 21:04:03.766580 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1086, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 21:04:03.766688 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:03.768234 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294437536634.
I0419 21:04:03.769325 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31281, -0.619155), points=5, range=1.4478, residual=0.0108837, extent=0.0268902
I0419 21:04:03.769454 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.31281, -0.619155), tracking=(1.61131, -0.619155), map_predicted=(18.6339, -2.50718), range=1.4478, pts=5
I0419 21:04:03.769483 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17203m maha_sq=204.266 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6339, -2.50718) lm_pos=(16.815, -1.32) delta=(1.81887, -1.18718) -> 0 candidate(s)
I0419 21:04:03.782662 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294437820051.
I0419 21:04:03.786266 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:03.786397 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.506511, -2.41769)
I0419 21:04:03.786442 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:03.810719 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294438100957.
I0419 21:04:03.907091 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.28642, -4.22968)
I0419 21:04:03.907228 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27381, -2.42966), points=4, range=2.74, residual=0.0124442, extent=0.0305372
I0419 21:04:03.907260 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.27381, -2.42966), tracking=(1.57231, -2.42966), map_predicted=(18.6221, -4.31906), range=2.74, pts=4
I0419 21:04:03.907284 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25041m maha_sq=449.503 (gate chi2=5.99) pose_sigma=(0.150786, 0.150786, rho=0) det_map=(18.6221, -4.31906) lm_pos=(15.915, -2.52) delta=(2.70712, -1.79906) -> 0 candidate(s)
I0419 21:04:03.909365 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=0.89724 deg, rms_residual=0.00695964m, sigma_yaw=0.0091942 rad, N=2
I0419 21:04:03.909490 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.0611, -1.89447, 0.89724deg) inliers=2 rms=0.00695964m
I0419 21:04:03.909534 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294438697359.
I0419 21:04:03.909679 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:03.911325 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:03.911440 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294438977748.
I0419 21:04:03.912568 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.0645, -1.89731), yaw=0.345868 deg backend=(17.0521, -1.90253)
I0419 21:04:03.929687 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.877526, 0.612517)
I0419 21:04:03.929885 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294439291786.
I0419 21:04:03.934212 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.25346, -4.23158), points=4, range=4.415, residual=0.0169582, extent=0.0413245
I0419 21:04:03.934312 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.25346, -4.23158), tracking=(1.55196, -4.23158), map_predicted=(18.642, -6.11944), range=4.415, pts=4
I0419 21:04:03.934341 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51579m maha_sq=860.441 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.642, -6.11944) lm_pos=(15.915, -2.52) delta=(2.72697, -3.59944) -> 0 candidate(s)
I0419 21:04:04.008252 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294439925112.
I0419 21:04:04.009811 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.22687, -4.23207)
I0419 21:04:04.018108 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:04.018203 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.74044, 4.25425), points=3, range=4.596, residual=0.0128349, extent=0.0267542
I0419 21:04:04.018260 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:04.018303 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:04.018337 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-1.74044, 4.25425), tracking=(1.44194, -4.25425), map_predicted=(18.5666, -6.14061), range=4.596, pts=3
I0419 21:04:04.018379 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.48776m maha_sq=839.653 (gate chi2=5.99) pose_sigma=(0.151223, 0.151223, rho=0) det_map=(18.5666, -6.14061) lm_pos=(15.915, -2.52) delta=(2.65163, -3.62061) -> 0 candidate(s)
I0419 21:04:04.018479 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294440175672.
I0419 21:04:04.022284 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0639177s, prior_pose=(17.0922, -1.89751), yaw=0.438131 deg
I0419 21:04:04.022392 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 21:04:04.047158 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294440462474.
I0419 21:04:04.074633 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.925982, 0.607081)
I0419 21:04:04.074798 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0443552 range=1.10725 variance=0.000491916 t_weight=6098.61 r_weight=0 yaml=(15.915, -2.52) prior=(17.1049, -1.89577, 0.512577deg) obs_actual=(-1.22655, -0.606513) obs_expected=(-1.1954, -0.613564) delta=(-0.0311462, 0.00705151) |delta|=0.0319345m
I0419 21:04:04.074865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294440741607.
I0419 21:04:04.143850 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:04.143985 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:04.144021 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22056, -0.63313), points=3, range=1.371, residual=0.00795112, extent=0.0152472
I0419 21:04:04.144044 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.22056, -0.63313), tracking=(1.51906, -0.63313), map_predicted=(18.6507, -2.51287), range=1.371, pts=3
I0419 21:04:04.144110 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18923m maha_sq=204.079 (gate chi2=5.99) pose_sigma=(0.151491, 0.151491, rho=0) det_map=(18.6507, -2.51287) lm_pos=(16.815, -1.32) delta=(1.8357, -1.19287) -> 0 candidate(s)
I0419 21:04:04.145454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294441058734.
I0419 21:04:04.148319 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.942805, 0.606421)
I0419 21:04:04.148504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294441339809.
I0419 21:04:04.161828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294441612396.
I0419 21:04:04.169638 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.16324, -2.43878)
I0419 21:04:04.169740 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16324, -2.43878), points=3, range=2.702, residual=0.00662084, extent=0.0158405
I0419 21:04:04.169770 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.16324, -2.43878), tracking=(1.46174, -2.43878), map_predicted=(18.64, -4.31506), range=2.702, pts=3
I0419 21:04:04.169796 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26309m maha_sq=452.986 (gate chi2=5.99) pose_sigma=(0.151177, 0.151177, rho=0) det_map=(18.64, -4.31506) lm_pos=(15.915, -2.52) delta=(2.72498, -1.79506) -> 0 candidate(s)
I0419 21:04:04.280951 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:04.281194 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:04.281229 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294442227434.
I0419 21:04:04.282330 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.15142, -4.2477)
I0419 21:04:04.283797 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 7 -> 3 (threshold=0.03, iters=3)
I0419 21:04:04.283865 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.67345, 4.26654), points=3, range=4.58067, residual=0.0134055, extent=0.0278203
I0419 21:04:04.283890 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.67345, 4.26654), tracking=(1.37495, -4.26654), map_predicted=(18.5793, -6.12608), range=4.58067, pts=3
I0419 21:04:04.283913 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.48357m maha_sq=850.742 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5793, -6.12608) lm_pos=(15.915, -2.52) delta=(2.66432, -3.60608) -> 0 candidate(s)
I0419 21:04:04.284003 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294442536522.
I0419 21:04:04.287233 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294442816633.
I0419 21:04:04.288146 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.12319, -4.24111)
I0419 21:04:04.310817 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:04.310945 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:04.310973 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:04.311004 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:04.311038 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:04.311221 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294443099726.
I0419 21:04:04.318257 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604724s, prior_pose=(17.1841, -1.88298), yaw=0.741437 deg
I0419 21:04:04.318372 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1083, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:04:04.318492 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10347, -2.44008), points=4, range=2.6795, residual=0.0118553, extent=0.0277586
I0419 21:04:04.318538 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.10347, -2.44008), tracking=(1.40197, -2.44008), map_predicted=(18.6175, -4.30472), range=2.6795, pts=4
I0419 21:04:04.318578 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23864m maha_sq=451.227 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6175, -4.30472) lm_pos=(15.915, -2.52) delta=(2.70251, -1.78472) -> 0 candidate(s)
I0419 21:04:04.318614 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:04.342484 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294443413974.
I0419 21:04:04.417546 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.699313, -4.21663)
I0419 21:04:04.423262 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:04.423382 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:04.425551 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.11823, 2.53825)
I0419 21:04:04.425652 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03169, 0.603675), points=4, range=1.19325, residual=0.00711125, extent=0.0160012
I0419 21:04:04.425685 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.03169, 0.603675), tracking=(-1.33019, -0.603675), map_predicted=(15.8884, -2.51121), range=1.19325, pts=4
I0419 21:04:04.425712 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0279906m maha_sq=0.0332122 (gate chi2=5.99) pose_sigma=(0.151917, 0.151917, rho=0) det_map=(15.8884, -2.51121) lm_pos=(15.915, -2.52) delta=(-0.0265745, 0.00879026) -> 1 candidate(s)
I0419 21:04:04.425819 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294443975979.
I0419 21:04:04.427708 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0579741 range=1.2016 variance=0.000494427 t_weight=6067.63 r_weight=0 yaml=(15.915, -2.52) prior=(17.2093, -1.88743, 0.869095deg) obs_actual=(-1.3388, -0.602629) obs_expected=(-1.30376, -0.612867) delta=(-0.0350467, 0.0102376) |delta|=0.0365114m
I0419 21:04:04.427824 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294444254363.
I0419 21:04:04.433729 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.730338, -2.41393)
I0419 21:04:04.464956 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.738719, -4.22541), points=3, range=4.286, residual=0.0134416, extent=0.0276669
I0419 21:04:04.465271 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.738719, -4.22541), tracking=(-0.440219, -4.22541), map_predicted=(16.8547, -6.11875), range=4.286, pts=3
I0419 21:04:04.465430 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71941m maha_sq=577.436 (gate chi2=5.99) pose_sigma=(0.151303, 0.151303, rho=0) det_map=(16.8547, -6.11875) lm_pos=(15.915, -2.52) delta=(0.939679, -3.59875) -> 0 candidate(s)
I0419 21:04:04.537206 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.05138, 0.603935)
I0419 21:04:04.537580 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:04.537796 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294444859572.
I0419 21:04:04.540253 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294445181929.
I0419 21:04:04.542099 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.754324, -2.417)
I0419 21:04:04.545908 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.207357, 2.41033), points=5, range=2.4206, residual=0.0114094, extent=0.0282868
I0419 21:04:04.546015 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.207357, 2.41033), tracking=(-0.505857, -2.41033), map_predicted=(16.7909, -4.30316), range=2.4206, pts=5
I0419 21:04:04.546048 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.98669m maha_sq=167.385 (gate chi2=5.99) pose_sigma=(0.151256, 0.151256, rho=0) det_map=(16.7909, -4.30316) lm_pos=(15.915, -2.52) delta=(0.875934, -1.78316) -> 0 candidate(s)
I0419 21:04:04.546154 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294445454331.
I0419 21:04:04.574319 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.144805, -0.591003)
I0419 21:04:04.605782 1218967 reflector_detector.cc:209] [Detect]   cluster[7]: points=3, centroid=(-1.54011, 4.27007)
I0419 21:04:04.605940 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=4
I0419 21:04:04.606101 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:04.606158 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:04.606266 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:04.693455 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359701s, prior_pose=(17.2731, -1.88575), yaw=0.991316 deg
I0419 21:04:04.693620 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1078, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:04:04.695345 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10234, 0.602673), points=4, range=1.2545, residual=0.00583598, extent=0.0135485
I0419 21:04:04.695473 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10234, 0.602673), tracking=(-1.40084, -0.602673), map_predicted=(15.8829, -2.51257), range=1.2545, pts=4
I0419 21:04:04.695510 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0329102m maha_sq=0.0463426 (gate chi2=5.99) pose_sigma=(0.151238, 0.151238, rho=0) det_map=(15.8829, -2.51257) lm_pos=(15.915, -2.52) delta=(-0.0320609, 0.00742861) -> 1 candidate(s)
I0419 21:04:04.695602 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=1.56803 deg, rms_residual=0.0110036m, sigma_yaw=0.0144594 rad, N=2
I0419 21:04:04.695665 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.2922, -1.88802, 1.56803deg) inliers=2 rms=0.0110036m
I0419 21:04:04.695704 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294446335598.
I0419 21:04:04.699216 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.235528, 2.40925)
I0419 21:04:04.699453 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294446613129.
I0419 21:04:04.700318 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:04.700372 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:04.701864 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294446940219.
I0419 21:04:04.703765 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.99383, -2.43929)
I0419 21:04:04.703850 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.795047, -4.2211), points=4, range=4.29275, residual=0.0162341, extent=0.0382739
I0419 21:04:04.703876 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.795047, -4.2211), tracking=(-0.496547, -4.2211), map_predicted=(16.8726, -6.11637), range=4.29275, pts=4
I0419 21:04:04.703899 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72167m maha_sq=578.128 (gate chi2=5.99) pose_sigma=(0.151026, 0.151026, rho=0) det_map=(16.8726, -6.11637) lm_pos=(15.915, -2.52) delta=(0.957599, -3.59637) -> 0 candidate(s)
I0419 21:04:04.722666 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294447220041.
I0419 21:04:04.726012 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:04.818984 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294447494450.
I0419 21:04:04.819675 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.813287, -4.21676)
I0419 21:04:04.819752 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01707, -0.639642), points=5, range=1.1984, residual=0.0103506, extent=0.0243647
I0419 21:04:04.819779 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.01707, -0.639642), tracking=(1.31557, -0.639642), map_predicted=(18.6373, -2.50619), range=1.1984, pts=5
I0419 21:04:04.819806 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17435m maha_sq=204.95 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6373, -2.50619) lm_pos=(16.815, -1.32) delta=(1.82229, -1.18619) -> 0 candidate(s)
I0419 21:04:04.821130 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294447821696.
I0419 21:04:04.822319 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3243, -1.88738), yaw=0.857814 deg backend=(17.3081, -1.89396)
I0419 21:04:04.824014 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0134573 range=1.29167 variance=0.000517643 t_weight=5795.5 r_weight=0 yaml=(15.915, -2.52) prior=(17.3243, -1.88738, 0.857814deg) obs_actual=(-1.43574, -0.606793) obs_expected=(-1.41866, -0.611449) delta=(-0.0170827, 0.0046559) |delta|=0.0177058m
I0419 21:04:04.824128 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294448100758.
I0419 21:04:04.824757 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.832318, -2.4173)
I0419 21:04:04.842442 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.960701, -2.44933), points=3, range=2.63067, residual=0.00739334, extent=0.0153007
I0419 21:04:04.842545 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.960701, -2.44933), tracking=(1.2592, -2.44933), map_predicted=(18.6296, -4.31919), range=2.63067, pts=3
I0419 21:04:04.842576 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25669m maha_sq=454.189 (gate chi2=5.99) pose_sigma=(0.150661, 0.150661, rho=0) det_map=(18.6296, -4.31919) lm_pos=(15.915, -2.52) delta=(2.71458, -1.79919) -> 0 candidate(s)
I0419 21:04:04.843155 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294448419142.
I0419 21:04:04.870051 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-1.50143, 4.25963)
I0419 21:04:04.944754 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:04.944880 1258777 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:04.944901 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:04.944926 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:04.945013 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294448975996.
I0419 21:04:04.945624 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603777s, prior_pose=(17.3449, -1.88977), yaw=0.91958 deg
I0419 21:04:04.945693 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1081, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 21:04:04.945763 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.95473, -4.24802), points=3, range=4.354, residual=0.0104368, extent=0.0255046
I0419 21:04:04.945794 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.95473, -4.24802), tracking=(1.25323, -4.24802), map_predicted=(18.6661, -6.11713), range=4.354, pts=3
I0419 21:04:04.945817 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52858m maha_sq=872.389 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6661, -6.11713) lm_pos=(15.915, -2.52) delta=(2.75111, -3.59713) -> 0 candidate(s)
I0419 21:04:04.945839 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:04.947826 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.47564, 4.26546)
I0419 21:04:04.947978 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294449298640.
I0419 21:04:04.958057 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:04.958190 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:04.958216 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294449575718.
I0419 21:04:04.962343 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:04.962410 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:04.986372 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.44281, 4.27086)
I0419 21:04:04.986482 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.235919, -0.591237), points=19, range=0.638526, residual=0.0120507, extent=0.0386749
I0419 21:04:04.986521 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.235919, -0.591237), tracking=(-0.534419, 0.591237), map_predicted=(16.8218, -1.30538), range=0.638526, pts=19
I0419 21:04:04.986553 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0161334m maha_sq=0.0111259 (gate chi2=5.99) pose_sigma=(0.151044, 0.151044, rho=0) det_map=(16.8218, -1.30538) lm_pos=(16.815, -1.32) delta=(0.00682129, 0.0146204) -> 1 candidate(s)
I0419 21:04:04.986763 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294449858592.
I0419 21:04:05.075132 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294450133908.
I0419 21:04:05.077005 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.40299, 4.27569)
I0419 21:04:05.077102 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.348175, 2.40138), points=5, range=2.4288, residual=0.0127043, extent=0.0329862
I0419 21:04:05.077134 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.348175, 2.40138), tracking=(-0.646675, -2.40138), map_predicted=(16.7797, -4.30011), range=2.4288, pts=5
I0419 21:04:05.077186 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.97903m maha_sq=168.572 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7797, -4.30011) lm_pos=(15.915, -2.52) delta=(0.864747, -1.78011) -> 0 candidate(s)
I0419 21:04:05.077310 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294450419295.
I0419 21:04:05.079983 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:04:05.080106 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294450738458.
I0419 21:04:05.102396 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.36209, 4.27665)
I0419 21:04:05.102586 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.435278, 4.2), points=3, range=4.22233, residual=0.0117694, extent=0.0245625
I0419 21:04:05.102625 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.435278, 4.2), tracking=(-0.733778, -4.2), map_predicted=(16.7822, -6.10362), range=4.22233, pts=3
I0419 21:04:05.102655 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.68705m maha_sq=574.084 (gate chi2=5.99) pose_sigma=(0.150568, 0.150568, rho=0) det_map=(16.7822, -6.10362) lm_pos=(15.915, -2.52) delta=(0.867182, -3.58362) -> 0 candidate(s)
I0419 21:04:05.102810 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294451019166.
I0419 21:04:05.133865 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0637918 range=1.35467 variance=0.00051842 t_weight=5786.82 r_weight=0 yaml=(15.915, -2.52) prior=(17.3954, -1.88432, 1.64099deg) obs_actual=(-1.5301, -0.572121) obs_expected=(-1.49798, -0.593021) delta=(-0.0321182, 0.0208999) |delta|=0.0383195m
I0419 21:04:05.134151 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294451331523.
I0419 21:04:05.204857 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.23163, 0.566672)
I0419 21:04:05.205067 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294451621654.
I0419 21:04:05.205915 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.96373, -2.40545), points=4, range=2.58925, residual=0.0104677, extent=0.0246993
I0419 21:04:05.205991 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.96373, -2.40545), tracking=(-0.66523, -2.40545), map_predicted=(16.8289, -4.3112), range=2.58925, pts=4
I0419 21:04:05.206019 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01089m maha_sq=174.281 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8289, -4.3112) lm_pos=(15.915, -2.52) delta=(0.913938, -1.7912) -> 0 candidate(s)
I0419 21:04:05.208024 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:05.208097 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:05.208117 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:05.208415 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562942s, prior_pose=(17.4144, -1.88484), yaw=2.24468 deg
I0419 21:04:05.208467 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1292, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:04:05.208564 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=3, centroid=(-0.78202, 1.41074)
I0419 21:04:05.208678 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294451941762.
I0419 21:04:05.223181 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294452220260.
I0419 21:04:05.226083 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.987722, -2.40435), points=4, range=2.596, residual=0.0118778, extent=0.0283128
I0419 21:04:05.226219 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.987722, -2.40435), tracking=(-0.689222, -2.40435), map_predicted=(16.8199, -4.31434), range=2.596, pts=4
I0419 21:04:05.226275 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00959m maha_sq=173.812 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8199, -4.31434) lm_pos=(15.915, -2.52) delta=(0.904874, -1.79434) -> 0 candidate(s)
I0419 21:04:05.250746 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=3.42291 deg, rms_residual=0.0108536m, sigma_yaw=0.014265 rad, N=2
I0419 21:04:05.251014 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4294, -1.88234, 3.42291deg) inliers=2 rms=0.0108536m
I0419 21:04:05.251070 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294452501947.
I0419 21:04:05.256618 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:05.256711 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-1.00317, -2.40212)
I0419 21:04:05.256731 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:05.325836 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:05.325994 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294452773500.
I0419 21:04:05.326079 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:05.326732 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.09011, -4.19001), points=3, range=4.33367, residual=0.0150301, extent=0.0315644
I0419 21:04:05.326794 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.09011, -4.19001), tracking=(-0.791607, -4.19001), map_predicted=(16.8336, -6.10656), range=4.33367, pts=3
I0419 21:04:05.326822 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70234m maha_sq=580.316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8336, -6.10656) lm_pos=(15.915, -2.52) delta=(0.918631, -3.58656) -> 0 candidate(s)
I0419 21:04:05.327951 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.463397, 2.38396)
I0419 21:04:05.328085 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294453094548.
I0419 21:04:05.342360 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.11659, -4.19155)
I0419 21:04:05.342577 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.11091, -4.19471), points=4, range=4.33775, residual=0.015901, extent=0.0379443
I0419 21:04:05.342645 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.11091, -4.19471), tracking=(-0.812409, -4.19471), map_predicted=(16.8431, -6.11414), range=4.33775, pts=4
I0419 21:04:05.342697 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71204m maha_sq=577.086 (gate chi2=5.99) pose_sigma=(0.150762, 0.150762, rho=0) det_map=(16.8431, -6.11414) lm_pos=(15.915, -2.52) delta=(0.928123, -3.59414) -> 0 candidate(s)
I0419 21:04:05.370718 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294453696884.
I0419 21:04:05.397858 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.296383, -0.61657)
I0419 21:04:05.482621 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.05983, -2.38977), points=5, range=2.6134, residual=0.0117379, extent=0.0309898
I0419 21:04:05.482738 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.05983, -2.38977), tracking=(-0.761326, -2.38977), map_predicted=(16.8356, -4.31029), range=2.6134, pts=5
I0419 21:04:05.482770 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0131m maha_sq=172.997 (gate chi2=5.99) pose_sigma=(0.15064, 0.15064, rho=0) det_map=(16.8356, -4.31029) lm_pos=(15.915, -2.52) delta=(0.920573, -1.79029) -> 0 candidate(s)
I0419 21:04:05.483949 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.509523, 2.38006)
I0419 21:04:05.484084 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294454257612.
I0419 21:04:05.486904 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.83121, -0.705721), points=6, range=1.08617, residual=0.0133187, extent=0.0388911
I0419 21:04:05.487010 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.83121, -0.705721), tracking=(1.12971, -0.705721), map_predicted=(18.6303, -2.51255), range=1.08617, pts=6
I0419 21:04:05.487039 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.172m maha_sq=202.77 (gate chi2=5.99) pose_sigma=(0.150446, 0.150446, rho=0) det_map=(18.6303, -2.51255) lm_pos=(16.815, -1.32) delta=(1.81533, -1.19255) -> 0 candidate(s)
I0419 21:04:05.487457 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.14374, 4.31877)
I0419 21:04:05.487578 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294454583486.
I0419 21:04:05.488989 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:05.489058 1218967 reflector_detector.cc:337] [Detect] RESULT: 6 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:05.489100 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 21:04:05.489121 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:05.489161 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.054978 range=1.408 variance=0.000490599 t_weight=6114.97 r_weight=0 yaml=(15.915, -2.52) prior=(17.4581, -1.87992, 3.63748deg) obs_actual=(-1.60778, -0.517936) obs_expected=(-1.58063, -0.540889) delta=(-0.0271503, 0.022953) |delta|=0.0355525m
I0419 21:04:05.489207 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294454858928.
I0419 21:04:05.490259 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0865348s, prior_pose=(17.4581, -1.87992), yaw=3.63748 deg
I0419 21:04:05.490368 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1077, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:04:05.490473 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:05.514175 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=5, centroid=(-1.2587, 2.52459)
I0419 21:04:05.514289 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.536064, 2.3691), points=5, range=2.4284, residual=0.0115653, extent=0.0300014
I0419 21:04:05.514329 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.536064, 2.3691), tracking=(-0.834564, -2.3691), map_predicted=(16.7967, -4.30053), range=2.4284, pts=5
I0419 21:04:05.514358 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.98687m maha_sq=168.588 (gate chi2=5.99) pose_sigma=(0.150698, 0.150698, rho=0) det_map=(16.7967, -4.30053) lm_pos=(15.915, -2.52) delta=(0.881699, -1.78053) -> 0 candidate(s)
I0419 21:04:05.514449 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294455136816.
I0419 21:04:05.595928 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:05.596029 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.812999, -0.712942)
I0419 21:04:05.596047 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:05.597260 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.564298, 2.36561), points=5, range=2.434, residual=0.0120587, extent=0.0286709
I0419 21:04:05.597337 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.564298, 2.36561), tracking=(-0.862798, -2.36561), map_predicted=(16.7821, -4.30202), range=2.434, pts=5
I0419 21:04:05.597363 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.9818m maha_sq=167.845 (gate chi2=5.99) pose_sigma=(0.150603, 0.150603, rho=0) det_map=(16.7821, -4.30202) lm_pos=(15.915, -2.52) delta=(0.867148, -1.78202) -> 0 candidate(s)
I0419 21:04:05.597440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294455753303.
I0419 21:04:05.604039 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294456034240.
I0419 21:04:05.607539 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(-1.14801, -2.38007)
I0419 21:04:05.634012 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.59419, 2.35394), points=6, range=2.4285, residual=0.0127614, extent=0.0355682
I0419 21:04:05.634130 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.59419, 2.35394), tracking=(-0.89269, -2.35394), map_predicted=(16.7859, -4.29725), range=2.4285, pts=6
I0419 21:04:05.634166 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.97916m maha_sq=167.807 (gate chi2=5.99) pose_sigma=(0.150358, 0.150358, rho=0) det_map=(16.7859, -4.29725) lm_pos=(15.915, -2.52) delta=(0.87089, -1.77725) -> 0 candidate(s)
I0419 21:04:05.662681 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-1.00192, 4.33984)
I0419 21:04:05.662811 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:04:05.739967 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4949, -1.84599), yaw=5.28835 deg backend=(17.4864, -1.88487)
I0419 21:04:05.741765 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.634357, 2.34021), points=4, range=2.424, residual=0.00943773, extent=0.0226319
I0419 21:04:05.741921 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.634357, 2.34021), tracking=(-0.932857, -2.34021), map_predicted=(16.7817, -4.26221), range=2.424, pts=4
I0419 21:04:05.741954 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.94587m maha_sq=157.502 (gate chi2=5.99) pose_sigma=(0.152903, 0.152903, rho=0) det_map=(16.7817, -4.26221) lm_pos=(15.915, -2.52) delta=(0.866657, -1.74221) -> 0 candidate(s)
I0419 21:04:05.748368 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.315803, -0.644887)
I0419 21:04:05.750756 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.899242, 4.35512), points=3, range=4.447, residual=0.0106551, extent=0.0258657
I0419 21:04:05.750829 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.899242, 4.35512), tracking=(0.600742, -4.35512), map_predicted=(18.5261, -6.1292), range=4.447, pts=3
I0419 21:04:05.750856 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.45469m maha_sq=805.955 (gate chi2=5.99) pose_sigma=(0.153588, 0.153588, rho=0) det_map=(18.5261, -6.1292) lm_pos=(15.915, -2.52) delta=(2.61112, -3.6092) -> 0 candidate(s)
I0419 21:04:05.750906 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:05.750959 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:05.750982 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294457499781.
I0419 21:04:05.820233 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(-0.220914, -0.412579)
I0419 21:04:05.821369 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:05.821448 1258777 reflector_detector.cc:337] [Detect] RESULT: 6 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:05.821475 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 21:04:05.821561 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294457773955.
I0419 21:04:05.822150 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596453s, prior_pose=(17.5029, -1.86081), yaw=6.27699 deg
I0419 21:04:05.822204 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1082, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:05.824362 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.37884, 0.423743)
I0419 21:04:05.824437 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.07029, 2.56281), points=4, range=2.7765, residual=0.0102616, extent=0.0249655
I0419 21:04:05.824467 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.07029, 2.56281), tracking=(0.771791, -2.56281), map_predicted=(18.5739, -4.32031), range=2.7765, pts=4
I0419 21:04:05.824491 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.21108m maha_sq=441.064 (gate chi2=5.99) pose_sigma=(0.150514, 0.150514, rho=0) det_map=(18.5739, -4.32031) lm_pos=(15.915, -2.52) delta=(2.65893, -1.80031) -> 0 candidate(s)
I0419 21:04:05.837692 1219494 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.04251, 2.56956)
I0419 21:04:05.837877 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294458371577.
I0419 21:04:05.842034 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:04:05.842108 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=4
I0419 21:04:05.874645 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.54759, -4.10281), points=4, range=4.385, residual=0.0160595, extent=0.0387079
I0419 21:04:05.874781 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.54759, -4.10281), tracking=(-1.24909, -4.10281), map_predicted=(16.8, -6.09803), range=4.385, pts=4
I0419 21:04:05.874830 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.68585m maha_sq=570.737 (gate chi2=5.99) pose_sigma=(0.150465, 0.150465, rho=0) det_map=(16.8, -6.09803) lm_pos=(15.915, -2.52) delta=(0.884986, -3.57803) -> 0 candidate(s)
I0419 21:04:05.961788 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.38922, 0.380911)
I0419 21:04:05.965193 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.704523, -0.803313), points=7, range=1.065, residual=0.0129072, extent=0.0402815
I0419 21:04:05.965283 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.704523, -0.803313), tracking=(1.00302, -0.803313), map_predicted=(18.6308, -2.51462), range=1.065, pts=7
I0419 21:04:05.965313 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.17357m maha_sq=201.874 (gate chi2=5.99) pose_sigma=(0.15094, 0.15094, rho=0) det_map=(18.6308, -2.51462) lm_pos=(16.815, -1.32) delta=(1.81585, -1.19462) -> 0 candidate(s)
I0419 21:04:05.966534 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.295146, -0.678629)
I0419 21:04:06.039338 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.19373, 4.0299)
I0419 21:04:06.039441 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.855082, 2.25694), points=5, range=2.4144, residual=0.0107757, extent=0.0282767
I0419 21:04:06.039469 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.855082, 2.25694), tracking=(-1.15358, -2.25694), map_predicted=(16.7368, -4.28615), range=2.4144, pts=5
I0419 21:04:06.039489 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.948m maha_sq=161.128 (gate chi2=5.99) pose_sigma=(0.151208, 0.151208, rho=0) det_map=(16.7368, -4.28615) lm_pos=(15.915, -2.52) delta=(0.82182, -1.76615) -> 0 candidate(s)
I0419 21:04:06.140702 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-0.486532, 4.38374)
I0419 21:04:06.140803 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:06.140832 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28543, 3.99565), points=4, range=4.19875, residual=0.0158079, extent=0.0385413
I0419 21:04:06.140851 1218970 reflector_detector.cc:337] [Detect] RESULT: 6 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:06.140865 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 21:04:06.140880 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.28543, 3.99565), tracking=(-1.58393, -3.99565), map_predicted=(16.7134, -6.10051), range=4.19875, pts=4
I0419 21:04:06.140905 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.66844m maha_sq=554.793 (gate chi2=5.99) pose_sigma=(0.152122, 0.152122, rho=0) det_map=(16.7134, -6.10051) lm_pos=(15.915, -2.52) delta=(0.798397, -3.58051) -> 0 candidate(s)
I0419 21:04:06.140925 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:06.140996 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294460739682.
I0419 21:04:06.141651 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592369s, prior_pose=(17.524, -1.8795), yaw=10.7528 deg
I0419 21:04:06.141716 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1050, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 21:04:06.141831 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:06.214277 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:06.214396 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.270466, -0.710034)
I0419 21:04:06.214414 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=6
I0419 21:04:06.214440 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.265721, -0.707455), points=14, range=0.757857, residual=0.0114242, extent=0.0356673
I0419 21:04:06.214460 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.265721, -0.707455), tracking=(-0.564221, 0.707455), map_predicted=(16.8305, -1.29747), range=0.757857, pts=14
I0419 21:04:06.214491 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0273713m maha_sq=0.0323573 (gate chi2=5.99) pose_sigma=(0.150279, 0.150279, rho=0) det_map=(16.8305, -1.29747) lm_pos=(16.815, -1.32) delta=(0.0155443, 0.0225291) -> 1 candidate(s)
I0419 21:04:06.214587 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294461378138.
I0419 21:04:06.216800 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294461615027.
I0419 21:04:06.219548 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.19873, -2.62246)
I0419 21:04:06.220178 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.754319, 2.63065), points=4, range=2.739, residual=0.0110335, extent=0.0259258
I0419 21:04:06.220254 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.754319, 2.63065), tracking=(0.455819, -2.63065), map_predicted=(18.5332, -4.34951), range=2.739, pts=4
I0419 21:04:06.220299 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.19404m maha_sq=439.088 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5332, -4.34951) lm_pos=(15.915, -2.52) delta=(2.61816, -1.82951) -> 0 candidate(s)
I0419 21:04:06.295964 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.03563, 2.1631)
I0419 21:04:06.296125 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 21:04:06.296149 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:06.369184 1218970 reflector_detector.cc:209] [Detect]   cluster[5]: points=7, centroid=(0.588617, -0.901381)
I0419 21:04:06.369284 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.319383, -4.38404), points=4, range=4.393, residual=0.0165937, extent=0.0393485
I0419 21:04:06.369311 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.319383, -4.38404), tracking=(-0.0208833, -4.38404), map_predicted=(18.634, -6.1132), range=4.393, pts=4
I0419 21:04:06.369340 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.50598m maha_sq=850.375 (gate chi2=5.99) pose_sigma=(0.150644, 0.150644, rho=0) det_map=(18.634, -6.1132) lm_pos=(15.915, -2.52) delta=(2.71896, -3.5932) -> 0 candidate(s)
I0419 21:04:06.370443 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.103929 range=1.45333 variance=0.000544184 t_weight=5512.85 r_weight=0 yaml=(15.915, -2.52) prior=(17.5314, -1.87002, 14.8386deg) obs_actual=(-1.73894, -0.166229) obs_expected=(-1.72897, -0.21435) delta=(-0.00997234, 0.0481208) |delta|=0.0491433m
I0419 21:04:06.370551 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294463095194.
I0419 21:04:06.373905 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.0654073, -2.64443)
I0419 21:04:06.375191 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:06.375264 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.213526, -0.748691), points=14, range=0.780571, residual=0.011144, extent=0.0347776
I0419 21:04:06.375288 1218970 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:06.375304 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:06.375313 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.213526, -0.748691), tracking=(-0.512026, 0.748691), map_predicted=(16.8386, -1.28784), range=0.780571, pts=14
I0419 21:04:06.375329 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0398979m maha_sq=0.0688629 (gate chi2=5.99) pose_sigma=(0.150172, 0.150172, rho=0) det_map=(16.8386, -1.28784) lm_pos=(16.815, -1.32) delta=(0.0236066, 0.0321648) -> 1 candidate(s)
I0419 21:04:06.443627 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0359084s, prior_pose=(17.5386, -1.87391), yaw=16.5558 deg
I0419 21:04:06.443742 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1074, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:06.444139 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:06.445466 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.550095, -0.934794)
I0419 21:04:06.447532 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294464255948.
I0419 21:04:06.448092 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:06.448134 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:06.448158 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.535559, -0.943296), points=10, range=1.0879, residual=0.0137289, extent=0.0406373
I0419 21:04:06.448176 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.535559, -0.943296), tracking=(0.834059, -0.943296), map_predicted=(18.6137, -2.52802), range=1.0879, pts=10
I0419 21:04:06.448199 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.16668m maha_sq=202.847 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6137, -2.52802) lm_pos=(16.815, -1.32) delta=(1.79866, -1.20802) -> 0 candidate(s)
I0419 21:04:06.454381 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294464535066.
I0419 21:04:06.559223 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.45061, 0.0506343)
I0419 21:04:06.561884 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.171331, 4.36013), points=3, range=4.36533, residual=0.0128855, extent=0.0269393
I0419 21:04:06.561985 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.171331, 4.36013), tracking=(-0.469831, -4.36013), map_predicted=(18.5193, -6.14324), range=4.36533, pts=3
I0419 21:04:06.562014 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=4.46209m maha_sq=839.585 (gate chi2=5.99) pose_sigma=(0.150489, 0.150489, rho=0) det_map=(18.5193, -6.14324) lm_pos=(15.915, -2.52) delta=(2.6043, -3.62324) -> 0 candidate(s)
I0419 21:04:06.563644 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.8962, 3.69483)
I0419 21:04:06.632398 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5399, -1.87141), yaw=20.1686 deg backend=(17.5332, -1.87836)
I0419 21:04:06.634971 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.482045, -0.988256), points=8, range=1.10125, residual=0.0107912, extent=0.0328409
I0419 21:04:06.635061 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.482045, -0.988256), tracking=(0.780545, -0.988256), map_predicted=(18.6133, -2.52994), range=1.10125, pts=8
I0419 21:04:06.635087 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.16749m maha_sq=201.514 (gate chi2=5.99) pose_sigma=(0.150804, 0.150804, rho=0) det_map=(18.6133, -2.52994) lm_pos=(16.815, -1.32) delta=(1.79835, -1.20994) -> 0 candidate(s)
I0419 21:04:06.636960 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-0.35492, 2.66596)
I0419 21:04:06.708907 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:06.709017 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 15 -> 14 (threshold=0.03, iters=3)
I0419 21:04:06.709040 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:06.709059 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:06.709100 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:06.709774 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0640119s, prior_pose=(17.5433, -1.85467), yaw=22.2518 deg
I0419 21:04:06.709830 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1106, max_intensity=253, threshold=230, above_threshold=16, candidates=16
I0419 21:04:06.709887 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.935267, -4.33798), points=3, range=4.43767, residual=0.0106126, extent=0.0258907
I0419 21:04:06.709914 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.935267, -4.33798), tracking=(-0.636767, -4.33798), map_predicted=(18.5966, -6.11072), range=4.43767, pts=3
I0419 21:04:06.709936 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.48156m maha_sq=831.38 (gate chi2=5.99) pose_sigma=(0.152079, 0.152079, rho=0) det_map=(18.5966, -6.11072) lm_pos=(15.915, -2.52) delta=(2.68163, -3.59072) -> 0 candidate(s)
I0419 21:04:06.709959 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:06.711875 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.121707, -0.805877)
I0419 21:04:06.787388 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:06.787501 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:06.788525 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-0.202087, 2.66701)
I0419 21:04:06.788612 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40695, 1.88414), points=5, range=2.3522, residual=0.0106244, extent=0.0274139
I0419 21:04:06.788642 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.40695, 1.88414), tracking=(-1.70545, -1.88414), map_predicted=(16.7557, -4.2769), range=2.3522, pts=5
I0419 21:04:06.788667 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.94766m maha_sq=158.295 (gate chi2=5.99) pose_sigma=(0.152603, 0.152603, rho=0) det_map=(16.7557, -4.2769) lm_pos=(15.915, -2.52) delta=(0.840652, -1.7569) -> 0 candidate(s)
I0419 21:04:06.875468 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.17076, -4.29426), points=3, range=4.452, residual=0.0126249, extent=0.026376
I0419 21:04:06.875619 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.17076, -4.29426), tracking=(-0.872256, -4.29426), map_predicted=(18.6449, -6.09807), range=4.452, pts=3
I0419 21:04:06.875650 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.50055m maha_sq=830.265 (gate chi2=5.99) pose_sigma=(0.152695, 0.152695, rho=0) det_map=(18.6449, -6.09807) lm_pos=(15.915, -2.52) delta=(2.7299, -3.57807) -> 0 candidate(s)
I0419 21:04:06.876724 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.082474, -0.828235)
I0419 21:04:06.876847 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:04:06.879577 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:06.894791 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-0.0890955, 2.6625)
I0419 21:04:06.894941 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.34251, 3.39776), points=3, range=4.12367, residual=0.0128776, extent=0.0263858
I0419 21:04:06.895004 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(2.34251, 3.39776), tracking=(-2.64101, -3.39776), map_predicted=(16.7102, -6.08116), range=4.12367, pts=3
I0419 21:04:06.895052 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.64886m maha_sq=547.192 (gate chi2=5.99) pose_sigma=(0.152695, 0.152695, rho=0) det_map=(16.7102, -6.08116) lm_pos=(15.915, -2.52) delta=(0.795161, -3.56116) -> 0 candidate(s)
I0419 21:04:07.007575 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:07.010255 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:07.010344 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:07.010363 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:07.010658 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055625s, prior_pose=(17.5345, -1.85666), yaw=28.1173 deg
I0419 21:04:07.010706 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1243, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:07.010792 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0540519, 2.65444), points=4, range=2.65575, residual=0.00968333, extent=0.0237068
I0419 21:04:07.010818 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.0540519, 2.65444), tracking=(-0.244448, -2.65444), map_predicted=(18.5699, -4.31303), range=2.65575, pts=4
I0419 21:04:07.010839 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.20368m maha_sq=425.832 (gate chi2=5.99) pose_sigma=(0.152994, 0.152994, rho=0) det_map=(18.5699, -4.31303) lm_pos=(15.915, -2.52) delta=(2.65492, -1.79303) -> 0 candidate(s)
I0419 21:04:07.012215 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.0505204, -0.841208)
I0419 21:04:07.094913 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:07.095006 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:07.096886 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.0154358, 2.65333)
I0419 21:04:07.097697 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.569972, -2.64384), points=6, range=2.708, residual=0.0183532, extent=0.0507575
I0419 21:04:07.097754 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.569972, -2.64384), tracking=(-0.271472, -2.64384), map_predicted=(18.5978, -4.2922), range=2.708, pts=6
I0419 21:04:07.097819 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.21528m maha_sq=422.726 (gate chi2=5.99) pose_sigma=(0.153331, 0.153331, rho=0) det_map=(18.5978, -4.2922) lm_pos=(15.915, -2.52) delta=(2.68278, -1.7722) -> 0 candidate(s)
I0419 21:04:07.171170 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.304946, -1.11191)
I0419 21:04:07.173794 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.59672, -4.17776), points=3, range=4.47333, residual=0.0126011, extent=0.0263284
I0419 21:04:07.173867 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.59672, -4.17776), tracking=(-1.29822, -4.17776), map_predicted=(18.5752, -6.10349), range=4.47333, pts=3
I0419 21:04:07.173894 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.46297m maha_sq=807.593 (gate chi2=5.99) pose_sigma=(0.153556, 0.153556, rho=0) det_map=(18.5752, -6.10349) lm_pos=(15.915, -2.52) delta=(2.66021, -3.58349) -> 0 candidate(s)
I0419 21:04:07.244403 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47024, -1.89315)
I0419 21:04:07.318426 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.78419, -4.11974), points=3, range=4.487, residual=0.0132807, extent=0.0276095
I0419 21:04:07.318553 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.78419, -4.11974), tracking=(-1.48569, -4.11974), map_predicted=(18.5658, -6.1121), range=4.487, pts=3
I0419 21:04:07.318583 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.46427m maha_sq=802.918 (gate chi2=5.99) pose_sigma=(0.154003, 0.154003, rho=0) det_map=(18.5658, -6.1121) lm_pos=(15.915, -2.52) delta=(2.65076, -3.5921) -> 0 candidate(s)
I0419 21:04:07.319764 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.285423, 2.60615)
I0419 21:04:07.319824 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:07.319855 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:07.319876 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:07.319895 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:07.388115 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0365499s, prior_pose=(17.5494, -1.86016), yaw=35.0313 deg
I0419 21:04:07.388253 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1214, max_intensity=251, threshold=230, above_threshold=18, candidates=18
I0419 21:04:07.388371 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:07.388522 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:07.458112 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:07.458206 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.17004, -1.17255)
I0419 21:04:07.458227 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:04:07.459142 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0995368, -0.885391), points=12, range=0.894, residual=0.0126869, extent=0.0401398
I0419 21:04:07.459193 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0995368, -0.885391), tracking=(-0.198963, 0.885391), map_predicted=(16.8584, -1.25982), range=0.894, pts=12
I0419 21:04:07.459219 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0741763m maha_sq=0.222903 (gate chi2=5.99) pose_sigma=(0.155171, 0.155171, rho=0) det_map=(16.8584, -1.25982) lm_pos=(16.815, -1.32) delta=(0.0433602, 0.0601833) -> 1 candidate(s)
I0419 21:04:07.534190 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(-0.485165, 0.915652)
I0419 21:04:07.606031 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:04:07.619979 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:07.678261 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.546, -1.85554), yaw=41.3899 deg backend=(17.5406, -1.87766)
I0419 21:04:07.679005 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.080399, -1.19957), points=8, range=1.20375, residual=0.00995337, extent=0.0304299
I0419 21:04:07.679059 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.080399, -1.19957), tracking=(0.378899, -1.19957), map_predicted=(18.6234, -2.50497), range=1.20375, pts=8
I0419 21:04:07.679092 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=2.16205m maha_sq=187.194 (gate chi2=5.99) pose_sigma=(0.15624, 0.15624, rho=0) det_map=(18.6234, -2.50497) lm_pos=(16.815, -1.32) delta=(1.8084, -1.18497) -> 0 candidate(s)
I0419 21:04:07.679116 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.30717 rad/s > flush threshold 3.
I0419 21:04:07.680076 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(3.14622, 2.5782)
I0419 21:04:07.680132 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:07.751312 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.695819, 2.48105)
I0419 21:04:07.819204 1219494 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.31e-03 s (pulsed at 98.96% real time)
I0419 21:04:07.819398 1219494 collated_trajectory_builder.cc:82] odom rate: 248.76 Hz 4.02e-03 s +/- 7.36e-04 s (pulsed at 98.01% real time)
I0419 21:04:07.819510 1219494 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.20e-03 s (pulsed at 98.88% real time)
I0419 21:04:07.819540 1219494 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.31e-03 s (pulsed at 98.85% real time)
I0419 21:04:07.820551 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:07.820611 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.206911, -0.902349), points=12, range=0.929167, residual=0.0133756, extent=0.0403322
I0419 21:04:07.820642 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:07.820660 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:07.820673 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.206911, -0.902349), tracking=(-0.091589, 0.902349), map_predicted=(16.8487, -1.27384), range=0.929167, pts=12
I0419 21:04:07.820693 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0571312m maha_sq=0.129208 (gate chi2=5.99) pose_sigma=(0.156958, 0.156958, rho=0) det_map=(16.8487, -1.27384) lm_pos=(16.815, -1.32) delta=(0.0336583, 0.0461638) -> 1 candidate(s)
I0419 21:04:07.821429 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0635357s, prior_pose=(17.544, -1.85613), yaw=44.262 deg
I0419 21:04:07.821497 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1248, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:07.893436 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.27511, -0.761128)
I0419 21:04:07.893539 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:07.895377 1219494 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-0.553991, 1.24916)
I0419 21:04:07.964862 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:07.964962 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 21:04:07.966686 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.356567, 0.945319), points=4, range=1.009, residual=0.00496611, extent=0.0090039
I0419 21:04:07.966804 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.356567, 0.945319), tracking=(-0.0580673, 0.945319), map_predicted=(16.8168, -1.25883), range=1.009, pts=4
I0419 21:04:07.966837 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0612003m maha_sq=0.147966 (gate chi2=5.99) pose_sigma=(0.157601, 0.157601, rho=0) det_map=(16.8168, -1.25883) lm_pos=(16.815, -1.32) delta=(0.00178097, 0.0611744) -> 1 candidate(s)
I0419 21:04:07.966858 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:08.037516 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.0762487, -1.2392)
I0419 21:04:08.176281 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.19082, -0.913753)
I0419 21:04:08.176304 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:08.176971 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.140271, -1.24746), points=7, range=1.25757, residual=0.0106083, extent=0.0297378
I0419 21:04:08.177021 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.140271, -1.24746), tracking=(0.158229, -1.24746), map_predicted=(18.6121, -2.52283), range=1.25757, pts=7
I0419 21:04:08.177047 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=2.16246m maha_sq=181.886 (gate chi2=5.99) pose_sigma=(0.158533, 0.158533, rho=0) det_map=(18.6121, -2.52283) lm_pos=(16.815, -1.32) delta=(1.79707, -1.20283) -> 0 candidate(s)
I0419 21:04:08.249327 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:08.249972 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.183307, -1.25192)
I0419 21:04:08.316159 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:08.316275 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:08.316298 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:08.316839 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607469s, prior_pose=(17.5406, -1.8561), yaw=53.7173 deg
I0419 21:04:08.316895 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1217, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:04:08.370868 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.222953, -1.25399)
I0419 21:04:08.372129 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.67077, 1.65998), points=3, range=4.02867, residual=0.00961518, extent=0.0235249
I0419 21:04:08.372198 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.67077, 1.65998), tracking=(-3.96927, -1.65998), map_predicted=(16.6667, -6.06882), range=4.02867, pts=3
I0419 21:04:08.372229 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.62755m maha_sq=501.261 (gate chi2=5.99) pose_sigma=(0.15915, 0.15915, rho=0) det_map=(16.6667, -6.06882) lm_pos=(15.915, -2.52) delta=(0.75166, -3.54882) -> 0 candidate(s)
I0419 21:04:08.372820 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:08.372861 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:08.427959 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.197927, 0.937837)
I0419 21:04:08.482760 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.306182, -1.2593)
I0419 21:04:08.536046 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:08.536895 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.326526, -1.25521), points=7, range=1.29414, residual=0.0132729, extent=0.0391559
I0419 21:04:08.536955 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.326526, -1.25521), tracking=(-0.0280261, -1.25521), map_predicted=(18.6068, -2.52607), range=1.29414, pts=7
I0419 21:04:08.536983 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=2.15987m maha_sq=177.87 (gate chi2=5.99) pose_sigma=(0.159951, 0.159951, rho=0) det_map=(18.6068, -2.52607) lm_pos=(16.815, -1.32) delta=(1.79178, -1.20607) -> 0 candidate(s)
I0419 21:04:08.588630 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.13862, 0.936794)
I0419 21:04:08.589813 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:08.652218 1219494 reflector_detector.cc:209] [Detect]   cluster[7]: points=1, centroid=(0.555909, 0.509393)
I0419 21:04:08.654160 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:08.654273 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:08.654294 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:08.709415 1219494 pose_graph_2d.cc:160] Inserted submap (1, 54).
I0419 21:04:08.710038 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0326125s, prior_pose=(17.5424, -1.85807), yaw=63.9115 deg
I0419 21:04:08.710112 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1170, max_intensity=254, threshold=230, above_threshold=10, candidates=10
I0419 21:04:08.711279 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(1.50952, 1.96725)
I0419 21:04:08.712061 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.431673, -1.25376), points=6, range=1.32217, residual=0.0138811, extent=0.041069
I0419 21:04:08.712126 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.431673, -1.25376), tracking=(-0.133173, -1.25376), map_predicted=(18.6098, -2.52902), range=1.32217, pts=6
I0419 21:04:08.712154 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=2.16406m maha_sq=176.695 (gate chi2=5.99) pose_sigma=(0.160757, 0.160757, rho=0) det_map=(18.6098, -2.52902) lm_pos=(16.815, -1.32) delta=(1.79484, -1.20902) -> 0 candidate(s)
I0419 21:04:08.714032 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:08.769585 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:08.769739 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:08.831436 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:08.831945 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-0.071091, 1.25198)
I0419 21:04:08.952035 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(17.5465, -1.85976), yaw=70.6093 deg backend=(17.5404, -1.88177)
I0419 21:04:08.954807 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.0284351, 1.222)
I0419 21:04:09.015947 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.24758, -0.137453), points=6, range=2.25417, residual=0.0138537, extent=0.040052
I0419 21:04:09.016149 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.24758, -0.137453), tracking=(-2.54608, 0.137453), map_predicted=(16.6843, -4.26043), range=2.25417, pts=6
I0419 21:04:09.016186 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.90287m maha_sq=134.912 (gate chi2=5.99) pose_sigma=(0.16154, 0.16154, rho=0) det_map=(16.6843, -4.26043) lm_pos=(15.915, -2.52) delta=(0.769304, -1.74043) -> 0 candidate(s)
I0419 21:04:09.077245 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.42392, -0.0302727)
I0419 21:04:09.077383 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:04:09.079140 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0871248s, prior_pose=(17.5442, -1.8625), yaw=75.2787 deg
I0419 21:04:09.079238 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1204, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:04:09.140093 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:09.140204 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:09.203301 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:09.203405 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:04:09.203775 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.149248, 0.82536)
I0419 21:04:09.205323 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:09.214110 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 119
I0419 21:04:09.341405 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(3.867, 1.4011)
I0419 21:04:09.409617 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:09.410307 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.248855, 0.76977)
I0419 21:04:09.412820 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603726s, prior_pose=(17.5439, -1.86184), yaw=87.1853 deg
I0419 21:04:09.412880 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1125, max_intensity=241, threshold=230, above_threshold=4, candidates=4
I0419 21:04:09.473021 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:09.473873 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:04:09.473927 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:04:09.476387 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:09.477468 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.303162, 0.73189)
I0419 21:04:09.477588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294490142443.
I0419 21:04:09.557166 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.89443, -0.970989), points=3, range=4.01367, residual=0.0104123, extent=0.0253982
I0419 21:04:09.557289 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.89443, -0.970989), tracking=(-4.19293, 0.970989), map_predicted=(16.6973, -6.07672), range=4.01367, pts=3
I0419 21:04:09.557322 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.64174m maha_sq=556.392 (gate chi2=5.99) pose_sigma=(0.151328, 0.151328, rho=0) det_map=(16.6973, -6.07672) lm_pos=(15.915, -2.52) delta=(0.782338, -3.55672) -> 0 candidate(s)
I0419 21:04:09.557983 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=92.8477 deg, rms_residual=0.00288259m, sigma_yaw=0.00382874 rad, N=2
I0419 21:04:09.558040 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5679, -1.89216, 92.8477deg) inliers=2 rms=0.00288259m
I0419 21:04:09.558077 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294490461546.
I0419 21:04:09.560290 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:09.560379 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:09.560451 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294490726168.
I0419 21:04:09.560802 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.422041, 1.04903)
I0419 21:04:09.561384 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 25
I0419 21:04:09.562558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294491025671.
I0419 21:04:09.635393 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:09.636116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294491340174.
I0419 21:04:09.638689 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.353639, 0.684206)
I0419 21:04:09.638827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294491623903.
I0419 21:04:09.717372 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0351201s, prior_pose=(17.5585, -1.8951), yaw=96.3273 deg
I0419 21:04:09.717481 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1127, max_intensity=244, threshold=230, above_threshold=9, candidates=9
I0419 21:04:09.717569 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.1227 rad/s > flush threshold 3.
I0419 21:04:09.717648 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294491937394.
I0419 21:04:09.719551 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.377446, 0.669418), points=5, range=0.7656, residual=0.00805978, extent=0.0191919
I0419 21:04:09.719614 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.377446, 0.669418), tracking=(0.675946, 0.669418), map_predicted=(16.8186, -1.29705), range=0.7656, pts=5
I0419 21:04:09.719646 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0232349m maha_sq=0.0234674 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8186, -1.29705) lm_pos=(16.815, -1.32) delta=(0.00363844, 0.0229482) -> 1 candidate(s)
I0419 21:04:09.719715 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294492256147.
I0419 21:04:09.722066 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:09.722116 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.387546, 0.657939)
I0419 21:04:09.722136 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:09.722188 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0930417 range=1.851 variance=0.000549868 t_weight=5455.86 r_weight=0 yaml=(15.915, -2.52) prior=(17.5611, -1.89726, 97.3965deg) obs_actual=(-0.363033, 1.73089) obs_expected=(-0.40565, 1.71257) delta=(0.0426169, 0.0183169) |delta|=0.0463865m
I0419 21:04:09.722267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294492491562.
I0419 21:04:09.799873 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=5.72372 rad/s > flush threshold 3.
I0419 21:04:09.801011 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:09.801594 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:09.880285 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294493411643.
I0419 21:04:09.881338 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.92226, -1.25629)
I0419 21:04:09.881392 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:09.881415 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:09.953688 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.565, -1.89765), yaw=101.643 deg backend=(17.534, -1.8803)
I0419 21:04:09.955080 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.530702, 1.75414), points=4, range=1.8265, residual=0.0145258, extent=0.0321992
I0419 21:04:09.955138 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.530702, 1.75414), tracking=(-0.232202, 1.75414), map_predicted=(15.8938, -2.47907), range=1.8265, pts=4
I0419 21:04:09.955164 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0460692m maha_sq=0.0912452 (gate chi2=5.99) pose_sigma=(0.150135, 0.150135, rho=0) det_map=(15.8938, -2.47907) lm_pos=(15.915, -2.52) delta=(-0.0211536, 0.0409254) -> 1 candidate(s)
I0419 21:04:09.955261 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294493972359.
I0419 21:04:10.036139 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:10.036278 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:10.036335 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:10.036355 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294494580857.
I0419 21:04:10.038342 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.460931, 0.567569)
I0419 21:04:10.038527 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294494858341.
I0419 21:04:10.117499 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294495456027.
I0419 21:04:10.118625 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.111644s, prior_pose=(17.5709, -1.90218), yaw=105.343 deg
I0419 21:04:10.118712 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1022, max_intensity=251, threshold=230, above_threshold=14, candidates=14
I0419 21:04:10.195312 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:10.195798 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.317176, 1.76878)
I0419 21:04:10.195850 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.315138, 1.7722), points=3, range=1.797, residual=0.00721223, extent=0.0137881
I0419 21:04:10.195914 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.315138, 1.7722), tracking=(-0.0166375, 1.7722), map_predicted=(15.8841, -2.45471), range=1.797, pts=3
I0419 21:04:10.195940 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0722474m maha_sq=0.225415 (gate chi2=5.99) pose_sigma=(0.150327, 0.150327, rho=0) det_map=(15.8841, -2.45471) lm_pos=(15.915, -2.52) delta=(-0.030924, 0.0652946) -> 1 candidate(s)
I0419 21:04:10.196029 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294496339368.
I0419 21:04:10.273581 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:10.273669 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:10.274298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294497174108.
I0419 21:04:10.351791 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(2.36713, -0.072293)
I0419 21:04:10.352469 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294497781635.
I0419 21:04:10.353732 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:10.353782 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.36267, -0.120359), points=5, range=2.3684, residual=0.01364, extent=0.0365307
I0419 21:04:10.353816 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.36267, -0.120359), tracking=(-2.66117, 0.120359), map_predicted=(18.4954, -4.39662), range=2.3684, pts=5
I0419 21:04:10.353837 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.1906m maha_sq=437.822 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.4954, -4.39662) lm_pos=(15.915, -2.52) delta=(2.58035, -1.87662) -> 0 candidate(s)
I0419 21:04:10.429308 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:10.429414 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:10.429670 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:10.429752 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294498655719.
I0419 21:04:10.507707 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(2.99896, -2.77222)
I0419 21:04:10.508285 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:10.508370 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294499536050.
I0419 21:04:10.509788 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:10.586534 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0180957 range=0.68075 variance=0.000498404 t_weight=6019.22 r_weight=0 yaml=(16.815, -1.32) prior=(17.5676, -1.90006, 120.169deg) obs_actual=(0.889354, 0.341159) obs_expected=(0.87972, 0.359159) delta=(0.00963459, -0.0180009) |delta|=0.0204171m
I0419 21:04:10.586723 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294500131225.
I0419 21:04:10.588074 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3541, -1.94588), points=4, range=2.372, residual=0.00898456, extent=0.0215599
I0419 21:04:10.588167 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.3541, -1.94588), tracking=(-1.6526, 1.94588), map_predicted=(16.7158, -4.30672), range=2.372, pts=4
I0419 21:04:10.588231 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.95798m maha_sq=165.628 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7158, -4.30672) lm_pos=(15.915, -2.52) delta=(0.80084, -1.78672) -> 0 candidate(s)
I0419 21:04:10.588901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294500413218.
I0419 21:04:10.666067 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.29197, -1.99581)
I0419 21:04:10.666903 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0890951s, prior_pose=(17.5731, -1.92043), yaw=121.923 deg
I0419 21:04:10.666993 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1222, max_intensity=244, threshold=230, above_threshold=13, candidates=13
I0419 21:04:10.667160 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294501022176.
I0419 21:04:10.743716 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294501623548.
I0419 21:04:10.745699 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:10.745795 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:10.745822 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.194084, 1.70331), points=4, range=1.7075, residual=0.0156148, extent=0.0343761
I0419 21:04:10.745842 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.194084, 1.70331), tracking=(0.492584, 1.70331), map_predicted=(15.8877, -2.46909), range=1.7075, pts=4
I0419 21:04:10.745865 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0577485m maha_sq=0.143487 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.8877, -2.46909) lm_pos=(15.915, -2.52) delta=(-0.0272642, 0.0509073) -> 1 candidate(s)
I0419 21:04:10.745966 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294501900739.
I0419 21:04:10.812831 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(3.67577, -1.85944)
I0419 21:04:10.813727 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=128.528 deg, rms_residual=0.00146976m, sigma_yaw=0.00195585 rad, N=2
I0419 21:04:10.813805 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5737, -1.90007, 128.528deg) inliers=2 rms=0.00146976m
I0419 21:04:10.813841 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294502495230.
I0419 21:04:10.891875 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294503373976.
I0419 21:04:10.893208 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.922521, 0.36032)
I0419 21:04:10.967012 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:10.967123 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.26883, -3.46055), points=3, range=4.13567, residual=0.0122042, extent=0.0250513
I0419 21:04:10.967144 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:10.967163 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.26883, -3.46055), tracking=(-2.56733, 3.46055), map_predicted=(16.6836, -6.12105), range=4.13567, pts=3
I0419 21:04:10.967190 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.68215m maha_sq=574.283 (gate chi2=5.99) pose_sigma=(0.150358, 0.150358, rho=0) det_map=(16.6836, -6.12105) lm_pos=(15.915, -2.52) delta=(0.768582, -3.60105) -> 0 candidate(s)
I0419 21:04:10.967792 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294503981844.
I0419 21:04:11.041538 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:11.041631 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:11.042116 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:11.042241 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294504821076.
I0419 21:04:11.043674 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.822989, -2.29222)
I0419 21:04:11.118213 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.949159, 0.245488), points=6, range=0.976667, residual=0.011659, extent=0.0301974
I0419 21:04:11.118309 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.949159, 0.245488), tracking=(-1.24766, -0.245488), map_predicted=(18.6409, -2.59177), range=0.976667, pts=6
I0419 21:04:11.118340 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.22512m maha_sq=214.12 (gate chi2=5.99) pose_sigma=(0.150129, 0.150129, rho=0) det_map=(18.6409, -2.59177) lm_pos=(16.815, -1.32) delta=(1.82586, -1.27177) -> 0 candidate(s)
I0419 21:04:11.118736 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:11.118846 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294505414030.
I0419 21:04:11.193436 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0884397s, prior_pose=(17.5649, -1.89942), yaw=137.677 deg
I0419 21:04:11.193550 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1224, max_intensity=252, threshold=230, above_threshold=21, candidates=21
I0419 21:04:11.193639 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(2.07377, -1.21747)
I0419 21:04:11.194198 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0647893 range=0.653636 variance=0.000530172 t_weight=5658.55 r_weight=0 yaml=(16.815, -1.32) prior=(17.5649, -1.89942, 137.677deg) obs_actual=(0.948932, 0.0379279) obs_expected=(0.944542, 0.0764742) delta=(0.00438996, -0.0385464) |delta|=0.0387955m
I0419 21:04:11.194285 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294506338742.
I0419 21:04:11.195704 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294506578274.
I0419 21:04:11.196103 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.963957, 0.167087), points=4, range=0.9805, residual=0.00625722, extent=0.0155631
I0419 21:04:11.196170 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.963957, 0.167087), tracking=(-1.26246, -0.167087), map_predicted=(18.6108, -2.62591), range=0.9805, pts=4
I0419 21:04:11.196200 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=2.2204m maha_sq=214.465 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6108, -2.62591) lm_pos=(16.815, -1.32) delta=(1.79577, -1.30591) -> 0 candidate(s)
I0419 21:04:11.268908 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:11.269035 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:04:11.269181 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:11.269232 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:11.269249 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294506910818.
I0419 21:04:11.269845 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:11.270619 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.572062, -2.3982)
I0419 21:04:11.272354 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.85542 rad/s > flush threshold 3.
I0419 21:04:11.272488 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294507176833.
I0419 21:04:11.274348 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294507498552.
I0419 21:04:11.343468 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.97831, -1.39812)
I0419 21:04:11.343611 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.0297, -2.86672), points=3, range=4.16833, residual=0.0124915, extent=0.0255284
I0419 21:04:11.343647 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.0297, -2.86672), tracking=(-3.3282, 2.86672), map_predicted=(18.5098, -6.19198), range=4.16833, pts=3
I0419 21:04:11.343678 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.49628m maha_sq=858.783 (gate chi2=5.99) pose_sigma=(0.150085, 0.150085, rho=0) det_map=(18.5098, -6.19198) lm_pos=(15.915, -2.52) delta=(2.59483, -3.67198) -> 0 candidate(s)
I0419 21:04:11.344523 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294507773709.
I0419 21:04:11.345502 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:11.345574 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:11.418927 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5741, -1.89578), yaw=144.622 deg backend=(17.5616, -1.88045)
I0419 21:04:11.420514 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294508661085.
I0419 21:04:11.421830 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(0.353618, -2.46408)
I0419 21:04:11.421896 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31239, -3.9995), points=3, range=4.20933, residual=0.0101406, extent=0.0248115
I0419 21:04:11.421921 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31239, -3.9995), tracking=(-1.61089, 3.9995), map_predicted=(16.572, -6.08943), range=4.20933, pts=3
I0419 21:04:11.421944 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.62938m maha_sq=561.225 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.572, -6.08943) lm_pos=(15.915, -2.52) delta=(0.65696, -3.56943) -> 0 candidate(s)
I0419 21:04:11.492942 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:11.493681 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294509252581.
I0419 21:04:11.517195 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:11.564499 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.06914, -4.08506)
I0419 21:04:11.565115 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.628077, -0.144394), points=13, range=0.642385, residual=0.0159358, extent=0.0454026
I0419 21:04:11.565179 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.628077, -0.144394), tracking=(0.926577, -0.144394), map_predicted=(16.8542, -1.30764), range=0.642385, pts=13
I0419 21:04:11.565207 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0410642m maha_sq=0.0717063 (gate chi2=5.99) pose_sigma=(0.151086, 0.151086, rho=0) det_map=(16.8542, -1.30764) lm_pos=(16.815, -1.32) delta=(0.0391611, 0.0123564) -> 1 candidate(s)
I0419 21:04:11.565311 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294510133948.
I0419 21:04:11.566612 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.115248s, prior_pose=(17.5728, -1.91014), yaw=148.88 deg
I0419 21:04:11.566689 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1257, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:04:11.636147 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.714291, 2.51865)
I0419 21:04:11.636302 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:11.636366 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294510699230.
I0419 21:04:11.637993 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.968397, -0.114604), points=7, range=0.972857, residual=0.00911532, extent=0.0246861
I0419 21:04:11.638096 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.968397, -0.114604), tracking=(-1.2669, 0.114604), map_predicted=(18.6193, -2.60935), range=0.972857, pts=7
I0419 21:04:11.638126 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.21761m maha_sq=213.523 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6193, -2.60935) lm_pos=(16.815, -1.32) delta=(1.80427, -1.28935) -> 0 candidate(s)
I0419 21:04:11.701283 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:11.701375 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:11.701933 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0397539 range=0.656571 variance=0.00054166 t_weight=5538.53 r_weight=0 yaml=(16.815, -1.32) prior=(17.5655, -1.89506, 153.028deg) obs_actual=(0.921798, -0.201471) obs_expected=(0.929682, -0.172121) delta=(-0.00788419, -0.0293498) |delta|=0.0303903m
I0419 21:04:11.702035 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294511296527.
I0419 21:04:11.703200 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.961976, -0.151196)
I0419 21:04:11.769810 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:11.770459 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.547881, 2.54127), points=4, range=2.6015, residual=0.010204, extent=0.0230821
I0419 21:04:11.770529 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.547881, 2.54127), tracking=(-0.249381, 2.54127), map_predicted=(16.7027, -4.29585), range=2.6015, pts=4
I0419 21:04:11.770556 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.94271m maha_sq=162.315 (gate chi2=5.99) pose_sigma=(0.150179, 0.150179, rho=0) det_map=(16.7027, -4.29585) lm_pos=(15.915, -2.52) delta=(0.787719, -1.77585) -> 0 candidate(s)
I0419 21:04:11.770671 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294512172716.
I0419 21:04:11.843056 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.608883, -0.254198)
I0419 21:04:11.843168 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:11.843199 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:11.916242 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.15179, -3.65301), points=4, range=4.23625, residual=0.0169269, extent=0.0406757
I0419 21:04:11.916365 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.15179, -3.65301), tracking=(-2.45029, 3.65301), map_predicted=(18.4741, -6.19376), range=4.23625, pts=4
I0419 21:04:11.916399 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.47722m maha_sq=843.549 (gate chi2=5.99) pose_sigma=(0.150343, 0.150343, rho=0) det_map=(18.4741, -6.19376) lm_pos=(15.915, -2.52) delta=(2.55911, -3.67376) -> 0 candidate(s)
I0419 21:04:11.917098 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294513661934.
I0419 21:04:11.918599 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.11782, -3.66819)
I0419 21:04:11.918689 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:11.993659 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294514222130.
I0419 21:04:11.995510 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.218951, -2.54534), points=5, range=2.5562, residual=0.0119122, extent=0.0313874
I0419 21:04:11.995628 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.218951, -2.54534), tracking=(-0.0795492, 2.54534), map_predicted=(16.7755, -4.30755), range=2.5562, pts=5
I0419 21:04:11.995662 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.98387m maha_sq=169.423 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7755, -4.30755) lm_pos=(15.915, -2.52) delta=(0.860463, -1.78755) -> 0 candidate(s)
I0419 21:04:11.996120 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-0.970037, 4.25823)
I0419 21:04:11.996248 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294514541366.
I0419 21:04:11.998512 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558418s, prior_pose=(17.568, -1.88927), yaw=160.799 deg
I0419 21:04:11.998629 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1246, max_intensity=248, threshold=230, above_threshold=22, candidates=22
I0419 21:04:11.999521 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=160.85 deg, rms_residual=0.00994601m, sigma_yaw=0.0130878 rad, N=2
I0419 21:04:11.999620 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5645, -1.8848, 160.85deg) inliers=2 rms=0.00994601m
I0419 21:04:11.999662 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294514817496.
I0419 21:04:12.001964 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.941465, -0.268466), points=5, range=0.9768, residual=0.00763881, extent=0.0204472
I0419 21:04:12.002071 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.941465, -0.268466), tracking=(-1.23997, 0.268466), map_predicted=(18.6506, -2.54774), range=0.9768, pts=5
I0419 21:04:12.002104 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.20831m maha_sq=211.604 (gate chi2=5.99) pose_sigma=(0.150129, 0.150129, rho=0) det_map=(18.6506, -2.54774) lm_pos=(16.815, -1.32) delta=(1.83556, -1.22774) -> 0 candidate(s)
I0419 21:04:12.003013 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294515135473.
I0419 21:04:12.004244 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:12.004314 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.384757, -4.2553)
I0419 21:04:12.004333 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:12.077589 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294515412419.
I0419 21:04:12.078168 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:12.078877 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:12.079573 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.396689, 2.55269), points=4, range=2.58325, residual=0.00921326, extent=0.0225408
I0419 21:04:12.079660 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.396689, 2.55269), tracking=(-0.0981888, 2.55269), map_predicted=(16.8241, -4.33091), range=2.58325, pts=4
I0419 21:04:12.079697 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.02628m maha_sq=177.152 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8241, -4.33091) lm_pos=(15.915, -2.52) delta=(0.909066, -1.81091) -> 0 candidate(s)
I0419 21:04:12.079721 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:12.079787 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294515694523.
I0419 21:04:12.082007 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.50459, -1.96672)
I0419 21:04:12.082825 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294516014239.
I0419 21:04:12.085580 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:12.085733 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:12.085826 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00345202 range=0.663923 variance=0.000545675 t_weight=5497.78 r_weight=0 yaml=(16.815, -1.32) prior=(17.5685, -1.88905, 160.469deg) obs_actual=(0.893578, -0.290188) obs_expected=(0.900386, -0.284408) delta=(-0.00680798, -0.00577984) |delta|=0.00893057m
I0419 21:04:12.085907 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294516293493.
I0419 21:04:12.087158 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.403408, -4.25441), points=3, range=4.27333, residual=0.0119664, extent=0.0248764
I0419 21:04:12.087285 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.403408, -4.25441), tracking=(-0.701908, 4.25441), map_predicted=(16.8077, -6.13333), range=4.27333, pts=3
I0419 21:04:12.087340 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.72198m maha_sq=588.876 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8077, -6.13333) lm_pos=(15.915, -2.52) delta=(0.892732, -3.61333) -> 0 candidate(s)
I0419 21:04:12.088024 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.598773, -0.288733)
I0419 21:04:12.163323 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:12.163545 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294516868551.
I0419 21:04:12.166256 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.404773, 2.55572)
I0419 21:04:12.166400 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.596519, -0.291955), points=15, range=0.665667, residual=0.0110801, extent=0.0303357
I0419 21:04:12.166453 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.596519, -0.291955), tracking=(0.895019, -0.291955), map_predicted=(16.8205, -1.31601), range=0.665667, pts=15
I0419 21:04:12.166493 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00680811m maha_sq=0.00200575 (gate chi2=5.99) pose_sigma=(0.150166, 0.150166, rho=0) det_map=(16.8205, -1.31601) lm_pos=(16.815, -1.32) delta=(0.00551941, 0.00398578) -> 1 candidate(s)
I0419 21:04:12.166559 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:12.166613 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:12.166646 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294517181031.
I0419 21:04:12.168478 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294517458677.
I0419 21:04:12.170374 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552801s, prior_pose=(17.5651, -1.88984), yaw=160.558 deg
I0419 21:04:12.170507 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1244, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:04:12.171339 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.404001, 2.55087), points=4, range=2.5845, residual=0.0102179, extent=0.0250933
I0419 21:04:12.171424 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.404001, 2.55087), tracking=(-0.105501, 2.55087), map_predicted=(16.8155, -4.33036), range=2.5845, pts=4
I0419 21:04:12.171473 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.02197m maha_sq=175.947 (gate chi2=5.99) pose_sigma=(0.150133, 0.150133, rho=0) det_map=(16.8155, -4.33036) lm_pos=(15.915, -2.52) delta=(0.900527, -1.81036) -> 0 candidate(s)
I0419 21:04:12.171555 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294517780510.
I0419 21:04:12.172657 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.200514, -2.54778)
I0419 21:04:12.245850 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=86.4725 rad/s > flush threshold 3.
I0419 21:04:12.246052 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294518055673.
I0419 21:04:12.247211 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:12.247314 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:12.247383 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:12.248095 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294518333236.
I0419 21:04:12.250180 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(2.10699, -3.67404)
I0419 21:04:12.250267 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.204047, -2.54533), points=3, range=2.555, residual=0.00767396, extent=0.0160296
I0419 21:04:12.250304 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.204047, -2.54533), tracking=(-0.0944531, 2.54533), map_predicted=(16.8016, -4.3217), range=2.555, pts=3
I0419 21:04:12.250365 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00803m maha_sq=173.827 (gate chi2=5.99) pose_sigma=(0.150165, 0.150165, rho=0) det_map=(16.8016, -4.3217) lm_pos=(15.915, -2.52) delta=(0.886616, -1.8017) -> 0 candidate(s)
I0419 21:04:12.251154 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:12.251241 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294518659333.
I0419 21:04:12.253901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294518939541.
I0419 21:04:12.254987 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.939196, -0.273419)
I0419 21:04:12.255067 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.09546, -3.69118), points=3, range=4.24233, residual=0.0124017, extent=0.0256496
I0419 21:04:12.255100 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(2.09546, -3.69118), tracking=(-2.39396, 3.69118), map_predicted=(18.594, -6.16756), range=4.24233, pts=3
I0419 21:04:12.255125 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52568m maha_sq=870.501 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.594, -6.16756) lm_pos=(15.915, -2.52) delta=(2.67901, -3.64756) -> 0 candidate(s)
I0419 21:04:12.255712 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:12.255770 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:12.255844 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294519215331.
I0419 21:04:12.328707 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5677, -1.88797), yaw=160.806 deg backend=(17.5764, -1.87883)
I0419 21:04:12.330507 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0103415 range=0.667133 variance=0.00058238 t_weight=5151.28 r_weight=0 yaml=(16.815, -1.32) prior=(17.5677, -1.88797, 160.806deg) obs_actual=(0.890205, -0.302508) obs_expected=(0.897613, -0.288922) delta=(-0.00740774, -0.0135866) |delta|=0.0154748m
I0419 21:04:12.330662 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294519505415.
I0419 21:04:12.331871 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.932069, -0.281989), points=6, range=0.975167, residual=0.00667169, extent=0.0185875
I0419 21:04:12.331951 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.932069, -0.281989), tracking=(-1.23057, 0.281989), map_predicted=(18.6372, -2.55886), range=0.975167, pts=6
I0419 21:04:12.331979 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.20343m maha_sq=211.153 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6372, -2.55886) lm_pos=(16.815, -1.32) delta=(1.82218, -1.23886) -> 0 candidate(s)
I0419 21:04:12.333607 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.06188, 1.1387)
I0419 21:04:12.333703 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:12.333806 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294519815826.
I0419 21:04:12.335657 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294520098706.
I0419 21:04:12.338371 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(-0.881099, 4.26735)
I0419 21:04:12.338467 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07206, 1.12314), points=4, range=1.54825, residual=0.0105606, extent=0.0224842
I0419 21:04:12.338495 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.07206, 1.12314), tracking=(1.37056, 1.12314), map_predicted=(15.9104, -2.51662), range=1.54825, pts=4
I0419 21:04:12.338517 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00568278m maha_sq=0.00139745 (gate chi2=5.99) pose_sigma=(0.150043, 0.150043, rho=0) det_map=(15.9104, -2.51662) lm_pos=(15.915, -2.52) delta=(-0.00456561, 0.00338366) -> 1 candidate(s)
I0419 21:04:12.338603 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294520420502.
I0419 21:04:12.339737 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844202s, prior_pose=(17.5668, -1.88703), yaw=161.478 deg
I0419 21:04:12.339800 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1176, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:04:12.416397 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294520694192.
I0419 21:04:12.417737 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=162.255 deg, rms_residual=0.00823254m, sigma_yaw=0.0108575 rad, N=2
I0419 21:04:12.417822 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5627, -1.88732, 162.255deg) inliers=2 rms=0.00823254m
I0419 21:04:12.417860 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294520991467.
I0419 21:04:12.420581 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:12.420629 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.236868, -4.28144)
I0419 21:04:12.420652 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:12.420675 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.287324, -2.55488), points=5, range=2.5704, residual=0.0114192, extent=0.0305105
I0419 21:04:12.420701 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.287324, -2.55488), tracking=(-0.0111758, 2.55488), map_predicted=(16.7948, -4.32681), range=2.5704, pts=5
I0419 21:04:12.420719 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00961m maha_sq=173.615 (gate chi2=5.99) pose_sigma=(0.150136, 0.150136, rho=0) det_map=(16.7948, -4.32681) lm_pos=(15.915, -2.52) delta=(0.879755, -1.80681) -> 0 candidate(s)
I0419 21:04:12.421255 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294521295911.
I0419 21:04:12.424069 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:12.424122 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.1099 rad/s > flush threshold 3.
I0419 21:04:12.424192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294521581963.
I0419 21:04:12.425457 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-0.78038, 4.28009)
I0419 21:04:12.425518 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.275765, 2.55232), points=6, range=2.56783, residual=0.0134633, extent=0.0376901
I0419 21:04:12.425544 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.275765, 2.55232), tracking=(0.022735, 2.55232), map_predicted=(16.7831, -4.31812), range=2.56783, pts=6
I0419 21:04:12.425601 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=1.99671m maha_sq=171.322 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7831, -4.31812) lm_pos=(15.915, -2.52) delta=(0.868118, -1.79812) -> 0 candidate(s)
I0419 21:04:12.425668 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294521860454.
I0419 21:04:12.499965 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294522141667.
I0419 21:04:12.500690 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:12.500763 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:12.502015 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.92307, -0.332912), points=8, range=0.980375, residual=0.00792425, extent=0.0238238
I0419 21:04:12.502095 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.92307, -0.332912), tracking=(-1.22157, 0.332912), map_predicted=(18.6361, -2.56431), range=0.980375, pts=8
I0419 21:04:12.502126 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.20563m maha_sq=211.405 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6361, -2.56431) lm_pos=(16.815, -1.32) delta=(1.82113, -1.24431) -> 0 candidate(s)
I0419 21:04:12.502697 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.579617, -0.340169)
I0419 21:04:12.502795 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0160804 range=0.672125 variance=0.000586849 t_weight=5112.04 r_weight=0 yaml=(16.815, -1.32) prior=(17.5665, -1.88678, 162.892deg) obs_actual=(0.880599, -0.339384) obs_expected=(0.885013, -0.320629) delta=(-0.00441381, -0.0187554) |delta|=0.0192678m
I0419 21:04:12.502868 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294522452851.
I0419 21:04:12.505956 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:12.506094 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294522735384.
I0419 21:04:12.509127 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.216138, 2.55646)
I0419 21:04:12.509202 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12189, 1.06152), points=3, range=1.537, residual=0.0141611, extent=0.0284394
I0419 21:04:12.509233 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.12189, 1.06152), tracking=(1.42039, 1.06152), map_predicted=(15.9033, -2.51305), range=1.537, pts=3
I0419 21:04:12.509256 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0136508m maha_sq=0.0080059 (gate chi2=5.99) pose_sigma=(0.150304, 0.150304, rho=0) det_map=(15.9033, -2.51305) lm_pos=(15.915, -2.52) delta=(-0.0117482, 0.00695156) -> 1 candidate(s)
I0419 21:04:12.509303 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:12.509358 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:12.509380 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294523055225.
I0419 21:04:12.583381 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.71676 rad/s > flush threshold 3.
I0419 21:04:12.583531 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294523333336.
I0419 21:04:12.584703 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559676s, prior_pose=(17.5589, -1.88903), yaw=164.51 deg
I0419 21:04:12.584779 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1185, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:04:12.585686 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.604453, 4.30106), points=4, range=4.3395, residual=0.0173852, extent=0.0410822
I0419 21:04:12.585765 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.604453, 4.30106), tracking=(-0.305953, 4.30106), map_predicted=(16.705, -6.11556), range=4.3395, pts=4
I0419 21:04:12.585794 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.68133m maha_sq=571.87 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.705, -6.11556) lm_pos=(15.915, -2.52) delta=(0.79001, -3.59556) -> 0 candidate(s)
I0419 21:04:12.585887 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294523657952.
I0419 21:04:12.587945 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.433818, -2.5469)
I0419 21:04:12.588853 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294523940598.
I0419 21:04:12.589986 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:12.590050 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:12.590101 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:12.665407 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.34704 rad/s > flush threshold 3.
I0419 21:04:12.665544 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294524221450.
I0419 21:04:12.666741 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.70185, -3.914)
I0419 21:04:12.666811 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.70185, -3.914), points=3, range=4.268, residual=0.0102664, extent=0.0249048
I0419 21:04:12.666842 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.70185, -3.914), tracking=(-2.00035, 3.914), map_predicted=(18.5436, -6.16697), range=4.268, pts=3
I0419 21:04:12.666868 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49557m maha_sq=860.526 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5436, -6.16697) lm_pos=(15.915, -2.52) delta=(2.62863, -3.64697) -> 0 candidate(s)
I0419 21:04:12.667486 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:04:12.667577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294524493676.
I0419 21:04:12.670393 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294524812259.
I0419 21:04:12.671586 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.24587, -2.17982)
I0419 21:04:12.745043 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:12.745167 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.554396, -0.397793), points=15, range=0.681, residual=0.011851, extent=0.0353953
I0419 21:04:12.745193 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:12.745218 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.554396, -0.397793), tracking=(0.852896, -0.397793), map_predicted=(16.8205, -1.30583), range=0.681, pts=15
I0419 21:04:12.745280 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0151878m maha_sq=0.00996673 (gate chi2=5.99) pose_sigma=(0.150223, 0.150223, rho=0) det_map=(16.8205, -1.30583) lm_pos=(16.815, -1.32) delta=(0.00545718, 0.0141735) -> 1 candidate(s)
I0419 21:04:12.745307 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.0796 rad/s > flush threshold 3.
I0419 21:04:12.745376 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294525100223.
I0419 21:04:12.747448 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0246551 range=0.681733 variance=0.000558889 t_weight=5367.79 r_weight=0 yaml=(16.815, -1.32) prior=(17.5636, -1.8833, 167.153deg) obs_actual=(0.845183, -0.40446) obs_expected=(0.855065, -0.382761) delta=(-0.00988224, -0.0216993) |delta|=0.0238437m
I0419 21:04:12.747581 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294525417717.
I0419 21:04:12.749670 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.22068, -2.1946)
I0419 21:04:12.750452 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:12.750568 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294525701677.
I0419 21:04:12.751729 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.541425, -0.416625), points=16, range=0.685188, residual=0.0121782, extent=0.0384286
I0419 21:04:12.751803 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.541425, -0.416625), tracking=(0.839925, -0.416625), map_predicted=(16.8327, -1.29609), range=0.685188, pts=16
I0419 21:04:12.751832 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0297321m maha_sq=0.0382932 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8327, -1.29609) lm_pos=(16.815, -1.32) delta=(0.0176661, 0.0239146) -> 1 candidate(s)
I0419 21:04:12.828526 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.539568, -0.420182)
I0419 21:04:12.828737 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294526296752.
I0419 21:04:12.831086 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563455s, prior_pose=(17.5625, -1.88563), yaw=168.746 deg
I0419 21:04:12.831200 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1195, max_intensity=246, threshold=230, above_threshold=22, candidates=22
I0419 21:04:12.837311 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.535074, -0.426816), points=16, range=0.686312, residual=0.0118918, extent=0.0372482
I0419 21:04:12.837406 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.535074, -0.426816), tracking=(0.833574, -0.426816), map_predicted=(16.8283, -1.30434), range=0.686312, pts=16
I0419 21:04:12.837432 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0205236m maha_sq=0.0181918 (gate chi2=5.99) pose_sigma=(0.150253, 0.150253, rho=0) det_map=(16.8283, -1.30434) lm_pos=(16.815, -1.32) delta=(0.0132672, 0.0156588) -> 1 candidate(s)
I0419 21:04:12.837536 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294526581578.
I0419 21:04:12.838655 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.156, -2.23648)
I0419 21:04:12.913192 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.04181 rad/s > flush threshold 3.
I0419 21:04:12.913376 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294526856687.
I0419 21:04:12.914399 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:12.914458 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:12.915275 1219494 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(-0.136109, 0.225041)
I0419 21:04:12.915330 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.238363, 4.30873), points=4, range=4.3125, residual=0.0164667, extent=0.0391831
I0419 21:04:12.915357 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.238363, 4.30873), tracking=(0.0601367, 4.30873), map_predicted=(16.7198, -6.11385), range=4.3125, pts=4
I0419 21:04:12.915377 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.68287m maha_sq=573.241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7198, -6.11385) lm_pos=(15.915, -2.52) delta=(0.804826, -3.59385) -> 0 candidate(s)
I0419 21:04:12.915421 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=170.412 deg, rms_residual=0.00876552m, sigma_yaw=0.0115523 rad, N=2
I0419 21:04:12.915465 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5638, -1.88406, 170.412deg) inliers=2 rms=0.00876552m
I0419 21:04:12.915495 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294527189613.
I0419 21:04:12.918296 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:12.918397 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294527456606.
I0419 21:04:12.992756 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.522833, -0.450419)
I0419 21:04:12.992870 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.97507, 4.06453), points=3, range=4.51767, residual=0.012816, extent=0.0264466
I0419 21:04:12.992900 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.97507, 4.06453), tracking=(-1.67657, 4.06453), map_predicted=(18.5616, -6.16819), range=4.51767, pts=3
I0419 21:04:12.992929 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.50708m maha_sq=854.489 (gate chi2=5.99) pose_sigma=(0.150577, 0.150577, rho=0) det_map=(18.5616, -6.16819) lm_pos=(15.915, -2.52) delta=(2.6466, -3.64819) -> 0 candidate(s)
I0419 21:04:12.992949 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.28733 rad/s > flush threshold 3.
I0419 21:04:12.993016 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294527740466.
I0419 21:04:12.993132 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:12.994835 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:12.994920 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:12.994987 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294528054544.
I0419 21:04:12.996071 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5579, -1.88639), yaw=171.259 deg backend=(17.5702, -1.87836)
I0419 21:04:12.996764 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.0742, -2.28619)
I0419 21:04:12.997553 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294528339034.
I0419 21:04:12.998716 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.721155, -2.51497), points=4, range=2.61625, residual=0.00943579, extent=0.0229075
I0419 21:04:12.998790 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.721155, -2.51497), tracking=(0.422655, 2.51497), map_predicted=(16.7579, -4.30792), range=2.61625, pts=4
I0419 21:04:12.998814 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.97664m maha_sq=168.518 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7579, -4.30792) lm_pos=(15.915, -2.52) delta=(0.842897, -1.78792) -> 0 candidate(s)
I0419 21:04:13.071507 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:13.071597 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.6396 rad/s > flush threshold 3.
I0419 21:04:13.072785 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.04634, -2.30485)
I0419 21:04:13.075448 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.844318, -0.527569), points=6, range=0.997167, residual=0.00758832, extent=0.0208678
I0419 21:04:13.075521 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.844318, -0.527569), tracking=(-1.14282, 0.527569), map_predicted=(18.6259, -2.56096), range=0.997167, pts=6
I0419 21:04:13.075551 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19531m maha_sq=208.003 (gate chi2=5.99) pose_sigma=(0.15054, 0.15054, rho=0) det_map=(18.6259, -2.56096) lm_pos=(16.815, -1.32) delta=(1.8109, -1.24096) -> 0 candidate(s)
I0419 21:04:13.076198 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.019491 range=0.698647 variance=0.000577481 t_weight=5194.97 r_weight=0 yaml=(16.815, -1.32) prior=(17.5634, -1.8861, 172.358deg) obs_actual=(0.804564, -0.478793) obs_expected=(0.817033, -0.461545) delta=(-0.0124688, -0.0172481) |delta|=0.021283m
I0419 21:04:13.076268 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294529213996.
I0419 21:04:13.077384 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845121s, prior_pose=(17.5634, -1.8861), yaw=172.358 deg
I0419 21:04:13.077432 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1199, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:04:13.077490 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.01561, -2.32647)
I0419 21:04:13.151049 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294529537226.
I0419 21:04:13.152953 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26535, 0.813883), points=3, range=1.51, residual=0.0120803, extent=0.0255552
I0419 21:04:13.153106 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26535, 0.813883), tracking=(1.56385, 0.813883), map_predicted=(15.9125, -2.50525), range=1.51, pts=3
I0419 21:04:13.153142 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0149656m maha_sq=0.00968394 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9125, -2.50525) lm_pos=(15.915, -2.52) delta=(-0.00253503, 0.0147493) -> 1 candidate(s)
I0419 21:04:13.153203 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:13.153250 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:13.153271 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294529817928.
I0419 21:04:13.155480 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:13.155555 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.984113, -2.33724)
I0419 21:04:13.155573 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:13.155620 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:13.232056 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:13.232168 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.36935 rad/s > flush threshold 3.
I0419 21:04:13.232252 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294530371903.
I0419 21:04:13.233687 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.968902, -2.34874)
I0419 21:04:13.233763 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.824719, -2.50103), points=3, range=2.63433, residual=0.00757669, extent=0.0158374
I0419 21:04:13.233793 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.824719, -2.50103), tracking=(0.526219, 2.50103), map_predicted=(16.779, -4.32605), range=2.63433, pts=3
I0419 21:04:13.233816 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0021m maha_sq=173.104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.779, -4.32605) lm_pos=(15.915, -2.52) delta=(0.864036, -1.80605) -> 0 candidate(s)
I0419 21:04:13.234526 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294530659365.
I0419 21:04:13.237313 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:13.237382 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:13.237417 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:13.237484 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294530978835.
I0419 21:04:13.238595 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.963383, -2.345)
I0419 21:04:13.238660 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.958749, -2.34345), points=5, range=2.5352, residual=0.0142417, extent=0.0380353
I0419 21:04:13.238694 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.958749, -2.34345), tracking=(-1.25725, 2.34345), map_predicted=(18.583, -4.34148), range=2.5352, pts=5
I0419 21:04:13.238718 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23048m maha_sq=448.118 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.583, -4.34148) lm_pos=(15.915, -2.52) delta=(2.668, -1.82148) -> 0 candidate(s)
I0419 21:04:13.240438 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294531295777.
I0419 21:04:13.242144 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:13.242240 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294531573868.
I0419 21:04:13.318111 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.973095, -2.34921)
I0419 21:04:13.318236 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.836605, -0.557227), points=7, range=1.00271, residual=0.00863786, extent=0.0217972
I0419 21:04:13.318303 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.836605, -0.557227), tracking=(-1.1351, 0.557227), map_predicted=(18.6459, -2.54476), range=1.00271, pts=7
I0419 21:04:13.318331 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.2028m maha_sq=208.037 (gate chi2=5.99) pose_sigma=(0.150995, 0.150995, rho=0) det_map=(18.6459, -2.54476) lm_pos=(16.815, -1.32) delta=(1.83093, -1.22476) -> 0 candidate(s)
I0419 21:04:13.319267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294531864166.
I0419 21:04:13.322283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294532178725.
I0419 21:04:13.323285 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597936s, prior_pose=(17.5654, -1.88664), yaw=174.548 deg
I0419 21:04:13.323396 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1211, max_intensity=252, threshold=230, above_threshold=25, candidates=25
I0419 21:04:13.323482 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.970815, -2.34366)
I0419 21:04:13.324287 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26807, 0.797493), points=4, range=1.50275, residual=0.0125085, extent=0.0273583
I0419 21:04:13.324355 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26807, 0.797493), tracking=(1.56657, 0.797493), map_predicted=(15.9302, -2.53168), range=1.50275, pts=4
I0419 21:04:13.324381 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.019159m maha_sq=0.0158644 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9302, -2.53168) lm_pos=(15.915, -2.52) delta=(0.0151872, -0.0116799) -> 1 candidate(s)
I0419 21:04:13.324440 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00492788 range=0.701143 variance=0.000539332 t_weight=5562.43 r_weight=0 yaml=(16.815, -1.32) prior=(17.5654, -1.88664, 174.548deg) obs_actual=(0.791015, -0.496786) obs_expected=(0.800887, -0.492776) delta=(-0.00987211, -0.00400956) |delta|=0.0106553m
I0419 21:04:13.324503 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294532456026.
I0419 21:04:13.327306 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294532740648.
I0419 21:04:13.328385 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:13.328450 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.972186, -2.34699)
I0419 21:04:13.328471 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:13.400779 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.7797 rad/s > flush threshold 3.
I0419 21:04:13.400935 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294533020887.
I0419 21:04:13.402144 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.667214, -4.29345), points=3, range=4.345, residual=0.0109765, extent=0.0268297
I0419 21:04:13.402218 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.667214, -4.29345), tracking=(0.368714, 4.29345), map_predicted=(16.7754, -6.12814), range=4.345, pts=3
I0419 21:04:13.402244 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7093m maha_sq=585.052 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7754, -6.12814) lm_pos=(15.915, -2.52) delta=(0.860368, -3.60814) -> 0 candidate(s)
I0419 21:04:13.402945 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:13.403051 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294533336300.
I0419 21:04:13.405129 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.972015, -2.34663)
I0419 21:04:13.405957 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294533620592.
I0419 21:04:13.407105 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14468, -4.15106), points=3, range=4.30667, residual=0.012159, extent=0.0253686
I0419 21:04:13.407183 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.14468, -4.15106), tracking=(-1.44318, 4.15106), map_predicted=(18.5938, -6.16094), range=4.30667, pts=3
I0419 21:04:13.407212 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52024m maha_sq=868.122 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5938, -6.16094) lm_pos=(15.915, -2.52) delta=(2.67884, -3.64094) -> 0 candidate(s)
I0419 21:04:13.408798 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:13.408864 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:13.408913 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=174.407 deg, rms_residual=0.0101102m, sigma_yaw=0.013301 rad, N=2
I0419 21:04:13.408954 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5575, -1.88367, 174.407deg) inliers=2 rms=0.0101102m
I0419 21:04:13.408984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294533940100.
I0419 21:04:13.418740 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.972265, -2.34718)
I0419 21:04:13.422201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294534215716.
I0419 21:04:13.510985 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.838345, -0.558362), points=8, range=1.00587, residual=0.0102344, extent=0.0307893
I0419 21:04:13.511088 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.838345, -0.558362), tracking=(-1.13684, 0.558362), map_predicted=(18.6316, -2.55133), range=1.00587, pts=8
I0419 21:04:13.511121 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19456m maha_sq=207.901 (gate chi2=5.99) pose_sigma=(0.150367, 0.150367, rho=0) det_map=(18.6316, -2.55133) lm_pos=(16.815, -1.32) delta=(1.81656, -1.23133) -> 0 candidate(s)
I0419 21:04:13.511936 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:13.512053 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294534537548.
I0419 21:04:13.513141 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.976204, -2.34707)
I0419 21:04:13.514796 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294534822121.
I0419 21:04:13.516577 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28851, 0.802536), points=3, range=1.513, residual=0.00993639, extent=0.0200343
I0419 21:04:13.516641 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28851, 0.802536), tracking=(1.58701, 0.802536), map_predicted=(15.9001, -2.52879), range=1.513, pts=3
I0419 21:04:13.516672 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0173413m maha_sq=0.0130289 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9001, -2.52879) lm_pos=(15.915, -2.52) delta=(-0.0149478, -0.00879119) -> 1 candidate(s)
I0419 21:04:13.516803 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294535094444.
I0419 21:04:13.534336 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516027s, prior_pose=(17.5591, -1.88201), yaw=174.451 deg
I0419 21:04:13.534435 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1203, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:04:13.534544 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.971499, -2.34533)
I0419 21:04:13.538728 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00342379 range=0.700562 variance=0.000617546 t_weight=4857.94 r_weight=0 yaml=(16.815, -1.32) prior=(17.5591, -1.88201, 174.451deg) obs_actual=(0.791224, -0.495531) obs_expected=(0.794921, -0.487428) delta=(-0.0036969, -0.00810325) |delta|=0.00890672m
I0419 21:04:13.538934 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294535371974.
I0419 21:04:13.676337 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0563066, 4.29963), points=3, range=4.295, residual=0.0151229, extent=0.0313881
I0419 21:04:13.676442 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.0563066, 4.29963), tracking=(0.354807, 4.29963), map_predicted=(16.7955, -6.12718), range=4.295, pts=3
I0419 21:04:13.676474 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.7131m maha_sq=581.386 (gate chi2=5.99) pose_sigma=(0.150331, 0.150331, rho=0) det_map=(16.7955, -6.12718) lm_pos=(15.915, -2.52) delta=(0.880527, -3.60718) -> 0 candidate(s)
I0419 21:04:13.676558 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294535695921.
I0419 21:04:13.677783 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:13.677829 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.971652, -2.3457)
I0419 21:04:13.677850 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:13.677886 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:13.678587 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:13.678654 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:13.678704 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:13.678725 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294535978251.
I0419 21:04:13.681257 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294536261209.
I0419 21:04:13.682334 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.971955, -2.34644)
I0419 21:04:13.682389 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.823929, -2.49865), points=5, range=2.6322, residual=0.011814, extent=0.0314313
I0419 21:04:13.682415 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.823929, -2.49865), tracking=(0.525429, 2.49865), map_predicted=(16.7996, -4.31748), range=2.6322, pts=5
I0419 21:04:13.682436 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00336m maha_sq=172.713 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7996, -4.31748) lm_pos=(15.915, -2.52) delta=(0.884604, -1.79748) -> 0 candidate(s)
I0419 21:04:13.684031 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294536577051.
I0419 21:04:13.686465 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:13.686545 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:13.686584 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:04:13.686650 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294536861523.
I0419 21:04:13.759690 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5579, -1.8814), yaw=174.468 deg backend=(17.5711, -1.87514)
I0419 21:04:13.760649 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.976589, -2.34799)
I0419 21:04:13.760725 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.673385, -4.29199), points=3, range=4.34733, residual=0.0133734, extent=0.0279924
I0419 21:04:13.760756 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.673385, -4.29199), tracking=(0.374885, 4.29199), map_predicted=(16.771, -6.11726), range=4.34733, pts=3
I0419 21:04:13.760783 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.6977m maha_sq=577.147 (gate chi2=5.99) pose_sigma=(0.150381, 0.150381, rho=0) det_map=(16.771, -6.11726) lm_pos=(15.915, -2.52) delta=(0.855978, -3.59726) -> 0 candidate(s)
I0419 21:04:13.761510 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294537132430.
I0419 21:04:13.764361 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:13.764514 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294537455141.
I0419 21:04:13.770593 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.971499, -2.34533)
I0419 21:04:13.770674 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.966895, -2.34389), points=5, range=2.5386, residual=0.0139931, extent=0.0374444
I0419 21:04:13.770701 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.966895, -2.34389), tracking=(-1.26539, 2.34389), map_predicted=(18.592, -4.33729), range=2.5386, pts=5
I0419 21:04:13.770726 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2356m maha_sq=449.666 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.592, -4.33729) lm_pos=(15.915, -2.52) delta=(2.67704, -1.81729) -> 0 candidate(s)
I0419 21:04:13.774173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294537736640.
I0419 21:04:13.806538 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294538054489.
I0419 21:04:13.830448 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842432s, prior_pose=(17.5596, -1.8811), yaw=174.474 deg
I0419 21:04:13.830619 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1210, max_intensity=251, threshold=230, above_threshold=23, candidates=23
I0419 21:04:13.830778 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.966894, -2.34389)
I0419 21:04:13.925171 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.496728, -0.496644), points=16, range=0.701312, residual=0.012671, extent=0.0449136
I0419 21:04:13.925273 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.496728, -0.496644), tracking=(0.795228, -0.496644), map_predicted=(16.8178, -1.31087), range=0.701312, pts=16
I0419 21:04:13.925338 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00954413m maha_sq=0.00393597 (gate chi2=5.99) pose_sigma=(0.150151, 0.150151, rho=0) det_map=(16.8178, -1.31087) lm_pos=(16.815, -1.32) delta=(0.0027749, 0.00913183) -> 1 candidate(s)
I0419 21:04:13.925397 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00393597 range=0.701312 variance=0.00059785 t_weight=5017.98 r_weight=0 yaml=(16.815, -1.32) prior=(17.5615, -1.88179, 174.473deg) obs_actual=(0.795228, -0.496644) obs_expected=(0.79711, -0.487288) delta=(-0.00188253, -0.00935662) |delta|=0.00954413m
I0419 21:04:13.925446 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294538336956.
I0419 21:04:13.927292 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294538621529.
I0419 21:04:13.929319 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:13.929397 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.975533, -2.34545)
I0419 21:04:13.929414 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:13.930045 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0562964, 4.29913), points=3, range=4.3, residual=0.0120686, extent=0.0251927
I0419 21:04:13.930104 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0562964, 4.29913), tracking=(0.354796, 4.29913), map_predicted=(16.7934, -6.12782), range=4.3, pts=3
I0419 21:04:13.930130 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.7132m maha_sq=585.148 (gate chi2=5.99) pose_sigma=(0.1501, 0.1501, rho=0) det_map=(16.7934, -6.12782) lm_pos=(15.915, -2.52) delta=(0.878373, -3.60782) -> 0 candidate(s)
I0419 21:04:13.932740 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:13.932849 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294539220463.
I0419 21:04:13.946521 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.975149, -2.34453)
I0419 21:04:14.060894 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.666705, -4.29016), points=3, range=4.34167, residual=0.0106393, extent=0.0257422
I0419 21:04:14.061003 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.666705, -4.29016), tracking=(0.368205, 4.29016), map_predicted=(16.7775, -6.12017), range=4.34167, pts=3
I0419 21:04:14.061035 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70205m maha_sq=580.719 (gate chi2=5.99) pose_sigma=(0.150303, 0.150303, rho=0) det_map=(16.7775, -6.12017) lm_pos=(15.915, -2.52) delta=(0.862533, -3.60017) -> 0 candidate(s)
I0419 21:04:14.061810 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:14.061867 1258777 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:14.061961 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294539813964.
I0419 21:04:14.062904 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.975913, -2.34638)
I0419 21:04:14.064808 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294540100172.
I0419 21:04:14.071765 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.980899, -2.34873), points=4, range=2.5425, residual=0.0115246, extent=0.028574
I0419 21:04:14.071967 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.980899, -2.34873), tracking=(-1.2794, 2.34873), map_predicted=(18.6047, -4.34697), range=2.5425, pts=4
I0419 21:04:14.072043 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25152m maha_sq=455.324 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6047, -4.34697) lm_pos=(15.915, -2.52) delta=(2.68971, -1.82697) -> 0 candidate(s)
I0419 21:04:14.073822 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:14.073985 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=174.525 deg, rms_residual=0.00915614m, sigma_yaw=0.0120609 rad, N=2
I0419 21:04:14.074108 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5614, -1.88209, 174.525deg) inliers=2 rms=0.00915614m
I0419 21:04:14.074186 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294540379866.
I0419 21:04:14.076964 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.972575, -2.34791)
I0419 21:04:14.078118 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294540739789.
I0419 21:04:14.094624 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.835078, -0.557948), points=7, range=1.00314, residual=0.00871994, extent=0.02442
I0419 21:04:14.094812 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.835078, -0.557948), tracking=(-1.13358, 0.557948), map_predicted=(18.633, -2.54922), range=1.00314, pts=7
I0419 21:04:14.094882 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19454m maha_sq=209.153 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.633, -2.54922) lm_pos=(16.815, -1.32) delta=(1.81797, -1.22922) -> 0 candidate(s)
I0419 21:04:14.217617 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294540972323.
I0419 21:04:14.218760 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0583841s, prior_pose=(17.5604, -1.88149), yaw=174.491 deg
I0419 21:04:14.218866 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1200, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:04:14.218772 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:14.218953 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.972265, -2.34718)
I0419 21:04:14.221560 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294541263377.
I0419 21:04:14.227779 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28543, 0.798016), points=4, range=1.5075, residual=0.0130104, extent=0.0300226
I0419 21:04:14.228061 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28543, 0.798016), tracking=(1.58393, 0.798016), map_predicted=(15.9078, -2.52297), range=1.5075, pts=4
I0419 21:04:14.228123 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00774923m maha_sq=0.00259126 (gate chi2=5.99) pose_sigma=(0.150077, 0.150077, rho=0) det_map=(15.9078, -2.52297) lm_pos=(15.915, -2.52) delta=(-0.00715955, -0.00296504) -> 1 candidate(s)
I0419 21:04:14.228281 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294541581678.
I0419 21:04:14.230396 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:14.230523 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.970884, -2.34385)
I0419 21:04:14.230607 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:14.230655 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:14.232522 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00575623 range=0.701214 variance=0.0005556 t_weight=5399.57 r_weight=0 yaml=(16.815, -1.32) prior=(17.5611, -1.88076, 174.493deg) obs_actual=(0.790909, -0.496657) obs_expected=(0.796469, -0.486567) delta=(-0.0055601, -0.0100902) |delta|=0.0115207m
I0419 21:04:14.232640 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294541853057.
I0419 21:04:14.312793 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.976398, -2.34753)
I0419 21:04:14.312978 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.661658, -4.29887), points=3, range=4.346, residual=0.0138346, extent=0.0289011
I0419 21:04:14.313048 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.661658, -4.29887), tracking=(0.363158, 4.29887), map_predicted=(16.7849, -6.13006), range=4.346, pts=3
I0419 21:04:14.313184 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71338m maha_sq=581.431 (gate chi2=5.99) pose_sigma=(0.150424, 0.150424, rho=0) det_map=(16.7849, -6.13006) lm_pos=(15.915, -2.52) delta=(0.869873, -3.61006) -> 0 candidate(s)
I0419 21:04:14.314169 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294542454226.
I0419 21:04:14.316747 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:14.316814 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:14.316835 1219494 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:14.316869 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:14.316897 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:14.316929 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:14.316951 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294542734067.
I0419 21:04:14.318159 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.975537, -2.34545)
I0419 21:04:14.318220 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.830907, -0.556895), points=8, range=0.998125, residual=0.0114169, extent=0.0345838
I0419 21:04:14.318248 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.830907, -0.556895), tracking=(-1.12941, 0.556895), map_predicted=(18.6303, -2.54778), range=0.998125, pts=8
I0419 21:04:14.318269 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19149m maha_sq=208.084 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6303, -2.54778) lm_pos=(16.815, -1.32) delta=(1.81527, -1.22778) -> 0 candidate(s)
I0419 21:04:14.318897 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294543019417.
I0419 21:04:14.330188 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:14.330308 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294543297513.
I0419 21:04:14.357880 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.976015, -2.3466)
I0419 21:04:14.433564 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28511, 0.800425), points=3, range=1.51167, residual=0.00583423, extent=0.011235
I0419 21:04:14.433688 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28511, 0.800425), tracking=(1.58361, 0.800425), map_predicted=(15.9076, -2.52788), range=1.51167, pts=3
I0419 21:04:14.433723 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0108243m maha_sq=0.00507693 (gate chi2=5.99) pose_sigma=(0.150206, 0.150206, rho=0) det_map=(15.9076, -2.52788) lm_pos=(15.915, -2.52) delta=(-0.00741954, -0.00788131) -> 1 candidate(s)
I0419 21:04:14.433805 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294543617986.
I0419 21:04:14.435669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294543892759.
I0419 21:04:14.437569 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519778s, prior_pose=(17.5602, -1.88356), yaw=174.515 deg
I0419 21:04:14.437641 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1205, max_intensity=246, threshold=230, above_threshold=20, candidates=20
I0419 21:04:14.437698 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.975246, -2.34476)
I0419 21:04:14.438467 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294544181719.
I0419 21:04:14.445495 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.819464, -2.49731), points=3, range=2.62833, residual=0.00636609, extent=0.0155835
I0419 21:04:14.445580 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.819464, -2.49731), tracking=(0.520964, 2.49731), map_predicted=(16.8029, -4.31965), range=2.62833, pts=3
I0419 21:04:14.445608 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00678m maha_sq=174.049 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8029, -4.31965) lm_pos=(15.915, -2.52) delta=(0.887937, -1.79965) -> 0 candidate(s)
I0419 21:04:14.475036 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:14.475158 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.97211, -2.34681)
I0419 21:04:14.475193 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:14.478744 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294544776335.
I0419 21:04:14.583766 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14992, -4.14649), points=4, range=4.30325, residual=0.0153869, extent=0.0376659
I0419 21:04:14.583884 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.14992, -4.14649), tracking=(-1.44842, 4.14649), map_predicted=(18.6005, -6.14706), range=4.30325, pts=4
I0419 21:04:14.583917 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51304m maha_sq=858.234 (gate chi2=5.99) pose_sigma=(0.150357, 0.150357, rho=0) det_map=(18.6005, -6.14706) lm_pos=(15.915, -2.52) delta=(2.68551, -3.62706) -> 0 candidate(s)
I0419 21:04:14.585736 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:14.585973 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294545099543.
I0419 21:04:14.587483 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.971652, -2.3457)
I0419 21:04:14.589968 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00502856 range=0.7012 variance=0.000580305 t_weight=5169.69 r_weight=0 yaml=(16.815, -1.32) prior=(17.5581, -1.88165, 174.497deg) obs_actual=(0.78887, -0.497501) obs_expected=(0.793563, -0.487795) delta=(-0.00469351, -0.00970591) |delta|=0.0107812m
I0419 21:04:14.590140 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294545372159.
I0419 21:04:14.591331 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.837937, -0.558113), points=7, range=1.00414, residual=0.00898175, extent=0.0218113
I0419 21:04:14.591396 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.837937, -0.558113), tracking=(-1.13644, 0.558113), map_predicted=(18.6358, -2.54616), range=1.00414, pts=7
I0419 21:04:14.591420 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19518m maha_sq=209.233 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6358, -2.54616) lm_pos=(16.815, -1.32) delta=(1.82081, -1.22616) -> 0 candidate(s)
I0419 21:04:14.592370 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:14.592430 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:14.592674 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294545698194.
I0419 21:04:14.594187 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.559, -1.88146), yaw=174.531 deg backend=(17.5626, -1.87579)
I0419 21:04:14.595065 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.964828, -2.34851)
I0419 21:04:14.598826 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294545978774.
I0419 21:04:14.736495 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.23724, 2.50176), points=5, range=2.5154, residual=0.0126551, extent=0.033372
I0419 21:04:14.736598 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:14.736617 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.23724, 2.50176), tracking=(0.53574, 2.50176), map_predicted=(16.7957, -4.32412), range=2.5154, pts=5
I0419 21:04:14.736642 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00759m maha_sq=172.944 (gate chi2=5.99) pose_sigma=(0.150205, 0.150205, rho=0) det_map=(16.7957, -4.32412) lm_pos=(15.915, -2.52) delta=(0.880665, -1.80412) -> 0 candidate(s)
I0419 21:04:14.736720 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294546255057.
I0419 21:04:14.737800 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.956346, -2.35712)
I0419 21:04:14.738713 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294546542772.
I0419 21:04:14.741605 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.68583, 4.17263), points=4, range=4.499, residual=0.0162516, extent=0.0397082
I0419 21:04:14.741690 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.68583, 4.17263), tracking=(-1.38733, 4.17263), map_predicted=(18.5698, -6.16215), range=4.499, pts=4
I0419 21:04:14.741720 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.50703m maha_sq=856.15 (gate chi2=5.99) pose_sigma=(0.150104, 0.150104, rho=0) det_map=(18.5698, -6.16215) lm_pos=(15.915, -2.52) delta=(2.65483, -3.64215) -> 0 candidate(s)
I0419 21:04:14.741767 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=175.332 deg, rms_residual=0.0130557m, sigma_yaw=0.0171097 rad, N=2
I0419 21:04:14.741818 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5646, -1.8792, 175.332deg) inliers=2 rms=0.0130557m
I0419 21:04:14.741891 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294546855412.
I0419 21:04:14.742856 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845163s, prior_pose=(17.5623, -1.8819), yaw=174.854 deg
I0419 21:04:14.742918 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1203, max_intensity=249, threshold=230, above_threshold=25, candidates=25
I0419 21:04:14.742982 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.940883, -2.36833)
I0419 21:04:14.744549 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294547132573.
I0419 21:04:14.746419 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294547422623.
I0419 21:04:14.821828 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:14.821920 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.918085, -2.38128)
I0419 21:04:14.821941 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:14.821966 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.774587, -4.28352), points=3, range=4.354, residual=0.012357, extent=0.0258164
I0419 21:04:14.821992 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.774587, -4.28352), tracking=(0.476087, 4.28352), map_predicted=(16.7513, -6.10987), range=4.354, pts=3
I0419 21:04:14.822019 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.68599m maha_sq=574.292 (gate chi2=5.99) pose_sigma=(0.150354, 0.150354, rho=0) det_map=(16.7513, -6.10987) lm_pos=(15.915, -2.52) delta=(0.83627, -3.58987) -> 0 candidate(s)
I0419 21:04:14.822042 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:14.822786 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294547741556.
I0419 21:04:14.825634 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294548019984.
I0419 21:04:14.826875 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.890134, -2.39134)
I0419 21:04:14.826934 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00746, -4.19641), points=3, range=4.31567, residual=0.0103887, extent=0.0251206
I0419 21:04:14.826960 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.00746, -4.19641), tracking=(-1.30596, 4.19641), map_predicted=(18.5688, -6.15737), range=4.31567, pts=3
I0419 21:04:14.826987 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50258m maha_sq=862.743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5688, -6.15737) lm_pos=(15.915, -2.52) delta=(2.65382, -3.63737) -> 0 candidate(s)
I0419 21:04:14.829802 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0222072 range=0.7075 variance=0.000592685 t_weight=5061.71 r_weight=0 yaml=(16.815, -1.32) prior=(17.5648, -1.87866, 175.92deg) obs_actual=(0.774267, -0.522182) obs_expected=(0.787622, -0.503894) delta=(-0.0133553, -0.0182883) |delta|=0.0226456m
I0419 21:04:14.829903 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294548293873.
I0419 21:04:14.862142 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:14.862314 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:14.862346 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:14.862403 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:04:14.862547 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294548614853.
I0419 21:04:14.886610 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.881605, -2.4004)
I0419 21:04:14.997067 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.472529, -0.527802), points=16, range=0.70975, residual=0.0126573, extent=0.0445623
I0419 21:04:14.997210 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.472529, -0.527802), tracking=(0.771029, -0.527802), map_predicted=(16.8212, -1.31115), range=0.70975, pts=16
I0419 21:04:14.997248 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0107799m maha_sq=0.00500354 (gate chi2=5.99) pose_sigma=(0.150423, 0.150423, rho=0) det_map=(16.8212, -1.31115) lm_pos=(16.815, -1.32) delta=(0.00615043, 0.00885314) -> 1 candidate(s)
I0419 21:04:14.997311 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:14.997356 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:14.997376 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294548893867.
I0419 21:04:14.999487 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:14.999629 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294549214577.
I0419 21:04:15.001638 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.869694, -2.40029)
I0419 21:04:15.002341 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.33415, 2.48227), points=4, range=2.5055, residual=0.00925271, extent=0.0226686
I0419 21:04:15.002406 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.33415, 2.48227), tracking=(0.63265, 2.48227), map_predicted=(16.7909, -4.32558), range=2.5055, pts=4
I0419 21:04:15.002434 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=2.0068m maha_sq=173.715 (gate chi2=5.99) pose_sigma=(0.150052, 0.150052, rho=0) det_map=(16.7909, -4.32558) lm_pos=(15.915, -2.52) delta=(0.875863, -1.80558) -> 0 candidate(s)
I0419 21:04:15.006214 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598799s, prior_pose=(17.5607, -1.88187), yaw=176.89 deg
I0419 21:04:15.006316 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1214, max_intensity=248, threshold=230, above_threshold=21, candidates=21
I0419 21:04:15.006386 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.869857, -2.40076)
I0419 21:04:15.010257 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.236814, 4.28011), points=3, range=4.28667, residual=0.0103208, extent=0.024952
I0419 21:04:15.010428 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.236814, 4.28011), tracking=(0.535314, 4.28011), map_predicted=(16.7939, -6.12664), range=4.28667, pts=3
I0419 21:04:15.010488 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71219m maha_sq=585.974 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(16.7939, -6.12664) lm_pos=(15.915, -2.52) delta=(0.878948, -3.60664) -> 0 candidate(s)
I0419 21:04:15.010640 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294550093243.
I0419 21:04:15.122852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294550373232.
I0419 21:04:15.123929 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:15.123996 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.230551, 4.27952)
I0419 21:04:15.124013 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:15.124109 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294550628472.
I0419 21:04:15.126979 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470617, -0.528787), points=15, range=0.709667, residual=0.0108832, extent=0.0358468
I0419 21:04:15.127068 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470617, -0.528787), tracking=(0.769117, -0.528787), map_predicted=(16.8187, -1.31414), range=0.709667, pts=15
I0419 21:04:15.127095 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00695253m maha_sq=0.00209245 (gate chi2=5.99) pose_sigma=(0.15015, 0.15015, rho=0) det_map=(16.8187, -1.31414) lm_pos=(16.815, -1.32) delta=(0.00374712, 0.00585635) -> 1 candidate(s)
I0419 21:04:15.127120 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:15.127184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294550941727.
I0419 21:04:15.129729 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.873317, -2.39939)
I0419 21:04:15.130378 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294551256872.
I0419 21:04:15.151129 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.870452, -2.4024), points=5, range=2.5566, residual=0.0117205, extent=0.0308199
I0419 21:04:15.151273 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.870452, -2.4024), tracking=(-1.16895, 2.4024), map_predicted=(18.5889, -4.3507), range=2.5566, pts=5
I0419 21:04:15.151332 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24057m maha_sq=452.141 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5889, -4.3507) lm_pos=(15.915, -2.52) delta=(2.67392, -1.8307) -> 0 candidate(s)
I0419 21:04:15.268651 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:15.268757 1232263 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:15.268848 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294551532366.
I0419 21:04:15.269905 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.236682, 4.27778)
I0419 21:04:15.270025 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00402954 range=0.708875 variance=0.000585764 t_weight=5121.52 r_weight=0 yaml=(16.815, -1.32) prior=(17.5599, -1.88375, 176.859deg) obs_actual=(0.767601, -0.528603) obs_expected=(0.774708, -0.522083) delta=(-0.00710712, -0.00652026) |delta|=0.00964495m
I0419 21:04:15.270099 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294551822239.
I0419 21:04:15.273061 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.470132, -0.528242), points=14, range=0.708071, residual=0.0099058, extent=0.032873
I0419 21:04:15.273182 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:15.273244 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.470132, -0.528242), tracking=(0.768632, -0.528242), map_predicted=(16.8208, -1.31383), range=0.708071, pts=14
I0419 21:04:15.273268 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0084747m maha_sq=0.00311554 (gate chi2=5.99) pose_sigma=(0.150056, 0.150056, rho=0) det_map=(16.8208, -1.31383) lm_pos=(16.815, -1.32) delta=(0.00580637, 0.00617305) -> 1 candidate(s)
I0419 21:04:15.273346 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294552139283.
I0419 21:04:15.274712 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.869006, -2.39841)
I0419 21:04:15.276245 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294552420643.
I0419 21:04:15.277990 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.326628, 2.48092), points=4, range=2.50175, residual=0.00899677, extent=0.0219167
I0419 21:04:15.278055 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.326628, 2.48092), tracking=(0.625128, 2.48092), map_predicted=(16.8009, -4.3261), range=2.50175, pts=4
I0419 21:04:15.278082 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01167m maha_sq=174.714 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8009, -4.3261) lm_pos=(15.915, -2.52) delta=(0.885888, -1.8061) -> 0 candidate(s)
I0419 21:04:15.278149 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294552732378.
I0419 21:04:15.350871 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055179s, prior_pose=(17.5582, -1.88449), yaw=176.818 deg
I0419 21:04:15.350988 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1226, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:04:15.351070 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.872984, -2.39844)
I0419 21:04:15.351816 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294553019097.
I0419 21:04:15.354424 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.243258, 4.28359), points=3, range=4.28667, residual=0.013713, extent=0.0281176
I0419 21:04:15.354492 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.243258, 4.28359), tracking=(0.541758, 4.28359), map_predicted=(16.7796, -6.1303), range=4.28667, pts=3
I0419 21:04:15.354521 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71238m maha_sq=584.019 (gate chi2=5.99) pose_sigma=(0.150086, 0.150086, rho=0) det_map=(16.7796, -6.1303) lm_pos=(15.915, -2.52) delta=(0.864597, -3.6103) -> 0 candidate(s)
I0419 21:04:15.354564 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.812 deg, rms_residual=0.00672743m, sigma_yaw=0.00889017 rad, N=2
I0419 21:04:15.354604 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5615, -1.88538, 176.812deg) inliers=2 rms=0.00672743m
I0419 21:04:15.354635 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294553293440.
I0419 21:04:15.355703 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:15.355747 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.869526, -2.39981)
I0419 21:04:15.355767 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:15.355796 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:15.362511 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294553615776.
I0419 21:04:15.414570 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.867011, -2.4038)
I0419 21:04:15.414671 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.938912, -2.46739), points=4, range=2.64125, residual=0.00991508, extent=0.0240907
I0419 21:04:15.414707 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.938912, -2.46739), tracking=(0.640412, 2.46739), map_predicted=(16.7841, -4.31091), range=2.64125, pts=4
I0419 21:04:15.414736 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99065m maha_sq=170.626 (gate chi2=5.99) pose_sigma=(0.150089, 0.150089, rho=0) det_map=(16.7841, -4.31091) lm_pos=(15.915, -2.52) delta=(0.869091, -1.79091) -> 0 candidate(s)
I0419 21:04:15.496945 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294554187720.
I0419 21:04:15.499121 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:15.499372 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:15.499461 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:04:15.500789 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5646, -1.88005), yaw=177.061 deg backend=(17.5708, -1.87862)
I0419 21:04:15.501816 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.856476, -2.40742)
I0419 21:04:15.501969 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.861007, -2.40909), points=4, range=2.55525, residual=0.0118131, extent=0.0292972
I0419 21:04:15.502041 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.861007, -2.40909), tracking=(-1.15951, 2.40909), map_predicted=(18.5991, -4.34543), range=2.55525, pts=4
I0419 21:04:15.502117 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.246m maha_sq=452.677 (gate chi2=5.99) pose_sigma=(0.15016, 0.15016, rho=0) det_map=(18.5991, -4.34543) lm_pos=(15.915, -2.52) delta=(2.68408, -1.82543) -> 0 candidate(s)
I0419 21:04:15.503189 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294554775868.
I0419 21:04:15.509159 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:15.534192 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.842947, -2.41378)
I0419 21:04:15.538658 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.458703, -0.535396), points=16, range=0.707313, residual=0.0127835, extent=0.0445319
I0419 21:04:15.538745 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.458703, -0.535396), tracking=(0.757203, -0.535396), map_predicted=(16.8322, -1.3087), range=0.707313, pts=16
I0419 21:04:15.538776 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0205569m maha_sq=0.018264 (gate chi2=5.99) pose_sigma=(0.150122, 0.150122, rho=0) det_map=(16.8322, -1.3087) lm_pos=(16.815, -1.32) delta=(0.0171698, 0.0113041) -> 1 candidate(s)
I0419 21:04:15.624356 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:15.625095 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294555662439.
I0419 21:04:15.626047 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0820475s, prior_pose=(17.559, -1.88031), yaw=177.485 deg
I0419 21:04:15.626179 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1224, max_intensity=254, threshold=230, above_threshold=23, candidates=23
I0419 21:04:15.626248 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.825073, -2.41894)
I0419 21:04:15.627866 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:15.627972 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00738927 range=0.710733 variance=0.000573744 t_weight=5228.81 r_weight=0 yaml=(16.815, -1.32) prior=(17.559, -1.87946, 177.83deg) obs_actual=(0.756772, -0.541269) obs_expected=(0.764687, -0.530877) delta=(-0.00791528, -0.0103917) |delta|=0.0130629m
I0419 21:04:15.628033 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294555941258.
I0419 21:04:15.629099 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.983178, -2.46435), points=5, range=2.654, residual=0.0118131, extent=0.0309684
I0419 21:04:15.629164 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.983178, -2.46435), tracking=(0.684678, 2.46435), map_predicted=(16.7815, -4.31611), range=2.654, pts=5
I0419 21:04:15.629189 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99421m maha_sq=171.117 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7815, -4.31611) lm_pos=(15.915, -2.52) delta=(0.86652, -1.79611) -> 0 candidate(s)
I0419 21:04:15.629966 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294556256555.
I0419 21:04:15.650329 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:15.650429 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.808858, -2.42911)
I0419 21:04:15.650451 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:15.654223 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:15.654325 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:15.654349 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294556537395.
I0419 21:04:15.678032 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.849993, -4.24098), points=3, range=4.32533, residual=0.0104431, extent=0.025156
I0419 21:04:15.678202 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.849993, -4.24098), tracking=(-1.14849, 4.24098), map_predicted=(18.5624, -6.15673), range=4.32533, pts=3
I0419 21:04:15.678252 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49828m maha_sq=860.978 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5624, -6.15673) lm_pos=(15.915, -2.52) delta=(2.6474, -3.63673) -> 0 candidate(s)
I0419 21:04:15.758944 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:15.759096 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294556820921.
I0419 21:04:15.760252 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.825386, -4.24618)
I0419 21:04:15.761142 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294557137532.
I0419 21:04:15.763159 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.772458, -2.43752), points=5, range=2.5598, residual=0.0134173, extent=0.0358877
I0419 21:04:15.763244 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.772458, -2.43752), tracking=(-1.07096, 2.43752), map_predicted=(18.571, -4.33753), range=2.5598, pts=5
I0419 21:04:15.763309 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.21832m maha_sq=444.445 (gate chi2=5.99) pose_sigma=(0.150119, 0.150119, rho=0) det_map=(18.571, -4.33753) lm_pos=(15.915, -2.52) delta=(2.65597, -1.81753) -> 0 candidate(s)
I0419 21:04:15.763957 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-0.290271, 0.514804)
I0419 21:04:15.764007 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:15.764034 1237626 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:15.764101 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294557415316.
I0419 21:04:15.769768 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294557692671.
I0419 21:04:15.798681 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294557980642.
I0419 21:04:15.799220 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.782679, -4.25738)
I0419 21:04:15.799288 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.775987, -4.25582), points=4, range=4.32875, residual=0.0178326, extent=0.0432028
I0419 21:04:15.799361 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:15.799381 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.775987, -4.25582), tracking=(-1.07449, 4.25582), map_predicted=(18.5618, -6.14854), range=4.32875, pts=4
I0419 21:04:15.799407 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49131m maha_sq=850.723 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5618, -6.14854) lm_pos=(15.915, -2.52) delta=(2.64681, -3.62854) -> 0 candidate(s)
I0419 21:04:15.879861 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294558293536.
I0419 21:04:15.883709 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.34599, 0.646786)
I0419 21:04:15.883834 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.471924, 4.25188), points=4, range=4.2755, residual=0.0163172, extent=0.0376009
I0419 21:04:15.883865 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.471924, 4.25188), tracking=(0.770424, 4.25188), map_predicted=(16.7684, -6.12501), range=4.2755, pts=4
I0419 21:04:15.883896 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.70465m maha_sq=578.73 (gate chi2=5.99) pose_sigma=(0.150221, 0.150221, rho=0) det_map=(16.7684, -6.12501) lm_pos=(15.915, -2.52) delta=(0.853404, -3.60501) -> 0 candidate(s)
I0419 21:04:15.883988 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294558580826.
I0419 21:04:15.887264 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605857s, prior_pose=(17.5584, -1.87672), yaw=179.737 deg
I0419 21:04:15.887411 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1197, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:15.887725 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0155444 range=0.719267 variance=0.000580251 t_weight=5170.18 r_weight=0 yaml=(16.815, -1.32) prior=(17.5584, -1.87672, 179.737deg) obs_actual=(0.73499, -0.568775) obs_expected=(0.74591, -0.553299) delta=(-0.0109204, -0.0154763) |delta|=0.0189412m
I0419 21:04:15.887888 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294558864882.
I0419 21:04:15.918084 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.436773, -0.570798)
I0419 21:04:15.918375 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294559173430.
I0419 21:04:15.942329 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:15.942492 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:15.942554 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.696897, -4.27912), points=3, range=4.335, residual=0.0121643, extent=0.0252141
I0419 21:04:15.942615 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.696897, -4.27912), tracking=(-0.995397, 4.27912), map_predicted=(18.5506, -6.1566), range=4.335, pts=3
I0419 21:04:15.942667 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49127m maha_sq=856.803 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5506, -6.1566) lm_pos=(15.915, -2.52) delta=(2.63565, -3.6366) -> 0 candidate(s)
I0419 21:04:15.942715 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:16.046942 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294559493330.
I0419 21:04:16.048053 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.719242, -2.46755)
I0419 21:04:16.048915 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294559775954.
I0419 21:04:16.050990 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.759834, -0.674198), points=7, range=1.01714, residual=0.00770509, extent=0.0226198
I0419 21:04:16.051080 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.759834, -0.674198), tracking=(-1.05833, 0.674198), map_predicted=(18.6201, -2.53878), range=1.01714, pts=7
I0419 21:04:16.051112 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17799m maha_sq=205.707 (gate chi2=5.99) pose_sigma=(0.150167, 0.150167, rho=0) det_map=(18.6201, -2.53878) lm_pos=(16.815, -1.32) delta=(1.80506, -1.21878) -> 0 candidate(s)
I0419 21:04:16.051882 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.29804, 4.26797)
I0419 21:04:16.052021 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294560054185.
I0419 21:04:16.053162 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:04:16.053212 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.013 deg, rms_residual=0.0113224m, sigma_yaw=0.014872 rad, N=2
I0419 21:04:16.053259 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.56, -1.87396, -179.013deg) inliers=2 rms=0.0113224m
I0419 21:04:16.053287 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294560340965.
I0419 21:04:16.053632 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:16.053669 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:16.053689 1258777 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:16.062661 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.12029, -4.23016)
I0419 21:04:16.066151 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.3607, 0.624886), points=4, range=1.49425, residual=0.00830599, extent=0.0198653
I0419 21:04:16.066277 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.3607, 0.624886), tracking=(1.6592, 0.624886), map_predicted=(15.9053, -2.51942), range=1.49425, pts=4
I0419 21:04:16.066320 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00973748m maha_sq=0.0041081 (gate chi2=5.99) pose_sigma=(0.150103, 0.150103, rho=0) det_map=(15.9053, -2.51942) lm_pos=(15.915, -2.52) delta=(-0.0097203, 0.000578062) -> 1 candidate(s)
I0419 21:04:16.066517 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294560654986.
I0419 21:04:16.157232 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.28707, 4.27651)
I0419 21:04:16.157346 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:16.157439 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294560934764.
I0419 21:04:16.160248 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.477954, 2.43986), points=5, range=2.4874, residual=0.011236, extent=0.0293948
I0419 21:04:16.160337 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.477954, 2.43986), tracking=(0.776454, 2.43986), map_predicted=(16.8114, -4.32415), range=2.4874, pts=5
I0419 21:04:16.160365 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01458m maha_sq=174.848 (gate chi2=5.99) pose_sigma=(0.15002, 0.15002, rho=0) det_map=(16.8114, -4.32415) lm_pos=(15.915, -2.52) delta=(0.896421, -1.80415) -> 0 candidate(s)
I0419 21:04:16.160454 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294561255322.
I0419 21:04:16.161517 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.710062, -2.46266)
I0419 21:04:16.162264 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294561535487.
I0419 21:04:16.178781 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0524944s, prior_pose=(17.5594, -1.87602), yaw=-179.369 deg
I0419 21:04:16.178930 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1235, max_intensity=251, threshold=230, above_threshold=22, candidates=22
I0419 21:04:16.182106 1237626 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(-0.208999, 0.361999)
I0419 21:04:16.182271 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00724757 range=0.719067 variance=0.000567757 t_weight=5283.95 r_weight=0 yaml=(16.815, -1.32) prior=(17.5594, -1.87602, -179.369deg) obs_actual=(0.729621, -0.573801) obs_expected=(0.738274, -0.564186) delta=(-0.00865321, -0.00961548) |delta|=0.0129358m
I0419 21:04:16.182377 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294561815977.
I0419 21:04:16.210281 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.703232, -2.46592), points=5, range=2.567, residual=0.0141642, extent=0.0376928
I0419 21:04:16.210476 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.703232, -2.46592), tracking=(-1.00173, 2.46592), map_predicted=(18.5883, -4.33076), range=2.567, pts=5
I0419 21:04:16.210551 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.22881m maha_sq=447.62 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5883, -4.33076) lm_pos=(15.915, -2.52) delta=(2.67327, -1.81076) -> 0 candidate(s)
I0419 21:04:16.313637 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294562132529.
I0419 21:04:16.314908 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:16.314965 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:16.315590 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.480781, 2.43558)
I0419 21:04:16.315670 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:16.315721 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:16.315742 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294562421660.
I0419 21:04:16.317797 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.71917, -2.46731), points=5, range=2.5688, residual=0.0124453, extent=0.0326119
I0419 21:04:16.317852 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.71917, -2.46731), tracking=(-1.01767, 2.46731), map_predicted=(18.6034, -4.33607), range=2.5688, pts=5
I0419 21:04:16.317878 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2443m maha_sq=451.289 (gate chi2=5.99) pose_sigma=(0.150261, 0.150261, rho=0) det_map=(18.6034, -4.33607) lm_pos=(15.915, -2.52) delta=(2.68838, -1.81607) -> 0 candidate(s)
I0419 21:04:16.318445 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:16.319558 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.690051, -4.27634)
I0419 21:04:16.321096 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294563018261.
I0419 21:04:16.330338 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(-1.328, 2.48884)
I0419 21:04:16.330446 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:16.330489 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35722, 0.625682), points=3, range=1.492, residual=0.00601373, extent=0.0118001
I0419 21:04:16.330521 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:16.330551 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35722, 0.625682), tracking=(1.65572, 0.625682), map_predicted=(15.9072, -2.52803), range=1.492, pts=3
I0419 21:04:16.330590 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0111806m maha_sq=0.00543104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9072, -2.52803) lm_pos=(15.915, -2.52) delta=(-0.0077823, -0.00802752) -> 1 candidate(s)
I0419 21:04:16.330732 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294563296409.
I0419 21:04:16.458783 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5539, -1.87779), yaw=-179.344 deg backend=(17.5599, -1.87441)
I0419 21:04:16.460840 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294563580423.
I0419 21:04:16.462337 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-1.29271, 4.27273)
I0419 21:04:16.462535 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294563859161.
I0419 21:04:16.463018 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:16.465791 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.08494, -2.4273), points=5, range=2.6586, residual=0.0116294, extent=0.0310032
I0419 21:04:16.465930 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.08494, -2.4273), tracking=(0.786435, 2.4273), map_predicted=(16.7961, -4.3137), range=2.6586, pts=5
I0419 21:04:16.465968 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99845m maha_sq=171.703 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(16.7961, -4.3137) lm_pos=(15.915, -2.52) delta=(0.88114, -1.7937) -> 0 candidate(s)
I0419 21:04:16.466694 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=3, centroid=(-0.209091, 0.364637)
I0419 21:04:16.466853 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294564178590.
I0419 21:04:16.470409 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294564453525.
I0419 21:04:16.474723 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882278s, prior_pose=(17.5547, -1.87801), yaw=-179.352 deg
I0419 21:04:16.474861 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1219, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:04:16.474995 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(-0.239556, 0.420558)
I0419 21:04:16.475039 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.429306, -0.574848), points=14, range=0.7195, residual=0.0108845, extent=0.0344561
I0419 21:04:16.475075 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.429306, -0.574848), tracking=(0.727806, -0.574848), map_predicted=(16.8205, -1.31144), range=0.7195, pts=14
I0419 21:04:16.475108 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0101514m maha_sq=0.00446953 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8205, -1.31144) lm_pos=(16.815, -1.32) delta=(0.0054505, 0.00856408) -> 1 candidate(s)
I0419 21:04:16.475154 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:16.475855 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:16.566506 1218967 reflector_detector.cc:209] [Detect]   cluster[8]: points=1, centroid=(-0.212498, 0.368062)
I0419 21:04:16.568732 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:16.568799 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:16.568830 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.763617, -0.675559), points=8, range=1.02013, residual=0.00883056, extent=0.026555
I0419 21:04:16.568853 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.763617, -0.675559), tracking=(-1.06212, 0.675559), map_predicted=(18.6262, -2.54336), range=1.02013, pts=8
I0419 21:04:16.568873 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18567m maha_sq=206.411 (gate chi2=5.99) pose_sigma=(0.150382, 0.150382, rho=0) det_map=(18.6262, -2.54336) lm_pos=(16.815, -1.32) delta=(1.81122, -1.22336) -> 0 candidate(s)
I0419 21:04:16.568892 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:16.569649 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294565334264.
I0419 21:04:16.572185 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.35586, 0.622658)
I0419 21:04:16.572276 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.004093 range=0.718214 variance=0.000568315 t_weight=5278.77 r_weight=0 yaml=(16.815, -1.32) prior=(17.5549, -1.87999, -179.3deg) obs_actual=(0.725138, -0.574757) obs_expected=(0.732971, -0.568994) delta=(-0.00783229, -0.00576308) |delta|=0.00972409m
I0419 21:04:16.572369 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294565659601.
I0419 21:04:16.594383 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.425123, -0.576158), points=17, range=0.719647, residual=0.0148618, extent=0.0507169
I0419 21:04:16.594543 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.425123, -0.576158), tracking=(0.723623, -0.576158), map_predicted=(16.8243, -1.31272), range=0.719647, pts=17
I0419 21:04:16.594579 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0117769m maha_sq=0.00598891 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8243, -1.31272) lm_pos=(16.815, -1.32) delta=(0.00925892, 0.00727793) -> 1 candidate(s)
I0419 21:04:16.594688 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294565938896.
I0419 21:04:16.667191 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.678247, -4.28228)
I0419 21:04:16.667953 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:16.668011 1218967 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:16.668053 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:04:16.668118 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294566220872.
I0419 21:04:16.670770 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.31842, 2.48828)
I0419 21:04:16.670874 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.484709, 2.43675), points=5, range=2.4858, residual=0.0112771, extent=0.0297776
I0419 21:04:16.670904 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.484709, 2.43675), tracking=(0.783209, 2.43675), map_predicted=(16.8002, -4.32556), range=2.4858, pts=5
I0419 21:04:16.670928 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01085m maha_sq=173.645 (gate chi2=5.99) pose_sigma=(0.150265, 0.150265, rho=0) det_map=(16.8002, -4.32556) lm_pos=(15.915, -2.52) delta=(0.885151, -1.80556) -> 0 candidate(s)
I0419 21:04:16.671001 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294566538141.
I0419 21:04:16.683115 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:16.683357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294566816851.
I0419 21:04:16.711089 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(-1.31743, 2.49522)
I0419 21:04:16.711371 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.758 deg, rms_residual=0.00770158m, sigma_yaw=0.0101644 rad, N=2
I0419 21:04:16.711541 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5519, -1.8745, -178.758deg) inliers=2 rms=0.00770158m
I0419 21:04:16.711613 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294567097929.
I0419 21:04:16.712685 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.672768, -4.28804), points=3, range=4.34133, residual=0.0125057, extent=0.0259521
I0419 21:04:16.712764 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.672768, -4.28804), tracking=(-0.971268, 4.28804), map_predicted=(18.5813, -6.15292), range=4.34133, pts=3
I0419 21:04:16.712924 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50635m maha_sq=862.208 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5813, -6.15292) lm_pos=(15.915, -2.52) delta=(2.66629, -3.63292) -> 0 candidate(s)
I0419 21:04:16.743201 1264424 reflector_detector.cc:209] [Detect]   cluster[7]: points=2, centroid=(-0.210456, 0.365776)
I0419 21:04:16.869236 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558397s, prior_pose=(17.5502, -1.8787), yaw=-179.118 deg
I0419 21:04:16.869359 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1228, max_intensity=249, threshold=230, above_threshold=22, candidates=22
I0419 21:04:16.870216 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.527551, 4.24534), points=3, range=4.27867, residual=0.0122185, extent=0.0253828
I0419 21:04:16.870294 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.527551, 4.24534), tracking=(0.826051, 4.24534), map_predicted=(16.7896, -6.13625), range=4.27867, pts=3
I0419 21:04:16.870323 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.72051m maha_sq=588.027 (gate chi2=5.99) pose_sigma=(0.150027, 0.150027, rho=0) det_map=(16.7896, -6.13625) lm_pos=(15.915, -2.52) delta=(0.874602, -3.61625) -> 0 candidate(s)
I0419 21:04:16.870399 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294567694391.
I0419 21:04:16.873688 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.491352, 2.43312)
I0419 21:04:16.873910 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294567975139.
I0419 21:04:16.875218 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:16.875280 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:16.877275 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294568294324.
I0419 21:04:16.878464 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.702066, -2.47555)
I0419 21:04:16.878536 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.10336, -2.4211), points=4, range=2.66125, residual=0.0095895, extent=0.0232561
I0419 21:04:16.878568 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.10336, -2.4211), tracking=(0.80486, 2.4211), map_predicted=(16.7849, -4.31256), range=2.66125, pts=4
I0419 21:04:16.878592 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99248m maha_sq=171.163 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7849, -4.31256) lm_pos=(15.915, -2.52) delta=(0.869879, -1.79256) -> 0 candidate(s)
I0419 21:04:16.879304 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:16.879395 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294568573424.
I0419 21:04:16.970261 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00986961 range=0.717294 variance=0.000661359 t_weight=4536.11 r_weight=0 yaml=(16.815, -1.32) prior=(17.5514, -1.87642, -179.019deg) obs_actual=(0.715289, -0.578874) obs_expected=(0.726724, -0.56895) delta=(-0.0114353, -0.00992427) |delta|=0.0151412m
I0419 21:04:16.970409 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294568857697.
I0419 21:04:16.970853 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.706106, -2.47602)
I0419 21:04:16.973116 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.679912, -4.29281), points=4, range=4.34425, residual=0.0160454, extent=0.0389494
I0419 21:04:16.973198 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.679912, -4.29281), tracking=(-0.978412, 4.29281), map_predicted=(18.6031, -6.15185), range=4.34425, pts=4
I0419 21:04:16.973222 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51845m maha_sq=863.116 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6031, -6.15185) lm_pos=(15.915, -2.52) delta=(2.68812, -3.63185) -> 0 candidate(s)
I0419 21:04:16.973685 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:16.973726 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:16.973798 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294569173401.
I0419 21:04:16.976130 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=8, centroid=(0.766646, -0.682185)
I0419 21:04:16.977105 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:16.977171 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:16.977191 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294569453799.
I0419 21:04:16.979286 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.707959, -2.48251), points=5, range=2.5784, residual=0.0142241, extent=0.036602
I0419 21:04:16.979352 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.707959, -2.48251), tracking=(-1.00646, 2.48251), map_predicted=(18.602, -4.33866), range=2.5784, pts=5
I0419 21:04:16.979377 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24461m maha_sq=451.41 (gate chi2=5.99) pose_sigma=(0.150093, 0.150093, rho=0) det_map=(18.602, -4.33866) lm_pos=(15.915, -2.52) delta=(2.687, -1.81866) -> 0 candidate(s)
I0419 21:04:16.980095 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.30275, 2.4937)
I0419 21:04:16.980147 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:16.980218 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294569734143.
I0419 21:04:17.002549 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:17.076155 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:17.115002 1264424 pose_graph_2d.cc:160] Inserted submap (1, 55).
I0419 21:04:17.115913 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294570060981.
I0419 21:04:17.117023 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=9, centroid=(0.770195, -0.685347)
I0419 21:04:17.117815 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.410249, -0.580381), points=17, range=0.713765, residual=0.0138232, extent=0.043483
I0419 21:04:17.117888 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.410249, -0.580381), tracking=(0.708749, -0.580381), map_predicted=(16.8282, -1.31026), range=0.713765, pts=17
I0419 21:04:17.117914 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.016429m maha_sq=0.0116699 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8282, -1.31026) lm_pos=(16.815, -1.32) delta=(0.013228, 0.0097433) -> 1 candidate(s)
I0419 21:04:17.117985 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294570335447.
I0419 21:04:17.119990 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052046s, prior_pose=(17.5467, -1.87562), yaw=-178.781 deg
I0419 21:04:17.120064 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1230, max_intensity=248, threshold=230, above_threshold=20, candidates=20
I0419 21:04:17.120754 1264424 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(-0.237081, 0.416213)
I0419 21:04:17.120867 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294570614544.
I0419 21:04:17.122051 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.31125, 2.50111), points=4, range=2.82275, residual=0.0106715, extent=0.0259016
I0419 21:04:17.122135 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[5]: sensor=(-1.31125, 2.50111), tracking=(-1.01275, 2.50111), map_predicted=(18.6125, -4.35461), range=2.82275, pts=4
I0419 21:04:17.122165 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[5] nearest lm[18] 'ref_19' eucl_dist=3.26222m maha_sq=457.96 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6125, -4.35461) lm_pos=(15.915, -2.52) delta=(2.69746, -1.83461) -> 0 candidate(s)
I0419 21:04:17.122227 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294570907291.
I0419 21:04:17.124758 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:17.124836 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=7, centroid=(0.76649, -0.686083)
I0419 21:04:17.124858 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:17.124888 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:17.125389 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294571219301.
I0419 21:04:17.200984 1264424 reflector_detector.cc:209] [Detect]   cluster[6]: points=5, centroid=(-0.201507, 0.34692)
I0419 21:04:17.201117 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.562794, 4.2272), points=3, range=4.263, residual=0.0122125, extent=0.0249732
I0419 21:04:17.201156 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.562794, 4.2272), tracking=(0.861294, 4.2272), map_predicted=(16.776, -6.12214), range=4.263, pts=3
I0419 21:04:17.201179 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.70361m maha_sq=581.375 (gate chi2=5.99) pose_sigma=(0.150217, 0.150217, rho=0) det_map=(16.776, -6.12214) lm_pos=(15.915, -2.52) delta=(0.860998, -3.60214) -> 0 candidate(s)
I0419 21:04:17.203931 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294571820271.
I0419 21:04:17.210178 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:04:17.210727 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-1.10763, -2.42116)
I0419 21:04:17.210783 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:17.210811 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.771802, -0.688829), points=7, range=1.03343, residual=0.00818216, extent=0.0228399
I0419 21:04:17.210829 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:17.210848 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.771802, -0.688829), tracking=(-1.0703, 0.688829), map_predicted=(18.6305, -2.5406), range=1.03343, pts=7
I0419 21:04:17.210911 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18769m maha_sq=207.917 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6305, -2.5406) lm_pos=(16.815, -1.32) delta=(1.81552, -1.2206) -> 0 candidate(s)
I0419 21:04:17.215339 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5439, -1.87617), yaw=-178.587 deg backend=(17.5469, -1.87938)
I0419 21:04:17.238317 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0083369 range=0.715467 variance=0.000557996 t_weight=5376.39 r_weight=0 yaml=(16.815, -1.32) prior=(17.5439, -1.87617, -178.587deg) obs_actual=(0.707284, -0.585558) obs_expected=(0.714928, -0.57398) delta=(-0.00764321, -0.0115775) |delta|=0.0138729m
I0419 21:04:17.238457 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294572378174.
I0419 21:04:17.264197 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.684067, -2.48054)
I0419 21:04:17.346589 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.574483, 4.22108), points=3, range=4.255, residual=0.0148783, extent=0.0306023
I0419 21:04:17.346743 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:17.346761 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.574483, 4.22108), tracking=(0.872983, 4.22108), map_predicted=(16.7812, -6.11827), range=4.255, pts=3
I0419 21:04:17.346789 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.70105m maha_sq=579.74 (gate chi2=5.99) pose_sigma=(0.150095, 0.150095, rho=0) det_map=(16.7812, -6.11827) lm_pos=(15.915, -2.52) delta=(0.86618, -3.59827) -> 0 candidate(s)
I0419 21:04:17.346903 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294572694630.
I0419 21:04:17.349037 1232263 reflector_detector.cc:209] [Detect]   cluster[6]: points=7, centroid=(-0.194093, 0.332157)
I0419 21:04:17.349195 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294572985020.
I0419 21:04:17.352532 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.514378, 2.41993), points=5, range=2.4736, residual=0.0102343, extent=0.0288439
I0419 21:04:17.352649 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.514378, 2.41993), tracking=(0.812878, 2.41993), map_predicted=(16.7957, -4.31711), range=2.4736, pts=5
I0419 21:04:17.352679 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00129m maha_sq=172.462 (gate chi2=5.99) pose_sigma=(0.150136, 0.150136, rho=0) det_map=(16.7957, -4.31711) lm_pos=(15.915, -2.52) delta=(0.880661, -1.79711) -> 0 candidate(s)
I0419 21:04:17.352748 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294573256250.
I0419 21:04:17.355580 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0858232s, prior_pose=(17.5433, -1.87624), yaw=-178.463 deg
I0419 21:04:17.355728 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1217, max_intensity=255, threshold=230, above_threshold=40, candidates=40
I0419 21:04:17.355944 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294573552862.
I0419 21:04:17.356328 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-1.11789, -2.41565)
I0419 21:04:17.388258 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34698, 0.597357), points=3, range=1.477, residual=0.00859252, extent=0.0181585
I0419 21:04:17.388418 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.34698, 0.597357), tracking=(1.64548, 0.597357), map_predicted=(15.9139, -2.51908), range=1.477, pts=3
I0419 21:04:17.388449 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0014373m maha_sq=8.94709e-05 (gate chi2=5.99) pose_sigma=(0.15012, 0.15012, rho=0) det_map=(15.9139, -2.51908) lm_pos=(15.915, -2.52) delta=(-0.00110238, 0.000922274) -> 1 candidate(s)
I0419 21:04:17.388507 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.305 deg, rms_residual=0.0070152m, sigma_yaw=0.00926692 rad, N=2
I0419 21:04:17.388538 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5379, -1.87983, -178.305deg) inliers=2 rms=0.0070152m
I0419 21:04:17.388568 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294573876675.
I0419 21:04:17.465685 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:17.465862 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.682626, -2.48949)
I0419 21:04:17.465927 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:17.467010 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 196
I0419 21:04:17.467015 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294574178713.
I0419 21:04:17.468272 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:17.468407 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294574443344.
I0419 21:04:17.468765 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.769159, -0.69724)
I0419 21:04:17.468818 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.13021, -2.41457), points=3, range=2.665, residual=0.0076649, extent=0.016012
I0419 21:04:17.468844 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.13021, -2.41457), tracking=(0.831714, 2.41457), map_predicted=(16.7804, -4.31354), range=2.665, pts=3
I0419 21:04:17.468866 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99141m maha_sq=171.221 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7804, -4.31354) lm_pos=(15.915, -2.52) delta=(0.865409, -1.79354) -> 0 candidate(s)
I0419 21:04:17.474507 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294574739289.
I0419 21:04:17.506142 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.52103, 2.41665)
I0419 21:04:17.506237 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:17.506268 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.399223, -0.588102), points=15, range=0.713267, residual=0.0120962, extent=0.0376155
I0419 21:04:17.506289 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:17.506309 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.399223, -0.588102), tracking=(0.697723, -0.588102), map_predicted=(16.8234, -1.30948), range=0.713267, pts=15
I0419 21:04:17.506333 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0134923m maha_sq=0.00788386 (gate chi2=5.99) pose_sigma=(0.150022, 0.150022, rho=0) det_map=(16.8234, -1.30948) lm_pos=(16.815, -1.32) delta=(0.00844745, 0.0105206) -> 1 candidate(s)
I0419 21:04:17.506546 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294575057258.
I0419 21:04:17.616876 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00380771 range=0.712625 variance=0.000622347 t_weight=4820.46 r_weight=0 yaml=(16.815, -1.32) prior=(17.5374, -1.8808, -178.128deg) obs_actual=(0.695108, -0.587921) obs_expected=(0.703708, -0.584102) delta=(-0.00859981, -0.00381892) |delta|=0.00940961m
I0419 21:04:17.617125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294575334407.
I0419 21:04:17.618803 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.675838, -2.4932)
I0419 21:04:17.618881 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.767038, -0.698747), points=7, range=1.04, residual=0.0088204, extent=0.0217444
I0419 21:04:17.618907 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.767038, -0.698747), tracking=(-1.06554, 0.698747), map_predicted=(18.6252, -2.54438), range=1.04, pts=7
I0419 21:04:17.618932 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18539m maha_sq=207.38 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6252, -2.54438) lm_pos=(16.815, -1.32) delta=(1.8102, -1.22438) -> 0 candidate(s)
I0419 21:04:17.619567 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 21:04:17.619688 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294575620702.
I0419 21:04:17.622948 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=7, centroid=(-0.184211, 0.313111)
I0419 21:04:17.623100 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:17.623148 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:17.623169 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294575939205.
I0419 21:04:17.624332 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.775066, -0.700912), points=5, range=1.043, residual=0.00880435, extent=0.0220478
I0419 21:04:17.624405 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.775066, -0.700912), tracking=(-1.07357, 0.700912), map_predicted=(18.6343, -2.54431), range=1.043, pts=5
I0419 21:04:17.624430 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19291m maha_sq=208.811 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6343, -2.54431) lm_pos=(16.815, -1.32) delta=(1.81932, -1.22431) -> 0 candidate(s)
I0419 21:04:17.626241 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294576215036.
I0419 21:04:17.645956 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592146s, prior_pose=(17.5375, -1.87804), yaw=-178.034 deg
I0419 21:04:17.646067 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1225, max_intensity=251, threshold=230, above_threshold=23, candidates=23
I0419 21:04:17.650379 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.521024, 2.41665)
I0419 21:04:17.692454 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:17.736311 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:17.737160 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.395278, -0.589649), points=15, range=0.712133, residual=0.011616, extent=0.0371814
I0419 21:04:17.737257 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.395278, -0.589649), tracking=(0.693778, -0.589649), map_predicted=(16.8232, -1.28026), range=0.712133, pts=15
I0419 21:04:17.737322 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0405704m maha_sq=0.0690634 (gate chi2=5.99) pose_sigma=(0.152512, 0.152512, rho=0) det_map=(16.8232, -1.28026) lm_pos=(16.815, -1.32) delta=(0.00816626, 0.03974) -> 1 candidate(s)
I0419 21:04:17.737413 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294576814272.
I0419 21:04:17.738462 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:17.738523 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.668794, -2.49594)
I0419 21:04:17.738544 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:17.738575 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:17.742184 1218970 reflector_detector.cc:209] [Detect]   cluster[6]: points=6, centroid=(-0.178937, 0.303121)
I0419 21:04:17.742305 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.528272, 2.4161), points=6, range=2.4735, residual=0.012869, extent=0.0361001
I0419 21:04:17.742336 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.528272, 2.4161), tracking=(0.826772, 2.4161), map_predicted=(16.8005, -4.29822), range=2.4735, pts=6
I0419 21:04:17.742354 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=1.98651m maha_sq=168.317 (gate chi2=5.99) pose_sigma=(0.150671, 0.150671, rho=0) det_map=(16.8005, -4.29822) lm_pos=(15.915, -2.52) delta=(0.885534, -1.77822) -> 0 candidate(s)
I0419 21:04:17.748170 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:17.749922 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:17.754842 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:17.765868 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294577652629.
I0419 21:04:17.798918 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.521023, 2.41665)
I0419 21:04:17.799093 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:17.799163 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.598957, 4.21717), points=3, range=4.258, residual=0.012145, extent=0.0250871
I0419 21:04:17.799212 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:17.799266 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.598957, 4.21717), tracking=(0.897457, 4.21717), map_predicted=(16.7966, -6.10697), range=4.258, pts=3
I0419 21:04:17.799324 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.69373m maha_sq=579.944 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7966, -6.10697) lm_pos=(15.915, -2.52) delta=(0.881634, -3.58697) -> 0 candidate(s)
I0419 21:04:17.799391 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:04:17.799500 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294577981800.
I0419 21:04:17.875104 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294578259656.
I0419 21:04:17.877137 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(0.671354, -2.49092)
I0419 21:04:17.878029 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.28694, 2.50771), points=4, range=2.816, residual=0.0119053, extent=0.0293237
I0419 21:04:17.878145 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:17.878168 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.28694, 2.50771), tracking=(-0.988443, 2.50771), map_predicted=(18.6131, -4.34043), range=2.816, pts=4
I0419 21:04:17.878194 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25483m maha_sq=454.169 (gate chi2=5.99) pose_sigma=(0.150203, 0.150203, rho=0) det_map=(18.6131, -4.34043) lm_pos=(15.915, -2.52) delta=(2.69814, -1.82043) -> 0 candidate(s)
I0419 21:04:17.886148 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.28344, 2.50987)
I0419 21:04:17.886389 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294578857391.
I0419 21:04:17.915328 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294579143013.
I0419 21:04:18.018357 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564989s, prior_pose=(17.5368, -1.87099), yaw=-177.853 deg
I0419 21:04:18.018518 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1239, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:04:18.018635 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.13188, -2.409), points=4, range=2.661, residual=0.00981117, extent=0.0232041
I0419 21:04:18.018669 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.13188, -2.409), tracking=(0.833377, 2.409), map_predicted=(16.7943, -4.30952), range=2.661, pts=4
I0419 21:04:18.018695 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99387m maha_sq=170.621 (gate chi2=5.99) pose_sigma=(0.15034, 0.15034, rho=0) det_map=(16.7943, -4.30952) lm_pos=(15.915, -2.52) delta=(0.879273, -1.78952) -> 0 candidate(s)
I0419 21:04:18.019590 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.35077, 0.584987)
I0419 21:04:18.022867 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.28106, 2.50519), points=5, range=2.8162, residual=0.0145585, extent=0.0389124
I0419 21:04:18.022984 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[5]: sensor=(-1.28106, 2.50519), tracking=(-0.982562, 2.50519), map_predicted=(18.6135, -4.33853), range=2.8162, pts=5
I0419 21:04:18.023015 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[5] nearest lm[18] 'ref_19' eucl_dist=3.25408m maha_sq=451.26 (gate chi2=5.99) pose_sigma=(0.150433, 0.150433, rho=0) det_map=(18.6135, -4.33853) lm_pos=(15.915, -2.52) delta=(2.69851, -1.81853) -> 0 candidate(s)
I0419 21:04:18.023077 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00762456 range=0.714437 variance=0.000615414 t_weight=4874.77 r_weight=0 yaml=(16.815, -1.32) prior=(17.5376, -1.872, -177.848deg) obs_actual=(0.6959, -0.59089) obs_expected=(0.701342, -0.57874) delta=(-0.00544204, -0.01215) |delta|=0.0133131m
I0419 21:04:18.023151 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294579740010.
I0419 21:04:18.024215 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:18.024276 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.604655, -4.30237)
I0419 21:04:18.024299 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:18.025637 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294580029468.
I0419 21:04:18.034475 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=6, centroid=(-1.27904, 2.50125)
I0419 21:04:18.034610 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.27543, 2.50317), points=6, range=2.80933, residual=0.0150395, extent=0.0414
I0419 21:04:18.034641 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.27543, 2.50317), tracking=(-0.976934, 2.50317), map_predicted=(18.6079, -4.33706), range=2.80933, pts=6
I0419 21:04:18.034663 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.2486m maha_sq=451.759 (gate chi2=5.99) pose_sigma=(0.15004, 0.15004, rho=0) det_map=(18.6079, -4.33706) lm_pos=(15.915, -2.52) delta=(2.69289, -1.81706) -> 0 candidate(s)
I0419 21:04:18.034684 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:18.034780 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294580340101.
I0419 21:04:18.145378 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.3556, 0.584728)
I0419 21:04:18.145480 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:18.145506 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:18.145606 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294580899037.
I0419 21:04:18.146981 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5354, -1.87314), yaw=-177.812 deg backend=(17.5325, -1.88212)
I0419 21:04:18.147949 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.524459, 2.41546), points=5, range=2.4722, residual=0.0108776, extent=0.0290396
I0419 21:04:18.148036 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.524459, 2.41546), tracking=(0.822959, 2.41546), map_predicted=(16.8053, -4.31826), range=2.4722, pts=5
I0419 21:04:18.148069 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=2.00657m maha_sq=173.272 (gate chi2=5.99) pose_sigma=(0.150136, 0.150136, rho=0) det_map=(16.8053, -4.31826) lm_pos=(15.915, -2.52) delta=(0.890278, -1.79826) -> 0 candidate(s)
I0419 21:04:18.149904 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.598146, -4.30134)
I0419 21:04:18.150511 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:18.178298 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.528591, 2.41755), points=4, range=2.47475, residual=0.00885706, extent=0.0216259
I0419 21:04:18.178476 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.528591, 2.41755), tracking=(0.827091, 2.41755), map_predicted=(16.8042, -4.3202), range=2.47475, pts=4
I0419 21:04:18.178542 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00784m maha_sq=173.593 (gate chi2=5.99) pose_sigma=(0.150222, 0.150222, rho=0) det_map=(16.8042, -4.3202) lm_pos=(15.915, -2.52) delta=(0.889207, -1.8002) -> 0 candidate(s)
I0419 21:04:18.178743 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294581778055.
I0419 21:04:18.179183 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.592771, -4.30874)
I0419 21:04:18.256256 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:18.257632 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0834603s, prior_pose=(17.5368, -1.87452), yaw=-177.714 deg
I0419 21:04:18.257727 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1227, max_intensity=253, threshold=230, above_threshold=17, candidates=17
I0419 21:04:18.259377 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.389072, -0.593305)
I0419 21:04:18.259457 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.387708, -0.593185), points=16, range=0.709562, residual=0.0113022, extent=0.0411045
I0419 21:04:18.259487 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.387708, -0.593185), tracking=(0.686208, -0.593185), map_predicted=(16.8247, -1.31153), range=0.709562, pts=16
I0419 21:04:18.259509 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0128885m maha_sq=0.00716651 (gate chi2=5.99) pose_sigma=(0.150379, 0.150379, rho=0) det_map=(16.8247, -1.31153) lm_pos=(16.815, -1.32) delta=(0.0097118, 0.00847318) -> 1 candidate(s)
I0419 21:04:18.295487 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:18.295742 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-1.1438, -2.40705)
I0419 21:04:18.295904 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:18.296094 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:18.298027 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.386458, -0.595031), points=14, range=0.710714, residual=0.0108252, extent=0.0381393
I0419 21:04:18.298105 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.386458, -0.595031), tracking=(0.684958, -0.595031), map_predicted=(16.8241, -1.31132), range=0.710714, pts=14
I0419 21:04:18.298134 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0126053m maha_sq=0.00684792 (gate chi2=5.99) pose_sigma=(0.150494, 0.150494, rho=0) det_map=(16.8241, -1.31132) lm_pos=(16.815, -1.32) delta=(0.00913703, 0.00868381) -> 1 candidate(s)
I0419 21:04:18.298192 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.314 deg, rms_residual=0.00801944m, sigma_yaw=0.0105795 rad, N=2
I0419 21:04:18.298255 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5319, -1.87587, -177.314deg) inliers=2 rms=0.00801944m
I0419 21:04:18.298290 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294582975930.
I0419 21:04:18.397588 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.537415, 2.40755)
I0419 21:04:18.397804 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294583252262.
I0419 21:04:18.399137 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.26668, 2.51306), points=5, range=2.8124, residual=0.0130593, extent=0.0345019
I0419 21:04:18.399246 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.26668, 2.51306), tracking=(-0.968178, 2.51306), map_predicted=(18.6053, -4.34303), range=2.8124, pts=5
I0419 21:04:18.399291 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=3.2498m maha_sq=453.401 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6053, -4.34303) lm_pos=(15.915, -2.52) delta=(2.69031, -1.82303) -> 0 candidate(s)
I0419 21:04:18.399374 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294583540069.
I0419 21:04:18.399753 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.651063, -2.50243)
I0419 21:04:18.402645 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:18.402736 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:18.402781 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:04:18.402908 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294583857148.
I0419 21:04:18.410319 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.768944, -0.713502)
I0419 21:04:18.414208 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.37852, -0.597906), points=15, range=0.709933, residual=0.0118185, extent=0.0383883
I0419 21:04:18.414317 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.37852, -0.597906), tracking=(0.67702, -0.597906), map_predicted=(16.8218, -1.30953), range=0.709933, pts=15
I0419 21:04:18.414352 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0124684m maha_sq=0.00672825 (gate chi2=5.99) pose_sigma=(0.150095, 0.150095, rho=0) det_map=(16.8218, -1.30953) lm_pos=(16.815, -1.32) delta=(0.00677421, 0.0104676) -> 1 candidate(s)
I0419 21:04:18.414475 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294584134726.
I0419 21:04:18.442313 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(-1.1611, 4.30828)
I0419 21:04:18.442430 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:18.442502 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00820341 range=0.7115 variance=0.00062616 t_weight=4791.11 r_weight=0 yaml=(16.815, -1.32) prior=(17.5264, -1.87466, -177.282deg) obs_actual=(0.676665, -0.599247) obs_expected=(0.684283, -0.587772) delta=(-0.00761786, -0.0114753) |delta|=0.0137737m
I0419 21:04:18.442597 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294584418328.
I0419 21:04:18.519181 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:18.519165 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.768365, -0.716489), points=6, range=1.05217, residual=0.00778443, extent=0.022138
I0419 21:04:18.519306 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.768365, -0.716489), tracking=(-1.06686, 0.716489), map_predicted=(18.6305, -2.53838), range=1.05217, pts=6
I0419 21:04:18.519342 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18645m maha_sq=207.019 (gate chi2=5.99) pose_sigma=(0.150263, 0.150263, rho=0) det_map=(18.6305, -2.53838) lm_pos=(16.815, -1.32) delta=(1.81552, -1.21838) -> 0 candidate(s)
I0419 21:04:18.520066 1219452 reflector_detector.cc:209] [Detect]   cluster[9]: points=1, centroid=(-0.0887204, 0.143839)
I0419 21:04:18.520216 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294584741943.
I0419 21:04:18.527400 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567402s, prior_pose=(17.5258, -1.87632), yaw=-177.057 deg
I0419 21:04:18.527520 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1244, max_intensity=250, threshold=230, above_threshold=21, candidates=21
I0419 21:04:18.527622 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.632508, -2.50573), points=4, range=2.5875, residual=0.0123799, extent=0.0301605
I0419 21:04:18.527652 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.632508, -2.50573), tracking=(-0.931008, 2.50573), map_predicted=(18.5842, -4.33096), range=2.5875, pts=4
I0419 21:04:18.527676 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.22554m maha_sq=445.698 (gate chi2=5.99) pose_sigma=(0.150326, 0.150326, rho=0) det_map=(18.5842, -4.33096) lm_pos=(15.915, -2.52) delta=(2.66919, -1.81096) -> 0 candidate(s)
I0419 21:04:18.530277 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.376188, -0.601846)
I0419 21:04:18.530434 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:18.530493 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:18.530512 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294585298128.
I0419 21:04:18.565197 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294585645877.
I0419 21:04:18.586182 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:18.586313 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-1.15758, -2.3999)
I0419 21:04:18.586344 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:18.586380 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.642513, -2.51454), points=4, range=2.59325, residual=0.0107651, extent=0.0266163
I0419 21:04:18.586417 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.642513, -2.51454), tracking=(-0.941013, 2.51454), map_predicted=(18.5957, -4.33851), range=2.59325, pts=4
I0419 21:04:18.586452 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23932m maha_sq=452.116 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.5957, -4.33851) lm_pos=(15.915, -2.52) delta=(2.68071, -1.81851) -> 0 candidate(s)
I0419 21:04:18.664104 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294585902474.
I0419 21:04:18.666105 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.658563, 4.19738)
I0419 21:04:18.666232 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:18.666308 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294586180161.
I0419 21:04:18.668339 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.537026, -4.32176), points=3, range=4.35133, residual=0.0137771, extent=0.0284535
I0419 21:04:18.668421 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.537026, -4.32176), tracking=(-0.835526, 4.32176), map_predicted=(18.5934, -6.14668), range=4.35133, pts=3
I0419 21:04:18.668453 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50849m maha_sq=859.761 (gate chi2=5.99) pose_sigma=(0.150179, 0.150179, rho=0) det_map=(18.5934, -6.14668) lm_pos=(15.915, -2.52) delta=(2.67837, -3.62668) -> 0 candidate(s)
I0419 21:04:18.669126 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294586499080.
I0419 21:04:18.673782 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=9, centroid=(0.768512, -0.725008)
I0419 21:04:18.678468 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:18.678714 1232263 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:18.678926 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294586778482.
I0419 21:04:18.706272 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.28038, -4.18797), points=3, range=4.37933, residual=0.011093, extent=0.0270161
I0419 21:04:18.706377 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.28038, -4.18797), tracking=(0.981883, 4.18797), map_predicted=(16.7781, -6.11735), range=4.37933, pts=3
I0419 21:04:18.706446 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69944m maha_sq=581.695 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7781, -6.11735) lm_pos=(15.915, -2.52) delta=(0.863073, -3.59735) -> 0 candidate(s)
I0419 21:04:18.709736 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294587092214.
I0419 21:04:18.787849 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-1.17438, -2.39896)
I0419 21:04:18.788769 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 6 cluster(s).
I0419 21:04:18.788883 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294587376410.
I0419 21:04:18.790016 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.17552, -2.39247), points=4, range=2.664, residual=0.0101889, extent=0.0245774
I0419 21:04:18.790103 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.17552, -2.39247), tracking=(0.877017, 2.39247), map_predicted=(16.7854, -4.32025), range=2.664, pts=4
I0419 21:04:18.790134 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99963m maha_sq=172.304 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7854, -4.32025) lm_pos=(15.915, -2.52) delta=(0.870407, -1.80025) -> 0 candidate(s)
I0419 21:04:18.791801 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.682461, 4.19027)
I0419 21:04:18.791908 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00502424 range=0.706429 variance=0.000570429 t_weight=5259.2 r_weight=0 yaml=(16.815, -1.32) prior=(17.5147, -1.87752, -176.403deg) obs_actual=(0.655034, -0.607194) obs_expected=(0.663334, -0.600312) delta=(-0.0083008, -0.00688172) |delta|=0.0107825m
I0419 21:04:18.791965 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294587677324.
I0419 21:04:18.798411 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.24327, 2.53039), points=4, range=2.818, residual=0.0107976, extent=0.0265551
I0419 21:04:18.798671 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[5]: sensor=(-1.24327, 2.53039), tracking=(-0.944773, 2.53039), map_predicted=(18.6163, -4.34366), range=2.818, pts=4
I0419 21:04:18.798825 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[5] nearest lm[18] 'ref_19' eucl_dist=3.25928m maha_sq=457.094 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6163, -4.34366) lm_pos=(15.915, -2.52) delta=(2.70133, -1.82366) -> 0 candidate(s)
I0419 21:04:18.799027 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294587977943.
I0419 21:04:18.822243 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0539912s, prior_pose=(17.513, -1.87596), yaw=-176.339 deg
I0419 21:04:18.822369 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1241, max_intensity=253, threshold=230, above_threshold=22, candidates=22
I0419 21:04:18.822466 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=7, centroid=(0.77404, -0.730222)
I0419 21:04:18.826683 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294588261372.
I0419 21:04:18.931965 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.23, 2.53121), points=5, range=2.8136, residual=0.0127131, extent=0.0327567
I0419 21:04:18.932159 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.23, 2.53121), tracking=(-0.931497, 2.53121), map_predicted=(18.6064, -4.32467), range=2.8136, pts=5
I0419 21:04:18.932197 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24044m maha_sq=444.029 (gate chi2=5.99) pose_sigma=(0.151207, 0.151207, rho=0) det_map=(18.6064, -4.32467) lm_pos=(15.915, -2.52) delta=(2.6914, -1.80467) -> 0 candidate(s)
I0419 21:04:18.933871 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:18.933965 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-1.17469, -2.39078)
I0419 21:04:18.933983 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:18.934022 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:18.935052 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294588855818.
I0419 21:04:18.938342 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.689602, 4.19569)
I0419 21:04:18.938470 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.11301, 4.32973), points=3, range=4.47067, residual=0.0125134, extent=0.0260822
I0419 21:04:18.938503 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.11301, 4.32973), tracking=(-0.814512, 4.32973), map_predicted=(18.6073, -6.13038), range=4.47067, pts=3
I0419 21:04:18.938524 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.5037m maha_sq=856.623 (gate chi2=5.99) pose_sigma=(0.150323, 0.150323, rho=0) det_map=(18.6073, -6.13038) lm_pos=(15.915, -2.52) delta=(2.69229, -3.61038) -> 0 candidate(s)
I0419 21:04:18.938644 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294589142172.
I0419 21:04:18.943701 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.049 deg, rms_residual=0.00896996m, sigma_yaw=0.0118186 rad, N=2
I0419 21:04:18.943840 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.5037, -1.87573, -176.049deg) inliers=2 rms=0.00896996m
I0419 21:04:18.943889 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294589430306.
I0419 21:04:18.970098 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.784428, -0.729751)
I0419 21:04:18.974668 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:18.974771 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.12711, 4.33228), points=3, range=4.47867, residual=0.0133349, extent=0.0279051
I0419 21:04:18.974797 1219452 reflector_detector.cc:337] [Detect] RESULT: 6 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:18.974818 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-1.12711, 4.33228), tracking=(-0.828605, 4.33228), map_predicted=(18.6191, -6.13533), range=4.47867, pts=3
I0419 21:04:18.974845 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[18] 'ref_19' eucl_dist=4.51471m maha_sq=858.963 (gate chi2=5.99) pose_sigma=(0.150416, 0.150416, rho=0) det_map=(18.6191, -6.13533) lm_pos=(15.915, -2.52) delta=(2.70408, -3.61533) -> 0 candidate(s)
I0419 21:04:18.974884 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:04:18.974984 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294589740653.
I0419 21:04:19.051079 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.5054, -1.87018), yaw=-176.174 deg backend=(17.5061, -1.88104)
I0419 21:04:19.052786 1219452 reflector_detector.cc:209] [Detect]   cluster[7]: points=5, centroid=(-0.115164, 0.188151)
I0419 21:04:19.053000 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294590023540.
I0419 21:04:19.056011 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.25343, 2.53244), points=4, range=2.825, residual=0.0102094, extent=0.0249751
I0419 21:04:19.056131 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:19.056149 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-1.25343, 2.53244), tracking=(-0.954934, 2.53244), map_predicted=(18.6225, -4.33586), range=2.825, pts=4
I0419 21:04:19.056174 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26003m maha_sq=455.065 (gate chi2=5.99) pose_sigma=(0.150419, 0.150419, rho=0) det_map=(18.6225, -4.33586) lm_pos=(15.915, -2.52) delta=(2.70749, -1.81586) -> 0 candidate(s)
I0419 21:04:19.062230 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.556474, 2.39442)
I0419 21:04:19.062358 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:19.090016 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:19.114230 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836948s, prior_pose=(17.498, -1.8747), yaw=-176.159 deg
I0419 21:04:19.114343 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1243, max_intensity=251, threshold=230, above_threshold=22, candidates=22
I0419 21:04:19.114454 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.27746, -4.1784)
I0419 21:04:19.114499 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.511584, -4.32233), points=3, range=4.35633, residual=0.0143105, extent=0.0299702
I0419 21:04:19.114532 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.511584, -4.32233), tracking=(-0.810084, 4.32233), map_predicted=(18.5958, -6.13305), range=4.35633, pts=3
I0419 21:04:19.114564 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.49898m maha_sq=850.468 (gate chi2=5.99) pose_sigma=(0.15065, 0.15065, rho=0) det_map=(18.5958, -6.13305) lm_pos=(15.915, -2.52) delta=(2.6808, -3.61305) -> 0 candidate(s)
I0419 21:04:19.212096 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294591182337.
I0419 21:04:19.214066 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.676056, 4.18946)
I0419 21:04:19.214249 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294591492641.
I0419 21:04:19.216365 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:19.216454 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:19.216483 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.518487, -4.3267), points=4, range=4.35825, residual=0.0159847, extent=0.0388458
I0419 21:04:19.216508 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.518487, -4.3267), tracking=(-0.816987, 4.3267), map_predicted=(18.5946, -6.13724), range=4.35825, pts=4
I0419 21:04:19.216533 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.50161m maha_sq=855.496 (gate chi2=5.99) pose_sigma=(0.150107, 0.150107, rho=0) det_map=(18.5946, -6.13724) lm_pos=(15.915, -2.52) delta=(2.67957, -3.61724) -> 0 candidate(s)
I0419 21:04:19.219081 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.675896, 4.18847)
I0419 21:04:19.219183 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:19.219233 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0135608 range=0.695944 variance=0.000645446 t_weight=4647.95 r_weight=0 yaml=(16.815, -1.32) prior=(17.4934, -1.87399, -176.21deg) obs_actual=(0.627299, -0.609668) obs_expected=(0.640306, -0.597621) delta=(-0.0130066, -0.0120471) |delta|=0.0177287m
I0419 21:04:19.219344 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294592057906.
I0419 21:04:19.234272 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.27362, -4.1876), points=3, range=4.37633, residual=0.0122686, extent=0.0254752
I0419 21:04:19.234380 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.27362, -4.1876), tracking=(0.975121, 4.1876), map_predicted=(16.7936, -6.11726), range=4.37633, pts=3
I0419 21:04:19.234414 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70299m maha_sq=580.321 (gate chi2=5.99) pose_sigma=(0.150247, 0.150247, rho=0) det_map=(16.7936, -6.11726) lm_pos=(15.915, -2.52) delta=(0.878561, -3.59726) -> 0 candidate(s)
I0419 21:04:19.238864 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.669396, 4.1868)
I0419 21:04:19.336082 1219494 reflector_detector.cc:209] [Detect]   cluster[8]: points=1, centroid=(-0.109724, 0.179055)
I0419 21:04:19.336215 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:19.336246 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:19.336355 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294592651963.
I0419 21:04:19.337637 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.531181, 2.39601), points=6, range=2.45317, residual=0.0131305, extent=0.0367877
I0419 21:04:19.337749 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.531181, 2.39601), tracking=(0.829681, 2.39601), map_predicted=(16.824, -4.31906), range=2.45317, pts=6
I0419 21:04:19.337783 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01567m maha_sq=174.766 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.824, -4.31906) lm_pos=(15.915, -2.52) delta=(0.909023, -1.79906) -> 0 candidate(s)
I0419 21:04:19.337836 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:19.337898 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:19.337920 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294592938059.
I0419 21:04:19.341169 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.323992, -0.609125)
I0419 21:04:19.341286 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:19.341372 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294593256756.
I0419 21:04:19.350540 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.660085, -2.52204), points=4, range=2.60425, residual=0.0113491, extent=0.0277917
I0419 21:04:19.350649 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.660085, -2.52204), tracking=(-0.958585, 2.52204), map_predicted=(18.6058, -4.32858), range=2.60425, pts=4
I0419 21:04:19.350688 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24209m maha_sq=451.258 (gate chi2=5.99) pose_sigma=(0.150232, 0.150232, rho=0) det_map=(18.6058, -4.32858) lm_pos=(15.915, -2.52) delta=(2.69076, -1.80858) -> 0 candidate(s)
I0419 21:04:19.357748 1264424 reflector_detector.cc:209] [Detect]   cluster[6]: points=2, centroid=(-1.28292, 2.52699)
I0419 21:04:19.358022 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294593571624.
I0419 21:04:19.476814 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294593861616.
I0419 21:04:19.478250 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594928s, prior_pose=(17.4812, -1.87596), yaw=-176.281 deg
I0419 21:04:19.478432 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1231, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:04:19.478557 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.543697, -4.32394)
I0419 21:04:19.478624 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.805175, -0.731355), points=6, range=1.0915, residual=0.0108333, extent=0.0240048
I0419 21:04:19.478683 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.805175, -0.731355), tracking=(-1.10368, 0.731355), map_predicted=(18.63, -2.5342), range=1.0915, pts=6
I0419 21:04:19.478745 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1837m maha_sq=206.68 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.63, -2.5342) lm_pos=(16.815, -1.32) delta=(1.81501, -1.2142) -> 0 candidate(s)
I0419 21:04:19.482347 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.657822, 4.19243)
I0419 21:04:19.483791 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:19.483868 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:19.483911 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:19.486673 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.317846, -0.610479), points=17, range=0.688824, residual=0.0126782, extent=0.043973
I0419 21:04:19.486815 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.317846, -0.610479), tracking=(0.616346, -0.610479), map_predicted=(16.8207, -1.30801), range=0.688824, pts=17
I0419 21:04:19.486850 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0132612m maha_sq=0.00756636 (gate chi2=5.99) pose_sigma=(0.150482, 0.150482, rho=0) det_map=(16.8207, -1.30801) lm_pos=(16.815, -1.32) delta=(0.0056646, 0.0119905) -> 1 candidate(s)
I0419 21:04:19.486972 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294594738197.
I0419 21:04:19.497766 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.557491, -4.33193)
I0419 21:04:19.502610 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294595019980.
I0419 21:04:19.578076 1219494 reflector_detector.cc:209] [Detect]   cluster[5]: points=4, centroid=(-1.28532, 2.53164)
I0419 21:04:19.578258 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30142, 0.541282), points=3, range=1.40767, residual=0.00505982, extent=0.00958936
I0419 21:04:19.578305 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30142, 0.541282), tracking=(1.59992, 0.541282), map_predicted=(15.9074, -2.51995), range=1.40767, pts=3
I0419 21:04:19.578334 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00756151m maha_sq=0.00247304 (gate chi2=5.99) pose_sigma=(0.150399, 0.150399, rho=0) det_map=(15.9074, -2.51995) lm_pos=(15.915, -2.52) delta=(-0.00756133, 5.23073e-05) -> 1 candidate(s)
I0419 21:04:19.578438 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294595293324.
I0419 21:04:19.581434 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:19.581566 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:19.581606 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:04:19.581683 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294595613135.
I0419 21:04:19.590109 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29644, 0.545838)
I0419 21:04:19.590265 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29181, 0.54611), points=3, range=1.40667, residual=0.00977707, extent=0.0206847
I0419 21:04:19.590308 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.29181, 0.54611), tracking=(1.59031, 0.54611), map_predicted=(15.9143, -2.52322), range=1.40667, pts=3
I0419 21:04:19.590334 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00329253m maha_sq=0.000469907 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9143, -2.52322) lm_pos=(15.915, -2.52) delta=(-0.000666547, -0.00322436) -> 1 candidate(s)
I0419 21:04:19.590392 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0109344 range=0.681412 variance=0.000652175 t_weight=4599.99 r_weight=0 yaml=(16.815, -1.32) prior=(17.467, -1.87778, -176.379deg) obs_actual=(0.601952, -0.606249) obs_expected=(0.615457, -0.597838) delta=(-0.0135059, -0.00841098) |delta|=0.0159108m
I0419 21:04:19.590466 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294595896902.
I0419 21:04:19.622617 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:19.623207 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294596218277.
I0419 21:04:19.646914 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.22895, -4.19362)
I0419 21:04:19.750963 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.301164, -0.606113), points=17, range=0.679235, residual=0.012662, extent=0.0409882
I0419 21:04:19.751065 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:19.751091 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.301164, -0.606113), tracking=(0.599664, -0.606113), map_predicted=(16.8254, -1.31003), range=0.679235, pts=17
I0419 21:04:19.751118 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0144306m maha_sq=0.00900091 (gate chi2=5.99) pose_sigma=(0.150129, 0.150129, rho=0) det_map=(16.8254, -1.31003) lm_pos=(16.815, -1.32) delta=(0.0104295, 0.00997334) -> 1 candidate(s)
I0419 21:04:19.751201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294596466032.
I0419 21:04:19.753032 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.614151, 4.19258)
I0419 21:04:19.753173 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294596780022.
I0419 21:04:19.755016 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551115s, prior_pose=(17.4603, -1.87718), yaw=-176.43 deg
I0419 21:04:19.755091 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1237, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 21:04:19.755846 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.303311, -0.606054), points=16, range=0.678125, residual=0.0117201, extent=0.0407901
I0419 21:04:19.755940 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.303311, -0.606054), tracking=(0.601811, -0.606054), map_predicted=(16.8219, -1.30978), range=0.678125, pts=16
I0419 21:04:19.755973 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0123108m maha_sq=0.00655647 (gate chi2=5.99) pose_sigma=(0.150139, 0.150139, rho=0) det_map=(16.8219, -1.30978) lm_pos=(16.815, -1.32) delta=(0.00686738, 0.0102174) -> 1 candidate(s)
I0419 21:04:19.756048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294597063162.
I0419 21:04:19.757208 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27602, 0.550393)
I0419 21:04:19.757284 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.753 deg, rms_residual=0.00521193m, sigma_yaw=0.00690129 rad, N=2
I0419 21:04:19.757323 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4472, -1.88599, -176.753deg) inliers=2 rms=0.00521193m
I0419 21:04:19.757352 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294597381232.
I0419 21:04:19.763053 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:19.763167 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:19.766486 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.353932, 2.41622)
I0419 21:04:19.766654 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28244, 0.55318), points=4, range=1.3915, residual=0.0118084, extent=0.0259923
I0419 21:04:19.766736 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28244, 0.55318), tracking=(1.58094, 0.55318), map_predicted=(15.9092, -2.5277), range=1.3915, pts=4
I0419 21:04:19.766789 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00961488m maha_sq=0.00397279 (gate chi2=5.99) pose_sigma=(0.150522, 0.150522, rho=0) det_map=(15.9092, -2.5277) lm_pos=(15.915, -2.52) delta=(-0.00575177, -0.00770474) -> 1 candidate(s)
I0419 21:04:19.766945 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294597656605.
I0419 21:04:19.893061 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:19.895370 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-1.19623, -4.19476)
I0419 21:04:19.895961 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.595223, 4.19094), points=3, range=4.235, residual=0.0129513, extent=0.0269741
I0419 21:04:19.896035 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.595223, 4.19094), tracking=(0.893723, 4.19094), map_predicted=(16.8081, -6.11755), range=4.235, pts=3
I0419 21:04:19.896066 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.70675m maha_sq=582.796 (gate chi2=5.99) pose_sigma=(0.150116, 0.150116, rho=0) det_map=(16.8081, -6.11755) lm_pos=(15.915, -2.52) delta=(0.893076, -3.59755) -> 0 candidate(s)
I0419 21:04:19.896152 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294598223936.
I0419 21:04:19.900224 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.577226, 4.19547)
I0419 21:04:19.900344 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=6, merge_r=0.1 -> after=6
I0419 21:04:19.900377 1258777 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:19.900650 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294598534387.
I0419 21:04:19.902894 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.4481, -1.87846), yaw=-176.812 deg backend=(17.4538, -1.88298)
I0419 21:04:19.904212 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294598817660.
I0419 21:04:19.904740 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.723991, -2.51101), points=7, range=2.61271, residual=0.0162099, extent=0.046938
I0419 21:04:19.904896 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.723991, -2.51101), tracking=(-1.02249, 2.51101), map_predicted=(18.6086, -4.32872), range=2.61271, pts=7
I0419 21:04:19.904925 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24456m maha_sq=450.679 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6086, -4.32872) lm_pos=(15.915, -2.52) delta=(2.69364, -1.80872) -> 0 candidate(s)
I0419 21:04:19.909998 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.63262, -4.3189)
I0419 21:04:19.914775 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:19.914942 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0062692 range=0.668444 variance=0.000644544 t_weight=4654.45 r_weight=0 yaml=(16.815, -1.32) prior=(17.4481, -1.87846, -176.812deg) obs_actual=(0.59091, -0.599355) obs_expected=(0.601023, -0.59281) delta=(-0.0101128, -0.00654436) |delta|=0.0120457m
I0419 21:04:19.915083 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294599139109.
I0419 21:04:20.020593 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:20.021317 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.40766, 2.96309)
I0419 21:04:20.021405 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.560617, 4.21084), points=3, range=4.24167, residual=0.0161998, extent=0.0323933
I0419 21:04:20.021437 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.560617, 4.21084), tracking=(0.859117, 4.21084), map_predicted=(16.8142, -6.12767), range=4.24167, pts=3
I0419 21:04:20.021461 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.71804m maha_sq=584.073 (gate chi2=5.99) pose_sigma=(0.150103, 0.150103, rho=0) det_map=(16.8142, -6.12767) lm_pos=(15.915, -2.52) delta=(0.899212, -3.60767) -> 0 candidate(s)
I0419 21:04:20.021543 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294599418621.
I0419 21:04:20.024199 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:20.024295 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:20.024318 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294599695360.
I0419 21:04:20.025391 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842731s, prior_pose=(17.4452, -1.87697), yaw=-177.036 deg
I0419 21:04:20.025456 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1228, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:04:20.025524 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.741017, -2.50153)
I0419 21:04:20.027168 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294600017794.
I0419 21:04:20.028314 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.66394, -4.3137), points=3, range=4.361, residual=0.0136274, extent=0.0280607
I0419 21:04:20.028369 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.66394, -4.3137), tracking=(-0.96244, 4.3137), map_predicted=(18.6162, -6.13905), range=4.361, pts=3
I0419 21:04:20.028394 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51596m maha_sq=864.653 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6162, -6.13905) lm_pos=(15.915, -2.52) delta=(2.70118, -3.61905) -> 0 candidate(s)
I0419 21:04:20.030691 1264424 reflector_detector.cc:209] [Detect]   cluster[6]: points=4, centroid=(-1.36257, 2.51824)
I0419 21:04:20.030907 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294600300094.
I0419 21:04:20.124377 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:04:20.124504 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:04:20.124540 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:20.124632 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294600579909.
I0419 21:04:20.125013 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:20.126374 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.869278, -0.708113), points=7, range=1.12114, residual=0.00807708, extent=0.0252737
I0419 21:04:20.126430 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.869278, -0.708113), tracking=(-1.16778, 0.708113), map_predicted=(18.6393, -2.52939), range=1.12114, pts=7
I0419 21:04:20.126463 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18877m maha_sq=208.095 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6393, -2.52939) lm_pos=(16.815, -1.32) delta=(1.8243, -1.20939) -> 0 candidate(s)
I0419 21:04:20.126829 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.435869, 2.41038)
I0419 21:04:20.126916 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294600902293.
I0419 21:04:20.129691 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294601178178.
I0419 21:04:20.150308 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.422238, 2.4151)
I0419 21:04:20.150399 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:20.150434 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:20.150476 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:04:20.150537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294601498663.
I0419 21:04:20.174497 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.10225, -4.21147), points=3, range=4.35333, residual=0.0107908, extent=0.0262715
I0419 21:04:20.174614 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.10225, -4.21147), tracking=(0.803749, 4.21147), map_predicted=(16.8108, -6.11971), range=4.35333, pts=3
I0419 21:04:20.174652 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70949m maha_sq=585.167 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8108, -6.11971) lm_pos=(15.915, -2.52) delta=(0.89578, -3.59971) -> 0 candidate(s)
I0419 21:04:20.251557 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294601778439.
I0419 21:04:20.252705 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.883999, -0.701057)
I0419 21:04:20.253520 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:20.253619 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0114292 range=0.655882 variance=0.000600179 t_weight=4998.51 r_weight=0 yaml=(16.815, -1.32) prior=(17.4318, -1.87892, -177.685deg) obs_actual=(0.57883, -0.589796) obs_expected=(0.59376, -0.583384) delta=(-0.01493, -0.00641186) |delta|=0.0162486m
I0419 21:04:20.253687 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294602056256.
I0419 21:04:20.256312 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.27898, -0.589169), points=18, range=0.654667, residual=0.0130738, extent=0.0422932
I0419 21:04:20.256402 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.27898, -0.589169), tracking=(0.57748, -0.589169), map_predicted=(16.828, -1.31219), range=0.654667, pts=18
I0419 21:04:20.256431 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0151457m maha_sq=0.00988849 (gate chi2=5.99) pose_sigma=(0.150304, 0.150304, rho=0) det_map=(16.828, -1.31219) lm_pos=(16.815, -1.32) delta=(0.0129774, 0.00780882) -> 1 candidate(s)
I0419 21:04:20.256505 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294602378297.
I0419 21:04:20.262511 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.07624, -4.21199)
I0419 21:04:20.266052 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294602654655.
I0419 21:04:20.290356 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596532s, prior_pose=(17.4248, -1.877), yaw=-177.924 deg
I0419 21:04:20.290496 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1236, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 21:04:20.294039 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.461729, 4.21579)
I0419 21:04:20.294296 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294602934834.
I0419 21:04:20.374027 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.07589, -4.21071), points=3, range=4.346, residual=0.0117988, extent=0.0289011
I0419 21:04:20.374150 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.07589, -4.21071), tracking=(0.777394, 4.21071), map_predicted=(16.7999, -6.09574), range=4.346, pts=3
I0419 21:04:20.374183 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.68361m maha_sq=566.512 (gate chi2=5.99) pose_sigma=(0.151378, 0.151378, rho=0) det_map=(16.7999, -6.09574) lm_pos=(15.915, -2.52) delta=(0.884924, -3.57574) -> 0 candidate(s)
I0419 21:04:20.374964 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:20.375094 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294603258378.
I0419 21:04:20.376044 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:20.376085 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:20.377655 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.277195, -0.58748)
I0419 21:04:20.377760 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.713 deg, rms_residual=0.0101059m, sigma_yaw=0.0132954 rad, N=2
I0419 21:04:20.377808 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.4159, -1.87475, -177.713deg) inliers=2 rms=0.0101059m
I0419 21:04:20.377839 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294603540437.
I0419 21:04:20.378858 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.897971, -0.693173), points=6, range=1.13333, residual=0.00788227, extent=0.0210061
I0419 21:04:20.378906 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.897971, -0.693173), tracking=(-1.19647, 0.693173), map_predicted=(18.6379, -2.51408), range=1.13333, pts=6
I0419 21:04:20.378928 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17919m maha_sq=206.301 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6379, -2.51408) lm_pos=(16.815, -1.32) delta=(1.82293, -1.19408) -> 0 candidate(s)
I0419 21:04:20.382187 1232263 reflector_detector.cc:209] [Detect]   cluster[8]: points=1, centroid=(-0.213417, 0.372148)
I0419 21:04:20.382280 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:20.382377 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294603816450.
I0419 21:04:20.414762 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294604138626.
I0419 21:04:20.529471 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.38687, 2.41976)
I0419 21:04:20.529575 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:20.529601 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:20.530800 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.987893, -2.41472), points=5, range=2.6098, residual=0.0117039, extent=0.0304141
I0419 21:04:20.530869 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.987893, -2.41472), tracking=(0.689393, 2.41472), map_predicted=(16.803, -4.31105), range=2.6098, pts=5
I0419 21:04:20.530895 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99909m maha_sq=170.909 (gate chi2=5.99) pose_sigma=(0.150502, 0.150502, rho=0) det_map=(16.803, -4.31105) lm_pos=(15.915, -2.52) delta=(0.887971, -1.79105) -> 0 candidate(s)
I0419 21:04:20.531618 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294604695180.
I0419 21:04:20.533632 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.752149, -4.30224)
I0419 21:04:20.534267 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:20.534354 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294605015165.
I0419 21:04:20.536863 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.311853, 2.8862)
I0419 21:04:20.536922 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.264565, -0.587152), points=19, range=0.646895, residual=0.0138277, extent=0.0429036
I0419 21:04:20.536952 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.264565, -0.587152), tracking=(0.563065, -0.587152), map_predicted=(16.8248, -1.30891), range=0.646895, pts=19
I0419 21:04:20.536973 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0147955m maha_sq=0.00945021 (gate chi2=5.99) pose_sigma=(0.150125, 0.150125, rho=0) det_map=(16.8248, -1.30891) lm_pos=(16.815, -1.32) delta=(0.00978816, 0.0110949) -> 1 candidate(s)
I0419 21:04:20.558547 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0101011 range=0.645667 variance=0.000604751 t_weight=4960.72 r_weight=0 yaml=(16.815, -1.32) prior=(17.4072, -1.87683, -178.077deg) obs_actual=(0.561712, -0.586457) obs_expected=(0.57322, -0.576391) delta=(-0.0115085, -0.0100656) |delta|=0.0152893m
I0419 21:04:20.558763 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294605579936.
I0419 21:04:20.652304 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564588s, prior_pose=(17.4051, -1.87679), yaw=-178.083 deg
I0419 21:04:20.652420 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1233, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 21:04:20.652951 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.26445, -0.588837)
I0419 21:04:20.653065 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294605895562.
I0419 21:04:20.654347 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.770179, -4.29481), points=4, range=4.36025, residual=0.016789, extent=0.040886
I0419 21:04:20.654461 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.770179, -4.29481), tracking=(-1.06868, 4.29481), map_predicted=(18.6169, -6.13344), range=4.36025, pts=4
I0419 21:04:20.654492 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51187m maha_sq=859.591 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6169, -6.13344) lm_pos=(15.915, -2.52) delta=(2.70186, -3.61344) -> 0 candidate(s)
I0419 21:04:20.656287 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:20.656420 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:20.656445 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294606181280.
I0419 21:04:20.657459 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:20.657519 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.04961, -4.20978)
I0419 21:04:20.657541 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:20.657577 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:20.658375 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:20.658499 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294606456782.
I0419 21:04:20.678164 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.300391, 2.89847)
I0419 21:04:20.678292 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2161, 0.59532), points=3, range=1.35067, residual=0.00688896, extent=0.0127119
I0419 21:04:20.678334 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.2161, 0.59532), tracking=(1.5146, 0.59532), map_predicted=(15.9062, -2.52238), range=1.35067, pts=3
I0419 21:04:20.678368 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00909661m maha_sq=0.00358732 (gate chi2=5.99) pose_sigma=(0.150163, 0.150163, rho=0) det_map=(15.9062, -2.52238) lm_pos=(15.915, -2.52) delta=(-0.00877842, -0.00238489) -> 1 candidate(s)
I0419 21:04:20.678527 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294606776032.
I0419 21:04:20.799342 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294607062280.
I0419 21:04:20.801290 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.364614, 2.41562)
I0419 21:04:20.801391 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:20.801419 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:20.801456 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:20.801514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294607336328.
I0419 21:04:20.802693 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3956, -1.87511), yaw=-178.094 deg backend=(17.3995, -1.88167)
I0419 21:04:20.803741 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832614, -2.48839), points=4, range=2.621, residual=0.0118815, extent=0.0291058
I0419 21:04:20.803825 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.832614, -2.48839), tracking=(-1.13111, 2.48839), map_predicted=(18.6089, -4.3245), range=2.621, pts=4
I0419 21:04:20.803855 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24239m maha_sq=451.367 (gate chi2=5.99) pose_sigma=(0.150179, 0.150179, rho=0) det_map=(18.6089, -4.3245) lm_pos=(15.915, -2.52) delta=(2.69386, -1.8045) -> 0 candidate(s)
I0419 21:04:20.804703 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294607657856.
I0419 21:04:20.807287 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.251133, -0.588952)
I0419 21:04:20.807410 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:20.807489 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294607933707.
I0419 21:04:20.906682 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.836399, -2.48764)
I0419 21:04:20.906790 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.04273, -4.20823), points=3, range=4.33833, residual=0.0133507, extent=0.0279451
I0419 21:04:20.906817 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.04273, -4.20823), tracking=(0.744229, 4.20823), map_predicted=(16.7835, -6.10677), range=4.33833, pts=3
I0419 21:04:20.906843 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69043m maha_sq=577.016 (gate chi2=5.99) pose_sigma=(0.150097, 0.150097, rho=0) det_map=(16.7835, -6.10677) lm_pos=(15.915, -2.52) delta=(0.868538, -3.58677) -> 0 candidate(s)
I0419 21:04:20.907529 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294608532402.
I0419 21:04:20.908643 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839738s, prior_pose=(17.3903, -1.87652), yaw=-178.133 deg
I0419 21:04:20.908699 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1219, max_intensity=250, threshold=230, above_threshold=20, candidates=20
I0419 21:04:20.910283 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0118979 range=0.639 variance=0.000647106 t_weight=4636.03 r_weight=0 yaml=(16.815, -1.32) prior=(17.3885, -1.87659, -178.138deg) obs_actual=(0.543764, -0.587055) obs_expected=(0.555117, -0.57493) delta=(-0.0113527, -0.0121243) |delta|=0.0166097m
I0419 21:04:20.910391 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294608819438.
I0419 21:04:20.911477 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.782737, -4.29288)
I0419 21:04:20.914278 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19781, 0.592855), points=3, range=1.331, residual=0.0109928, extent=0.0205766
I0419 21:04:20.914498 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:20.914558 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19781, 0.592855), tracking=(1.49631, 0.592855), map_predicted=(15.9123, -2.51775), range=1.331, pts=3
I0419 21:04:20.914645 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00354759m maha_sq=0.000545054 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9123, -2.51775) lm_pos=(15.915, -2.52) delta=(-0.00274492, 0.0022474) -> 1 candidate(s)
I0419 21:04:20.914806 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294609135159.
I0419 21:04:20.938542 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:20.938637 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:20.942541 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294609415078.
I0419 21:04:20.966434 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.776642, -4.29482)
I0419 21:04:21.064258 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:21.064411 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294609693043.
I0419 21:04:21.066013 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294609983725.
I0419 21:04:21.066478 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.957837, -2.41103), points=4, range=2.59275, residual=0.00999992, extent=0.0243481
I0419 21:04:21.066546 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.957837, -2.41103), tracking=(0.659337, 2.41103), map_predicted=(16.8037, -4.31102), range=2.59275, pts=4
I0419 21:04:21.066572 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99937m maha_sq=172.356 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8037, -4.31102) lm_pos=(15.915, -2.52) delta=(0.888652, -1.79102) -> 0 candidate(s)
I0419 21:04:21.068956 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.963635, -2.41535)
I0419 21:04:21.069617 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:21.069680 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:21.069736 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.885 deg, rms_residual=0.0112849m, sigma_yaw=0.0148236 rad, N=2
I0419 21:04:21.069784 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3896, -1.87927, -177.885deg) inliers=2 rms=0.0112849m
I0419 21:04:21.069816 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294610294970.
I0419 21:04:21.072710 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.406688, 4.22346)
I0419 21:04:21.072808 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361733, 2.4203), points=6, range=2.44767, residual=0.0131718, extent=0.0358862
I0419 21:04:21.072836 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.361733, 2.4203), tracking=(0.660233, 2.4203), map_predicted=(16.8066, -4.31878), range=2.44767, pts=6
I0419 21:04:21.072894 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00762m maha_sq=173.155 (gate chi2=5.99) pose_sigma=(0.150096, 0.150096, rho=0) det_map=(16.8066, -4.31878) lm_pos=(15.915, -2.52) delta=(0.891572, -1.79878) -> 0 candidate(s)
I0419 21:04:21.072965 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294610571871.
I0419 21:04:21.086539 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:21.168078 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.290905, 2.69233)
I0419 21:04:21.168305 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294611180555.
I0419 21:04:21.169446 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832611, -2.48839), points=4, range=2.62675, residual=0.0113293, extent=0.0279561
I0419 21:04:21.169530 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.832611, -2.48839), tracking=(-1.13111, 2.48839), map_predicted=(18.6001, -4.32512), range=2.62675, pts=4
I0419 21:04:21.169560 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23544m maha_sq=450.707 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6001, -4.32512) lm_pos=(15.915, -2.52) delta=(2.68507, -1.80512) -> 0 candidate(s)
I0419 21:04:21.171394 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294611461984.
I0419 21:04:21.172431 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05656s, prior_pose=(17.3881, -1.87564), yaw=-178.138 deg
I0419 21:04:21.172509 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1221, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 21:04:21.178648 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.19762, 0.594914)
I0419 21:04:21.178853 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294611780494.
I0419 21:04:21.206733 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0097211 range=0.6377 variance=0.000639062 t_weight=4694.38 r_weight=0 yaml=(16.815, -1.32) prior=(17.3867, -1.87734, -178.14deg) obs_actual=(0.542119, -0.585602) obs_expected=(0.553326, -0.575611) delta=(-0.0112074, -0.00999077) |delta|=0.0150141m
I0419 21:04:21.206939 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294612057449.
I0419 21:04:21.235245 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:21.235410 1258777 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.401225, 4.16673)
I0419 21:04:21.235452 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:21.235505 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244334, -0.587335), points=19, range=0.638263, residual=0.0124054, extent=0.0424468
I0419 21:04:21.235559 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244334, -0.587335), tracking=(0.542834, -0.587335), map_predicted=(16.8251, -1.30794), range=0.638263, pts=19
I0419 21:04:21.235607 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0157334m maha_sq=0.010721 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8251, -1.30794) lm_pos=(16.815, -1.32) delta=(0.0101061, 0.0120584) -> 1 candidate(s)
I0419 21:04:21.235886 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294612341116.
I0419 21:04:21.236759 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:21.341372 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:21.341508 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:21.341534 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294612658608.
I0419 21:04:21.343593 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.784282, -4.30141)
I0419 21:04:21.343647 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.932464, -0.696284), points=5, range=1.1606, residual=0.00996851, extent=0.0266645
I0419 21:04:21.343675 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.932464, -0.696284), tracking=(-1.23096, 0.696284), map_predicted=(18.6393, -2.53683), range=1.1606, pts=5
I0419 21:04:21.343698 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19288m maha_sq=208.307 (gate chi2=5.99) pose_sigma=(0.150089, 0.150089, rho=0) det_map=(18.6393, -2.53683) lm_pos=(16.815, -1.32) delta=(1.8243, -1.21683) -> 0 candidate(s)
I0419 21:04:21.344405 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:21.344491 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294612940080.
I0419 21:04:21.346968 1258777 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(0.402088, 4.17569)
I0419 21:04:21.347031 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:21.347056 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:21.347091 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:21.347141 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294613220639.
I0419 21:04:21.355103 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294613541278.
I0419 21:04:21.464722 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.02582, -4.21873), points=4, range=4.3395, residual=0.0161947, extent=0.0383113
I0419 21:04:21.464838 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.02582, -4.21873), tracking=(0.727319, 4.21873), map_predicted=(16.7993, -6.12339), range=4.3395, pts=4
I0419 21:04:21.464763 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:21.464876 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71031m maha_sq=580.354 (gate chi2=5.99) pose_sigma=(0.150208, 0.150208, rho=0) det_map=(16.7993, -6.12339) lm_pos=(15.915, -2.52) delta=(0.884297, -3.60339) -> 0 candidate(s)
I0419 21:04:21.465631 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(0.287204, 2.69474)
I0419 21:04:21.465698 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:21.465775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294613821835.
I0419 21:04:21.473500 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294614093355.
I0419 21:04:21.477164 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19144, 0.592556)
I0419 21:04:21.477411 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19781, 0.592852), points=3, range=1.33067, residual=0.0115544, extent=0.0222576
I0419 21:04:21.477461 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19781, 0.592852), tracking=(1.49631, 0.592852), map_predicted=(15.9104, -2.52297), range=1.33067, pts=3
I0419 21:04:21.477504 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00550445m maha_sq=0.00131149 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9104, -2.52297) lm_pos=(15.915, -2.52) delta=(-0.0046368, -0.00296633) -> 1 candidate(s)
I0419 21:04:21.477624 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294614413110.
I0419 21:04:21.479907 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566744s, prior_pose=(17.3853, -1.88017), yaw=-178.08 deg
I0419 21:04:21.479991 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1219, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 21:04:21.480779 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294614729991.
I0419 21:04:21.494496 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.930456, -0.694794)
I0419 21:04:21.587193 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:21.587304 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:21.587340 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.833138, -2.48997), points=4, range=2.62825, residual=0.0109808, extent=0.0268764
I0419 21:04:21.587363 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.833138, -2.48997), tracking=(-1.13164, 2.48997), map_predicted=(18.5958, -4.33031), range=2.62825, pts=4
I0419 21:04:21.587384 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23476m maha_sq=448.78 (gate chi2=5.99) pose_sigma=(0.150325, 0.150325, rho=0) det_map=(18.5958, -4.33031) lm_pos=(15.915, -2.52) delta=(2.68076, -1.81031) -> 0 candidate(s)
I0419 21:04:21.588280 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00299602 range=0.636842 variance=0.000584112 t_weight=5136 r_weight=0 yaml=(16.815, -1.32) prior=(17.381, -1.87983, -178.071deg) obs_actual=(0.547644, -0.586853) obs_expected=(0.546795, -0.578563) delta=(0.000849506, -0.00829042) |delta|=0.00833383m
I0419 21:04:21.588382 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294615297311.
I0419 21:04:21.590744 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962693, -2.41304)
I0419 21:04:21.591989 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:21.592274 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294615572650.
I0419 21:04:21.595371 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.281437, 2.75466)
I0419 21:04:21.595525 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294615861801.
I0419 21:04:21.614133 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.959807, -2.41599), points=4, range=2.6, residual=0.00951152, extent=0.0227945
I0419 21:04:21.614243 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.959807, -2.41599), tracking=(0.661307, 2.41599), map_predicted=(16.806, -4.31622), range=2.6, pts=4
I0419 21:04:21.614310 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00506m maha_sq=173.404 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.806, -4.31622) lm_pos=(15.915, -2.52) delta=(0.890996, -1.79622) -> 0 candidate(s)
I0419 21:04:21.618412 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:21.618491 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:21.695288 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3852, -1.87814), yaw=-178.107 deg backend=(17.3847, -1.88524)
I0419 21:04:21.697993 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.285059, 2.71206)
I0419 21:04:21.698199 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294616456249.
I0419 21:04:21.704205 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.246379, -0.587429), points=19, range=0.637737, residual=0.0120319, extent=0.0435791
I0419 21:04:21.704327 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:21.704350 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:21.704365 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.246379, -0.587429), tracking=(0.544879, -0.587429), map_predicted=(16.8195, -1.29753), range=0.637737, pts=19
I0419 21:04:21.704391 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0229147m maha_sq=0.0224882 (gate chi2=5.99) pose_sigma=(0.150895, 0.150895, rho=0) det_map=(16.8195, -1.29753) lm_pos=(16.815, -1.32) delta=(0.00451619, 0.0224652) -> 1 candidate(s)
I0419 21:04:21.704509 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294616739949.
I0419 21:04:21.706691 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.354346, 2.41917)
I0419 21:04:21.706818 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.818 deg, rms_residual=0.00934387m, sigma_yaw=0.0123052 rad, N=2
I0419 21:04:21.706857 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3869, -1.87765, -177.818deg) inliers=2 rms=0.00934387m
I0419 21:04:21.706890 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294617060853.
I0419 21:04:21.734139 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294617334757.
I0419 21:04:21.758734 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840619s, prior_pose=(17.3848, -1.86966), yaw=-178.066 deg
I0419 21:04:21.758941 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1223, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 21:04:21.759169 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03155, -4.21562), points=3, range=4.33667, residual=0.0137791, extent=0.0288553
I0419 21:04:21.759286 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03155, -4.21562), tracking=(0.733052, 4.21562), map_predicted=(16.7944, -6.10761), range=4.33667, pts=3
I0419 21:04:21.759375 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69383m maha_sq=578.518 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7944, -6.10761) lm_pos=(15.915, -2.52) delta=(0.879418, -3.58761) -> 0 candidate(s)
I0419 21:04:21.874044 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.24645, -0.587404)
I0419 21:04:21.874238 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294617662171.
I0419 21:04:21.876165 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294617936851.
I0419 21:04:21.878093 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:21.878192 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783032, -4.29452)
I0419 21:04:21.878221 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:21.878259 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.929924, -0.695086), points=4, range=1.15825, residual=0.00913798, extent=0.0233025
I0419 21:04:21.878293 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.929924, -0.695086), tracking=(-1.22842, 0.695086), map_predicted=(18.6421, -2.52691), range=1.15825, pts=4
I0419 21:04:21.878325 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18977m maha_sq=207.633 (gate chi2=5.99) pose_sigma=(0.150173, 0.150173, rho=0) det_map=(18.6421, -2.52691) lm_pos=(16.815, -1.32) delta=(1.82714, -1.20691) -> 0 candidate(s)
I0419 21:04:21.878358 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:21.879498 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294618217356.
I0419 21:04:21.881006 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.017181 range=0.638944 variance=0.000590831 t_weight=5077.59 r_weight=0 yaml=(16.815, -1.32) prior=(17.3909, -1.87385, -178.058deg) obs_actual=(0.542752, -0.587181) obs_expected=(0.556779, -0.573039) delta=(-0.0140266, -0.0141414) |delta|=0.0199179m
I0419 21:04:21.881116 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294618494161.
I0419 21:04:21.883630 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.961964, -2.41118)
I0419 21:04:21.884163 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294618814097.
I0419 21:04:21.957273 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.966095, -2.41133), points=4, range=2.59825, residual=0.0094481, extent=0.0226892
I0419 21:04:21.957386 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.966095, -2.41133), tracking=(0.667595, 2.41133), map_predicted=(16.7952, -4.30954), range=2.59825, pts=4
I0419 21:04:21.957418 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99428m maha_sq=169.978 (gate chi2=5.99) pose_sigma=(0.150715, 0.150715, rho=0) det_map=(16.7952, -4.30954) lm_pos=(15.915, -2.52) delta=(0.88016, -1.78954) -> 0 candidate(s)
I0419 21:04:21.958096 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.241393, 2.46923)
I0419 21:04:21.958153 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:21.958175 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:21.958217 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:21.958248 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:21.958304 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:21.958325 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294619100146.
I0419 21:04:21.961239 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294619419277.
I0419 21:04:21.966542 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.923225, -0.69569), points=4, range=1.159, residual=0.00901802, extent=0.0224911
I0419 21:04:21.966732 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.923225, -0.69569), tracking=(-1.22172, 0.69569), map_predicted=(18.6269, -2.53132), range=1.159, pts=4
I0419 21:04:21.966791 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.17956m maha_sq=206.184 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6269, -2.53132) lm_pos=(16.815, -1.32) delta=(1.81195, -1.21132) -> 0 candidate(s)
I0419 21:04:21.970736 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(0.285114, 2.75126)
I0419 21:04:21.970825 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:21.970932 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294619702176.
I0419 21:04:21.998112 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294619974088.
I0419 21:04:22.131981 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.361359, 2.41793)
I0419 21:04:22.132171 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294620302231.
I0419 21:04:22.133255 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598904s, prior_pose=(17.3873, -1.87933), yaw=-178.029 deg
I0419 21:04:22.133322 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1241, max_intensity=247, threshold=230, above_threshold=20, candidates=20
I0419 21:04:22.133394 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.04249, -4.20726), points=3, range=4.33667, residual=0.0129658, extent=0.0271356
I0419 21:04:22.133422 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.04249, -4.20726), tracking=(0.743989, 4.20726), map_predicted=(16.7885, -6.10969), range=4.33667, pts=3
I0419 21:04:22.133442 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69443m maha_sq=579.24 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7885, -6.10969) lm_pos=(15.915, -2.52) delta=(0.873453, -3.58969) -> 0 candidate(s)
I0419 21:04:22.134183 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:22.136792 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.361389, 2.41812)
I0419 21:04:22.136943 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294620862427.
I0419 21:04:22.138655 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:22.138744 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:22.142010 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19343, 0.597175), points=3, range=1.33767, residual=0.00960866, extent=0.019797
I0419 21:04:22.142118 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19343, 0.597175), tracking=(1.49193, 0.597175), map_predicted=(15.9165, -2.52792), range=1.33767, pts=3
I0419 21:04:22.142169 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00806405m maha_sq=0.00281725 (gate chi2=5.99) pose_sigma=(0.150068, 0.150068, rho=0) det_map=(15.9165, -2.52792) lm_pos=(15.915, -2.52) delta=(0.00153017, -0.00791754) -> 1 candidate(s)
I0419 21:04:22.142359 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294621141549.
I0419 21:04:22.145987 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19919, 0.596427)
I0419 21:04:22.146107 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:22.146220 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294621453136.
I0419 21:04:22.220819 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00847338 range=0.639158 variance=0.000598048 t_weight=5016.32 r_weight=0 yaml=(16.815, -1.32) prior=(17.386, -1.87791, -178.055deg) obs_actual=(0.543103, -0.587968) obs_expected=(0.551778, -0.576974) delta=(-0.00867481, -0.0109936) |delta|=0.014004m
I0419 21:04:22.220983 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294621776398.
I0419 21:04:22.221975 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.92925, -0.695984)
I0419 21:04:22.222044 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832399, -2.48776), points=4, range=2.62675, residual=0.0120207, extent=0.0291538
I0419 21:04:22.222074 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.832399, -2.48776), tracking=(-1.1309, 2.48776), map_predicted=(18.6007, -4.32586), range=2.62675, pts=4
I0419 21:04:22.222095 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23639m maha_sq=450.661 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6007, -4.32586) lm_pos=(15.915, -2.52) delta=(2.68573, -1.80586) -> 0 candidate(s)
I0419 21:04:22.223721 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:22.223781 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:22.223866 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294622061854.
I0419 21:04:22.235165 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294622340391.
I0419 21:04:22.258512 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.836717, -2.48859)
I0419 21:04:22.262844 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.35803, 2.41964), points=5, range=2.4472, residual=0.0110315, extent=0.02912
I0419 21:04:22.262943 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:22.262971 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.35803, 2.41964), tracking=(0.65653, 2.41964), map_predicted=(16.8131, -4.31848), range=2.4472, pts=5
I0419 21:04:22.263002 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=2.01027m maha_sq=174.092 (gate chi2=5.99) pose_sigma=(0.150055, 0.150055, rho=0) det_map=(16.8131, -4.31848) lm_pos=(15.915, -2.52) delta=(0.89813, -1.79848) -> 0 candidate(s)
I0419 21:04:22.403834 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294622939656.
I0419 21:04:22.404894 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783215, -4.2955)
I0419 21:04:22.405619 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294623215496.
I0419 21:04:22.407553 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0513431s, prior_pose=(17.3874, -1.87816), yaw=-178.058 deg
I0419 21:04:22.407614 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1221, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:04:22.407692 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841126, -2.48975), points=4, range=2.626, residual=0.0106781, extent=0.0263504
I0419 21:04:22.407716 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.841126, -2.48975), tracking=(-1.13963, 2.48975), map_predicted=(18.6108, -4.32786), range=2.626, pts=4
I0419 21:04:22.407734 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24584m maha_sq=453.513 (gate chi2=5.99) pose_sigma=(0.150064, 0.150064, rho=0) det_map=(18.6108, -4.32786) lm_pos=(15.915, -2.52) delta=(2.69575, -1.80786) -> 0 candidate(s)
I0419 21:04:22.408313 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.285231, 2.83267)
I0419 21:04:22.408383 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.786 deg, rms_residual=0.0122262m, sigma_yaw=0.0160401 rad, N=2
I0419 21:04:22.408425 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3897, -1.87649, -177.786deg) inliers=2 rms=0.0122262m
I0419 21:04:22.408455 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294623497106.
I0419 21:04:22.411069 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294623812188.
I0419 21:04:22.412200 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:22.412243 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:22.412273 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:22.412873 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.287672, 2.73692)
I0419 21:04:22.412916 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:22.412972 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294624098941.
I0419 21:04:22.522223 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.966592, -2.41256), points=4, range=2.59925, residual=0.00951597, extent=0.0227859
I0419 21:04:22.522331 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.966592, -2.41256), tracking=(0.668092, 2.41256), map_predicted=(16.7999, -4.31069), range=2.59925, pts=4
I0419 21:04:22.522367 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99741m maha_sq=171.564 (gate chi2=5.99) pose_sigma=(0.150234, 0.150234, rho=0) det_map=(16.7999, -4.31069) lm_pos=(15.915, -2.52) delta=(0.884922, -1.79069) -> 0 candidate(s)
I0419 21:04:22.523241 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294624377464.
I0419 21:04:22.526091 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.246952, -0.588604)
I0419 21:04:22.526265 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294624695138.
I0419 21:04:22.527985 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:22.528076 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.246083, -0.589072), points=20, range=0.6407, residual=0.0133963, extent=0.0445993
I0419 21:04:22.528108 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:22.528126 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.246083, -0.589072), tracking=(0.544583, -0.589072), map_predicted=(16.8215, -1.3085), range=0.6407, pts=20
I0419 21:04:22.528190 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.013191m maha_sq=0.00752777 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8215, -1.3085) lm_pos=(16.815, -1.32) delta=(0.0064536, 0.0115045) -> 1 candidate(s)
I0419 21:04:22.528234 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:22.528263 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00752777 range=0.6407 variance=0.000614723 t_weight=4880.25 r_weight=0 yaml=(16.815, -1.32) prior=(17.3859, -1.8786, -178.04deg) obs_actual=(0.544583, -0.589072) obs_expected=(0.551426, -0.577795) delta=(-0.00684329, -0.011277) |delta|=0.013191m
I0419 21:04:22.528307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294624981149.
I0419 21:04:22.529457 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3869, -1.87834), yaw=-178.038 deg backend=(17.3817, -1.88137)
I0419 21:04:22.530246 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.836638, -2.48835)
I0419 21:04:22.555683 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294625544144.
I0419 21:04:22.556793 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:22.641680 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.03672, -4.21023)
I0419 21:04:22.641777 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841663, -2.49133), points=4, range=2.627, residual=0.0117562, extent=0.0291538
I0419 21:04:22.641804 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.841663, -2.49133), tracking=(-1.14016, 2.49133), map_predicted=(18.6128, -4.33046), range=2.627, pts=4
I0419 21:04:22.641829 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24894m maha_sq=453.473 (gate chi2=5.99) pose_sigma=(0.150138, 0.150138, rho=0) det_map=(18.6128, -4.33046) lm_pos=(15.915, -2.52) delta=(2.69775, -1.81046) -> 0 candidate(s)
I0419 21:04:22.643052 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:22.643162 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:22.643185 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294625853649.
I0419 21:04:22.645759 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294626141155.
I0419 21:04:22.646148 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.928288, -0.695266)
I0419 21:04:22.647588 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882784s, prior_pose=(17.3863, -1.87973), yaw=-178.011 deg
I0419 21:04:22.647650 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1187, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:04:22.647823 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294626427157.
I0419 21:04:22.670213 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.95845, -2.41258), points=4, range=2.59425, residual=0.0102793, extent=0.0251718
I0419 21:04:22.670349 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.95845, -2.41258), tracking=(0.65995, 2.41258), map_predicted=(16.8113, -4.31413), range=2.59425, pts=4
I0419 21:04:22.670385 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00556m maha_sq=173.226 (gate chi2=5.99) pose_sigma=(0.15007, 0.15007, rho=0) det_map=(16.8113, -4.31413) lm_pos=(15.915, -2.52) delta=(0.896306, -1.79413) -> 0 candidate(s)
I0419 21:04:22.674635 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.361159, 2.41654)
I0419 21:04:22.674834 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294626741227.
I0419 21:04:22.770545 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:22.770644 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:22.771457 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294627013853.
I0419 21:04:22.772568 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832297, -2.48744), points=4, range=2.626, residual=0.012043, extent=0.0297648
I0419 21:04:22.772629 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.832297, -2.48744), tracking=(-1.1308, 2.48744), map_predicted=(18.6047, -4.32692), range=2.626, pts=4
I0419 21:04:22.772655 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.2403m maha_sq=451.739 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6047, -4.32692) lm_pos=(15.915, -2.52) delta=(2.68971, -1.80692) -> 0 candidate(s)
I0419 21:04:22.774245 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.24825, -0.589346)
I0419 21:04:22.774322 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:22.774405 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294627338884.
I0419 21:04:22.776108 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294627615953.
I0419 21:04:22.791538 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.285163, 2.71305)
I0419 21:04:22.791815 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:22.792128 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294627902688.
I0419 21:04:22.793143 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:22.793310 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:22.824833 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.959683, -2.41568), points=4, range=2.59925, residual=0.00953904, extent=0.0230477
I0419 21:04:22.825184 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.959683, -2.41568), tracking=(0.661183, 2.41568), map_predicted=(16.8108, -4.31623), range=2.59925, pts=4
I0419 21:04:22.825276 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00722m maha_sq=173.773 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8108, -4.31623) lm_pos=(15.915, -2.52) delta=(0.895806, -1.79623) -> 0 candidate(s)
I0419 21:04:22.826417 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00591122 range=0.6396 variance=0.000616759 t_weight=4864.14 r_weight=0 yaml=(16.815, -1.32) prior=(17.3886, -1.87927, -178.032deg) obs_actual=(0.548544, -0.588933) obs_expected=(0.554085, -0.57864) delta=(-0.0055403, -0.0102934) |delta|=0.0116897m
I0419 21:04:22.826639 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294628247156.
I0419 21:04:22.826921 1258777 collated_trajectory_builder.cc:82] imu rate: 184.88 Hz 5.41e-03 s +/- 5.92e-03 s (pulsed at 102.11% real time)
I0419 21:04:22.827163 1258777 collated_trajectory_builder.cc:82] odom rate: 230.52 Hz 4.34e-03 s +/- 3.37e-03 s (pulsed at 102.14% real time)
I0419 21:04:22.827389 1258777 collated_trajectory_builder.cc:82] scan_1 rate: 31.17 Hz 3.21e-02 s +/- 1.08e-02 s (pulsed at 102.00% real time)
I0419 21:04:22.827451 1258777 collated_trajectory_builder.cc:82] scan_2 rate: 32.52 Hz 3.07e-02 s +/- 6.62e-03 s (pulsed at 101.92% real time)
I0419 21:04:22.932715 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:22.932868 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.963166, -2.4142)
I0419 21:04:22.933568 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:22.933681 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294628501720.
I0419 21:04:22.936302 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.288195, 2.7419)
I0419 21:04:22.936395 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244813, -0.58849), points=19, range=0.639684, residual=0.0126527, extent=0.0425296
I0419 21:04:22.936424 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244813, -0.58849), tracking=(0.543313, -0.58849), map_predicted=(16.8233, -1.3145), range=0.639684, pts=19
I0419 21:04:22.936444 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00997398m maha_sq=0.00429059 (gate chi2=5.99) pose_sigma=(0.150301, 0.150301, rho=0) det_map=(16.8233, -1.3145) lm_pos=(16.815, -1.32) delta=(0.00832213, 0.00549748) -> 1 candidate(s)
I0419 21:04:22.936520 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294628819892.
I0419 21:04:22.939199 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294629094428.
I0419 21:04:22.940237 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566387s, prior_pose=(17.3853, -1.88384), yaw=-178.015 deg
I0419 21:04:22.940305 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1220, max_intensity=248, threshold=230, above_threshold=18, candidates=18
I0419 21:04:22.940999 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.20319, 0.595508)
I0419 21:04:23.013156 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294629660878.
I0419 21:04:23.013664 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.969164, -2.40884), points=3, range=2.59633, residual=0.00724836, extent=0.0151388
I0419 21:04:23.013738 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.969164, -2.40884), tracking=(0.670664, 2.40884), map_predicted=(16.8007, -4.31254), range=2.59633, pts=3
I0419 21:04:23.013763 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.9994m maha_sq=172.713 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8007, -4.31254) lm_pos=(15.915, -2.52) delta=(0.885673, -1.79254) -> 0 candidate(s)
I0419 21:04:23.015049 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:23.015123 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.927484, -0.694671)
I0419 21:04:23.015144 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:23.015182 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:23.015754 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.875 deg, rms_residual=0.0110981m, sigma_yaw=0.0145816 rad, N=2
I0419 21:04:23.015882 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3862, -1.87848, -177.875deg) inliers=2 rms=0.0110981m
I0419 21:04:23.015921 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294629974124.
I0419 21:04:23.026088 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.36525, 2.41983), points=5, range=2.4468, residual=0.0107467, extent=0.0284721
I0419 21:04:23.026199 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.36525, 2.41983), tracking=(0.66375, 2.41983), map_predicted=(16.8071, -4.32215), range=2.4468, pts=5
I0419 21:04:23.026239 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01087m maha_sq=174.125 (gate chi2=5.99) pose_sigma=(0.150107, 0.150107, rho=0) det_map=(16.8071, -4.32215) lm_pos=(15.915, -2.52) delta=(0.892111, -1.80215) -> 0 candidate(s)
I0419 21:04:23.026340 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294630255101.
I0419 21:04:23.049974 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.837024, -2.48954)
I0419 21:04:23.054651 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294630540368.
I0419 21:04:23.164809 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:23.164920 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:23.164960 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:23.166069 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962334, -2.4121)
I0419 21:04:23.166143 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.925142, -0.693959), points=5, range=1.1592, residual=0.0102694, extent=0.0246803
I0419 21:04:23.166175 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.925142, -0.693959), tracking=(-1.22364, 0.693959), map_predicted=(18.6311, -2.52848), range=1.1592, pts=5
I0419 21:04:23.166198 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18145m maha_sq=205.33 (gate chi2=5.99) pose_sigma=(0.150373, 0.150373, rho=0) det_map=(18.6311, -2.52848) lm_pos=(16.815, -1.32) delta=(1.81612, -1.20848) -> 0 candidate(s)
I0419 21:04:23.167016 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294631142080.
I0419 21:04:23.169847 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.836239, -2.48717)
I0419 21:04:23.169940 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:23.173890 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:23.174074 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294631733316.
I0419 21:04:23.198964 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03688, -4.21087), points=4, range=4.3385, residual=0.0166421, extent=0.0403536
I0419 21:04:23.199148 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03688, -4.21087), tracking=(0.738376, 4.21087), map_predicted=(16.7938, -6.11103), range=4.3385, pts=4
I0419 21:04:23.199203 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.697m maha_sq=577.107 (gate chi2=5.99) pose_sigma=(0.150036, 0.150036, rho=0) det_map=(16.7938, -6.11103) lm_pos=(15.915, -2.52) delta=(0.878815, -3.59103) -> 0 candidate(s)
I0419 21:04:23.203012 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.275651, 2.55115)
I0419 21:04:23.203301 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0080931 range=0.64015 variance=0.000628088 t_weight=4776.4 r_weight=0 yaml=(16.815, -1.32) prior=(17.3861, -1.87713, -178.018deg) obs_actual=(0.544193, -0.58815) obs_expected=(0.551462, -0.576556) delta=(-0.00726899, -0.0115943) |delta|=0.0136845m
I0419 21:04:23.203459 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294632017116.
I0419 21:04:23.304244 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0569364s, prior_pose=(17.3881, -1.87622), yaw=-178.017 deg
I0419 21:04:23.304380 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1184, max_intensity=250, threshold=230, above_threshold=22, candidates=22
I0419 21:04:23.305277 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294632336949.
I0419 21:04:23.308000 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.248557, -0.589964)
I0419 21:04:23.308109 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.246086, -0.58907), points=21, range=0.640286, residual=0.0144655, extent=0.0518607
I0419 21:04:23.308135 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.246086, -0.58907), tracking=(0.544586, -0.58907), map_predicted=(16.8242, -1.30636), range=0.640286, pts=21
I0419 21:04:23.308161 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0164704m maha_sq=0.0117119 (gate chi2=5.99) pose_sigma=(0.150059, 0.150059, rho=0) det_map=(16.8242, -1.30636) lm_pos=(16.815, -1.32) delta=(0.00923333, 0.0136389) -> 1 candidate(s)
I0419 21:04:23.308210 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:23.308265 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:23.308284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294632613714.
I0419 21:04:23.309428 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:23.309489 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:23.310186 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294632895455.
I0419 21:04:23.318763 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:23.318920 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294633181367.
I0419 21:04:23.319408 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.960558, -2.4077)
I0419 21:04:23.346805 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.04177, -4.20435), points=3, range=4.33333, residual=0.0128015, extent=0.0267639
I0419 21:04:23.347007 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.04177, -4.20435), tracking=(0.743267, 4.20435), map_predicted=(16.7917, -6.10421), range=4.33333, pts=3
I0419 21:04:23.347079 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.68988m maha_sq=577.937 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7917, -6.10421) lm_pos=(15.915, -2.52) delta=(0.876737, -3.58421) -> 0 candidate(s)
I0419 21:04:23.350720 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294633495524.
I0419 21:04:23.446830 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=6, centroid=(0.925719, -0.692615)
I0419 21:04:23.447772 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:23.447850 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:23.447932 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294633820422.
I0419 21:04:23.449146 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3869, -1.87791), yaw=-178.042 deg backend=(17.3837, -1.88147)
I0419 21:04:23.450209 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294634061063.
I0419 21:04:23.450599 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776192, -4.29238), points=3, range=4.36433, residual=0.0134427, extent=0.0280765
I0419 21:04:23.450663 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.776192, -4.29238), tracking=(-1.07469, 4.29238), map_predicted=(18.6076, -6.13107), range=4.36433, pts=3
I0419 21:04:23.450691 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50445m maha_sq=860.409 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6076, -6.13107) lm_pos=(15.915, -2.52) delta=(2.69263, -3.61107) -> 0 candidate(s)
I0419 21:04:23.452191 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.19807, 0.595138)
I0419 21:04:23.452308 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294634378071.
I0419 21:04:23.453755 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:23.466099 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294634652095.
I0419 21:04:23.466974 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.777264, -4.29827)
I0419 21:04:23.586599 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777701, -4.30075), points=3, range=4.372, residual=0.0126161, extent=0.026378
I0419 21:04:23.586747 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.777701, -4.30075), tracking=(-1.0762, 4.30075), map_predicted=(18.6125, -6.14139), range=4.372, pts=3
I0419 21:04:23.586783 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51563m maha_sq=864.048 (gate chi2=5.99) pose_sigma=(0.150124, 0.150124, rho=0) det_map=(18.6125, -6.14139) lm_pos=(15.915, -2.52) delta=(2.69749, -3.62139) -> 0 candidate(s)
I0419 21:04:23.587441 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00784515 range=0.640263 variance=0.00059959 t_weight=5003.42 r_weight=0 yaml=(16.815, -1.32) prior=(17.3882, -1.88042, -178.019deg) obs_actual=(0.543475, -0.588896) obs_expected=(0.553513, -0.579909) delta=(-0.0100376, -0.00898655) |delta|=0.0134726m
I0419 21:04:23.587534 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294634974254.
I0419 21:04:23.588660 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836232s, prior_pose=(17.3882, -1.88042), yaw=-178.019 deg
I0419 21:04:23.588718 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1174, max_intensity=250, threshold=230, above_threshold=18, candidates=18
I0419 21:04:23.590399 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20095, 0.594395)
I0419 21:04:23.590533 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294635260585.
I0419 21:04:23.592147 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244319, -0.587274), points=19, range=0.638579, residual=0.0129452, extent=0.0430865
I0419 21:04:23.592206 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244319, -0.587274), tracking=(0.542819, -0.587274), map_predicted=(16.8255, -1.31137), range=0.638579, pts=19
I0419 21:04:23.592229 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.013562m maha_sq=0.00796127 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8255, -1.31137) lm_pos=(16.815, -1.32) delta=(0.0104635, 0.00862801) -> 1 candidate(s)
I0419 21:04:23.594305 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:23.594357 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.286718, 2.76668)
I0419 21:04:23.594377 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:23.594403 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:23.594480 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294635820745.
I0419 21:04:23.594825 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:23.615020 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294636138968.
I0419 21:04:23.708664 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.358361, 2.42187)
I0419 21:04:23.708877 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294636414745.
I0419 21:04:23.709287 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.778144, -4.30321), points=3, range=4.372, residual=0.0123241, extent=0.0255079
I0419 21:04:23.709352 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.778144, -4.30321), tracking=(-1.07664, 4.30321), map_predicted=(18.6164, -6.1413), range=4.372, pts=3
I0419 21:04:23.709381 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.51788m maha_sq=866.546 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6164, -6.1413) lm_pos=(15.915, -2.52) delta=(2.70138, -3.6213) -> 0 candidate(s)
I0419 21:04:23.712235 1258777 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.406497, 4.22147)
I0419 21:04:23.712309 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:23.712333 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:23.712368 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:23.712399 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.805 deg, rms_residual=0.0114408m, sigma_yaw=0.0150252 rad, N=2
I0419 21:04:23.712441 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3873, -1.87804, -177.805deg) inliers=2 rms=0.0114408m
I0419 21:04:23.712481 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294636740181.
I0419 21:04:23.715216 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294637019602.
I0419 21:04:23.726308 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03108, -4.21368), points=3, range=4.33767, residual=0.0122023, extent=0.0252485
I0419 21:04:23.726413 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03108, -4.21368), tracking=(0.73258, 4.21368), map_predicted=(16.8039, -6.11562), range=4.33767, pts=3
I0419 21:04:23.726476 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70388m maha_sq=582.676 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8039, -6.11562) lm_pos=(15.915, -2.52) delta=(0.888917, -3.59562) -> 0 candidate(s)
I0419 21:04:23.734244 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.292271, 2.78068)
I0419 21:04:23.734333 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:23.734441 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294637337183.
I0419 21:04:23.814158 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294637616671.
I0419 21:04:23.816982 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19502, 0.59434)
I0419 21:04:23.817127 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20094, 0.594406), points=3, range=1.33467, residual=0.0107749, extent=0.0205963
I0419 21:04:23.817163 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20094, 0.594406), tracking=(1.49944, 0.594406), map_predicted=(15.9091, -2.52224), range=1.33467, pts=3
I0419 21:04:23.817185 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00632229m maha_sq=0.0017298 (gate chi2=5.99) pose_sigma=(0.150073, 0.150073, rho=0) det_map=(15.9091, -2.52224) lm_pos=(15.915, -2.52) delta=(-0.00591385, -0.00223555) -> 1 candidate(s)
I0419 21:04:23.817288 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294637891829.
I0419 21:04:23.818464 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0584618s, prior_pose=(17.3875, -1.87731), yaw=-178.056 deg
I0419 21:04:23.818529 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1109, max_intensity=246, threshold=230, above_threshold=19, candidates=19
I0419 21:04:23.819237 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00721814 range=0.6385 variance=0.000613046 t_weight=4893.59 r_weight=0 yaml=(16.815, -1.32) prior=(17.3875, -1.87731, -178.056deg) obs_actual=(0.54828, -0.588321) obs_expected=(0.553268, -0.576407) delta=(-0.00498803, -0.0119144) |delta|=0.0129164m
I0419 21:04:23.819329 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294638180471.
I0419 21:04:23.846130 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.832717, -2.48871)
I0419 21:04:23.850811 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294638501605.
I0419 21:04:23.873759 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:23.873843 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:23.954489 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.249826, -0.588446), points=19, range=0.638368, residual=0.0122711, extent=0.0436594
I0419 21:04:23.954591 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:23.954615 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.249826, -0.588446), tracking=(0.548326, -0.588446), map_predicted=(16.8171, -1.31018), range=0.638368, pts=19
I0419 21:04:23.954643 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0100404m maha_sq=0.00435795 (gate chi2=5.99) pose_sigma=(0.150156, 0.150156, rho=0) det_map=(16.8171, -1.31018) lm_pos=(16.815, -1.32) delta=(0.00211142, 0.0098159) -> 1 candidate(s)
I0419 21:04:23.954734 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:23.954777 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:23.954795 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294638778191.
I0419 21:04:23.956071 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.248623, -0.590143)
I0419 21:04:23.956138 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:23.956207 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294639057366.
I0419 21:04:23.959091 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.283673, 2.77655)
I0419 21:04:23.959218 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294639376046.
I0419 21:04:23.962677 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.790301, -4.29896), points=3, range=4.36667, residual=0.0146583, extent=0.0305668
I0419 21:04:23.962811 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.790301, -4.29896), tracking=(-1.0888, 4.29896), map_predicted=(18.6261, -6.13744), range=4.36667, pts=3
I0419 21:04:23.962873 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52061m maha_sq=865.321 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6261, -6.13744) lm_pos=(15.915, -2.52) delta=(2.7111, -3.61744) -> 0 candidate(s)
I0419 21:04:23.966578 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:23.966682 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:23.966879 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294639655514.
I0419 21:04:23.994593 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294639935928.
I0419 21:04:23.995289 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.03148, -4.21536)
I0419 21:04:24.093865 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20322, 0.597712), points=3, range=1.33867, residual=0.00924418, extent=0.0177905
I0419 21:04:24.093982 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:24.094002 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20322, 0.597712), tracking=(1.50172, 0.597712), map_predicted=(15.908, -2.53136), range=1.33867, pts=3
I0419 21:04:24.094025 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0133358m maha_sq=0.00770529 (gate chi2=5.99) pose_sigma=(0.150084, 0.150084, rho=0) det_map=(15.908, -2.53136) lm_pos=(15.915, -2.52) delta=(-0.00698153, -0.0113623) -> 1 candidate(s)
I0419 21:04:24.094134 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294640261488.
I0419 21:04:24.095454 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.931931, -0.695184)
I0419 21:04:24.097282 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294640538348.
I0419 21:04:24.098498 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294640819274.
I0419 21:04:24.110997 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560533s, prior_pose=(17.3882, -1.87921), yaw=-177.999 deg
I0419 21:04:24.111169 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1100, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:04:24.111270 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783801, -4.29878)
I0419 21:04:24.111305 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.927488, -0.694666), points=6, range=1.16117, residual=0.00977681, extent=0.0261934
I0419 21:04:24.111333 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.927488, -0.694666), tracking=(-1.22599, 0.694666), map_predicted=(18.6377, -2.53063), range=1.16117, pts=6
I0419 21:04:24.111361 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18813m maha_sq=207.36 (gate chi2=5.99) pose_sigma=(0.150118, 0.150118, rho=0) det_map=(18.6377, -2.53063) lm_pos=(16.815, -1.32) delta=(1.82271, -1.21063) -> 0 candidate(s)
I0419 21:04:24.114161 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0093277 range=0.640619 variance=0.000663961 t_weight=4518.34 r_weight=0 yaml=(16.815, -1.32) prior=(17.3882, -1.87921, -177.999deg) obs_actual=(0.542505, -0.588853) obs_expected=(0.553325, -0.578887) delta=(-0.0108205, -0.00996563) |delta|=0.0147105m
I0419 21:04:24.114306 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294641136568.
I0419 21:04:24.250793 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294641417473.
I0419 21:04:24.252089 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:24.252156 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962798, -2.41327)
I0419 21:04:24.252177 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:24.252209 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:24.252941 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294641733739.
I0419 21:04:24.254885 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.0368, -4.21055), points=3, range=4.33633, residual=0.0109665, extent=0.0264585
I0419 21:04:24.254969 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.0368, -4.21055), tracking=(0.738302, 4.21055), map_predicted=(16.7938, -6.11238), range=4.33633, pts=3
I0419 21:04:24.254997 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.6983m maha_sq=580.995 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(16.7938, -6.11238) lm_pos=(15.915, -2.52) delta=(0.878774, -3.59238) -> 0 candidate(s)
I0419 21:04:24.255642 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.249878, 2.48145)
I0419 21:04:24.255764 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294642020218.
I0419 21:04:24.261948 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.358297, 2.42144)
I0419 21:04:24.262107 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:24.262145 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:24.262162 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:24.262204 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:24.262326 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294642613504.
I0419 21:04:24.356686 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3883, -1.8752), yaw=-178.016 deg backend=(17.3845, -1.88305)
I0419 21:04:24.357836 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.958694, -2.4132), points=4, range=2.594, residual=0.0113576, extent=0.0277204
I0419 21:04:24.357916 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.958694, -2.4132), tracking=(0.660194, 2.4132), map_predicted=(16.8121, -4.30982), range=2.594, pts=4
I0419 21:04:24.357951 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00205m maha_sq=171.957 (gate chi2=5.99) pose_sigma=(0.15029, 0.15029, rho=0) det_map=(16.8121, -4.30982) lm_pos=(15.915, -2.52) delta=(0.897083, -1.78982) -> 0 candidate(s)
I0419 21:04:24.358083 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:24.358649 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.692 deg, rms_residual=0.0142206m, sigma_yaw=0.018608 rad, N=2
I0419 21:04:24.358719 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3883, -1.87519, -177.692deg) inliers=2 rms=0.0142206m
I0419 21:04:24.358757 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294642903286.
I0419 21:04:24.361678 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.249385, -0.589586)
I0419 21:04:24.361815 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:24.361886 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294643178210.
I0419 21:04:24.363137 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294643457877.
I0419 21:04:24.363480 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841448, -2.4907), points=4, range=2.62575, residual=0.0120509, extent=0.0297648
I0419 21:04:24.363531 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.841448, -2.4907), tracking=(-1.13995, 2.4907), map_predicted=(18.6138, -4.32495), range=2.62575, pts=4
I0419 21:04:24.363556 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24673m maha_sq=453.532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6138, -4.32495) lm_pos=(15.915, -2.52) delta=(2.69878, -1.80495) -> 0 candidate(s)
I0419 21:04:24.374297 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.927646, -0.694788)
I0419 21:04:24.378612 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:24.402559 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084137s, prior_pose=(17.3878, -1.87656), yaw=-178.016 deg
I0419 21:04:24.402729 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1108, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 21:04:24.486539 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294644055531.
I0419 21:04:24.487929 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.776022, -4.29138)
I0419 21:04:24.488042 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832925, -2.48934), points=4, range=2.62775, residual=0.0110656, extent=0.0268764
I0419 21:04:24.488071 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.832925, -2.48934), tracking=(-1.13143, 2.48934), map_predicted=(18.6048, -4.32594), range=2.62775, pts=4
I0419 21:04:24.488142 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23979m maha_sq=452.034 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6048, -4.32594) lm_pos=(15.915, -2.52) delta=(2.68977, -1.80594) -> 0 candidate(s)
I0419 21:04:24.488840 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294644375657.
I0419 21:04:24.490808 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:24.490899 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:24.491856 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00872322 range=0.64081 variance=0.000673582 t_weight=4453.8 r_weight=0 yaml=(16.815, -1.32) prior=(17.3877, -1.87713, -178.008deg) obs_actual=(0.544036, -0.58777) obs_expected=(0.552968, -0.576704) delta=(-0.0089314, -0.0110657) |delta|=0.0142204m
I0419 21:04:24.491935 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294644655889.
I0419 21:04:24.492865 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962326, -2.41211)
I0419 21:04:24.495182 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.358803, 2.42483), points=5, range=2.4532, residual=0.0118942, extent=0.0299659
I0419 21:04:24.495302 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.358803, 2.42483), tracking=(0.657303, 2.42483), map_predicted=(16.8144, -4.32433), range=2.4532, pts=5
I0419 21:04:24.495334 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01608m maha_sq=174.867 (gate chi2=5.99) pose_sigma=(0.15009, 0.15009, rho=0) det_map=(16.8144, -4.32433) lm_pos=(15.915, -2.52) delta=(0.899443, -1.80433) -> 0 candidate(s)
I0419 21:04:24.495361 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:24.495473 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294644942829.
I0419 21:04:24.522465 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:24.522593 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:24.522627 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294645218749.
I0419 21:04:24.523082 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.784462, -4.30239)
I0419 21:04:24.564978 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:24.633205 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:24.633330 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:24.633438 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294645535084.
I0419 21:04:24.634867 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841129, -2.48975), points=4, range=2.62525, residual=0.0117142, extent=0.0291399
I0419 21:04:24.634967 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.841129, -2.48975), tracking=(-1.13963, 2.48975), map_predicted=(18.6113, -4.32435), range=2.62525, pts=4
I0419 21:04:24.634996 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24436m maha_sq=453.026 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6113, -4.32435) lm_pos=(15.915, -2.52) delta=(2.69633, -1.80435) -> 0 candidate(s)
I0419 21:04:24.636916 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.358185, 2.42078)
I0419 21:04:24.638876 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:24.639035 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294646141531.
I0419 21:04:24.645375 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.92781, -0.694903)
I0419 21:04:24.665938 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.964969, -2.40855), points=4, range=2.5955, residual=0.00971725, extent=0.0236986
I0419 21:04:24.666054 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.964969, -2.40855), tracking=(0.666469, 2.40855), map_predicted=(16.8041, -4.30667), range=2.5955, pts=4
I0419 21:04:24.666083 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99569m maha_sq=171.712 (gate chi2=5.99) pose_sigma=(0.150022, 0.150022, rho=0) det_map=(16.8041, -4.30667) lm_pos=(15.915, -2.52) delta=(0.889142, -1.78667) -> 0 candidate(s)
I0419 21:04:24.754487 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:24.754648 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294646701228.
I0419 21:04:24.757230 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.062144s, prior_pose=(17.3854, -1.87571), yaw=-178.023 deg
I0419 21:04:24.757619 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1195, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:04:24.757978 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.361329, 2.41773)
I0419 21:04:24.758335 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294647000261.
I0419 21:04:24.762867 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244722, -0.588257), points=20, range=0.6389, residual=0.0135908, extent=0.0490507
I0419 21:04:24.763217 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244722, -0.588257), tracking=(0.543222, -0.588257), map_predicted=(16.8231, -1.30703), range=0.6389, pts=20
I0419 21:04:24.763270 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0152764m maha_sq=0.0100841 (gate chi2=5.99) pose_sigma=(0.150075, 0.150075, rho=0) det_map=(16.8231, -1.30703) lm_pos=(16.815, -1.32) delta=(0.00806509, 0.012974) -> 1 candidate(s)
I0419 21:04:24.763382 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294647293644.
I0419 21:04:24.764971 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:24.765026 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.03072, -4.2122)
I0419 21:04:24.765051 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:24.765118 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:24.767463 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294647578734.
I0419 21:04:24.790843 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294647896373.
I0419 21:04:24.886241 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.03672, -4.21022)
I0419 21:04:24.886421 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03672, -4.21022), points=3, range=4.336, residual=0.0106786, extent=0.0259238
I0419 21:04:24.886461 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03672, -4.21022), tracking=(0.738224, 4.21022), map_predicted=(16.7964, -6.11061), range=4.336, pts=3
I0419 21:04:24.886493 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69721m maha_sq=580.725 (gate chi2=5.99) pose_sigma=(0.150098, 0.150098, rho=0) det_map=(16.7964, -6.11061) lm_pos=(15.915, -2.52) delta=(0.881408, -3.59061) -> 0 candidate(s)
I0419 21:04:24.887358 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00742135 range=0.639263 variance=0.000597964 t_weight=5017.02 r_weight=0 yaml=(16.815, -1.32) prior=(17.3876, -1.87724, -178.005deg) obs_actual=(0.550941, -0.589796) obs_expected=(0.552882, -0.576839) delta=(-0.00194068, -0.0129565) |delta|=0.013101m
I0419 21:04:24.887517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294648177519.
I0419 21:04:24.890307 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:24.890400 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:24.890441 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:24.890517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294648463666.
I0419 21:04:24.891584 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.961672, -2.41049)
I0419 21:04:24.892343 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.246223, -0.589458), points=18, range=0.641667, residual=0.0129436, extent=0.0424714
I0419 21:04:24.892412 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.246223, -0.589458), tracking=(0.544723, -0.589458), map_predicted=(16.824, -1.3087), range=0.641667, pts=18
I0419 21:04:24.892439 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0144314m maha_sq=0.00901471 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.824, -1.3087) lm_pos=(16.815, -1.32) delta=(0.00897289, 0.0113028) -> 1 candidate(s)
I0419 21:04:24.892524 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294648771914.
I0419 21:04:24.905944 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.283529, 2.81576)
I0419 21:04:24.906288 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:24.906420 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294649054983.
I0419 21:04:24.934765 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294649342834.
I0419 21:04:25.014191 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.966963, -2.41349), points=4, range=2.60075, residual=0.00957439, extent=0.0227154
I0419 21:04:25.014324 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.966963, -2.41349), tracking=(0.668463, 2.41349), map_predicted=(16.8033, -4.31525), range=2.60075, pts=4
I0419 21:04:25.014357 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00298m maha_sq=172.636 (gate chi2=5.99) pose_sigma=(0.150178, 0.150178, rho=0) det_map=(16.8033, -4.31525) lm_pos=(15.915, -2.52) delta=(0.888261, -1.79525) -> 0 candidate(s)
I0419 21:04:25.014927 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.291765, 2.70028)
I0419 21:04:25.015062 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.854 deg, rms_residual=0.0118193m, sigma_yaw=0.0155145 rad, N=2
I0419 21:04:25.015115 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3885, -1.87913, -177.854deg) inliers=2 rms=0.0118193m
I0419 21:04:25.015153 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294649654521.
I0419 21:04:25.017241 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557767s, prior_pose=(17.3869, -1.87953), yaw=-177.981 deg
I0419 21:04:25.017319 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=250, threshold=230, above_threshold=19, candidates=19
I0419 21:04:25.018070 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294649933856.
I0419 21:04:25.022591 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294650220230.
I0419 21:04:25.023036 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.03743, -4.21314)
I0419 21:04:25.023093 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.04273, -4.20823), points=3, range=4.339, residual=0.0138192, extent=0.0288657
I0419 21:04:25.023132 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.04273, -4.20823), tracking=(0.744229, 4.20823), map_predicted=(16.7914, -6.11138), range=4.339, pts=3
I0419 21:04:25.023159 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69677m maha_sq=579.401 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7914, -6.11138) lm_pos=(15.915, -2.52) delta=(0.876435, -3.59138) -> 0 candidate(s)
I0419 21:04:25.050619 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:25.050730 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:25.054328 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294650535206.
I0419 21:04:25.154821 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.248087, -0.588819)
I0419 21:04:25.155011 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:25.155113 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294650819288.
I0419 21:04:25.156293 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.966839, -2.41318), points=4, range=2.60075, residual=0.00963242, extent=0.0228033
I0419 21:04:25.156395 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.966839, -2.41318), tracking=(0.668339, 2.41318), map_predicted=(16.8071, -4.31414), range=2.60075, pts=4
I0419 21:04:25.156425 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.0037m maha_sq=173.15 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8071, -4.31414) lm_pos=(15.915, -2.52) delta=(0.892116, -1.79414) -> 0 candidate(s)
I0419 21:04:25.158197 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:25.158339 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00673559 range=0.637526 variance=0.000585955 t_weight=5119.85 r_weight=0 yaml=(16.815, -1.32) prior=(17.3893, -1.87944, -178deg) obs_actual=(0.544614, -0.586795) obs_expected=(0.55447, -0.57914) delta=(-0.00985593, -0.00765465) |delta|=0.0124793m
I0419 21:04:25.158408 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294651136293.
I0419 21:04:25.159516 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.932324, -0.696886)
I0419 21:04:25.160230 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:25.160286 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:25.160360 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294651413303.
I0419 21:04:25.161685 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3886, -1.87895), yaw=-178 deg backend=(17.3862, -1.88199)
I0419 21:04:25.168390 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.932324, -0.696886), points=4, range=1.161, residual=0.00896415, extent=0.022505
I0419 21:04:25.168561 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.932324, -0.696886), tracking=(-1.23082, 0.696886), map_predicted=(18.643, -2.53245), range=1.161, pts=4
I0419 21:04:25.168644 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19354m maha_sq=208.665 (gate chi2=5.99) pose_sigma=(0.150067, 0.150067, rho=0) det_map=(18.643, -2.53245) lm_pos=(16.815, -1.32) delta=(1.828, -1.21245) -> 0 candidate(s)
I0419 21:04:25.170630 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:25.170776 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:25.170804 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294651700979.
I0419 21:04:25.197893 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20185, 0.594843)
I0419 21:04:25.198133 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294651973984.
I0419 21:04:25.201596 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:25.277369 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294652281091.
I0419 21:04:25.278076 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.836555, -2.48812)
I0419 21:04:25.278168 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.926236, -0.695841), points=5, range=1.1608, residual=0.00857378, extent=0.0233091
I0419 21:04:25.278195 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.926236, -0.695841), tracking=(-1.22474, 0.695841), map_predicted=(18.6379, -2.53311), range=1.1608, pts=5
I0419 21:04:25.278223 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18968m maha_sq=208.174 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6379, -2.53311) lm_pos=(16.815, -1.32) delta=(1.82293, -1.21311) -> 0 candidate(s)
I0419 21:04:25.280907 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294652578506.
I0419 21:04:25.285770 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880097s, prior_pose=(17.3888, -1.88068), yaw=-177.979 deg
I0419 21:04:25.285879 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=248, threshold=230, above_threshold=19, candidates=19
I0419 21:04:25.290386 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.358158, 2.42045)
I0419 21:04:25.318012 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.24495, -0.588771), points=20, range=0.6409, residual=0.014241, extent=0.0464543
I0419 21:04:25.318149 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.24495, -0.588771), tracking=(0.54345, -0.588771), map_predicted=(16.8233, -1.3127), range=0.6409, pts=20
I0419 21:04:25.318185 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0110909m maha_sq=0.00530597 (gate chi2=5.99) pose_sigma=(0.150149, 0.150149, rho=0) det_map=(16.8233, -1.3127) lm_pos=(16.815, -1.32) delta=(0.00834757, 0.00730243) -> 1 candidate(s)
I0419 21:04:25.318308 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294653175126.
I0419 21:04:25.409384 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:25.409543 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:25.409626 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:25.410530 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248576, -0.59018)
I0419 21:04:25.413370 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294653782202.
I0419 21:04:25.414422 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.929859, -0.694331)
I0419 21:04:25.414507 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841125, -2.48975), points=4, range=2.6265, residual=0.0102991, extent=0.0254311
I0419 21:04:25.414537 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.841125, -2.48975), tracking=(-1.13962, 2.48975), map_predicted=(18.6085, -4.33331), range=2.6265, pts=4
I0419 21:04:25.414561 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24698m maha_sq=454.366 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6085, -4.33331) lm_pos=(15.915, -2.52) delta=(2.69347, -1.81331) -> 0 candidate(s)
I0419 21:04:25.434770 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:25.434943 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:25.435037 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:25.435187 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294654341600.
I0419 21:04:25.462704 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.1986, 0.596132)
I0419 21:04:25.462853 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:25.463030 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294654618760.
I0419 21:04:25.572124 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.02417, -4.21192), points=3, range=4.33467, residual=0.0108098, extent=0.026165
I0419 21:04:25.572275 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.02417, -4.21192), tracking=(0.72567, 4.21192), map_predicted=(16.8052, -6.11455), range=4.33467, pts=3
I0419 21:04:25.572319 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70314m maha_sq=581.316 (gate chi2=5.99) pose_sigma=(0.150261, 0.150261, rho=0) det_map=(16.8052, -6.11455) lm_pos=(15.915, -2.52) delta=(0.890193, -3.59455) -> 0 candidate(s)
I0419 21:04:25.572815 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.288752, 2.8675)
I0419 21:04:25.572889 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:25.575982 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00403807 range=0.637895 variance=0.000590767 t_weight=5078.14 r_weight=0 yaml=(16.815, -1.32) prior=(17.384, -1.87942, -177.993deg) obs_actual=(0.54375, -0.587119) obs_expected=(0.549019, -0.579001) delta=(-0.00526935, -0.00811774) |delta|=0.00967801m
I0419 21:04:25.576227 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294655217228.
I0419 21:04:25.579080 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.20008, 0.596137)
I0419 21:04:25.579201 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361598, 2.41945), points=4, range=2.44575, residual=0.00879909, extent=0.0214301
I0419 21:04:25.579234 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.361598, 2.41945), tracking=(0.660098, 2.41945), map_predicted=(16.8093, -4.32077), range=2.44575, pts=4
I0419 21:04:25.579257 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01061m maha_sq=174.552 (gate chi2=5.99) pose_sigma=(0.150025, 0.150025, rho=0) det_map=(16.8093, -4.32077) lm_pos=(15.915, -2.52) delta=(0.894292, -1.80077) -> 0 candidate(s)
I0419 21:04:25.579346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294655539832.
I0419 21:04:25.580379 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608998s, prior_pose=(17.3842, -1.87967), yaw=-177.991 deg
I0419 21:04:25.580442 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1095, max_intensity=248, threshold=230, above_threshold=19, candidates=19
I0419 21:04:25.680377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294656096794.
I0419 21:04:25.680826 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.963448, -2.41489)
I0419 21:04:25.682276 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:25.682360 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:25.682838 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.245619, -0.587926), points=20, range=0.6399, residual=0.0142431, extent=0.0471682
I0419 21:04:25.682900 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.245619, -0.587926), tracking=(0.544119, -0.587926), map_predicted=(16.8216, -1.31148), range=0.6399, pts=20
I0419 21:04:25.682929 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0107559m maha_sq=0.00499996 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8216, -1.31148) lm_pos=(16.815, -1.32) delta=(0.00656707, 0.00851841) -> 1 candidate(s)
I0419 21:04:25.683022 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294656419928.
I0419 21:04:25.685921 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.247977, -0.588719)
I0419 21:04:25.686017 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:25.686105 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294656696024.
I0419 21:04:25.698376 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.7 deg, rms_residual=0.0120589m, sigma_yaw=0.0158241 rad, N=2
I0419 21:04:25.698577 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.387, -1.87511, -177.7deg) inliers=2 rms=0.0120589m
I0419 21:04:25.698647 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294656977642.
I0419 21:04:25.726244 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.930459, -0.69479)
I0419 21:04:25.726356 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.02542, -4.21711), points=4, range=4.337, residual=0.0167656, extent=0.0399971
I0419 21:04:25.726387 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.02542, -4.21711), tracking=(0.726919, 4.21711), map_predicted=(16.8069, -6.12089), range=4.337, pts=4
I0419 21:04:25.726414 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70971m maha_sq=581.253 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8069, -6.12089) lm_pos=(15.915, -2.52) delta=(0.891918, -3.60089) -> 0 candidate(s)
I0419 21:04:25.730731 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:25.730820 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:25.730937 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294657302478.
I0419 21:04:25.807473 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294657586758.
I0419 21:04:25.809029 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 25
I0419 21:04:25.809537 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783213, -4.2955)
I0419 21:04:25.814422 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20663, 0.597208), points=4, range=1.341, residual=0.0125381, extent=0.0285012
I0419 21:04:25.814510 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:25.814531 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20663, 0.597208), tracking=(1.50513, 0.597208), map_predicted=(15.9039, -2.52725), range=1.341, pts=4
I0419 21:04:25.814556 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0132183m maha_sq=0.00754642 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(15.9039, -2.52725) lm_pos=(15.915, -2.52) delta=(-0.0110524, -0.00725038) -> 1 candidate(s)
I0419 21:04:25.814635 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294657868047.
I0419 21:04:25.817327 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294658155086.
I0419 21:04:25.846745 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.247565, -0.587751)
I0419 21:04:25.846912 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00906954 range=0.637842 variance=0.000595548 t_weight=5037.38 r_weight=0 yaml=(16.815, -1.32) prior=(17.3877, -1.87744, -178.027deg) obs_actual=(0.542536, -0.586647) obs_expected=(0.553171, -0.576831) delta=(-0.010635, -0.00981646) |delta|=0.0144729m
I0419 21:04:25.846982 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294658462202.
I0419 21:04:25.930217 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563309s, prior_pose=(17.3875, -1.87773), yaw=-177.988 deg
I0419 21:04:25.930351 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1104, max_intensity=252, threshold=230, above_threshold=18, candidates=18
I0419 21:04:25.930444 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.770359, -4.29579), points=4, range=4.36625, residual=0.01635, extent=0.040253
I0419 21:04:25.930474 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.770359, -4.29579), tracking=(-1.06886, 4.29579), map_predicted=(18.6065, -6.13335), range=4.36625, pts=4
I0419 21:04:25.930541 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50561m maha_sq=857.392 (gate chi2=5.99) pose_sigma=(0.150027, 0.150027, rho=0) det_map=(18.6065, -6.13335) lm_pos=(15.915, -2.52) delta=(2.6915, -3.61335) -> 0 candidate(s)
I0419 21:04:25.931138 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.295264, 2.93217)
I0419 21:04:25.931233 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:25.931352 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294658739717.
I0419 21:04:25.932705 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:25.932806 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:25.932832 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294659047463.
I0419 21:04:25.935446 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:25.935539 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=4
I0419 21:04:25.935621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294659338406.
I0419 21:04:25.936146 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.784223, -4.30108)
I0419 21:04:25.936187 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.932601, -0.694292), points=4, range=1.16125, residual=0.00532, extent=0.0129092
I0419 21:04:25.936213 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.932601, -0.694292), tracking=(-1.2311, 0.694292), map_predicted=(18.6422, -2.52786), range=1.16125, pts=4
I0419 21:04:25.936239 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19033m maha_sq=208.707 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6422, -2.52786) lm_pos=(16.815, -1.32) delta=(1.82719, -1.20786) -> 0 candidate(s)
I0419 21:04:25.936257 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:25.966379 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294659657507.
I0419 21:04:26.064934 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.19829, 0.595253)
I0419 21:04:26.065183 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294659940092.
I0419 21:04:26.066275 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.923755, -0.696094), points=4, range=1.16, residual=0.00897381, extent=0.0209473
I0419 21:04:26.066365 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.923755, -0.696094), tracking=(-1.22225, 0.696094), map_predicted=(18.6332, -2.52895), range=1.16, pts=4
I0419 21:04:26.066398 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18344m maha_sq=206.927 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6332, -2.52895) lm_pos=(16.815, -1.32) delta=(1.81821, -1.20895) -> 0 candidate(s)
I0419 21:04:26.067070 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:26.067130 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:26.067171 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:26.067271 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294660213332.
I0419 21:04:26.068571 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.387, -1.87648), yaw=-177.985 deg backend=(17.3841, -1.88222)
I0419 21:04:26.070299 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.24786, -0.588346)
I0419 21:04:26.070475 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294660540855.
I0419 21:04:26.082329 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:26.082504 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294660817322.
I0419 21:04:26.105971 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.930189, -0.695288)
I0419 21:04:26.106061 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03672, -4.21023), points=3, range=4.336, residual=0.0116065, extent=0.0283759
I0419 21:04:26.106091 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03672, -4.21023), tracking=(0.738218, 4.21023), map_predicted=(16.7967, -6.11107), range=4.336, pts=3
I0419 21:04:26.106117 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69774m maha_sq=581.106 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7967, -6.11107) lm_pos=(15.915, -2.52) delta=(0.881738, -3.59107) -> 0 candidate(s)
I0419 21:04:26.110535 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294661099922.
I0419 21:04:26.188627 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00948424 range=0.637842 variance=0.000598363 t_weight=5013.68 r_weight=0 yaml=(16.815, -1.32) prior=(17.3877, -1.8773, -178.042deg) obs_actual=(0.542656, -0.586868) obs_expected=(0.553272, -0.576543) delta=(-0.0106161, -0.010325) |delta|=0.014809m
I0419 21:04:26.188894 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294661378458.
I0419 21:04:26.190704 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842287s, prior_pose=(17.3877, -1.8773), yaw=-178.042 deg
I0419 21:04:26.190827 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1105, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:26.190887 1237626 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.929411, -0.696101)
I0419 21:04:26.191344 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20483, 0.59632), points=4, range=1.33825, residual=0.0140302, extent=0.0312506
I0419 21:04:26.191401 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20483, 0.59632), tracking=(1.50333, 0.59632), map_predicted=(15.9056, -2.52464), range=1.33825, pts=4
I0419 21:04:26.191427 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0105087m maha_sq=0.00476694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9056, -2.52464) lm_pos=(15.915, -2.52) delta=(-0.00942705, -0.00464376) -> 1 candidate(s)
I0419 21:04:26.191537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294661692297.
I0419 21:04:26.198830 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294661982761.
I0419 21:04:26.226060 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:26.226164 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.784159, -4.30075)
I0419 21:04:26.226246 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:26.230532 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:26.230703 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294662300829.
I0419 21:04:26.254834 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.783268, -4.29583), points=3, range=4.36667, residual=0.0106968, extent=0.0258849
I0419 21:04:26.254989 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.783268, -4.29583), tracking=(-1.08177, 4.29583), map_predicted=(18.6154, -6.13308), range=4.36667, pts=3
I0419 21:04:26.255048 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51074m maha_sq=865.225 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6154, -6.13308) lm_pos=(15.915, -2.52) delta=(2.70045, -3.61308) -> 0 candidate(s)
I0419 21:04:26.368129 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:26.368309 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294662572803.
I0419 21:04:26.369426 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-1.03096, -4.21319)
I0419 21:04:26.370385 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.834 deg, rms_residual=0.0128864m, sigma_yaw=0.0168917 rad, N=2
I0419 21:04:26.370473 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3879, -1.8771, -177.834deg) inliers=2 rms=0.0128864m
I0419 21:04:26.370518 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294662855422.
I0419 21:04:26.373260 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.239545, 2.45032)
I0419 21:04:26.373338 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:26.373363 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:26.373459 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294663180838.
I0419 21:04:26.374451 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.964975, -2.40854), points=4, range=2.595, residual=0.00927886, extent=0.022672
I0419 21:04:26.374511 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.964975, -2.40854), tracking=(0.666475, 2.40854), map_predicted=(16.8054, -4.31009), range=2.595, pts=4
I0419 21:04:26.374541 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99929m maha_sq=172.444 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8054, -4.31009) lm_pos=(15.915, -2.52) delta=(0.890358, -1.79009) -> 0 candidate(s)
I0419 21:04:26.376276 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294663455982.
I0419 21:04:26.377486 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294663745276.
I0419 21:04:26.377840 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.782916, -4.29386)
I0419 21:04:26.377888 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:26.453852 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.250381, -0.589732), points=19, range=0.64, residual=0.0127788, extent=0.0444854
I0419 21:04:26.453970 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.250381, -0.589732), tracking=(0.548881, -0.589732), map_predicted=(16.8194, -1.30997), range=0.64, pts=19
I0419 21:04:26.454043 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.010952m maha_sq=0.00518104 (gate chi2=5.99) pose_sigma=(0.150175, 0.150175, rho=0) det_map=(16.8194, -1.30997) lm_pos=(16.815, -1.32) delta=(0.00438938, 0.010034) -> 1 candidate(s)
I0419 21:04:26.454154 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294664061671.
I0419 21:04:26.457340 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.358615, 2.42358)
I0419 21:04:26.457499 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00246501 range=0.638105 variance=0.000607512 t_weight=4938.17 r_weight=0 yaml=(16.815, -1.32) prior=(17.3872, -1.8828, -178.03deg) obs_actual=(0.548341, -0.58844) obs_expected=(0.552512, -0.582139) delta=(-0.00417119, -0.00630096) |delta|=0.00755652m
I0419 21:04:26.457589 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294664340244.
I0419 21:04:26.462324 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604358s, prior_pose=(17.3872, -1.8828), yaw=-178.03 deg
I0419 21:04:26.462461 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1191, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:04:26.462742 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294664618863.
I0419 21:04:26.490473 1219494 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.241588, 2.47122)
I0419 21:04:26.490628 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:26.490716 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:26.490746 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294664898773.
I0419 21:04:26.491391 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.958817, -2.41351), points=4, range=2.59475, residual=0.0110094, extent=0.0271663
I0419 21:04:26.491438 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.958817, -2.41351), tracking=(0.660317, 2.41351), map_predicted=(16.8105, -4.31611), range=2.59475, pts=4
I0419 21:04:26.491465 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00698m maha_sq=173.511 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8105, -4.31611) lm_pos=(15.915, -2.52) delta=(0.895537, -1.79611) -> 0 candidate(s)
I0419 21:04:26.517831 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:26.517918 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:26.517978 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:26.522594 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294665218690.
I0419 21:04:26.598847 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.837347, -2.49049)
I0419 21:04:26.599599 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.357664, 2.41717), points=5, range=2.4438, residual=0.0106941, extent=0.0285073
I0419 21:04:26.599659 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.357664, 2.41717), tracking=(0.656164, 2.41717), map_predicted=(16.8204, -4.31886), range=2.4438, pts=5
I0419 21:04:26.599726 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01387m maha_sq=174.172 (gate chi2=5.99) pose_sigma=(0.150323, 0.150323, rho=0) det_map=(16.8204, -4.31886) lm_pos=(15.915, -2.52) delta=(0.905422, -1.79886) -> 0 candidate(s)
I0419 21:04:26.599828 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294665497605.
I0419 21:04:26.602615 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294665817337.
I0419 21:04:26.610091 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248288, -0.589502)
I0419 21:04:26.610172 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:26.610219 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:26.610302 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294666095864.
I0419 21:04:26.610711 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:26.610751 1258777 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:26.633868 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832819, -2.48903), points=4, range=2.62725, residual=0.0108409, extent=0.0263656
I0419 21:04:26.633981 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.832819, -2.48903), tracking=(-1.13132, 2.48903), map_predicted=(18.6084, -4.32699), range=2.62725, pts=4
I0419 21:04:26.634023 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24343m maha_sq=452.762 (gate chi2=5.99) pose_sigma=(0.150066, 0.150066, rho=0) det_map=(18.6084, -4.32699) lm_pos=(15.915, -2.52) delta=(2.69344, -1.80699) -> 0 candidate(s)
I0419 21:04:26.637744 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.288195, 2.7419)
I0419 21:04:26.637955 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294666372082.
I0419 21:04:26.716949 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:26.719568 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.288195, 2.7419)
I0419 21:04:26.719655 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361399, 2.41814), points=4, range=2.44525, residual=0.00881334, extent=0.0213731
I0419 21:04:26.719681 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.361399, 2.41814), tracking=(0.659899, 2.41814), map_predicted=(16.8127, -4.31738), range=2.44525, pts=4
I0419 21:04:26.719702 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.0091m maha_sq=173.727 (gate chi2=5.99) pose_sigma=(0.150275, 0.150275, rho=0) det_map=(16.8127, -4.31738) lm_pos=(15.915, -2.52) delta=(0.897718, -1.79738) -> 0 candidate(s)
I0419 21:04:26.719789 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294666978867.
I0419 21:04:26.727119 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294667261527.
I0419 21:04:26.754630 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560134s, prior_pose=(17.3891, -1.87896), yaw=-178.025 deg
I0419 21:04:26.754760 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1098, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:04:26.758077 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.19561, 0.593911)
I0419 21:04:26.758394 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00823875 range=0.6391 variance=0.000640926 t_weight=4680.73 r_weight=0 yaml=(16.815, -1.32) prior=(17.3891, -1.87896, -178.025deg) obs_actual=(0.543772, -0.587115) obs_expected=(0.554495, -0.578405) delta=(-0.0107227, -0.00871006) |delta|=0.0138145m
I0419 21:04:26.758558 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294667572390.
I0419 21:04:26.782305 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832716, -2.48871), points=4, range=2.62725, residual=0.011395, extent=0.0279632
I0419 21:04:26.782490 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.832716, -2.48871), tracking=(-1.13122, 2.48871), map_predicted=(18.6054, -4.32721), range=2.62725, pts=4
I0419 21:04:26.782547 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24102m maha_sq=452.234 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6054, -4.32721) lm_pos=(15.915, -2.52) delta=(2.69039, -1.80721) -> 0 candidate(s)
I0419 21:04:26.899287 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294667862964.
I0419 21:04:26.900605 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:26.900701 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.283775, 2.77754)
I0419 21:04:26.900719 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=3
I0419 21:04:26.903991 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:26.904153 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294668456672.
I0419 21:04:26.905459 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.0372, -4.21217)
I0419 21:04:26.905551 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.0372, -4.21217), points=3, range=4.338, residual=0.0107149, extent=0.0261874
I0419 21:04:26.905582 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.0372, -4.21217), tracking=(0.738702, 4.21217), map_predicted=(16.7975, -6.11621), range=4.338, pts=3
I0419 21:04:26.905611 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.7029m maha_sq=583.213 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7975, -6.11621) lm_pos=(15.915, -2.52) delta=(0.882495, -3.59621) -> 0 candidate(s)
I0419 21:04:26.907303 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294668733482.
I0419 21:04:26.908639 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294669021897.
I0419 21:04:26.908993 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.831858, -2.4861)
I0419 21:04:26.909034 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:26.909055 1264424 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:26.980270 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3869, -1.87979), yaw=-178.008 deg backend=(17.3861, -1.88108)
I0419 21:04:26.981684 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361129, 2.41634), points=6, range=2.44083, residual=0.0140261, extent=0.0370773
I0419 21:04:26.981777 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.361129, 2.41634), tracking=(0.659629, 2.41634), map_predicted=(16.8117, -4.3176), range=2.44083, pts=6
I0419 21:04:26.981851 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00883m maha_sq=172.744 (gate chi2=5.99) pose_sigma=(0.150299, 0.150299, rho=0) det_map=(16.8117, -4.3176) lm_pos=(15.915, -2.52) delta=(0.896674, -1.7976) -> 0 candidate(s)
I0419 21:04:26.981911 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.7 deg, rms_residual=0.0117308m, sigma_yaw=0.0154002 rad, N=2
I0419 21:04:26.981949 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3859, -1.87556, -177.7deg) inliers=2 rms=0.0117308m
I0419 21:04:26.981981 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294669339674.
I0419 21:04:26.983348 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:26.983487 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294669617352.
I0419 21:04:26.983837 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.837111, -2.48978)
I0419 21:04:26.983901 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:26.994589 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294669940823.
I0419 21:04:27.018044 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.827971, -2.48651), points=5, range=2.6234, residual=0.0138679, extent=0.0370514
I0419 21:04:27.018128 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.827971, -2.48651), tracking=(-1.12647, 2.48651), map_predicted=(18.6002, -4.32589), range=2.6234, pts=5
I0419 21:04:27.018158 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23599m maha_sq=449.305 (gate chi2=5.99) pose_sigma=(0.150057, 0.150057, rho=0) det_map=(18.6002, -4.32589) lm_pos=(15.915, -2.52) delta=(2.68522, -1.80589) -> 0 candidate(s)
I0419 21:04:27.022495 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.361573, 2.41931)
I0419 21:04:27.022636 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294670221380.
I0419 21:04:27.046047 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838452s, prior_pose=(17.388, -1.88003), yaw=-178.009 deg
I0419 21:04:27.046190 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1106, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:04:27.147711 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294670503017.
I0419 21:04:27.149570 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.24723, -0.586921)
I0419 21:04:27.151635 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:27.151707 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:27.151733 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.965596, -2.41009), points=4, range=2.5975, residual=0.00955502, extent=0.0230305
I0419 21:04:27.151759 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.965596, -2.41009), tracking=(0.667096, 2.41009), map_predicted=(16.8033, -4.31265), range=2.5975, pts=4
I0419 21:04:27.151780 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00066m maha_sq=172.595 (gate chi2=5.99) pose_sigma=(0.15002, 0.15002, rho=0) det_map=(16.8033, -4.31265) lm_pos=(15.915, -2.52) delta=(0.888288, -1.79265) -> 0 candidate(s)
I0419 21:04:27.151799 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:27.152537 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00604255 range=0.636947 variance=0.000605619 t_weight=4953.61 r_weight=0 yaml=(16.815, -1.32) prior=(17.3873, -1.88109, -178.034deg) obs_actual=(0.542173, -0.585715) obs_expected=(0.552725, -0.580394) delta=(-0.0105518, -0.0053209) |delta|=0.0118175m
I0419 21:04:27.152626 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294671099967.
I0419 21:04:27.153671 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.832613, -2.48839)
I0419 21:04:27.155326 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294671376219.
I0419 21:04:27.168304 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244848, -0.586145), points=20, range=0.63815, residual=0.0139847, extent=0.0447313
I0419 21:04:27.168426 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244848, -0.586145), tracking=(0.543348, -0.586145), map_predicted=(16.8236, -1.31256), range=0.63815, pts=20
I0419 21:04:27.168478 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.01135m maha_sq=0.00556927 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8236, -1.31256) lm_pos=(16.815, -1.32) delta=(0.00857544, 0.00743528) -> 1 candidate(s)
I0419 21:04:27.168565 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:27.168658 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:27.168696 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294671661895.
I0419 21:04:27.267982 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.782683, -4.29255)
I0419 21:04:27.268175 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:27.268852 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:27.268910 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:27.268955 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:27.270208 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294672258840.
I0419 21:04:27.272733 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.964471, -2.40731)
I0419 21:04:27.272830 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.790024, -4.29748), points=3, range=4.36667, residual=0.0131182, extent=0.0269448
I0419 21:04:27.272859 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.790024, -4.29748), tracking=(-1.08852, 4.29748), map_predicted=(18.6263, -6.13586), range=4.36667, pts=3
I0419 21:04:27.272888 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51946m maha_sq=865.677 (gate chi2=5.99) pose_sigma=(0.15007, 0.15007, rho=0) det_map=(18.6263, -6.13586) lm_pos=(15.915, -2.52) delta=(2.71128, -3.61586) -> 0 candidate(s)
I0419 21:04:27.273447 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:27.273547 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294672578771.
I0419 21:04:27.287042 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.285198, 2.79147)
I0419 21:04:27.287395 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294672861096.
I0419 21:04:27.394618 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18627, 0.593593), points=3, range=1.331, residual=0.0119443, extent=0.0248697
I0419 21:04:27.394747 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18627, 0.593593), tracking=(1.48477, 0.593593), map_predicted=(15.9211, -2.52652), range=1.331, pts=3
I0419 21:04:27.394780 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00890229m maha_sq=0.00341405 (gate chi2=5.99) pose_sigma=(0.150337, 0.150337, rho=0) det_map=(15.9211, -2.52652) lm_pos=(15.915, -2.52) delta=(0.00606474, -0.00651689) -> 1 candidate(s)
I0419 21:04:27.394868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294673175598.
I0419 21:04:27.395816 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568914s, prior_pose=(17.3845, -1.88209), yaw=-178.024 deg
I0419 21:04:27.395876 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1098, max_intensity=254, threshold=230, above_threshold=19, candidates=19
I0419 21:04:27.396693 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19353, 0.593583)
I0419 21:04:27.396757 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:27.396826 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294673453633.
I0419 21:04:27.399682 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294673731918.
I0419 21:04:27.402742 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:27.402842 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:27.402962 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294674022064.
I0419 21:04:27.403434 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.961766, -2.41072)
I0419 21:04:27.403484 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.958819, -2.41351), points=4, range=2.5955, residual=0.0102479, extent=0.0251875
I0419 21:04:27.403522 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.958819, -2.41351), tracking=(0.660319, 2.41351), map_predicted=(16.808, -4.3156), range=2.5955, pts=4
I0419 21:04:27.403546 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00539m maha_sq=173.356 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.808, -4.3156) lm_pos=(15.915, -2.52) delta=(0.892972, -1.7956) -> 0 candidate(s)
I0419 21:04:27.430362 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:27.513862 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.927347, -0.695603)
I0419 21:04:27.514652 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00595497 range=0.637947 variance=0.000600698 t_weight=4994.19 r_weight=0 yaml=(16.815, -1.32) prior=(17.3851, -1.87815, -177.988deg) obs_actual=(0.542657, -0.586867) obs_expected=(0.550165, -0.577824) delta=(-0.00750759, -0.00904363) |delta|=0.0117538m
I0419 21:04:27.514761 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294674618088.
I0419 21:04:27.516000 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.244028, -0.586582), points=20, range=0.63715, residual=0.0136197, extent=0.0490109
I0419 21:04:27.516076 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.244028, -0.586582), tracking=(0.542528, -0.586582), map_predicted=(16.8223, -1.31098), range=0.63715, pts=20
I0419 21:04:27.516146 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0116201m maha_sq=0.00584013 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8223, -1.31098) lm_pos=(16.815, -1.32) delta=(0.00732398, 0.00902147) -> 1 candidate(s)
I0419 21:04:27.516510 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:27.516566 1219494 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:27.519098 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.782735, -4.29288)
I0419 21:04:27.522169 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294675216014.
I0419 21:04:27.551024 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.369097, 2.42136), points=4, range=2.449, residual=0.00947623, extent=0.0225094
I0419 21:04:27.551167 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:27.551203 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.369097, 2.42136), tracking=(0.667597, 2.42136), map_predicted=(16.8058, -4.32156), range=2.449, pts=4
I0419 21:04:27.551250 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00977m maha_sq=174.004 (gate chi2=5.99) pose_sigma=(0.150161, 0.150161, rho=0) det_map=(16.8058, -4.32156) lm_pos=(15.915, -2.52) delta=(0.890811, -1.80156) -> 0 candidate(s)
I0419 21:04:27.551458 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294675501362.
I0419 21:04:27.578238 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.963628, -2.41536)
I0419 21:04:27.689309 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294675812753.
I0419 21:04:27.691195 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.249176, 2.47448)
I0419 21:04:27.691349 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294676095015.
I0419 21:04:27.693295 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525942s, prior_pose=(17.3875, -1.87828), yaw=-177.975 deg
I0419 21:04:27.693370 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1105, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 21:04:27.693432 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776458, -4.29386), points=3, range=4.36567, residual=0.0132432, extent=0.0276717
I0419 21:04:27.693459 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.776458, -4.29386), tracking=(-1.07496, 4.29386), map_predicted=(18.6135, -6.13146), range=4.36567, pts=3
I0419 21:04:27.693480 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.50829m maha_sq=861.477 (gate chi2=5.99) pose_sigma=(0.150053, 0.150053, rho=0) det_map=(18.6135, -6.13146) lm_pos=(15.915, -2.52) delta=(2.69854, -3.61146) -> 0 candidate(s)
I0419 21:04:27.694223 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.23 deg, rms_residual=0.00680941m, sigma_yaw=0.00899753 rad, N=2
I0419 21:04:27.694312 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3797, -1.8846, -178.23deg) inliers=2 rms=0.00680941m
I0419 21:04:27.694346 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294676373278.
I0419 21:04:27.695408 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:27.696926 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(0.289085, 2.78956)
I0419 21:04:27.697044 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294676697837.
I0419 21:04:27.698304 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:27.698362 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:27.698395 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:27.700071 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.357803, 2.41816), points=5, range=2.4434, residual=0.0111305, extent=0.0295297
I0419 21:04:27.700169 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.357803, 2.41816), tracking=(0.656303, 2.41816), map_predicted=(16.8148, -4.32003), range=2.4434, pts=5
I0419 21:04:27.700218 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01238m maha_sq=174.569 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8148, -4.32003) lm_pos=(15.915, -2.52) delta=(0.899766, -1.80003) -> 0 candidate(s)
I0419 21:04:27.700350 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294676982133.
I0419 21:04:27.785749 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20035, 0.594102)
I0419 21:04:27.785950 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294677257002.
I0419 21:04:27.787233 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294677538999.
I0419 21:04:27.789855 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.93126, -0.695389)
I0419 21:04:27.789968 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.841663, -2.49133), points=4, range=2.62675, residual=0.0119903, extent=0.0297782
I0419 21:04:27.789996 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.841663, -2.49133), tracking=(-1.14016, 2.49133), map_predicted=(18.6118, -4.33173), range=2.62675, pts=4
I0419 21:04:27.790019 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24883m maha_sq=453.874 (gate chi2=5.99) pose_sigma=(0.150046, 0.150046, rho=0) det_map=(18.6118, -4.33173) lm_pos=(15.915, -2.52) delta=(2.69677, -1.81173) -> 0 candidate(s)
I0419 21:04:27.790546 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:27.790599 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:27.790638 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:27.790673 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00451742 range=0.638526 variance=0.000590875 t_weight=5077.21 r_weight=0 yaml=(16.815, -1.32) prior=(17.3857, -1.88155, -178.008deg) obs_actual=(0.542937, -0.587563) obs_expected=(0.550806, -0.581048) delta=(-0.00786926, -0.00651525) |delta|=0.0102163m
I0419 21:04:27.790724 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294677861566.
I0419 21:04:27.792068 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3857, -1.88063), yaw=-178.007 deg backend=(17.3879, -1.88106)
I0419 21:04:27.815042 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294678139190.
I0419 21:04:27.843366 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.78256, -4.29189)
I0419 21:04:27.933905 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.365454, 2.42106), points=5, range=2.448, residual=0.0116814, extent=0.0305717
I0419 21:04:27.934015 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:27.934032 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.365454, 2.42106), tracking=(0.663954, 2.42106), map_predicted=(16.8071, -4.32312), range=2.448, pts=5
I0419 21:04:27.934059 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01175m maha_sq=174.282 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(16.8071, -4.32312) lm_pos=(15.915, -2.52) delta=(0.892116, -1.80312) -> 0 candidate(s)
I0419 21:04:27.934113 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:27.934159 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:27.934176 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294678453749.
I0419 21:04:27.935954 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294678734597.
I0419 21:04:27.937985 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.967087, -2.4138)
I0419 21:04:27.938774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294679015884.
I0419 21:04:27.939868 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0805088s, prior_pose=(17.3873, -1.88026), yaw=-177.995 deg
I0419 21:04:27.939930 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1110, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 21:04:27.939993 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.928977, -0.695802), points=4, range=1.16325, residual=0.00696849, extent=0.0165005
I0419 21:04:27.940022 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.928977, -0.695802), tracking=(-1.22748, 0.695802), map_predicted=(18.6384, -2.53269), range=1.16325, pts=4
I0419 21:04:27.940042 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.18983m maha_sq=208.427 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6384, -2.53269) lm_pos=(16.815, -1.32) delta=(1.82339, -1.21269) -> 0 candidate(s)
I0419 21:04:27.941586 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.294763, 2.92719)
I0419 21:04:27.941706 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294679336390.
I0419 21:04:27.963310 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294679621457.
I0419 21:04:28.072054 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:28.072180 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:28.073302 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.292947, 2.71122)
I0419 21:04:28.073400 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.250178, 2.48443), points=3, range=2.497, residual=0.00695424, extent=0.0145269
I0419 21:04:28.073437 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.250178, 2.48443), tracking=(0.548678, 2.48443), map_predicted=(16.9267, -4.38397), range=2.497, pts=3
I0419 21:04:28.073505 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=2.1208m maha_sq=194.113 (gate chi2=5.99) pose_sigma=(0.150139, 0.150139, rho=0) det_map=(16.9267, -4.38397) lm_pos=(15.915, -2.52) delta=(1.01165, -1.86397) -> 0 candidate(s)
I0419 21:04:28.073629 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294679898460.
I0419 21:04:28.077256 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:28.077345 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:28.077448 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294680217863.
I0419 21:04:28.079166 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248321, -0.589545)
I0419 21:04:28.079314 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294680493378.
I0419 21:04:28.081287 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.82804, -2.48676), points=3, range=2.624, residual=0.00929609, extent=0.0194176
I0419 21:04:28.081353 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.82804, -2.48676), tracking=(-1.12654, 2.48676), map_predicted=(18.6012, -4.32678), range=2.624, pts=3
I0419 21:04:28.081382 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23732m maha_sq=451.921 (gate chi2=5.99) pose_sigma=(0.150023, 0.150023, rho=0) det_map=(18.6012, -4.32678) lm_pos=(15.915, -2.52) delta=(2.68621, -1.80678) -> 0 candidate(s)
I0419 21:04:28.082046 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:28.082098 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:28.082144 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00483416 range=0.64 variance=0.000597501 t_weight=5020.91 r_weight=0 yaml=(16.815, -1.32) prior=(17.388, -1.88112, -177.987deg) obs_actual=(0.548101, -0.590276) obs_expected=(0.552975, -0.580899) delta=(-0.00487413, -0.00937724) |delta|=0.0105683m
I0419 21:04:28.082201 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294680781308.
I0419 21:04:28.217228 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248824, -0.590704)
I0419 21:04:28.217425 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294681097465.
I0419 21:04:28.219401 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.358318, 2.42162), points=5, range=2.4486, residual=0.0108639, extent=0.0285302
I0419 21:04:28.219511 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:28.219532 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.358318, 2.42162), tracking=(0.656818, 2.42162), map_predicted=(16.8177, -4.32351), range=2.4486, pts=5
I0419 21:04:28.219555 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.0168m maha_sq=175.375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8177, -4.32351) lm_pos=(15.915, -2.52) delta=(0.902676, -1.80351) -> 0 candidate(s)
I0419 21:04:28.219636 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294681378288.
I0419 21:04:28.221783 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.294467, 2.80157)
I0419 21:04:28.221954 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294681661934.
I0419 21:04:28.223706 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294681934336.
I0419 21:04:28.226848 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553896s, prior_pose=(17.3902, -1.88201), yaw=-178.005 deg
I0419 21:04:28.226962 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 21:04:28.227054 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.03704, -4.21152)
I0419 21:04:28.227103 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.927645, -0.694801), points=5, range=1.1588, residual=0.00856289, extent=0.0249537
I0419 21:04:28.227145 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.927645, -0.694801), tracking=(-1.22614, 0.694801), map_predicted=(18.6398, -2.5337), range=1.1588, pts=5
I0419 21:04:28.227180 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19159m maha_sq=208.425 (gate chi2=5.99) pose_sigma=(0.150042, 0.150042, rho=0) det_map=(18.6398, -2.5337) lm_pos=(16.815, -1.32) delta=(1.82482, -1.2137) -> 0 candidate(s)
I0419 21:04:28.228140 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.77 deg, rms_residual=0.0136911m, sigma_yaw=0.0179275 rad, N=2
I0419 21:04:28.228248 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3886, -1.87727, -177.77deg) inliers=2 rms=0.0136911m
I0419 21:04:28.228315 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294682254594.
I0419 21:04:28.305836 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294682531752.
I0419 21:04:28.307020 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:28.307080 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.961954, -2.41118)
I0419 21:04:28.307099 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:28.307130 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:28.308851 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294682852271.
I0419 21:04:28.309885 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.96572, -2.4104), points=3, range=2.59667, residual=0.0061851, extent=0.0151388
I0419 21:04:28.309952 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.96572, -2.4104), tracking=(0.66722, 2.4104), map_predicted=(16.8049, -4.31447), range=2.59667, pts=3
I0419 21:04:28.309978 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00302m maha_sq=173.445 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8049, -4.31447) lm_pos=(15.915, -2.52) delta=(0.889918, -1.79447) -> 0 candidate(s)
I0419 21:04:28.314272 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.286134, 2.84163)
I0419 21:04:28.314421 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294683137224.
I0419 21:04:28.342905 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294683419258.
I0419 21:04:28.370762 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.933138, -0.694687), points=4, range=1.1615, residual=0.00638231, extent=0.0157106
I0419 21:04:28.370923 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.933138, -0.694687), tracking=(-1.23164, 0.694687), map_predicted=(18.644, -2.53222), range=1.1615, pts=4
I0419 21:04:28.371063 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19427m maha_sq=209.344 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.644, -2.53222) lm_pos=(16.815, -1.32) delta=(1.82902, -1.21222) -> 0 candidate(s)
I0419 21:04:28.492892 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20334, 0.59558)
I0419 21:04:28.493139 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:28.493220 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:28.493315 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:28.493393 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0119209 range=0.642053 variance=0.000600842 t_weight=4993 r_weight=0 yaml=(16.815, -1.32) prior=(17.3908, -1.87796, -178.029deg) obs_actual=(0.547678, -0.591688) obs_expected=(0.556229, -0.577429) delta=(-0.00855115, -0.0142593) |delta|=0.0166268m
I0419 21:04:28.493500 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294683738480.
I0419 21:04:28.495510 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:28.495687 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294684018729.
I0419 21:04:28.497996 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.25098, 2.49239)
I0419 21:04:28.498121 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:28.498185 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:28.498206 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294684295437.
I0419 21:04:28.498562 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:28.499994 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.96597, -2.41102), points=4, range=2.5985, residual=0.0096114, extent=0.022891
I0419 21:04:28.500072 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.96597, -2.41102), tracking=(0.66747, 2.41102), map_predicted=(16.8061, -4.31107), range=2.5985, pts=4
I0419 21:04:28.500100 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00048m maha_sq=172.6 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8061, -4.31107) lm_pos=(15.915, -2.52) delta=(0.891057, -1.79107) -> 0 candidate(s)
I0419 21:04:28.500602 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294684612380.
I0419 21:04:28.502956 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.837033, -2.48954)
I0419 21:04:28.503693 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294684900956.
I0419 21:04:28.579567 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562036s, prior_pose=(17.3882, -1.8835), yaw=-177.98 deg
I0419 21:04:28.579684 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1196, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:04:28.580211 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.842088, -2.49259), points=4, range=2.62775, residual=0.0120564, extent=0.0297782
I0419 21:04:28.580304 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.842088, -2.49259), tracking=(-1.14059, 2.49259), map_predicted=(18.6159, -4.33433), range=2.62775, pts=4
I0419 21:04:28.580334 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25375m maha_sq=453.597 (gate chi2=5.99) pose_sigma=(0.150323, 0.150323, rho=0) det_map=(18.6159, -4.33433) lm_pos=(15.915, -2.52) delta=(2.70095, -1.81433) -> 0 candidate(s)
I0419 21:04:28.581760 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.0368, -4.21055)
I0419 21:04:28.582383 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294685502273.
I0419 21:04:28.584616 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:28.584725 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:28.585687 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.242464, 2.48017)
I0419 21:04:28.585858 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294685778090.
I0419 21:04:28.605837 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.769479, -4.29087), points=4, range=4.36225, residual=0.0170969, extent=0.0409264
I0419 21:04:28.605923 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.769479, -4.29087), tracking=(-1.06798, 4.29087), map_predicted=(18.6075, -6.13064), range=4.36225, pts=4
I0419 21:04:28.605955 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.504m maha_sq=855.044 (gate chi2=5.99) pose_sigma=(0.150107, 0.150107, rho=0) det_map=(18.6075, -6.13064) lm_pos=(15.915, -2.52) delta=(2.69246, -3.61064) -> 0 candidate(s)
I0419 21:04:28.610561 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:28.610699 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294686100148.
I0419 21:04:28.636106 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294686348044.
I0419 21:04:28.636719 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.784397, -4.30206)
I0419 21:04:28.721004 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:28.721396 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294686698802.
I0419 21:04:28.721987 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:28.722047 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.776992, -4.29681), points=3, range=4.369, residual=0.013427, extent=0.0281028
I0419 21:04:28.722069 1264424 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:28.722083 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.776992, -4.29681), tracking=(-1.07549, 4.29681), map_predicted=(18.6156, -6.13534), range=4.369, pts=3
I0419 21:04:28.722103 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51262m maha_sq=863.511 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6156, -6.13534) lm_pos=(15.915, -2.52) delta=(2.70057, -3.61534) -> 0 candidate(s)
I0419 21:04:28.723392 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3899, -1.87845), yaw=-178.007 deg backend=(17.3885, -1.88102)
I0419 21:04:28.724802 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962597, -2.41281)
I0419 21:04:28.726168 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00888773 range=0.6398 variance=0.000618938 t_weight=4847.01 r_weight=0 yaml=(16.815, -1.32) prior=(17.3899, -1.87845, -178.007deg) obs_actual=(0.545372, -0.588578) obs_expected=(0.555175, -0.578107) delta=(-0.00980348, -0.0104706) |delta|=0.0143437m
I0419 21:04:28.726265 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294687254676.
I0419 21:04:28.727715 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:28.750135 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(0.926544, -0.695007)
I0419 21:04:28.754663 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.245851, -0.588602), points=18, range=0.640167, residual=0.012021, extent=0.039042
I0419 21:04:28.754768 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:28.754807 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.245851, -0.588602), tracking=(0.544351, -0.588602), map_predicted=(16.8253, -1.30899), range=0.640167, pts=18
I0419 21:04:28.754848 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0150412m maha_sq=0.00980012 (gate chi2=5.99) pose_sigma=(0.150019, 0.150019, rho=0) det_map=(16.8253, -1.30899) lm_pos=(16.815, -1.32) delta=(0.0102516, 0.0110065) -> 1 candidate(s)
I0419 21:04:28.755023 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294687539627.
I0419 21:04:28.870062 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294687818069.
I0419 21:04:28.871691 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845823s, prior_pose=(17.3857, -1.87711), yaw=-177.967 deg
I0419 21:04:28.871779 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1159, max_intensity=252, threshold=230, above_threshold=20, candidates=20
I0419 21:04:28.871833 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.784105, -4.30042)
I0419 21:04:28.872393 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294688134730.
I0419 21:04:28.874444 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03688, -4.21087), points=4, range=4.337, residual=0.0157878, extent=0.0383027
I0419 21:04:28.874544 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03688, -4.21087), tracking=(0.738381, 4.21087), map_predicted=(16.7978, -6.11366), range=4.337, pts=4
I0419 21:04:28.874572 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70051m maha_sq=577.922 (gate chi2=5.99) pose_sigma=(0.150168, 0.150168, rho=0) det_map=(16.7978, -6.11366) lm_pos=(15.915, -2.52) delta=(0.882815, -3.59366) -> 0 candidate(s)
I0419 21:04:28.875262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294688421024.
I0419 21:04:28.877295 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:28.877357 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248178, -0.589205)
I0419 21:04:28.877373 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:28.877429 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.491 deg, rms_residual=0.00464312m, sigma_yaw=0.00615274 rad, N=2
I0419 21:04:28.877460 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3817, -1.89076, -178.491deg) inliers=2 rms=0.00464312m
I0419 21:04:28.877528 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294688696347.
I0419 21:04:28.877897 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:28.900684 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294689001409.
I0419 21:04:28.982477 1218967 pose_graph_2d.cc:160] Inserted submap (1, 56).
I0419 21:04:28.983096 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.836872, -2.48907)
I0419 21:04:28.983167 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.935811, -0.696679), points=4, range=1.16475, residual=0.00617011, extent=0.0149755
I0419 21:04:28.983196 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.935811, -0.696679), tracking=(-1.23431, 0.696679), map_predicted=(18.6486, -2.53215), range=1.16475, pts=4
I0419 21:04:28.983229 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.19808m maha_sq=209.28 (gate chi2=5.99) pose_sigma=(0.150298, 0.150298, rho=0) det_map=(18.6486, -2.53215) lm_pos=(16.815, -1.32) delta=(1.83364, -1.21215) -> 0 candidate(s)
I0419 21:04:28.988034 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.355054, 2.42391)
I0419 21:04:28.988179 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:28.988212 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:28.988251 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:28.988330 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294689620064.
I0419 21:04:28.991051 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19736, 0.592632), points=3, range=1.33067, residual=0.0107666, extent=0.0205766
I0419 21:04:28.991175 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19736, 0.592632), tracking=(1.49586, 0.592632), map_predicted=(15.9152, -2.52226), range=1.33067, pts=3
I0419 21:04:28.991206 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00227243m maha_sq=0.000223305 (gate chi2=5.99) pose_sigma=(0.150133, 0.150133, rho=0) det_map=(15.9152, -2.52226) lm_pos=(15.915, -2.52) delta=(0.000219874, -0.00226177) -> 1 candidate(s)
I0419 21:04:28.991300 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294689900563.
I0419 21:04:29.014711 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.837591, -2.4912)
I0419 21:04:29.014906 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:29.018136 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:29.018338 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294690174622.
I0419 21:04:29.101339 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00624287 range=0.638842 variance=0.000589378 t_weight=5090.11 r_weight=0 yaml=(16.815, -1.32) prior=(17.3888, -1.87852, -177.999deg) obs_actual=(0.548543, -0.588934) obs_expected=(0.55397, -0.578219) delta=(-0.00542739, -0.0107154) |delta|=0.0120115m
I0419 21:04:29.101485 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294690463888.
I0419 21:04:29.102713 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19473, 0.594174)
I0419 21:04:29.102849 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.364948, 2.41785), points=5, range=2.4462, residual=0.0111273, extent=0.0290973
I0419 21:04:29.102869 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:29.102885 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.364948, 2.41785), tracking=(0.663448, 2.41785), map_predicted=(16.8102, -4.31806), range=2.4462, pts=5
I0419 21:04:29.102908 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00859m maha_sq=173.909 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8102, -4.31806) lm_pos=(15.915, -2.52) delta=(0.895199, -1.79806) -> 0 candidate(s)
I0419 21:04:29.102978 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294690746833.
I0419 21:04:29.105507 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0615218s, prior_pose=(17.3868, -1.87947), yaw=-177.998 deg
I0419 21:04:29.105587 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1166, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 21:04:29.106208 1219494 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.287149, 2.85158)
I0419 21:04:29.106309 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:29.106355 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:29.106377 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294691053886.
I0419 21:04:29.138605 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.364985, 2.4181), points=5, range=2.4472, residual=0.0115201, extent=0.0309081
I0419 21:04:29.138720 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.364985, 2.4181), tracking=(0.663485, 2.4181), map_predicted=(16.8091, -4.31844), range=2.4472, pts=5
I0419 21:04:29.138753 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.00842m maha_sq=173.617 (gate chi2=5.99) pose_sigma=(0.150087, 0.150087, rho=0) det_map=(16.8091, -4.31844) lm_pos=(15.915, -2.52) delta=(0.894065, -1.79844) -> 0 candidate(s)
I0419 21:04:29.138844 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294691381050.
I0419 21:04:29.162061 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:29.162156 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:29.242890 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.366171, 2.42582)
I0419 21:04:29.243088 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294691671516.
I0419 21:04:29.244508 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:29.247534 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.928652, -0.69345), points=5, range=1.157, residual=0.00717255, extent=0.0180166
I0419 21:04:29.247624 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.928652, -0.69345), tracking=(-1.22715, 0.69345), map_predicted=(18.6364, -2.53101), range=1.157, pts=5
I0419 21:04:29.247651 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18728m maha_sq=207.033 (gate chi2=5.99) pose_sigma=(0.150328, 0.150328, rho=0) det_map=(18.6364, -2.53101) lm_pos=(16.815, -1.32) delta=(1.82144, -1.21101) -> 0 candidate(s)
I0419 21:04:29.248188 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248461, -0.589829)
I0419 21:04:29.248301 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294692237537.
I0419 21:04:29.253872 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:29.253973 1219452 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:29.254076 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294692534089.
I0419 21:04:29.283243 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.241199, 2.46724)
I0419 21:04:29.283561 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294692824130.
I0419 21:04:29.374068 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.959318, -2.41475), points=4, range=2.599, residual=0.00947223, extent=0.0227156
I0419 21:04:29.374394 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.959318, -2.41475), tracking=(0.660818, 2.41475), map_predicted=(16.8112, -4.31771), range=2.599, pts=4
I0419 21:04:29.374552 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00871m maha_sq=173.895 (gate chi2=5.99) pose_sigma=(0.150066, 0.150066, rho=0) det_map=(16.8112, -4.31771) lm_pos=(15.915, -2.52) delta=(0.896186, -1.79771) -> 0 candidate(s)
I0419 21:04:29.375118 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:29.376760 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.828287, -2.48746)
I0419 21:04:29.378677 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294693422830.
I0419 21:04:29.380517 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.250408, -0.589793), points=19, range=0.639842, residual=0.0125599, extent=0.0431274
I0419 21:04:29.380586 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.250408, -0.589793), tracking=(0.548908, -0.589793), map_predicted=(16.8175, -1.31126), range=0.639842, pts=19
I0419 21:04:29.380611 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00909083m maha_sq=0.00357871 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8175, -1.31126) lm_pos=(16.815, -1.32) delta=(0.00250874, 0.00873781) -> 1 candidate(s)
I0419 21:04:29.380692 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294693699148.
I0419 21:04:29.397545 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0549473s, prior_pose=(17.3873, -1.88219), yaw=-177.974 deg
I0419 21:04:29.397646 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1165, max_intensity=254, threshold=230, above_threshold=17, candidates=17
I0419 21:04:29.397727 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.03696, -4.2112)
I0419 21:04:29.402447 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00259518 range=0.639053 variance=0.000584104 t_weight=5136.07 r_weight=0 yaml=(16.815, -1.32) prior=(17.3873, -1.88219, -177.974deg) obs_actual=(0.54854, -0.588935) obs_expected=(0.552115, -0.582066) delta=(-0.00357496, -0.00686916) |delta|=0.00774375m
I0419 21:04:29.402613 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294694016832.
I0419 21:04:29.426175 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:29.494648 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.243242, 2.48814)
I0419 21:04:29.494874 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294694297741.
I0419 21:04:29.496019 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:29.496099 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:29.496127 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.78304, -4.29452), points=4, range=4.363, residual=0.0173379, extent=0.041709
I0419 21:04:29.496151 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.78304, -4.29452), tracking=(-1.08154, 4.29452), map_predicted=(18.6191, -6.13567), range=4.363, pts=4
I0419 21:04:29.496174 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51502m maha_sq=860.089 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6191, -6.13567) lm_pos=(15.915, -2.52) delta=(2.70413, -3.61567) -> 0 candidate(s)
I0419 21:04:29.496196 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:29.496958 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294694572778.
I0419 21:04:29.499838 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.292195, 2.70426)
I0419 21:04:29.500039 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294694898934.
I0419 21:04:29.518282 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20674, 0.595096), points=5, range=1.3432, residual=0.00790568, extent=0.0179875
I0419 21:04:29.518375 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20674, 0.595096), tracking=(1.50524, 0.595096), map_predicted=(15.9029, -2.52866), range=1.3432, pts=5
I0419 21:04:29.518405 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0148811m maha_sq=0.00959499 (gate chi2=5.99) pose_sigma=(0.150156, 0.150156, rho=0) det_map=(15.9029, -2.52866) lm_pos=(15.915, -2.52) delta=(-0.0121016, -0.00866016) -> 1 candidate(s)
I0419 21:04:29.518514 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294695178472.
I0419 21:04:29.546448 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:29.546594 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.83 deg, rms_residual=0.0109716m, sigma_yaw=0.0144179 rad, N=2
I0419 21:04:29.546696 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.386, -1.87707, -177.83deg) inliers=2 rms=0.0109716m
I0419 21:04:29.546756 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294695456606.
I0419 21:04:29.547395 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962142, -2.41164)
I0419 21:04:29.547456 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:29.547490 1258777 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:29.657505 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3892, -1.88129), yaw=-177.969 deg backend=(17.3897, -1.88125)
I0419 21:04:29.660096 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.930725, -0.695684)
I0419 21:04:29.660219 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.836396, -2.48764), points=5, range=2.6226, residual=0.0132824, extent=0.0354422
I0419 21:04:29.660284 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.836396, -2.48764), tracking=(-1.1349, 2.48764), map_predicted=(18.6116, -4.32715), range=2.6226, pts=5
I0419 21:04:29.660310 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24612m maha_sq=451.489 (gate chi2=5.99) pose_sigma=(0.150218, 0.150218, rho=0) det_map=(18.6116, -4.32715) lm_pos=(15.915, -2.52) delta=(2.69657, -1.80715) -> 0 candidate(s)
I0419 21:04:29.662112 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:29.662256 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294696056336.
I0419 21:04:29.663460 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294696342552.
I0419 21:04:29.666143 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.832181, -2.48704)
I0419 21:04:29.666895 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294696657624.
I0419 21:04:29.690882 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841009s, prior_pose=(17.389, -1.88008), yaw=-177.968 deg
I0419 21:04:29.691133 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1158, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 21:04:29.691370 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.958695, -2.4132), points=4, range=2.59425, residual=0.0109053, extent=0.0266163
I0419 21:04:29.691484 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.958695, -2.4132), tracking=(0.660195, 2.4132), map_predicted=(16.8147, -4.31517), range=2.59425, pts=4
I0419 21:04:29.691534 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00802m maha_sq=173.709 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8147, -4.31517) lm_pos=(15.915, -2.52) delta=(0.899744, -1.79517) -> 0 candidate(s)
I0419 21:04:29.783529 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294696933067.
I0419 21:04:29.784703 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20423, 0.596027)
I0419 21:04:29.784819 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00828779 range=0.639105 variance=0.000616145 t_weight=4868.98 r_weight=0 yaml=(16.815, -1.32) prior=(17.3877, -1.87844, -178.008deg) obs_actual=(0.542971, -0.587617) obs_expected=(0.55294, -0.578015) delta=(-0.0099692, -0.00960191) |delta|=0.0138413m
I0419 21:04:29.784885 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294697214552.
I0419 21:04:29.787694 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:04:29.787808 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:04:29.787925 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294697542051.
I0419 21:04:29.788480 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783153, -4.29517)
I0419 21:04:29.788527 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.837112, -2.48978), points=5, range=2.6242, residual=0.0137167, extent=0.0370608
I0419 21:04:29.788558 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.837112, -2.48978), tracking=(-1.13561, 2.48978), map_predicted=(18.6096, -4.3262), range=2.6242, pts=5
I0419 21:04:29.788582 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24391m maha_sq=451.915 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6096, -4.3262) lm_pos=(15.915, -2.52) delta=(2.69456, -1.8062) -> 0 candidate(s)
I0419 21:04:29.789721 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:29.789772 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:29.789809 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:29.789866 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:29.789925 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294697818000.
I0419 21:04:29.810093 1264424 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.241685, 2.47221)
I0419 21:04:29.810220 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:29.883435 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.928655, -0.693445), points=5, range=1.1572, residual=0.00751582, extent=0.0201589
I0419 21:04:29.883545 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.928655, -0.693445), tracking=(-1.22716, 0.693445), map_predicted=(18.6407, -2.52618), range=1.1572, pts=5
I0419 21:04:29.883575 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1882m maha_sq=207.663 (gate chi2=5.99) pose_sigma=(0.150142, 0.150142, rho=0) det_map=(18.6407, -2.52618) lm_pos=(16.815, -1.32) delta=(1.82574, -1.20618) -> 0 candidate(s)
I0419 21:04:29.884091 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:29.884156 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:29.884258 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294698418893.
I0419 21:04:29.885675 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.83719, -2.49001)
I0419 21:04:29.887549 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294698698444.
I0419 21:04:29.902684 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:29.902859 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294699021741.
I0419 21:04:29.926023 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.02471, -4.21419)
I0419 21:04:29.926132 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.02471, -4.21419), points=3, range=4.337, residual=0.0103008, extent=0.0252316
I0419 21:04:29.926174 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.02471, -4.21419), tracking=(0.726215, 4.21419), map_predicted=(16.8117, -6.11572), range=4.337, pts=3
I0419 21:04:29.926210 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70584m maha_sq=583.66 (gate chi2=5.99) pose_sigma=(0.150094, 0.150094, rho=0) det_map=(16.8117, -6.11572) lm_pos=(15.915, -2.52) delta=(0.896684, -3.59572) -> 0 candidate(s)
I0419 21:04:29.931406 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294699302612.
I0419 21:04:30.059829 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294699580379.
I0419 21:04:30.060950 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604391s, prior_pose=(17.3869, -1.87933), yaw=-177.984 deg
I0419 21:04:30.061101 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1104, max_intensity=248, threshold=230, above_threshold=17, candidates=17
I0419 21:04:30.061170 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962512, -2.41257)
I0419 21:04:30.061859 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20184, 0.594842), points=3, range=1.33433, residual=0.0131952, extent=0.0266704
I0419 21:04:30.061918 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20184, 0.594842), tracking=(1.50034, 0.594842), map_predicted=(15.9085, -2.52658), range=1.33433, pts=3
I0419 21:04:30.061942 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00928773m maha_sq=0.00372724 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9085, -2.52658) lm_pos=(15.915, -2.52) delta=(-0.00654984, -0.00658495) -> 1 candidate(s)
I0419 21:04:30.062026 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294699897760.
I0419 21:04:30.064663 1218970 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.292376, 2.78168)
I0419 21:04:30.064814 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294700177104.
I0419 21:04:30.065833 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:30.065896 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:30.065935 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:30.067976 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00728074 range=0.639053 variance=0.000602323 t_weight=4980.72 r_weight=0 yaml=(16.815, -1.32) prior=(17.388, -1.88099, -177.985deg) obs_actual=(0.541978, -0.587712) obs_expected=(0.552958, -0.580792) delta=(-0.0109798, -0.00692017) |delta|=0.0129787m
I0419 21:04:30.068100 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294700454626.
I0419 21:04:30.074360 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03624, -4.20828), points=4, range=4.3355, residual=0.0162947, extent=0.0396792
I0419 21:04:30.074489 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03624, -4.20828), tracking=(0.737741, 4.20828), map_predicted=(16.7988, -6.11261), range=4.3355, pts=4
I0419 21:04:30.074545 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69971m maha_sq=578.514 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7988, -6.11261) lm_pos=(15.915, -2.52) delta=(0.883756, -3.59261) -> 0 candidate(s)
I0419 21:04:30.079217 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.362499, 2.42544)
I0419 21:04:30.079524 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294700783239.
I0419 21:04:30.184517 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:30.186034 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:30.186159 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294701342107.
I0419 21:04:30.186527 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.961769, -2.41072)
I0419 21:04:30.186594 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:30.186620 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.831553, -2.48523), points=4, range=2.6235, residual=0.0113874, extent=0.0279346
I0419 21:04:30.186681 1258777 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:30.186702 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.831553, -2.48523), tracking=(-1.13005, 2.48523), map_predicted=(18.6045, -4.32378), range=2.6235, pts=4
I0419 21:04:30.186720 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23839m maha_sq=451.513 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6045, -4.32378) lm_pos=(15.915, -2.52) delta=(2.68953, -1.80378) -> 0 candidate(s)
I0419 21:04:30.189575 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294701657810.
I0419 21:04:30.194532 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.251009, -0.590995)
I0419 21:04:30.194674 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:30.194720 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:30.194849 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294701935534.
I0419 21:04:30.222129 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.361991, 2.42209), points=5, range=2.4494, residual=0.0101162, extent=0.0285069
I0419 21:04:30.222302 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.361991, 2.42209), tracking=(0.660491, 2.42209), map_predicted=(16.8129, -4.32244), range=2.4494, pts=5
I0419 21:04:30.222354 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01371m maha_sq=174.956 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8129, -4.32244) lm_pos=(15.915, -2.52) delta=(0.897909, -1.80244) -> 0 candidate(s)
I0419 21:04:30.222450 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.924 deg, rms_residual=0.0118998m, sigma_yaw=0.0156186 rad, N=2
I0419 21:04:30.222505 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3861, -1.88048, -177.924deg) inliers=2 rms=0.0118998m
I0419 21:04:30.222553 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294702213991.
I0419 21:04:30.310456 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.293661, 2.91625)
I0419 21:04:30.310642 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294702499242.
I0419 21:04:30.313040 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558208s, prior_pose=(17.3892, -1.88066), yaw=-177.979 deg
I0419 21:04:30.313134 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1099, max_intensity=253, threshold=230, above_threshold=14, candidates=14
I0419 21:04:30.313647 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294702815657.
I0419 21:04:30.315062 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.357843, 2.41841)
I0419 21:04:30.315114 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20364, 0.59573), points=4, range=1.337, residual=0.0138061, extent=0.03032
I0419 21:04:30.315143 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20364, 0.59573), tracking=(1.50214, 0.59573), map_predicted=(15.909, -2.529), range=1.337, pts=4
I0419 21:04:30.315165 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0107954m maha_sq=0.00503188 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.909, -2.529) lm_pos=(15.915, -2.52) delta=(-0.00595771, -0.00900253) -> 1 candidate(s)
I0419 21:04:30.315251 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294703100928.
I0419 21:04:30.338013 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:30.338117 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:30.342401 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(0.407455, 4.23143)
I0419 21:04:30.422254 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.358355, 2.42187), points=5, range=2.4474, residual=0.0109253, extent=0.0289019
I0419 21:04:30.422381 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.358355, 2.42187), tracking=(0.656855, 2.42187), map_predicted=(16.8155, -4.32378), range=2.4474, pts=5
I0419 21:04:30.422413 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=2.01605m maha_sq=174.818 (gate chi2=5.99) pose_sigma=(0.150185, 0.150185, rho=0) det_map=(16.8155, -4.32378) lm_pos=(15.915, -2.52) delta=(0.900455, -1.80378) -> 0 candidate(s)
I0419 21:04:30.422434 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:30.422504 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294703697735.
I0419 21:04:30.423686 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00702868 range=0.640947 variance=0.000612687 t_weight=4896.47 r_weight=0 yaml=(16.815, -1.32) prior=(17.3874, -1.88046, -177.999deg) obs_actual=(0.543685, -0.58935) obs_expected=(0.552453, -0.5801) delta=(-0.00876794, -0.00925067) |delta|=0.0127457m
I0419 21:04:30.423763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294703976227.
I0419 21:04:30.424096 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.83679, -2.48883)
I0419 21:04:30.426606 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294704261486.
I0419 21:04:30.427314 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:30.427366 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:30.434890 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3878, -1.8795), yaw=-178.001 deg backend=(17.3845, -1.87891)
I0419 21:04:30.453841 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.827408, -2.48486), points=3, range=2.62133, residual=0.00869665, extent=0.0182349
I0419 21:04:30.453989 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.827408, -2.48486), tracking=(-1.12591, 2.48486), map_predicted=(18.5997, -4.32358), range=2.62133, pts=3
I0419 21:04:30.454039 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.23426m maha_sq=450.879 (gate chi2=5.99) pose_sigma=(0.150092, 0.150092, rho=0) det_map=(18.5997, -4.32358) lm_pos=(15.915, -2.52) delta=(2.68468, -1.80358) -> 0 candidate(s)
I0419 21:04:30.458586 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.358501, 2.42286)
I0419 21:04:30.458678 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:30.458747 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:30.458796 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:30.458856 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294704580685.
I0419 21:04:30.487655 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294704859248.
I0419 21:04:30.488580 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:30.533236 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:30.587792 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.248597, -0.590171)
I0419 21:04:30.587937 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.365932, 2.42427), points=5, range=2.4518, residual=0.0109489, extent=0.0288322
I0419 21:04:30.587970 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.365932, 2.42427), tracking=(0.664432, 2.42427), map_predicted=(16.8122, -4.32471), range=2.4518, pts=5
I0419 21:04:30.587993 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=2.01541m maha_sq=174.616 (gate chi2=5.99) pose_sigma=(0.150222, 0.150222, rho=0) det_map=(16.8122, -4.32471) lm_pos=(15.915, -2.52) delta=(0.897167, -1.80471) -> 0 candidate(s)
I0419 21:04:30.592361 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294705454138.
I0419 21:04:30.593744 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879369s, prior_pose=(17.3906, -1.87954), yaw=-177.978 deg
I0419 21:04:30.593832 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1189, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:04:30.593936 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.278767, 2.57998)
I0419 21:04:30.594045 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294705738807.
I0419 21:04:30.601929 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.932323, -0.696888), points=4, range=1.16125, residual=0.00834323, extent=0.0209399
I0419 21:04:30.602012 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.932323, -0.696888), tracking=(-1.23082, 0.696888), map_predicted=(18.642, -2.53476), range=1.16125, pts=4
I0419 21:04:30.602041 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19398m maha_sq=208.231 (gate chi2=5.99) pose_sigma=(0.150293, 0.150293, rho=0) det_map=(18.642, -2.53476) lm_pos=(16.815, -1.32) delta=(1.827, -1.21476) -> 0 candidate(s)
I0419 21:04:30.606446 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294706059827.
I0419 21:04:30.688432 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:30.688560 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-1.03688, -4.21087)
I0419 21:04:30.688581 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:30.688624 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:30.689482 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294706335855.
I0419 21:04:30.692673 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294706651735.
I0419 21:04:30.693806 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962703, -2.41303)
I0419 21:04:30.693873 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.840912, -2.48912), points=4, range=2.625, residual=0.0109263, extent=0.0268466
I0419 21:04:30.693933 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.840912, -2.48912), tracking=(-1.13941, 2.48912), map_predicted=(18.612, -4.3291), range=2.625, pts=4
I0419 21:04:30.693956 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24759m maha_sq=454.28 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.612, -4.3291) lm_pos=(15.915, -2.52) delta=(2.69704, -1.8091) -> 0 candidate(s)
I0419 21:04:30.694768 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294706941684.
I0419 21:04:30.723110 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=2, centroid=(0.289688, 2.87695)
I0419 21:04:30.723241 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:30.723292 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:30.723373 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:30.723445 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00540406 range=0.638895 variance=0.000593242 t_weight=5056.96 r_weight=0 yaml=(16.815, -1.32) prior=(17.3866, -1.8811, -177.999deg) obs_actual=(0.543083, -0.587909) obs_expected=(0.551633, -0.580717) delta=(-0.00854983, -0.00719182) |delta|=0.0111724m
I0419 21:04:30.723594 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294707221535.
I0419 21:04:30.751071 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294707499864.
I0419 21:04:30.751945 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.934475, -0.695682), points=4, range=1.16325, residual=0.00631882, extent=0.0157219
I0419 21:04:30.752054 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.934475, -0.695682), tracking=(-1.23297, 0.695682), map_predicted=(18.6431, -2.53332), range=1.16325, pts=4
I0419 21:04:30.752105 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19409m maha_sq=209.316 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6431, -2.53332) lm_pos=(16.815, -1.32) delta=(1.82808, -1.21332) -> 0 candidate(s)
I0419 21:04:30.847146 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.20364, 0.595725)
I0419 21:04:30.847273 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:30.847368 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294707819952.
I0419 21:04:30.850524 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294708094345.
I0419 21:04:30.851868 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.92925, -0.695983)
I0419 21:04:30.851948 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.926435, -0.695992), points=5, range=1.161, residual=0.00833846, extent=0.0233091
I0419 21:04:30.851984 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.926435, -0.695992), tracking=(-1.22494, 0.695992), map_predicted=(18.6352, -2.53129), range=1.161, pts=5
I0419 21:04:30.852012 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.1864m maha_sq=207.586 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6352, -2.53129) lm_pos=(16.815, -1.32) delta=(1.8202, -1.21129) -> 0 candidate(s)
I0419 21:04:30.853839 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:30.866752 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600689s, prior_pose=(17.3869, -1.87934), yaw=-177.975 deg
I0419 21:04:30.866907 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1188, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:04:30.867347 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294708661905.
I0419 21:04:30.977123 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=5, centroid=(0.927321, -0.694555)
I0419 21:04:30.977658 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.907 deg, rms_residual=0.0114125m, sigma_yaw=0.0149885 rad, N=2
I0419 21:04:30.977734 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3881, -1.87862, -177.907deg) inliers=2 rms=0.0114125m
I0419 21:04:30.977780 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294708973860.
I0419 21:04:30.979117 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:30.979162 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:30.979183 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.966591, -2.41256), points=4, range=2.59925, residual=0.00938292, extent=0.0227156
I0419 21:04:30.979204 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.966591, -2.41256), tracking=(0.668091, 2.41256), map_predicted=(16.8037, -4.31525), range=2.59925, pts=4
I0419 21:04:30.979224 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00317m maha_sq=173.096 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8037, -4.31525) lm_pos=(15.915, -2.52) delta=(0.888688, -1.79525) -> 0 candidate(s)
I0419 21:04:30.980746 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294709294179.
I0419 21:04:30.990651 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783802, -4.29878)
I0419 21:04:30.992573 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:30.992915 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294709580079.
I0419 21:04:30.996462 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294709938015.
I0419 21:04:30.996937 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.03672, -4.21023), points=4, range=4.336, residual=0.01578, extent=0.0381459
I0419 21:04:30.997000 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-1.03672, -4.21023), tracking=(0.738222, 4.21023), map_predicted=(16.7989, -6.11268), range=4.336, pts=4
I0419 21:04:30.997025 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69981m maha_sq=578.945 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.7989, -6.11268) lm_pos=(15.915, -2.52) delta=(0.883871, -3.59268) -> 0 candidate(s)
I0419 21:04:31.014834 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.03112, -4.21391)
I0419 21:04:31.018313 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:31.018436 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:31.018635 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294710175768.
I0419 21:04:31.108551 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0046137 range=0.639 variance=0.000608047 t_weight=4933.83 r_weight=0 yaml=(16.815, -1.32) prior=(17.3855, -1.88164, -177.972deg) obs_actual=(0.541961, -0.587646) obs_expected=(0.550256, -0.58147) delta=(-0.00829441, -0.00617661) |delta|=0.0103416m
I0419 21:04:31.108732 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294710456373.
I0419 21:04:31.110662 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.962986, -2.41373)
I0419 21:04:31.110739 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.959197, -2.41444), points=4, range=2.59875, residual=0.00940709, extent=0.0228823
I0419 21:04:31.110773 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.959197, -2.41444), tracking=(0.660697, 2.41444), map_predicted=(16.811, -4.31644), range=2.59875, pts=4
I0419 21:04:31.110796 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00747m maha_sq=173.58 (gate chi2=5.99) pose_sigma=(0.150115, 0.150115, rho=0) det_map=(16.811, -4.31644) lm_pos=(15.915, -2.52) delta=(0.895958, -1.79644) -> 0 candidate(s)
I0419 21:04:31.111467 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:31.111554 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294710736307.
I0419 21:04:31.112653 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:31.112712 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:31.112735 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294711020558.
I0419 21:04:31.113052 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(0.926445, -0.695271)
I0419 21:04:31.133869 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20629, 0.594873), points=3, range=1.34067, residual=0.00842101, extent=0.0160212
I0419 21:04:31.133973 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.20629, 0.594873), tracking=(1.50479, 0.594873), map_predicted=(15.9032, -2.52732), range=1.34067, pts=3
I0419 21:04:31.134006 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0138658m maha_sq=0.00833924 (gate chi2=5.99) pose_sigma=(0.150047, 0.150047, rho=0) det_map=(15.9032, -2.52732) lm_pos=(15.915, -2.52) delta=(-0.0117747, -0.00732235) -> 1 candidate(s)
I0419 21:04:31.134110 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294711334397.
I0419 21:04:31.230477 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593816s, prior_pose=(17.388, -1.87843), yaw=-177.984 deg
I0419 21:04:31.230597 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1193, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:04:31.230796 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294711614490.
I0419 21:04:31.231163 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.790573, -4.30043)
I0419 21:04:31.233274 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294711939510.
I0419 21:04:31.235500 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:31.235587 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:31.235652 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.932592, -0.697084), points=4, range=1.161, residual=0.00959008, extent=0.0241345
I0419 21:04:31.235675 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.932592, -0.697084), tracking=(-1.23109, 0.697084), map_predicted=(18.6418, -2.53204), range=1.161, pts=4
I0419 21:04:31.235695 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19231m maha_sq=208.285 (gate chi2=5.99) pose_sigma=(0.150082, 0.150082, rho=0) det_map=(18.6418, -2.53204) lm_pos=(16.815, -1.32) delta=(1.8268, -1.21204) -> 0 candidate(s)
I0419 21:04:31.235715 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:31.236364 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.19653, 0.596545)
I0419 21:04:31.236505 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294712212727.
I0419 21:04:31.251727 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294712501968.
I0419 21:04:31.278676 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=2, centroid=(0.243923, 2.4951)
I0419 21:04:31.278887 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:31.279139 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294712776973.
I0419 21:04:31.378314 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.936756, -0.693168), points=4, range=1.16375, residual=0.00668031, extent=0.0140885
I0419 21:04:31.378425 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.936756, -0.693168), tracking=(-1.23526, 0.693168), map_predicted=(18.6428, -2.53216), range=1.16375, pts=4
I0419 21:04:31.378459 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19325m maha_sq=208.907 (gate chi2=5.99) pose_sigma=(0.150076, 0.150076, rho=0) det_map=(18.6428, -2.53216) lm_pos=(16.815, -1.32) delta=(1.82785, -1.21216) -> 0 candidate(s)
I0419 21:04:31.380086 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:31.380180 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:31.380218 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:31.380295 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294713099213.
I0419 21:04:31.381834 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.3839, -1.88038), yaw=-178.036 deg backend=(17.3849, -1.8806)
I0419 21:04:31.382761 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.286627, 2.72698)
I0419 21:04:31.386089 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.840384, -2.48754), points=4, range=2.62225, residual=0.0126137, extent=0.0303898
I0419 21:04:31.386209 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:31.386230 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.840384, -2.48754), tracking=(-1.13888, 2.48754), map_predicted=(18.6066, -4.32619), range=2.62225, pts=4
I0419 21:04:31.386253 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.24147m maha_sq=450.408 (gate chi2=5.99) pose_sigma=(0.15024, 0.15024, rho=0) det_map=(18.6066, -4.32619) lm_pos=(15.915, -2.52) delta=(2.69162, -1.80619) -> 0 candidate(s)
I0419 21:04:31.394315 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.783629, -4.2978)
I0419 21:04:31.397977 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00802958 range=0.636368 variance=0.000581858 t_weight=5155.9 r_weight=0 yaml=(16.815, -1.32) prior=(17.3824, -1.87953, -178.018deg) obs_actual=(0.538462, -0.588868) obs_expected=(0.547678, -0.57882) delta=(-0.0092169, -0.0100481) |delta|=0.0136351m
I0419 21:04:31.398195 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294713972229.
I0419 21:04:31.480813 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294714262303.
I0419 21:04:31.482525 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.08435s, prior_pose=(17.3807, -1.87804), yaw=-177.965 deg
I0419 21:04:31.482630 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1153, max_intensity=251, threshold=230, above_threshold=19, candidates=19
I0419 21:04:31.482692 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-1.01877, -4.2164)
I0419 21:04:31.482717 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.796854, -4.29943), points=4, range=4.36925, residual=0.0171461, extent=0.0409507
I0419 21:04:31.482739 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.796854, -4.29943), tracking=(-1.09535, 4.29943), map_predicted=(18.6281, -6.13586), range=4.36925, pts=4
I0419 21:04:31.482760 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.52052m maha_sq=862.378 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6281, -6.13586) lm_pos=(15.915, -2.52) delta=(2.71305, -3.61586) -> 0 candidate(s)
I0419 21:04:31.483301 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294714582100.
I0419 21:04:31.486370 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294714854780.
I0419 21:04:31.513939 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=34, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:31.514074 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.234252, -0.591783)
I0419 21:04:31.514101 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:31.514324 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294715133524.
I0419 21:04:31.541666 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.946, -2.41185), points=5, range=2.5904, residual=0.0113709, extent=0.0302021
I0419 21:04:31.541769 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.946, -2.41185), tracking=(0.6475, 2.41185), map_predicted=(16.8128, -4.3141), range=2.5904, pts=5
I0419 21:04:31.541800 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00618m maha_sq=173.317 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8128, -4.3141) lm_pos=(15.915, -2.52) delta=(0.897759, -1.7941) -> 0 candidate(s)
I0419 21:04:31.546243 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.230246, 2.46628)
I0419 21:04:31.546368 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:31.546427 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.86 deg, rms_residual=0.0113729m, sigma_yaw=0.0149374 rad, N=2
I0419 21:04:31.546494 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3711, -1.87974, -177.86deg) inliers=2 rms=0.0113729m
I0419 21:04:31.546527 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294715457768.
I0419 21:04:31.624855 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 12
I0419 21:04:31.625618 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294715731416.
I0419 21:04:31.628511 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.260685, 2.6271)
I0419 21:04:31.628638 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:31.628670 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18493, 0.592932), points=3, range=1.321, residual=0.00784257, extent=0.0142438
I0419 21:04:31.628687 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:31.628705 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.18493, 0.592932), tracking=(1.48343, 0.592932), map_predicted=(15.9068, -2.52845), range=1.321, pts=3
I0419 21:04:31.628733 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0117479m maha_sq=0.00598209 (gate chi2=5.99) pose_sigma=(0.150136, 0.150136, rho=0) det_map=(15.9068, -2.52845) lm_pos=(15.915, -2.52) delta=(-0.00816254, -0.00844898) -> 1 candidate(s)
I0419 21:04:31.628820 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294716054511.
I0419 21:04:31.634792 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294716341657.
I0419 21:04:31.662272 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.16452, 0.591188)
I0419 21:04:31.662380 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:31.662465 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294716617658.
I0419 21:04:31.736546 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.957462, -0.699896), points=4, range=1.1875, residual=0.00560386, extent=0.0137255
I0419 21:04:31.736707 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(0.957462, -0.699896), tracking=(-1.25596, 0.699896), map_predicted=(18.6453, -2.53315), range=1.1875, pts=4
I0419 21:04:31.736759 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19584m maha_sq=209.488 (gate chi2=5.99) pose_sigma=(0.150083, 0.150083, rho=0) det_map=(18.6453, -2.53315) lm_pos=(16.815, -1.32) delta=(1.83029, -1.21315) -> 0 candidate(s)
I0419 21:04:31.737494 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0130811 range=0.627389 variance=0.000576854 t_weight=5200.63 r_weight=0 yaml=(16.815, -1.32) prior=(17.3636, -1.88149, -177.822deg) obs_actual=(0.510662, -0.588119) obs_expected=(0.526908, -0.581933) delta=(-0.0162461, -0.00618549) |delta|=0.0173838m
I0419 21:04:31.737571 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294716899120.
I0419 21:04:31.738665 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.803221, -4.29883)
I0419 21:04:31.740192 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294717221640.
I0419 21:04:31.746420 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604374s, prior_pose=(17.3576, -1.8808), yaw=-177.807 deg
I0419 21:04:31.746496 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1180, max_intensity=253, threshold=230, above_threshold=21, candidates=21
I0419 21:04:31.750072 1219494 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.224061, 2.47789)
I0419 21:04:31.750164 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:31.750257 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:31.750306 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:31.750329 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294717496423.
I0419 21:04:31.778120 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.208421, -0.591224), points=19, range=0.626421, residual=0.0119881, extent=0.0425177
I0419 21:04:31.778235 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.208421, -0.591224), tracking=(0.506921, -0.591224), map_predicted=(16.8242, -1.30807), range=0.626421, pts=19
I0419 21:04:31.778272 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0150841m maha_sq=0.00981653 (gate chi2=5.99) pose_sigma=(0.150332, 0.150332, rho=0) det_map=(16.8242, -1.30807) lm_pos=(16.815, -1.32) delta=(0.00922923, 0.0119311) -> 1 candidate(s)
I0419 21:04:31.778369 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294717776670.
I0419 21:04:31.806278 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:31.806409 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:31.806488 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:31.810606 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.329593, 2.42166)
I0419 21:04:31.810804 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294718100802.
I0419 21:04:31.882020 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.867084, -2.4946), points=4, range=2.64325, residual=0.0105348, extent=0.0255651
I0419 21:04:31.882164 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.867084, -2.4946), tracking=(-1.16558, 2.4946), map_predicted=(18.605, -4.33049), range=2.64325, pts=4
I0419 21:04:31.882200 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.24252m maha_sq=449.374 (gate chi2=5.99) pose_sigma=(0.15062, 0.15062, rho=0) det_map=(18.605, -4.33049) lm_pos=(15.915, -2.52) delta=(2.69, -1.81049) -> 0 candidate(s)
I0419 21:04:31.883066 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294718372846.
I0419 21:04:31.885129 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(0.252992, 2.62751)
I0419 21:04:31.885285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294718678031.
I0419 21:04:31.900203 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:31.900308 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:31.900357 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:31.900426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294718990110.
I0419 21:04:31.922369 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.810348, -4.30234)
I0419 21:04:31.922475 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.922789, -2.40397), points=4, range=2.577, residual=0.0104068, extent=0.0254897
I0419 21:04:31.922547 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.922789, -2.40397), tracking=(0.624289, 2.40397), map_predicted=(16.8064, -4.30625), range=2.577, pts=4
I0419 21:04:31.922576 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99632m maha_sq=170.898 (gate chi2=5.99) pose_sigma=(0.1504, 0.1504, rho=0) det_map=(16.8064, -4.30625) lm_pos=(15.915, -2.52) delta=(0.891395, -1.78625) -> 0 candidate(s)
I0419 21:04:31.926577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294719260293.
I0419 21:04:32.003047 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:32.003316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294719577998.
I0419 21:04:32.004347 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.822552, -4.29832)
I0419 21:04:32.006309 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.14817, 0.591341), points=3, range=1.28733, residual=0.00806665, extent=0.0141381
I0419 21:04:32.006461 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.14817, 0.591341), tracking=(1.44667, 0.591341), map_predicted=(15.9123, -2.52651), range=1.28733, pts=3
I0419 21:04:32.006529 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00706272m maha_sq=0.00215174 (gate chi2=5.99) pose_sigma=(0.150502, 0.150502, rho=0) det_map=(15.9123, -2.52651) lm_pos=(15.915, -2.52) delta=(-0.00274179, -0.00650881) -> 1 candidate(s)
I0419 21:04:32.006623 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0146421 range=0.6201 variance=0.000594496 t_weight=5046.3 r_weight=0 yaml=(16.815, -1.32) prior=(17.3347, -1.87911, -177.761deg) obs_actual=(0.482706, -0.590028) obs_expected=(0.497483, -0.578983) delta=(-0.0147774, -0.0110447) |delta|=0.0184488m
I0419 21:04:32.006713 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294719866563.
I0419 21:04:32.014686 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294720141365.
I0419 21:04:32.041841 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0547664s, prior_pose=(17.3306, -1.88055), yaw=-177.754 deg
I0419 21:04:32.041951 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1198, max_intensity=248, threshold=230, above_threshold=16, candidates=16
I0419 21:04:32.042033 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.972988, -4.21446)
I0419 21:04:32.046502 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294720459060.
I0419 21:04:32.070392 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.983262, -4.20318), points=4, range=4.318, residual=0.0158714, extent=0.0389774
I0419 21:04:32.070508 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.983262, -4.20318), tracking=(0.684762, 4.20318), map_predicted=(16.8111, -6.10734), range=4.318, pts=4
I0419 21:04:32.070544 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.69757m maha_sq=578.269 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8111, -6.10734) lm_pos=(15.915, -2.52) delta=(0.896111, -3.58734) -> 0 candidate(s)
I0419 21:04:32.150632 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294720809359.
I0419 21:04:32.152109 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:32.152225 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.830432, -4.30562)
I0419 21:04:32.152243 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:32.153352 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294721031247.
I0419 21:04:32.156731 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.167443, -0.590235), points=21, range=0.616381, residual=0.0138962, extent=0.0438049
I0419 21:04:32.156805 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.167443, -0.590235), tracking=(0.465943, -0.590235), map_predicted=(16.8289, -1.30947), range=0.616381, pts=21
I0419 21:04:32.156832 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0174108m maha_sq=0.0130464 (gate chi2=5.99) pose_sigma=(0.150359, 0.150359, rho=0) det_map=(16.8289, -1.30947) lm_pos=(16.815, -1.32) delta=(0.0138643, 0.0105318) -> 1 candidate(s)
I0419 21:04:32.156853 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:32.156891 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.598 deg, rms_residual=0.0117512m, sigma_yaw=0.0154266 rad, N=2
I0419 21:04:32.156916 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.3123, -1.88079, -177.598deg) inliers=2 rms=0.0117512m
I0419 21:04:32.156946 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294721339218.
I0419 21:04:32.158341 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.897129, -2.41018)
I0419 21:04:32.162026 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294721612767.
I0419 21:04:32.190502 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294721897696.
I0419 21:04:32.190955 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.00878, -0.704895)
I0419 21:04:32.191004 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:32.191025 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:32.260389 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.2975, -1.88215), yaw=-177.67 deg backend=(17.3034, -1.88265)
I0419 21:04:32.261443 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01152, -0.703892), points=4, range=1.23, residual=0.00686517, extent=0.0168557
I0419 21:04:32.261514 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.01152, -0.703892), tracking=(-1.31002, 0.703892), map_predicted=(18.635, -2.5322), range=1.23, pts=4
I0419 21:04:32.261548 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.18674m maha_sq=204.786 (gate chi2=5.99) pose_sigma=(0.151131, 0.151131, rho=0) det_map=(18.635, -2.5322) lm_pos=(16.815, -1.32) delta=(1.82001, -1.2122) -> 0 candidate(s)
I0419 21:04:32.262080 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294722213141.
I0419 21:04:32.264793 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(0.205415, 2.60993)
I0419 21:04:32.264876 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:32.264945 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294722499445.
I0419 21:04:32.282151 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00551681 range=0.61025 variance=0.00059399 t_weight=5050.59 r_weight=0 yaml=(16.815, -1.32) prior=(17.2946, -1.88153, -177.665deg) obs_actual=(0.449127, -0.589286) obs_expected=(0.45633, -0.580596) delta=(-0.00720303, -0.00869031) |delta|=0.0112874m
I0419 21:04:32.282344 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294722814075.
I0419 21:04:32.306748 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.154251, -0.592702), points=20, range=0.61145, residual=0.0123644, extent=0.0421181
I0419 21:04:32.306866 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.154251, -0.592702), tracking=(0.452751, -0.592702), map_predicted=(16.8158, -1.30769), range=0.61145, pts=20
I0419 21:04:32.306910 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0123358m maha_sq=0.00657679 (gate chi2=5.99) pose_sigma=(0.150169, 0.150169, rho=0) det_map=(16.8158, -1.30769) lm_pos=(16.815, -1.32) delta=(0.000831862, 0.0123078) -> 1 candidate(s)
I0419 21:04:32.307018 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294723060387.
I0419 21:04:32.334641 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841003s, prior_pose=(17.2923, -1.88146), yaw=-177.666 deg
I0419 21:04:32.334762 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1214, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:04:32.334843 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.947361, -4.21517)
I0419 21:04:32.338001 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:32.338107 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:32.338137 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294723374847.
I0419 21:04:32.408470 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.879658, -2.40597), points=5, range=2.5628, residual=0.0117433, extent=0.0311445
I0419 21:04:32.408609 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.879658, -2.40597), tracking=(0.581158, 2.40597), map_predicted=(16.8102, -4.31054), range=2.5628, pts=5
I0419 21:04:32.408638 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00186m maha_sq=172.11 (gate chi2=5.99) pose_sigma=(0.15019, 0.15019, rho=0) det_map=(16.8102, -4.31054) lm_pos=(15.915, -2.52) delta=(0.895199, -1.79054) -> 0 candidate(s)
I0419 21:04:32.411065 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=36, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:32.411177 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(0.268063, 2.41515)
I0419 21:04:32.411201 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:32.411298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294723954852.
I0419 21:04:32.411854 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:32.426915 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09438, 0.590078), points=4, range=1.2405, residual=0.0075011, extent=0.0161466
I0419 21:04:32.427237 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09438, 0.590078), tracking=(1.39288, 0.590078), map_predicted=(15.9221, -2.52963), range=1.2405, pts=4
I0419 21:04:32.427408 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0119351m maha_sq=0.00618799 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9221, -2.52963) lm_pos=(15.915, -2.52) delta=(0.00705138, -0.00962933) -> 1 candidate(s)
I0419 21:04:32.427661 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294724264212.
I0419 21:04:32.454161 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.133085, -0.591744)
I0419 21:04:32.523402 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.204088, 2.54632)
I0419 21:04:32.523512 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:32.523535 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:32.523563 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:32.524732 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.933852, -4.21238), points=4, range=4.31625, residual=0.0163581, extent=0.039832
I0419 21:04:32.524791 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.933852, -4.21238), tracking=(0.635352, 4.21238), map_predicted=(16.8087, -6.11677), range=4.31625, pts=4
I0419 21:04:32.524816 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70613m maha_sq=572.674 (gate chi2=5.99) pose_sigma=(0.151084, 0.151084, rho=0) det_map=(16.8087, -6.11677) lm_pos=(15.915, -2.52) delta=(0.893675, -3.59677) -> 0 candidate(s)
I0419 21:04:32.542378 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.195169, 2.52746)
I0419 21:04:32.542490 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:32.573820 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.111966, -0.589504), points=21, range=0.601667, residual=0.0121105, extent=0.0404743
I0419 21:04:32.573918 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.111966, -0.589504), tracking=(0.410466, -0.589504), map_predicted=(16.8355, -1.31076), range=0.601667, pts=21
I0419 21:04:32.573947 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0224902m maha_sq=0.0214779 (gate chi2=5.99) pose_sigma=(0.151557, 0.151557, rho=0) det_map=(16.8355, -1.31076) lm_pos=(16.815, -1.32) delta=(0.0205033, 0.00924251) -> 1 candidate(s)
I0419 21:04:32.574040 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294725733667.
I0419 21:04:32.665850 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.108896, -0.587084)
I0419 21:04:32.666054 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294726054660.
I0419 21:04:32.667106 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597475s, prior_pose=(17.2593, -1.88158), yaw=-177.612 deg
I0419 21:04:32.667183 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1201, max_intensity=255, threshold=230, above_threshold=34, candidates=34
I0419 21:04:32.669863 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.902549, -4.21597), points=3, range=4.31233, residual=0.0122664, extent=0.0255767
I0419 21:04:32.669960 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.902549, -4.21597), tracking=(0.604049, 4.21597), map_predicted=(16.8252, -6.11944), range=4.31233, pts=3
I0419 21:04:32.669988 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71273m maha_sq=581.983 (gate chi2=5.99) pose_sigma=(0.150482, 0.150482, rho=0) det_map=(16.8252, -6.11944) lm_pos=(15.915, -2.52) delta=(0.910173, -3.59944) -> 0 candidate(s)
I0419 21:04:32.670423 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.101872, -0.587328)
I0419 21:04:32.686795 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:32.686977 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:32.690366 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294726895125.
I0419 21:04:32.717895 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.139118, 2.65436)
I0419 21:04:32.718027 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:32.718444 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:32.718489 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08794, -0.704272), points=3, range=1.29133, residual=0.0111846, extent=0.0205168
I0419 21:04:32.718518 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.08794, -0.704272), tracking=(-1.38644, 0.704272), map_predicted=(18.6606, -2.52941), range=1.29133, pts=3
I0419 21:04:32.718542 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=2.20655m maha_sq=210.847 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6606, -2.52941) lm_pos=(16.815, -1.32) delta=(1.84558, -1.20941) -> 0 candidate(s)
I0419 21:04:32.748428 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:32.795821 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294727479661.
I0419 21:04:32.797830 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.208038, 2.41831)
I0419 21:04:32.799422 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:32.799541 1219452 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:32.807986 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(0.992281, -2.49769)
I0419 21:04:32.808091 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.988242, -2.49812), points=5, range=2.6876, residual=0.0123995, extent=0.0331375
I0419 21:04:32.808116 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(0.988242, -2.49812), tracking=(-1.28674, 2.49812), map_predicted=(18.6166, -4.33217), range=2.6876, pts=5
I0419 21:04:32.808137 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.25305m maha_sq=450.556 (gate chi2=5.99) pose_sigma=(0.150758, 0.150758, rho=0) det_map=(18.6166, -4.33217) lm_pos=(15.915, -2.52) delta=(2.70156, -1.81217) -> 0 candidate(s)
I0419 21:04:32.838182 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:32.941584 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(0.147965, 2.47832)
I0419 21:04:32.941781 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294728661315.
I0419 21:04:32.942888 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.945764, -4.29561), points=3, range=4.40133, residual=0.0137049, extent=0.0287126
I0419 21:04:32.942970 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.945764, -4.29561), tracking=(-1.24426, 4.29561), map_predicted=(18.6254, -6.13181), range=4.40133, pts=3
I0419 21:04:32.942997 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=4.51568m maha_sq=864.145 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6254, -6.13181) lm_pos=(15.915, -2.52) delta=(2.71038, -3.61181) -> 0 candidate(s)
I0419 21:04:32.943837 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0200094 range=0.588864 variance=0.00059883 t_weight=5009.77 r_weight=0 yaml=(16.815, -1.32) prior=(17.2271, -1.88383, -177.935deg) obs_actual=(0.37131, -0.585646) obs_expected=(0.391522, -0.57832) delta=(-0.0202117, -0.00732668) |delta|=0.0214987m
I0419 21:04:32.943969 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294728939924.
I0419 21:04:32.945840 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560597s, prior_pose=(17.219, -1.88441), yaw=-178.017 deg
I0419 21:04:32.945916 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1249, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 21:04:32.946724 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.01867, 0.599996)
I0419 21:04:32.946776 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 11 -> 5 (threshold=0.03, iters=3)
I0419 21:04:32.946866 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294729255377.
I0419 21:04:32.954571 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294729540543.
I0419 21:04:32.982429 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:32.982547 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:32.982591 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.767792, -2.41068), points=4, range=2.532, residual=0.0103867, extent=0.025144
I0419 21:04:32.982635 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.767792, -2.41068), tracking=(0.469292, 2.41068), map_predicted=(16.8167, -4.3097), range=2.532, pts=4
I0419 21:04:32.982671 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00404m maha_sq=173.161 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8167, -4.3097) lm_pos=(15.915, -2.52) delta=(0.901739, -1.7897) -> 0 candidate(s)
I0419 21:04:32.982703 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:32.988310 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294729861868.
I0419 21:04:33.063750 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.813863, -4.21973)
I0419 21:04:33.063859 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:33.064735 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294730133272.
I0419 21:04:33.067427 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.997038, 0.605012), points=5, range=1.1642, residual=0.00702107, extent=0.0162273
I0419 21:04:33.067570 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.997038, 0.605012), tracking=(1.29554, 0.605012), map_predicted=(15.9149, -2.53045), range=1.1642, pts=5
I0419 21:04:33.067608 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0104459m maha_sq=0.00470134 (gate chi2=5.99) pose_sigma=(0.150671, 0.150671, rho=0) det_map=(15.9149, -2.53045) lm_pos=(15.915, -2.52) delta=(-0.000124856, -0.0104452) -> 1 candidate(s)
I0419 21:04:33.067665 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.434 deg, rms_residual=0.00877695m, sigma_yaw=0.0115672 rad, N=2
I0419 21:04:33.067695 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.1883, -1.88683, -178.434deg) inliers=2 rms=0.00877695m
I0419 21:04:33.067723 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294730416318.
I0419 21:04:33.070225 1232263 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.05396, -2.48294)
I0419 21:04:33.074472 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:33.074604 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:33.074668 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:33.074752 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294730737895.
I0419 21:04:33.076756 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.1865, -1.88634), yaw=-178.396 deg backend=(17.1963, -1.88478)
I0419 21:04:33.126231 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15805, -0.686683), points=4, range=1.34275, residual=0.00885199, extent=0.0198176
I0419 21:04:33.126368 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.15805, -0.686683), tracking=(-1.45655, 0.686683), map_predicted=(18.6617, -2.53198), range=1.34275, pts=4
I0419 21:04:33.126410 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.20887m maha_sq=210.455 (gate chi2=5.99) pose_sigma=(0.15045, 0.15045, rho=0) det_map=(18.6617, -2.53198) lm_pos=(16.815, -1.32) delta=(1.84667, -1.21198) -> 0 candidate(s)
I0419 21:04:33.197469 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.982947, 0.611547)
I0419 21:04:33.197590 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:33.197669 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294731301337.
I0419 21:04:33.199563 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294731619140.
I0419 21:04:33.202155 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0330221, -0.580644)
I0419 21:04:33.202317 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294731897676.
I0419 21:04:33.214676 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841412s, prior_pose=(17.1745, -1.88531), yaw=-178.573 deg
I0419 21:04:33.214780 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1231, max_intensity=247, threshold=230, above_threshold=17, candidates=17
I0419 21:04:33.218210 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0244849, -0.579973), points=22, range=0.581455, residual=0.0116242, extent=0.0383157
I0419 21:04:33.218446 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0244849, -0.579973), tracking=(0.322985, -0.579973), map_predicted=(16.8307, -1.31337), range=0.581455, pts=22
I0419 21:04:33.218484 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0170228m maha_sq=0.0124695 (gate chi2=5.99) pose_sigma=(0.150566, 0.150566, rho=0) det_map=(16.8307, -1.31337) lm_pos=(16.815, -1.32) delta=(0.0156767, 0.00663461) -> 1 candidate(s)
I0419 21:04:33.218581 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294732177578.
I0419 21:04:33.246381 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.82184, -0.615482)
I0419 21:04:33.246529 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0129949 range=0.582091 variance=0.0005667 t_weight=5293.8 r_weight=0 yaml=(16.815, -1.32) prior=(17.1669, -1.88574, -178.679deg) obs_actual=(0.323046, -0.58086) obs_expected=(0.33881, -0.573701) delta=(-0.0157641, -0.00715836) |delta|=0.0173133m
I0419 21:04:33.246621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294732459129.
I0419 21:04:33.332356 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:33.332535 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=2
I0419 21:04:33.332618 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:33.332754 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:33.332785 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294732759669.
I0419 21:04:33.333701 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.18073, -0.679392)
I0419 21:04:33.335126 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:33.335254 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294733059340.
I0419 21:04:33.336894 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1877, -0.678822), points=3, range=1.36367, residual=0.00876019, extent=0.0178571
I0419 21:04:33.336972 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(1.1877, -0.678822), tracking=(-1.4862, 0.678822), map_predicted=(18.6432, -2.53728), range=1.36367, pts=3
I0419 21:04:33.337057 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=2.19639m maha_sq=207.624 (gate chi2=5.99) pose_sigma=(0.150621, 0.150621, rho=0) det_map=(18.6432, -2.53728) lm_pos=(16.815, -1.32) delta=(1.82821, -1.21728) -> 0 candidate(s)
I0419 21:04:33.338590 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294733343146.
I0419 21:04:33.362269 1219494 reflector_detector.cc:209] [Detect]   cluster[4]: points=4, centroid=(1.19185, -0.671995)
I0419 21:04:33.365779 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:33.365859 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:33.366004 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294733652787.
I0419 21:04:33.394909 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294733939811.
I0419 21:04:33.477777 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.000820809, -0.579822), points=23, range=0.579522, residual=0.0118269, extent=0.0387973
I0419 21:04:33.477909 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.000820809, -0.579822), tracking=(0.297679, -0.579822), map_predicted=(16.8219, -1.31392), range=0.579522, pts=23
I0419 21:04:33.477944 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00919438m maha_sq=0.00363612 (gate chi2=5.99) pose_sigma=(0.150585, 0.150585, rho=0) det_map=(16.8219, -1.31392) lm_pos=(16.815, -1.32) delta=(0.00690059, 0.00607607) -> 1 candidate(s)
I0419 21:04:33.478050 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294734216526.
I0419 21:04:33.478641 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 5 cluster(s).
I0419 21:04:33.480686 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.652243, -2.42014)
I0419 21:04:33.481470 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294734540303.
I0419 21:04:33.484525 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:04:33.484697 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294734831072.
I0419 21:04:33.510393 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606211s, prior_pose=(17.1152, -1.89006), yaw=-179.116 deg
I0419 21:04:33.510509 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1229, max_intensity=247, threshold=230, above_threshold=14, candidates=14
I0419 21:04:33.510594 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(1.23122, -0.668502)
I0419 21:04:33.510632 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.640098, -2.417), points=4, range=2.502, residual=0.0099363, extent=0.0244444
I0419 21:04:33.510666 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.640098, -2.417), tracking=(0.341598, 2.417), map_predicted=(16.811, -4.31205), range=2.502, pts=4
I0419 21:04:33.510695 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00355m maha_sq=173.173 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.811, -4.31205) lm_pos=(15.915, -2.52) delta=(0.895966, -1.79205) -> 0 candidate(s)
I0419 21:04:33.514293 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294735135472.
I0419 21:04:33.595655 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294735413636.
I0419 21:04:33.596921 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:33.597000 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:33.597090 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0117755 range=0.577833 variance=0.000584693 t_weight=5130.9 r_weight=0 yaml=(16.815, -1.32) prior=(17.1111, -1.88975, -179.101deg) obs_actual=(0.270818, -0.576505) obs_expected=(0.28716, -0.574325) delta=(-0.0163427, -0.00217927) |delta|=0.0164874m
I0419 21:04:33.597164 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294735697707.
I0419 21:04:33.597510 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(1.24038, -0.66416)
I0419 21:04:33.597569 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:33.600426 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.649715, -4.22129), points=3, range=4.27333, residual=0.0129856, extent=0.0271814
I0419 21:04:33.600535 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.649715, -4.22129), tracking=(0.351215, 4.22129), map_predicted=(16.8099, -6.11415), range=4.27333, pts=3
I0419 21:04:33.600574 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.70389m maha_sq=576.823 (gate chi2=5.99) pose_sigma=(0.150775, 0.150775, rho=0) det_map=(16.8099, -6.11415) lm_pos=(15.915, -2.52) delta=(0.894909, -3.59415) -> 0 candidate(s)
I0419 21:04:33.603055 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294736015830.
I0419 21:04:33.630633 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294736295320.
I0419 21:04:33.658136 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.19536, -4.2622)
I0419 21:04:33.765082 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:33.765198 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:33.765250 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:33.765301 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294736619234.
I0419 21:04:33.766587 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.20669, -2.46499), points=3, range=2.74167, residual=0.0091575, extent=0.0188225
I0419 21:04:33.766659 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.20669, -2.46499), tracking=(-1.50519, 2.46499), map_predicted=(18.6154, -4.33753), range=2.74167, pts=3
I0419 21:04:33.766690 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25512m maha_sq=456.778 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6154, -4.33753) lm_pos=(15.915, -2.52) delta=(2.70044, -1.81753) -> 0 candidate(s)
I0419 21:04:33.767465 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294736902632.
I0419 21:04:33.769670 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294737182651.
I0419 21:04:33.770042 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(-0.596709, -2.42327)
I0419 21:04:33.770107 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:33.771672 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294737461194.
I0419 21:04:33.778189 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.73108, -0.590434)
I0419 21:04:33.778618 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.858108, 0.631096), points=6, range=1.06083, residual=0.0128236, extent=0.0327983
I0419 21:04:33.778707 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.858108, 0.631096), tracking=(1.15661, 0.631096), map_predicted=(15.9164, -2.53196), range=1.06083, pts=6
I0419 21:04:33.778764 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0120491m maha_sq=0.00620843 (gate chi2=5.99) pose_sigma=(0.150888, 0.150888, rho=0) det_map=(15.9164, -2.53196) lm_pos=(15.915, -2.52) delta=(0.00143417, -0.0119635) -> 1 candidate(s)
I0419 21:04:33.778946 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294737773626.
I0419 21:04:33.894694 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592728s, prior_pose=(17.0663, -1.88849), yaw=-179.51 deg
I0419 21:04:33.894800 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1225, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:04:33.895008 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.766 deg, rms_residual=0.00816068m, sigma_yaw=0.0107638 rad, N=2
I0419 21:04:33.895052 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(17.0533, -1.88915, -179.766deg) inliers=2 rms=0.00816068m
I0419 21:04:33.895084 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294738054090.
I0419 21:04:33.897001 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294738338378.
I0419 21:04:33.899701 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:33.899842 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.559398, -2.42304)
I0419 21:04:33.899860 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=5
I0419 21:04:33.900460 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:33.900552 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:33.900579 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294738651946.
I0419 21:04:33.902901 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832968, 0.635304), points=6, range=1.04367, residual=0.0117465, extent=0.0300572
I0419 21:04:33.902979 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.832968, 0.635304), tracking=(1.13147, 0.635304), map_predicted=(15.9219, -2.53169), range=1.04367, pts=6
I0419 21:04:33.903005 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.013569m maha_sq=0.00792806 (gate chi2=5.99) pose_sigma=(0.150444, 0.150444, rho=0) det_map=(15.9219, -2.53169) lm_pos=(15.915, -2.52) delta=(0.00689221, -0.0116882) -> 1 candidate(s)
I0419 21:04:33.903028 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:33.903072 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00523655 range=0.58313 variance=0.000568789 t_weight=5274.36 r_weight=0 yaml=(16.815, -1.32) prior=(17.049, -1.88877, -179.614deg) obs_actual=(0.222381, -0.578094) obs_expected=(0.230208, -0.570332) delta=(-0.00782653, -0.00776174) |delta|=0.0110227m
I0419 21:04:33.903138 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294738937386.
I0419 21:04:33.922469 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.827482, 0.636785)
I0419 21:04:33.922766 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294739218759.
I0419 21:04:34.006359 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:34.006484 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:34.006603 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294739541009.
I0419 21:04:34.008028 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(17.029, -1.88867), yaw=-179.723 deg backend=(17.039, -1.88286)
I0419 21:04:34.008972 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.818171, 0.633477), points=5, range=1.0334, residual=0.00645004, extent=0.0177167
I0419 21:04:34.009027 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:34.009047 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.818171, 0.633477), tracking=(1.11667, 0.633477), map_predicted=(15.9154, -2.52754), range=1.0334, pts=5
I0419 21:04:34.009093 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.00754735m maha_sq=0.00246613 (gate chi2=5.99) pose_sigma=(0.150349, 0.150349, rho=0) det_map=(15.9154, -2.52754) lm_pos=(15.915, -2.52) delta=(0.000392651, -0.00753713) -> 1 candidate(s)
I0419 21:04:34.009196 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294739820373.
I0419 21:04:34.009574 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.533719, -2.42425)
I0419 21:04:34.013818 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:34.013995 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294740133384.
I0419 21:04:34.042368 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.68549, -0.583099)
I0419 21:04:34.042651 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294740417642.
I0419 21:04:34.139816 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294740697106.
I0419 21:04:34.140237 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.523301, -2.42722), points=4, range=2.4815, residual=0.00967721, extent=0.0234508
I0419 21:04:34.140322 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.523301, -2.42722), tracking=(0.224801, 2.42722), map_predicted=(16.8039, -4.31861), range=2.4815, pts=4
I0419 21:04:34.140349 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00626m maha_sq=173.699 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8039, -4.31861) lm_pos=(15.915, -2.52) delta=(0.888852, -1.79861) -> 0 candidate(s)
I0419 21:04:34.141892 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841432s, prior_pose=(17.0114, -1.88985), yaw=-179.593 deg
I0419 21:04:34.141955 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1234, max_intensity=252, threshold=230, above_threshold=17, candidates=17
I0419 21:04:34.142517 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-1.87356, 4.25803)
I0419 21:04:34.142620 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294741018798.
I0419 21:04:34.146159 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294741296454.
I0419 21:04:34.158780 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:34.158918 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:04:34.159147 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294741578704.
I0419 21:04:34.159997 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:34.186385 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.520099, -4.23584)
I0419 21:04:34.186545 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.501691, -2.42974), points=4, range=2.479, residual=0.0104648, extent=0.0257754
I0419 21:04:34.186617 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.501691, -2.42974), tracking=(0.203191, 2.42974), map_predicted=(16.8143, -4.32106), range=2.479, pts=4
I0419 21:04:34.186663 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01312m maha_sq=174.772 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8143, -4.32106) lm_pos=(15.915, -2.52) delta=(0.89934, -1.80106) -> 0 candidate(s)
I0419 21:04:34.191071 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00817613 range=0.589773 variance=0.000567736 t_weight=5284.15 r_weight=0 yaml=(16.815, -1.32) prior=(16.9955, -1.88958, -179.48deg) obs_actual=(0.161717, -0.5734) obs_expected=(0.175272, -0.571194) delta=(-0.0135551, -0.00220518) |delta|=0.0137333m
I0419 21:04:34.191373 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294741900102.
I0419 21:04:34.298758 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294742173843.
I0419 21:04:34.301174 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:34.301301 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294742459236.
I0419 21:04:34.301689 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.497256, -2.42605)
I0419 21:04:34.301745 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:34.301769 1264424 reflector_detector.cc:337] [Detect] RESULT: 4 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:34.303205 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.507534, -4.23535), points=4, range=4.2635, residual=0.0158916, extent=0.0382619
I0419 21:04:34.303283 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.507534, -4.23535), tracking=(0.209034, 4.23535), map_predicted=(16.8142, -6.12692), range=4.2635, pts=4
I0419 21:04:34.303314 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.71731m maha_sq=584.734 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8142, -6.12692) lm_pos=(15.915, -2.52) delta=(0.899209, -3.60692) -> 0 candidate(s)
I0419 21:04:34.303964 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294742773649.
I0419 21:04:34.307047 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.6317, -0.591198)
I0419 21:04:34.307130 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:34.307209 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294743055057.
I0419 21:04:34.376720 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294743332624.
I0419 21:04:34.378593 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294743619758.
I0419 21:04:34.380090 1264424 reflector_detector.cc:209] [Detect]   cluster[4]: points=3, centroid=(1.37725, -0.671723)
I0419 21:04:34.380182 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:34.380198 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29864, -4.26988), points=3, range=4.464, residual=0.012788, extent=0.0266489
I0419 21:04:34.380224 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.29864, -4.26988), tracking=(-1.59714, 4.26988), map_predicted=(18.6049, -6.14086), range=4.464, pts=3
I0419 21:04:34.380246 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=4.5107m maha_sq=852.986 (gate chi2=5.99) pose_sigma=(0.150886, 0.150886, rho=0) det_map=(18.6049, -6.14086) lm_pos=(15.915, -2.52) delta=(2.68995, -3.62086) -> 0 candidate(s)
I0419 21:04:34.390828 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568738s, prior_pose=(16.9526, -1.89202), yaw=-179.258 deg
I0419 21:04:34.391074 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1244, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:04:34.394773 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294743936526.
I0419 21:04:34.422505 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.729 deg, rms_residual=0.00678305m, sigma_yaw=0.00896301 rad, N=2
I0419 21:04:34.422744 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.9359, -1.89301, -179.729deg) inliers=2 rms=0.00678305m
I0419 21:04:34.422878 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294744215479.
I0419 21:04:34.450641 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:34.450794 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.494348, -4.22953)
I0419 21:04:34.450842 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=4
I0419 21:04:34.454156 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.734237, 0.627051), points=9, range=0.960667, residual=0.0140599, extent=0.0406295
I0419 21:04:34.454283 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.734237, 0.627051), tracking=(1.03274, 0.627051), map_predicted=(15.9229, -2.53283), range=0.960667, pts=9
I0419 21:04:34.454340 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0150917m maha_sq=0.00984021 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9229, -2.53283) lm_pos=(15.915, -2.52) delta=(0.00793979, -0.0128343) -> 1 candidate(s)
I0419 21:04:34.454473 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:34.454612 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:34.454653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294744532702.
I0419 21:04:34.554805 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:34.556864 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:34.557039 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.00739695 range=0.610286 variance=0.000570807 t_weight=5255.71 r_weight=0 yaml=(16.815, -1.32) prior=(16.9354, -1.8897, -179.135deg) obs_actual=(0.0998278, -0.576924) obs_expected=(0.111773, -0.571451) delta=(-0.0119452, -0.00547289) |delta|=0.0131392m
I0419 21:04:34.557209 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294744818541.
I0419 21:04:34.563832 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(-1.93951, 4.27237)
I0419 21:04:34.564675 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294745177044.
I0419 21:04:34.566761 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:34.566866 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.713213, 0.623582), points=6, range=0.945167, residual=0.0107247, extent=0.0270192
I0419 21:04:34.566890 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:34.566907 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.713213, 0.623582), tracking=(1.01171, 0.623582), map_predicted=(15.9268, -2.52843), range=0.945167, pts=6
I0419 21:04:34.566926 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0144653m maha_sq=0.009073 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9268, -2.52843) lm_pos=(15.915, -2.52) delta=(0.0117581, -0.00842571) -> 1 candidate(s)
I0419 21:04:34.567003 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294745422091.
I0419 21:04:34.569952 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294745693740.
I0419 21:04:34.570433 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.475774, -4.23056)
I0419 21:04:34.643287 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:34.643456 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294745974230.
I0419 21:04:34.646195 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.691299, 0.62239)
I0419 21:04:34.646320 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294746292489.
I0419 21:04:34.654160 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.442042, -2.42436), points=4, range=2.46525, residual=0.00903986, extent=0.0216212
I0419 21:04:34.654240 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.442042, -2.42436), tracking=(0.143542, 2.42436), map_predicted=(16.805, -4.31862), range=2.46525, pts=4
I0419 21:04:34.654273 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00678m maha_sq=173.894 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.805, -4.31862) lm_pos=(15.915, -2.52) delta=(0.890011, -1.79862) -> 0 candidate(s)
I0419 21:04:34.657846 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294746571767.
I0419 21:04:34.682262 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525912s, prior_pose=(16.8965, -1.89143), yaw=-178.949 deg
I0419 21:04:34.682375 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1236, max_intensity=250, threshold=230, above_threshold=15, candidates=15
I0419 21:04:34.690264 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294746896874.
I0419 21:04:34.714404 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.427082, -2.42222)
I0419 21:04:34.782415 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294747175057.
I0419 21:04:34.783782 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:34.783862 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:04:34.783895 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.669519, 0.62428), points=9, range=0.917778, residual=0.0107317, extent=0.0292116
I0419 21:04:34.783921 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.669519, 0.62428), tracking=(0.968019, 0.62428), map_predicted=(15.9303, -2.53386), range=0.917778, pts=9
I0419 21:04:34.783941 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0206165m maha_sq=0.0184309 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9303, -2.53386) lm_pos=(15.915, -2.52) delta=(0.015259, -0.0138637) -> 1 candidate(s)
I0419 21:04:34.783994 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0184309 range=0.917778 variance=0.000561227 t_weight=5345.43 r_weight=0 yaml=(15.915, -2.52) prior=(16.8859, -1.89085, -178.884deg) obs_actual=(0.968019, 0.62428) obs_expected=(0.983005, 0.610121) delta=(-0.0149861, 0.0141582) |delta|=0.0206165m
I0419 21:04:34.784039 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294747460620.
I0419 21:04:34.784395 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:04:34.786533 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.35186, -4.28759)
I0419 21:04:34.787180 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294747780411.
I0419 21:04:34.805887 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294748052140.
I0419 21:04:34.830128 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.35378, -4.29362)
I0419 21:04:34.830241 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.32465, 0.577735), points=9, range=0.662333, residual=0.00553045, extent=0.0154491
I0419 21:04:34.830302 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.32465, 0.577735), tracking=(0.0261498, -0.577735), map_predicted=(16.828, -1.31433), range=0.662333, pts=9
I0419 21:04:34.830333 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=0.0142274m maha_sq=0.00881367 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.828, -1.31433) lm_pos=(16.815, -1.32) delta=(0.0130469, 0.00567431) -> 1 candidate(s)
I0419 21:04:34.830374 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:34.836973 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:34.837423 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:34.837594 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294748361964.
I0419 21:04:34.908938 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(16.8583, -1.88964), yaw=-178.785 deg backend=(16.8796, -1.88381)
I0419 21:04:34.910028 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:34.910912 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:34.911069 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294748656938.
I0419 21:04:34.912170 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.438506, -4.23132)
I0419 21:04:34.914026 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:34.914222 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294748936839.
I0419 21:04:34.918674 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40932, -2.49095), points=4, range=2.8635, residual=0.0112712, extent=0.0277088
I0419 21:04:34.918766 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.40932, -2.49095), tracking=(-1.70782, 2.49095), map_predicted=(18.6109, -4.34368), range=2.8635, pts=4
I0419 21:04:34.918795 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[18] 'ref_19' eucl_dist=3.25483m maha_sq=455.515 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6109, -4.34368) lm_pos=(15.915, -2.52) delta=(2.69594, -1.82368) -> 0 candidate(s)
I0419 21:04:34.921888 1218967 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.326361, 0.716141)
I0419 21:04:34.922067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294749214379.
I0419 21:04:34.949923 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:34.954192 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294749536653.
I0419 21:04:34.977607 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0835213s, prior_pose=(16.842, -1.89054), yaw=-178.731 deg
I0419 21:04:34.977962 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1248, max_intensity=255, threshold=230, above_threshold=41, candidates=41
I0419 21:04:34.978315 1219452 reflector_detector.cc:209] [Detect]   cluster[5]: points=26, centroid=(-0.31429, 0.575051)
I0419 21:04:35.051064 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294749816608.
I0419 21:04:35.052963 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.319341, -0.567823), points=32, range=0.6515, residual=0.0234541, extent=0.0588102
I0419 21:04:35.053030 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.319341, -0.567823), tracking=(-0.0208415, -0.567823), map_predicted=(16.8373, -1.32204), range=0.6515, pts=32
I0419 21:04:35.053056 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0223825m maha_sq=0.0213311 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8373, -1.32204) lm_pos=(16.815, -1.32) delta=(0.0222898, -0.00203532) -> 1 candidate(s)
I0419 21:04:35.053136 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.371 deg, rms_residual=0.00883728m, sigma_yaw=0.0116458 rad, N=2
I0419 21:04:35.053175 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.8156, -1.88112, -178.371deg) inliers=2 rms=0.00883728m
I0419 21:04:35.053205 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294750099275.
I0419 21:04:35.055179 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=42, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=7
I0419 21:04:35.055261 1219452 reflector_detector.cc:209] [Detect]   cluster[6]: points=5, centroid=(-0.34146, 0.568302)
I0419 21:04:35.055281 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=7, r_post=0.015, gain=250 -> after=5
I0419 21:04:35.056080 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:04:35.056136 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0116788 range=0.651444 variance=0.00101673 t_weight=2950.63 r_weight=5000 yaml=(16.815, -1.32) prior=(16.8207, -1.88758, -178.63deg) obs_actual=(-0.0244702, -0.567902) obs_expected=(-0.00782845, -0.567553) delta=(-0.0166418, -0.000349508) |delta|=0.0166455m
I0419 21:04:35.056202 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:35.056222 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294750438266.
I0419 21:04:35.070075 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294750694698.
I0419 21:04:35.098265 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.26925, 0.573005), points=20, range=0.63505, residual=0.0126819, extent=0.0368753
I0419 21:04:35.098469 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[4]: sensor=(-0.26925, 0.573005), tracking=(-0.0292497, -0.573005), map_predicted=(16.8243, -1.30958), range=0.63505, pts=20
I0419 21:04:35.098534 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[4] nearest lm[19] 'ref_20' eucl_dist=0.0139321m maha_sq=0.00840419 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8243, -1.30958) lm_pos=(16.815, -1.32) delta=(0.0092507, 0.0104176) -> 1 candidate(s)
I0419 21:04:35.102664 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.320557, -0.566054)
I0419 21:04:35.103192 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294751019201.
I0419 21:04:35.183818 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:35.184549 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:35.184631 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:35.184748 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294751292262.
I0419 21:04:35.187682 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.591956, 0.618282)
I0419 21:04:35.187920 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294751574683.
I0419 21:04:35.189237 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294751864104.
I0419 21:04:35.189759 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.252852, 0.572316), points=18, range=0.627944, residual=0.0117278, extent=0.036726
I0419 21:04:35.189833 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 4 cluster(s).
I0419 21:04:35.189849 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(-0.252852, 0.572316), tracking=(-0.0456477, -0.572316), map_predicted=(16.8258, -1.30971), range=0.627944, pts=18
I0419 21:04:35.189873 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[19] 'ref_20' eucl_dist=0.0149477m maha_sq=0.00968405 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8258, -1.30971) lm_pos=(16.815, -1.32) delta=(0.0108381, 0.0102941) -> 1 candidate(s)
I0419 21:04:35.218982 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294752179898.
I0419 21:04:35.243130 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(-0.388928, -4.23266)
I0419 21:04:35.243331 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:35.348601 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294752462512.
I0419 21:04:35.349874 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604058s, prior_pose=(16.7813, -1.89097), yaw=-178.535 deg
I0419 21:04:35.349972 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=250, threshold=230, above_threshold=13, candidates=13
I0419 21:04:35.350127 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294752736291.
I0419 21:04:35.352916 1237626 reflector_detector.cc:209] [Detect]   cluster[5]: points=20, centroid=(-0.232498, 0.572828)
I0419 21:04:35.353029 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.48133, -2.49815), points=4, range=2.90175, residual=0.0117546, extent=0.0284547
I0419 21:04:35.353058 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[3]: sensor=(1.48133, -2.49815), tracking=(-1.77983, 2.49815), map_predicted=(18.6246, -4.34331), range=2.90175, pts=4
I0419 21:04:35.353107 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[3] nearest lm[18] 'ref_19' eucl_dist=3.26591m maha_sq=457.058 (gate chi2=5.99) pose_sigma=(0.15021, 0.15021, rho=0) det_map=(18.6246, -4.34331) lm_pos=(15.915, -2.52) delta=(2.70956, -1.82331) -> 0 candidate(s)
I0419 21:04:35.353741 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294753052125.
I0419 21:04:35.355084 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:35.355158 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:35.356860 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294753338460.
I0419 21:04:35.362627 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0219734 range=0.830583 variance=0.000569254 t_weight=5270.06 r_weight=0 yaml=(15.915, -2.52) prior=(16.7662, -1.89012, -178.493deg) obs_actual=(0.850125, 0.621602) obs_expected=(0.86749, 0.607271) delta=(-0.0173648, 0.0143308) |delta|=0.0225147m
I0419 21:04:35.362887 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294753618216.
I0419 21:04:35.468868 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.34567, -4.23457)
I0419 21:04:35.469502 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.547366, 0.622273), points=11, range=0.827091, residual=0.00972329, extent=0.0306414
I0419 21:04:35.469559 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.547366, 0.622273), tracking=(0.845866, 0.622273), map_predicted=(15.9301, -2.53111), range=0.827091, pts=11
I0419 21:04:35.469585 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0187475m maha_sq=0.0151403 (gate chi2=5.99) pose_sigma=(0.150591, 0.150591, rho=0) det_map=(15.9301, -2.53111) lm_pos=(15.915, -2.52) delta=(0.0150987, -0.011113) -> 1 candidate(s)
I0419 21:04:35.469684 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294753936356.
I0419 21:04:35.470949 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:35.472402 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:35.472460 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:35.472522 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294754222060.
I0419 21:04:35.473719 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=21, centroid=(-0.208548, 0.572686)
I0419 21:04:35.473798 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:35.474440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294754496872.
I0419 21:04:35.482757 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:35.482993 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294754820472.
I0419 21:04:35.506119 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.254729, -2.42364), points=4, range=2.4365, residual=0.00926802, extent=0.0224016
I0419 21:04:35.506292 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.254729, -2.42364), tracking=(-0.043771, 2.42364), map_predicted=(16.833, -4.30732), range=2.4365, pts=4
I0419 21:04:35.506345 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00928m maha_sq=174.323 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.833, -4.30732) lm_pos=(15.915, -2.52) delta=(0.917975, -1.78732) -> 0 candidate(s)
I0419 21:04:35.593686 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294755098169.
I0419 21:04:35.595062 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.271374, -4.23463)
I0419 21:04:35.595150 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:35.595832 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294755411954.
I0419 21:04:35.597793 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559248s, prior_pose=(16.7208, -1.884), yaw=-179.248 deg
I0419 21:04:35.597892 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1224, max_intensity=252, threshold=230, above_threshold=37, candidates=37
I0419 21:04:35.598610 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.40233, -0.592849), points=3, range=1.51967, residual=0.00659402, extent=0.0133452
I0419 21:04:35.598659 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.40233, -0.592849), tracking=(1.70083, -0.592849), map_predicted=(15.0124, -1.31353), range=1.51967, pts=3
I0419 21:04:35.598685 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00698229m maha_sq=0.0020927 (gate chi2=5.99) pose_sigma=(0.150898, 0.150898, rho=0) det_map=(15.0124, -1.31353) lm_pos=(15.015, -1.32) delta=(-0.00263503, 0.00646599) -> 1 candidate(s)
I0419 21:04:35.598763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294755701429.
I0419 21:04:35.599938 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=21, centroid=(-0.184372, 0.57262)
I0419 21:04:35.601492 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294755974769.
I0419 21:04:35.626134 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:35.626262 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:35.631014 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:35.631219 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:35.631268 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294756301082.
I0419 21:04:35.735693 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.472433, 0.632603), points=14, range=0.791857, residual=0.011941, extent=0.0372799
I0419 21:04:35.735831 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.472433, 0.632603), tracking=(0.770933, 0.632603), map_predicted=(15.9393, -2.52645), range=0.791857, pts=14
I0419 21:04:35.735862 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0251167m maha_sq=0.0271921 (gate chi2=5.99) pose_sigma=(0.150388, 0.150388, rho=0) det_map=(15.9393, -2.52645) lm_pos=(15.915, -2.52) delta=(0.0242743, -0.00645047) -> 1 candidate(s)
I0419 21:04:35.735961 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294756581291.
I0419 21:04:35.737202 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.468629, 0.635127)
I0419 21:04:35.737356 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294756855377.
I0419 21:04:35.740238 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:35.740355 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00402195 range=1.47867 variance=0.000574852 t_weight=5218.74 r_weight=0 yaml=(15.015, -1.32) prior=(16.6923, -1.88893, -179.727deg) obs_actual=(1.66491, -0.57766) obs_expected=(1.67457, -0.576908) delta=(-0.00966489, -0.000751761) |delta|=0.00969408m
I0419 21:04:35.740446 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294757141840.
I0419 21:04:35.741097 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:35.741205 1258777 reflector_detector.cc:337] [Detect] RESULT: 5 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:35.742579 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.6827, -1.88903), yaw=-179.834 deg backend=(16.7026, -1.88753)
I0419 21:04:35.743366 1258777 reflector_detector.cc:209] [Detect]   cluster[5]: points=20, centroid=(-0.15836, 0.574023)
I0419 21:04:35.743438 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:35.746541 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.453587, 0.635854), points=13, range=0.781769, residual=0.0104709, extent=0.0371017
I0419 21:04:35.746781 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.453587, 0.635854), tracking=(0.752087, 0.635854), map_predicted=(15.9325, -2.52705), range=0.781769, pts=13
I0419 21:04:35.746953 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.018842m maha_sq=0.0152594 (gate chi2=5.99) pose_sigma=(0.150717, 0.150717, rho=0) det_map=(15.9325, -2.52705) lm_pos=(15.915, -2.52) delta=(0.0174716, -0.00705424) -> 1 candidate(s)
I0419 21:04:35.747143 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294757457158.
I0419 21:04:35.854290 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:35.854432 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294757731959.
I0419 21:04:35.855819 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294758017071.
I0419 21:04:35.858821 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.155444, -2.4258)
I0419 21:04:35.858949 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:35.859488 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.431798, 0.636086), points=15, range=0.771, residual=0.0123171, extent=0.0415138
I0419 21:04:35.859551 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.431798, 0.636086), tracking=(0.730298, 0.636086), map_predicted=(15.9312, -2.52611), range=0.771, pts=15
I0419 21:04:35.859582 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0173305m maha_sq=0.0129192 (gate chi2=5.99) pose_sigma=(0.15052, 0.15052, rho=0) det_map=(15.9312, -2.52611) lm_pos=(15.915, -2.52) delta=(0.0162194, -0.00610542) -> 1 candidate(s)
I0419 21:04:35.859637 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.655 deg, rms_residual=0.0091555m, sigma_yaw=0.0120601 rad, N=2
I0419 21:04:35.859686 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.6546, -1.89564, 179.655deg) inliers=2 rms=0.0091555m
I0419 21:04:35.859722 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294758341318.
I0419 21:04:35.860985 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0849108s, prior_pose=(16.6615, -1.89001), yaw=-179.999 deg
I0419 21:04:35.861094 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1209, max_intensity=255, threshold=230, above_threshold=39, candidates=39
I0419 21:04:35.862967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294758614958.
I0419 21:04:35.890444 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.144841, -2.42617)
I0419 21:04:35.894619 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294758936949.
I0419 21:04:35.984817 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=38, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=8
I0419 21:04:35.984850 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:35.984928 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=8, r_post=0.015, gain=250 -> after=5
I0419 21:04:35.985682 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294759221772.
I0419 21:04:35.986972 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.130696, -2.42647)
I0419 21:04:35.987089 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.127221, -2.42766), points=4, range=2.43, residual=0.00945936, extent=0.0230485
I0419 21:04:35.987121 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.127221, -2.42766), tracking=(-0.171279, 2.42766), map_predicted=(16.8127, -4.31906), range=2.43, pts=4
I0419 21:04:35.987145 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.01058m maha_sq=174.527 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8127, -4.31906) lm_pos=(15.915, -2.52) delta=(0.897675, -1.79906) -> 0 candidate(s)
I0419 21:04:35.988721 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294759494407.
I0419 21:04:35.990607 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294759819613.
I0419 21:04:36.010524 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.31218, -0.575076)
I0419 21:04:36.010735 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:36.010809 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0137359 range=0.753 variance=0.000598555 t_weight=5012.07 r_weight=0 yaml=(15.915, -2.52) prior=(16.6262, -1.89235, 179.891deg) obs_actual=(0.694343, 0.637522) obs_expected=(0.710055, 0.628993) delta=(-0.0157124, 0.00852862) |delta|=0.0178778m
I0419 21:04:36.010895 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294760099524.
I0419 21:04:36.011545 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=5, merge_r=0.1 -> after=5
I0419 21:04:36.011612 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:36.038340 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294760373536.
I0419 21:04:36.120294 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.119997, -2.42469), points=4, range=2.43025, residual=0.0103138, extent=0.0248844
I0419 21:04:36.120433 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.119997, -2.42469), tracking=(-0.178503, 2.42469), map_predicted=(16.7868, -4.3174), range=2.43025, pts=4
I0419 21:04:36.120464 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=1.99768m maha_sq=170.104 (gate chi2=5.99) pose_sigma=(0.150935, 0.150935, rho=0) det_map=(16.7868, -4.3174) lm_pos=(15.915, -2.52) delta=(0.871825, -1.7974) -> 0 candidate(s)
I0419 21:04:36.120488 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.9052 rad/s > flush threshold 3.
I0419 21:04:36.120507 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:36.121755 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.29952, -0.574042)
I0419 21:04:36.121873 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294760663090.
I0419 21:04:36.122519 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:04:36.124981 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294760978880.
I0419 21:04:36.126399 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:36.126534 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294761255444.
I0419 21:04:36.126961 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0510083, -2.50614)
I0419 21:04:36.153555 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600321s, prior_pose=(16.5977, -1.89177), yaw=179.886 deg
I0419 21:04:36.153671 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1218, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 21:04:36.153831 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0918644, -2.42826), points=4, range=2.429, residual=0.00924141, extent=0.0226645
I0419 21:04:36.153865 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0918644, -2.42826), tracking=(-0.206636, 2.42826), map_predicted=(16.7996, -4.32043), range=2.429, pts=4
I0419 21:04:36.153890 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=2.00599m maha_sq=171.849 (gate chi2=5.99) pose_sigma=(0.150857, 0.150857, rho=0) det_map=(16.7996, -4.32043) lm_pos=(15.915, -2.52) delta=(0.884564, -1.80043) -> 0 candidate(s)
I0419 21:04:36.158179 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294761577673.
I0419 21:04:36.228319 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.363979, 0.636673)
I0419 21:04:36.228493 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294761859861.
I0419 21:04:36.229539 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:04:36.229589 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=5
I0419 21:04:36.231138 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:36.231200 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:36.231222 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294762134191.
I0419 21:04:36.246194 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294762457069.
I0419 21:04:36.270444 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=22, centroid=(-0.050449, 0.566799)
I0419 21:04:36.270551 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.74492, -2.45384), points=3, range=3.008, residual=0.00985538, extent=0.0196706
I0419 21:04:36.270579 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.74492, -2.45384), tracking=(-2.04342, 2.45384), map_predicted=(18.6177, -4.34462), range=3.008, pts=3
I0419 21:04:36.270601 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.26092m maha_sq=454.099 (gate chi2=5.99) pose_sigma=(0.150561, 0.150561, rho=0) det_map=(18.6177, -4.34462) lm_pos=(15.915, -2.52) delta=(2.70265, -1.82462) -> 0 candidate(s)
I0419 21:04:36.274019 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294762735862.
I0419 21:04:36.301852 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294763012816.
I0419 21:04:36.302376 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:04:36.302426 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:36.302462 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:36.374318 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00346545 range=1.36975 variance=0.000647819 t_weight=4630.92 r_weight=0 yaml=(15.015, -1.32) prior=(16.558, -1.89963, -179.956deg) obs_actual=(1.54864, -0.574112) obs_expected=(1.54258, -0.580802) delta=(0.00605994, 0.00669026) |delta|=0.00902676m
I0419 21:04:36.374490 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294763335387.
I0419 21:04:36.376741 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:36.377534 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.23954, -0.575778)
I0419 21:04:36.377614 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:36.377715 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294763613333.
I0419 21:04:36.390012 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.316926, 0.635576), points=18, range=0.712944, residual=0.0134597, extent=0.0429311
I0419 21:04:36.390115 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.316926, 0.635576), tracking=(0.615426, 0.635576), map_predicted=(15.9372, -2.53385), range=0.712944, pts=18
I0419 21:04:36.390146 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0261647m maha_sq=0.0296119 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9372, -2.53385) lm_pos=(15.915, -2.52) delta=(0.0221974, -0.0138517) -> 1 candidate(s)
I0419 21:04:36.390259 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294763895167.
I0419 21:04:36.426420 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:36.426744 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294764256974.
I0419 21:04:36.524920 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563359s, prior_pose=(16.5355, -1.89955), yaw=-179.988 deg
I0419 21:04:36.525035 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1212, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:04:36.525622 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.21776, -0.578631)
I0419 21:04:36.525715 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.876 deg, rms_residual=0.0105311m, sigma_yaw=0.013847 rad, N=2
I0419 21:04:36.525766 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.53, -1.89437, 179.876deg) inliers=2 rms=0.0105311m
I0419 21:04:36.525803 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294764502993.
I0419 21:04:36.528774 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294764821888.
I0419 21:04:36.530133 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:36.530195 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=3
I0419 21:04:36.530890 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.21336, -0.580895), points=5, range=1.3434, residual=0.00871788, extent=0.0209805
I0419 21:04:36.530941 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.21336, -0.580895), tracking=(1.51186, -0.580895), map_predicted=(15.0125, -1.32097), range=1.3434, pts=5
I0419 21:04:36.530967 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00268606m maha_sq=0.000313064 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0125, -1.32097) lm_pos=(15.015, -1.32) delta=(-0.00250377, -0.000972658) -> 1 candidate(s)
I0419 21:04:36.531054 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294765093672.
I0419 21:04:36.538580 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294765376612.
I0419 21:04:36.567214 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.20164, -0.583893)
I0419 21:04:36.567622 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294765662116.
I0419 21:04:36.676445 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:36.676576 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:36.676614 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:36.676688 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294765984664.
I0419 21:04:36.678164 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.5053, -1.89457), yaw=-179.754 deg backend=(16.5182, -1.88298)
I0419 21:04:36.679208 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00124338 range=1.3232 variance=0.000550714 t_weight=5447.48 r_weight=0 yaml=(15.015, -1.32) prior=(16.5053, -1.89457, -179.754deg) obs_actual=(1.48372, -0.584466) obs_expected=(1.48779, -0.580955) delta=(-0.0040698, -0.00351102) |delta|=0.00537499m
I0419 21:04:36.679337 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294766254109.
I0419 21:04:36.679777 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.80911, -2.46732), points=3, range=3.056, residual=0.0104547, extent=0.0208993
I0419 21:04:36.679843 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.80911, -2.46732), tracking=(-2.10761, 2.46732), map_predicted=(18.6234, -4.35282), range=3.056, pts=3
I0419 21:04:36.679877 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=3.2703m maha_sq=459.643 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6234, -4.35282) lm_pos=(15.915, -2.52) delta=(2.70844, -1.83282) -> 0 candidate(s)
I0419 21:04:36.679914 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:36.681432 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294766541478.
I0419 21:04:36.682878 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.82777, -0.653242)
I0419 21:04:36.682962 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:36.682987 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.428 rad/s > flush threshold 3.
I0419 21:04:36.687408 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294766855534.
I0419 21:04:36.790326 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:36.790454 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294767143159.
I0419 21:04:36.792164 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877723s, prior_pose=(16.4808, -1.89468), yaw=-179.685 deg
I0419 21:04:36.792248 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=254, threshold=230, above_threshold=22, candidates=22
I0419 21:04:36.792405 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294767419395.
I0419 21:04:36.793874 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=39.1297 rad/s > flush threshold 3.
I0419 21:04:36.795215 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.81774, -2.47152)
I0419 21:04:36.795279 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0558114, 0.562376), points=23, range=0.565826, residual=0.0116542, extent=0.037024
I0419 21:04:36.795307 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0558114, 0.562376), tracking=(-0.354311, -0.562376), map_predicted=(16.8196, -1.3285), range=0.565826, pts=23
I0419 21:04:36.795329 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.00965274m maha_sq=0.00399243 (gate chi2=5.99) pose_sigma=(0.150895, 0.150895, rho=0) det_map=(16.8196, -1.3285) lm_pos=(16.815, -1.32) delta=(0.00458107, -0.00849643) -> 1 candidate(s)
I0419 21:04:36.795850 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294767739940.
I0419 21:04:36.798065 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:36.798128 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:36.802875 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:36.803030 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:36.803079 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294768020928.
I0419 21:04:36.831272 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294768301942.
I0419 21:04:36.908943 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294768614368.
I0419 21:04:36.911168 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.1346, -0.588508)
I0419 21:04:36.911362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294768898311.
I0419 21:04:36.911767 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:36.911820 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0748564, 0.562308), points=22, range=0.568045, residual=0.0114057, extent=0.0355033
I0419 21:04:36.911840 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:36.911854 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.0748564, 0.562308), tracking=(-0.373356, -0.562308), map_predicted=(16.819, -1.32995), range=0.568045, pts=22
I0419 21:04:36.911872 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0107223m maha_sq=0.00498491 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.819, -1.32995) lm_pos=(16.815, -1.32) delta=(0.00399442, -0.0099505) -> 1 candidate(s)
I0419 21:04:36.918735 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0143667 range=0.568609 variance=0.000559887 t_weight=5358.22 r_weight=0 yaml=(16.815, -1.32) prior=(16.4499, -1.89508, -179.564deg) obs_actual=(-0.384093, -0.561494) obs_expected=(-0.369438, -0.572288) delta=(-0.0146553, 0.0107944) |delta|=0.0182015m
I0419 21:04:36.918918 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294769179959.
I0419 21:04:36.922385 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294769213861.
I0419 21:04:36.950470 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:36.950644 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:36.950816 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294769495694.
I0419 21:04:37.028741 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294769775318.
I0419 21:04:37.031288 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.84823, -4.28469)
I0419 21:04:37.031474 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 22 -> 21 (threshold=0.03, iters=3)
I0419 21:04:37.031522 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:37.032140 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294770097584.
I0419 21:04:37.034554 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565865s, prior_pose=(16.417, -1.89554), yaw=-179.438 deg
I0419 21:04:37.034631 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1240, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:04:37.038043 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10317, -0.592031), points=4, range=1.245, residual=0.0172627, extent=0.0378633
I0419 21:04:37.038156 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.10317, -0.592031), tracking=(1.40167, -0.592031), map_predicted=(15.0096, -1.3173), range=1.245, pts=4
I0419 21:04:37.038203 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0060757m maha_sq=0.00156879 (gate chi2=5.99) pose_sigma=(0.150892, 0.150892, rho=0) det_map=(15.0096, -1.3173) lm_pos=(15.015, -1.32) delta=(-0.00544138, 0.00270286) -> 1 candidate(s)
I0419 21:04:37.038296 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.77 deg, rms_residual=0.0148555m, sigma_yaw=0.0194226 rad, N=2
I0419 21:04:37.038373 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.4101, -1.89452, -179.77deg) inliers=2 rms=0.0148555m
I0419 21:04:37.038421 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294770374202.
I0419 21:04:37.066190 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294770651486.
I0419 21:04:37.067655 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294770659760.
I0419 21:04:37.095216 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:37.095381 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:37.187911 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.182497, 0.632859)
I0419 21:04:37.188225 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294770976083.
I0419 21:04:37.190652 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294771255137.
I0419 21:04:37.192878 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294771541009.
I0419 21:04:37.194756 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.90393, -2.48874), points=3, range=3.13033, residual=0.0103056, extent=0.0207696
I0419 21:04:37.194825 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.90393, -2.48874), tracking=(-2.20243, 2.48874), map_predicted=(18.6254, -4.35959), range=3.13033, pts=3
I0419 21:04:37.194851 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.2757m maha_sq=460.994 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6254, -4.35959) lm_pos=(15.915, -2.52) delta=(2.71037, -1.83959) -> 0 candidate(s)
I0419 21:04:37.195410 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:37.195456 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:37.195504 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=6.87607e-05 range=1.2232 variance=0.000543057 t_weight=5524.29 r_weight=0 yaml=(15.015, -1.32) prior=(16.3945, -1.8963, -179.342deg) obs_actual=(1.37186, -0.592932) obs_expected=(1.3728, -0.592095) delta=(-0.00094017, -0.000836981) |delta|=0.00125875m
I0419 21:04:37.195562 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294771852713.
I0419 21:04:37.214656 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.15886, 0.63319)
I0419 21:04:37.214902 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294772137356.
I0419 21:04:37.274979 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:37.275080 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:37.275146 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294772457968.
I0419 21:04:37.276221 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:37.277870 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294772735053.
I0419 21:04:37.298250 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:37.310827 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294773101303.
I0419 21:04:37.326301 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0523237s, prior_pose=(16.358, -1.89553), yaw=-179.211 deg
I0419 21:04:37.326452 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1240, max_intensity=251, threshold=230, above_threshold=28, candidates=28
I0419 21:04:37.326669 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.90399, -4.29324), points=3, range=4.69367, residual=0.0140148, extent=0.0290763
I0419 21:04:37.326715 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.90399, -4.29324), tracking=(-2.20249, 4.29324), map_predicted=(18.6194, -6.15802), range=4.69367, pts=3
I0419 21:04:37.326824 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=4.53312m maha_sq=862.365 (gate chi2=5.99) pose_sigma=(0.150521, 0.150521, rho=0) det_map=(18.6194, -6.15802) lm_pos=(15.915, -2.52) delta=(2.70443, -3.63802) -> 0 candidate(s)
I0419 21:04:37.329996 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.135267, 0.631661)
I0419 21:04:37.330173 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:37.330289 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:37.330327 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294773293411.
I0419 21:04:37.363041 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294773618863.
I0419 21:04:37.364097 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:37.452466 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:37.452458 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:37.452798 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:37.452996 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294773901061.
I0419 21:04:37.460250 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294774217550.
I0419 21:04:37.462970 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.198071, 0.561934), points=22, range=0.596227, residual=0.0121703, extent=0.0373145
I0419 21:04:37.463127 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.198071, 0.561934), tracking=(-0.496571, -0.561934), map_predicted=(16.8261, -1.32499), range=0.596227, pts=22
I0419 21:04:37.463160 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[19] 'ref_20' eucl_dist=0.0121869m maha_sq=0.00643452 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8261, -1.32499) lm_pos=(16.815, -1.32) delta=(0.0111183, -0.00499052) -> 1 candidate(s)
I0419 21:04:37.464879 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.01457, -0.599568)
I0419 21:04:37.465056 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294774494719.
I0419 21:04:37.478080 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00131581 range=1.1686 variance=0.000745789 t_weight=4022.58 r_weight=0 yaml=(15.015, -1.32) prior=(16.3282, -1.89623, -179.077deg) obs_actual=(1.30919, -0.598274) obs_expected=(1.30374, -0.597313) delta=(0.00544657, -0.000960217) |delta|=0.00553056m
I0419 21:04:37.478240 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294774773487.
I0419 21:04:37.478976 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:37.479048 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:37.557137 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.3233, -1.89694), yaw=-179.069 deg backend=(16.3319, -1.87874)
I0419 21:04:37.558271 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294775053611.
I0419 21:04:37.560110 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294775339414.
I0419 21:04:37.561540 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:37.561592 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=69.6172 rad/s > flush threshold 3.
I0419 21:04:37.566076 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.95068, -4.29695)
I0419 21:04:37.570048 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:04:37.570170 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294775695526.
I0419 21:04:37.594101 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.076493, 0.630415), points=21, range=0.637, residual=0.0128163, extent=0.0399896
I0419 21:04:37.594447 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.076493, 0.630415), tracking=(0.374993, 0.630415), map_predicted=(15.9371, -2.53369), range=0.637, pts=21
I0419 21:04:37.594621 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0259995m maha_sq=0.0290766 (gate chi2=5.99) pose_sigma=(0.150495, 0.150495, rho=0) det_map=(15.9371, -2.53369) lm_pos=(15.915, -2.52) delta=(0.0221045, -0.0136881) -> 1 candidate(s)
I0419 21:04:37.594769 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:37.594966 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294775934164.
I0419 21:04:37.621913 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0875669s, prior_pose=(16.3027, -1.89778), yaw=-179.15 deg
I0419 21:04:37.622020 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1258, max_intensity=254, threshold=230, above_threshold=28, candidates=28
I0419 21:04:37.626657 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.559 deg, rms_residual=0.015386m, sigma_yaw=0.0201023 rad, N=2
I0419 21:04:37.626749 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.2906, -1.89939, -179.559deg) inliers=2 rms=0.015386m
I0419 21:04:37.626796 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294776261838.
I0419 21:04:37.680815 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.968922, -0.598707)
I0419 21:04:37.680989 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294776535113.
I0419 21:04:37.682961 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:37.683035 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:37.683118 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294776819451.
I0419 21:04:37.709594 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294777087432.
I0419 21:04:37.714370 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294777137953.
I0419 21:04:37.741859 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.952753, -0.598217), points=5, range=1.1212, residual=0.0116759, extent=0.0273479
I0419 21:04:37.741971 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.952753, -0.598217), tracking=(1.25125, -0.598217), map_predicted=(15.0074, -1.32098), range=1.1212, pts=5
I0419 21:04:37.742034 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00768129m maha_sq=0.0025224 (gate chi2=5.99) pose_sigma=(0.150992, 0.150992, rho=0) det_map=(15.0074, -1.32098) lm_pos=(15.015, -1.32) delta=(-0.00761808, -0.000983386) -> 1 candidate(s)
I0419 21:04:37.742116 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0295918 range=0.63285 variance=0.000558773 t_weight=5368.91 r_weight=0 yaml=(15.915, -2.52) prior=(16.2688, -1.89736, -179.004deg) obs_actual=(0.342625, 0.630806) obs_expected=(0.364612, 0.616394) delta=(-0.0219879, 0.0144124) |delta|=0.0262904m
I0419 21:04:37.742168 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294777413620.
I0419 21:04:37.793277 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.86297, 0.599325)
I0419 21:04:37.793466 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294777699651.
I0419 21:04:37.794139 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:37.794207 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:37.802284 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294778017022.
I0419 21:04:37.828109 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294778274552.
I0419 21:04:37.828305 1218970 collated_trajectory_builder.cc:82] imu rate: 200.05 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.87% real time)
I0419 21:04:37.828449 1218970 collated_trajectory_builder.cc:82] odom rate: 248.82 Hz 4.02e-03 s +/- 7.05e-04 s (pulsed at 100.74% real time)
I0419 21:04:37.828577 1218970 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.22e-03 s (pulsed at 99.87% real time)
I0419 21:04:37.828611 1218970 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.39e-03 s (pulsed at 100.20% real time)
I0419 21:04:37.830539 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:37.830690 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294778299331.
I0419 21:04:37.858319 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:37.858446 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:37.858471 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294778577625.
I0419 21:04:37.858897 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.287964, 0.55699)
I0419 21:04:37.858964 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:04:37.886579 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.291565, 0.558054), points=19, range=0.630421, residual=0.0111471, extent=0.0335363
I0419 21:04:37.886730 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.291565, 0.558054), tracking=(-0.590065, -0.558054), map_predicted=(16.8198, -1.33667), range=0.630421, pts=19
I0419 21:04:37.886776 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.0173549m maha_sq=0.0130617 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8198, -1.33667) lm_pos=(16.815, -1.32) delta=(0.00481217, -0.0166744) -> 1 candidate(s)
I0419 21:04:37.886808 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:37.887156 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294778857149.
I0419 21:04:37.890595 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294778893290.
I0419 21:04:37.969837 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594729s, prior_pose=(16.2361, -1.9028), yaw=-179.058 deg
I0419 21:04:37.969956 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:04:37.970161 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294779172354.
I0419 21:04:37.972790 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:37.972944 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294779456540.
I0419 21:04:37.973381 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.00365045, 0.628067)
I0419 21:04:37.973481 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294779501136.
I0419 21:04:37.974804 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:04:37.974881 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:04:37.974928 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:37.978003 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294779772239.
I0419 21:04:38.007241 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00340461 range=1.07233 variance=0.000539267 t_weight=5563.1 r_weight=0 yaml=(15.015, -1.32) prior=(16.2169, -1.90171, -179.056deg) obs_actual=(1.18366, -0.598914) obs_expected=(1.19215, -0.601435) delta=(-0.00849037, 0.00252058) |delta|=0.00885662m
I0419 21:04:38.007535 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294780062713.
I0419 21:04:38.008581 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294780063005.
I0419 21:04:38.096460 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294780341868.
I0419 21:04:38.097198 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.06424, -2.51155), points=3, range=3.252, residual=0.00953967, extent=0.0198424
I0419 21:04:38.097275 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.06424, -2.51155), tracking=(-2.36274, 2.51155), map_predicted=(18.6084, -4.37011), range=3.252, pts=3
I0419 21:04:38.097301 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.26765m maha_sq=458.651 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6084, -4.37011) lm_pos=(15.915, -2.52) delta=(2.69345, -1.85011) -> 0 candidate(s)
I0419 21:04:38.098477 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294780621662.
I0419 21:04:38.099028 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.876633, -0.598674)
I0419 21:04:38.099072 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:38.099097 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:38.099205 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294780655577.
I0419 21:04:38.101444 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294780933335.
I0419 21:04:38.101918 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294780933600.
I0419 21:04:38.123344 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294781221334.
I0419 21:04:38.125001 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:38.150894 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294781498306.
I0419 21:04:38.154292 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:38.154551 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294781533755.
I0419 21:04:38.242398 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.0459817, 0.631194)
I0419 21:04:38.242514 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:38.242599 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294781821584.
I0419 21:04:38.245302 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561497s, prior_pose=(16.1689, -1.89747), yaw=-179.034 deg
I0419 21:04:38.245424 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1295, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:38.245592 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294782095252.
I0419 21:04:38.246102 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.849177, -0.599007), points=6, range=1.037, residual=0.00931334, extent=0.0247985
I0419 21:04:38.246152 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.849177, -0.599007), tracking=(1.14768, -0.599007), map_predicted=(15.0113, -1.31789), range=1.037, pts=6
I0419 21:04:38.246182 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00427193m maha_sq=0.000792121 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0113, -1.31789) lm_pos=(15.015, -1.32) delta=(-0.00371676, 0.00210595) -> 1 candidate(s)
I0419 21:04:38.246232 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.197 deg, rms_residual=0.011923m, sigma_yaw=0.0156485 rad, N=2
I0419 21:04:38.246251 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[18] 'ref_19' maha_sq=0.0175007 range=0.635095 variance=0.000575868 t_weight=5209.53 r_weight=0 yaml=(15.915, -2.52) prior=(16.1689, -1.89747, -179.034deg) obs_actual=(0.25055, 0.632768) obs_expected=(0.264353, 0.618163) delta=(-0.0138031, 0.0146054) |delta|=0.0200959m
I0419 21:04:38.246287 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.1638, -1.89332, -179.197deg) inliers=2 rms=0.011923m
I0419 21:04:38.246315 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294782140551.
I0419 21:04:38.248162 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:38.248291 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:38.248342 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294782381751.
I0419 21:04:38.251111 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294782417837.
I0419 21:04:38.270632 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:38.270747 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:38.270938 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294782698312.
I0419 21:04:38.358402 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294782978168.
I0419 21:04:38.358925 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.75285, 0.597852)
I0419 21:04:38.359048 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294783078517.
I0419 21:04:38.361894 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294783298742.
I0419 21:04:38.363314 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294783586824.
I0419 21:04:38.363984 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:38.364063 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:38.364159 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294783587010.
I0419 21:04:38.366590 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(16.1326, -1.89598), yaw=-178.916 deg backend=(16.1412, -1.88057)
I0419 21:04:38.386472 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.403903, 0.554166), points=17, range=0.686176, residual=0.0106942, extent=0.0354191
I0419 21:04:38.386663 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.403903, 0.554166), tracking=(-0.702403, -0.554166), map_predicted=(16.8244, -1.32862), range=0.686176, pts=17
I0419 21:04:38.386724 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0127628m maha_sq=0.00701828 (gate chi2=5.99) pose_sigma=(0.150526, 0.150526, rho=0) det_map=(16.8244, -1.32862) lm_pos=(16.815, -1.32) delta=(0.00941049, -0.00862155) -> 1 candidate(s)
I0419 21:04:38.390265 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294783892269.
I0419 21:04:38.419394 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294784181260.
I0419 21:04:38.420389 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.14015, -2.50578)
I0419 21:04:38.420492 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:38.504542 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[18] 'ref_19' maha_sq=0.0158678 range=0.640381 variance=0.000584586 t_weight=5131.83 r_weight=5000 yaml=(15.915, -2.52) prior=(16.119, -1.89419, -178.893deg) obs_actual=(0.19942, 0.631423) obs_expected=(0.216085, 0.621753) delta=(-0.0166642, 0.00966964) |delta|=0.0192664m
I0419 21:04:38.504671 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294784458313.
I0419 21:04:38.505335 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:38.505432 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294784458555.
I0419 21:04:38.507489 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:38.507606 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294784738947.
I0419 21:04:38.508095 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294784775768.
I0419 21:04:38.509280 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0835416s, prior_pose=(16.1139, -1.89083), yaw=-178.891 deg
I0419 21:04:38.509356 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1313, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 21:04:38.509464 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294785016941.
I0419 21:04:38.511005 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294785052717.
I0419 21:04:38.535234 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294785337983.
I0419 21:04:38.536090 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.17479, -2.50918)
I0419 21:04:38.536286 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294785338275.
I0419 21:04:38.608670 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:38.608785 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:38.608817 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.436638, 0.555475), points=18, range=0.708889, residual=0.0129844, extent=0.0388489
I0419 21:04:38.608840 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.436638, 0.555475), tracking=(-0.735138, -0.555475), map_predicted=(16.8166, -1.32449), range=0.708889, pts=18
I0419 21:04:38.608866 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[19] 'ref_20' eucl_dist=0.00477751m maha_sq=0.00097823 (gate chi2=5.99) pose_sigma=(0.150753, 0.150753, rho=0) det_map=(16.8166, -1.32449) lm_pos=(16.815, -1.32) delta=(0.00162517, -0.0044926) -> 1 candidate(s)
I0419 21:04:38.608959 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294785613708.
I0419 21:04:38.609602 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294785658216.
I0419 21:04:38.611052 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:38.611131 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:38.611158 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294785940469.
I0419 21:04:38.622054 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294786214607.
I0419 21:04:38.622813 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294786214734.
I0419 21:04:38.650751 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294786501493.
I0419 21:04:38.654070 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.66425, 0.608469)
I0419 21:04:38.654160 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:38.654186 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:38.654286 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000633512 range=0.9625 variance=0.000658429 t_weight=4556.3 r_weight=0 yaml=(15.015, -1.32) prior=(16.0728, -1.89418, -179.113deg) obs_actual=(1.04999, -0.594131) obs_expected=(1.04882, -0.590485) delta=(0.0011744, -0.00364581) |delta|=0.00383029m
I0419 21:04:38.654372 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294786536507.
I0419 21:04:38.678792 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294786780139.
I0419 21:04:38.739594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294786814596.
I0419 21:04:38.741171 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294787093266.
I0419 21:04:38.741636 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.22307, -2.49805), points=3, range=3.344, residual=0.00822911, extent=0.0194715
I0419 21:04:38.741719 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:38.741739 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.22307, -2.49805), tracking=(-2.52157, 2.49805), map_predicted=(18.6197, -4.35595), range=3.344, pts=3
I0419 21:04:38.741761 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=3.26897m maha_sq=459.181 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(18.6197, -4.35595) lm_pos=(15.915, -2.52) delta=(2.70471, -1.83595) -> 0 candidate(s)
I0419 21:04:38.744474 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:38.744632 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294787412950.
I0419 21:04:38.770035 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:04:38.770216 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294787695661.
I0419 21:04:38.770606 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(2.2337, -2.50265)
I0419 21:04:38.770705 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294787695771.
I0419 21:04:38.799161 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607698s, prior_pose=(16.0506, -1.89226), yaw=-179.126 deg
I0419 21:04:38.799264 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:04:38.799465 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.218 deg, rms_residual=0.0124628m, sigma_yaw=0.0163454 rad, N=2
I0419 21:04:38.799537 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(16.0315, -1.89098, -179.218deg) inliers=2 rms=0.0124628m
I0419 21:04:38.799580 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294787988371.
I0419 21:04:38.800451 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294788000576.
I0419 21:04:38.855055 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[18] 'ref_19' maha_sq=0.0441088 range=0.664778 variance=0.000550794 t_weight=5446.68 r_weight=4674.81 yaml=(15.915, -2.52) prior=(16.0463, -1.893, -179.117deg) obs_actual=(0.111648, 0.637599) obs_expected=(0.140972, 0.624905) delta=(-0.0293246, 0.0126944) |delta|=0.0319543m
I0419 21:04:38.855218 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294788299210.
I0419 21:04:38.856513 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:38.856571 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:38.856595 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:04:38.856653 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294788539060.
I0419 21:04:38.858150 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.192658, 0.636705), points=18, range=0.665778, residual=0.0109923, extent=0.033189
I0419 21:04:38.858222 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 15
I0419 21:04:38.858235 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.192658, 0.636705), tracking=(0.105842, 0.636705), map_predicted=(15.9351, -2.53187), range=0.665778, pts=18
I0419 21:04:38.858350 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0233076m maha_sq=0.0232099 (gate chi2=5.99) pose_sigma=(0.151158, 0.151158, rho=0) det_map=(15.9351, -2.53187) lm_pos=(15.915, -2.52) delta=(0.0200572, -0.0118723) -> 1 candidate(s)
I0419 21:04:38.858450 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294788575385.
I0419 21:04:38.886082 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.627, 0.608306)
I0419 21:04:38.886322 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294788856353.
I0419 21:04:38.913977 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294789134728.
I0419 21:04:38.918767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294789181373.
I0419 21:04:38.946610 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294789460534.
I0419 21:04:38.947104 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:38.947153 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:38.947196 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:38.947232 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:38.947250 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294789460671.
I0419 21:04:39.003111 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294789739996.
I0419 21:04:39.005620 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294790011897.
I0419 21:04:39.006512 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.60464, 0.605272)
I0419 21:04:39.006583 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:39.006656 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294790058812.
I0419 21:04:39.030155 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294790295704.
I0419 21:04:39.034464 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.224809, 0.640693), points=20, range=0.6793, residual=0.0124511, extent=0.037845
I0419 21:04:39.034605 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.224809, 0.640693), tracking=(0.0736911, 0.640693), map_predicted=(15.9235, -2.53111), range=0.6793, pts=20
I0419 21:04:39.034639 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0139864m maha_sq=0.00839544 (gate chi2=5.99) pose_sigma=(0.150696, 0.150696, rho=0) det_map=(15.9235, -2.53111) lm_pos=(15.915, -2.52) delta=(0.00850026, -0.011107) -> 1 candidate(s)
I0419 21:04:39.034682 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:39.034754 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294790339994.
I0419 21:04:39.062057 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:39.062170 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[19] 'ref_20' maha_sq=0.0103172 range=0.782429 variance=0.000619631 t_weight=4841.59 r_weight=0 yaml=(16.815, -1.32) prior=(15.9861, -1.88924, -179.012deg) obs_actual=(-0.853986, -0.555396) obs_expected=(-0.838551, -0.554868) delta=(-0.0154354, -0.000527944) |delta|=0.0154444m
I0419 21:04:39.062243 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294790614578.
I0419 21:04:39.066546 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294790659885.
I0419 21:04:39.123281 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596355s, prior_pose=(15.9819, -1.8895), yaw=-178.967 deg
I0419 21:04:39.123404 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:04:39.123661 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294790936349.
I0419 21:04:39.125593 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.5791, 0.603517)
I0419 21:04:39.125738 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294791226892.
I0419 21:04:39.127261 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.1635 rad/s > flush threshold 3.
I0419 21:04:39.127372 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294791227019.
I0419 21:04:39.150231 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:39.150337 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:04:39.150498 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294791496854.
I0419 21:04:39.154371 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294791531811.
I0419 21:04:39.154780 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:39.178118 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294791774240.
I0419 21:04:39.182588 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294791819967.
I0419 21:04:39.210032 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.626493, -0.596223), points=11, range=0.869818, residual=0.0134377, extent=0.0335747
I0419 21:04:39.210270 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.626493, -0.596223), tracking=(0.924993, -0.596223), map_predicted=(15.0246, -1.3139), range=0.869818, pts=11
I0419 21:04:39.210345 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0113579m maha_sq=0.0055786 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0246, -1.3139) lm_pos=(15.015, -1.32) delta=(0.00958012, 0.0061011) -> 1 candidate(s)
I0419 21:04:39.210487 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792094439.
I0419 21:04:39.211046 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(-0.361741, -0.632685)
I0419 21:04:39.211163 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00836628 range=0.8055 variance=0.000572233 t_weight=5242.62 r_weight=0 yaml=(16.815, -1.32) prior=(15.9602, -1.89328, -178.963deg) obs_actual=(-0.878717, -0.555368) obs_expected=(-0.865023, -0.557717) delta=(-0.0136934, 0.00234932) |delta|=0.0138935m
I0419 21:04:39.211238 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792094682.
I0419 21:04:39.267380 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792378875.
I0419 21:04:39.267900 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:04:39.268105 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:39.268172 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.966 deg, rms_residual=0.013594m, sigma_yaw=0.0144563 rad, N=3
I0419 21:04:39.268229 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.9488, -1.88898, -178.966deg) inliers=3 rms=0.013594m
I0419 21:04:39.268260 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294792415367.
I0419 21:04:39.269811 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(15.9488, -1.88898), yaw=-178.927 deg backend=(15.9516, -1.88025)
I0419 21:04:39.270898 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792652827.
I0419 21:04:39.271663 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:39.271749 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:39.271775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792698973.
I0419 21:04:39.295153 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792945218.
I0419 21:04:39.298595 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53654, 0.602663)
I0419 21:04:39.298704 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:39.298818 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294792980897.
I0419 21:04:39.326341 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294793254197.
I0419 21:04:39.330683 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.287626, 0.638439), points=17, range=0.701353, residual=0.0110054, extent=0.0330094
I0419 21:04:39.330796 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.287626, 0.638439), tracking=(0.0108739, 0.638439), map_predicted=(15.9359, -2.52846), range=0.701353, pts=17
I0419 21:04:39.330860 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[18] 'ref_19' eucl_dist=0.0225493m maha_sq=0.0220513 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9359, -2.52846) lm_pos=(15.915, -2.52) delta=(0.0209033, -0.00845713) -> 1 candidate(s)
I0419 21:04:39.330900 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:39.330981 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294793302215.
I0419 21:04:39.386317 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:39.386497 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294793533852.
I0419 21:04:39.387421 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0109684 range=0.8455 variance=0.000580964 t_weight=5163.83 r_weight=0 yaml=(15.015, -1.32) prior=(15.9328, -1.88949, -178.873deg) obs_actual=(0.893207, -0.596387) obs_expected=(0.906367, -0.587443) delta=(-0.0131596, -0.00894354) |delta|=0.015911m
I0419 21:04:39.387588 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294793574754.
I0419 21:04:39.388849 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0889505s, prior_pose=(15.9328, -1.88949), yaw=-178.873 deg
I0419 21:04:39.388942 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:04:39.389161 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294793870402.
I0419 21:04:39.389559 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(2.34854, -2.52585)
I0419 21:04:39.389657 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294793870552.
I0419 21:04:39.415203 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294794138254.
I0419 21:04:39.417819 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294794171998.
I0419 21:04:39.442045 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:04:39.442155 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=2
I0419 21:04:39.442312 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294794414549.
I0419 21:04:39.446420 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294794458748.
I0419 21:04:39.474094 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.690963, -0.736661)
I0419 21:04:39.474323 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294794737260.
I0419 21:04:39.534286 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.576525, -0.596917), points=13, range=0.827923, residual=0.0126155, extent=0.036893
I0419 21:04:39.534405 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.576525, -0.596917), tracking=(0.875025, -0.596917), map_predicted=(15.0025, -1.3119), range=0.827923, pts=13
I0419 21:04:39.534439 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.014894m maha_sq=0.00943744 (gate chi2=5.99) pose_sigma=(0.151341, 0.151341, rho=0) det_map=(15.0025, -1.3119) lm_pos=(15.015, -1.32) delta=(-0.0124979, 0.00810148) -> 1 candidate(s)
I0419 21:04:39.534571 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294794782494.
I0419 21:04:39.535714 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=7.67281e-05 range=0.695556 variance=0.000579356 t_weight=5178.16 r_weight=0 yaml=(15.915, -2.52) prior=(15.8903, -1.88964, -178.753deg) obs_actual=(-0.0116041, 0.631923) obs_expected=(-0.0109715, 0.630752) delta=(-0.000632681, 0.0011707) |delta|=0.00133073m
I0419 21:04:39.535811 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795019493.
I0419 21:04:39.536628 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294795058612.
I0419 21:04:39.538565 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795298377.
I0419 21:04:39.539346 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:39.539408 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:39.539459 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.866 deg, rms_residual=0.0134846m, sigma_yaw=0.0176619 rad, N=2
I0419 21:04:39.539510 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8718, -1.88871, -178.866deg) inliers=2 rms=0.0134846m
I0419 21:04:39.539538 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795332585.
I0419 21:04:39.563428 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.47886, 0.597494)
I0419 21:04:39.563855 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795616244.
I0419 21:04:39.564538 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:39.564615 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:39.564651 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795616493.
I0419 21:04:39.590308 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795895470.
I0419 21:04:39.594928 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:39.595239 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294795941800.
I0419 21:04:39.655678 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.262516, -0.631103), points=17, range=0.685353, residual=0.0111978, extent=0.0340905
I0419 21:04:39.655794 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.262516, -0.631103), tracking=(-0.0359843, 0.631103), map_predicted=(15.9246, -2.51727), range=0.685353, pts=17
I0419 21:04:39.655824 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0100046m maha_sq=0.00433703 (gate chi2=5.99) pose_sigma=(0.150054, 0.150054, rho=0) det_map=(15.9246, -2.51727) lm_pos=(15.915, -2.52) delta=(0.00962441, 0.00273171) -> 1 candidate(s)
I0419 21:04:39.655927 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294796197886.
I0419 21:04:39.656724 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:04:39.656857 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00242936 range=1.58667 variance=0.000539461 t_weight=5561.1 r_weight=5000 yaml=(14.115, -2.52) prior=(15.8743, -1.88715, -178.698deg) obs_actual=(1.7663, 0.595503) obs_expected=(1.77323, 0.592703) delta=(-0.00693786, 0.00279949) |delta|=0.00748138m
I0419 21:04:39.656948 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294796219805.
I0419 21:04:39.658349 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:39.658494 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294796493352.
I0419 21:04:39.658955 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294796493514.
I0419 21:04:39.678500 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0582742s, prior_pose=(15.8597, -1.88878), yaw=-178.633 deg
I0419 21:04:39.678602 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:39.678759 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.252534, -0.6329)
I0419 21:04:39.678933 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294796780628.
I0419 21:04:39.681794 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294796813597.
I0419 21:04:39.706557 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294797059952.
I0419 21:04:39.710968 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294797104458.
I0419 21:04:39.738235 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:39.738343 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:39.738503 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294797378075.
I0419 21:04:39.789758 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.50832, -0.596829), points=15, range=0.785667, residual=0.0143579, extent=0.0497038
I0419 21:04:39.789903 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.50832, -0.596829), tracking=(0.80682, -0.596829), map_predicted=(15.0175, -1.31276), range=0.785667, pts=15
I0419 21:04:39.789937 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00767369m maha_sq=0.0025132 (gate chi2=5.99) pose_sigma=(0.150943, 0.150943, rho=0) det_map=(15.0175, -1.31276) lm_pos=(15.015, -1.32) delta=(0.00253139, 0.00724414) -> 1 candidate(s)
I0419 21:04:39.790030 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294797452987.
I0419 21:04:39.791042 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00802042 range=0.896667 variance=0.000571773 t_weight=5246.83 r_weight=0 yaml=(16.815, -1.32) prior=(15.8389, -1.88937, -178.577deg) obs_actual=(-1.00254, -0.550011) obs_expected=(-0.989915, -0.544952) delta=(-0.0126272, -0.00505963) |delta|=0.0136031m
I0419 21:04:39.791131 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294797659512.
I0419 21:04:39.791805 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294797692333.
I0419 21:04:39.798404 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.497926, -0.595022)
I0419 21:04:39.798830 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294797979875.
I0419 21:04:39.799381 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294797980080.
I0419 21:04:39.827080 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294798254197.
I0419 21:04:39.828585 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:39.828649 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:39.828677 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=99.2259 rad/s > flush threshold 3.
I0419 21:04:39.828753 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294798254311.
I0419 21:04:39.854506 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294798537067.
I0419 21:04:39.858809 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:39.858906 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.654 deg, rms_residual=0.00895442m, sigma_yaw=0.0117984 rad, N=2
I0419 21:04:39.859026 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.8116, -1.88754, -178.654deg) inliers=2 rms=0.00895442m
I0419 21:04:39.859073 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:39.859099 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294798581416.
I0419 21:04:39.939344 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294798877359.
I0419 21:04:39.939839 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:39.939949 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294798877513.
I0419 21:04:39.941401 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.41927, 0.59514), points=3, range=1.53433, residual=0.00946428, extent=0.0191988
I0419 21:04:39.941476 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.41927, 0.59514), tracking=(1.71777, 0.59514), map_predicted=(14.1118, -2.52291), range=1.53433, pts=3
I0419 21:04:39.941507 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00432964m maha_sq=0.00081244 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1118, -2.52291) lm_pos=(14.115, -2.52) delta=(-0.00320746, -0.00290826) -> 1 candidate(s)
I0419 21:04:39.941584 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294799141756.
I0419 21:04:39.942946 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=117.259 rad/s > flush threshold 3.
I0419 21:04:39.943006 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:04:39.943064 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294799141926.
I0419 21:04:39.944060 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.195991, -0.631313)
I0419 21:04:39.944154 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:39.944190 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00473557 range=0.661111 variance=0.000565067 t_weight=5309.1 r_weight=0 yaml=(15.915, -2.52) prior=(15.8038, -1.88702, -178.588deg) obs_actual=(-0.105862, 0.633454) obs_expected=(-0.0956178, 0.635525) delta=(-0.0102438, -0.00207158) |delta|=0.0104511m
I0419 21:04:39.944254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294799414232.
I0419 21:04:39.946571 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294799458654.
I0419 21:04:39.970453 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558264s, prior_pose=(15.7946, -1.88932), yaw=-178.549 deg
I0419 21:04:39.971072 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1298, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:39.971626 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294799700190.
I0419 21:04:39.974174 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294799736506.
I0419 21:04:40.002674 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800017425.
I0419 21:04:40.063198 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800054299.
I0419 21:04:40.064459 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:40.064539 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:40.064666 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800292559.
I0419 21:04:40.065687 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800339791.
I0419 21:04:40.067692 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800581595.
I0419 21:04:40.068457 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38839, 0.601278), points=3, range=1.50567, residual=0.013984, extent=0.0283831
I0419 21:04:40.068526 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.38839, 0.601278), tracking=(1.68689, 0.601278), map_predicted=(14.1, -2.52771), range=1.50567, pts=3
I0419 21:04:40.068552 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0168747m maha_sq=0.0122861 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1, -2.52771) lm_pos=(14.115, -2.52) delta=(-0.015013, -0.00770506) -> 1 candidate(s)
I0419 21:04:40.068625 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800615719.
I0419 21:04:40.090854 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.43605, -0.590899)
I0419 21:04:40.091073 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800903648.
I0419 21:04:40.091531 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00758515 range=0.648368 variance=0.000555964 t_weight=5396.03 r_weight=0 yaml=(15.915, -2.52) prior=(15.772, -1.88633, -178.632deg) obs_actual=(-0.135582, 0.626221) obs_expected=(-0.127789, 0.636905) delta=(-0.00779302, -0.0106842) |delta|=0.0132243m
I0419 21:04:40.091674 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294800903800.
I0419 21:04:40.118741 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294801179952.
I0419 21:04:40.122131 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:40.122227 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:40.122342 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294801213730.
I0419 21:04:40.192020 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.7569, -1.894), yaw=-178.698 deg backend=(15.776, -1.88214)
I0419 21:04:40.193234 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294801461516.
I0419 21:04:40.193967 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:40.194038 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:40.194065 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294801499213.
I0419 21:04:40.195221 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294801780993.
I0419 21:04:40.196632 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:40.196729 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294801814223.
I0419 21:04:40.206667 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802061570.
I0419 21:04:40.209928 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:40.210033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294802094802.
I0419 21:04:40.254323 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.135249, -0.627293)
I0419 21:04:40.254539 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:40.254743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802533835.
I0419 21:04:40.258759 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.403216, -0.59213), points=15, range=0.714133, residual=0.0115386, extent=0.0364577
I0419 21:04:40.258924 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.403216, -0.59213), tracking=(0.701716, -0.59213), map_predicted=(15.0212, -1.32336), range=0.714133, pts=15
I0419 21:04:40.258968 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00709283m maha_sq=0.00218059 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0212, -1.32336) lm_pos=(15.015, -1.32) delta=(0.00624384, -0.00336491) -> 1 candidate(s)
I0419 21:04:40.259060 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.158 deg, rms_residual=0.011756m, sigma_yaw=0.0154327 rad, N=2
I0419 21:04:40.259143 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.7424, -1.87986, -178.158deg) inliers=2 rms=0.011756m
I0419 21:04:40.259197 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802582189.
I0419 21:04:40.265628 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838524s, prior_pose=(15.7374, -1.89797), yaw=-178.584 deg
I0419 21:04:40.265769 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1293, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:40.266016 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0159301 range=0.98 variance=0.000591968 t_weight=5067.84 r_weight=0 yaml=(16.815, -1.32) prior=(15.7374, -1.89797, -178.584deg) obs_actual=(-1.10977, -0.545094) obs_expected=(-1.09158, -0.551169) delta=(-0.0181922, 0.00607472) |delta|=0.0191796m
I0419 21:04:40.266141 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802652747.
I0419 21:04:40.320484 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802693011.
I0419 21:04:40.321369 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:40.321815 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802939414.
I0419 21:04:40.322552 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294802976863.
I0419 21:04:40.326448 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:40.326545 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:40.326666 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294803256803.
I0419 21:04:40.327445 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294803256975.
I0419 21:04:40.353890 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294803532829.
I0419 21:04:40.358280 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294803576972.
I0419 21:04:40.382153 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.10694, -0.627824)
I0419 21:04:40.382383 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294803815562.
I0419 21:04:40.387132 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.371202, -0.593973), points=14, range=0.698714, residual=0.0105921, extent=0.0315043
I0419 21:04:40.387285 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.371202, -0.593973), tracking=(0.669702, -0.593973), map_predicted=(15.0241, -1.31032), range=0.698714, pts=14
I0419 21:04:40.387317 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0132953m maha_sq=0.00766893 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0241, -1.31032) lm_pos=(15.015, -1.32) delta=(0.00911154, 0.00968216) -> 1 candidate(s)
I0419 21:04:40.387413 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294803859998.
I0419 21:04:40.441344 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00135108 range=1.444 variance=0.000573958 t_weight=5226.86 r_weight=0 yaml=(14.115, -2.52) prior=(15.7083, -1.88568, -178.404deg) obs_actual=(1.60972, 0.595239) obs_expected=(1.61036, 0.58969) delta=(-0.000649233, 0.00554887) |delta|=0.00558672m
I0419 21:04:40.441552 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294804153656.
I0419 21:04:40.442131 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:40.442234 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:40.442330 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294804153793.
I0419 21:04:40.443822 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294804421869.
I0419 21:04:40.446208 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:40.446312 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:40.446337 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294804456724.
I0419 21:04:40.470742 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294804700755.
I0419 21:04:40.473763 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:40.473930 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294804733373.
I0419 21:04:40.503230 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805026617.
I0419 21:04:40.503754 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:40.503824 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805026848.
I0419 21:04:40.530771 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.076169, -0.629815)
I0419 21:04:40.530908 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:40.530998 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805303126.
I0419 21:04:40.534010 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.331304, -0.591488), points=16, range=0.68025, residual=0.0124059, extent=0.0418246
I0419 21:04:40.534106 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.331304, -0.591488), tracking=(0.629804, -0.591488), map_predicted=(15.0422, -1.30818), range=0.68025, pts=16
I0419 21:04:40.534137 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0296889m maha_sq=0.0381728 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0422, -1.30818) lm_pos=(15.015, -1.32) delta=(0.0272364, 0.0118156) -> 1 candidate(s)
I0419 21:04:40.534204 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.701 deg, rms_residual=0.0139153m, sigma_yaw=0.0182157 rad, N=2
I0419 21:04:40.534235 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6764, -1.87462, -177.701deg) inliers=2 rms=0.0139153m
I0419 21:04:40.534265 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805336223.
I0419 21:04:40.587473 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0548244s, prior_pose=(15.6791, -1.87979), yaw=-178.251 deg
I0419 21:04:40.587625 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1291, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:40.587814 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0378814 range=1.0298 variance=0.000520361 t_weight=5765.23 r_weight=0 yaml=(16.815, -1.32) prior=(15.6791, -1.87979, -178.251deg) obs_actual=(-1.17978, -0.536502) obs_expected=(-1.15248, -0.524864) delta=(-0.0272995, -0.011638) |delta|=0.0296766m
I0419 21:04:40.587910 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805574861.
I0419 21:04:40.588737 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805620847.
I0419 21:04:40.590989 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294805895528.
I0419 21:04:40.594429 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294805939804.
I0419 21:04:40.621572 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:40.621668 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:40.621799 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294806208413.
I0419 21:04:40.623328 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294806214455.
I0419 21:04:40.650700 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294806500872.
I0419 21:04:40.651293 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294806501099.
I0419 21:04:40.723160 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.305661, -0.593192)
I0419 21:04:40.723395 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294806784360.
I0419 21:04:40.724144 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294806784551.
I0419 21:04:40.725728 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0419005, -0.625348), points=18, range=0.627444, residual=0.0101409, extent=0.0315046
I0419 21:04:40.725836 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0419005, -0.625348), tracking=(-0.2566, 0.625348), map_predicted=(15.9283, -2.50175), range=0.627444, pts=18
I0419 21:04:40.725867 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0225618m maha_sq=0.0220958 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9283, -2.50175) lm_pos=(15.915, -2.52) delta=(0.0132662, 0.0182495) -> 1 candidate(s)
I0419 21:04:40.725934 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807054081.
I0419 21:04:40.726327 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:40.726368 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:40.726441 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0023844 range=1.38833 variance=0.000528441 t_weight=5677.08 r_weight=0 yaml=(14.115, -2.52) prior=(15.6521, -1.8848, -178.195deg) obs_actual=(1.5575, 0.59378) obs_expected=(1.55634, 0.586461) delta=(0.00116024, 0.00731867) |delta|=0.00741006m
I0419 21:04:40.726485 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807097883.
I0419 21:04:40.737838 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807373036.
I0419 21:04:40.738373 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:40.738442 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:40.738468 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807373149.
I0419 21:04:40.766075 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807654584.
I0419 21:04:40.767230 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:40.767351 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807654759.
I0419 21:04:40.794394 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807937400.
I0419 21:04:40.797756 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:40.797907 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294807971678.
I0419 21:04:40.801770 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:40.853372 1218967 pose_graph_2d.cc:160] Inserted submap (1, 57).
I0419 21:04:40.854773 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.273004, -0.589751)
I0419 21:04:40.854888 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:40.854972 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294808255124.
I0419 21:04:40.855422 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294808255339.
I0419 21:04:40.857499 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567769s, prior_pose=(15.6078, -1.89316), yaw=-178.371 deg
I0419 21:04:40.857591 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:40.857681 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.263717, -0.587618), points=17, range=0.645706, residual=0.0111737, extent=0.0368786
I0419 21:04:40.857705 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.263717, -0.587618), tracking=(0.562217, -0.587618), map_predicted=(15.0291, -1.32177), range=0.645706, pts=17
I0419 21:04:40.857726 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0142246m maha_sq=0.00868236 (gate chi2=5.99) pose_sigma=(0.150812, 0.150812, rho=0) det_map=(15.0291, -1.32177) lm_pos=(15.015, -1.32) delta=(0.0141145, -0.00176646) -> 1 candidate(s)
I0419 21:04:40.857793 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294808539447.
I0419 21:04:40.858412 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.103 deg, rms_residual=0.00174208m, sigma_yaw=0.00231739 rad, N=2
I0419 21:04:40.858454 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0046073 range=1.0845 variance=0.000562038 t_weight=5337.72 r_weight=0 yaml=(16.815, -1.32) prior=(15.6078, -1.89316, -178.371deg) obs_actual=(-1.23166, -0.544184) obs_expected=(-1.223, -0.538602) delta=(-0.00866605, -0.00558152) |delta|=0.0103079m
I0419 21:04:40.858492 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.6031, -1.90327, -178.103deg) inliers=2 rms=0.00174208m
I0419 21:04:40.858518 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294808539572.
I0419 21:04:40.888751 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294808876506.
I0419 21:04:40.890288 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=68.0472 rad/s > flush threshold 3.
I0419 21:04:40.890435 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294808876831.
I0419 21:04:40.913848 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:40.913950 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:40.914063 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294809134441.
I0419 21:04:40.914813 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294809134653.
I0419 21:04:40.968322 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294809444220.
I0419 21:04:40.969131 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294809444360.
I0419 21:04:40.970317 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.0218567, -0.625907)
I0419 21:04:40.970417 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294809695021.
I0419 21:04:40.974323 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294809738676.
I0419 21:04:41.002514 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1944, 0.610762), points=3, range=1.33733, residual=0.00812977, extent=0.0151448
I0419 21:04:41.002791 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1944, 0.610762), tracking=(1.4929, 0.610762), map_predicted=(14.1005, -2.53182), range=1.33733, pts=3
I0419 21:04:41.002946 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.018672m maha_sq=0.0149736 (gate chi2=5.99) pose_sigma=(0.150824, 0.150824, rho=0) det_map=(14.1005, -2.53182) lm_pos=(14.115, -2.52) delta=(-0.0144528, -0.011822) -> 1 candidate(s)
I0419 21:04:41.003185 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810019921.
I0419 21:04:41.003773 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:41.003933 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 21 -> 20 (threshold=0.03, iters=3)
I0419 21:04:41.003965 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:41.004038 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810020112.
I0419 21:04:41.005550 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.5723, -1.8955), yaw=-178.819 deg backend=(15.5976, -1.88233)
I0419 21:04:41.034274 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0128064 range=0.630105 variance=0.000571714 t_weight=5247.38 r_weight=0 yaml=(15.015, -1.32) prior=(15.5723, -1.8955, -178.819deg) obs_actual=(0.528075, -0.585211) obs_expected=(0.545266, -0.586865) delta=(-0.0171916, 0.00165386) |delta|=0.0172709m
I0419 21:04:41.034435 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810337610.
I0419 21:04:41.035240 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:41.035308 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:41.035332 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810337724.
I0419 21:04:41.058393 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810578458.
I0419 21:04:41.062785 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:41.062950 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810620521.
I0419 21:04:41.126072 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810920243.
I0419 21:04:41.126677 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:41.126758 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294810920358.
I0419 21:04:41.129127 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.2141, -0.587996)
I0419 21:04:41.129374 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:41.129494 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294811185302.
I0419 21:04:41.130329 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294811185467.
I0419 21:04:41.150646 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880422s, prior_pose=(15.5595, -1.89673), yaw=-178.747 deg
I0419 21:04:41.150763 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:04:41.150878 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15358, 0.611207), points=3, range=1.30933, residual=0.00880598, extent=0.0186266
I0419 21:04:41.150910 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15358, 0.611207), tracking=(1.45208, 0.611207), map_predicted=(14.1212, -2.53955), range=1.30933, pts=3
I0419 21:04:41.150938 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0204933m maha_sq=0.0182238 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1212, -2.53955) lm_pos=(14.115, -2.52) delta=(0.00616036, -0.0195455) -> 1 candidate(s)
I0419 21:04:41.151051 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294811500943.
I0419 21:04:41.152802 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.9682 rad/s > flush threshold 3.
I0419 21:04:41.178197 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294811775839.
I0419 21:04:41.178952 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.246 deg, rms_residual=0.00246913m, sigma_yaw=0.00328137 rad, N=2
I0419 21:04:41.179008 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00641132 range=0.63065 variance=0.00056336 t_weight=5325.19 r_weight=0 yaml=(15.915, -2.52) prior=(15.5462, -1.89278, -178.73deg) obs_actual=(-0.363467, 0.626647) obs_expected=(-0.354859, 0.635236) delta=(-0.00860833, -0.00858855) |delta|=0.01216m
I0419 21:04:41.179080 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.531, -1.90675, -178.246deg) inliers=2 rms=0.00246913m
I0419 21:04:41.179114 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294811775967.
I0419 21:04:41.261642 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:41.261739 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:41.261862 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812056656.
I0419 21:04:41.262764 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812056808.
I0419 21:04:41.264465 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294812335552.
I0419 21:04:41.265187 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812379551.
I0419 21:04:41.267663 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.181709, -0.588067)
I0419 21:04:41.267829 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812658911.
I0419 21:04:41.268316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812659063.
I0419 21:04:41.294776 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812938451.
I0419 21:04:41.297938 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:41.298051 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13342, 0.606874), points=4, range=1.282, residual=0.00893023, extent=0.0195081
I0419 21:04:41.298082 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:41.298103 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.13342, 0.606874), tracking=(1.43192, 0.606874), map_predicted=(14.1016, -2.53717), range=1.282, pts=4
I0419 21:04:41.298134 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0217807m maha_sq=0.0205851 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1016, -2.53717) lm_pos=(14.115, -2.52) delta=(-0.0133984, -0.0171721) -> 1 candidate(s)
I0419 21:04:41.298292 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294812973293.
I0419 21:04:41.326654 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294813256247.
I0419 21:04:41.327625 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0540059 range=1.17425 variance=0.000528793 t_weight=5673.3 r_weight=0 yaml=(16.815, -1.32) prior=(15.5187, -1.89635, -178.635deg) obs_actual=(-1.34468, -0.540736) obs_expected=(-1.30971, -0.545302) delta=(-0.0349691, 0.00456617) |delta|=0.035266m
I0419 21:04:41.327775 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294813256485.
I0419 21:04:41.408424 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:41.408617 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:41.408658 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294813532584.
I0419 21:04:41.409969 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:41.410107 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294813532780.
I0419 21:04:41.413655 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294813820870.
I0419 21:04:41.414680 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.09065, 0.600415)
I0419 21:04:41.414845 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294813854415.
I0419 21:04:41.416337 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:41.416416 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:41.416491 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294814106852.
I0419 21:04:41.418162 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294814140883.
I0419 21:04:41.441824 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591442s, prior_pose=(15.4849, -1.89949), yaw=-178.453 deg
I0419 21:04:41.441958 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1288, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:41.442318 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294814412312.
I0419 21:04:41.446360 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294814457037.
I0419 21:04:41.517181 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294814698149.
I0419 21:04:41.517947 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09854, 0.604744), points=4, range=1.2495, residual=0.0107829, extent=0.0254461
I0419 21:04:41.518011 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.09854, 0.604744), tracking=(1.39704, 0.604744), map_predicted=(14.1019, -2.53639), range=1.2495, pts=4
I0419 21:04:41.518038 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.020954m maha_sq=0.0190236 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1019, -2.53639) lm_pos=(14.115, -2.52) delta=(-0.0130559, -0.0163895) -> 1 candidate(s)
I0419 21:04:41.518119 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294814732468.
I0419 21:04:41.519297 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:41.519361 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:41.519440 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294815024756.
I0419 21:04:41.519860 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294815024947.
I0419 21:04:41.530738 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000123827 range=0.648167 variance=0.000559845 t_weight=5358.62 r_weight=0 yaml=(15.915, -2.52) prior=(15.4672, -1.89858, -178.364deg) obs_actual=(-0.431025, 0.632685) obs_expected=(-0.429887, 0.633951) delta=(-0.00113794, -0.00126637) |delta|=0.00170253m
I0419 21:04:41.530895 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294815299389.
I0419 21:04:41.533885 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.08016, 0.600774)
I0419 21:04:41.534040 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294815333125.
I0419 21:04:41.559013 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294815580710.
I0419 21:04:41.562527 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294815615703.
I0419 21:04:41.587409 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294815863026.
I0419 21:04:41.682335 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:41.682444 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:41.682529 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294815902355.
I0419 21:04:41.683918 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.939 deg, rms_residual=0.0149393m, sigma_yaw=0.0195301 rad, N=2
I0419 21:04:41.684017 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.4454, -1.88178, -177.939deg) inliers=2 rms=0.0149393m
I0419 21:04:41.684053 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294816174082.
I0419 21:04:41.684491 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294816174291.
I0419 21:04:41.686810 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:41.686961 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:41.686986 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294816459653.
I0419 21:04:41.687461 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0627, 0.601233), points=6, range=1.218, residual=0.0102923, extent=0.0253051
I0419 21:04:41.687525 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:41.687541 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0627, 0.601233), tracking=(1.3612, 0.601233), map_predicted=(14.0977, -2.54344), range=1.218, pts=6
I0419 21:04:41.687561 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0291041m maha_sq=0.0367195 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0977, -2.54344) lm_pos=(14.115, -2.52) delta=(-0.0172527, -0.0234391) -> 1 candidate(s)
I0419 21:04:41.687620 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294816497437.
I0419 21:04:41.688987 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294816743496.
I0419 21:04:41.690476 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.05386, 0.598236)
I0419 21:04:41.690616 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294816776991.
I0419 21:04:41.707165 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:41.707320 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:41.707386 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00210198 range=0.662333 variance=0.000558373 t_weight=5372.75 r_weight=0 yaml=(15.915, -2.52) prior=(15.4323, -1.89505, -178.208deg) obs_actual=(-0.469839, 0.639389) obs_expected=(-0.462885, 0.639736) delta=(-0.00695323, -0.000347589) |delta|=0.00696192m
I0419 21:04:41.707554 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294817062487.
I0419 21:04:41.710961 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294817101725.
I0419 21:04:41.800740 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605249s, prior_pose=(15.426, -1.89155), yaw=-178.138 deg
I0419 21:04:41.800858 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:04:41.801049 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294817382240.
I0419 21:04:41.801517 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294817382506.
I0419 21:04:41.802218 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:41.803047 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294817655704.
I0419 21:04:41.804383 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.8046 rad/s > flush threshold 3.
I0419 21:04:41.805704 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:41.805785 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:41.805863 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294817937049.
I0419 21:04:41.806334 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294817977837.
I0419 21:04:41.830071 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294818293044.
I0419 21:04:41.830637 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.189854, -0.640872)
I0419 21:04:41.830763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294818293257.
I0419 21:04:41.852669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294818520229.
I0419 21:04:41.854265 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0550613, -0.58961), points=20, range=0.59305, residual=0.010679, extent=0.0337521
I0419 21:04:41.854355 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0550613, -0.58961), tracking=(0.353561, -0.58961), map_predicted=(15.0337, -1.31641), range=0.59305, pts=20
I0419 21:04:41.854387 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.019051m maha_sq=0.0157473 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0337, -1.31641) lm_pos=(15.015, -1.32) delta=(0.0187093, 0.00359203) -> 1 candidate(s)
I0419 21:04:41.854529 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294818536222.
I0419 21:04:41.913683 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294818819623.
I0419 21:04:41.914117 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:41.914211 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:41.914278 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294818819881.
I0419 21:04:41.915584 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.394, -1.89529), yaw=-178.118 deg backend=(15.4265, -1.88697)
I0419 21:04:41.916397 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=1.3587e-05 range=0.674053 variance=0.000578465 t_weight=5186.14 r_weight=0 yaml=(15.915, -2.52) prior=(15.394, -1.89529, -178.118deg) obs_actual=(-0.499875, 0.641906) obs_expected=(-0.500249, 0.641486) delta=(0.00037353, 0.000419988) |delta|=0.000562063m
I0419 21:04:41.916461 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819093890.
I0419 21:04:41.917014 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819138853.
I0419 21:04:41.938653 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819379536.
I0419 21:04:41.941779 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:41.941900 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:41.941962 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:41.941984 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819412956.
I0419 21:04:41.970821 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819702305.
I0419 21:04:41.971400 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.206143, -0.640703)
I0419 21:04:41.971501 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819702528.
I0419 21:04:42.030867 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:42.031023 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819996654.
I0419 21:04:42.031621 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15675, 0.529842), points=3, range=1.27233, residual=0.00869232, extent=0.0211473
I0419 21:04:42.031677 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.15675, 0.529842), tracking=(-1.45525, -0.529842), map_predicted=(16.823, -1.3227), range=1.27233, pts=3
I0419 21:04:42.031705 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.00845486m maha_sq=0.00310249 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.823, -1.3227) lm_pos=(16.815, -1.32) delta=(0.00801213, -0.00270009) -> 1 candidate(s)
I0419 21:04:42.031752 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:42.031793 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294819996889.
I0419 21:04:42.032943 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0883807s, prior_pose=(15.3859, -1.89982), yaw=-178.127 deg
I0419 21:04:42.032999 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:42.033147 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.038 deg, rms_residual=0.0154278m, sigma_yaw=0.0201558 rad, N=2
I0419 21:04:42.033222 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3875, -1.88581, -178.038deg) inliers=2 rms=0.0154278m
I0419 21:04:42.033252 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294820296763.
I0419 21:04:42.034483 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=48.091 rad/s > flush threshold 3.
I0419 21:04:42.034570 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294820296962.
I0419 21:04:42.058324 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00392732 range=0.591 variance=0.000562057 t_weight=5337.54 r_weight=0 yaml=(15.015, -1.32) prior=(15.3843, -1.89568, -178.182deg) obs_actual=(0.341375, -0.58838) obs_expected=(0.350806, -0.587108) delta=(-0.00943153, -0.00127214) |delta|=0.00951694m
I0419 21:04:42.058491 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294820576189.
I0419 21:04:42.059476 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294820576430.
I0419 21:04:42.089777 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:42.090101 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:42.090288 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294820892047.
I0419 21:04:42.091168 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294820892302.
I0419 21:04:42.118096 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294821174938.
I0419 21:04:42.170848 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.20624, -0.641042)
I0419 21:04:42.171051 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.1478 rad/s > flush threshold 3.
I0419 21:04:42.171134 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294821175109.
I0419 21:04:42.172420 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294821462469.
I0419 21:04:42.173022 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294821462786.
I0419 21:04:42.178022 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01328, 0.597476), points=7, range=1.17243, residual=0.0150437, extent=0.0414675
I0419 21:04:42.178097 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01328, 0.597476), tracking=(1.31178, 0.597476), map_predicted=(14.0899, -2.53755), range=1.17243, pts=7
I0419 21:04:42.178124 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0306593m maha_sq=0.0403778 (gate chi2=5.99) pose_sigma=(0.150314, 0.150314, rho=0) det_map=(14.0899, -2.53755) lm_pos=(14.115, -2.52) delta=(-0.0251379, -0.0175522) -> 1 candidate(s)
I0419 21:04:42.178189 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294821775927.
I0419 21:04:42.178764 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:42.178804 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:42.178892 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294821776032.
I0419 21:04:42.206665 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294822061559.
I0419 21:04:42.208051 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.4444 rad/s > flush threshold 3.
I0419 21:04:42.208120 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00155246 range=0.674176 variance=0.000577491 t_weight=5194.88 r_weight=0 yaml=(15.915, -2.52) prior=(15.3859, -1.89323, -178.101deg) obs_actual=(-0.502726, 0.641139) obs_expected=(-0.508025, 0.643962) delta=(0.00529858, -0.00282313) |delta|=0.00600375m
I0419 21:04:42.208166 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294822061721.
I0419 21:04:42.236771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294822356836.
I0419 21:04:42.238076 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:42.238160 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:42.238227 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:42.238251 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294822356990.
I0419 21:04:42.296168 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.236335, -0.66739)
I0419 21:04:42.296357 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294822622162.
I0419 21:04:42.296919 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294822655180.
I0419 21:04:42.298354 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:42.298472 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294822937320.
I0419 21:04:42.298852 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:42.298908 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294822937470.
I0419 21:04:42.299383 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:42.305752 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:42.321635 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590573s, prior_pose=(15.3839, -1.88614), yaw=-178.086 deg
I0419 21:04:42.321741 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:42.321985 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294823212735.
I0419 21:04:42.326076 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01184, 0.595996), points=4, range=1.1705, residual=0.0111411, extent=0.0240275
I0419 21:04:42.326154 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01184, 0.595996), tracking=(1.31034, 0.595996), map_predicted=(14.0942, -2.52558), range=1.1705, pts=4
I0419 21:04:42.326182 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0215454m maha_sq=0.02011 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0942, -2.52558) lm_pos=(14.115, -2.52) delta=(-0.0208106, -0.00557894) -> 1 candidate(s)
I0419 21:04:42.326304 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294823256491.
I0419 21:04:42.354384 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294823534373.
I0419 21:04:42.355027 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294823534510.
I0419 21:04:42.382192 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:42.382329 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:42.382467 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.588 deg, rms_residual=0.00615941m, sigma_yaw=0.00814565 rad, N=2
I0419 21:04:42.382516 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00617491 range=0.674611 variance=0.000585534 t_weight=5123.53 r_weight=0 yaml=(15.915, -2.52) prior=(15.3866, -1.88519, -178.093deg) obs_actual=(-0.504535, 0.64035) obs_expected=(-0.506982, 0.652036) delta=(0.00244712, -0.011686) |delta|=0.0119395m
I0419 21:04:42.382625 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3803, -1.90638, -177.588deg) inliers=2 rms=0.00615941m
I0419 21:04:42.382692 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294823815317.
I0419 21:04:42.386687 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.01326, 0.600801)
I0419 21:04:42.386996 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294823858524.
I0419 21:04:42.476950 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294824102436.
I0419 21:04:42.477772 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294824133346.
I0419 21:04:42.479668 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294824418790.
I0419 21:04:42.480141 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294824418968.
I0419 21:04:42.481590 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294824700016.
I0419 21:04:42.482784 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:42.482837 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:42.482893 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294824700249.
I0419 21:04:42.499127 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294824979248.
I0419 21:04:42.502337 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0480417, -0.588453), points=21, range=0.591, residual=0.010875, extent=0.0377456
I0419 21:04:42.502475 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0480417, -0.588453), tracking=(0.346542, -0.588453), map_predicted=(15.0239, -1.30619), range=0.591, pts=21
I0419 21:04:42.502511 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0164557m maha_sq=0.0117469 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0239, -1.30619) lm_pos=(15.015, -1.32) delta=(0.00894388, 0.0138129) -> 1 candidate(s)
I0419 21:04:42.502696 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294825013716.
I0419 21:04:42.592046 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294825292777.
I0419 21:04:42.592633 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.15927, 0.532371)
I0419 21:04:42.592705 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:42.592751 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:42.592775 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0293088 range=1.27567 variance=0.000512286 t_weight=5856.1 r_weight=0 yaml=(16.815, -1.32) prior=(15.3909, -1.88313, -178.061deg) obs_actual=(-1.46157, -0.53208) obs_expected=(-1.44235, -0.514616) delta=(-0.0192218, -0.0174638) |delta|=0.0259704m
I0419 21:04:42.592852 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:42.592871 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294825293037.
I0419 21:04:42.594732 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294825573924.
I0419 21:04:42.595259 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294825618254.
I0419 21:04:42.598835 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:42.598968 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294825860876.
I0419 21:04:42.599754 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:42.599843 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294825895318.
I0419 21:04:42.617688 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554641s, prior_pose=(15.3925, -1.88326), yaw=-178.058 deg
I0419 21:04:42.617802 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:42.618095 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294826172895.
I0419 21:04:42.618700 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294826173164.
I0419 21:04:42.646638 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294826455051.
I0419 21:04:42.651067 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01557, 0.596887), points=4, range=1.1745, residual=0.00996879, extent=0.0220466
I0419 21:04:42.651223 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01557, 0.596887), tracking=(1.31407, 0.596887), map_predicted=(14.0994, -2.52433), range=1.1745, pts=4
I0419 21:04:42.651273 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0162151m maha_sq=0.0114026 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0994, -2.52433) lm_pos=(14.115, -2.52) delta=(-0.0156255, -0.00433285) -> 1 candidate(s)
I0419 21:04:42.651597 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294826500744.
I0419 21:04:42.748368 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:42.748494 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:42.748608 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294826778448.
I0419 21:04:42.749434 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1558, 0.528727)
I0419 21:04:42.749573 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294826778689.
I0419 21:04:42.756853 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00200832 range=0.6745 variance=0.000544452 t_weight=5510.13 r_weight=0 yaml=(15.915, -2.52) prior=(15.3907, -1.8887, -178.052deg) obs_actual=(-0.502987, 0.641947) obs_expected=(-0.502528, 0.648758) delta=(-0.000459406, -0.00681132) |delta|=0.0068268m
I0419 21:04:42.757057 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294827017705.
I0419 21:04:42.757972 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294827062501.
I0419 21:04:42.760070 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294827339805.
I0419 21:04:42.760735 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.576 deg, rms_residual=0.00861601m, sigma_yaw=0.0113575 rad, N=2
I0419 21:04:42.760831 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3798, -1.90577, -177.576deg) inliers=2 rms=0.00861601m
I0419 21:04:42.760887 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294827339991.
I0419 21:04:42.767010 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294827659180.
I0419 21:04:42.768725 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:42.768841 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:42.769156 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294827659467.
I0419 21:04:42.859683 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3861, -1.88996), yaw=-178.057 deg backend=(15.3807, -1.89812)
I0419 21:04:42.860984 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294827941915.
I0419 21:04:42.861761 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294827942068.
I0419 21:04:42.862932 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0131, 0.598303), points=6, range=1.17233, residual=0.0148442, extent=0.037931
I0419 21:04:42.863011 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0131, 0.598303), tracking=(1.3116, 0.598303), map_predicted=(14.0955, -2.53238), range=1.17233, pts=6
I0419 21:04:42.863041 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0230898m maha_sq=0.0230002 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0955, -2.53238) lm_pos=(14.115, -2.52) delta=(-0.0194878, -0.0123841) -> 1 candidate(s)
I0419 21:04:42.863107 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294828218958.
I0419 21:04:42.864382 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.206485, -0.641705)
I0419 21:04:42.864488 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:42.864537 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:42.864573 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:42.864591 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294828219171.
I0419 21:04:42.865837 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294828495867.
I0419 21:04:42.866430 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00563649 range=0.592682 variance=0.00057049 t_weight=5258.63 r_weight=0 yaml=(15.015, -1.32) prior=(15.3884, -1.88857, -178.054deg) obs_actual=(0.347565, -0.590397) obs_expected=(0.353905, -0.580919) delta=(-0.00633992, -0.0094785) |delta|=0.0114034m
I0419 21:04:42.866490 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294828536479.
I0419 21:04:42.883278 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:42.883569 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294828821469.
I0419 21:04:42.884357 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:42.884485 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294828822006.
I0419 21:04:42.910749 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882173s, prior_pose=(15.39, -1.88735), yaw=-178.055 deg
I0419 21:04:42.910946 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1294, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:42.911181 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:42.911470 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294829101344.
I0419 21:04:42.914633 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294829135537.
I0419 21:04:42.993808 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294829382710.
I0419 21:04:42.994767 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294829417039.
I0419 21:04:42.996618 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:42.996672 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:42.996769 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294829696184.
I0419 21:04:42.997135 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.205509, -0.641941)
I0419 21:04:42.997179 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.202505, -0.642244), points=18, range=0.674111, residual=0.0117657, extent=0.0339584
I0419 21:04:42.997200 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.202505, -0.642244), tracking=(-0.501005, 0.642244), map_predicted=(15.9106, -2.50994), range=0.674111, pts=18
I0419 21:04:42.997221 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0109801m maha_sq=0.00522482 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9106, -2.50994) lm_pos=(15.915, -2.52) delta=(-0.00439399, 0.0100625) -> 1 candidate(s)
I0419 21:04:42.997323 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294829696389.
I0419 21:04:42.998725 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294829973538.
I0419 21:04:43.002159 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.015789 range=1.175 variance=0.000538097 t_weight=5575.2 r_weight=0 yaml=(14.115, -2.52) prior=(15.3882, -1.88498, -178.064deg) obs_actual=(1.31162, 0.598746) obs_expected=(1.29392, 0.591645) delta=(0.0177008, 0.00710152) |delta|=0.0190722m
I0419 21:04:43.002261 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294830017541.
I0419 21:04:43.030462 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294830295604.
I0419 21:04:43.031463 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294830295910.
I0419 21:04:43.117583 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294830574658.
I0419 21:04:43.118245 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:43.118322 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:43.118391 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294830574920.
I0419 21:04:43.119680 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.791 deg, rms_residual=0.0147849m, sigma_yaw=0.019332 rad, N=2
I0419 21:04:43.119786 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3948, -1.88431, -177.791deg) inliers=2 rms=0.0147849m
I0419 21:04:43.119822 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294830864699.
I0419 21:04:43.121127 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294830864895.
I0419 21:04:43.122386 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.1608, 0.531022)
I0419 21:04:43.122502 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294831141685.
I0419 21:04:43.122949 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00896, 0.598235), points=8, range=1.17037, residual=0.0127067, extent=0.0359461
I0419 21:04:43.122994 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:43.123013 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00896, 0.598235), tracking=(1.30746, 0.598235), map_predicted=(14.1079, -2.53153), range=1.17037, pts=8
I0419 21:04:43.123034 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0135494m maha_sq=0.00794035 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1079, -2.53153) lm_pos=(14.115, -2.52) delta=(-0.00711183, -0.0115329) -> 1 candidate(s)
I0419 21:04:43.123075 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:43.123111 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:43.123175 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294831178538.
I0419 21:04:43.146468 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294831454427.
I0419 21:04:43.147399 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294831454670.
I0419 21:04:43.174232 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:43.174641 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0280556 range=1.27767 variance=0.000488707 t_weight=6138.65 r_weight=0 yaml=(16.815, -1.32) prior=(15.3936, -1.88831, -178.062deg) obs_actual=(-1.46357, -0.528903) obs_expected=(-1.43981, -0.519924) delta=(-0.0237557, -0.00897922) |delta|=0.0253961m
I0419 21:04:43.174751 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294831736984.
I0419 21:04:43.178269 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:43.178385 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294831777916.
I0419 21:04:43.231994 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565417s, prior_pose=(15.3953, -1.88698), yaw=-178.057 deg
I0419 21:04:43.232023 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:43.232118 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:43.232420 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294832019844.
I0419 21:04:43.233279 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294832052606.
I0419 21:04:43.235201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294832334055.
I0419 21:04:43.235808 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294832334197.
I0419 21:04:43.262428 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:43.262526 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.205879, -0.642282)
I0419 21:04:43.262550 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:43.262655 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294832617832.
I0419 21:04:43.265911 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294832651951.
I0419 21:04:43.294299 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294832937129.
I0419 21:04:43.294772 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.207223, -0.640855), points=17, range=0.674529, residual=0.0111124, extent=0.0321635
I0419 21:04:43.294826 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.207223, -0.640855), tracking=(-0.505723, 0.640855), map_predicted=(15.9195, -2.50809), range=0.674529, pts=17
I0419 21:04:43.294853 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0127391m maha_sq=0.0070375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9195, -2.50809) lm_pos=(15.915, -2.52) delta=(0.00452478, 0.0119084) -> 1 candidate(s)
I0419 21:04:43.294950 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294832937256.
I0419 21:04:43.352120 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294833216556.
I0419 21:04:43.353091 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0046125 range=1.2762 variance=0.00052537 t_weight=5710.26 r_weight=0 yaml=(16.815, -1.32) prior=(15.3824, -1.89057, -178.096deg) obs_actual=(-1.4577, -0.530298) obs_expected=(-1.45081, -0.522639) delta=(-0.00689522, -0.00765901) |delta|=0.0103056m
I0419 21:04:43.353338 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294833216664.
I0419 21:04:43.354686 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294833496721.
I0419 21:04:43.355458 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:43.355638 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:43.355827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294833533188.
I0419 21:04:43.382829 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294833821956.
I0419 21:04:43.383448 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294833822205.
I0419 21:04:43.409729 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.204248, -0.64131)
I0419 21:04:43.409929 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834092898.
I0419 21:04:43.414160 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:43.414296 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:43.414335 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.812 deg, rms_residual=0.0141838m, sigma_yaw=0.0185607 rad, N=2
I0419 21:04:43.414379 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3932, -1.8837, -177.812deg) inliers=2 rms=0.0141838m
I0419 21:04:43.414419 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:43.414444 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834136080.
I0419 21:04:43.438941 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834380313.
I0419 21:04:43.510768 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0453696, -0.587406), points=21, range=0.590286, residual=0.0113416, extent=0.0385833
I0419 21:04:43.510865 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0453696, -0.587406), tracking=(0.34387, -0.587406), map_predicted=(15.0181, -1.32113), range=0.590286, pts=21
I0419 21:04:43.510897 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00333713m maha_sq=0.00048094 (gate chi2=5.99) pose_sigma=(0.15031, 0.15031, rho=0) det_map=(15.0181, -1.32113) lm_pos=(15.015, -1.32) delta=(0.00314173, -0.00112515) -> 1 candidate(s)
I0419 21:04:43.510984 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834418159.
I0419 21:04:43.512084 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:43.512203 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834692842.
I0419 21:04:43.512566 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:43.512609 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00628311 range=1.278 variance=0.000490486 t_weight=6116.39 r_weight=0 yaml=(16.815, -1.32) prior=(15.3815, -1.8967, -178.084deg) obs_actual=(-1.46402, -0.529109) obs_expected=(-1.45202, -0.528439) delta=(-0.0120001, -0.000669791) |delta|=0.0120188m
I0419 21:04:43.512655 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834693024.
I0419 21:04:43.514585 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0570668s, prior_pose=(15.3807, -1.90001), yaw=-178.083 deg
I0419 21:04:43.514648 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:04:43.514792 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834988827.
I0419 21:04:43.515364 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294834988984.
I0419 21:04:43.526602 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294835258298.
I0419 21:04:43.529767 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294835292834.
I0419 21:04:43.558768 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:43.558882 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0480514, -0.588139)
I0419 21:04:43.558915 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:43.559080 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294835580280.
I0419 21:04:43.560165 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294835580542.
I0419 21:04:43.634665 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294835868823.
I0419 21:04:43.635326 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.204254, -0.641214), points=17, range=0.673471, residual=0.0106873, extent=0.0322513
I0419 21:04:43.635380 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.204254, -0.641214), tracking=(-0.502754, 0.641214), map_predicted=(15.9079, -2.52383), range=0.673471, pts=17
I0419 21:04:43.635406 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00807347m maha_sq=0.00282774 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9079, -2.52383) lm_pos=(15.915, -2.52) delta=(-0.00710896, -0.00382671) -> 1 candidate(s)
I0419 21:04:43.635468 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294835868977.
I0419 21:04:43.636565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294836139769.
I0419 21:04:43.637091 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294836173563.
I0419 21:04:43.646685 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00382129 range=0.590227 variance=0.000580233 t_weight=5170.34 r_weight=0 yaml=(15.015, -1.32) prior=(15.387, -1.89488, -178.067deg) obs_actual=(0.343012, -0.587293) obs_expected=(0.352429, -0.587098) delta=(-0.00941664, -0.00019561) |delta|=0.00941868m
I0419 21:04:43.646842 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294836461267.
I0419 21:04:43.647228 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:43.647265 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:43.647317 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294836461411.
I0419 21:04:43.653715 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3888, -1.88995), yaw=-178.068 deg backend=(15.3803, -1.89874)
I0419 21:04:43.674160 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294836736655.
I0419 21:04:43.674867 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.206832, -0.642437)
I0419 21:04:43.674970 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294836736793.
I0419 21:04:43.706202 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837056335.
I0419 21:04:43.757171 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:43.757294 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.1359 rad/s > flush threshold 3.
I0419 21:04:43.757354 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:43.757398 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:43.757422 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837056486.
I0419 21:04:43.758641 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837335802.
I0419 21:04:43.759279 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.549 deg, rms_residual=0.00681206m, sigma_yaw=0.009001 rad, N=2
I0419 21:04:43.759334 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3805, -1.90713, -177.549deg) inliers=2 rms=0.00681206m
I0419 21:04:43.759364 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837335950.
I0419 21:04:43.762527 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0454037, -0.587626), points=21, range=0.590333, residual=0.0113723, extent=0.038479
I0419 21:04:43.762678 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0454037, -0.587626), tracking=(0.343904, -0.587626), map_predicted=(15.0228, -1.318), range=0.590333, pts=21
I0419 21:04:43.762729 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00804053m maha_sq=0.00278601 (gate chi2=5.99) pose_sigma=(0.150473, 0.150473, rho=0) det_map=(15.0228, -1.318) lm_pos=(15.015, -1.32) delta=(0.00778838, 0.00199781) -> 1 candidate(s)
I0419 21:04:43.762769 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:43.762851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837621030.
I0419 21:04:43.763507 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:43.763612 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294837621180.
I0419 21:04:43.790455 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845117s, prior_pose=(15.3864, -1.89363), yaw=-178.057 deg
I0419 21:04:43.790567 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1298, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:43.790764 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837901603.
I0419 21:04:43.794631 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00130155 range=0.590143 variance=0.000561568 t_weight=5342.19 r_weight=0 yaml=(15.015, -1.32) prior=(15.3864, -1.89363, -178.057deg) obs_actual=(0.346426, -0.587164) obs_expected=(0.351755, -0.585893) delta=(-0.00532927, -0.00127068) |delta|=0.00547866m
I0419 21:04:43.794751 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294837941737.
I0419 21:04:43.818679 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294838181271.
I0419 21:04:43.822583 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0471451, -0.587779)
I0419 21:04:43.822762 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294838220877.
I0419 21:04:43.898936 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:43.899034 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:43.899154 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294838505363.
I0419 21:04:43.899566 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294838505514.
I0419 21:04:43.901001 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294838777096.
I0419 21:04:43.901471 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294838820402.
I0419 21:04:43.910447 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839095829.
I0419 21:04:43.911203 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.206358, -0.641367), points=17, range=0.674824, residual=0.0112579, extent=0.0322092
I0419 21:04:43.911284 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.206358, -0.641367), tracking=(-0.504858, 0.641367), map_predicted=(15.918, -2.49682), range=0.674824, pts=17
I0419 21:04:43.911331 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0233845m maha_sq=0.0237103 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.918, -2.49682) lm_pos=(15.915, -2.52) delta=(0.00304951, 0.0231848) -> 1 candidate(s)
I0419 21:04:43.911459 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839095998.
I0419 21:04:43.938175 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839373177.
I0419 21:04:43.942420 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:43.942546 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:43.942713 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0162826 range=1.173 variance=0.000558763 t_weight=5369 r_weight=0 yaml=(14.115, -2.52) prior=(15.3876, -1.88323, -178.014deg) obs_actual=(1.31264, 0.597365) obs_expected=(1.29394, 0.59228) delta=(0.0186977, 0.00508448) |delta|=0.0193767m
I0419 21:04:43.942838 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839417712.
I0419 21:04:43.970837 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.0058, 0.599011)
I0419 21:04:43.971169 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294839697791.
I0419 21:04:43.972339 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839697994.
I0419 21:04:44.072178 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839976313.
I0419 21:04:44.072916 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:44.073047 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:44.073129 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:44.073153 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294839976638.
I0419 21:04:44.075346 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294840255313.
I0419 21:04:44.075917 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294840299612.
I0419 21:04:44.077536 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:44.077632 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294840535650.
I0419 21:04:44.079034 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:44.079120 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294840580492.
I0419 21:04:44.086510 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604651s, prior_pose=(15.385, -1.89051), yaw=-178.033 deg
I0419 21:04:44.086637 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1342, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:44.086848 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0470084, -0.586162), points=21, range=0.589333, residual=0.0113342, extent=0.0382329
I0419 21:04:44.086898 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0470084, -0.586162), tracking=(0.345508, -0.586162), map_predicted=(15.0196, -1.31655), range=0.589333, pts=21
I0419 21:04:44.086942 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00575694m maha_sq=0.00143709 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0196, -1.31655) lm_pos=(15.015, -1.32) delta=(0.00461137, 0.00344641) -> 1 candidate(s)
I0419 21:04:44.087103 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294840859964.
I0419 21:04:44.087842 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.719 deg, rms_residual=0.00395529m, sigma_yaw=0.00524605 rad, N=2
I0419 21:04:44.088239 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3826, -1.90509, -177.719deg) inliers=2 rms=0.00395529m
I0419 21:04:44.088301 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294840860200.
I0419 21:04:44.176616 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.16445, 0.530658)
I0419 21:04:44.176781 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0143559 range=1.27967 variance=0.000495629 t_weight=6052.92 r_weight=0 yaml=(16.815, -1.32) prior=(15.386, -1.89573, -178.022deg) obs_actual=(-1.46584, -0.529935) obs_expected=(-1.44804, -0.526063) delta=(-0.0178002, -0.00387166) |delta|=0.0182164m
I0419 21:04:44.176856 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294841133065.
I0419 21:04:44.177464 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294841178182.
I0419 21:04:44.178753 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:44.178808 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:44.178884 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294841423231.
I0419 21:04:44.180399 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294841453247.
I0419 21:04:44.181716 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294841741156.
I0419 21:04:44.182155 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294841741281.
I0419 21:04:44.202611 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842016067.
I0419 21:04:44.207064 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842061462.
I0419 21:04:44.235255 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842341625.
I0419 21:04:44.236349 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:44.236456 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.207241, -0.640924), points=17, range=0.674765, residual=0.0108573, extent=0.0323007
I0419 21:04:44.236505 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:44.236538 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.207241, -0.640924), tracking=(-0.505741, 0.640924), map_predicted=(15.9171, -2.51113), range=0.674765, pts=17
I0419 21:04:44.236582 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0091119m maha_sq=0.00360136 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9171, -2.51113) lm_pos=(15.915, -2.52) delta=(0.00208907, 0.00886919) -> 1 candidate(s)
I0419 21:04:44.236734 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842341893.
I0419 21:04:44.315380 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.15978, 0.531239)
I0419 21:04:44.315582 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842616301.
I0419 21:04:44.316169 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0194495 range=1.1714 variance=0.000568971 t_weight=5272.68 r_weight=0 yaml=(14.115, -2.52) prior=(15.3883, -1.8927, -178.041deg) obs_actual=(1.31026, 0.596947) obs_expected=(1.29398, 0.583398) delta=(0.0162824, 0.0135486) |delta|=0.0211821m
I0419 21:04:44.316288 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842660753.
I0419 21:04:44.318368 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842906349.
I0419 21:04:44.318771 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:44.318830 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:44.318881 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:44.318900 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294842906664.
I0419 21:04:44.320315 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294843179158.
I0419 21:04:44.322314 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294843213493.
I0419 21:04:44.351482 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:44.351785 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294843502623.
I0419 21:04:44.352919 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:44.353173 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294843502933.
I0419 21:04:44.447140 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567681s, prior_pose=(15.3852, -1.89847), yaw=-178.027 deg
I0419 21:04:44.447253 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1298, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:44.447427 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294843781174.
I0419 21:04:44.447929 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294843821554.
I0419 21:04:44.449370 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0480998, -0.588804)
I0419 21:04:44.449429 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01241, 0.596341), points=6, range=1.1725, residual=0.00914106, extent=0.023336
I0419 21:04:44.449455 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01241, 0.596341), tracking=(1.31091, 0.596341), map_predicted=(14.0956, -2.53958), range=1.1725, pts=6
I0419 21:04:44.449486 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0275712m maha_sq=0.0329894 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0956, -2.53958) lm_pos=(14.115, -2.52) delta=(-0.0194111, -0.0195801) -> 1 candidate(s)
I0419 21:04:44.449563 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294844141859.
I0419 21:04:44.450071 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294844142095.
I0419 21:04:44.451994 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:44.452042 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:44.452159 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294844377896.
I0419 21:04:44.452750 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00202137 range=0.675778 variance=0.000574417 t_weight=5222.69 r_weight=0 yaml=(15.915, -2.52) prior=(15.3834, -1.901, -178.027deg) obs_actual=(-0.504915, 0.641558) obs_expected=(-0.509932, 0.636925) delta=(0.00501722, 0.0046335) |delta|=0.00682948m
I0419 21:04:44.452821 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294844378107.
I0419 21:04:44.467156 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294844662674.
I0419 21:04:44.470219 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.044 deg, rms_residual=0.0119806m, sigma_yaw=0.015723 rad, N=2
I0419 21:04:44.470382 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3904, -1.88737, -178.044deg) inliers=2 rms=0.0119806m
I0419 21:04:44.470436 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294844695463.
I0419 21:04:44.499008 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294844980169.
I0419 21:04:44.500043 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294844980400.
I0419 21:04:44.575731 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294845258342.
I0419 21:04:44.576375 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:44.576447 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:44.576505 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294845258533.
I0419 21:04:44.577658 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3808, -1.89844), yaw=-178.021 deg backend=(15.3781, -1.89679)
I0419 21:04:44.578836 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.208077, -0.642978)
I0419 21:04:44.579022 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294845540967.
I0419 21:04:44.579655 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294845574032.
I0419 21:04:44.584898 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.205229, -0.641121), points=17, range=0.674588, residual=0.0108138, extent=0.0318243
I0419 21:04:44.585319 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.205229, -0.641121), tracking=(-0.503729, 0.641121), map_predicted=(15.9063, -2.52178), range=0.674588, pts=17
I0419 21:04:44.585443 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00883398m maha_sq=0.00338517 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9063, -2.52178) lm_pos=(15.915, -2.52) delta=(-0.00865208, -0.00178346) -> 1 candidate(s)
I0419 21:04:44.585618 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294845840624.
I0419 21:04:44.592926 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:44.593372 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:44.593585 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:44.593642 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294845884855.
I0419 21:04:44.614331 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00339416 range=1.27625 variance=0.000520103 t_weight=5768.09 r_weight=0 yaml=(16.815, -1.32) prior=(15.3807, -1.90086, -178.02deg) obs_actual=(-1.46234, -0.530385) obs_expected=(-1.45352, -0.530958) delta=(-0.00882073, 0.000573202) |delta|=0.00883934m
I0419 21:04:44.614609 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294846134241.
I0419 21:04:44.618502 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294846174348.
I0419 21:04:44.697883 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:44.698051 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294846459022.
I0419 21:04:44.698442 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:44.698475 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:44.698585 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294846459259.
I0419 21:04:44.699870 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0847411s, prior_pose=(15.3837, -1.89637), yaw=-178.02 deg
I0419 21:04:44.699958 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1297, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:44.700112 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294846732266.
I0419 21:04:44.700700 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294846777845.
I0419 21:04:44.704504 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.204394, -0.641757)
I0419 21:04:44.704710 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294847017981.
I0419 21:04:44.706271 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294847052632.
I0419 21:04:44.730809 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:44.730954 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:44.731124 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294847300793.
I0419 21:04:44.734624 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0058, 0.599014), points=4, range=1.17225, residual=0.0099398, extent=0.0226785
I0419 21:04:44.734727 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0058, 0.599014), tracking=(1.3043, 0.599014), map_predicted=(14.1019, -2.54023), range=1.17225, pts=4
I0419 21:04:44.734771 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0241003m maha_sq=0.0251895 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1019, -2.54023) lm_pos=(14.115, -2.52) delta=(-0.0131038, -0.0202266) -> 1 candidate(s)
I0419 21:04:44.734908 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294847335334.
I0419 21:04:44.762925 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294847618376.
I0419 21:04:44.764050 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294847618645.
I0419 21:04:44.837430 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00254491 range=0.59 variance=0.000567474 t_weight=5286.58 r_weight=0 yaml=(15.015, -1.32) prior=(15.3829, -1.89899, -178.053deg) obs_actual=(0.341327, -0.587322) obs_expected=(0.347972, -0.591158) delta=(-0.00664566, 0.00383631) |delta|=0.00767347m
I0419 21:04:44.837576 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294847896493.
I0419 21:04:44.838191 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294847896585.
I0419 21:04:44.840077 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294848172562.
I0419 21:04:44.840492 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0473049, -0.589231)
I0419 21:04:44.840535 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:44.840559 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:44.840616 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294848216401.
I0419 21:04:44.849759 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294848492888.
I0419 21:04:44.850282 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.581 deg, rms_residual=0.00807353m, sigma_yaw=0.0106501 rad, N=2
I0419 21:04:44.850340 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3803, -1.90561, -177.581deg) inliers=2 rms=0.00807353m
I0419 21:04:44.850381 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294848493057.
I0419 21:04:44.877988 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294848774512.
I0419 21:04:44.882323 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:44.882424 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:44.882478 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:44.882498 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294848818368.
I0419 21:04:44.936003 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1643, 0.530585), points=3, range=1.27567, residual=0.00893295, extent=0.0186786
I0419 21:04:44.936103 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1643, 0.530585), tracking=(-1.4628, -0.530585), map_predicted=(16.8284, -1.3164), range=1.27567, pts=3
I0419 21:04:44.936136 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0138411m maha_sq=0.00827395 (gate chi2=5.99) pose_sigma=(0.150362, 0.150362, rho=0) det_map=(16.8284, -1.3164) lm_pos=(16.815, -1.32) delta=(0.0133637, 0.00360398) -> 1 candidate(s)
I0419 21:04:44.936220 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849060221.
I0419 21:04:44.936969 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849094547.
I0419 21:04:44.938143 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:44.938225 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849376798.
I0419 21:04:44.938606 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:44.938647 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000533628 range=0.675222 variance=0.000572579 t_weight=5239.46 r_weight=0 yaml=(15.915, -2.52) prior=(15.3848, -1.89739, -178.013deg) obs_actual=(-0.504771, 0.641114) obs_expected=(-0.508246, 0.640623) delta=(0.0034743, 0.000491322) |delta|=0.00350887m
I0419 21:04:44.938692 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849376926.
I0419 21:04:44.966207 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597664s, prior_pose=(15.3836, -1.89963), yaw=-178.012 deg
I0419 21:04:44.966301 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:44.966394 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.15698, 0.533364)
I0419 21:04:44.966490 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294849657885.
I0419 21:04:44.970501 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849699939.
I0419 21:04:44.998026 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849972267.
I0419 21:04:44.998594 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294849972682.
I0419 21:04:45.026094 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:45.026189 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:45.026301 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294850256298.
I0419 21:04:45.095281 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.21097 rad/s > flush threshold 3.
I0419 21:04:45.095438 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294850256475.
I0419 21:04:45.096745 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294850536273.
I0419 21:04:45.097400 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.206394, -0.641495), points=18, range=0.675278, residual=0.0115229, extent=0.0338111
I0419 21:04:45.097476 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.206394, -0.641495), tracking=(-0.504894, 0.641495), map_predicted=(15.9113, -2.50996), range=0.675278, pts=18
I0419 21:04:45.097505 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.010699m maha_sq=0.00496193 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9113, -2.50996) lm_pos=(15.915, -2.52) delta=(-0.00370281, 0.0100378) -> 1 candidate(s)
I0419 21:04:45.097590 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294850536395.
I0419 21:04:45.099562 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294850857979.
I0419 21:04:45.100225 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0331902 range=1.175 variance=0.000543138 t_weight=5523.46 r_weight=0 yaml=(14.115, -2.52) prior=(15.3836, -1.89162, -178.02deg) obs_actual=(1.31263, 0.59934) obs_expected=(1.2895, 0.584181) delta=(0.0231305, 0.0151587) |delta|=0.0276551m
I0419 21:04:45.100307 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294850893352.
I0419 21:04:45.115363 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.00879, 0.597353)
I0419 21:04:45.115631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294851138547.
I0419 21:04:45.116187 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:45.116240 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:45.116331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294851138700.
I0419 21:04:45.142961 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294851422441.
I0419 21:04:45.146682 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294851456793.
I0419 21:04:45.237715 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294851732411.
I0419 21:04:45.238157 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:45.238217 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:45.238276 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:45.238299 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294851732666.
I0419 21:04:45.239704 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.478 deg, rms_residual=0.00731754m, sigma_yaw=0.00966245 rad, N=2
I0419 21:04:45.239761 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3783, -1.90808, -177.478deg) inliers=2 rms=0.00731754m
I0419 21:04:45.239790 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852013767.
I0419 21:04:45.240329 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0098, 0.601405), points=4, range=1.177, residual=0.00945211, extent=0.0214777
I0419 21:04:45.240372 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0098, 0.601405), tracking=(1.3083, 0.601405), map_predicted=(14.1024, -2.53268), range=1.177, pts=4
I0419 21:04:45.240398 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0179094m maha_sq=0.0139159 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1024, -2.53268) lm_pos=(14.115, -2.52) delta=(-0.0126478, -0.0126799) -> 1 candidate(s)
I0419 21:04:45.240470 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852059139.
I0419 21:04:45.242422 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:45.242520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852294169.
I0419 21:04:45.243275 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:45.243377 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852342401.
I0419 21:04:45.262315 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055537s, prior_pose=(15.3898, -1.88458), yaw=-178.032 deg
I0419 21:04:45.262923 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:45.263785 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.01081, 0.601324)
I0419 21:04:45.264021 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00859682 range=0.5906 variance=0.000543718 t_weight=5517.57 r_weight=0 yaml=(15.015, -1.32) prior=(15.3898, -1.88458, -178.032deg) obs_actual=(0.347438, -0.588854) obs_expected=(0.355219, -0.577117) delta=(-0.00778055, -0.0117373) |delta|=0.0140819m
I0419 21:04:45.264190 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852614509.
I0419 21:04:45.265266 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294852614724.
I0419 21:04:45.291285 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852900095.
I0419 21:04:45.388126 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.7938 rad/s > flush threshold 3.
I0419 21:04:45.388394 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294852900489.
I0419 21:04:45.391144 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:45.391266 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:45.391412 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294853183318.
I0419 21:04:45.392336 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294853216834.
I0419 21:04:45.397043 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294853501817.
I0419 21:04:45.397622 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294853502078.
I0419 21:04:45.399117 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.206717, -0.639292), points=17, range=0.673, residual=0.0111266, extent=0.0321635
I0419 21:04:45.399222 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.206717, -0.639292), tracking=(-0.505217, 0.639292), map_predicted=(15.9151, -2.50661), range=0.673, pts=17
I0419 21:04:45.399256 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0133944m maha_sq=0.00778011 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9151, -2.50661) lm_pos=(15.915, -2.52) delta=(0.000100916, 0.013394) -> 1 candidate(s)
I0419 21:04:45.399330 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294853777375.
I0419 21:04:45.399817 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294853821028.
I0419 21:04:45.406559 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.15896, 0.53223)
I0419 21:04:45.406841 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854061083.
I0419 21:04:45.410524 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:45.410655 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:45.410766 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00833219 range=0.591857 variance=0.000557531 t_weight=5380.87 r_weight=0 yaml=(15.015, -1.32) prior=(15.3897, -1.8842, -177.998deg) obs_actual=(0.348342, -0.589248) obs_expected=(0.354736, -0.57695) delta=(-0.00639463, -0.0122975) |delta|=0.0138607m
I0419 21:04:45.410863 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854095488.
I0419 21:04:45.474154 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3956, -1.88354), yaw=-178.019 deg backend=(15.3798, -1.89651)
I0419 21:04:45.475358 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854382481.
I0419 21:04:45.475834 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854382678.
I0419 21:04:45.477386 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854696256.
I0419 21:04:45.478775 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:45.478864 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:45.478915 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:45.478935 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854696520.
I0419 21:04:45.498638 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854980047.
I0419 21:04:45.499447 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294854980187.
I0419 21:04:45.526371 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01673, 0.597879), points=5, range=1.1756, residual=0.011867, extent=0.0270333
I0419 21:04:45.526552 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01673, 0.597879), tracking=(1.31523, 0.597879), map_predicted=(14.0963, -2.53366), range=1.1756, pts=5
I0419 21:04:45.526616 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0231587m maha_sq=0.0230197 (gate chi2=5.99) pose_sigma=(0.150659, 0.150659, rho=0) det_map=(14.0963, -2.53366) lm_pos=(14.115, -2.52) delta=(-0.0186985, -0.0136634) -> 1 candidate(s)
I0419 21:04:45.526662 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:45.526758 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.543 deg, rms_residual=0.0163211m, sigma_yaw=0.021298 rad, N=2
I0419 21:04:45.526866 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3936, -1.87934, -177.543deg) inliers=2 rms=0.0163211m
I0419 21:04:45.526935 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294855255244.
I0419 21:04:45.528261 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:45.528411 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294855255546.
I0419 21:04:45.554162 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836634s, prior_pose=(15.3901, -1.89063), yaw=-178.017 deg
I0419 21:04:45.554391 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1296, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:04:45.554657 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.16232, 0.529694)
I0419 21:04:45.554725 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:45.555027 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294855533154.
I0419 21:04:45.558816 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00396342 range=0.592429 variance=0.000556563 t_weight=5390.23 r_weight=0 yaml=(15.015, -1.32) prior=(15.3901, -1.89063, -178.017deg) obs_actual=(0.348424, -0.590126) obs_expected=(0.355086, -0.58327) delta=(-0.00666148, -0.0068562) |delta|=0.00955943m
I0419 21:04:45.559047 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294855579216.
I0419 21:04:45.617654 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294855815574.
I0419 21:04:45.618932 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294855855497.
I0419 21:04:45.620980 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:45.621105 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:45.621232 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294856134829.
I0419 21:04:45.621671 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294856135041.
I0419 21:04:45.643369 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294856422621.
I0419 21:04:45.644934 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294856422814.
I0419 21:04:45.674408 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294856738991.
I0419 21:04:45.675094 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.203749, -0.639682), points=18, range=0.673056, residual=0.0121265, extent=0.0340566
I0419 21:04:45.675145 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.203749, -0.639682), tracking=(-0.502249, 0.639682), map_predicted=(15.9146, -2.50819), range=0.673056, pts=18
I0419 21:04:45.675171 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0118193m maha_sq=0.00605177 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9146, -2.50819) lm_pos=(15.915, -2.52) delta=(-0.000447187, 0.0118108) -> 1 candidate(s)
I0419 21:04:45.675243 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294856739131.
I0419 21:04:45.736819 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.1602, 0.528723)
I0419 21:04:45.737008 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294856992695.
I0419 21:04:45.737475 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:45.737547 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:45.737620 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857015816.
I0419 21:04:45.739189 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00569654 range=0.5915 variance=0.000575367 t_weight=5214.06 r_weight=0 yaml=(15.015, -1.32) prior=(15.3919, -1.89271, -178.002deg) obs_actual=(0.345706, -0.58871) obs_expected=(0.356714, -0.585505) delta=(-0.0110082, -0.00320442) |delta|=0.0114652m
I0419 21:04:45.739326 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857293423.
I0419 21:04:45.739775 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857293547.
I0419 21:04:45.758265 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857575812.
I0419 21:04:45.762292 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:45.762416 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:45.762497 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:45.762518 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857618518.
I0419 21:04:45.793388 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857904402.
I0419 21:04:45.793949 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294857912361.
I0419 21:04:45.818046 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:45.818215 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294858176358.
I0419 21:04:45.822613 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01241, 0.596341), points=6, range=1.17233, residual=0.00941844, extent=0.0240275
I0419 21:04:45.822746 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01241, 0.596341), tracking=(1.31091, 0.596341), map_predicted=(14.1013, -2.53386), range=1.17233, pts=6
I0419 21:04:45.822793 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0194998m maha_sq=0.0164979 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1013, -2.53386) lm_pos=(14.115, -2.52) delta=(-0.0137137, -0.0138629) -> 1 candidate(s)
I0419 21:04:45.822853 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:45.822958 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294858221646.
I0419 21:04:45.878021 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593543s, prior_pose=(15.3853, -1.8884), yaw=-178.038 deg
I0419 21:04:45.878178 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:04:45.878321 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.01098, 0.596777)
I0419 21:04:45.878461 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294858497945.
I0419 21:04:45.878921 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.541 deg, rms_residual=0.00714335m, sigma_yaw=0.0094346 rad, N=2
I0419 21:04:45.878988 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3784, -1.90829, -177.541deg) inliers=2 rms=0.00714335m
I0419 21:04:45.879060 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294858498069.
I0419 21:04:45.881346 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294858780272.
I0419 21:04:45.882067 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.001918 range=0.674 variance=0.000572909 t_weight=5236.43 r_weight=0 yaml=(15.915, -2.52) prior=(15.3832, -1.89437, -178.038deg) obs_actual=(-0.504399, 0.639974) obs_expected=(-0.510057, 0.643472) delta=(0.00565834, -0.00349815) |delta|=0.00665236m
I0419 21:04:45.882189 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294858780441.
I0419 21:04:45.906467 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:45.906556 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:45.906709 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859060369.
I0419 21:04:45.908238 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294859060559.
I0419 21:04:45.933710 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859331912.
I0419 21:04:45.938248 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859376537.
I0419 21:04:45.996009 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859621531.
I0419 21:04:45.996987 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859655235.
I0419 21:04:45.998135 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.0109, 0.599387)
I0419 21:04:45.998253 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859940547.
I0419 21:04:45.998623 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:45.998664 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.204394, -0.641715), points=18, range=0.674944, residual=0.0116228, extent=0.0342128
I0419 21:04:45.998687 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:45.998703 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.204394, -0.641715), tracking=(-0.502894, 0.641715), map_predicted=(15.9148, -2.51209), range=0.674944, pts=18
I0419 21:04:45.998723 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00791395m maha_sq=0.00271463 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9148, -2.51209) lm_pos=(15.915, -2.52) delta=(-0.00020188, 0.00791137) -> 1 candidate(s)
I0419 21:04:45.998780 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294859940692.
I0419 21:04:46.026707 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294860260214.
I0419 21:04:46.027746 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294860260426.
I0419 21:04:46.054324 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00324168 range=0.591667 variance=0.000561569 t_weight=5342.18 r_weight=0 yaml=(15.015, -1.32) prior=(15.3853, -1.8976, -178.029deg) obs_actual=(0.341507, -0.589963) obs_expected=(0.350175, -0.589991) delta=(-0.00866708, 2.77598e-05) |delta|=0.00866713m
I0419 21:04:46.054522 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294860536749.
I0419 21:04:46.055282 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:46.055382 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:46.055451 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:46.055474 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294860536901.
I0419 21:04:46.082777 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294860821293.
I0419 21:04:46.086797 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294860861541.
I0419 21:04:46.148681 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:46.148839 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:46.148949 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861098478.
I0419 21:04:46.149986 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:46.150066 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861142236.
I0419 21:04:46.151746 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553279s, prior_pose=(15.3901, -1.89496), yaw=-178.029 deg
I0419 21:04:46.151821 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:46.151980 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.01004, 0.598879)
I0419 21:04:46.152093 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861414820.
I0419 21:04:46.152493 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861414944.
I0419 21:04:46.170060 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.2055, -0.64191), points=17, range=0.675412, residual=0.0122422, extent=0.0390712
I0419 21:04:46.170167 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.2055, -0.64191), tracking=(-0.504, 0.64191), map_predicted=(15.9159, -2.51916), range=0.675412, pts=17
I0419 21:04:46.170205 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0012105m maha_sq=6.34712e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9159, -2.51916) lm_pos=(15.915, -2.52) delta=(0.000871251, 0.000840378) -> 1 candidate(s)
I0419 21:04:46.170310 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861695499.
I0419 21:04:46.175060 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861742645.
I0419 21:04:46.198637 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:46.198751 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:46.198844 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0256027 range=1.27875 variance=0.000546124 t_weight=5493.26 r_weight=0 yaml=(16.815, -1.32) prior=(15.391, -1.89184, -178.029deg) obs_actual=(-1.46537, -0.531763) obs_expected=(-1.44287, -0.522527) delta=(-0.0225077, -0.00923653) |delta|=0.0243292m
I0419 21:04:46.198943 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294861980904.
I0419 21:04:46.201936 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.709 deg, rms_residual=0.0141398m, sigma_yaw=0.0185042 rad, N=2
I0419 21:04:46.202036 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3931, -1.88165, -177.709deg) inliers=2 rms=0.0141398m
I0419 21:04:46.202077 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862014541.
I0419 21:04:46.256414 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862273766.
I0419 21:04:46.257292 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862295461.
I0419 21:04:46.258776 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862575891.
I0419 21:04:46.262580 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862620956.
I0419 21:04:46.289789 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.00569, 0.595515)
I0419 21:04:46.290427 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862892945.
I0419 21:04:46.290858 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:46.290926 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:46.291009 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294862893137.
I0419 21:04:46.293905 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3836, -1.89797), yaw=-178.024 deg backend=(15.3793, -1.89487)
I0419 21:04:46.318424 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.206115, -0.640604), points=18, range=0.674667, residual=0.0119503, extent=0.0343975
I0419 21:04:46.318547 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.206115, -0.640604), tracking=(-0.504615, 0.640604), map_predicted=(15.91, -2.5208), range=0.674667, pts=18
I0419 21:04:46.318583 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00510315m maha_sq=0.00112344 (gate chi2=5.99) pose_sigma=(0.150338, 0.150338, rho=0) det_map=(15.91, -2.5208) lm_pos=(15.915, -2.52) delta=(-0.00504005, -0.0008) -> 1 candidate(s)
I0419 21:04:46.318681 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294863178815.
I0419 21:04:46.322017 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294863214871.
I0419 21:04:46.345927 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00242413 range=1.2752 variance=0.000515739 t_weight=5816.9 r_weight=0 yaml=(16.815, -1.32) prior=(15.3836, -1.89797, -178.024deg) obs_actual=(-1.4577, -0.530298) obs_expected=(-1.45051, -0.528283) delta=(-0.00719242, -0.00201547) |delta|=0.00746947m
I0419 21:04:46.346064 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294863453618.
I0419 21:04:46.399219 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:46.399371 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:46.399439 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:46.399462 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294863497869.
I0419 21:04:46.400671 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294863736731.
I0419 21:04:46.401400 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294863784856.
I0419 21:04:46.406087 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:46.406216 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864056861.
I0419 21:04:46.406608 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:46.406669 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864057012.
I0419 21:04:46.433771 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836303s, prior_pose=(15.3815, -1.90149), yaw=-178.013 deg
I0419 21:04:46.435822 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1299, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:46.436020 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.15516, 0.532525)
I0419 21:04:46.436144 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294864334172.
I0419 21:04:46.438735 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864382079.
I0419 21:04:46.466532 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864659566.
I0419 21:04:46.467010 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.204962, -0.643493), points=17, range=0.676706, residual=0.0112879, extent=0.0334537
I0419 21:04:46.467070 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.204962, -0.643493), tracking=(-0.503462, 0.643493), map_predicted=(15.9086, -2.52198), range=0.676706, pts=17
I0419 21:04:46.467096 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00674197m maha_sq=0.00197079 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9086, -2.52198) lm_pos=(15.915, -2.52) delta=(-0.00644557, -0.00197705) -> 1 candidate(s)
I0419 21:04:46.467161 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864659723.
I0419 21:04:46.499792 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:46.527662 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:46.527781 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:46.527892 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864940971.
I0419 21:04:46.528556 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00208958 range=1.276 variance=0.000546987 t_weight=5484.59 r_weight=0 yaml=(16.815, -1.32) prior=(15.3817, -1.89629, -178.003deg) obs_actual=(-1.45412, -0.532735) obs_expected=(-1.45246, -0.525995) delta=(-0.00165307, -0.00673986) |delta|=0.00693963m
I0419 21:04:46.528666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294864941115.
I0419 21:04:46.529917 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294865216640.
I0419 21:04:46.530571 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294865261058.
I0419 21:04:46.553682 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294865531611.
I0419 21:04:46.554201 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.601 deg, rms_residual=0.00706217m, sigma_yaw=0.00932839 rad, N=2
I0419 21:04:46.554291 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3786, -1.9064, -177.601deg) inliers=2 rms=0.00706217m
I0419 21:04:46.554324 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294865531751.
I0419 21:04:46.581593 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.2059, -0.643157)
I0419 21:04:46.581818 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294865811814.
I0419 21:04:46.586251 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:46.586385 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:46.586534 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294865855952.
I0419 21:04:46.609856 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294866092538.
I0419 21:04:46.664290 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294866137838.
I0419 21:04:46.665516 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01644, 0.597392), points=4, range=1.1745, residual=0.0113289, extent=0.0255107
I0419 21:04:46.665609 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01644, 0.597392), tracking=(1.31494, 0.597392), map_predicted=(14.0908, -2.53797), range=1.1745, pts=4
I0419 21:04:46.665640 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0301232m maha_sq=0.0393024 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0908, -2.53797) lm_pos=(14.115, -2.52) delta=(-0.0241748, -0.0179718) -> 1 candidate(s)
I0419 21:04:46.665722 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294866416149.
I0419 21:04:46.666095 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:46.666157 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:46.666193 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:46.666214 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294866416296.
I0419 21:04:46.670346 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294866698249.
I0419 21:04:46.671051 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0115734 range=1.27233 variance=0.000564192 t_weight=5317.34 r_weight=0 yaml=(16.815, -1.32) prior=(15.3869, -1.89041, -177.992deg) obs_actual=(-1.46052, -0.52955) obs_expected=(-1.44725, -0.520015) delta=(-0.0132668, -0.00953535) |delta|=0.016338m
I0419 21:04:46.671173 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294866698429.
I0419 21:04:46.698326 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:46.698561 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294866977487.
I0419 21:04:46.702651 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:46.702785 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294867021736.
I0419 21:04:46.730095 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599054s, prior_pose=(15.3891, -1.88812), yaw=-177.992 deg
I0419 21:04:46.730212 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:04:46.730335 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0470785, -0.586681)
I0419 21:04:46.730482 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294867297303.
I0419 21:04:46.730955 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294867297408.
I0419 21:04:46.791251 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294867577809.
I0419 21:04:46.791986 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294867577984.
I0419 21:04:46.793283 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:46.793352 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:46.793452 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294867854682.
I0419 21:04:46.793852 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01171, 0.599885), points=6, range=1.1735, residual=0.0103141, extent=0.0286232
I0419 21:04:46.793900 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01171, 0.599885), tracking=(1.31021, 0.599885), map_predicted=(14.0971, -2.53739), range=1.1735, pts=6
I0419 21:04:46.793924 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0249654m maha_sq=0.0270214 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0971, -2.53739) lm_pos=(14.115, -2.52) delta=(-0.017913, -0.0173895) -> 1 candidate(s)
I0419 21:04:46.793998 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294867894998.
I0419 21:04:46.818763 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294868181897.
I0419 21:04:46.819278 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294868181991.
I0419 21:04:46.846772 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00285658 range=0.590286 variance=0.00055936 t_weight=5363.27 r_weight=0 yaml=(15.015, -1.32) prior=(15.3847, -1.89478, -178.001deg) obs_actual=(0.341362, -0.588145) obs_expected=(0.349461, -0.587327) delta=(-0.0080991, -0.000818133) |delta|=0.00814031m
I0419 21:04:46.846976 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294868462187.
I0419 21:04:46.847781 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294868462320.
I0419 21:04:46.878510 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0453586, -0.586512)
I0419 21:04:46.878760 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294868776659.
I0419 21:04:46.948592 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:46.948721 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:46.948808 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294868776834.
I0419 21:04:46.950055 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.061 deg, rms_residual=0.00173746m, sigma_yaw=0.00231127 rad, N=2
I0419 21:04:46.950135 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3857, -1.89777, -178.061deg) inliers=2 rms=0.00173746m
I0419 21:04:46.950174 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294869045876.
I0419 21:04:46.950681 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294869058967.
I0419 21:04:46.952734 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294869335929.
I0419 21:04:46.953501 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01413, 0.599341), points=5, range=1.176, residual=0.0074227, extent=0.0188613
I0419 21:04:46.953562 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:46.953579 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01413, 0.599341), tracking=(1.31263, 0.599341), map_predicted=(14.0984, -2.53418), range=1.176, pts=5
I0419 21:04:46.953598 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0218381m maha_sq=0.0207217 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0984, -2.53418) lm_pos=(14.115, -2.52) delta=(-0.0166092, -0.0141788) -> 1 candidate(s)
I0419 21:04:46.953637 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:46.953678 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:46.953697 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294869380550.
I0419 21:04:46.966203 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294869656328.
I0419 21:04:46.966758 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294869656531.
I0419 21:04:46.995069 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:46.995654 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.028057 range=1.16975 variance=0.000608778 t_weight=4927.91 r_weight=0 yaml=(14.115, -2.52) prior=(15.3841, -1.89437, -177.997deg) obs_actual=(1.31062, 0.596186) obs_expected=(1.29016, 0.58089) delta=(0.0204684, 0.0152961) |delta|=0.0255524m
I0419 21:04:46.995787 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294869944686.
I0419 21:04:47.003811 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:47.004040 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294869944834.
I0419 21:04:47.058554 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561324s, prior_pose=(15.3896, -1.89054), yaw=-177.997 deg
I0419 21:04:47.058698 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1298, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:47.058799 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.212834, -0.64493)
I0419 21:04:47.058919 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294870217855.
I0419 21:04:47.059653 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294870253053.
I0419 21:04:47.061156 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294870532843.
I0419 21:04:47.061631 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294870533046.
I0419 21:04:47.081677 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:47.081789 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:47.082000 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294870811720.
I0419 21:04:47.085682 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294870851642.
I0419 21:04:47.110956 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17755, 0.528381), points=4, range=1.288, residual=0.00722008, extent=0.0164299
I0419 21:04:47.111070 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17755, 0.528381), tracking=(-1.47605, -0.528381), map_predicted=(16.8391, -1.31159), range=1.288, pts=4
I0419 21:04:47.111112 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0255535m maha_sq=0.0282654 (gate chi2=5.99) pose_sigma=(0.150277, 0.150277, rho=0) det_map=(16.8391, -1.31159) lm_pos=(16.815, -1.32) delta=(0.0241307, 0.00840765) -> 1 candidate(s)
I0419 21:04:47.111253 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294871102516.
I0419 21:04:47.114260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294871135412.
I0419 21:04:47.143112 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294871420952.
I0419 21:04:47.144456 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00203925 range=0.679294 variance=0.000549466 t_weight=5459.85 r_weight=0 yaml=(15.915, -2.52) prior=(15.3825, -1.89136, -177.992deg) obs_actual=(-0.515718, 0.642909) obs_expected=(-0.510149, 0.646907) delta=(-0.00556976, -0.00399767) |delta|=0.00685592m
I0419 21:04:47.144658 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294871421155.
I0419 21:04:47.242972 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.218954, -0.644935)
I0419 21:04:47.243222 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294871695400.
I0419 21:04:47.243673 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:47.243765 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:47.243839 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294871695563.
I0419 21:04:47.245553 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3797, -1.89138), yaw=-177.951 deg backend=(15.3819, -1.89767)
I0419 21:04:47.246723 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294871974171.
I0419 21:04:47.247529 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872020951.
I0419 21:04:47.248885 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872254434.
I0419 21:04:47.250525 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:47.250635 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:47.250682 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.443 deg, rms_residual=0.0176409m, sigma_yaw=0.0229806 rad, N=2
I0419 21:04:47.250711 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3783, -1.8797, -177.443deg) inliers=2 rms=0.0176409m
I0419 21:04:47.250741 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:47.250758 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872298808.
I0419 21:04:47.257975 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872572531.
I0419 21:04:47.258525 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218002, -0.642173), points=16, range=0.678875, residual=0.0101311, extent=0.0304396
I0419 21:04:47.258584 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.218002, -0.642173), tracking=(-0.516502, 0.642173), map_predicted=(15.9131, -2.51919), range=0.678875, pts=16
I0419 21:04:47.258607 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00206095m maha_sq=0.000184361 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9131, -2.51919) lm_pos=(15.915, -2.52) delta=(-0.00189532, 0.000809494) -> 1 candidate(s)
I0419 21:04:47.258694 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872572727.
I0419 21:04:47.314189 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:47.314359 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872859978.
I0419 21:04:47.314954 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:47.315008 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0585239 range=1.1614 variance=0.000702526 t_weight=4270.3 r_weight=0 yaml=(14.115, -2.52) prior=(15.366, -1.89798, -178.031deg) obs_actual=(1.30401, 0.596239) obs_expected=(1.27162, 0.578677) delta=(0.0323955, 0.0175622) |delta|=0.0368497m
I0419 21:04:47.315078 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294872896274.
I0419 21:04:47.316386 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0848776s, prior_pose=(15.366, -1.89798), yaw=-178.031 deg
I0419 21:04:47.316500 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1300, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:47.316571 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219186, -0.642577)
I0419 21:04:47.316660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294873147584.
I0419 21:04:47.318389 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294873178998.
I0419 21:04:47.346167 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294873456176.
I0419 21:04:47.350600 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294873500113.
I0419 21:04:47.374732 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:47.374861 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:47.375073 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294873736868.
I0419 21:04:47.377781 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294873772664.
I0419 21:04:47.407230 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874060896.
I0419 21:04:47.407905 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220796, -0.644163), points=17, range=0.681765, residual=0.0109188, extent=0.033832
I0419 21:04:47.407996 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.220796, -0.644163), tracking=(-0.519296, 0.644163), map_predicted=(15.9116, -2.51956), range=0.681765, pts=17
I0419 21:04:47.408036 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00344784m maha_sq=0.0005156 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9116, -2.51956) lm_pos=(15.915, -2.52) delta=(-0.00341963, 0.000440134) -> 1 candidate(s)
I0419 21:04:47.408134 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874061094.
I0419 21:04:47.485018 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874332054.
I0419 21:04:47.485687 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0451872 range=1.1648 variance=0.000598816 t_weight=5009.89 r_weight=0 yaml=(14.115, -2.52) prior=(15.3702, -1.89621, -177.989deg) obs_actual=(1.3025, 0.598284) obs_expected=(1.2763, 0.579369) delta=(0.0261916, 0.0189148) |delta|=0.0323075m
I0419 21:04:47.485807 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874381489.
I0419 21:04:47.487777 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219956, -0.644862)
I0419 21:04:47.487975 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874613392.
I0419 21:04:47.488858 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:47.488924 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:47.489002 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874658640.
I0419 21:04:47.496974 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874959214.
I0419 21:04:47.500906 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294874984983.
I0419 21:04:47.523072 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294875219614.
I0419 21:04:47.524070 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:47.524206 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:47.524264 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.568 deg, rms_residual=0.00926446m, sigma_yaw=0.0122019 rad, N=2
I0419 21:04:47.524346 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3657, -1.90654, -177.568deg) inliers=2 rms=0.00926446m
I0419 21:04:47.524412 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:47.524446 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294875219979.
I0419 21:04:47.612335 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294875535221.
I0419 21:04:47.612671 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:47.612994 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.217167, -0.642786), points=17, range=0.679471, residual=0.0111331, extent=0.0334537
I0419 21:04:47.613219 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.217167, -0.642786), tracking=(-0.515667, 0.642786), map_predicted=(15.9087, -2.52321), range=0.679471, pts=17
I0419 21:04:47.613276 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00709627m maha_sq=0.00218369 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9087, -2.52321) lm_pos=(15.915, -2.52) delta=(-0.00632753, -0.00321238) -> 1 candidate(s)
I0419 21:04:47.613404 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294875535440.
I0419 21:04:47.615832 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:47.616024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294875813318.
I0419 21:04:47.618945 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=8.12877 rad/s > flush threshold 3.
I0419 21:04:47.619063 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:04:47.619127 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0132309 range=1.28867 variance=0.000523622 t_weight=5729.32 r_weight=0 yaml=(16.815, -1.32) prior=(15.3731, -1.89409, -178.003deg) obs_actual=(-1.47695, -0.53085) obs_expected=(-1.46108, -0.523492) delta=(-0.0158742, -0.00735808) |delta|=0.0174966m
I0419 21:04:47.619215 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294875813467.
I0419 21:04:47.621596 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558255s, prior_pose=(15.3731, -1.89409), yaw=-178.003 deg
I0419 21:04:47.621730 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1300, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:47.621892 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219473, -0.643411)
I0419 21:04:47.622018 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294876093476.
I0419 21:04:47.622921 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294876139328.
I0419 21:04:47.642314 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294876412442.
I0419 21:04:47.643451 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294876412634.
I0419 21:04:47.669979 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:47.670066 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:47.670164 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294876694170.
I0419 21:04:47.738922 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294876694390.
I0419 21:04:47.740258 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294876958576.
I0419 21:04:47.740746 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.99666, 0.600807), points=5, range=1.166, residual=0.00837644, extent=0.0217534
I0419 21:04:47.740808 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.99666, 0.600807), tracking=(1.29516, 0.600807), map_predicted=(14.0959, -2.5405), range=1.166, pts=5
I0419 21:04:47.740834 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0279955m maha_sq=0.0340329 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0959, -2.5405) lm_pos=(14.115, -2.52) delta=(-0.0190608, -0.0205044) -> 1 candidate(s)
I0419 21:04:47.740895 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877020969.
I0419 21:04:47.743003 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877296244.
I0419 21:04:47.743438 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877296370.
I0419 21:04:47.758482 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0334568, -0.588586)
I0419 21:04:47.758616 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00153946 range=0.589636 variance=0.00056687 t_weight=5292.22 r_weight=0 yaml=(15.015, -1.32) prior=(15.3719, -1.89107, -178.005deg) obs_actual=(0.333626, -0.588218) obs_expected=(0.336756, -0.583147) delta=(-0.00312957, -0.00507113) |delta|=0.00595907m
I0419 21:04:47.758675 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877580554.
I0419 21:04:47.759976 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:47.760026 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:47.760094 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877580701.
I0419 21:04:47.787286 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877862318.
I0419 21:04:47.788595 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294877863748.
I0419 21:04:47.850143 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294878134685.
I0419 21:04:47.850718 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:47.850780 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:47.850824 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:47.850844 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294878180907.
I0419 21:04:47.852240 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294878458254.
I0419 21:04:47.852630 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.61 deg, rms_residual=0.00814372m, sigma_yaw=0.0107417 rad, N=2
I0419 21:04:47.852671 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3668, -1.90525, -177.61deg) inliers=2 rms=0.00814372m
I0419 21:04:47.852699 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294878458403.
I0419 21:04:47.874037 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218981, -0.641946), points=16, range=0.67925, residual=0.0102233, extent=0.0300148
I0419 21:04:47.874330 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.218981, -0.641946), tracking=(-0.517481, 0.641946), map_predicted=(15.9087, -2.52097), range=0.67925, pts=16
I0419 21:04:47.874513 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00637829m maha_sq=0.00175984 (gate chi2=5.99) pose_sigma=(0.150254, 0.150254, rho=0) det_map=(15.9087, -2.52097) lm_pos=(15.915, -2.52) delta=(-0.006304, -0.000970628) -> 1 candidate(s)
I0419 21:04:47.874650 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:47.874843 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294878733755.
I0419 21:04:47.877673 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.99569, 0.599009)
I0419 21:04:47.877776 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:47.877838 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294878772653.
I0419 21:04:47.906035 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598275s, prior_pose=(15.3719, -1.89242), yaw=-177.983 deg
I0419 21:04:47.906160 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:47.906359 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0240906 range=1.15975 variance=0.000576925 t_weight=5199.98 r_weight=0 yaml=(14.115, -2.52) prior=(15.3719, -1.89242, -177.983deg) obs_actual=(1.29769, 0.596409) obs_expected=(1.27824, 0.582957) delta=(0.0194484, 0.0134521) |delta|=0.0236474m
I0419 21:04:47.906423 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879056678.
I0419 21:04:47.906901 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879056861.
I0419 21:04:47.934212 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879336484.
I0419 21:04:47.986934 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879354784.
I0419 21:04:47.988266 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:47.988371 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:47.988498 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879615669.
I0419 21:04:47.989142 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879660254.
I0419 21:04:47.994582 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879939540.
I0419 21:04:47.995133 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294879939753.
I0419 21:04:48.022060 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.86267, -0.641373)
I0419 21:04:48.022166 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0308006, -0.587545), points=20, range=0.5899, residual=0.0111928, extent=0.0370861
I0419 21:04:48.022194 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0308006, -0.587545), tracking=(0.329301, -0.587545), map_predicted=(15.0256, -1.31108), range=0.5899, pts=20
I0419 21:04:48.022221 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0138549m maha_sq=0.00832462 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0256, -1.31108) lm_pos=(15.015, -1.32) delta=(0.0106041, 0.00891691) -> 1 candidate(s)
I0419 21:04:48.022333 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294880215551.
I0419 21:04:48.023720 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294880215731.
I0419 21:04:48.050594 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.025082 range=1.28925 variance=0.000513646 t_weight=5840.6 r_weight=0 yaml=(16.815, -1.32) prior=(15.376, -1.88504, -177.983deg) obs_actual=(-1.47696, -0.52879) obs_expected=(-1.458, -0.514037) delta=(-0.0189624, -0.0147532) |delta|=0.0240256m
I0419 21:04:48.050786 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294880495889.
I0419 21:04:48.054738 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:48.054855 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:48.055009 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294880540978.
I0419 21:04:48.130350 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3779, -1.88363), yaw=-177.985 deg backend=(15.3728, -1.89627)
I0419 21:04:48.131517 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294880861304.
I0419 21:04:48.131978 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294880861551.
I0419 21:04:48.133251 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:48.133420 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881095689.
I0419 21:04:48.133976 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:48.134058 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:48.134155 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:48.134177 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881141296.
I0419 21:04:48.138127 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881375136.
I0419 21:04:48.142592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881419998.
I0419 21:04:48.170572 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.0333668, -0.586406)
I0419 21:04:48.170758 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.995377, 0.60003), points=5, range=1.164, residual=0.00820047, extent=0.0209549
I0419 21:04:48.170809 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.995377, 0.60003), tracking=(1.29388, 0.60003), map_predicted=(14.1049, -2.52802), range=1.164, pts=5
I0419 21:04:48.170861 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0129057m maha_sq=0.00723011 (gate chi2=5.99) pose_sigma=(0.150035, 0.150035, rho=0) det_map=(14.1049, -2.52802) lm_pos=(14.115, -2.52) delta=(-0.0101132, -0.00801759) -> 1 candidate(s)
I0419 21:04:48.170899 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:48.170992 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.766 deg, rms_residual=0.014034m, sigma_yaw=0.0183683 rad, N=2
I0419 21:04:48.171092 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3761, -1.88121, -177.766deg) inliers=2 rms=0.014034m
I0419 21:04:48.171156 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881697062.
I0419 21:04:48.172075 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:48.172199 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881697324.
I0419 21:04:48.198431 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0835921s, prior_pose=(15.3769, -1.88289), yaw=-177.986 deg
I0419 21:04:48.198619 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:04:48.199165 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294881977217.
I0419 21:04:48.292814 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.22668 rad/s > flush threshold 3.
I0419 21:04:48.294803 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00962212 range=0.678588 variance=0.000556284 t_weight=5392.93 r_weight=0 yaml=(15.915, -2.52) prior=(15.3747, -1.88244, -177.996deg) obs_actual=(-0.51618, 0.641226) obs_expected=(-0.51764, 0.656065) delta=(0.00145979, -0.0148389) |delta|=0.0149106m
I0419 21:04:48.295185 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294882261304.
I0419 21:04:48.295893 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294882295377.
I0419 21:04:48.298611 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:48.298689 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:48.298791 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294882574921.
I0419 21:04:48.299304 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294882575151.
I0419 21:04:48.301661 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294882855736.
I0419 21:04:48.302498 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.99776, 0.59812)
I0419 21:04:48.302623 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294882891784.
I0419 21:04:48.314512 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294883135299.
I0419 21:04:48.318249 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294883174552.
I0419 21:04:48.384315 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0298657, -0.585839), points=21, range=0.588048, residual=0.0116586, extent=0.0413812
I0419 21:04:48.384445 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0298657, -0.585839), tracking=(0.328366, -0.585839), map_predicted=(15.0266, -1.31566), range=0.588048, pts=21
I0419 21:04:48.384479 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0124217m maha_sq=0.00665517 (gate chi2=5.99) pose_sigma=(0.150384, 0.150384, rho=0) det_map=(15.0266, -1.31566) lm_pos=(15.015, -1.32) delta=(0.0116385, 0.00434109) -> 1 candidate(s)
I0419 21:04:48.384577 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294883462703.
I0419 21:04:48.384970 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:48.385020 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:48.385123 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294883462913.
I0419 21:04:48.386721 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294883741775.
I0419 21:04:48.388191 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00397197 range=0.679706 variance=0.000555693 t_weight=5398.66 r_weight=0 yaml=(15.915, -2.52) prior=(15.3751, -1.88732, -177.994deg) obs_actual=(-0.51843, 0.641667) obs_expected=(-0.517429, 0.651195) delta=(-0.00100044, -0.00952808) |delta|=0.00958046m
I0419 21:04:48.388324 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294883741957.
I0419 21:04:48.403105 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884020941.
I0419 21:04:48.406258 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:48.406463 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884056377.
I0419 21:04:48.434639 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:48.435204 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:48.435283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884336048.
I0419 21:04:48.436160 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.220133, -0.642261)
I0419 21:04:48.436411 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884336263.
I0419 21:04:48.463147 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:48.463454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884621234.
I0419 21:04:48.547415 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.12339 rad/s > flush threshold 3.
I0419 21:04:48.547566 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884621520.
I0419 21:04:48.548889 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604274s, prior_pose=(15.3803, -1.88414), yaw=-178.004 deg
I0419 21:04:48.548980 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:48.549170 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0332643, -0.585691), points=20, range=0.58755, residual=0.0105109, extent=0.0368898
I0419 21:04:48.549207 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0332643, -0.585691), tracking=(0.331764, -0.585691), map_predicted=(15.0284, -1.31035), range=0.58755, pts=20
I0419 21:04:48.549230 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.016479m maha_sq=0.0117843 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0284, -1.31035) lm_pos=(15.015, -1.32) delta=(0.0133611, 0.00964564) -> 1 candidate(s)
I0419 21:04:48.549258 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:04:48.549326 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884940322.
I0419 21:04:48.549966 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.583 deg, rms_residual=0.00763187m, sigma_yaw=0.0100733 rad, N=2
I0419 21:04:48.550045 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3654, -1.90701, -177.583deg) inliers=2 rms=0.00763187m
I0419 21:04:48.550081 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294884940555.
I0419 21:04:48.551937 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294885213817.
I0419 21:04:48.552577 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00128917 range=0.679235 variance=0.000555918 t_weight=5396.48 r_weight=0 yaml=(15.915, -2.52) prior=(15.3759, -1.891, -178.004deg) obs_actual=(-0.516436, 0.641969) obs_expected=(-0.516907, 0.647401) delta=(0.000470647, -0.00543153) |delta|=0.00545188m
I0419 21:04:48.552662 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294885214061.
I0419 21:04:48.553903 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:48.553962 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:48.554044 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294885498626.
I0419 21:04:48.554605 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294885535676.
I0419 21:04:48.578469 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219733, -0.644192)
I0419 21:04:48.578886 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294885777469.
I0419 21:04:48.583261 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294885821811.
I0419 21:04:48.668876 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886143261.
I0419 21:04:48.670022 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886181067.
I0419 21:04:48.671233 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294886381837.
I0419 21:04:48.672780 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:48.672847 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0359083, -0.586725), points=21, range=0.587476, residual=0.0111618, extent=0.0347107
I0419 21:04:48.672873 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:48.672890 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0359083, -0.586725), tracking=(0.334408, -0.586725), map_predicted=(15.0231, -1.31015), range=0.587476, pts=21
I0419 21:04:48.672916 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0127793m maha_sq=0.00707087 (gate chi2=5.99) pose_sigma=(0.150127, 0.150127, rho=0) det_map=(15.0231, -1.31015) lm_pos=(15.015, -1.32) delta=(0.00814014, 0.00985137) -> 1 candidate(s)
I0419 21:04:48.672991 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886416359.
I0419 21:04:48.674506 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886696656.
I0419 21:04:48.675110 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886696844.
I0419 21:04:48.698160 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00554445 range=0.588 variance=0.000565425 t_weight=5305.75 r_weight=0 yaml=(15.015, -1.32) prior=(15.3741, -1.89017, -178.012deg) obs_actual=(0.328366, -0.585895) obs_expected=(0.33912, -0.582283) delta=(-0.0107533, -0.00361167) |delta|=0.0113436m
I0419 21:04:48.698321 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886976289.
I0419 21:04:48.699031 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17526, 0.529403)
I0419 21:04:48.699088 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:48.699168 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294886976497.
I0419 21:04:48.726755 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:48.726897 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:48.726922 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294887261847.
I0419 21:04:48.787038 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.3395 rad/s > flush threshold 3.
I0419 21:04:48.787194 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294887261971.
I0419 21:04:48.788475 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:48.788627 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294887540475.
I0419 21:04:48.789105 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294887574383.
I0419 21:04:48.791306 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593678s, prior_pose=(15.3702, -1.89307), yaw=-177.997 deg
I0419 21:04:48.791425 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:48.791563 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:04:48.791641 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294887855649.
I0419 21:04:48.792061 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294887855825.
I0419 21:04:48.814641 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0360302, -0.588662), points=21, range=0.588857, residual=0.0113293, extent=0.0370095
I0419 21:04:48.814741 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0360302, -0.588662), tracking=(0.33453, -0.588662), map_predicted=(15.0153, -1.31647), range=0.588857, pts=21
I0419 21:04:48.814775 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00354698m maha_sq=0.000545532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0153, -1.31647) lm_pos=(15.015, -1.32) delta=(0.000292289, 0.00353492) -> 1 candidate(s)
I0419 21:04:48.814901 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294888141064.
I0419 21:04:48.816398 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294888141190.
I0419 21:04:48.842388 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:48.842482 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:48.842633 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294888418850.
I0419 21:04:48.845935 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85889, -0.64007)
I0419 21:04:48.846122 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00270711 range=0.589762 variance=0.000558669 t_weight=5369.9 r_weight=0 yaml=(15.015, -1.32) prior=(15.373, -1.89049, -177.998deg) obs_actual=(0.332803, -0.588706) obs_expected=(0.337877, -0.58265) delta=(-0.00507428, -0.00605591) |delta|=0.00790078m
I0419 21:04:48.846258 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294888452403.
I0419 21:04:48.905903 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.764 deg, rms_residual=0.0171269m, sigma_yaw=0.022326 rad, N=2
I0419 21:04:48.906049 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3773, -1.88159, -177.764deg) inliers=2 rms=0.0171269m
I0419 21:04:48.906095 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294888737806.
I0419 21:04:48.906577 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294888737991.
I0419 21:04:48.908200 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889035270.
I0419 21:04:48.909796 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889035381.
I0419 21:04:48.929961 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889292598.
I0419 21:04:48.934047 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:48.934139 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:48.934309 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889336486.
I0419 21:04:48.935581 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3748, -1.88805), yaw=-177.972 deg backend=(15.3693, -1.89675)
I0419 21:04:48.962483 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.999907, 0.597818), points=5, range=1.1616, residual=0.0105728, extent=0.0261465
I0419 21:04:48.962584 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.999907, 0.597818), tracking=(1.29841, 0.597818), map_predicted=(14.0983, -2.53145), range=1.1616, pts=5
I0419 21:04:48.962622 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0202143m maha_sq=0.0176532 (gate chi2=5.99) pose_sigma=(0.150254, 0.150254, rho=0) det_map=(14.0983, -2.53145) lm_pos=(14.115, -2.52) delta=(-0.0166582, -0.0114509) -> 1 candidate(s)
I0419 21:04:48.962745 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889619257.
I0419 21:04:48.963265 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294889619414.
I0419 21:04:48.990221 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17001, 0.527049)
I0419 21:04:48.990635 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889894482.
I0419 21:04:48.995188 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:48.995498 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294889940314.
I0419 21:04:49.075167 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:49.075284 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00405526 range=0.588714 variance=0.000549923 t_weight=5455.31 r_weight=0 yaml=(15.015, -1.32) prior=(15.373, -1.88638, -177.963deg) obs_actual=(0.332708, -0.587062) obs_expected=(0.337666, -0.578749) delta=(-0.00495827, -0.00831325) |delta|=0.0096796m
I0419 21:04:49.075340 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:49.075358 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294890219753.
I0419 21:04:49.075778 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294890220418.
I0419 21:04:49.075796 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:49.078018 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:49.078159 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294890498738.
I0419 21:04:49.078794 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294890498982.
I0419 21:04:49.080003 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843106s, prior_pose=(15.3713, -1.89254), yaw=-177.963 deg
I0419 21:04:49.080077 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:49.080200 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:49.080255 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294890783420.
I0419 21:04:49.081614 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294890783593.
I0419 21:04:49.106850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891058990.
I0419 21:04:49.109767 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0308276, -0.587721), points=20, range=0.58975, residual=0.0109365, extent=0.0365146
I0419 21:04:49.109848 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0308276, -0.587721), tracking=(0.329328, -0.587721), map_predicted=(15.0235, -1.31328), range=0.58975, pts=20
I0419 21:04:49.109881 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0108607m maha_sq=0.00511664 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0235, -1.31328) lm_pos=(15.015, -1.32) delta=(0.00852839, 0.00672473) -> 1 candidate(s)
I0419 21:04:49.109972 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891092659.
I0419 21:04:49.181906 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:49.182035 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.998408, 0.597879)
I0419 21:04:49.182057 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:49.182164 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891374641.
I0419 21:04:49.182580 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891375030.
I0419 21:04:49.183930 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0132743 range=0.589238 variance=0.000563224 t_weight=5326.47 r_weight=0 yaml=(15.015, -1.32) prior=(15.381, -1.88719, -177.997deg) obs_actual=(0.330152, -0.587192) obs_expected=(0.345934, -0.579638) delta=(-0.0157828, -0.00755324) |delta|=0.0174971m
I0419 21:04:49.184000 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891661854.
I0419 21:04:49.185297 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.516 deg, rms_residual=0.00690324m, sigma_yaw=0.00912037 rad, N=2
I0419 21:04:49.185362 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3653, -1.90739, -177.516deg) inliers=2 rms=0.00690324m
I0419 21:04:49.185390 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891662112.
I0419 21:04:49.198596 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891979439.
I0419 21:04:49.199313 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294891979552.
I0419 21:04:49.229107 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294892253646.
I0419 21:04:49.229903 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:49.229969 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:49.230036 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294892253823.
I0419 21:04:49.254066 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294892535665.
I0419 21:04:49.258607 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0308325, -0.587946), points=19, range=0.588947, residual=0.00971937, extent=0.0311984
I0419 21:04:49.258683 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0308325, -0.587946), tracking=(0.329332, -0.587946), map_predicted=(15.0266, -1.31473), range=0.588947, pts=19
I0419 21:04:49.258716 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0127841m maha_sq=0.0070971 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0266, -1.31473) lm_pos=(15.015, -1.32) delta=(0.0116479, 0.00526882) -> 1 candidate(s)
I0419 21:04:49.258805 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294892581813.
I0419 21:04:49.318951 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.220754, -0.643613)
I0419 21:04:49.319147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294892822213.
I0419 21:04:49.319916 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:49.320003 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294892860242.
I0419 21:04:49.321848 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:49.321933 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00800131 range=0.589773 variance=0.000576093 t_weight=5207.49 r_weight=0 yaml=(15.015, -1.32) prior=(15.374, -1.8858, -177.999deg) obs_actual=(0.3293, -0.58754) obs_expected=(0.338999, -0.577985) delta=(-0.00969917, -0.00955451) |delta|=0.0136148m
I0419 21:04:49.321979 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:49.321998 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294893131869.
I0419 21:04:49.322393 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294893132040.
I0419 21:04:49.342494 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:49.342648 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294893420201.
I0419 21:04:49.345948 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294893455209.
I0419 21:04:49.369899 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562949s, prior_pose=(15.3721, -1.89124), yaw=-177.999 deg
I0419 21:04:49.370018 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1301, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:49.370175 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:49.370249 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294893694818.
I0419 21:04:49.374455 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294893739122.
I0419 21:04:49.431341 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894015391.
I0419 21:04:49.432166 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.99519, 0.595294), points=4, range=1.15675, residual=0.0126525, extent=0.0257496
I0419 21:04:49.432225 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.99519, 0.595294), tracking=(1.29369, 0.595294), map_predicted=(14.1032, -2.52839), range=1.15675, pts=4
I0419 21:04:49.432252 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0144843m maha_sq=0.0090748 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1032, -2.52839) lm_pos=(14.115, -2.52) delta=(-0.0118104, -0.0083851) -> 1 candidate(s)
I0419 21:04:49.432331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894059160.
I0419 21:04:49.433352 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:49.433399 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.220482, -0.642825)
I0419 21:04:49.433422 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:49.433501 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894297720.
I0419 21:04:49.434818 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294894332307.
I0419 21:04:49.462684 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894621787.
I0419 21:04:49.463203 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000788561 range=0.678824 variance=0.000559925 t_weight=5357.86 r_weight=0 yaml=(15.915, -2.52) prior=(15.3724, -1.89398, -177.985deg) obs_actual=(-0.518207, 0.640988) obs_expected=(-0.520281, 0.644714) delta=(0.00207355, -0.0037262) |delta|=0.00426429m
I0419 21:04:49.463279 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894621989.
I0419 21:04:49.490688 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894896255.
I0419 21:04:49.492261 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.574 deg, rms_residual=0.00784955m, sigma_yaw=0.0103577 rad, N=2
I0419 21:04:49.492389 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3688, -1.9055, -177.574deg) inliers=2 rms=0.00784955m
I0419 21:04:49.492455 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294894896494.
I0419 21:04:49.522277 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294895212541.
I0419 21:04:49.602871 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:49.602962 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:49.602989 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.12776 rad/s > flush threshold 3.
I0419 21:04:49.603060 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294895212681.
I0419 21:04:49.604426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294895492577.
I0419 21:04:49.605085 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294895492792.
I0419 21:04:49.606956 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.220954, -0.644249)
I0419 21:04:49.607034 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216585, -0.64416), points=17, range=0.679706, residual=0.0110822, extent=0.0318784
I0419 21:04:49.607059 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.216585, -0.64416), tracking=(-0.515085, 0.64416), map_predicted=(15.909, -2.52097), range=0.679706, pts=17
I0419 21:04:49.607082 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00606896m maha_sq=0.00159013 (gate chi2=5.99) pose_sigma=(0.150345, 0.150345, rho=0) det_map=(15.909, -2.52097) lm_pos=(15.915, -2.52) delta=(-0.00599164, -0.000965673) -> 1 candidate(s)
I0419 21:04:49.607156 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294895781884.
I0419 21:04:49.607565 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:49.607658 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294895815783.
I0419 21:04:49.611246 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:49.611416 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:49.611469 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294896102344.
I0419 21:04:49.612355 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00153637 range=0.681588 variance=0.00055787 t_weight=5377.6 r_weight=0 yaml=(15.915, -2.52) prior=(15.3716, -1.89527, -177.99deg) obs_actual=(-0.515593, 0.645647) obs_expected=(-0.521107, 0.643405) delta=(0.00551356, 0.0022419) |delta|=0.00595192m
I0419 21:04:49.612491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294896102548.
I0419 21:04:49.638911 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:49.639192 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294896379968.
I0419 21:04:49.640273 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294896380256.
I0419 21:04:49.732946 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594395s, prior_pose=(15.3714, -1.89548), yaw=-177.993 deg
I0419 21:04:49.733047 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:49.733247 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:49.733318 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294896696943.
I0419 21:04:49.734020 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294896697213.
I0419 21:04:49.735452 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294896939278.
I0419 21:04:49.736048 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294896974303.
I0419 21:04:49.738209 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:49.738272 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0327014, -0.59005)
I0419 21:04:49.738296 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:49.738392 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294897254980.
I0419 21:04:49.738767 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220098, -0.642137), points=17, range=0.679294, residual=0.010897, extent=0.033612
I0419 21:04:49.738813 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.220098, -0.642137), tracking=(-0.518598, 0.642137), map_predicted=(15.911, -2.52122), range=0.679294, pts=17
I0419 21:04:49.738843 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00417461m maha_sq=0.000755894 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.911, -2.52122) lm_pos=(15.915, -2.52) delta=(-0.00399291, -0.00121819) -> 1 candidate(s)
I0419 21:04:49.738914 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294897255216.
I0419 21:04:49.755244 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294897540166.
I0419 21:04:49.756835 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294897540428.
I0419 21:04:49.791288 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000736269 range=0.5897 variance=0.000547867 t_weight=5475.78 r_weight=0 yaml=(15.015, -1.32) prior=(15.3686, -1.90026, -177.993deg) obs_actual=(0.335376, -0.588856) obs_expected=(0.333097, -0.592287) delta=(0.00227936, 0.00343132) |delta|=0.0041194m
I0419 21:04:49.791610 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294897902556.
I0419 21:04:49.864137 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.33379 rad/s > flush threshold 3.
I0419 21:04:49.865512 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294898139499.
I0419 21:04:49.866140 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:49.866206 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:49.866266 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294898139714.
I0419 21:04:49.867376 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3713, -1.89699), yaw=-177.985 deg backend=(15.3734, -1.89573)
I0419 21:04:49.868093 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.65 deg, rms_residual=0.00730962m, sigma_yaw=0.00965209 rad, N=2
I0419 21:04:49.868156 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3677, -1.90399, -177.65deg) inliers=2 rms=0.00730962m
I0419 21:04:49.868187 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294898419548.
I0419 21:04:49.868752 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294898453544.
I0419 21:04:49.874955 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.032591, -0.588578)
I0419 21:04:49.875188 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294898743048.
I0419 21:04:49.875831 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1754, 0.531521), points=4, range=1.29225, residual=0.0079332, extent=0.0195683
I0419 21:04:49.875898 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:49.875926 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.1754, 0.531521), tracking=(-1.4739, -0.531521), map_predicted=(16.8256, -1.31398), range=1.29225, pts=4
I0419 21:04:49.875957 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0121971m maha_sq=0.00645988 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8256, -1.31398) lm_pos=(16.815, -1.32) delta=(0.0106067, 0.00602219) -> 1 candidate(s)
I0419 21:04:49.876041 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294898743195.
I0419 21:04:49.902230 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294899015751.
I0419 21:04:49.903017 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:49.903096 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:49.903123 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294899015942.
I0419 21:04:49.976426 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:49.976579 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294899340366.
I0419 21:04:49.977295 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00914953 range=1.28933 variance=0.000501428 t_weight=5982.91 r_weight=0 yaml=(16.815, -1.32) prior=(15.3724, -1.89976, -177.985deg) obs_actual=(-1.4765, -0.530646) obs_expected=(-1.46212, -0.528678) delta=(-0.0143727, -0.00196898) |delta|=0.014507m
I0419 21:04:49.977401 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294899340603.
I0419 21:04:49.978431 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876634s, prior_pose=(15.3724, -1.89976), yaw=-177.985 deg
I0419 21:04:49.978505 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:49.978672 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294899619829.
I0419 21:04:49.979965 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:49.980053 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294899620064.
I0419 21:04:49.990599 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294899896438.
I0419 21:04:49.994074 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.997541, 0.598348)
I0419 21:04:49.994314 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294899935655.
I0419 21:04:50.018890 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:50.019037 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:50.019173 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:50.019420 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294900180505.
I0419 21:04:50.022286 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294900214958.
I0419 21:04:50.050977 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294900498949.
I0419 21:04:50.051910 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220286, -0.642753), points=17, range=0.680706, residual=0.0106726, extent=0.032034
I0419 21:04:50.052002 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.220286, -0.642753), tracking=(-0.518786, 0.642753), map_predicted=(15.9173, -2.5143), range=0.680706, pts=17
I0419 21:04:50.052060 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00615341m maha_sq=0.00164268 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9173, -2.5143) lm_pos=(15.915, -2.52) delta=(0.00231444, 0.00570156) -> 1 candidate(s)
I0419 21:04:50.052230 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294900499188.
I0419 21:04:50.144219 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294900779249.
I0419 21:04:50.144924 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294900779504.
I0419 21:04:50.146885 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901065406.
I0419 21:04:50.147317 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:50.147372 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:50.147410 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00320125 range=0.589714 variance=0.000564181 t_weight=5317.44 r_weight=0 yaml=(15.015, -1.32) prior=(15.3715, -1.89195, -177.994deg) obs_actual=(0.328463, -0.587725) obs_expected=(0.336243, -0.584078) delta=(-0.00778042, -0.00364684) |delta|=0.00859269m
I0419 21:04:50.147461 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294901099001.
I0419 21:04:50.148882 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901372639.
I0419 21:04:50.149264 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219846, -0.644464)
I0419 21:04:50.149349 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901372865.
I0419 21:04:50.167253 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901661849.
I0419 21:04:50.170475 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:50.170759 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901696749.
I0419 21:04:50.269675 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901936415.
I0419 21:04:50.270800 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:50.270910 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.515 deg, rms_residual=0.0160435m, sigma_yaw=0.0209433 rad, N=2
I0419 21:04:50.271054 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3774, -1.87981, -177.515deg) inliers=2 rms=0.0160435m
I0419 21:04:50.271116 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:50.271152 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294901971868.
I0419 21:04:50.273967 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0342399, -0.587826), points=21, range=0.589286, residual=0.0107096, extent=0.0352255
I0419 21:04:50.274091 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0342399, -0.587826), tracking=(0.33274, -0.587826), map_predicted=(15.0149, -1.32304), range=0.589286, pts=21
I0419 21:04:50.274118 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00304782m maha_sq=0.000403032 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0149, -1.32304) lm_pos=(15.015, -1.32) delta=(-0.000147685, -0.00304424) -> 1 candidate(s)
I0419 21:04:50.274142 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:50.274225 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294902255218.
I0419 21:04:50.274731 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294902255418.
I0419 21:04:50.277221 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605023s, prior_pose=(15.3678, -1.89979), yaw=-177.991 deg
I0419 21:04:50.277349 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:50.277537 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294902541438.
I0419 21:04:50.278178 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:50.278237 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00517898 range=1.28975 variance=0.000515513 t_weight=5819.45 r_weight=0 yaml=(16.815, -1.32) prior=(15.3678, -1.89979, -177.991deg) obs_actual=(-1.47757, -0.529066) obs_expected=(-1.46666, -0.528697) delta=(-0.0109115, -0.000369157) |delta|=0.0109177m
I0419 21:04:50.278304 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294902541601.
I0419 21:04:50.281826 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.17511, 0.527287)
I0419 21:04:50.282001 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294902814229.
I0419 21:04:50.286173 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294902852502.
I0419 21:04:50.314687 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:50.314832 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:50.315096 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294903133643.
I0419 21:04:50.316475 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294903133894.
I0419 21:04:50.418093 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294903415437.
I0419 21:04:50.418805 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294903459944.
I0419 21:04:50.421030 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.036886, -0.588855), points=20, range=0.5893, residual=0.0107311, extent=0.034741
I0419 21:04:50.421131 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.036886, -0.588855), tracking=(0.335386, -0.588855), map_predicted=(15.0167, -1.31972), range=0.5893, pts=20
I0419 21:04:50.421162 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00173541m maha_sq=0.000129827 (gate chi2=5.99) pose_sigma=(0.150494, 0.150494, rho=0) det_map=(15.0167, -1.31972) lm_pos=(15.015, -1.32) delta=(0.00171264, 0.000280187) -> 1 candidate(s)
I0419 21:04:50.421242 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294903737184.
I0419 21:04:50.421720 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294903737377.
I0419 21:04:50.423213 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904015982.
I0419 21:04:50.424417 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:50.424469 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:50.424517 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0164683 range=1.28867 variance=0.000523617 t_weight=5729.38 r_weight=0 yaml=(16.815, -1.32) prior=(15.374, -1.89198, -177.977deg) obs_actual=(-1.47695, -0.530851) obs_expected=(-1.46024, -0.520767) delta=(-0.0167088, -0.0100837) |delta|=0.0195158m
I0419 21:04:50.424571 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904016217.
I0419 21:04:50.430037 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.99345, 0.598859)
I0419 21:04:50.430171 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294904295682.
I0419 21:04:50.430908 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904295864.
I0419 21:04:50.492362 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:50.492372 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904573986.
I0419 21:04:50.493119 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:50.493211 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904618223.
I0419 21:04:50.494786 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904895326.
I0419 21:04:50.495337 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:50.495398 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:50.495422 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294904895503.
I0419 21:04:50.519016 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.999974, 0.600819), points=6, range=1.16333, residual=0.011002, extent=0.0293279
I0419 21:04:50.519155 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.999974, 0.600819), tracking=(1.29847, 0.600819), map_predicted=(14.0922, -2.54447), range=1.16333, pts=6
I0419 21:04:50.519264 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.033422m maha_sq=0.0482484 (gate chi2=5.99) pose_sigma=(0.150239, 0.150239, rho=0) det_map=(14.0922, -2.54447) lm_pos=(14.115, -2.52) delta=(-0.0227687, -0.0244666) -> 1 candidate(s)
I0419 21:04:50.519315 1271134 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:50.519466 1271134 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.712 deg, rms_residual=0.0160552m, sigma_yaw=0.0209582 rad, N=2
I0419 21:04:50.519537 1271134 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3788, -1.88066, -177.712deg) inliers=2 rms=0.0160552m
I0419 21:04:50.519644 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294905181412.
I0419 21:04:50.521049 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294905181632.
I0419 21:04:50.546509 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562015s, prior_pose=(15.3681, -1.90053), yaw=-178.003 deg
I0419 21:04:50.546708 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1302, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:50.547097 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294905457518.
I0419 21:04:50.550779 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:50.550918 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294905502076.
I0419 21:04:50.578119 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.996875, 0.600919)
I0419 21:04:50.578372 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000941922 range=0.591609 variance=0.000613465 t_weight=4890.25 r_weight=0 yaml=(15.015, -1.32) prior=(15.3681, -1.90053, -178.003deg) obs_actual=(0.330231, -0.588512) obs_expected=(0.332684, -0.592481) delta=(-0.0024529, 0.00396917) |delta|=0.00466595m
I0419 21:04:50.578487 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294905772580.
I0419 21:04:50.579401 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294905772752.
I0419 21:04:50.661571 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:50.661695 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:50.661814 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906055309.
I0419 21:04:50.662307 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906099885.
I0419 21:04:50.664755 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906337946.
I0419 21:04:50.665659 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906372874.
I0419 21:04:50.666833 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00664, 0.60086), points=4, range=1.166, residual=0.0148306, extent=0.0335609
I0419 21:04:50.666894 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00664, 0.60086), tracking=(1.30514, 0.60086), map_predicted=(14.0838, -2.54401), range=1.166, pts=4
I0419 21:04:50.666951 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0393589m maha_sq=0.0668332 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0838, -2.54401) lm_pos=(14.115, -2.52) delta=(-0.0311907, -0.0240055) -> 1 candidate(s)
I0419 21:04:50.667012 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906659318.
I0419 21:04:50.667403 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906659470.
I0419 21:04:50.694118 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294906935515.
I0419 21:04:50.694825 1271134 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:50.694888 1271134 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:50.694953 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294906935608.
I0419 21:04:50.773900 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3724, -1.89455), yaw=-177.98 deg backend=(15.3721, -1.89667)
I0419 21:04:50.775043 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0316864, -0.587914)
I0419 21:04:50.775177 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0316922 range=1.16175 variance=0.000592726 t_weight=5061.36 r_weight=0 yaml=(14.115, -2.52) prior=(15.3724, -1.89455, -177.98deg) obs_actual=(1.30056, 0.59682) obs_expected=(1.27867, 0.580744) delta=(0.0218891, 0.0160765) |delta|=0.0271585m
I0419 21:04:50.775236 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294907254166.
I0419 21:04:50.775897 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294907254358.
I0419 21:04:50.777115 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294907540454.
I0419 21:04:50.778357 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:50.778400 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.08689 rad/s > flush threshold 3.
I0419 21:04:50.778452 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294907540591.
I0419 21:04:50.782122 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294907815885.
I0419 21:04:50.786641 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:50.786787 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:50.786811 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294907860282.
I0419 21:04:50.814534 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:50.814682 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294908137880.
I0419 21:04:50.815064 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220065, -0.642073), points=17, range=0.679529, residual=0.0108179, extent=0.0340175
I0419 21:04:50.815109 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.220065, -0.642073), tracking=(-0.518565, 0.642073), map_predicted=(15.9165, -2.51119), range=0.679529, pts=17
I0419 21:04:50.815164 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00893703m maha_sq=0.00346456 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9165, -2.51119) lm_pos=(15.915, -2.52) delta=(0.00148415, 0.00881294) -> 1 candidate(s)
I0419 21:04:50.815212 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.72 deg, rms_residual=0.00531m, sigma_yaw=0.00703022 rad, N=2
I0419 21:04:50.815236 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3681, -1.90331, -177.72deg) inliers=2 rms=0.00531m
I0419 21:04:50.815263 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294908137995.
I0419 21:04:50.841675 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872391s, prior_pose=(15.3756, -1.88782), yaw=-177.977 deg
I0419 21:04:50.841789 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:50.841998 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294908412982.
I0419 21:04:50.905668 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.56755 rad/s > flush threshold 3.
I0419 21:04:50.905761 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:04:50.905820 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294908413145.
I0419 21:04:50.907039 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.03426, -0.587673)
I0419 21:04:50.907130 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.012829 range=1.1644 variance=0.000573891 t_weight=5227.48 r_weight=0 yaml=(14.115, -2.52) prior=(15.3792, -1.88385, -177.972deg) obs_actual=(1.30055, 0.600092) obs_expected=(1.28593, 0.591016) delta=(0.0146169, 0.00907542) |delta|=0.0172051m
I0419 21:04:50.907202 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294908697643.
I0419 21:04:50.907819 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294908697832.
I0419 21:04:50.909775 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:50.909838 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:50.909919 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909018659.
I0419 21:04:50.910537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909018780.
I0419 21:04:50.930783 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909300784.
I0419 21:04:50.932739 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909300959.
I0419 21:04:50.959017 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909580611.
I0419 21:04:50.962349 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0333855, -0.587541), points=22, range=0.589273, residual=0.0114825, extent=0.0377492
I0419 21:04:50.962481 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0333855, -0.587541), tracking=(0.331885, -0.587541), map_predicted=(15.0237, -1.31188), range=0.589273, pts=22
I0419 21:04:50.962584 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.011901m maha_sq=0.00614049 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0237, -1.31188) lm_pos=(15.015, -1.32) delta=(0.00870284, 0.00811753) -> 1 candidate(s)
I0419 21:04:50.962756 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909614956.
I0419 21:04:51.052266 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909902308.
I0419 21:04:51.052716 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17298, 0.528377)
I0419 21:04:51.052765 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:51.052791 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:51.052867 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294909905057.
I0419 21:04:51.054561 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0169525 range=1.161 variance=0.000602864 t_weight=4976.25 r_weight=0 yaml=(14.115, -2.52) prior=(15.374, -1.88502, -177.971deg) obs_actual=(1.29913, 0.597257) obs_expected=(1.28071, 0.590013) delta=(0.0184168, 0.00724381) |delta|=0.0197902m
I0419 21:04:51.055869 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294910179286.
I0419 21:04:51.057471 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294910179480.
I0419 21:04:51.058877 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294910460392.
I0419 21:04:51.059336 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:51.059412 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294910493292.
I0419 21:04:51.078181 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294910776933.
I0419 21:04:51.078708 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:51.078790 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:51.078819 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294910777062.
I0419 21:04:51.106563 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:51.106854 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911057871.
I0419 21:04:51.185809 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216161, -0.64287), points=17, range=0.678941, residual=0.0112334, extent=0.032245
I0419 21:04:51.185935 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.216161, -0.64287), tracking=(-0.514661, 0.64287), map_predicted=(15.9157, -2.50848), range=0.678941, pts=17
I0419 21:04:51.185966 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0115399m maha_sq=0.00576465 (gate chi2=5.99) pose_sigma=(0.150128, 0.150128, rho=0) det_map=(15.9157, -2.50848) lm_pos=(15.915, -2.52) delta=(0.000672517, 0.0115203) -> 1 candidate(s)
I0419 21:04:51.185992 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.572 rad/s > flush threshold 3.
I0419 21:04:51.186072 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.59 deg, rms_residual=0.00709433m, sigma_yaw=0.00937047 rad, N=2
I0419 21:04:51.186105 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3695, -1.90501, -177.59deg) inliers=2 rms=0.00709433m
I0419 21:04:51.186137 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911058122.
I0419 21:04:51.187404 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603827s, prior_pose=(15.3784, -1.88441), yaw=-177.952 deg
I0419 21:04:51.187496 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:51.187687 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911380760.
I0419 21:04:51.188278 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17542, 0.527421)
I0419 21:04:51.188344 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:04:51.188402 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911380991.
I0419 21:04:51.190407 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0242192 range=1.1625 variance=0.000549426 t_weight=5460.25 r_weight=0 yaml=(14.115, -2.52) prior=(15.3745, -1.89078, -177.952deg) obs_actual=(1.29796, 0.600518) obs_expected=(1.28113, 0.583812) delta=(0.0168289, 0.0167063) |delta|=0.0237131m
I0419 21:04:51.190527 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911655446.
I0419 21:04:51.191177 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911655658.
I0419 21:04:51.196655 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:51.197032 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:51.197949 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911958335.
I0419 21:04:51.200696 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294911958593.
I0419 21:04:51.226667 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294912258256.
I0419 21:04:51.227903 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294912258485.
I0419 21:04:51.315117 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294912544276.
I0419 21:04:51.315817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294912544646.
I0419 21:04:51.316907 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220316, -0.642818), points=17, range=0.680529, residual=0.010546, extent=0.0327057
I0419 21:04:51.316962 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.220316, -0.642818), tracking=(-0.518816, 0.642818), map_predicted=(15.9132, -2.51609), range=0.680529, pts=17
I0419 21:04:51.316987 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0043126m maha_sq=0.000806955 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9132, -2.51609) lm_pos=(15.915, -2.52) delta=(-0.00181435, 0.00391237) -> 1 candidate(s)
I0419 21:04:51.317119 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294912813861.
I0419 21:04:51.317641 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.996764, 0.598876)
I0419 21:04:51.317680 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:51.317704 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:51.317766 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294912858876.
I0419 21:04:51.319620 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294913095801.
I0419 21:04:51.320405 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0230227 range=1.163 variance=0.00059089 t_weight=5077.09 r_weight=0 yaml=(14.115, -2.52) prior=(15.3739, -1.88865, -177.972deg) obs_actual=(1.30034, 0.597997) obs_expected=(1.2804, 0.586406) delta=(0.0199314, 0.0115912) |delta|=0.0230568m
I0419 21:04:51.320482 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294913140376.
I0419 21:04:51.342655 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294913415299.
I0419 21:04:51.343799 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:51.344005 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294913415581.
I0419 21:04:51.370613 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294913695087.
I0419 21:04:51.375105 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:51.375299 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:51.375352 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294913739640.
I0419 21:04:51.457747 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:51.457901 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294913978746.
I0419 21:04:51.458933 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294914140770.
I0419 21:04:51.460403 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552563s, prior_pose=(15.3802, -1.8856), yaw=-177.993 deg
I0419 21:04:51.460471 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:51.460561 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.998774, 0.600099)
I0419 21:04:51.460587 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00076, 0.599319), points=5, range=1.1652, residual=0.00705083, extent=0.018794
I0419 21:04:51.460608 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00076, 0.599319), tracking=(1.29926, 0.599319), map_predicted=(14.1028, -2.53005), range=1.1652, pts=5
I0419 21:04:51.460629 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0158387m maha_sq=0.0108845 (gate chi2=5.99) pose_sigma=(0.150131, 0.150131, rho=0) det_map=(14.1028, -2.53005) lm_pos=(14.115, -2.52) delta=(-0.0122391, -0.0100533) -> 1 candidate(s)
I0419 21:04:51.460739 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294914292203.
I0419 21:04:51.461139 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:51.461205 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294914292411.
I0419 21:04:51.462666 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.576 deg, rms_residual=0.0181176m, sigma_yaw=0.023587 rad, N=2
I0419 21:04:51.462742 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3781, -1.87993, -177.576deg) inliers=2 rms=0.0181176m
I0419 21:04:51.462774 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294914581410.
I0419 21:04:51.464095 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294914581636.
I0419 21:04:51.486289 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:51.486394 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:51.486495 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00461588 range=0.680471 variance=0.000561162 t_weight=5346.05 r_weight=0 yaml=(15.915, -2.52) prior=(15.3796, -1.8839, -177.993deg) obs_actual=(-0.515178, 0.64443) obs_expected=(-0.512786, 0.654466) delta=(-0.00239229, -0.0100362) |delta|=0.0103173m
I0419 21:04:51.486588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294914858029.
I0419 21:04:51.490679 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294914901790.
I0419 21:04:51.553033 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294915172501.
I0419 21:04:51.553663 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294915172631.
I0419 21:04:51.555395 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294915451836.
I0419 21:04:51.556042 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294915498882.
I0419 21:04:51.574503 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17549, 0.529505)
I0419 21:04:51.574707 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294915741117.
I0419 21:04:51.577773 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:51.577834 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0360258, -0.588919), points=19, range=0.589421, residual=0.0101699, extent=0.0314657
I0419 21:04:51.577854 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:51.577870 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0360258, -0.588919), tracking=(0.334526, -0.588919), map_predicted=(15.0196, -1.31081), range=0.589421, pts=19
I0419 21:04:51.577893 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0102576m maha_sq=0.00456732 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0196, -1.31081) lm_pos=(15.015, -1.32) delta=(0.00455452, 0.00919099) -> 1 candidate(s)
I0419 21:04:51.578006 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294915774151.
I0419 21:04:51.584035 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3765, -1.88646), yaw=-177.972 deg backend=(15.3693, -1.89656)
I0419 21:04:51.602810 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916021466.
I0419 21:04:51.605934 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916054352.
I0419 21:04:51.634966 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0178069 range=1.16467 variance=0.000561858 t_weight=5339.43 r_weight=0 yaml=(14.115, -2.52) prior=(15.3765, -1.88646, -177.972deg) obs_actual=(1.29899, 0.601124) obs_expected=(1.28315, 0.58849) delta=(0.0158437, 0.0126347) |delta|=0.0202647m
I0419 21:04:51.635150 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916337872.
I0419 21:04:51.635859 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:51.635993 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916337986.
I0419 21:04:51.705674 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916621454.
I0419 21:04:51.706378 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:51.706472 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:51.706496 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916661853.
I0419 21:04:51.708628 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:51.708775 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916939536.
I0419 21:04:51.709283 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294916939666.
I0419 21:04:51.722553 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880351s, prior_pose=(15.3779, -1.88795), yaw=-177.984 deg
I0419 21:04:51.722740 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:51.723222 1271134 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0317261, -0.588613)
I0419 21:04:51.723516 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294917218337.
I0419 21:04:51.726758 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216751, -0.644631), points=17, range=0.680706, residual=0.0112382, extent=0.0326603
I0419 21:04:51.726876 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.216751, -0.644631), tracking=(-0.515251, 0.644631), map_predicted=(15.9163, -2.51266), range=0.680706, pts=17
I0419 21:04:51.726927 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00745038m maha_sq=0.0024032 (gate chi2=5.99) pose_sigma=(0.150116, 0.150116, rho=0) det_map=(15.9163, -2.51266) lm_pos=(15.915, -2.52) delta=(0.00126106, 0.00734288) -> 1 candidate(s)
I0419 21:04:51.727002 1271134 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:51.727195 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294917218667.
I0419 21:04:51.755126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294917542446.
I0419 21:04:51.756150 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.479 deg, rms_residual=0.00640541m, sigma_yaw=0.00846822 rad, N=2
I0419 21:04:51.756258 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.365, -1.90681, -177.479deg) inliers=2 rms=0.00640541m
I0419 21:04:51.756316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294917542659.
I0419 21:04:51.840400 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:51.840487 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:51.840580 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.026431 range=1.16267 variance=0.0005449 t_weight=5505.6 r_weight=0 yaml=(14.115, -2.52) prior=(15.3732, -1.89243, -177.974deg) obs_actual=(1.29727, 0.600103) obs_expected=(1.27964, 0.582701) delta=(0.0176357, 0.0174016) |delta|=0.0247757m
I0419 21:04:51.840633 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294917818641.
I0419 21:04:51.841351 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294917818956.
I0419 21:04:51.842669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918094982.
I0419 21:04:51.843976 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918095203.
I0419 21:04:51.845288 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918418830.
I0419 21:04:51.845853 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.18029, 0.529607)
I0419 21:04:51.845950 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918418946.
I0419 21:04:51.870739 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918697253.
I0419 21:04:51.871803 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:51.872392 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22009, -0.64214), points=17, range=0.679118, residual=0.0107176, extent=0.0346879
I0419 21:04:51.872465 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:51.872501 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.22009, -0.64214), tracking=(-0.51859, 0.64214), map_predicted=(15.9128, -2.51795), range=0.679118, pts=17
I0419 21:04:51.872546 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00298725m maha_sq=0.000387119 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9128, -2.51795) lm_pos=(15.915, -2.52) delta=(-0.00217333, 0.00204946) -> 1 candidate(s)
I0419 21:04:51.872750 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918697441.
I0419 21:04:51.898684 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294918975600.
I0419 21:04:51.903231 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919021068.
I0419 21:04:51.975165 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:51.975395 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0211972 range=1.16 variance=0.000677258 t_weight=4429.63 r_weight=0 yaml=(14.115, -2.52) prior=(15.376, -1.89181, -177.986deg) obs_actual=(1.29798, 0.59918) obs_expected=(1.28226, 0.583478) delta=(0.0157182, 0.0157024) |delta|=0.0222178m
I0419 21:04:51.975477 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919302367.
I0419 21:04:51.975855 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:51.975939 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919302583.
I0419 21:04:51.978129 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919575187.
I0419 21:04:51.978806 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:51.978885 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:51.978909 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919575379.
I0419 21:04:51.986490 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:51.991539 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919856794.
I0419 21:04:51.993340 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.994454, 0.599446)
I0419 21:04:51.993589 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294919895254.
I0419 21:04:52.018914 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605991s, prior_pose=(15.3743, -1.89124), yaw=-177.987 deg
I0419 21:04:52.019093 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:52.019591 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294920181178.
I0419 21:04:52.020524 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.222144, -0.642037), points=17, range=0.679882, residual=0.010912, extent=0.0319411
I0419 21:04:52.020603 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.222144, -0.642037), tracking=(-0.520644, 0.642037), map_predicted=(15.9172, -2.5146), range=0.679882, pts=17
I0419 21:04:52.020656 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00581725m maha_sq=0.00146777 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9172, -2.5146) lm_pos=(15.915, -2.52) delta=(0.00215316, 0.0054041) -> 1 candidate(s)
I0419 21:04:52.020733 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:52.020809 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294920181416.
I0419 21:04:52.096598 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294920461122.
I0419 21:04:52.097350 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.505 deg, rms_residual=0.00796917m, sigma_yaw=0.0105138 rad, N=2
I0419 21:04:52.097424 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3678, -1.90592, -177.505deg) inliers=2 rms=0.00796917m
I0419 21:04:52.097498 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294920461334.
I0419 21:04:52.098659 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:52.098707 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:52.098770 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.035951 range=1.163 variance=0.000574249 t_weight=5224.22 r_weight=0 yaml=(14.115, -2.52) prior=(15.3699, -1.89404, -177.99deg) obs_actual=(1.30035, 0.596999) obs_expected=(1.27604, 0.581552) delta=(0.024309, 0.0154472) |delta|=0.0288018m
I0419 21:04:52.098812 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294920743137.
I0419 21:04:52.100083 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294920743346.
I0419 21:04:52.106307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921056988.
I0419 21:04:52.107106 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921057210.
I0419 21:04:52.134053 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921334719.
I0419 21:04:52.134754 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17267, 0.530286)
I0419 21:04:52.134858 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921334883.
I0419 21:04:52.162772 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921618991.
I0419 21:04:52.166412 1271134 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:52.166525 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.035055, -0.586831), points=22, range=0.588409, residual=0.0114505, extent=0.0382111
I0419 21:04:52.166574 1271134 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:52.166610 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.035055, -0.586831), tracking=(0.333555, -0.586831), map_predicted=(15.0181, -1.31894), range=0.588409, pts=22
I0419 21:04:52.166653 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00330203m maha_sq=0.000472729 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0181, -1.31894) lm_pos=(15.015, -1.32) delta=(0.00312731, 0.00105987) -> 1 candidate(s)
I0419 21:04:52.166786 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921655803.
I0419 21:04:52.226398 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921938394.
I0419 21:04:52.226898 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294921938555.
I0419 21:04:52.228938 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294922216420.
I0419 21:04:52.229559 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:52.229629 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000544796 range=0.680588 variance=0.00055198 t_weight=5434.98 r_weight=0 yaml=(15.915, -2.52) prior=(15.3705, -1.89497, -177.985deg) obs_actual=(-0.518794, 0.64275) obs_expected=(-0.522182, 0.643788) delta=(0.00338823, -0.00103853) |delta|=0.00354382m
I0419 21:04:52.229728 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294922216582.
I0419 21:04:52.250087 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294922494161.
I0419 21:04:52.254451 1271134 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:52.254562 1271134 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:52.254594 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294922538250.
I0419 21:04:52.279083 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:52.279326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294922781609.
I0419 21:04:52.282284 1271134 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.993879, 0.599125)
I0419 21:04:52.282518 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294922815323.
I0419 21:04:52.363572 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557985s, prior_pose=(15.3783, -1.88749), yaw=-177.973 deg
I0419 21:04:52.363682 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:52.363897 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923096235.
I0419 21:04:52.364511 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17144, 0.53179), points=3, range=1.289, residual=0.00671799, extent=0.0141474
I0419 21:04:52.364560 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17144, 0.53179), tracking=(-1.46994, -0.53179), map_predicted=(16.8285, -1.30404), range=1.289, pts=3
I0419 21:04:52.364588 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0208954m maha_sq=0.0189738 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8285, -1.30404) lm_pos=(16.815, -1.32) delta=(0.0134825, 0.0159637) -> 1 candidate(s)
I0419 21:04:52.364627 1271134 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:52.364681 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923096406.
I0419 21:04:52.366559 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923416869.
I0419 21:04:52.368070 1271134 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:52.368211 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923417036.
I0419 21:04:52.369587 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:52.369647 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:52.369700 1271134 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.523 deg, rms_residual=0.00596529m, sigma_yaw=0.00789096 rad, N=2
I0419 21:04:52.369743 1271134 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3688, -1.90587, -177.523deg) inliers=2 rms=0.00596529m
I0419 21:04:52.369797 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923659913.
I0419 21:04:52.370231 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0132539 range=0.5874 variance=0.000541073 t_weight=5544.54 r_weight=0 yaml=(15.015, -1.32) prior=(15.3784, -1.88598, -177.974deg) obs_actual=(0.327529, -0.586222) obs_expected=(0.343194, -0.578476) delta=(-0.0156645, -0.00774646) |delta|=0.0174752m
I0419 21:04:52.370296 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294923693656.
I0419 21:04:52.398845 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923977620.
I0419 21:04:52.399689 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294923977880.
I0419 21:04:52.427085 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294924262360.
I0419 21:04:52.430392 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.992029, 0.597981)
I0419 21:04:52.430684 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294924296438.
I0419 21:04:52.506223 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294924587128.
I0419 21:04:52.506705 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:52.506785 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:52.506862 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294924587450.
I0419 21:04:52.508335 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.37, -1.89466), yaw=-177.974 deg backend=(15.3686, -1.89605)
I0419 21:04:52.509321 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0342237, -0.587179), points=21, range=0.587762, residual=0.0112816, extent=0.0406629
I0419 21:04:52.509402 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0342237, -0.587179), tracking=(0.332724, -0.587179), map_predicted=(15.0167, -1.31961), range=0.587762, pts=21
I0419 21:04:52.509433 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0017711m maha_sq=0.000135347 (gate chi2=5.99) pose_sigma=(0.150383, 0.150383, rho=0) det_map=(15.0167, -1.31961) lm_pos=(15.015, -1.32) delta=(0.00172854, 0.000385932) -> 1 candidate(s)
I0419 21:04:52.509510 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294924871009.
I0419 21:04:52.510138 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294924871123.
I0419 21:04:52.517688 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294925164775.
I0419 21:04:52.519210 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:52.519315 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00984183 range=1.286 variance=0.000516066 t_weight=5813.21 r_weight=0 yaml=(16.815, -1.32) prior=(15.3715, -1.89115, -177.973deg) obs_actual=(-1.47422, -0.529618) obs_expected=(-1.46283, -0.519736) delta=(-0.0113891, -0.00988181) |delta|=0.0150785m
I0419 21:04:52.519392 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294925165064.
I0419 21:04:52.546136 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294925455897.
I0419 21:04:52.546841 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:52.546916 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:52.546940 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294925456074.
I0419 21:04:52.623387 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:52.623551 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294925764426.
I0419 21:04:52.624187 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17298, 0.528376)
I0419 21:04:52.624327 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294925764624.
I0419 21:04:52.625718 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0851402s, prior_pose=(15.3672, -1.89497), yaw=-178.007 deg
I0419 21:04:52.625826 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1273, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:52.625978 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926016466.
I0419 21:04:52.626555 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:52.626624 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294926059782.
I0419 21:04:52.633841 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00184, 0.597011), points=5, range=1.1634, residual=0.00959342, extent=0.0212814
I0419 21:04:52.633936 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00184, 0.597011), tracking=(1.30034, 0.597011), map_predicted=(14.0884, -2.54042), range=1.1634, pts=5
I0419 21:04:52.633973 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0335119m maha_sq=0.0485508 (gate chi2=5.99) pose_sigma=(0.150268, 0.150268, rho=0) det_map=(14.0884, -2.54042) lm_pos=(14.115, -2.52) delta=(-0.0265744, -0.0204168) -> 1 candidate(s)
I0419 21:04:52.634095 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926333804.
I0419 21:04:52.634619 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926333972.
I0419 21:04:52.662616 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:52.662716 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:52.662884 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926621001.
I0419 21:04:52.663650 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926621170.
I0419 21:04:52.692212 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.994 deg, rms_residual=0.0134209m, sigma_yaw=0.01758 rad, N=2
I0419 21:04:52.692320 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000605075 range=0.589318 variance=0.000564744 t_weight=5312.14 r_weight=0 yaml=(15.015, -1.32) prior=(15.3682, -1.89952, -178.005deg) obs_actual=(0.333624, -0.587829) obs_expected=(0.332778, -0.591467) delta=(0.000846678, 0.00363855) |delta|=0.00373576m
I0419 21:04:52.692440 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3771, -1.88505, -177.994deg) inliers=2 rms=0.0134209m
I0419 21:04:52.692488 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926910187.
I0419 21:04:52.716325 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:52.747715 1237626 pose_graph_2d.cc:160] Inserted submap (1, 58).
I0419 21:04:52.748440 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294926916260.
I0419 21:04:52.749979 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294927216906.
I0419 21:04:52.750633 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.1741, 0.529549)
I0419 21:04:52.750767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294927217109.
I0419 21:04:52.754676 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294927541327.
I0419 21:04:52.755366 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:52.755431 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:52.755509 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294927541497.
I0419 21:04:52.785706 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.986554, 0.600608), points=4, range=1.15825, residual=0.009031, extent=0.0217026
I0419 21:04:52.785840 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.986554, 0.600608), tracking=(1.28505, 0.600608), map_predicted=(14.1077, -2.54382), range=1.15825, pts=4
I0419 21:04:52.785876 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0248956m maha_sq=0.0269005 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1077, -2.54382) lm_pos=(14.115, -2.52) delta=(-0.00725212, -0.0238159) -> 1 candidate(s)
I0419 21:04:52.785974 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294927820384.
I0419 21:04:52.787545 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294927820595.
I0419 21:04:52.810397 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294928097817.
I0419 21:04:52.811246 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:52.811417 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928097937.
I0419 21:04:52.873466 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0399107 range=1.1602 variance=0.000574491 t_weight=5222.01 r_weight=0 yaml=(14.115, -2.52) prior=(15.3683, -1.89843, -177.995deg) obs_actual=(1.29733, 0.597178) obs_expected=(1.27427, 0.577336) delta=(0.0230593, 0.0198418) |delta|=0.0304209m
I0419 21:04:52.873648 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928401824.
I0419 21:04:52.873741 1258777 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.13% real time)
I0419 21:04:52.873896 1258777 collated_trajectory_builder.cc:82] odom rate: 248.26 Hz 4.03e-03 s +/- 7.34e-04 s (pulsed at 100.19% real time)
I0419 21:04:52.874011 1258777 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.54e-03 s (pulsed at 100.15% real time)
I0419 21:04:52.874045 1258777 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.53e-03 s (pulsed at 99.79% real time)
I0419 21:04:52.874706 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:52.874775 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:52.874799 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928402007.
I0419 21:04:52.876184 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:52.876322 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928697934.
I0419 21:04:52.877733 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17617, 0.52981)
I0419 21:04:52.877892 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928698128.
I0419 21:04:52.898324 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0576739s, prior_pose=(15.3712, -1.89297), yaw=-177.995 deg
I0419 21:04:52.898528 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:52.898833 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928978563.
I0419 21:04:52.899673 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:52.899820 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294928978672.
I0419 21:04:52.929044 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294929283141.
I0419 21:04:52.930305 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216903, -0.645108), points=17, range=0.680882, residual=0.0112191, extent=0.0320104
I0419 21:04:52.930385 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.216903, -0.645108), tracking=(-0.515403, 0.645108), map_predicted=(15.9076, -2.52323), range=0.680882, pts=17
I0419 21:04:52.930418 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00809116m maha_sq=0.00283868 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9076, -2.52323) lm_pos=(15.915, -2.52) delta=(-0.00741634, -0.00323494) -> 1 candidate(s)
I0419 21:04:52.930500 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294929296463.
I0419 21:04:52.958582 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:52.958688 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:52.958817 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294929580832.
I0419 21:04:53.027801 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.8995 rad/s > flush threshold 3.
I0419 21:04:53.028165 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294929581000.
I0419 21:04:53.029592 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00638388 range=1.1562 variance=0.00081582 t_weight=3677.28 r_weight=0 yaml=(14.115, -2.52) prior=(15.3713, -1.89127, -177.989deg) obs_actual=(1.27823, 0.596433) obs_expected=(1.27764, 0.584248) delta=(0.000591238, 0.0121859) |delta|=0.0122002m
I0419 21:04:53.029767 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294929861293.
I0419 21:04:53.030434 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.466 deg, rms_residual=0.00970723m, sigma_yaw=0.0127776 rad, N=2
I0419 21:04:53.030504 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3662, -1.90707, -177.466deg) inliers=2 rms=0.00970723m
I0419 21:04:53.030539 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294929861407.
I0419 21:04:53.032742 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294930179823.
I0419 21:04:53.033375 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17267, 0.53029)
I0419 21:04:53.033565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294930179951.
I0419 21:04:53.045224 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294930441255.
I0419 21:04:53.047403 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:53.047741 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:53.047972 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294930441404.
I0419 21:04:53.074594 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294930736267.
I0419 21:04:53.075678 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218246, -0.64292), points=17, range=0.680118, residual=0.0108076, extent=0.0323829
I0419 21:04:53.075985 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.218246, -0.64292), tracking=(-0.516746, 0.64292), map_predicted=(15.9113, -2.51579), range=0.680118, pts=17
I0419 21:04:53.076176 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00559793m maha_sq=0.00135932 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9113, -2.51579) lm_pos=(15.915, -2.52) delta=(-0.00369464, 0.00420554) -> 1 candidate(s)
I0419 21:04:53.076593 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294930736478.
I0419 21:04:53.141146 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931046674.
I0419 21:04:53.141952 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:53.142103 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931046800.
I0419 21:04:53.143442 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0285947 range=1.16175 variance=0.000589815 t_weight=5086.34 r_weight=0 yaml=(14.115, -2.52) prior=(15.3762, -1.89461, -177.999deg) obs_actual=(1.29853, 0.600871) obs_expected=(1.28228, 0.580967) delta=(0.0162509, 0.0199036) |delta|=0.0256952m
I0419 21:04:53.143558 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931334337.
I0419 21:04:53.144932 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:53.145089 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:53.145120 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931334439.
I0419 21:04:53.161679 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:53.161855 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931611656.
I0419 21:04:53.166118 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.994167, 0.599278)
I0419 21:04:53.166324 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931655874.
I0419 21:04:53.194377 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604367s, prior_pose=(15.3771, -1.88744), yaw=-178.002 deg
I0419 21:04:53.194514 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:53.194836 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931938806.
I0419 21:04:53.195470 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:53.195560 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294931939012.
I0419 21:04:53.225520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294932216784.
I0419 21:04:53.304859 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.219929, -0.641667), points=17, range=0.679647, residual=0.0108636, extent=0.0322206
I0419 21:04:53.305253 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.219929, -0.641667), tracking=(-0.518429, 0.641667), map_predicted=(15.9136, -2.50929), range=0.679647, pts=17
I0419 21:04:53.305318 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0108002m maha_sq=0.00503891 (gate chi2=5.99) pose_sigma=(0.150313, 0.150313, rho=0) det_map=(15.9136, -2.50929) lm_pos=(15.915, -2.52) delta=(-0.00139618, 0.0107095) -> 1 candidate(s)
I0419 21:04:53.305482 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294932217004.
I0419 21:04:53.307168 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:53.307305 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:53.307498 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294932499637.
I0419 21:04:53.308213 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294932499812.
I0419 21:04:53.311038 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0207053 range=1.1582 variance=0.000589568 t_weight=5088.47 r_weight=0 yaml=(14.115, -2.52) prior=(15.3711, -1.89136, -178.004deg) obs_actual=(1.29432, 0.598316) obs_expected=(1.27728, 0.584514) delta=(0.0170355, 0.0138022) |delta|=0.0219251m
I0419 21:04:53.311297 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294932819370.
I0419 21:04:53.312081 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.655 deg, rms_residual=0.00608863m, sigma_yaw=0.0080528 rad, N=2
I0419 21:04:53.312229 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3664, -1.90302, -177.655deg) inliers=2 rms=0.00608863m
I0419 21:04:53.312289 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294932819538.
I0419 21:04:53.313720 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933072984.
I0419 21:04:53.315052 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219848, -0.644526)
I0419 21:04:53.315214 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933073166.
I0419 21:04:53.338800 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933381952.
I0419 21:04:53.339546 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:53.339599 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:53.339679 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933382155.
I0419 21:04:53.405874 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3724, -1.89312), yaw=-177.984 deg backend=(15.3629, -1.89675)
I0419 21:04:53.406920 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:53.407020 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933660188.
I0419 21:04:53.407485 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0290646, -0.587104), points=21, range=0.58819, residual=0.0110904, extent=0.035746
I0419 21:04:53.407547 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0290646, -0.587104), tracking=(0.327565, -0.587104), map_predicted=(15.0244, -1.31791), range=0.58819, pts=21
I0419 21:04:53.407578 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0096068m maha_sq=0.00400278 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0244, -1.31791) lm_pos=(15.015, -1.32) delta=(0.00937613, 0.00209255) -> 1 candidate(s)
I0419 21:04:53.407647 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933693551.
I0419 21:04:53.409240 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933979767.
I0419 21:04:53.409724 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:53.409834 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294933979945.
I0419 21:04:53.426021 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0322442 range=1.1618 variance=0.000526339 t_weight=5699.75 r_weight=0 yaml=(14.115, -2.52) prior=(15.3708, -1.89643, -177.982deg) obs_actual=(1.29733, 0.597179) obs_expected=(1.27701, 0.578959) delta=(0.0203263, 0.0182198) |delta|=0.0272969m
I0419 21:04:53.426168 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294934252579.
I0419 21:04:53.427059 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:53.427136 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:53.427168 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294934252726.
I0419 21:04:53.454278 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17237, 0.530152)
I0419 21:04:53.454593 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:53.454701 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294934537091.
I0419 21:04:53.458346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294934576485.
I0419 21:04:53.485761 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0874207s, prior_pose=(15.3696, -1.89844), yaw=-177.982 deg
I0419 21:04:53.485886 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:53.486107 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294934854152.
I0419 21:04:53.486554 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:53.486618 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294934854298.
I0419 21:04:53.543262 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294935135659.
I0419 21:04:53.543764 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.990849, 0.601236), points=5, range=1.1598, residual=0.00839176, extent=0.0212584
I0419 21:04:53.543828 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.990849, 0.601236), tracking=(1.28935, 0.601236), map_predicted=(14.1055, -2.53929), range=1.1598, pts=5
I0419 21:04:53.543854 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0215197m maha_sq=0.0201093 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1055, -2.53929) lm_pos=(14.115, -2.52) delta=(-0.00953147, -0.0192937) -> 1 candidate(s)
I0419 21:04:53.543915 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294935171968.
I0419 21:04:53.545856 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:53.545938 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:53.546018 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294935423477.
I0419 21:04:53.546803 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294935461812.
I0419 21:04:53.574519 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294935732677.
I0419 21:04:53.575018 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.000798234 range=0.681882 variance=0.000558605 t_weight=5370.52 r_weight=0 yaml=(15.915, -2.52) prior=(15.3731, -1.89046, -177.988deg) obs_actual=(-0.515724, 0.646055) obs_expected=(-0.519451, 0.64818) delta=(0.00372671, -0.0021255) |delta|=0.00429024m
I0419 21:04:53.575096 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294935732791.
I0419 21:04:53.602710 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.993593, 0.598282)
I0419 21:04:53.602886 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.877 deg, rms_residual=0.0135854m, sigma_yaw=0.0177916 rad, N=2
I0419 21:04:53.602959 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.374, -1.8837, -177.877deg) inliers=2 rms=0.0135854m
I0419 21:04:53.602994 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936022392.
I0419 21:04:53.603761 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936022529.
I0419 21:04:53.662087 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936338123.
I0419 21:04:53.662751 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:53.662809 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:53.662875 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936338240.
I0419 21:04:53.663937 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936620515.
I0419 21:04:53.665186 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17754, 0.53044), points=3, range=1.28867, residual=0.0060916, extent=0.0109573
I0419 21:04:53.665235 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17754, 0.53044), tracking=(-1.47604, -0.53044), map_predicted=(16.8286, -1.31079), range=1.28867, pts=3
I0419 21:04:53.665258 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0163884m maha_sq=0.011605 (gate chi2=5.99) pose_sigma=(0.150465, 0.150465, rho=0) det_map=(16.8286, -1.31079) lm_pos=(16.815, -1.32) delta=(0.0135558, 0.00920967) -> 1 candidate(s)
I0419 21:04:53.665316 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936620672.
I0419 21:04:53.690142 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294936894659.
I0419 21:04:53.694427 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:53.694576 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294936938495.
I0419 21:04:53.722492 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294937217585.
I0419 21:04:53.722968 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:53.723028 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:53.723052 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294937217706.
I0419 21:04:53.750025 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0324264, -0.585917)
I0419 21:04:53.750155 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:53.750218 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.000168006 range=0.586905 variance=0.000554123 t_weight=5413.96 r_weight=0 yaml=(15.015, -1.32) prior=(15.3707, -1.89549, -178.01deg) obs_actual=(0.334344, -0.585904) obs_expected=(0.3355, -0.587497) delta=(-0.00115514, 0.00159339) |delta|=0.00196805m
I0419 21:04:53.750283 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294937494385.
I0419 21:04:53.778096 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:04:53.808208 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.219 rad/s > flush threshold 3.
I0419 21:04:53.808398 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294937494688.
I0419 21:04:53.809700 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557152s, prior_pose=(15.3769, -1.88668), yaw=-177.982 deg
I0419 21:04:53.809784 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1269, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:53.809962 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294937774737.
I0419 21:04:53.810519 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:04:53.810614 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294937814272.
I0419 21:04:53.813148 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938060400.
I0419 21:04:53.814018 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938100272.
I0419 21:04:53.839535 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:53.839629 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:53.839759 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294938388814.
I0419 21:04:53.840209 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.218871, -0.644744), points=17, range=0.681765, residual=0.0105219, extent=0.0325293
I0419 21:04:53.840262 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.218871, -0.644744), tracking=(-0.517371, 0.644744), map_predicted=(15.9167, -2.51205), range=0.681765, pts=17
I0419 21:04:53.840291 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00813656m maha_sq=0.00287251 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9167, -2.51205) lm_pos=(15.915, -2.52) delta=(0.00174057, 0.00794821) -> 1 candidate(s)
I0419 21:04:53.840384 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938389001.
I0419 21:04:53.866621 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938659106.
I0419 21:04:53.870002 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938693608.
I0419 21:04:53.949194 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219576, -0.643748)
I0419 21:04:53.949381 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0172984 range=1.289 variance=0.000528068 t_weight=5681.08 r_weight=0 yaml=(16.815, -1.32) prior=(15.3722, -1.88968, -177.975deg) obs_actual=(-1.47741, -0.531055) obs_expected=(-1.462, -0.518338) delta=(-0.0154133, -0.0127164) |delta|=0.0199819m
I0419 21:04:53.949470 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938937032.
I0419 21:04:53.950304 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294938975057.
I0419 21:04:53.951558 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294939253141.
I0419 21:04:53.953016 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:53.953104 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:53.953163 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.67 deg, rms_residual=0.0164204m, sigma_yaw=0.0214248 rad, N=2
I0419 21:04:53.953215 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3804, -1.88059, -177.67deg) inliers=2 rms=0.0164204m
I0419 21:04:53.953253 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294939298453.
I0419 21:04:53.954711 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294939537952.
I0419 21:04:53.957684 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294939572302.
I0419 21:04:53.987162 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294939864085.
I0419 21:04:53.987707 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17481, 0.529208), points=3, range=1.28533, residual=0.00656036, extent=0.0116943
I0419 21:04:53.987772 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:53.987792 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17481, 0.529208), tracking=(-1.47331, -0.529208), map_predicted=(16.8233, -1.31667), range=1.28533, pts=3
I0419 21:04:53.987814 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.00896508m maha_sq=0.00349305 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8233, -1.31667) lm_pos=(16.815, -1.32) delta=(0.0083221, 0.00333396) -> 1 candidate(s)
I0419 21:04:53.987911 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294939864227.
I0419 21:04:54.013995 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294940133010.
I0419 21:04:54.084128 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219319, -0.642966)
I0419 21:04:54.084267 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.7258 rad/s > flush threshold 3.
I0419 21:04:54.084352 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:54.084406 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:54.084427 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294940133182.
I0419 21:04:54.085873 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:54.086007 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294940420892.
I0419 21:04:54.086820 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00017603 range=0.58735 variance=0.000551285 t_weight=5441.84 r_weight=0 yaml=(15.015, -1.32) prior=(15.3708, -1.89321, -177.99deg) obs_actual=(0.333498, -0.585903) obs_expected=(0.33543, -0.585333) delta=(-0.00193216, -0.000569623) |delta|=0.00201438m
I0419 21:04:54.086951 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294940454889.
I0419 21:04:54.089412 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604142s, prior_pose=(15.3739, -1.88922), yaw=-177.99 deg
I0419 21:04:54.089497 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:04:54.089816 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294940737324.
I0419 21:04:54.090231 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:54.090301 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294940737439.
I0419 21:04:54.105783 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294941048797.
I0419 21:04:54.107355 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294941049006.
I0419 21:04:54.130788 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:54.130928 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:54.131162 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294941299473.
I0419 21:04:54.134392 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.995854, 0.598357), points=6, range=1.15933, residual=0.00910284, extent=0.0224701
I0419 21:04:54.134500 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.995854, 0.598357), tracking=(1.29435, 0.598357), map_predicted=(14.1032, -2.52945), range=1.15933, pts=6
I0419 21:04:54.134554 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0151472m maha_sq=0.00995754 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1032, -2.52945) lm_pos=(14.115, -2.52) delta=(-0.0118406, -0.00944648) -> 1 candidate(s)
I0419 21:04:54.134722 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294941333135.
I0419 21:04:54.224643 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.996737, 0.600824)
I0419 21:04:54.224853 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294941618566.
I0419 21:04:54.225339 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294941618751.
I0419 21:04:54.226810 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:54.227005 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294941896716.
I0419 21:04:54.227661 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294941941692.
I0419 21:04:54.229708 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00317982 range=0.587526 variance=0.000532207 t_weight=5636.9 r_weight=0 yaml=(15.015, -1.32) prior=(15.3717, -1.89118, -177.982deg) obs_actual=(0.328404, -0.58656) obs_expected=(0.336382, -0.583388) delta=(-0.00797829, -0.00317206) |delta|=0.00858575m
I0419 21:04:54.229851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294942213893.
I0419 21:04:54.230283 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:54.230351 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:54.230424 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294942214148.
I0419 21:04:54.231799 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3699, -1.89511), yaw=-177.983 deg backend=(15.365, -1.89609)
I0419 21:04:54.250340 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294942497436.
I0419 21:04:54.251175 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294942497744.
I0419 21:04:54.278057 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294942774139.
I0419 21:04:54.330873 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:54.330989 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.87344 rad/s > flush threshold 3.
I0419 21:04:54.331054 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.568 deg, rms_residual=0.00750449m, sigma_yaw=0.00990685 rad, N=2
I0419 21:04:54.331091 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3684, -1.90395, -177.568deg) inliers=2 rms=0.00750449m
I0419 21:04:54.331125 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294942774304.
I0419 21:04:54.332573 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.220999, -0.644351)
I0419 21:04:54.332787 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943056179.
I0419 21:04:54.333294 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0342868, -0.588648), points=21, range=0.59081, residual=0.0111652, extent=0.036997
I0419 21:04:54.333359 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0342868, -0.588648), tracking=(0.332787, -0.588648), map_predicted=(15.0249, -1.31472), range=0.59081, pts=21
I0419 21:04:54.333387 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0112209m maha_sq=0.00546044 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0249, -1.31472) lm_pos=(15.015, -1.32) delta=(0.00990091, 0.00528023) -> 1 candidate(s)
I0419 21:04:54.333433 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:54.333465 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:54.333479 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943100015.
I0419 21:04:54.338276 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:54.338438 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943377518.
I0419 21:04:54.338937 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943377623.
I0419 21:04:54.366284 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088494s, prior_pose=(15.3789, -1.88861), yaw=-177.979 deg
I0419 21:04:54.366381 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:54.366576 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0122596 range=1.16075 variance=0.000581566 t_weight=5158.49 r_weight=0 yaml=(14.115, -2.52) prior=(15.3789, -1.88861, -177.979deg) obs_actual=(1.29855, 0.59692) obs_expected=(1.28541, 0.586416) delta=(0.0131387, 0.0105045) |delta|=0.0168217m
I0419 21:04:54.366703 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943659244.
I0419 21:04:54.368184 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:54.368296 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943659446.
I0419 21:04:54.394085 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943935602.
I0419 21:04:54.398366 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294943977408.
I0419 21:04:54.456725 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:54.456837 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:54.456966 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294944258447.
I0419 21:04:54.457500 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294944258576.
I0419 21:04:54.458889 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.22072, -0.643922)
I0419 21:04:54.459018 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294944557800.
I0419 21:04:54.459576 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00248, 0.601314), points=5, range=1.1644, residual=0.0140976, extent=0.0344251
I0419 21:04:54.459627 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00248, 0.601314), tracking=(1.30098, 0.601314), map_predicted=(14.0968, -2.53211), range=1.1644, pts=5
I0419 21:04:54.459654 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0218671m maha_sq=0.0206484 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0968, -2.53211) lm_pos=(14.115, -2.52) delta=(-0.0182094, -0.0121073) -> 1 candidate(s)
I0419 21:04:54.459735 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294944573813.
I0419 21:04:54.481972 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294944813314.
I0419 21:04:54.486313 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294944857741.
I0419 21:04:54.514284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294945136756.
I0419 21:04:54.514755 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:54.514811 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:54.514860 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.007769 range=0.680438 variance=0.00054474 t_weight=5507.22 r_weight=0 yaml=(15.915, -2.52) prior=(15.3773, -1.88336, -177.998deg) obs_actual=(-0.519751, 0.642469) obs_expected=(-0.515168, 0.655039) delta=(-0.00458327, -0.0125709) |delta|=0.0133804m
I0419 21:04:54.514921 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294945137080.
I0419 21:04:54.542726 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294945419533.
I0419 21:04:54.629777 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.0454 rad/s > flush threshold 3.
I0419 21:04:54.629937 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294945419694.
I0419 21:04:54.631561 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294945739016.
I0419 21:04:54.632277 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:54.632422 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294945739235.
I0419 21:04:54.634389 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0325, -0.586676)
I0419 21:04:54.634534 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.696 deg, rms_residual=0.0148469m, sigma_yaw=0.0194116 rad, N=2
I0419 21:04:54.634586 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3765, -1.88119, -177.696deg) inliers=2 rms=0.0148469m
I0419 21:04:54.634618 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294946015090.
I0419 21:04:54.635313 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:54.635422 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:54.635444 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294946015311.
I0419 21:04:54.636622 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.21661, -0.644226), points=17, range=0.680235, residual=0.0113139, extent=0.0322206
I0419 21:04:54.636675 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.21661, -0.644226), tracking=(-0.51511, 0.644226), map_predicted=(15.9118, -2.51643), range=0.680235, pts=17
I0419 21:04:54.636700 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00479608m maha_sq=0.000997302 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9118, -2.51643) lm_pos=(15.915, -2.52) delta=(-0.00320805, 0.00356522) -> 1 candidate(s)
I0419 21:04:54.636723 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:54.636782 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294946293305.
I0419 21:04:54.637434 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294946339127.
I0419 21:04:54.662931 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607089s, prior_pose=(15.3725, -1.89493), yaw=-177.987 deg
I0419 21:04:54.663075 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:04:54.663443 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294946622179.
I0419 21:04:54.664263 1271134 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:54.664388 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294946622385.
I0419 21:04:54.758970 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00277696 range=1.286 variance=0.000506823 t_weight=5919.23 r_weight=0 yaml=(16.815, -1.32) prior=(15.368, -1.89753, -177.985deg) obs_actual=(-1.47376, -0.529412) obs_expected=(-1.46638, -0.526304) delta=(-0.00738629, -0.00310732) |delta|=0.00801328m
I0419 21:04:54.759127 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294946900282.
I0419 21:04:54.759651 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294946936129.
I0419 21:04:54.760905 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:54.760950 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:54.761022 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294947178988.
I0419 21:04:54.762362 1271134 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.999334, 0.598443)
I0419 21:04:54.762487 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294947215472.
I0419 21:04:54.764845 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294947456518.
I0419 21:04:54.766181 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294947499742.
I0419 21:04:54.778904 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294947780284.
I0419 21:04:54.779592 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216932, -0.645173), points=17, range=0.681176, residual=0.011236, extent=0.0322206
I0419 21:04:54.779672 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.216932, -0.645173), tracking=(-0.515432, 0.645173), map_predicted=(15.9082, -2.52131), range=0.681176, pts=17
I0419 21:04:54.779709 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00694667m maha_sq=0.00209238 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9082, -2.52131) lm_pos=(15.915, -2.52) delta=(-0.00682286, -0.0013057) -> 1 candidate(s)
I0419 21:04:54.779815 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294947780465.
I0419 21:04:54.811571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948101922.
I0419 21:04:54.908816 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:54.908910 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:54.909042 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948102191.
I0419 21:04:54.909804 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:54.910521 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0169411 range=1.16 variance=0.00053768 t_weight=5579.53 r_weight=0 yaml=(14.115, -2.52) prior=(15.3754, -1.89138, -177.985deg) obs_actual=(1.29487, 0.598665) obs_expected=(1.28173, 0.58391) delta=(0.0131375, 0.0147542) |delta|=0.0197556m
I0419 21:04:54.910607 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948381553.
I0419 21:04:54.911254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948381842.
I0419 21:04:54.913573 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948657186.
I0419 21:04:54.914155 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17298, 0.528378)
I0419 21:04:54.914252 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:54.914302 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948657407.
I0419 21:04:54.915469 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948937584.
I0419 21:04:54.915899 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:54.915946 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:54.915966 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294948972833.
I0419 21:04:54.926460 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:54.926676 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294949255407.
I0419 21:04:54.927564 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.220555, -0.643491), points=17, range=0.681412, residual=0.0108212, extent=0.0325751
I0419 21:04:54.927659 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.220555, -0.643491), tracking=(-0.519055, 0.643491), map_predicted=(15.9155, -2.51664), range=0.681412, pts=17
I0419 21:04:54.927708 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00339937m maha_sq=0.000501251 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9155, -2.51664) lm_pos=(15.915, -2.52) delta=(0.000491683, 0.00336362) -> 1 candidate(s)
I0419 21:04:54.927804 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.532 deg, rms_residual=0.00917582m, sigma_yaw=0.0120866 rad, N=2
I0419 21:04:54.927850 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3632, -1.9068, -177.532deg) inliers=2 rms=0.00917582m
I0419 21:04:54.927904 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294949255597.
I0419 21:04:55.021382 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562603s, prior_pose=(15.3711, -1.89615), yaw=-177.975 deg
I0419 21:04:55.021502 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:55.021723 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294949535436.
I0419 21:04:55.022373 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:55.022442 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294949535651.
I0419 21:04:55.023651 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0103117 range=1.28967 variance=0.000512791 t_weight=5850.34 r_weight=0 yaml=(16.815, -1.32) prior=(15.3711, -1.89615, -177.975deg) obs_actual=(-1.47741, -0.531056) obs_expected=(-1.46334, -0.52477) delta=(-0.0140635, -0.00628631) |delta|=0.0154046m
I0419 21:04:55.023725 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294949816619.
I0419 21:04:55.024292 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294949861311.
I0419 21:04:55.026376 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:55.026448 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:55.026580 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294950142154.
I0419 21:04:55.026937 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.17708, 0.530224)
I0419 21:04:55.027022 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294950142264.
I0419 21:04:55.042943 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294950421471.
I0419 21:04:55.044075 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294950421720.
I0419 21:04:55.070848 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294950702094.
I0419 21:04:55.074293 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00271, 0.597516), points=5, range=1.164, residual=0.0105772, extent=0.0239454
I0419 21:04:55.074465 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00271, 0.597516), tracking=(1.30121, 0.597516), map_predicted=(14.0904, -2.53915), range=1.164, pts=5
I0419 21:04:55.074527 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0311878m maha_sq=0.0421608 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0904, -2.53915) lm_pos=(14.115, -2.52) delta=(-0.0246183, -0.0191473) -> 1 candidate(s)
I0419 21:04:55.074687 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294950734781.
I0419 21:04:55.159871 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294950994489.
I0419 21:04:55.160545 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:55.160610 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:55.160679 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294951018852.
I0419 21:04:55.161790 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3711, -1.88872), yaw=-177.988 deg backend=(15.3656, -1.89536)
I0419 21:04:55.162639 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294951316883.
I0419 21:04:55.163034 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00339113 range=0.679706 variance=0.000565353 t_weight=5306.42 r_weight=0 yaml=(15.915, -2.52) prior=(15.3711, -1.88872, -177.988deg) obs_actual=(-0.51844, 0.641663) obs_expected=(-0.521435, 0.649984) delta=(0.00299492, -0.00832154) |delta|=0.00884407m
I0419 21:04:55.163098 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294951317064.
I0419 21:04:55.164450 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294951615044.
I0419 21:04:55.165674 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219823, -0.64441)
I0419 21:04:55.165726 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:55.165771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294951615181.
I0419 21:04:55.190563 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294951899209.
I0419 21:04:55.191424 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:55.191498 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:55.191520 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294951899472.
I0419 21:04:55.247449 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:55.247605 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294952179480.
I0419 21:04:55.248057 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294952212361.
I0419 21:04:55.249352 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840428s, prior_pose=(15.3759, -1.8926), yaw=-177.972 deg
I0419 21:04:55.249426 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1270, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:04:55.249500 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.219921, -0.64167), points=17, range=0.679647, residual=0.0108158, extent=0.0319875
I0419 21:04:55.249523 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.219921, -0.64167), tracking=(-0.518421, 0.64167), map_predicted=(15.9167, -2.51552), range=0.679647, pts=17
I0419 21:04:55.249545 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00478104m maha_sq=0.000991532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9167, -2.51552) lm_pos=(15.915, -2.52) delta=(0.00166233, 0.00448274) -> 1 candidate(s)
I0419 21:04:55.249608 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294952455609.
I0419 21:04:55.250963 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:55.251015 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.823 deg, rms_residual=0.0159091m, sigma_yaw=0.0207716 rad, N=2
I0419 21:04:55.251047 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3785, -1.88205, -177.823deg) inliers=2 rms=0.0159091m
I0419 21:04:55.251076 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294952499472.
I0419 21:04:55.278043 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294952774168.
I0419 21:04:55.278627 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0170112 range=1.29367 variance=0.00049006 t_weight=6121.7 r_weight=0 yaml=(16.815, -1.32) prior=(15.3728, -1.8968, -177.971deg) obs_actual=(-1.48123, -0.528644) obs_expected=(-1.46173, -0.525371) delta=(-0.0195033, -0.00327266) |delta|=0.019776m
I0419 21:04:55.278709 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294952774416.
I0419 21:04:55.306602 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:55.306691 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:55.306806 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953061528.
I0419 21:04:55.307428 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219454, -0.643355)
I0419 21:04:55.307515 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953061683.
I0419 21:04:55.334797 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953341171.
I0419 21:04:55.338171 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953375944.
I0419 21:04:55.393003 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953624588.
I0419 21:04:55.393944 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953676946.
I0419 21:04:55.395835 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0308286, -0.588079), points=19, range=0.589368, residual=0.00980594, extent=0.0317991
I0419 21:04:55.395913 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0308286, -0.588079), tracking=(0.329329, -0.588079), map_predicted=(15.0279, -1.31434), range=0.589368, pts=19
I0419 21:04:55.395937 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0140913m maha_sq=0.00858909 (gate chi2=5.99) pose_sigma=(0.150294, 0.150294, rho=0) det_map=(15.0279, -1.31434) lm_pos=(15.015, -1.32) delta=(0.012906, 0.00565691) -> 1 candidate(s)
I0419 21:04:55.396005 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953938138.
I0419 21:04:55.397632 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:55.397708 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:55.397779 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294953972368.
I0419 21:04:55.426190 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294954256881.
I0419 21:04:55.427618 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.01352 range=1.28633 variance=0.000511452 t_weight=5865.65 r_weight=0 yaml=(16.815, -1.32) prior=(15.3779, -1.88764, -177.987deg) obs_actual=(-1.46721, -0.530551) obs_expected=(-1.45612, -0.516801) delta=(-0.011087, -0.01375) |delta|=0.0176631m
I0419 21:04:55.427693 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294954256991.
I0419 21:04:55.454460 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294954539544.
I0419 21:04:55.455107 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219356, -0.643078)
I0419 21:04:55.455155 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:55.455212 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294954539691.
I0419 21:04:55.519886 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294954818303.
I0419 21:04:55.520581 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:55.520655 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:55.520679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294954818444.
I0419 21:04:55.521867 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:55.522006 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294955119855.
I0419 21:04:55.523300 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294955119994.
I0419 21:04:55.542412 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602228s, prior_pose=(15.3761, -1.89048), yaw=-178.011 deg
I0419 21:04:55.542531 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:04:55.542660 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0307831, -0.587193), points=21, range=0.589048, residual=0.0110469, extent=0.0369425
I0419 21:04:55.542690 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0307831, -0.587193), tracking=(0.329283, -0.587193), map_predicted=(15.0267, -1.31507), range=0.589048, pts=21
I0419 21:04:55.542718 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0126534m maha_sq=0.00694439 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0267, -1.31507) lm_pos=(15.015, -1.32) delta=(0.0116538, 0.00492926) -> 1 candidate(s)
I0419 21:04:55.542815 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294955420531.
I0419 21:04:55.543537 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:55.543591 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.576 deg, rms_residual=0.00464865m, sigma_yaw=0.00616001 rad, N=2
I0419 21:04:55.543622 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3711, -1.90378, -177.576deg) inliers=2 rms=0.00464865m
I0419 21:04:55.543650 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294955430289.
I0419 21:04:55.570153 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294955695419.
I0419 21:04:55.574538 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0312722 range=1.1638 variance=0.00057243 t_weight=5240.82 r_weight=0 yaml=(14.115, -2.52) prior=(15.3746, -1.89447, -178.01deg) obs_actual=(1.30012, 0.599839) obs_expected=(1.28057, 0.581416) delta=(0.0195481, 0.0184227) |delta|=0.0268612m
I0419 21:04:55.574662 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294955740006.
I0419 21:04:55.602536 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:55.602626 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.996684, 0.597832)
I0419 21:04:55.602645 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:55.602758 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956019792.
I0419 21:04:55.603201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956019924.
I0419 21:04:55.658514 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956299541.
I0419 21:04:55.659317 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956299659.
I0419 21:04:55.661602 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956578536.
I0419 21:04:55.662326 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294956578761.
I0419 21:04:55.688925 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.994633, 0.601545), points=6, range=1.16433, residual=0.00981199, extent=0.0277506
I0419 21:04:55.689318 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.994633, 0.601545), tracking=(1.29313, 0.601545), map_predicted=(14.097, -2.54675), range=1.16433, pts=6
I0419 21:04:55.689368 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0322494m maha_sq=0.0451103 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.097, -2.54675) lm_pos=(14.115, -2.52) delta=(-0.0180147, -0.0267488) -> 1 candidate(s)
I0419 21:04:55.689772 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956883630.
I0419 21:04:55.692173 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:55.692286 1258777 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 18 -> 17 (threshold=0.03, iters=3)
I0419 21:04:55.692315 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:55.692344 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.8141 rad/s > flush threshold 3.
I0419 21:04:55.692422 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294956883947.
I0419 21:04:55.718230 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294957175794.
I0419 21:04:55.719090 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294957175954.
I0419 21:04:55.788419 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219788, -0.64436)
I0419 21:04:55.788605 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00227757 range=0.680882 variance=0.000559801 t_weight=5359.05 r_weight=0 yaml=(15.915, -2.52) prior=(15.3673, -1.89309, -177.995deg) obs_actual=(-0.518799, 0.642748) obs_expected=(-0.525445, 0.645684) delta=(0.00664609, -0.00293589) |delta|=0.00726567m
I0419 21:04:55.788690 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294957452282.
I0419 21:04:55.789211 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:55.789330 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294957497229.
I0419 21:04:55.790825 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294957779664.
I0419 21:04:55.791270 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:55.791340 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:55.791364 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294957779785.
I0419 21:04:55.806123 1271134 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:55.806675 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958054490.
I0419 21:04:55.807950 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294958054701.
I0419 21:04:55.834534 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561396s, prior_pose=(15.3688, -1.89247), yaw=-177.993 deg
I0419 21:04:55.834648 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:55.834933 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958341181.
I0419 21:04:55.835846 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.219828, -0.641399), points=17, range=0.679353, residual=0.0107759, extent=0.0323369
I0419 21:04:55.835901 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.219828, -0.641399), tracking=(-0.518328, 0.641399), map_predicted=(15.9093, -2.51533), range=0.679353, pts=17
I0419 21:04:55.835935 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00736879m maha_sq=0.00235544 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9093, -2.51533) lm_pos=(15.915, -2.52) delta=(-0.00569839, 0.00467199) -> 1 candidate(s)
I0419 21:04:55.835994 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:55.836057 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958341377.
I0419 21:04:55.866657 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958655312.
I0419 21:04:55.958660 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.17297, 0.530426)
I0419 21:04:55.958783 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.93812 rad/s > flush threshold 3.
I0419 21:04:55.958833 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.588 deg, rms_residual=0.00825711m, sigma_yaw=0.0108896 rad, N=2
I0419 21:04:55.958866 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3684, -1.90503, -177.588deg) inliers=2 rms=0.00825711m
I0419 21:04:55.958899 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958655542.
I0419 21:04:55.960117 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:55.960180 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:55.960234 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00696256 range=1.289 variance=0.000518116 t_weight=5790.21 r_weight=0 yaml=(16.815, -1.32) prior=(15.3698, -1.89195, -177.987deg) obs_actual=(-1.47376, -0.529398) obs_expected=(-1.46445, -0.520826) delta=(-0.00931589, -0.00857201) |delta|=0.0126596m
I0419 21:04:55.960279 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958940067.
I0419 21:04:55.960794 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294958975001.
I0419 21:04:55.962848 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294959219306.
I0419 21:04:55.963689 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294959253429.
I0419 21:04:55.964876 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294959540718.
I0419 21:04:55.965323 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294959540880.
I0419 21:04:55.983232 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294959822566.
I0419 21:04:55.984259 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:55.984338 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.219864, -0.641463), points=17, range=0.679588, residual=0.0111486, extent=0.0323829
I0419 21:04:55.984369 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:55.984395 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.219864, -0.641463), tracking=(-0.518364, 0.641463), map_predicted=(15.9105, -2.51646), range=0.679588, pts=17
I0419 21:04:55.984427 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00570868m maha_sq=0.00141318 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9105, -2.51646) lm_pos=(15.915, -2.52) delta=(-0.00448115, 0.00353671) -> 1 candidate(s)
I0419 21:04:55.984578 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294959822822.
I0419 21:04:56.071946 1271134 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3687, -1.89701), yaw=-177.977 deg backend=(15.3695, -1.89523)
I0419 21:04:56.073256 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294960142045.
I0419 21:04:56.074000 1271134 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219274, -0.642795)
I0419 21:04:56.074147 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294960142256.
I0419 21:04:56.075300 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294960413758.
I0419 21:04:56.076646 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:56.076746 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0041441 range=0.679706 variance=0.000563236 t_weight=5326.36 r_weight=0 yaml=(15.915, -2.52) prior=(15.3689, -1.89931, -177.974deg) obs_actual=(-0.514896, 0.64362) obs_expected=(-0.523822, 0.639606) delta=(0.00892606, 0.00401464) |delta|=0.00978733m
I0419 21:04:56.076812 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294960413986.
I0419 21:04:56.078123 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294960694673.
I0419 21:04:56.078789 1271134 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:56.078852 1271134 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:56.078879 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294960694854.
I0419 21:04:56.099009 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:56.099331 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294960979602.
I0419 21:04:56.102276 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294961016468.
I0419 21:04:56.130012 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879777s, prior_pose=(15.3707, -1.89489), yaw=-177.974 deg
I0419 21:04:56.130175 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:04:56.130738 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294961293763.
I0419 21:04:56.131719 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:56.131855 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294961294023.
I0419 21:04:56.223472 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0325915, -0.588435)
I0419 21:04:56.223598 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.991286, 0.600507), points=5, range=1.1608, residual=0.0104782, extent=0.0270768
I0419 21:04:56.223630 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.991286, 0.600507), tracking=(1.28979, 0.600507), map_predicted=(14.1012, -2.54482), range=1.1608, pts=5
I0419 21:04:56.223660 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0284101m maha_sq=0.0348353 (gate chi2=5.99) pose_sigma=(0.150338, 0.150338, rho=0) det_map=(14.1012, -2.54482) lm_pos=(14.115, -2.52) delta=(-0.0138191, -0.0248227) -> 1 candidate(s)
I0419 21:04:56.223764 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294961578838.
I0419 21:04:56.224431 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294961579097.
I0419 21:04:56.226457 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:56.226540 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:56.226635 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294961892286.
I0419 21:04:56.227280 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294961892568.
I0419 21:04:56.228425 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00155423 range=0.589 variance=0.000544533 t_weight=5509.3 r_weight=0 yaml=(15.015, -1.32) prior=(15.3687, -1.90093, -177.97deg) obs_actual=(0.333568, -0.587151) obs_expected=(0.332852, -0.593093) delta=(0.000715427, 0.00594178) |delta|=0.0059847m
I0419 21:04:56.228505 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294962179468.
I0419 21:04:56.229815 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.557 deg, rms_residual=0.00674164m, sigma_yaw=0.00890878 rad, N=2
I0419 21:04:56.229900 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3684, -1.90258, -177.557deg) inliers=2 rms=0.00674164m
I0419 21:04:56.229933 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294962179691.
I0419 21:04:56.246840 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294962460081.
I0419 21:04:56.247902 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294962460292.
I0419 21:04:56.341204 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294962773554.
I0419 21:04:56.341202 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:56.341874 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.219248, -0.642742)
I0419 21:04:56.341938 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:56.342012 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:56.342070 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294962773774.
I0419 21:04:56.343350 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963058471.
I0419 21:04:56.344640 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.178, 0.530641), points=3, range=1.288, residual=0.00817646, extent=0.0167661
I0419 21:04:56.344713 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.178, 0.530641), tracking=(-1.4765, -0.530641), map_predicted=(16.8308, -1.31301), range=1.288, pts=3
I0419 21:04:56.344739 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0172792m maha_sq=0.0128767 (gate chi2=5.99) pose_sigma=(0.150511, 0.150511, rho=0) det_map=(16.8308, -1.31301) lm_pos=(16.815, -1.32) delta=(0.0158017, 0.00699126) -> 1 candidate(s)
I0419 21:04:56.344806 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963058636.
I0419 21:04:56.345986 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963340826.
I0419 21:04:56.346550 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:56.346622 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963340955.
I0419 21:04:56.362936 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963620616.
I0419 21:04:56.366861 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:56.367027 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00276243 range=0.591045 variance=0.000578887 t_weight=5182.36 r_weight=0 yaml=(15.015, -1.32) prior=(15.3728, -1.89793, -177.983deg) obs_actual=(0.329365, -0.588748) obs_expected=(0.337223, -0.590167) delta=(-0.00785748, 0.00141905) |delta|=0.00798459m
I0419 21:04:56.367141 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:56.367183 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963657791.
I0419 21:04:56.394639 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:56.395006 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963935148.
I0419 21:04:56.396211 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294963935520.
I0419 21:04:56.477847 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593646s, prior_pose=(15.3676, -1.90101), yaw=-177.967 deg
I0419 21:04:56.477990 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1263, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:04:56.478116 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.17877, 0.528924)
I0419 21:04:56.478295 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294964214262.
I0419 21:04:56.479007 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:56.479100 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294964258324.
I0419 21:04:56.481541 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294964494049.
I0419 21:04:56.482465 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00119, 0.599574), points=5, range=1.1628, residual=0.0122258, extent=0.0318333
I0419 21:04:56.482527 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.00119, 0.599574), tracking=(1.29969, 0.599574), map_predicted=(14.0922, -2.54118), range=1.1628, pts=5
I0419 21:04:56.482551 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0311005m maha_sq=0.041857 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.0922, -2.54118) lm_pos=(14.115, -2.52) delta=(-0.0227694, -0.0211849) -> 1 candidate(s)
I0419 21:04:56.482620 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294964537995.
I0419 21:04:56.483706 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:56.483757 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:56.483827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294964815671.
I0419 21:04:56.484295 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294964815797.
I0419 21:04:56.510624 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294965100474.
I0419 21:04:56.511446 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00352593 range=0.68075 variance=0.000549809 t_weight=5456.44 r_weight=0 yaml=(15.915, -2.52) prior=(15.3682, -1.89821, -177.966deg) obs_actual=(-0.516365, 0.644842) obs_expected=(-0.524429, 0.640813) delta=(0.00806431, 0.00402975) |delta|=0.00901509m
I0419 21:04:56.511534 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294965100700.
I0419 21:04:56.568367 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294965375637.
I0419 21:04:56.568811 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.989143, 0.600192)
I0419 21:04:56.568897 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.803 deg, rms_residual=0.015728m, sigma_yaw=0.02054 rad, N=2
I0419 21:04:56.568928 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3735, -1.88266, -177.803deg) inliers=2 rms=0.015728m
I0419 21:04:56.568953 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294965418767.
I0419 21:04:56.570510 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294965692899.
I0419 21:04:56.570883 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:56.570927 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:56.570981 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294965693061.
I0419 21:04:56.598423 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294965978310.
I0419 21:04:56.601974 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966014082.
I0419 21:04:56.626083 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22084, -0.644374), points=17, range=0.681941, residual=0.0112035, extent=0.0324289
I0419 21:04:56.626240 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.22084, -0.644374), tracking=(-0.51934, 0.644374), map_predicted=(15.9116, -2.52167), range=0.681941, pts=17
I0419 21:04:56.626279 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00375678m maha_sq=0.00060834 (gate chi2=5.99) pose_sigma=(0.150458, 0.150458, rho=0) det_map=(15.9116, -2.52167) lm_pos=(15.915, -2.52) delta=(-0.00336694, -0.00166648) -> 1 candidate(s)
I0419 21:04:56.626389 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966256087.
I0419 21:04:56.629865 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:56.630021 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966293338.
I0419 21:04:56.658366 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966577965.
I0419 21:04:56.658906 1271134 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:56.658957 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.00973518 range=1.28925 variance=0.000577784 t_weight=5192.25 r_weight=0 yaml=(16.815, -1.32) prior=(15.3698, -1.89608, -177.972deg) obs_actual=(-1.47879, -0.529606) obs_expected=(-1.46467, -0.524566) delta=(-0.0141161, -0.00503993) |delta|=0.0149889m
I0419 21:04:56.659003 1271134 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:56.659024 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966578151.
I0419 21:04:56.719009 1271134 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.988859, 0.600002)
I0419 21:04:56.719127 1271134 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:56.719218 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966863529.
I0419 21:04:56.719848 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294966863911.
I0419 21:04:56.721745 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598886s, prior_pose=(15.3639, -1.89813), yaw=-177.947 deg
I0419 21:04:56.721820 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:04:56.721976 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294967177037.
I0419 21:04:56.722601 1271134 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:56.722667 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294967177286.
I0419 21:04:56.746644 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294967458602.
I0419 21:04:56.748332 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.9092 rad/s > flush threshold 3.
I0419 21:04:56.775475 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:56.775676 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:56.775750 1271134 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:04:56.778726 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0188498, -0.58858), points=20, range=0.5896, residual=0.0105591, extent=0.0348966
I0419 21:04:56.778847 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0188498, -0.58858), tracking=(0.31735, -0.58858), map_predicted=(15.0241, -1.31639), range=0.5896, pts=20
I0419 21:04:56.778894 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00975953m maha_sq=0.00411214 (gate chi2=5.99) pose_sigma=(0.150391, 0.150391, rho=0) det_map=(15.0241, -1.31639) lm_pos=(15.015, -1.32) delta=(0.00906868, 0.00360659) -> 1 candidate(s)
I0419 21:04:56.779072 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294967780336.
I0419 21:04:56.867972 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968055390.
I0419 21:04:56.868510 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294968055714.
I0419 21:04:56.870126 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.0154166, -0.588183)
I0419 21:04:56.870290 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968343338.
I0419 21:04:56.871762 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968343600.
I0419 21:04:56.872993 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00515442 range=0.687875 variance=0.000551677 t_weight=5437.96 r_weight=0 yaml=(15.915, -2.52) prior=(15.3601, -1.88891, -177.901deg) obs_actual=(-0.538997, 0.643158) obs_expected=(-0.531414, 0.650988) delta=(-0.00758298, -0.00783048) |delta|=0.0109004m
I0419 21:04:56.873107 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968616054.
I0419 21:04:56.873952 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:56.874001 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:56.874064 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968659629.
I0419 21:04:56.875320 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.3572, -1.88785), yaw=-177.901 deg backend=(15.3629, -1.89554)
I0419 21:04:56.894797 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.713 deg, rms_residual=0.0158452m, sigma_yaw=0.0206898 rad, N=2
I0419 21:04:56.895057 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3565, -1.88326, -177.713deg) inliers=2 rms=0.0158452m
I0419 21:04:56.895136 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968933653.
I0419 21:04:56.895917 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294968933889.
I0419 21:04:56.923394 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294969220308.
I0419 21:04:57.003744 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19667, 0.527204), points=3, range=1.30767, residual=0.00980294, extent=0.0238993
I0419 21:04:57.003859 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:57.003911 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.19667, 0.527204), tracking=(-1.49517, -0.527204), map_predicted=(16.8246, -1.30686), range=1.30767, pts=3
I0419 21:04:57.003945 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0162933m maha_sq=0.0114242 (gate chi2=5.99) pose_sigma=(0.150579, 0.150579, rho=0) det_map=(16.8246, -1.30686) lm_pos=(16.815, -1.32) delta=(0.00964051, 0.0131352) -> 1 candidate(s)
I0419 21:04:57.003968 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.2627 rad/s > flush threshold 3.
I0419 21:04:57.004034 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294969220552.
I0419 21:04:57.005405 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294969505108.
I0419 21:04:57.006120 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294969505351.
I0419 21:04:57.008168 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(3.72268e-05, -0.589718)
I0419 21:04:57.008258 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:57.008324 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294969820184.
I0419 21:04:57.008955 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:57.009019 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:57.009047 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294969820377.
I0419 21:04:57.010761 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882866s, prior_pose=(15.3429, -1.89322), yaw=-177.923 deg
I0419 21:04:57.010852 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:04:57.011021 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0041138 range=0.58919 variance=0.000557989 t_weight=5376.45 r_weight=0 yaml=(15.015, -1.32) prior=(15.3429, -1.89322, -177.923deg) obs_actual=(0.298518, -0.589646) obs_expected=(0.306926, -0.58473) delta=(-0.00840766, -0.00491601) |delta|=0.0097394m
I0419 21:04:57.011212 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294970103418.
I0419 21:04:57.012816 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=44.2477 rad/s > flush threshold 3.
I0419 21:04:57.012941 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294970103564.
I0419 21:04:57.038610 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294970380141.
I0419 21:04:57.039366 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:04:57.039438 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294970380329.
I0419 21:04:57.100241 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:57.100347 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:57.100508 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294970697600.
I0419 21:04:57.101261 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294970697735.
I0419 21:04:57.102506 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.257707, -0.645942), points=17, range=0.696059, residual=0.0110539, extent=0.0329134
I0419 21:04:57.102576 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.257707, -0.645942), tracking=(-0.556207, 0.645942), map_predicted=(15.9203, -2.51418), range=0.696059, pts=17
I0419 21:04:57.102599 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00790631m maha_sq=0.00271083 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9203, -2.51418) lm_pos=(15.915, -2.52) delta=(0.00534635, 0.00582464) -> 1 candidate(s)
I0419 21:04:57.102677 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294970975656.
I0419 21:04:57.103145 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.0110367, -0.589068)
I0419 21:04:57.103245 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971021579.
I0419 21:04:57.129949 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971292994.
I0419 21:04:57.130482 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971293203.
I0419 21:04:57.159258 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0195795 range=1.1186 variance=0.000582417 t_weight=5150.95 r_weight=0 yaml=(14.115, -2.52) prior=(15.3273, -1.89341, -177.82deg) obs_actual=(1.24871, 0.596615) obs_expected=(1.23526, 0.580033) delta=(0.0134438, 0.0165819) |delta|=0.021347m
I0419 21:04:57.159428 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971581587.
I0419 21:04:57.160178 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:57.160240 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:57.160334 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971581828.
I0419 21:04:57.186054 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971853745.
I0419 21:04:57.250588 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.601 deg, rms_residual=0.00438773m, sigma_yaw=0.00581628 rad, N=2
I0419 21:04:57.250720 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.3147, -1.90312, -177.601deg) inliers=2 rms=0.00438773m
I0419 21:04:57.250766 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294971853856.
I0419 21:04:57.252143 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294972150456.
I0419 21:04:57.252825 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:57.252940 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294972150571.
I0419 21:04:57.254927 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.027351, -0.587463)
I0419 21:04:57.255036 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.943413, 0.595215), points=7, range=1.11343, residual=0.0100939, extent=0.0271408
I0419 21:04:57.255115 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.943413, 0.595215), tracking=(1.24191, 0.595215), map_predicted=(14.1057, -2.53155), range=1.11343, pts=7
I0419 21:04:57.255148 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0148183m maha_sq=0.00949437 (gate chi2=5.99) pose_sigma=(0.150232, 0.150232, rho=0) det_map=(14.1057, -2.53155) lm_pos=(14.115, -2.52) delta=(-0.00927733, -0.0115548) -> 1 candidate(s)
I0419 21:04:57.255239 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294972471750.
I0419 21:04:57.255892 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294972471935.
I0419 21:04:57.273921 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:57.274194 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294972733352.
I0419 21:04:57.279223 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:57.279414 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:57.279465 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294972782291.
I0419 21:04:57.306707 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0588167s, prior_pose=(15.3157, -1.88846), yaw=-177.778 deg
I0419 21:04:57.306883 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:04:57.307415 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973059917.
I0419 21:04:57.308378 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.003481 range=0.705562 variance=0.00055549 t_weight=5400.63 r_weight=0 yaml=(15.915, -2.52) prior=(15.3157, -1.88846, -177.778deg) obs_actual=(-0.57841, 0.646298) obs_expected=(-0.574386, 0.654302) delta=(-0.00402405, -0.00800395) |delta|=0.00895858m
I0419 21:04:57.308550 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973060225.
I0419 21:04:57.399699 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973342428.
I0419 21:04:57.400379 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:57.400467 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973342664.
I0419 21:04:57.401609 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:57.401661 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.24636, 0.524762)
I0419 21:04:57.401679 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:04:57.401767 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973616298.
I0419 21:04:57.402323 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973660419.
I0419 21:04:57.404452 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.914067, 0.599264), points=6, range=1.09683, residual=0.010859, extent=0.0262401
I0419 21:04:57.404557 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.914067, 0.599264), tracking=(1.21257, 0.599264), map_predicted=(14.1196, -2.53883), range=1.09683, pts=6
I0419 21:04:57.404582 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0193974m maha_sq=0.0161975 (gate chi2=5.99) pose_sigma=(0.150521, 0.150521, rho=0) det_map=(14.1196, -2.53883) lm_pos=(14.115, -2.52) delta=(0.00464693, -0.0188325) -> 1 candidate(s)
I0419 21:04:57.404663 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294973942067.
I0419 21:04:57.405061 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294973942193.
I0419 21:04:57.422303 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294974216081.
I0419 21:04:57.423275 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294974216320.
I0419 21:04:57.455232 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294974541618.
I0419 21:04:57.544706 1271134 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:57.544795 1271134 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:57.544823 1271134 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=132.044 rad/s > flush threshold 3.
I0419 21:04:57.544871 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0386288 range=1.361 variance=0.000522568 t_weight=5740.88 r_weight=0 yaml=(16.815, -1.32) prior=(15.3038, -1.88864, -177.974deg) obs_actual=(-1.5553, -0.531321) obs_expected=(-1.53038, -0.514866) delta=(-0.0249258, -0.0164547) |delta|=0.0298673m
I0419 21:04:57.544919 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294974541883.
I0419 21:04:57.546038 1271134 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.77594, -0.628895)
I0419 21:04:57.546141 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294974820138.
I0419 21:04:57.546799 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294974820383.
I0419 21:04:57.548679 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294975067538.
I0419 21:04:57.549142 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:57.549220 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294975102503.
I0419 21:04:57.550534 1271134 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.977 deg, rms_residual=0.00741203m, sigma_yaw=0.00978599 rad, N=2
I0419 21:04:57.550612 1271134 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2774, -1.90738, -177.977deg) inliers=2 rms=0.00741203m
I0419 21:04:57.550640 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294975377765.
I0419 21:04:57.551932 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.905974, 0.611067), points=6, range=1.09017, residual=0.00988885, extent=0.0261387
I0419 21:04:57.551985 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.905974, 0.611067), tracking=(1.20447, 0.611067), map_predicted=(14.1026, -2.53982), range=1.09017, pts=6
I0419 21:04:57.552052 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0233603m maha_sq=0.0233917 (gate chi2=5.99) pose_sigma=(0.150919, 0.150919, rho=0) det_map=(14.1026, -2.53982) lm_pos=(14.115, -2.52) delta=(-0.0123586, -0.0198234) -> 1 candidate(s)
I0419 21:04:57.552119 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294975411735.
I0419 21:04:57.570717 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:57.571028 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294975698058.
I0419 21:04:57.572011 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:57.572132 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:57.572182 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294975698349.
I0419 21:04:57.664954 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562694s, prior_pose=(15.2881, -1.89276), yaw=-178.473 deg
I0419 21:04:57.665174 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1294, max_intensity=254, threshold=230, above_threshold=18, candidates=18
I0419 21:04:57.665364 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294975974429.
I0419 21:04:57.665959 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.0564868, -0.586624)
I0419 21:04:57.666077 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294976020464.
I0419 21:04:57.667433 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294976265789.
I0419 21:04:57.667872 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:57.667935 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0172342 range=0.715765 variance=0.000561758 t_weight=5340.38 r_weight=0 yaml=(15.915, -2.52) prior=(15.2881, -1.89276, -178.473deg) obs_actual=(-0.627597, 0.634382) obs_expected=(-0.609983, 0.64372) delta=(-0.0176143, -0.00933739) |delta|=0.0199362m
I0419 21:04:57.667994 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294976266046.
I0419 21:04:57.671473 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:57.671589 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:57.671728 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294976576784.
I0419 21:04:57.673189 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294976576976.
I0419 21:04:57.686889 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294976858592.
I0419 21:04:57.688023 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294976858833.
I0419 21:04:57.719188 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.866807, 0.63099)
I0419 21:04:57.719554 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294977183985.
I0419 21:04:57.792181 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.347464, -0.631088), points=16, range=0.72075, residual=0.0109559, extent=0.0318386
I0419 21:04:57.792309 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.347464, -0.631088), tracking=(-0.645964, 0.631088), map_predicted=(15.9258, -2.51415), range=0.72075, pts=16
I0419 21:04:57.792338 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0122432m maha_sq=0.00647359 (gate chi2=5.99) pose_sigma=(0.150323, 0.150323, rho=0) det_map=(15.9258, -2.51415) lm_pos=(15.915, -2.52) delta=(0.0107537, 0.00585263) -> 1 candidate(s)
I0419 21:04:57.792362 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=147.785 rad/s > flush threshold 3.
I0419 21:04:57.792421 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294977184351.
I0419 21:04:57.792824 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:57.793715 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294977451590.
I0419 21:04:57.794317 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:57.794385 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:57.794432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294977451780.
I0419 21:04:57.795639 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.2666, -1.89067), yaw=-179.405 deg backend=(15.3054, -1.89615)
I0419 21:04:57.796619 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294977741404.
I0419 21:04:57.797338 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294977741646.
I0419 21:04:57.803740 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0611795 range=1.40233 variance=0.000519644 t_weight=5773.18 r_weight=0 yaml=(16.815, -1.32) prior=(15.2666, -1.89067, -179.405deg) obs_actual=(-1.5766, -0.584706) obs_expected=(-1.55427, -0.554549) delta=(-0.0223352, -0.0301574) |delta|=0.0375277m
I0419 21:04:57.804030 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294978029297.
I0419 21:04:57.806485 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:57.806677 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294978058264.
I0419 21:04:57.834903 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.844406, 0.647873)
I0419 21:04:57.835219 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294978338271.
I0419 21:04:57.835846 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294978338624.
I0419 21:04:57.916522 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:57.916707 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294978619511.
I0419 21:04:57.917505 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:57.917610 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:57.917639 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294978619773.
I0419 21:04:57.918875 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084347s, prior_pose=(15.2533, -1.88751), yaw=179.948 deg
I0419 21:04:57.918964 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1324, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:04:57.919047 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28161, 0.604444), points=3, range=1.41467, residual=0.0056425, extent=0.0107993
I0419 21:04:57.919070 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28161, 0.604444), tracking=(-1.58011, -0.604444), map_predicted=(16.834, -1.28449), range=1.41467, pts=3
I0419 21:04:57.919088 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0402585m maha_sq=0.0704464 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.834, -1.28449) lm_pos=(16.815, -1.32) delta=(0.018968, 0.03551) -> 1 candidate(s)
I0419 21:04:57.919154 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294978901734.
I0419 21:04:57.919745 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294978935686.
I0419 21:04:57.921811 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294979206502.
I0419 21:04:57.922227 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:57.922279 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294979206621.
I0419 21:04:57.949888 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:57.949985 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.815283, 0.667951)
I0419 21:04:57.950009 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:57.950125 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.79 deg, rms_residual=0.01534m, sigma_yaw=0.0200434 rad, N=2
I0419 21:04:57.950169 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.2409, -1.88666, 178.79deg) inliers=2 rms=0.01534m
I0419 21:04:57.950201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294979494032.
I0419 21:04:57.950902 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[19] 'ref_20' maha_sq=0.0419419 range=1.417 variance=0.000571749 t_weight=5247.06 r_weight=0 yaml=(16.815, -1.32) prior=(15.241, -1.88826, 179.223deg) obs_actual=(-1.5793, -0.617773) obs_expected=(-1.56618, -0.589565) delta=(-0.0131145, -0.0282078) |delta|=0.0311074m
I0419 21:04:57.950968 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294979494193.
I0419 21:04:57.978188 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294979774916.
I0419 21:04:57.982785 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294979821951.
I0419 21:04:58.037451 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294980057871.
I0419 21:04:58.038251 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294980101932.
I0419 21:04:58.040148 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294980383668.
I0419 21:04:58.040585 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:58.040632 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:58.040691 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294980383774.
I0419 21:04:58.070576 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.791124, 0.685331)
I0419 21:04:58.070712 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0784808, -0.570395), points=22, range=0.577136, residual=0.0121933, extent=0.0444038
I0419 21:04:58.070753 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0784808, -0.570395), tracking=(0.220019, -0.570395), map_predicted=(15.0165, -1.31336), range=0.577136, pts=22
I0419 21:04:58.070791 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00681152m maha_sq=0.00201008 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0165, -1.31336) lm_pos=(15.015, -1.32) delta=(0.00152583, 0.00663842) -> 1 candidate(s)
I0419 21:04:58.070900 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294980699508.
I0419 21:04:58.072780 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=534.174 rad/s > flush threshold 3.
I0419 21:04:58.072896 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294980699668.
I0419 21:04:58.098023 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294980974467.
I0419 21:04:58.098963 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:58.099102 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294980974705.
I0419 21:04:58.187902 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294981296430.
I0419 21:04:58.188884 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0161944 range=0.7356 variance=0.00058797 t_weight=5102.3 r_weight=0 yaml=(15.915, -2.52) prior=(15.2248, -1.8858, 177.705deg) obs_actual=(-0.729519, 0.593211) obs_expected=(-0.715064, 0.606054) delta=(-0.0144551, -0.0128431) |delta|=0.0193364m
I0419 21:04:58.189616 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294981296625.
I0419 21:04:58.191397 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:58.191529 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294981577789.
I0419 21:04:58.194857 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=447.66 rad/s > flush threshold 3.
I0419 21:04:58.196825 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555379s, prior_pose=(15.2157, -1.88081), yaw=177.251 deg
I0419 21:04:58.196907 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:04:58.197186 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:58.197281 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:58.197305 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294981851809.
I0419 21:04:58.197919 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.443263, -0.591729)
I0419 21:04:58.198004 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294981851971.
I0419 21:04:58.218642 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294982180256.
I0419 21:04:58.219383 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.445195, -0.590758), points=15, range=0.740667, residual=0.0106517, extent=0.0311938
I0419 21:04:58.219436 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.445195, -0.590758), tracking=(-0.743695, 0.590758), map_predicted=(15.9222, -2.51297), range=0.740667, pts=15
I0419 21:04:58.219460 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0100841m maha_sq=0.00441125 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9222, -2.51297) lm_pos=(15.915, -2.52) delta=(0.00722768, 0.00703205) -> 1 candidate(s)
I0419 21:04:58.219539 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294982180426.
I0419 21:04:58.242385 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:04:58.242473 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:04:58.242534 1271134 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:58.242619 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294982419107.
I0419 21:04:58.246556 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294982459941.
I0419 21:04:58.300112 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294982737882.
I0419 21:04:58.300590 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294982737971.
I0419 21:04:58.302831 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.01299 range=1.02638 variance=0.00067064 t_weight=4473.34 r_weight=0 yaml=(14.115, -2.52) prior=(15.1944, -1.8898, 176.841deg) obs_actual=(1.04858, 0.705224) obs_expected=(1.04303, 0.688722) delta=(0.00555369, 0.0165021) |delta|=0.0174116m
I0419 21:04:58.302958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294983020537.
I0419 21:04:58.303545 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.460978, -0.588188)
I0419 21:04:58.303628 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.97 deg, rms_residual=0.00582132m, sigma_yaw=0.00770199 rad, N=2
I0419 21:04:58.303674 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.1868, -1.89713, 176.97deg) inliers=2 rms=0.00582132m
I0419 21:04:58.303707 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294983020708.
I0419 21:04:58.334906 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294983333837.
I0419 21:04:58.338307 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:58.338421 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:58.338470 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=40.5091 rad/s > flush threshold 3.
I0419 21:04:58.363022 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294983620035.
I0419 21:04:58.364363 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294983620346.
I0419 21:04:58.451310 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475196, -0.586773), points=14, range=0.754214, residual=0.0102018, extent=0.0300597
I0419 21:04:58.451467 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475196, -0.586773), tracking=(-0.773696, 0.586773), map_predicted=(15.923, -2.51989), range=0.754214, pts=14
I0419 21:04:58.451510 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00803942m maha_sq=0.00279335 (gate chi2=5.99) pose_sigma=(0.150315, 0.150315, rho=0) det_map=(15.923, -2.51989) lm_pos=(15.915, -2.52) delta=(0.00803862, 0.000113585) -> 1 candidate(s)
I0419 21:04:58.451612 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294983893704.
I0419 21:04:58.452282 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:58.452418 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294983939060.
I0419 21:04:58.454139 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294984179420.
I0419 21:04:58.455751 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.71295, -0.45365)
I0419 21:04:58.455879 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294984213921.
I0419 21:04:58.457288 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:58.457383 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294984501418.
I0419 21:04:58.457813 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294984501691.
I0419 21:04:58.478773 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566743s, prior_pose=(15.1733, -1.88918), yaw=176.782 deg
I0419 21:04:58.478931 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1333, max_intensity=250, threshold=230, above_threshold=16, candidates=16
I0419 21:04:58.479247 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294984780664.
I0419 21:04:58.482609 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:58.482723 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00981482 range=1.01129 variance=0.000632472 t_weight=4743.29 r_weight=0 yaml=(14.115, -2.52) prior=(15.1733, -1.88918, 176.782deg) obs_actual=(1.02012, 0.704251) obs_expected=(1.02123, 0.689224) delta=(-0.00111396, 0.0150266) |delta|=0.0150679m
I0419 21:04:58.482864 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:58.482909 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294984815677.
I0419 21:04:58.506825 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294985056494.
I0419 21:04:58.580200 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294985101067.
I0419 21:04:58.581758 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:58.581859 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:58.581976 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294985382092.
I0419 21:04:58.582407 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.493634, -0.589953)
I0419 21:04:58.582485 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:04:58.582531 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294985382371.
I0419 21:04:58.584980 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.712691, 0.706118), points=9, range=1.00589, residual=0.0131138, extent=0.0342547
I0419 21:04:58.585114 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.712691, 0.706118), tracking=(1.01119, 0.706118), map_predicted=(14.1116, -2.53792), range=1.00589, pts=9
I0419 21:04:58.585150 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0182358m maha_sq=0.014305 (gate chi2=5.99) pose_sigma=(0.150414, 0.150414, rho=0) det_map=(14.1116, -2.53792) lm_pos=(14.115, -2.52) delta=(-0.00337529, -0.0179207) -> 1 candidate(s)
I0419 21:04:58.585227 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294985696096.
I0419 21:04:58.585949 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294985696321.
I0419 21:04:58.602427 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294986013535.
I0419 21:04:58.604215 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.51256 rad/s > flush threshold 3.
I0419 21:04:58.604387 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294986013708.
I0419 21:04:58.626808 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294986256240.
I0419 21:04:58.628288 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:58.628381 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:58.628509 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294986256569.
I0419 21:04:58.694661 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(15.1505, -1.88513), yaw=176.77 deg backend=(15.2222, -1.89257)
I0419 21:04:58.695837 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0204506 range=0.588286 variance=0.000560135 t_weight=5355.85 r_weight=0 yaml=(15.015, -1.32) prior=(15.1505, -1.88513, 176.77deg) obs_actual=(0.149478, -0.569288) obs_expected=(0.167167, -0.556599) delta=(-0.0176891, -0.0126895) |delta|=0.0217699m
I0419 21:04:58.695945 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294986579791.
I0419 21:04:58.696560 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.507798, -0.592747)
I0419 21:04:58.696666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294986580157.
I0419 21:04:58.701375 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294986855232.
I0419 21:04:58.702932 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:58.703001 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=66.8276 rad/s > flush threshold 3.
I0419 21:04:58.714272 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294987136337.
I0419 21:04:58.715217 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35364, 0.657778), points=3, range=1.50333, residual=0.0051487, extent=0.00961024
I0419 21:04:58.715384 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35364, 0.657778), tracking=(-1.65214, -0.657778), map_predicted=(16.8292, -1.31889), range=1.50333, pts=3
I0419 21:04:58.715467 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.0142401m maha_sq=0.00881349 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.8292, -1.31889) lm_pos=(16.815, -1.32) delta=(0.0141969, 0.00110897) -> 1 candidate(s)
I0419 21:04:58.715610 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294987136504.
I0419 21:04:58.742970 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:58.743247 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294987419987.
I0419 21:04:58.746407 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.657 deg, rms_residual=0.0116458m, sigma_yaw=0.0152903 rad, N=2
I0419 21:04:58.746706 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.1303, -1.88657, 176.657deg) inliers=2 rms=0.0116458m
I0419 21:04:58.746779 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294987454825.
I0419 21:04:58.774613 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0883447s, prior_pose=(15.1377, -1.88607), yaw=176.878 deg
I0419 21:04:58.774785 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:04:58.775259 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294987738873.
I0419 21:04:58.776038 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.523932, -0.593882)
I0419 21:04:58.776207 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294987739125.
I0419 21:04:58.841538 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:58.841675 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:58.841701 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294988021393.
I0419 21:04:58.842310 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294988021618.
I0419 21:04:58.844379 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:58.844453 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:58.844517 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0115358 range=0.97675 variance=0.000562971 t_weight=5328.87 r_weight=0 yaml=(14.115, -2.52) prior=(15.1158, -1.88434, 176.96deg) obs_actual=(0.971583, 0.703074) obs_expected=(0.9657, 0.687844) delta=(0.00588286, 0.0152307) |delta|=0.0163273m
I0419 21:04:58.844612 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294988339239.
I0419 21:04:58.845234 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294988339408.
I0419 21:04:58.862448 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:58.862736 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294988613625.
I0419 21:04:58.865938 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.2757 rad/s > flush threshold 3.
I0419 21:04:58.891976 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294988898275.
I0419 21:04:58.894186 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.54268, -0.595342)
I0419 21:04:58.894940 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294988898676.
I0419 21:04:59.003234 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.545445, -0.595207), points=13, range=0.806308, residual=0.0100194, extent=0.0314232
I0419 21:04:59.003332 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.545445, -0.595207), tracking=(-0.843945, 0.595207), map_predicted=(15.9115, -2.52319), range=0.806308, pts=13
I0419 21:04:59.003392 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.00476284m maha_sq=0.000977537 (gate chi2=5.99) pose_sigma=(0.150547, 0.150547, rho=0) det_map=(15.9115, -2.52319) lm_pos=(15.915, -2.52) delta=(-0.00353721, -0.00318948) -> 1 candidate(s)
I0419 21:04:59.003549 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294989181721.
I0419 21:04:59.004086 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:59.004132 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:59.004276 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294989216231.
I0419 21:04:59.006392 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294989502737.
I0419 21:04:59.006870 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294989502922.
I0419 21:04:59.009446 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294989780962.
I0419 21:04:59.010013 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:59.010123 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294989781186.
I0419 21:04:59.012193 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294990058371.
I0419 21:04:59.012679 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.6301, -0.457181)
I0419 21:04:59.012775 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294990092882.
I0419 21:04:59.038194 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:59.038385 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0105868 range=0.604333 variance=0.000540982 t_weight=5545.47 r_weight=0 yaml=(15.015, -1.32) prior=(15.0932, -1.88125, 176.919deg) obs_actual=(0.100424, -0.569771) obs_expected=(0.108228, -0.556242) delta=(-0.0078038, -0.0135289) |delta|=0.0156183m
I0419 21:04:59.038671 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294990372619.
I0419 21:04:59.039644 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294990372924.
I0419 21:04:59.114919 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602562s, prior_pose=(15.0999, -1.87988), yaw=176.992 deg
I0419 21:04:59.115039 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:04:59.115186 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294990660933.
I0419 21:04:59.115722 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294990695330.
I0419 21:04:59.118144 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.213584, -0.568672), points=18, range=0.606444, residual=0.010381, extent=0.0302369
I0419 21:04:59.118256 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.213584, -0.568672), tracking=(0.0849163, -0.568672), map_predicted=(15.0369, -1.3072), range=0.606444, pts=18
I0419 21:04:59.118289 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.0253747m maha_sq=0.0277291 (gate chi2=5.99) pose_sigma=(0.150593, 0.150593, rho=0) det_map=(15.0369, -1.3072) lm_pos=(15.015, -1.32) delta=(0.0219115, 0.0127969) -> 1 candidate(s)
I0419 21:04:59.118386 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294990972249.
I0419 21:04:59.118813 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:04:59.118876 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:59.118901 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294990972727.
I0419 21:04:59.126963 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:59.127125 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:59.127329 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294991261774.
I0419 21:04:59.130630 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.574824, -0.598661)
I0419 21:04:59.130787 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.06877 rad/s > flush threshold 3.
I0419 21:04:59.155052 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294991540061.
I0419 21:04:59.156587 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294991540313.
I0419 21:04:59.249249 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:04:59.249457 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294991860682.
I0419 21:04:59.249744 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:04:59.250209 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294991860907.
I0419 21:04:59.251725 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294992132665.
I0419 21:04:59.253209 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:04:59.253300 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:59.253329 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.8559 rad/s > flush threshold 3.
I0419 21:04:59.254626 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.778 deg, rms_residual=0.0125352m, sigma_yaw=0.0164388 rad, N=2
I0419 21:04:59.254698 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00988692 range=0.612842 variance=0.000546643 t_weight=5488.04 r_weight=0 yaml=(15.015, -1.32) prior=(15.0647, -1.87896, 177.039deg) obs_actual=(0.0691494, -0.567563) obs_expected=(0.0785023, -0.555646) delta=(-0.00935294, -0.0119173) |delta|=0.0151493m
I0419 21:04:59.254750 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(15.0597, -1.88052, 176.778deg) inliers=2 rms=0.0125352m
I0419 21:04:59.254786 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294992420762.
I0419 21:04:59.255411 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.59362, -0.602242)
I0419 21:04:59.255491 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294992420992.
I0419 21:04:59.275017 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294992741456.
I0419 21:04:59.275983 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.596721, -0.601913), points=13, range=0.848923, residual=0.0115377, extent=0.039473
I0419 21:04:59.276062 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:59.276088 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.596721, -0.601913), tracking=(-0.895221, 0.601913), map_predicted=(15.9234, -2.52653), range=0.848923, pts=13
I0419 21:04:59.276118 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0106538m maha_sq=0.00491862 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9234, -2.52653) lm_pos=(15.915, -2.52) delta=(0.00841887, -0.00652881) -> 1 candidate(s)
I0419 21:04:59.276193 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294992741752.
I0419 21:04:59.303084 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294993017985.
I0419 21:04:59.387007 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=15.9343 rad/s > flush threshold 3.
I0419 21:04:59.388800 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:59.388944 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294993336640.
I0419 21:04:59.389657 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294993336813.
I0419 21:04:59.391498 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560149s, prior_pose=(15.0549, -1.87887), yaw=177.079 deg
I0419 21:04:59.391613 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=247, threshold=230, above_threshold=16, candidates=16
I0419 21:04:59.391772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294993578414.
I0419 21:04:59.392305 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.56643, -0.461513)
I0419 21:04:59.392409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294993612680.
I0419 21:04:59.393986 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294993901821.
I0419 21:04:59.394426 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294993902017.
I0419 21:04:59.418938 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:59.419049 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:59.419204 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294994182317.
I0419 21:04:59.420203 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0176108 range=0.869182 variance=0.000562603 t_weight=5332.36 r_weight=0 yaml=(15.915, -2.52) prior=(15.0449, -1.8781, 177.084deg) obs_actual=(-0.920421, 0.604037) obs_expected=(-0.901611, 0.596802) delta=(-0.0188095, 0.00723558) |delta|=0.0201532m
I0419 21:04:59.420296 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294994182470.
I0419 21:04:59.502687 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:59.502826 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:59.502858 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294994495473.
I0419 21:04:59.503487 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294994495706.
I0419 21:04:59.504762 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.630272, -0.605055), points=13, range=0.876231, residual=0.0126171, extent=0.0395611
I0419 21:04:59.504827 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.630272, -0.605055), tracking=(-0.928772, 0.605055), map_predicted=(15.9349, -2.52906), range=0.876231, pts=13
I0419 21:04:59.504858 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0218727m maha_sq=0.0207075 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9349, -2.52906) lm_pos=(15.915, -2.52) delta=(0.019909, -0.00905798) -> 1 candidate(s)
I0419 21:04:59.504915 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294994747136.
I0419 21:04:59.505326 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.54207, -0.45922)
I0419 21:04:59.505431 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294994780876.
I0419 21:04:59.507496 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:59.507586 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995055570.
I0419 21:04:59.507994 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:59.508040 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:59.508101 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995055736.
I0419 21:04:59.513307 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(15.0182, -1.87926), yaw=177.086 deg backend=(15.1008, -1.88169)
I0419 21:04:59.538229 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995376236.
I0419 21:04:59.542668 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995421247.
I0419 21:04:59.566429 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995657108.
I0419 21:04:59.566938 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.4846, 0.655814)
I0419 21:04:59.567003 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:04:59.567067 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995657294.
I0419 21:04:59.617846 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0109761 range=0.89775 variance=0.000597082 t_weight=5024.44 r_weight=0 yaml=(14.115, -2.52) prior=(15.0111, -1.87779, 177.106deg) obs_actual=(0.856493, 0.701435) obs_expected=(0.862502, 0.68663) delta=(-0.00600917, 0.0148052) |delta|=0.0159783m
I0419 21:04:59.618027 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995974716.
I0419 21:04:59.618755 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294995974867.
I0419 21:04:59.626187 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.551371, 0.701431), points=11, range=0.895182, residual=0.0124366, extent=0.041268
I0419 21:04:59.626293 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.551371, 0.701431), tracking=(0.849871, 0.701431), map_predicted=(14.1185, -2.53498), range=0.895182, pts=11
I0419 21:04:59.626324 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0153838m maha_sq=0.010163 (gate chi2=5.99) pose_sigma=(0.150621, 0.150621, rho=0) det_map=(14.1185, -2.53498) lm_pos=(14.115, -2.52) delta=(0.00350643, -0.0149788) -> 1 candidate(s)
I0419 21:04:59.626348 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:04:59.626425 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294996257297.
I0419 21:04:59.627417 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122294996268433.
I0419 21:04:59.653667 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.087523s, prior_pose=(15.0028, -1.87744), yaw=177.1 deg
I0419 21:04:59.653784 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1370, max_intensity=255, threshold=230, above_threshold=44, candidates=44
I0419 21:04:59.654026 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.696 deg, rms_residual=0.00593174m, sigma_yaw=0.00784692 rad, N=2
I0419 21:04:59.654107 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.9951, -1.87354, 176.696deg) inliers=2 rms=0.00593174m
I0419 21:04:59.654145 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294996532524.
I0419 21:04:59.655905 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.662831, -0.605511)
I0419 21:04:59.656005 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.545 rad/s > flush threshold 3.
I0419 21:04:59.656126 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294996532658.
I0419 21:04:59.679153 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:04:59.682266 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294996815699.
I0419 21:04:59.686926 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294996861154.
I0419 21:04:59.739291 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=39, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:04:59.739383 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:04:59.739503 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294997140854.
I0419 21:04:59.739925 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 30 -> 26 (threshold=0.03, iters=3)
I0419 21:04:59.740020 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294997140982.
I0419 21:04:59.741772 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:04:59.741827 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.0437063 range=0.6441 variance=0.000957868 t_weight=3131.95 r_weight=0 yaml=(15.015, -1.32) prior=(14.9858, -1.87231, 177.077deg) obs_actual=(-0.0316392, -0.562353) obs_expected=(-0.000991265, -0.553081) delta=(-0.0306479, -0.00927155) |delta|=0.0320196m
I0419 21:04:59.741889 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:04:59.741914 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294997413229.
I0419 21:04:59.743240 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294997413414.
I0419 21:04:59.770520 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.681291, -0.604434)
I0419 21:04:59.770612 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.685343, -0.604513), points=10, range=0.9108, residual=0.0121286, extent=0.0391183
I0419 21:04:59.770640 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.685343, -0.604513), tracking=(-0.983843, 0.604513), map_predicted=(15.9247, -2.52464), range=0.9108, pts=10
I0419 21:04:59.770668 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0107851m maha_sq=0.005037 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9247, -2.52464) lm_pos=(15.915, -2.52) delta=(0.00973571, -0.00464053) -> 1 candidate(s)
I0419 21:04:59.770805 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294997699078.
I0419 21:04:59.774451 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294997739974.
I0419 21:04:59.801759 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:04:59.801928 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294998012084.
I0419 21:04:59.802378 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:04:59.802433 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:04:59.802559 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294998012278.
I0419 21:04:59.832223 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294998300847.
I0419 21:04:59.880146 1271134 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.9103 rad/s > flush threshold 3.
I0419 21:04:59.880326 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294998301053.
I0419 21:04:59.881625 1271134 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.701801, -0.608193)
I0419 21:04:59.881774 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294998574629.
I0419 21:04:59.882179 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:04:59.882247 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294998619766.
I0419 21:04:59.890859 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294998902558.
I0419 21:04:59.891986 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00267859 range=0.9318 variance=0.000585832 t_weight=5120.92 r_weight=0 yaml=(15.915, -2.52) prior=(14.9506, -1.86918, 177.141deg) obs_actual=(-1.00033, 0.608255) obs_expected=(-0.995686, 0.601908) delta=(-0.00464277, 0.00634682) |delta|=0.00786368m
I0419 21:04:59.892117 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294998902687.
I0419 21:04:59.918022 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:04:59.918272 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294999175455.
I0419 21:04:59.919657 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.253504, 0.560512), points=20, range=0.61705, residual=0.012043, extent=0.0358782
I0419 21:04:59.919726 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.253504, 0.560512), tracking=(-0.0449959, -0.560512), map_predicted=(15.015, -1.31235), range=0.61705, pts=20
I0419 21:04:59.919751 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00765421m maha_sq=0.00251786 (gate chi2=5.99) pose_sigma=(0.150629, 0.150629, rho=0) det_map=(15.015, -1.31235) lm_pos=(15.015, -1.32) delta=(-1.41824e-05, 0.00765419) -> 1 candidate(s)
I0419 21:04:59.919772 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.3928 rad/s > flush threshold 3.
I0419 21:04:59.919847 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294999175601.
I0419 21:04:59.946014 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05533s, prior_pose=(14.9422, -1.86993), yaw=177.153 deg
I0419 21:04:59.946231 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1367, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:04:59.946619 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294999455858.
I0419 21:04:59.950452 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.498572, 0.698902)
I0419 21:04:59.950644 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294999500315.
I0419 21:04:59.999872 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122294999775471.
I0419 21:05:00.000501 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122294999775596.
I0419 21:05:00.006651 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:00.006898 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:00.007069 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295000061883.
I0419 21:05:00.008683 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.9129 rad/s > flush threshold 3.
I0419 21:05:00.008800 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295000062048.
I0419 21:05:00.037967 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:00.038100 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:00.038125 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295000375559.
I0419 21:05:00.038827 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.572 deg, rms_residual=0.00611581m, sigma_yaw=0.00808846 rad, N=2
I0419 21:05:00.038890 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.9227, -1.87076, 177.572deg) inliers=2 rms=0.00611581m
I0419 21:05:00.038925 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295000375695.
I0419 21:05:00.066944 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295000661906.
I0419 21:05:00.068154 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.230588, 0.558839)
I0419 21:05:00.068336 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295000662201.
I0419 21:05:00.098853 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:00.099006 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0031734 range=0.841154 variance=0.000574653 t_weight=5220.54 r_weight=0 yaml=(14.115, -2.52) prior=(14.9203, -1.86989, 177.205deg) obs_actual=(0.76772, 0.695591) obs_expected=(0.772664, 0.688606) delta=(-0.00494365, 0.00698465) |delta|=0.00855716m
I0419 21:05:00.099166 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295000980314.
I0419 21:05:00.164841 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:00.164973 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:00.165004 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=24.3546 rad/s > flush threshold 3.
I0419 21:05:00.165104 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295000980619.
I0419 21:05:00.166325 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5799, 0.646348), points=3, range=1.70667, residual=0.00478773, extent=0.00997823
I0419 21:05:00.166417 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.5799, 0.646348), tracking=(-1.8784, -0.646348), map_predicted=(16.827, -1.31714), range=1.70667, pts=3
I0419 21:05:00.166450 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[19] 'ref_20' eucl_dist=0.012359m maha_sq=0.00663512 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(16.827, -1.31714) lm_pos=(16.815, -1.32) delta=(0.0120224, 0.00286493) -> 1 candidate(s)
I0419 21:05:00.166589 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295001219895.
I0419 21:05:00.167220 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295001256034.
I0419 21:05:00.169535 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295001537455.
I0419 21:05:00.170002 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:00.170116 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295001537605.
I0419 21:05:00.182860 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295001818967.
I0419 21:05:00.184960 1271134 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=66.7403 rad/s > flush threshold 3.
I0419 21:05:00.185182 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295001819100.
I0419 21:05:00.214375 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.42923, -0.466686)
I0419 21:05:00.214571 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:00.214727 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295002137467.
I0419 21:05:00.215824 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295002137662.
I0419 21:05:00.292779 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599799s, prior_pose=(14.8974, -1.87105), yaw=177.27 deg
I0419 21:05:00.292927 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=254, threshold=230, above_threshold=14, candidates=14
I0419 21:05:00.293111 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295002418899.
I0419 21:05:00.293967 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295002419058.
I0419 21:05:00.295323 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0179802 range=0.9848 variance=0.000645535 t_weight=4647.31 r_weight=0 yaml=(15.915, -2.52) prior=(14.8974, -1.87105, 177.27deg) obs_actual=(-1.06168, 0.614302) obs_expected=(-1.0474, 0.599736) delta=(-0.0142828, 0.0145658) |delta|=0.0204m
I0419 21:05:00.295431 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295002697391.
I0419 21:05:00.295861 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295002697569.
I0419 21:05:00.302114 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:00.302213 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:00.302311 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295003016232.
I0419 21:05:00.306135 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777141, -0.614438), points=9, range=0.993556, residual=0.0116014, extent=0.0306297
I0419 21:05:00.306254 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777141, -0.614438), tracking=(-1.07564, 0.614438), map_predicted=(15.9311, -2.53437), range=0.993556, pts=9
I0419 21:05:00.306324 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0215887m maha_sq=0.0201901 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9311, -2.53437) lm_pos=(15.915, -2.52) delta=(0.016112, -0.0143693) -> 1 candidate(s)
I0419 21:05:00.306442 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295003016450.
I0419 21:05:00.329748 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:00.329901 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:00.329926 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295003292448.
I0419 21:05:00.330597 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.784277, -0.614516)
I0419 21:05:00.330732 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295003292581.
I0419 21:05:00.358901 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295003582132.
I0419 21:05:00.362478 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295003620289.
I0419 21:05:00.408143 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:00.408313 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295003862767.
I0419 21:05:00.408979 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:00.409058 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:00.409163 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295003894930.
I0419 21:05:00.410305 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.8582, -1.86568), yaw=177.2 deg backend=(14.9398, -1.873)
I0419 21:05:00.418761 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295004179871.
I0419 21:05:00.419389 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295004179993.
I0419 21:05:00.445941 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0023125 range=0.581095 variance=0.000571367 t_weight=5250.57 r_weight=0 yaml=(15.015, -1.32) prior=(14.8582, -1.86568, 177.2deg) obs_actual=(-0.136354, -0.556227) obs_expected=(-0.129964, -0.552689) delta=(-0.0063902, -0.00353806) |delta|=0.00730428m
I0419 21:05:00.446105 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295004454001.
I0419 21:05:00.450388 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.41115, 0.69559)
I0419 21:05:00.450492 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:00.450616 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295004499152.
I0419 21:05:00.478128 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295004775004.
I0419 21:05:00.478680 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.80377, -0.614876), points=8, range=1.01262, residual=0.00965457, extent=0.0309137
I0419 21:05:00.478783 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.80377, -0.614876), tracking=(-1.10227, 0.614876), map_predicted=(15.9241, -2.53452), range=1.01262, pts=8
I0419 21:05:00.478808 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0171313m maha_sq=0.0127358 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9241, -2.53452) lm_pos=(15.915, -2.52) delta=(0.0090884, -0.0145218) -> 1 candidate(s)
I0419 21:05:00.478904 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295004775169.
I0419 21:05:00.570864 1271134 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:00.571305 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295005061189.
I0419 21:05:00.572268 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295005061371.
I0419 21:05:00.573570 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843164s, prior_pose=(14.8536, -1.86466), yaw=177.284 deg
I0419 21:05:00.573650 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1372, max_intensity=252, threshold=230, above_threshold=31, candidates=31
I0419 21:05:00.574115 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295005342316.
I0419 21:05:00.574715 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295005376655.
I0419 21:05:00.577185 1271134 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.552 deg, rms_residual=0.00716987m, sigma_yaw=0.00946931 rad, N=2
I0419 21:05:00.577303 1271134 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.8312, -1.86161, 177.552deg) inliers=2 rms=0.00716987m
I0419 21:05:00.577339 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295005616667.
I0419 21:05:00.578118 1271134 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.393719, 0.6958)
I0419 21:05:00.578222 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295005660133.
I0419 21:05:00.594437 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:00.594537 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:00.594669 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295005939536.
I0419 21:05:00.595163 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295005939706.
I0419 21:05:00.622597 1271134 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:00.622757 1271134 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0109584 range=0.571238 variance=0.000547312 t_weight=5481.33 r_weight=0 yaml=(15.015, -1.32) prior=(14.8401, -1.86543, 177.357deg) obs_actual=(-0.165441, -0.554192) obs_expected=(-0.1496, -0.552919) delta=(-0.0158411, -0.00127306) |delta|=0.0158922m
I0419 21:05:00.622865 1271134 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:00.622895 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295006218906.
I0419 21:05:00.623528 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295006219155.
I0419 21:05:00.681854 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:00.682044 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.125547, 0.554796), points=22, range=0.570227, residual=0.0112862, extent=0.0358685
I0419 21:05:00.682104 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.125547, 0.554796), tracking=(-0.172953, -0.554796), map_predicted=(15.0296, -1.32029), range=0.570227, pts=22
I0419 21:05:00.682134 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0145755m maha_sq=0.00913363 (gate chi2=5.99) pose_sigma=(0.150662, 0.150662, rho=0) det_map=(15.0296, -1.32029) lm_pos=(15.015, -1.32) delta=(0.0145727, -0.000286062) -> 1 candidate(s)
I0419 21:05:00.682214 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295006503746.
I0419 21:05:00.682922 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295006537258.
I0419 21:05:00.684677 1271134 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:00.684747 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295006817726.
I0419 21:05:00.685158 1271134 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:00.685214 1271134 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:00.685277 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295006817883.
I0419 21:05:00.713124 1271134 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.368301, 0.695037)
I0419 21:05:00.713301 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295007126715.
I0419 21:05:00.714710 1271134 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.2639 rad/s > flush threshold 3.
I0419 21:05:00.714803 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295007126890.
I0419 21:05:00.739099 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295007378957.
I0419 21:05:00.741918 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:00.742278 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295007414957.
I0419 21:05:00.805594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295007720677.
I0419 21:05:00.806413 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295007720803.
I0419 21:05:00.808400 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:00.808574 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295007998146.
I0419 21:05:00.810596 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.8562 rad/s > flush threshold 3.
I0419 21:05:00.810747 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0224012 range=1.06 variance=0.000550012 t_weight=5454.43 r_weight=0 yaml=(15.915, -2.52) prior=(14.804, -1.86515, 177.459deg) obs_actual=(-1.15549, 0.620698) obs_expected=(-1.13898, 0.604944) delta=(-0.0165054, 0.0157538) |delta|=0.0228169m
I0419 21:05:00.810887 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295007998294.
I0419 21:05:00.829924 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0575308s, prior_pose=(14.804, -1.86515), yaw=177.459 deg
I0419 21:05:00.830049 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:05:00.830127 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.350577, 0.695436)
I0419 21:05:00.830235 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295008295985.
I0419 21:05:00.830914 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0943351, 0.55373), points=21, range=0.562905, residual=0.0108803, extent=0.0340467
I0419 21:05:00.830966 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0943351, 0.55373), tracking=(-0.204165, -0.55373), map_predicted=(15.0325, -1.32102), range=0.562905, pts=21
I0419 21:05:00.830999 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0175083m maha_sq=0.0132981 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0325, -1.32102) lm_pos=(15.015, -1.32) delta=(0.0174787, -0.00101751) -> 1 candidate(s)
I0419 21:05:00.831063 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295008296188.
I0419 21:05:00.859169 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295008586050.
I0419 21:05:00.859951 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295008586332.
I0419 21:05:00.886283 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:00.886381 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:00.886512 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295008858203.
I0419 21:05:00.935339 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.4271 rad/s > flush threshold 3.
I0419 21:05:00.935500 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295008858330.
I0419 21:05:00.936800 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:00.936880 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:00.936906 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295009179808.
I0419 21:05:00.937541 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295009179913.
I0419 21:05:00.945879 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.331381, 0.694681)
I0419 21:05:00.946017 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295009454898.
I0419 21:05:00.946820 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295009455022.
I0419 21:05:00.974856 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:00.974997 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295009743863.
I0419 21:05:00.978312 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:00.978404 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:00.978477 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0324798 range=1.38367 variance=0.000618686 t_weight=4848.98 r_weight=0 yaml=(13.215, -1.32) prior=(14.7711, -1.85922, 177.516deg) obs_actual=(1.60536, -0.473504) obs_expected=(1.57805, -0.471281) delta=(0.027312, -0.00222338) |delta|=0.0274024m
I0419 21:05:00.978536 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295009778841.
I0419 21:05:01.006481 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=176.975 deg, rms_residual=0.010327m, sigma_yaw=0.0135823 rad, N=2
I0419 21:05:01.006601 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.7771, -1.86949, 176.975deg) inliers=2 rms=0.010327m
I0419 21:05:01.006642 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010059951.
I0419 21:05:01.007136 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.895424, -0.625021), points=7, range=1.09043, residual=0.00871787, extent=0.0242052
I0419 21:05:01.007191 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.895424, -0.625021), tracking=(-1.19392, 0.625021), map_predicted=(15.9341, -2.53892), range=1.09043, pts=7
I0419 21:05:01.007217 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0268577m maha_sq=0.0313205 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9341, -2.53892) lm_pos=(15.915, -2.52) delta=(0.0190616, -0.0189206) -> 1 candidate(s)
I0419 21:05:01.007292 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010060176.
I0419 21:05:01.055863 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:01.057514 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010352265.
I0419 21:05:01.058285 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:01.058393 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010352456.
I0419 21:05:01.066169 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010656452.
I0419 21:05:01.067642 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=26.5513 rad/s > flush threshold 3.
I0419 21:05:01.067770 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010656644.
I0419 21:05:01.094111 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.305996, 0.692624)
I0419 21:05:01.094233 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:01.094349 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010936123.
I0419 21:05:01.095110 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295010936335.
I0419 21:05:01.122465 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564458s, prior_pose=(14.7465, -1.86081), yaw=177.586 deg
I0419 21:05:01.122578 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:01.122833 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295011221102.
I0419 21:05:01.123543 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00333249 range=0.5545 variance=0.000546932 t_weight=5485.15 r_weight=0 yaml=(15.015, -1.32) prior=(14.7465, -1.86081, 177.586deg) obs_actual=(-0.254259, -0.551777) obs_expected=(-0.245496, -0.551638) delta=(-0.00876268, -0.000138874) |delta|=0.00876378m
I0419 21:05:01.123631 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295011221245.
I0419 21:05:01.150409 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295011498387.
I0419 21:05:01.157716 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.296648, 0.6932), points=17, range=0.756059, residual=0.0131211, extent=0.0443295
I0419 21:05:01.157816 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.296648, 0.6932), tracking=(0.595148, 0.6932), map_predicted=(14.1227, -2.52833), range=0.756059, pts=17
I0419 21:05:01.157847 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0113249m maha_sq=0.00554932 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1227, -2.52833) lm_pos=(14.115, -2.52) delta=(0.00767316, -0.00832919) -> 1 candidate(s)
I0419 21:05:01.157974 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295011573067.
I0419 21:05:01.209661 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:01.209770 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:01.209883 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295011818033.
I0419 21:05:01.210332 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295011818225.
I0419 21:05:01.212991 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:01.213140 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:01.213176 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012123845.
I0419 21:05:01.213828 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012124044.
I0419 21:05:01.241814 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.281376, 0.693459)
I0419 21:05:01.242156 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012413295.
I0419 21:05:01.243707 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.5825 rad/s > flush threshold 3.
I0419 21:05:01.243813 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012413448.
I0419 21:05:01.270089 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:01.270262 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012694537.
I0419 21:05:01.271202 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:01.271309 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:01.271373 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00550445 range=0.551682 variance=0.000548996 t_weight=5464.52 r_weight=0 yaml=(15.015, -1.32) prior=(14.7269, -1.86078, 177.654deg) obs_actual=(-0.276873, -0.550235) obs_expected=(-0.26577, -0.552125) delta=(-0.0111039, 0.00189078) |delta|=0.0112638m
I0419 21:05:01.271474 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012694787.
I0419 21:05:01.325486 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.7201, -1.85768), yaw=177.659 deg backend=(14.7873, -1.86159)
I0419 21:05:01.326730 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012982333.
I0419 21:05:01.327548 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0176039, 0.550133), points=21, range=0.551143, residual=0.0101153, extent=0.0326461
I0419 21:05:01.327701 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0176039, 0.550133), tracking=(-0.280896, -0.550133), map_predicted=(15.0232, -1.31948), range=0.551143, pts=21
I0419 21:05:01.327770 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0082113m maha_sq=0.00292709 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0232, -1.31948) lm_pos=(15.015, -1.32) delta=(0.00819462, 0.000523016) -> 1 candidate(s)
I0419 21:05:01.327872 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.517 deg, rms_residual=0.0115075m, sigma_yaw=0.0151115 rad, N=2
I0419 21:05:01.327936 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.7036, -1.84824, 177.517deg) inliers=2 rms=0.0115075m
I0419 21:05:01.327994 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295012982582.
I0419 21:05:01.330542 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295013300395.
I0419 21:05:01.332037 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:01.332125 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=30.1998 rad/s > flush threshold 3.
I0419 21:05:01.332201 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295013300594.
I0419 21:05:01.358767 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295013582053.
I0419 21:05:01.359555 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295013582259.
I0419 21:05:01.386945 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.259183, 0.693135)
I0419 21:05:01.387112 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:01.387283 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295013861969.
I0419 21:05:01.388805 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295013862183.
I0419 21:05:01.418241 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877316s, prior_pose=(14.7031, -1.85629), yaw=177.711 deg
I0419 21:05:01.418357 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:01.418633 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295014177910.
I0419 21:05:01.465188 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.9951 rad/s > flush threshold 3.
I0419 21:05:01.465323 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00464108 range=0.551 variance=0.000555565 t_weight=5399.91 r_weight=0 yaml=(15.015, -1.32) prior=(14.699, -1.85764, 177.736deg) obs_actual=(-0.304909, -0.549945) obs_expected=(-0.294545, -0.549707) delta=(-0.0103632, -0.00023861) |delta|=0.010366m
I0419 21:05:01.465380 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295014178033.
I0419 21:05:01.466746 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295014455759.
I0419 21:05:01.467465 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295014455927.
I0419 21:05:01.474907 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:01.475044 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:01.475162 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.22047, -0.478709), points=3, range=1.30733, residual=0.00736446, extent=0.0142032
I0419 21:05:01.475266 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.22047, -0.478709), tracking=(1.51897, -0.478709), map_predicted=(13.1975, -1.32163), range=1.30733, pts=3
I0419 21:05:01.475327 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0176017m maha_sq=0.0134124 (gate chi2=5.99) pose_sigma=(0.150259, 0.150259, rho=0) det_map=(13.1975, -1.32163) lm_pos=(13.215, -1.32) delta=(-0.0175257, -0.00163449) -> 1 candidate(s)
I0419 21:05:01.475510 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295014739276.
I0419 21:05:01.477063 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295014739389.
I0419 21:05:01.503496 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:01.503695 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:01.503743 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015021653.
I0419 21:05:01.506634 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015060644.
I0419 21:05:01.532133 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.0224493, 0.551028)
I0419 21:05:01.532683 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015316163.
I0419 21:05:01.534901 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015340163.
I0419 21:05:01.600605 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:01.600766 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015651416.
I0419 21:05:01.602283 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:01.602396 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:01.602540 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015700240.
I0419 21:05:01.603904 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0047112 range=1.28933 variance=0.000601678 t_weight=4986.05 r_weight=0 yaml=(13.215, -1.32) prior=(14.686, -1.86138, 177.705deg) obs_actual=(1.50177, -0.480054) obs_expected=(1.49153, -0.482035) delta=(0.0102427, 0.00198069) |delta|=0.0104325m
I0419 21:05:01.604035 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015938729.
I0419 21:05:01.604543 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295015938848.
I0419 21:05:01.622017 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.990646, -0.631096), points=6, range=1.17533, residual=0.00719354, extent=0.0203052
I0419 21:05:01.622172 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.990646, -0.631096), tracking=(-1.28915, 0.631096), map_predicted=(15.9353, -2.53867), range=1.17533, pts=6
I0419 21:05:01.622315 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0275585m maha_sq=0.0325429 (gate chi2=5.99) pose_sigma=(0.151084, 0.151084, rho=0) det_map=(15.9353, -2.53867) lm_pos=(15.915, -2.52) delta=(0.0202735, -0.018667) -> 1 candidate(s)
I0419 21:05:01.622412 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.822 deg, rms_residual=0.0102161m, sigma_yaw=0.0134384 rad, N=2
I0419 21:05:01.622496 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6569, -1.84853, 177.822deg) inliers=2 rms=0.0102161m
I0419 21:05:01.622545 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295016214623.
I0419 21:05:01.626688 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:01.626871 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295016259624.
I0419 21:05:01.651639 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295016501444.
I0419 21:05:01.654505 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295016535933.
I0419 21:05:01.682742 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.221739, 0.695963)
I0419 21:05:01.682927 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:01.683133 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295016818597.
I0419 21:05:01.684360 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295016818934.
I0419 21:05:01.761956 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597074s, prior_pose=(14.6642, -1.85337), yaw=177.831 deg
I0419 21:05:01.762079 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:01.762283 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017098518.
I0419 21:05:01.763106 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017098846.
I0419 21:05:01.765380 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0117794 range=1.27267 variance=0.000614848 t_weight=4879.25 r_weight=0 yaml=(13.215, -1.32) prior=(14.6568, -1.8508, 177.871deg) obs_actual=(1.47571, -0.483581) obs_expected=(1.46056, -0.476874) delta=(0.0151448, -0.00670658) |delta|=0.0165633m
I0419 21:05:01.765549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017415951.
I0419 21:05:01.766218 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017416228.
I0419 21:05:01.770315 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:01.770429 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:01.770484 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18169, -0.481436), points=4, range=1.2715, residual=0.0102928, extent=0.0222589
I0419 21:05:01.770531 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.18169, -0.481436), tracking=(1.48019, -0.481436), map_predicted=(13.1956, -1.31471), range=1.2715, pts=4
I0419 21:05:01.770574 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0201471m maha_sq=0.0175935 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1956, -1.31471) lm_pos=(13.215, -1.32) delta=(-0.019441, 0.00528701) -> 1 candidate(s)
I0419 21:05:01.770733 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017695584.
I0419 21:05:01.773695 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=65.6397 rad/s > flush threshold 3.
I0419 21:05:01.773876 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017695840.
I0419 21:05:01.798636 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:01.798904 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:01.798956 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295017977627.
I0419 21:05:01.803041 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295018022311.
I0419 21:05:01.881208 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.205968, 0.691604)
I0419 21:05:01.881484 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295018295716.
I0419 21:05:01.882164 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295018295944.
I0419 21:05:01.883973 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:01.884100 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295018582690.
I0419 21:05:01.885733 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:01.885807 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:01.885831 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=58.2365 rad/s > flush threshold 3.
I0419 21:05:01.887375 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295018855071.
I0419 21:05:01.888168 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00993494 range=0.552227 variance=0.000549287 t_weight=5461.62 r_weight=0 yaml=(15.015, -1.32) prior=(14.6463, -1.85748, 178.026deg) obs_actual=(-0.364921, -0.547366) obs_expected=(-0.349997, -0.549867) delta=(-0.0149245, 0.00250077) |delta|=0.0151325m
I0419 21:05:01.888347 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295018855373.
I0419 21:05:01.918805 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295019177433.
I0419 21:05:01.920270 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0678962, 0.54632), points=23, range=0.552261, residual=0.0121189, extent=0.0430047
I0419 21:05:01.920369 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:01.920406 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0678962, 0.54632), tracking=(-0.366396, -0.54632), map_predicted=(15.0226, -1.32038), range=0.552261, pts=23
I0419 21:05:01.920452 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00762638m maha_sq=0.00252006 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0226, -1.32038) lm_pos=(15.015, -1.32) delta=(0.00761689, -0.00038037) -> 1 candidate(s)
I0419 21:05:01.920607 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295019177737.
I0419 21:05:01.946448 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295019454448.
I0419 21:05:02.022126 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.998 rad/s > flush threshold 3.
I0419 21:05:02.022284 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295019454672.
I0419 21:05:02.023595 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.0755026, 0.548022)
I0419 21:05:02.023662 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:02.023728 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295019741538.
I0419 21:05:02.024187 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.524 deg, rms_residual=0.0108742m, sigma_yaw=0.0142917 rad, N=2
I0419 21:05:02.024257 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6445, -1.86228, 177.524deg) inliers=2 rms=0.0108742m
I0419 21:05:02.024291 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295019775510.
I0419 21:05:02.026336 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598356s, prior_pose=(14.6355, -1.85405), yaw=178.129 deg
I0419 21:05:02.026420 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:02.026573 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295020053028.
I0419 21:05:02.027014 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295020053306.
I0419 21:05:02.034224 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295020332983.
I0419 21:05:02.037272 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=87.1853 rad/s > flush threshold 3.
I0419 21:05:02.037489 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295020333180.
I0419 21:05:02.062896 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:02.063091 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:02.063324 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295020615968.
I0419 21:05:02.064951 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295020616196.
I0419 21:05:02.151387 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0266644 range=1.2188 variance=0.000545261 t_weight=5501.95 r_weight=0 yaml=(15.915, -2.52) prior=(14.6217, -1.85258, 178.264deg) obs_actual=(-1.33032, 0.645772) obs_expected=(-1.31291, 0.62794) delta=(-0.0174082, 0.0178314) |delta|=0.02492m
I0419 21:05:02.151579 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295020898041.
I0419 21:05:02.152269 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:02.152345 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:02.152371 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295020942428.
I0419 21:05:02.152410 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:02.154016 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.180107, 0.6881)
I0419 21:05:02.154114 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.180783, 0.686622), points=17, range=0.711353, residual=0.0110654, extent=0.0344033
I0419 21:05:02.154142 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.180783, 0.686622), tracking=(0.479283, 0.686622), map_predicted=(14.1219, -2.52437), range=0.711353, pts=17
I0419 21:05:02.154165 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00812609m maha_sq=0.00286353 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1219, -2.52437) lm_pos=(14.115, -2.52) delta=(0.00685211, -0.00436829) -> 1 candidate(s)
I0419 21:05:02.154243 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295021217840.
I0419 21:05:02.154747 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295021218067.
I0419 21:05:02.157449 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295021501418.
I0419 21:05:02.158378 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:02.158468 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:02.158512 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:02.158551 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295021501592.
I0419 21:05:02.160148 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6156, -1.85408), yaw=178.256 deg backend=(14.6855, -1.85521)
I0419 21:05:02.183568 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295021820055.
I0419 21:05:02.185352 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295021820286.
I0419 21:05:02.210786 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295022097215.
I0419 21:05:02.279697 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:02.279805 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.5095 rad/s > flush threshold 3.
I0419 21:05:02.279902 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295022097511.
I0419 21:05:02.281302 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295022376890.
I0419 21:05:02.281829 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295022412352.
I0419 21:05:02.283885 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.173567, 0.687595)
I0419 21:05:02.283963 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:02.284025 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295022693265.
I0419 21:05:02.284454 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00236082 range=0.555091 variance=0.00056553 t_weight=5304.76 r_weight=0 yaml=(15.015, -1.32) prior=(14.6128, -1.85321, 178.236deg) obs_actual=(-0.392998, -0.545169) obs_expected=(-0.385621, -0.545338) delta=(-0.00737732, 0.000169431) |delta|=0.00737926m
I0419 21:05:02.284528 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295022693437.
I0419 21:05:02.298540 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0884005s, prior_pose=(14.6128, -1.85321), yaw=178.236 deg
I0419 21:05:02.298645 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:02.298858 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295022981516.
I0419 21:05:02.300364 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04687, -0.645716), points=4, range=1.2275, residual=0.00697147, extent=0.0168391
I0419 21:05:02.300434 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04687, -0.645716), tracking=(-1.34537, 0.645716), map_predicted=(15.9396, -2.54238), range=1.2275, pts=4
I0419 21:05:02.300462 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0332345m maha_sq=0.04785 (gate chi2=5.99) pose_sigma=(0.150239, 0.150239, rho=0) det_map=(15.9396, -2.54238) lm_pos=(15.915, -2.52) delta=(0.0245652, -0.0223848) -> 1 candidate(s)
I0419 21:05:02.300487 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.5301 rad/s > flush threshold 3.
I0419 21:05:02.300537 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295022981656.
I0419 21:05:02.326606 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295023259611.
I0419 21:05:02.327419 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295023259767.
I0419 21:05:02.384057 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:02.384161 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:02.384258 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295023541835.
I0419 21:05:02.384884 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295023579391.
I0419 21:05:02.387059 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295023866419.
I0419 21:05:02.387542 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:02.387604 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:02.387630 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295023866611.
I0419 21:05:02.414271 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.175005, 0.689099)
I0419 21:05:02.414465 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295024137840.
I0419 21:05:02.415355 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295024137998.
I0419 21:05:02.442556 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295024420437.
I0419 21:05:02.445780 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:02.445844 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:02.445897 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:02.445947 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295024454541.
I0419 21:05:02.473615 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0443981 range=1.23525 variance=0.000691814 t_weight=4336.43 r_weight=0 yaml=(13.215, -1.32) prior=(14.6062, -1.85205, 178.275deg) obs_actual=(1.43862, -0.491784) obs_expected=(1.40659, -0.489938) delta=(0.0320354, -0.00184527) |delta|=0.0320885m
I0419 21:05:02.473742 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295024731689.
I0419 21:05:02.474220 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0946126, 0.54579), points=22, range=0.555636, residual=0.0118625, extent=0.0418303
I0419 21:05:02.474260 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0946126, 0.54579), tracking=(-0.393113, -0.54579), map_predicted=(15.0156, -1.31834), range=0.555636, pts=22
I0419 21:05:02.474285 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00175073m maha_sq=0.000132839 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0156, -1.31834) lm_pos=(15.015, -1.32) delta=(0.00056393, 0.00165742) -> 1 candidate(s)
I0419 21:05:02.474331 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.102 deg, rms_residual=0.0123436m, sigma_yaw=0.0161916 rad, N=2
I0419 21:05:02.474359 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5966, -1.8426, 178.102deg) inliers=2 rms=0.0123436m
I0419 21:05:02.474385 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295024731863.
I0419 21:05:02.525558 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295025056328.
I0419 21:05:02.526258 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:02.526346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295025056446.
I0419 21:05:02.534078 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295025334989.
I0419 21:05:02.534868 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295025335129.
I0419 21:05:02.562368 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.174719, 0.687911)
I0419 21:05:02.562474 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:02.562565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295025619131.
I0419 21:05:02.563942 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.08793 rad/s > flush threshold 3.
I0419 21:05:02.564036 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295025619273.
I0419 21:05:02.590093 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561331s, prior_pose=(14.6016, -1.84841), yaw=178.229 deg
I0419 21:05:02.590199 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1404, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:02.590435 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295025896320.
I0419 21:05:02.594751 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295025941952.
I0419 21:05:02.643275 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295026218965.
I0419 21:05:02.643829 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295026219124.
I0419 21:05:02.649698 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:02.649772 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:02.649852 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0017606 range=0.710474 variance=0.00060889 t_weight=4927 r_weight=0 yaml=(14.115, -2.52) prior=(14.6057, -1.85272, 178.274deg) obs_actual=(0.474914, 0.686249) obs_expected=(0.470387, 0.681755) delta=(0.00452726, 0.00449327) |delta|=0.00637852m
I0419 21:05:02.649921 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295026492465.
I0419 21:05:02.651386 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295026492565.
I0419 21:05:02.678709 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0962831, 0.546049), points=21, range=0.555429, residual=0.0103656, extent=0.0328574
I0419 21:05:02.678802 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0962831, 0.546049), tracking=(-0.394783, -0.546049), map_predicted=(15.0142, -1.31614), range=0.555429, pts=21
I0419 21:05:02.678835 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00394582m maha_sq=0.000675753 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0142, -1.31614) lm_pos=(15.015, -1.32) delta=(-0.000799766, 0.00386391) -> 1 candidate(s)
I0419 21:05:02.678947 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295026781641.
I0419 21:05:02.681861 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:02.682054 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:02.682085 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295026813531.
I0419 21:05:02.710486 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.174729, 0.687969)
I0419 21:05:02.710762 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295027098222.
I0419 21:05:02.711531 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295027098388.
I0419 21:05:02.738068 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295027374816.
I0419 21:05:02.785991 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:02.786108 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:02.786139 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.1468 rad/s > flush threshold 3.
I0419 21:05:02.786162 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:02.786217 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295027374984.
I0419 21:05:02.787642 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295027659647.
I0419 21:05:02.788240 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295027693339.
I0419 21:05:02.798604 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295027980057.
I0419 21:05:02.799202 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:02.799314 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295027980234.
I0419 21:05:02.826681 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295028256842.
I0419 21:05:02.830797 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0018005 range=0.709556 variance=0.000569413 t_weight=5268.59 r_weight=0 yaml=(14.115, -2.52) prior=(14.6094, -1.8523, 178.253deg) obs_actual=(0.471191, 0.688333) obs_expected=(0.473852, 0.682464) delta=(-0.00266174, 0.00586956) |delta|=0.00644488m
I0419 21:05:02.830986 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295028298890.
I0419 21:05:02.858899 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.174741, 0.687963)
I0419 21:05:02.859095 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:02.859277 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295028580944.
I0419 21:05:02.860211 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04279, -0.645976), points=4, range=1.2285, residual=0.00849647, extent=0.0199954
I0419 21:05:02.860311 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04279, -0.645976), tracking=(-1.34129, 0.645976), map_predicted=(15.9264, -2.53627), range=1.2285, pts=4
I0419 21:05:02.860373 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0198937m maha_sq=0.0171809 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9264, -2.53627) lm_pos=(15.915, -2.52) delta=(0.0114475, -0.0162701) -> 1 candidate(s)
I0419 21:05:02.860580 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295028581174.
I0419 21:05:02.939340 1271134 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555494s, prior_pose=(14.6013, -1.84728), yaw=178.306 deg
I0419 21:05:02.939455 1271134 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:02.939625 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295028854384.
I0419 21:05:02.940308 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295028855650.
I0419 21:05:02.941516 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295029134703.
I0419 21:05:02.942087 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295029179163.
I0419 21:05:02.944128 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:02.944208 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:02.944280 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295029431527.
I0419 21:05:02.945834 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295029454056.
I0419 21:05:02.974579 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295029737205.
I0419 21:05:02.975744 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:02.975855 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:02.975898 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295029737441.
I0419 21:05:03.002604 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.174833, 0.688394)
I0419 21:05:03.002948 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.518 deg, rms_residual=0.0137538m, sigma_yaw=0.0180082 rad, N=2
I0419 21:05:03.003114 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.623, -1.86278, 177.518deg) inliers=2 rms=0.0137538m
I0419 21:05:03.003196 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295030016270.
I0419 21:05:03.083519 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.8634 rad/s > flush threshold 3.
I0419 21:05:03.083650 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00108455 range=0.553857 variance=0.000543309 t_weight=5521.72 r_weight=0 yaml=(15.015, -1.32) prior=(14.6045, -1.8511, 178.268deg) obs_actual=(-0.38979, -0.545535) obs_expected=(-0.394265, -0.543264) delta=(0.00447502, -0.00227019) |delta|=0.00501793m
I0419 21:05:03.083706 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295030016503.
I0419 21:05:03.085232 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295030338565.
I0419 21:05:03.085945 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:03.086026 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:03.086102 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=1, buffered=3).
I0419 21:05:03.086140 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295030338784.
I0419 21:05:03.087244 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6029, -1.84813), yaw=178.268 deg backend=(14.6632, -1.8544)
I0419 21:05:03.087991 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13593, -0.493909), points=4, range=1.23375, residual=0.0115161, extent=0.025383
I0419 21:05:03.088064 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.13593, -0.493909), tracking=(1.43443, -0.493909), map_predicted=(13.1841, -1.31108), range=1.23375, pts=4
I0419 21:05:03.088094 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0321598m maha_sq=0.0446353 (gate chi2=5.99) pose_sigma=(0.150251, 0.150251, rho=0) det_map=(13.1841, -1.31108) lm_pos=(13.215, -1.32) delta=(-0.030899, 0.00891656) -> 1 candidate(s)
I0419 21:05:03.088162 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295030615483.
I0419 21:05:03.088838 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295030615839.
I0419 21:05:03.094244 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295030932268.
I0419 21:05:03.097043 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:03.097241 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295030932464.
I0419 21:05:03.125113 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295031238852.
I0419 21:05:03.127038 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295031262506.
I0419 21:05:03.207027 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.175015, 0.689122)
I0419 21:05:03.207146 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:03.207223 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295031500944.
I0419 21:05:03.207733 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295031501200.
I0419 21:05:03.209371 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842668s, prior_pose=(14.6129, -1.85502), yaw=178.245 deg
I0419 21:05:03.209467 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1406, max_intensity=253, threshold=230, above_threshold=26, candidates=26
I0419 21:05:03.209666 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295031775132.
I0419 21:05:03.210120 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295031822109.
I0419 21:05:03.212327 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00076032 range=0.710588 variance=0.000559388 t_weight=5363.01 r_weight=0 yaml=(14.115, -2.52) prior=(14.6096, -1.85196, 178.245deg) obs_actual=(0.475094, 0.6869) obs_expected=(0.473904, 0.682876) delta=(0.00118997, 0.00402413) |delta|=0.00419638m
I0419 21:05:03.212432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032061927.
I0419 21:05:03.212931 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032062160.
I0419 21:05:03.239275 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:03.239584 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:03.239665 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.13807, -0.494837), points=4, range=1.243, residual=0.00755623, extent=0.0185033
I0419 21:05:03.239722 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.13807, -0.494837), tracking=(1.43657, -0.494837), map_predicted=(13.185, -1.31097), range=1.243, pts=4
I0419 21:05:03.239782 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0313541m maha_sq=0.0425148 (gate chi2=5.99) pose_sigma=(0.150341, 0.150341, rho=0) det_map=(13.185, -1.31097) lm_pos=(13.215, -1.32) delta=(-0.0300254, 0.00903065) -> 1 candidate(s)
I0419 21:05:03.240036 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032382355.
I0419 21:05:03.241724 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032382618.
I0419 21:05:03.270510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295032694149.
I0419 21:05:03.347023 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.44598 rad/s > flush threshold 3.
I0419 21:05:03.347153 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:03.347204 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:03.347229 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032694400.
I0419 21:05:03.348600 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.175163, 0.689804)
I0419 21:05:03.348726 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032978744.
I0419 21:05:03.349447 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295032978999.
I0419 21:05:03.351544 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295033261596.
I0419 21:05:03.352229 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:03.352293 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:03.352334 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:05:03.352384 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295033261913.
I0419 21:05:03.354600 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295033541498.
I0419 21:05:03.356501 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295033541700.
I0419 21:05:03.386799 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0301136 range=1.235 variance=0.000611368 t_weight=4907.03 r_weight=0 yaml=(13.215, -1.32) prior=(14.6107, -1.85022, 178.236deg) obs_actual=(1.43739, -0.491263) obs_expected=(1.41136, -0.487007) delta=(0.0260356, -0.00425606) |delta|=0.0263812m
I0419 21:05:03.387133 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295033858365.
I0419 21:05:03.388782 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0946946, 0.546208), points=21, range=0.555429, residual=0.0105091, extent=0.0355731
I0419 21:05:03.388953 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:03.388993 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0946946, 0.546208), tracking=(-0.393195, -0.546208), map_predicted=(15.0205, -1.31638), range=0.555429, pts=21
I0419 21:05:03.389043 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00660351m maha_sq=0.00189238 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0205, -1.31638) lm_pos=(15.015, -1.32) delta=(0.00551999, 0.00362437) -> 1 candidate(s)
I0419 21:05:03.389285 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295033858584.
I0419 21:05:03.480820 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295034134582.
I0419 21:05:03.481817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295034134799.
I0419 21:05:03.483523 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.176668, 0.690777)
I0419 21:05:03.483641 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:03.483723 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295034454016.
I0419 21:05:03.485375 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.167 deg, rms_residual=0.0101949m, sigma_yaw=0.0134109 rad, N=2
I0419 21:05:03.485493 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6007, -1.84212, 178.167deg) inliers=2 rms=0.0101949m
I0419 21:05:03.485534 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295034454252.
I0419 21:05:03.486891 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598918s, prior_pose=(14.6035, -1.84677), yaw=178.29 deg
I0419 21:05:03.486989 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:05:03.487174 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295034733500.
I0419 21:05:03.488044 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295034733730.
I0419 21:05:03.502930 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295035016824.
I0419 21:05:03.504626 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295035017022.
I0419 21:05:03.530653 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:03.530805 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:03.531037 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295035296240.
I0419 21:05:03.535498 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295035345244.
I0419 21:05:03.626360 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295035618811.
I0419 21:05:03.627004 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:03.626997 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:03.627147 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0158462 range=1.2255 variance=0.00050372 t_weight=5955.7 r_weight=0 yaml=(15.915, -2.52) prior=(14.6084, -1.84993, 178.283deg) obs_actual=(-1.33811, 0.645417) obs_expected=(-1.32605, 0.630618) delta=(-0.0120636, 0.0147984) |delta|=0.0190925m
I0419 21:05:03.627209 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:03.627229 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295035619051.
I0419 21:05:03.629654 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.174334, 0.686461)
I0419 21:05:03.629796 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295035902113.
I0419 21:05:03.630474 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0926032, 0.543643), points=21, range=0.552524, residual=0.0102789, extent=0.0326361
I0419 21:05:03.630524 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0926032, 0.543643), tracking=(-0.391103, -0.543643), map_predicted=(15.0132, -1.31708), range=0.552524, pts=21
I0419 21:05:03.630553 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00341029m maha_sq=0.000504816 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0132, -1.31708) lm_pos=(15.015, -1.32) delta=(-0.00176168, 0.00292003) -> 1 candidate(s)
I0419 21:05:03.630610 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295035902420.
I0419 21:05:03.632009 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295036174485.
I0419 21:05:03.632489 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:03.632535 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:03.632576 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:03.632613 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295036218704.
I0419 21:05:03.650947 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295036498964.
I0419 21:05:03.651983 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295036499261.
I0419 21:05:03.712415 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295036776660.
I0419 21:05:03.713186 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:03.713279 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295036776876.
I0419 21:05:03.714547 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295037092988.
I0419 21:05:03.715849 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295037093146.
I0419 21:05:03.738502 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.0936038, 0.544694)
I0419 21:05:03.738610 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:03.738726 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295037380292.
I0419 21:05:03.741912 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000842328 range=0.708789 variance=0.000583742 t_weight=5139.26 r_weight=0 yaml=(14.115, -2.52) prior=(14.6012, -1.84501, 178.286deg) obs_actual=(0.470022, 0.687951) obs_expected=(0.4658, 0.689224) delta=(0.00422157, -0.00127376) |delta|=0.00440954m
I0419 21:05:03.742053 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295037413768.
I0419 21:05:03.766232 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564776s, prior_pose=(14.6076, -1.85064), yaw=178.286 deg
I0419 21:05:03.766320 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:03.766517 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295037657922.
I0419 21:05:03.766928 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0438, -0.643822), points=6, range=1.22467, residual=0.00789583, extent=0.0208954
I0419 21:05:03.766973 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0438, -0.643822), tracking=(-1.3423, 0.643822), map_predicted=(15.9301, -2.53432), range=1.22467, pts=6
I0419 21:05:03.766999 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0207765m maha_sq=0.0187478 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9301, -2.53432) lm_pos=(15.915, -2.52) delta=(0.0150524, -0.014321) -> 1 candidate(s)
I0419 21:05:03.767055 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295037658050.
I0419 21:05:03.794629 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295037940670.
I0419 21:05:03.798610 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295037980532.
I0419 21:05:03.847856 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:03.848030 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:03.848171 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295038259440.
I0419 21:05:03.848659 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295038259581.
I0419 21:05:03.854034 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295038536079.
I0419 21:05:03.854722 1271134 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:03.854782 1271134 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:03.854807 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295038536201.
I0419 21:05:03.882668 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.0954306, 0.545562)
I0419 21:05:03.882879 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295038820080.
I0419 21:05:03.886458 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295038858806.
I0419 21:05:03.914181 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295039136797.
I0419 21:05:03.914693 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:03.914744 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:03.914794 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:03.914840 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295039137011.
I0419 21:05:03.965502 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6039, -1.84683), yaw=178.298 deg backend=(14.6577, -1.85409)
I0419 21:05:03.966429 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0525819 range=1.2375 variance=0.000542599 t_weight=5528.94 r_weight=0 yaml=(13.215, -1.32) prior=(14.6039, -1.84683, 178.298deg) obs_actual=(1.43831, -0.491667) obs_expected=(1.40398, -0.485347) delta=(0.0343264, -0.00631975) |delta|=0.0349033m
I0419 21:05:03.966519 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295039411875.
I0419 21:05:03.967178 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 23 -> 22 (threshold=0.03, iters=3)
I0419 21:05:03.967226 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0943466, 0.544287), points=22, range=0.554227, residual=0.0115293, extent=0.0360449
I0419 21:05:03.967247 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0943466, 0.544287), tracking=(-0.392847, -0.544287), map_predicted=(15.0128, -1.31445), range=0.554227, pts=22
I0419 21:05:03.967269 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00597501m maha_sq=0.00154779 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0128, -1.31445) lm_pos=(15.015, -1.32) delta=(-0.00221335, 0.00554994) -> 1 candidate(s)
I0419 21:05:03.967321 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.182 deg, rms_residual=0.0126087m, sigma_yaw=0.0165336 rad, N=2
I0419 21:05:03.967342 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5975, -1.84146, 178.182deg) inliers=2 rms=0.0126087m
I0419 21:05:03.967368 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295039411999.
I0419 21:05:03.971536 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295039706318.
I0419 21:05:03.974761 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:03.975191 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295039706635.
I0419 21:05:04.002511 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295040015165.
I0419 21:05:04.004051 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295040015409.
I0419 21:05:04.030665 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=23, centroid=(0.094627, 0.545354)
I0419 21:05:04.030874 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:04.031093 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295040294516.
I0419 21:05:04.034157 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295040332613.
I0419 21:05:04.063019 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0915937s, prior_pose=(14.6022, -1.8451), yaw=178.297 deg
I0419 21:05:04.063194 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:04.063679 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295040622572.
I0419 21:05:04.064725 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295040622832.
I0419 21:05:04.148769 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295040897290.
I0419 21:05:04.149771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295040897541.
I0419 21:05:04.151970 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:04.152056 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:04.152159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295041183918.
I0419 21:05:04.152868 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0251545 range=1.22425 variance=0.000549381 t_weight=5460.69 r_weight=0 yaml=(15.915, -2.52) prior=(14.6093, -1.85467, 178.237deg) obs_actual=(-1.33692, 0.646053) obs_expected=(-1.32552, 0.624843) delta=(-0.0113985, 0.0212101) |delta|=0.024079m
I0419 21:05:04.152959 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295041184146.
I0419 21:05:04.155692 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295041499561.
I0419 21:05:04.157196 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04508, -0.64671), points=5, range=1.2272, residual=0.00695951, extent=0.0180089
I0419 21:05:04.157259 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04508, -0.64671), tracking=(-1.34358, 0.64671), map_predicted=(15.93, -2.53975), range=1.2272, pts=5
I0419 21:05:04.157287 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0248142m maha_sq=0.0266661 (gate chi2=5.99) pose_sigma=(0.150266, 0.150266, rho=0) det_map=(15.93, -2.53975) lm_pos=(15.915, -2.52) delta=(0.015017, -0.0197543) -> 1 candidate(s)
I0419 21:05:04.157346 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:04.157390 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:04.157410 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295041499831.
I0419 21:05:04.179044 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.174732, 0.687965)
I0419 21:05:04.179311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295041782463.
I0419 21:05:04.180764 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295041782704.
I0419 21:05:04.260177 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295042092989.
I0419 21:05:04.260883 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:04.260957 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:04.261044 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:04.261126 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295042093339.
I0419 21:05:04.262420 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295042381835.
I0419 21:05:04.263772 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295042382094.
I0419 21:05:04.266422 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295042660365.
I0419 21:05:04.267071 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:04.267143 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295042660612.
I0419 21:05:04.298642 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295042974243.
I0419 21:05:04.301496 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295042974602.
I0419 21:05:04.326290 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.174617, 0.687546)
I0419 21:05:04.326462 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:04.326582 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00055805 range=0.709437 variance=0.000542617 t_weight=5528.76 r_weight=0 yaml=(14.115, -2.52) prior=(14.6112, -1.85097, 178.299deg) obs_actual=(0.473849, 0.686217) obs_expected=(0.476146, 0.683463) delta=(-0.00229713, 0.00275357) |delta|=0.00358594m
I0419 21:05:04.326738 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295043252732.
I0419 21:05:04.402143 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.0186 rad/s > flush threshold 3.
I0419 21:05:04.402305 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295043253017.
I0419 21:05:04.403447 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609218s, prior_pose=(14.6113, -1.85454), yaw=178.255 deg
I0419 21:05:04.403523 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1408, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:05:04.403654 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04211, -0.644843), points=7, range=1.22586, residual=0.00955647, extent=0.0240048
I0419 21:05:04.403684 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04211, -0.644843), tracking=(-1.34061, 0.644843), map_predicted=(15.9316, -2.53991), range=1.22586, pts=7
I0419 21:05:04.403705 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0259266m maha_sq=0.0291572 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9316, -2.53991) lm_pos=(15.915, -2.52) delta=(0.01661, -0.0199072) -> 1 candidate(s)
I0419 21:05:04.403784 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295043583461.
I0419 21:05:04.404286 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295043617285.
I0419 21:05:04.406577 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295043856820.
I0419 21:05:04.407059 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295043857037.
I0419 21:05:04.414076 1271134 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:04.414189 1271134 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:04.414352 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295044133322.
I0419 21:05:04.417145 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295044133543.
I0419 21:05:04.442395 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295044413802.
I0419 21:05:04.443692 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:04.443816 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:04.443859 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295044414097.
I0419 21:05:04.522415 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.0945201, 0.545258)
I0419 21:05:04.522578 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295044704030.
I0419 21:05:04.523190 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295044742392.
I0419 21:05:04.525461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295044978759.
I0419 21:05:04.528172 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:04.528263 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:04.528321 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:04.528368 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295045012638.
I0419 21:05:04.530699 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0475427 range=1.237 variance=0.000705056 t_weight=4254.98 r_weight=0 yaml=(13.215, -1.32) prior=(14.6074, -1.84993, 178.297deg) obs_actual=(1.44046, -0.492576) obs_expected=(1.40752, -0.488326) delta=(0.0329419, -0.00424991) |delta|=0.0332149m
I0419 21:05:04.530826 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295045301118.
I0419 21:05:04.531468 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0944654, 0.544907), points=22, range=0.554955, residual=0.01203, extent=0.0420775
I0419 21:05:04.531529 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0944654, 0.544907), tracking=(-0.392965, -0.544907), map_predicted=(15.0164, -1.31694), range=0.554955, pts=22
I0419 21:05:04.531570 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00335128m maha_sq=0.00048667 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0164, -1.31694) lm_pos=(15.015, -1.32) delta=(0.00136729, 0.00305967) -> 1 candidate(s)
I0419 21:05:04.531642 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.364 deg, rms_residual=0.0102289m, sigma_yaw=0.013455 rad, N=2
I0419 21:05:04.531677 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6005, -1.84529, 178.364deg) inliers=2 rms=0.0102289m
I0419 21:05:04.531713 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295045301357.
I0419 21:05:04.558575 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:04.558871 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295045577707.
I0419 21:05:04.561877 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:04.562139 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295045613026.
I0419 21:05:04.588032 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295045866496.
I0419 21:05:04.641486 1264424 pose_graph_2d.cc:160] Inserted submap (1, 59).
I0419 21:05:04.642215 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295045895344.
I0419 21:05:04.643568 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.176149, 0.689367)
I0419 21:05:04.643668 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:04.643751 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295046176072.
I0419 21:05:04.644209 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295046176378.
I0419 21:05:04.646469 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566184s, prior_pose=(14.6042, -1.8469), yaw=178.244 deg
I0419 21:05:04.646556 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1403, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:04.646725 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295046461528.
I0419 21:05:04.650027 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295046495388.
I0419 21:05:04.677742 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295046771991.
I0419 21:05:04.678660 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295046772235.
I0419 21:05:04.706333 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:04.706512 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:04.706676 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295047058388.
I0419 21:05:04.707561 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0024233 range=0.554091 variance=0.000545122 t_weight=5503.36 r_weight=0 yaml=(15.015, -1.32) prior=(14.6035, -1.84635, 178.244deg) obs_actual=(-0.391361, -0.54515) obs_expected=(-0.395155, -0.538712) delta=(0.00379396, -0.00643825) |delta|=0.00747296m
I0419 21:05:04.707650 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295047058549.
I0419 21:05:04.759042 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295047340188.
I0419 21:05:04.759761 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.176896, 0.688076), points=17, range=0.711824, residual=0.0113084, extent=0.0359612
I0419 21:05:04.759927 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.176896, 0.688076), tracking=(0.475396, 0.688076), map_predicted=(14.1066, -2.5198), range=0.711824, pts=17
I0419 21:05:04.760056 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00843322m maha_sq=0.00308335 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1066, -2.5198) lm_pos=(14.115, -2.52) delta=(-0.00843086, 0.000199576) -> 1 candidate(s)
I0419 21:05:04.760152 1271134 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:04.760241 1271134 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:04.760315 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295047379116.
I0419 21:05:04.766605 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13604, -0.491985)
I0419 21:05:04.766815 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295047661149.
I0419 21:05:04.769932 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295047694127.
I0419 21:05:04.796507 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295047955468.
I0419 21:05:04.797381 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:04.797442 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:04.797482 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:04.797535 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295047955685.
I0419 21:05:04.798743 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6059, -1.84854), yaw=178.242 deg backend=(14.655, -1.85493)
I0419 21:05:04.826634 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295048260982.
I0419 21:05:04.827447 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295048261158.
I0419 21:05:04.854103 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295048534619.
I0419 21:05:04.899385 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:04.899490 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=24.0478 rad/s > flush threshold 3.
I0419 21:05:04.899580 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295048534802.
I0419 21:05:04.900930 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295048817084.
I0419 21:05:04.901708 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=7.61999e-05 range=0.552609 variance=0.000561306 t_weight=5344.68 r_weight=0 yaml=(15.015, -1.32) prior=(14.6088, -1.85221, 178.267deg) obs_actual=(-0.391079, -0.543523) obs_expected=(-0.389968, -0.544246) delta=(-0.00111078, 0.000723491) |delta|=0.00132562m
I0419 21:05:04.901842 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295048817192.
I0419 21:05:04.914469 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.13767, -0.49073)
I0419 21:05:04.914762 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:04.914870 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295049140177.
I0419 21:05:04.915639 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295049140416.
I0419 21:05:04.942621 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882165s, prior_pose=(14.6063, -1.84911), yaw=178.266 deg
I0419 21:05:04.942788 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:04.942946 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.177691, 0.687044), points=17, range=0.711, residual=0.0109912, extent=0.0336064
I0419 21:05:04.942994 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.177691, 0.687044), tracking=(0.476191, 0.687044), map_predicted=(14.1095, -2.52143), range=0.711, pts=17
I0419 21:05:04.943030 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00566024m maha_sq=0.00138944 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1095, -2.52143) lm_pos=(14.115, -2.52) delta=(-0.00547725, -0.00142761) -> 1 candidate(s)
I0419 21:05:04.943203 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295049416967.
I0419 21:05:04.946375 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295049417192.
I0419 21:05:04.978600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295049777173.
I0419 21:05:04.979921 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295049777370.
I0419 21:05:05.043031 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:05.043139 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:05.043249 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295050018637.
I0419 21:05:05.043355 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:05.043901 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295050018900.
I0419 21:05:05.045147 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295050299449.
I0419 21:05:05.046468 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:05.046540 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:05.046562 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295050299700.
I0419 21:05:05.062167 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13764, -0.492677)
I0419 21:05:05.062342 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295050616523.
I0419 21:05:05.063004 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295050616709.
I0419 21:05:05.087426 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.123 deg, rms_residual=0.0101539m, sigma_yaw=0.0133577 rad, N=2
I0419 21:05:05.087540 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00265542 range=0.553545 variance=0.000549288 t_weight=5461.62 r_weight=0 yaml=(15.015, -1.32) prior=(14.6111, -1.84992, 178.284deg) obs_actual=(-0.395325, -0.544337) obs_expected=(-0.387896, -0.541781) delta=(-0.00742877, -0.0025557) |delta|=0.00785609m
I0419 21:05:05.087625 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.596, -1.84298, 178.123deg) inliers=2 rms=0.0101539m
I0419 21:05:05.087661 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295050859671.
I0419 21:05:05.090312 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:05.090446 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:05.090530 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:05.090623 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295050893616.
I0419 21:05:05.118075 1271134 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.1711, 0.690497), points=17, range=0.711706, residual=0.0110856, extent=0.0335602
I0419 21:05:05.118188 1271134 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.1711, 0.690497), tracking=(0.4696, 0.690497), map_predicted=(14.121, -2.52604), range=0.711706, pts=17
I0419 21:05:05.118224 1271134 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.008501m maha_sq=0.0031338 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.121, -2.52604) lm_pos=(14.115, -2.52) delta=(0.00598036, -0.00604171) -> 1 candidate(s)
I0419 21:05:05.118351 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295051175314.
I0419 21:05:05.118924 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295051175449.
I0419 21:05:05.172240 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295051460922.
I0419 21:05:05.172744 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:05.172832 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295051495728.
I0419 21:05:05.174917 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295051732922.
I0419 21:05:05.178134 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295051777133.
I0419 21:05:05.205874 1271134 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.1344, -0.493244)
I0419 21:05:05.205983 1271134 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:05.206071 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295052053369.
I0419 21:05:05.206645 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295052053512.
I0419 21:05:05.234246 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605609s, prior_pose=(14.6088, -1.84951), yaw=178.293 deg
I0419 21:05:05.234350 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:05.234529 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295052338531.
I0419 21:05:05.235257 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295052338673.
I0419 21:05:05.287791 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295052659837.
I0419 21:05:05.288699 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295052659960.
I0419 21:05:05.293686 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:05.293773 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:05.293865 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00308036 range=0.709353 variance=0.000568247 t_weight=5279.4 r_weight=0 yaml=(14.115, -2.52) prior=(14.602, -1.84826, 178.263deg) obs_actual=(0.474796, 0.685723) obs_expected=(0.46638, 0.686192) delta=(0.00841653, -0.000469602) |delta|=0.00842962m
I0419 21:05:05.293926 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295052932408.
I0419 21:05:05.295414 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295052932588.
I0419 21:05:05.321835 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.173902, 0.688934), points=18, range=0.711667, residual=0.0115037, extent=0.0356078
I0419 21:05:05.321926 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.173902, 0.688934), tracking=(0.472402, 0.688934), map_predicted=(14.116, -2.52744), range=0.711667, pts=18
I0419 21:05:05.321960 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00751192m maha_sq=0.00244599 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.116, -2.52744) lm_pos=(14.115, -2.52) delta=(0.00102462, -0.00744171) -> 1 candidate(s)
I0419 21:05:05.322049 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295053213846.
I0419 21:05:05.325734 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:05.325893 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:05.325925 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295053252155.
I0419 21:05:05.350598 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.04287, -0.647438)
I0419 21:05:05.350777 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295053500466.
I0419 21:05:05.353830 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295053533346.
I0419 21:05:05.382035 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295053813127.
I0419 21:05:05.382508 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:05.382566 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:05.382606 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:05.382660 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295053813255.
I0419 21:05:05.427240 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295054101627.
I0419 21:05:05.428028 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295054101776.
I0419 21:05:05.442081 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295054414251.
I0419 21:05:05.442808 1271134 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:05.442909 1271134 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295054414383.
I0419 21:05:05.470309 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295054696460.
I0419 21:05:05.472134 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00975177 range=1.2265 variance=0.000560405 t_weight=5353.27 r_weight=0 yaml=(15.915, -2.52) prior=(14.6016, -1.84553, 178.292deg) obs_actual=(-1.34672, 0.640962) obs_expected=(-1.33294, 0.635022) delta=(-0.0137871, 0.00593999) |delta|=0.0150122m
I0419 21:05:05.472286 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295054696599.
I0419 21:05:05.502368 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13443, -0.491287)
I0419 21:05:05.502460 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.176272, 0.685655), points=17, range=0.709235, residual=0.0108861, extent=0.0333346
I0419 21:05:05.502487 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.176272, 0.685655), tracking=(0.474772, 0.685655), map_predicted=(14.1066, -2.51673), range=0.709235, pts=17
I0419 21:05:05.502513 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00902718m maha_sq=0.00353442 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1066, -2.51673) lm_pos=(14.115, -2.52) delta=(-0.00841354, 0.00327142) -> 1 candidate(s)
I0419 21:05:05.502534 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:05.502643 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295055018261.
I0419 21:05:05.503364 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295055018499.
I0419 21:05:05.546885 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598426s, prior_pose=(14.5992, -1.84621), yaw=178.228 deg
I0419 21:05:05.547006 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:05:05.547170 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295055295025.
I0419 21:05:05.547868 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295055295180.
I0419 21:05:05.558368 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295055573911.
I0419 21:05:05.561650 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295055574048.
I0419 21:05:05.586074 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:05.586174 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:05.586331 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295055855642.
I0419 21:05:05.591269 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.474 deg, rms_residual=0.0135369m, sigma_yaw=0.0177292 rad, N=2
I0419 21:05:05.591519 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.623, -1.86416, 177.474deg) inliers=2 rms=0.0135369m
I0419 21:05:05.591666 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295055901836.
I0419 21:05:05.622529 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295056212463.
I0419 21:05:05.623641 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:05.623790 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:05.623839 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295056212688.
I0419 21:05:05.646656 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.04168, -0.644597)
I0419 21:05:05.646947 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=9.86814e-05 range=0.55181 variance=0.000536539 t_weight=5591.4 r_weight=0 yaml=(15.015, -1.32) prior=(14.6056, -1.85077, 178.229deg) obs_actual=(-0.394182, -0.542572) obs_expected=(-0.392798, -0.54317) delta=(-0.00138407, 0.000598028) |delta|=0.00150774m
I0419 21:05:05.647115 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295056458965.
I0419 21:05:05.650265 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295056493204.
I0419 21:05:05.727955 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295056741271.
I0419 21:05:05.728870 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:05.728963 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.177207, 0.6852), points=18, range=0.708556, residual=0.0115928, extent=0.0358215
I0419 21:05:05.728989 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:05.729007 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.177207, 0.6852), tracking=(0.475707, 0.6852), map_predicted=(14.107, -2.51928), range=0.708556, pts=18
I0419 21:05:05.729030 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00807083m maha_sq=0.00282327 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.107, -2.51928) lm_pos=(14.115, -2.52) delta=(-0.0080391, 0.00071501) -> 1 candidate(s)
I0419 21:05:05.729094 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:05.729161 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295056775057.
I0419 21:05:05.730497 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6021, -1.84707), yaw=178.218 deg backend=(14.6083, -1.85091)
I0419 21:05:05.731463 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057062187.
I0419 21:05:05.731966 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057062427.
I0419 21:05:05.734359 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057339541.
I0419 21:05:05.738794 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:05.739007 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057379280.
I0419 21:05:05.763269 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057621715.
I0419 21:05:05.766661 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057657662.
I0419 21:05:05.823751 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13512, -0.491582)
I0419 21:05:05.823933 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:05.824065 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057933391.
I0419 21:05:05.824729 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295057933548.
I0419 21:05:05.826642 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840908s, prior_pose=(14.6111, -1.8549), yaw=178.223 deg
I0419 21:05:05.826759 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:05:05.826911 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.030675 range=1.2355 variance=0.000670751 t_weight=4472.6 r_weight=0 yaml=(13.215, -1.32) prior=(14.6111, -1.8549, 178.223deg) obs_actual=(1.43862, -0.491785) obs_expected=(1.41196, -0.491363) delta=(0.0266568, -0.000422469) |delta|=0.0266601m
I0419 21:05:05.826987 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295058220188.
I0419 21:05:05.828579 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295058220397.
I0419 21:05:05.850291 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03772, -0.645279), points=5, range=1.2234, residual=0.00970454, extent=0.0240203
I0419 21:05:05.850379 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03772, -0.645279), tracking=(-1.33622, 0.645279), map_predicted=(15.9305, -2.54394), range=1.2234, pts=5
I0419 21:05:05.850409 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0285428m maha_sq=0.0353345 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9305, -2.54394) lm_pos=(15.915, -2.52) delta=(0.0155362, -0.0239441) -> 1 candidate(s)
I0419 21:05:05.850519 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295058498372.
I0419 21:05:05.854885 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295058541856.
I0419 21:05:05.882566 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:05.882670 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:05.882841 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295058819824.
I0419 21:05:05.883682 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295058820021.
I0419 21:05:05.911231 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295059101508.
I0419 21:05:05.912194 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:05.912325 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:05.912379 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295059101866.
I0419 21:05:05.992177 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13718, -0.492478)
I0419 21:05:05.992534 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295059417792.
I0419 21:05:05.993139 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295059418017.
I0419 21:05:05.996413 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295059699215.
I0419 21:05:05.997277 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:05.997363 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:05.997429 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:05.997522 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295059699414.
I0419 21:05:05.999114 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295059986718.
I0419 21:05:06.000641 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0020509 range=0.553208 variance=0.000587571 t_weight=5105.76 r_weight=0 yaml=(15.015, -1.32) prior=(14.6127, -1.85327, 178.27deg) obs_actual=(-0.392671, -0.543338) obs_expected=(-0.386018, -0.545166) delta=(-0.00665311, 0.00182808) |delta|=0.00689969m
I0419 21:05:06.000733 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295059986851.
I0419 21:05:06.030771 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295060297476.
I0419 21:05:06.032256 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0956721, 0.542454), points=21, range=0.55181, residual=0.0103989, extent=0.0326361
I0419 21:05:06.032498 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:06.032574 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0956721, 0.542454), tracking=(-0.394172, -0.542454), map_predicted=(15.0231, -1.32296), range=0.55181, pts=21
I0419 21:05:06.032648 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00859344m maha_sq=0.00320507 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0231, -1.32296) lm_pos=(15.015, -1.32) delta=(0.0080689, -0.00295636) -> 1 candidate(s)
I0419 21:05:06.032974 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295060297751.
I0419 21:05:06.111842 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295060577691.
I0419 21:05:06.112862 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295060578023.
I0419 21:05:06.114480 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13375, -0.490968)
I0419 21:05:06.114630 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:06.114687 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.519 deg, rms_residual=0.0118409m, sigma_yaw=0.0155424 rad, N=2
I0419 21:05:06.114753 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6242, -1.86428, 177.519deg) inliers=2 rms=0.0118409m
I0419 21:05:06.114797 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295060862912.
I0419 21:05:06.116526 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295060863138.
I0419 21:05:06.118674 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602795s, prior_pose=(14.6136, -1.8541), yaw=178.29 deg
I0419 21:05:06.118851 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:05:06.119216 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295061180486.
I0419 21:05:06.120781 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295061180874.
I0419 21:05:06.147516 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295061461337.
I0419 21:05:06.149144 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295061461541.
I0419 21:05:06.183218 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:06.183382 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:06.183633 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295061823443.
I0419 21:05:06.262576 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=77.3632 rad/s > flush threshold 3.
I0419 21:05:06.262794 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295061823703.
I0419 21:05:06.264765 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00604671 range=0.7105 variance=0.000572163 t_weight=5243.26 r_weight=0 yaml=(14.115, -2.52) prior=(14.6169, -1.85936, 178.175deg) obs_actual=(0.476243, 0.687265) obs_expected=(0.480615, 0.676293) delta=(-0.00437214, 0.0109725) |delta|=0.0118115m
I0419 21:05:06.264875 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295062062024.
I0419 21:05:06.265880 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:06.265970 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:06.265997 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295062062264.
I0419 21:05:06.268040 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.04537, -0.643942)
I0419 21:05:06.268096 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04742, -0.642904), points=5, range=1.2278, residual=0.00715455, extent=0.0191627
I0419 21:05:06.268127 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04742, -0.642904), tracking=(-1.34592, 0.642904), map_predicted=(15.9368, -2.54031), range=1.2278, pts=5
I0419 21:05:06.268152 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0297674m maha_sq=0.0382538 (gate chi2=5.99) pose_sigma=(0.150499, 0.150499, rho=0) det_map=(15.9368, -2.54031) lm_pos=(15.915, -2.52) delta=(0.0217605, -0.0203121) -> 1 candidate(s)
I0419 21:05:06.268224 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295062332288.
I0419 21:05:06.268731 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295062379127.
I0419 21:05:06.270510 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295062620610.
I0419 21:05:06.271003 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:06.271042 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:06.271080 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:06.271121 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295062620765.
I0419 21:05:06.295007 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295062937368.
I0419 21:05:06.296772 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295062937669.
I0419 21:05:06.371048 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295063221480.
I0419 21:05:06.371798 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:06.371923 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295063221719.
I0419 21:05:06.373250 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295063491971.
I0419 21:05:06.373885 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295063540914.
I0419 21:05:06.383015 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13329, -0.490768)
I0419 21:05:06.383159 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:06.383391 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295063821473.
I0419 21:05:06.384788 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00198452 range=0.551048 variance=0.000542348 t_weight=5531.51 r_weight=0 yaml=(15.015, -1.32) prior=(14.6154, -1.85318, 178.233deg) obs_actual=(-0.389348, -0.542925) obs_expected=(-0.382996, -0.545244) delta=(-0.00635217, 0.00231903) |delta|=0.00676224m
I0419 21:05:06.384961 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295063822789.
I0419 21:05:06.410821 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559405s, prior_pose=(14.6176, -1.85601), yaw=178.234 deg
I0419 21:05:06.411053 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:06.411569 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295064100319.
I0419 21:05:06.413378 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295064100632.
I0419 21:05:06.438906 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.04109, -0.644926), points=4, range=1.22575, residual=0.00756717, extent=0.0174019
I0419 21:05:06.439085 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.04109, -0.644926), tracking=(-1.33959, 0.644926), map_predicted=(15.9367, -2.54191), range=1.22575, pts=4
I0419 21:05:06.439142 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0308355m maha_sq=0.0413047 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9367, -2.54191) lm_pos=(15.915, -2.52) delta=(0.0216961, -0.0219113) -> 1 candidate(s)
I0419 21:05:06.439350 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295064378548.
I0419 21:05:06.442340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295064412358.
I0419 21:05:06.529532 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:06.529677 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:06.529850 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295064694665.
I0419 21:05:06.530470 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295064694864.
I0419 21:05:06.530644 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:06.533401 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295064981709.
I0419 21:05:06.534299 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:06.534417 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:06.534446 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295064981928.
I0419 21:05:06.535897 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13536, -0.491663)
I0419 21:05:06.536031 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295065297297.
I0419 21:05:06.537675 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295065297523.
I0419 21:05:06.558805 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295065575100.
I0419 21:05:06.559993 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:06.560074 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:06.560133 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:06.560179 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00360373 range=0.552909 variance=0.000566391 t_weight=5296.69 r_weight=0 yaml=(15.015, -1.32) prior=(14.614, -1.85612, 178.289deg) obs_actual=(-0.39266, -0.543198) obs_expected=(-0.384817, -0.547846) delta=(-0.00784326, 0.00464847) |delta|=0.00911729m
I0419 21:05:06.560251 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295065575300.
I0419 21:05:06.618096 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.6216, -1.8578), yaw=178.269 deg backend=(14.6138, -1.84902)
I0419 21:05:06.619313 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295065852906.
I0419 21:05:06.620028 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.097573, 0.543968), points=21, range=0.552714, residual=0.0104829, extent=0.0323867
I0419 21:05:06.620100 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.097573, 0.543968), tracking=(-0.396073, -0.543968), map_predicted=(15.034, -1.32605), range=0.552714, pts=21
I0419 21:05:06.620134 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0199114m maha_sq=0.0172058 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.034, -1.32605) lm_pos=(15.015, -1.32) delta=(0.0189706, -0.00604829) -> 1 candidate(s)
I0419 21:05:06.620213 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.223 deg, rms_residual=0.0096578m, sigma_yaw=0.0127134 rad, N=2
I0419 21:05:06.620245 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5965, -1.8437, 178.223deg) inliers=2 rms=0.0096578m
I0419 21:05:06.620276 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295065862516.
I0419 21:05:06.621517 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295066136272.
I0419 21:05:06.622900 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:06.622998 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295066136382.
I0419 21:05:06.642875 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295066423762.
I0419 21:05:06.646649 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295066460898.
I0419 21:05:06.674841 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.12982, -0.491238)
I0419 21:05:06.674971 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:06.675061 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295066743972.
I0419 21:05:06.675544 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295066744079.
I0419 21:05:06.705694 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0916621s, prior_pose=(14.6155, -1.85347), yaw=178.269 deg
I0419 21:05:06.706108 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:06.706744 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295067053003.
I0419 21:05:06.758872 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295067053212.
I0419 21:05:06.761626 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295067340927.
I0419 21:05:06.762501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295067341053.
I0419 21:05:06.764360 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:06.764567 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:06.764752 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0073164 range=0.7105 variance=0.00056537 t_weight=5306.26 r_weight=0 yaml=(14.115, -2.52) prior=(14.6182, -1.85829, 178.266deg) obs_actual=(0.475113, 0.687043) obs_expected=(0.482926, 0.676638) delta=(-0.00781324, 0.0104044) |delta|=0.0130115m
I0419 21:05:06.764914 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295067619523.
I0419 21:05:06.765833 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295067619877.
I0419 21:05:06.793833 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1392, -0.491404), points=4, range=1.238, residual=0.00696517, extent=0.014702
I0419 21:05:06.793941 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1392, -0.491404), tracking=(1.4377, -0.491404), map_predicted=(13.196, -1.3236), range=1.238, pts=4
I0419 21:05:06.794008 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0193222m maha_sq=0.0162241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.196, -1.3236) lm_pos=(13.215, -1.32) delta=(-0.0189841, -0.00359854) -> 1 candidate(s)
I0419 21:05:06.794104 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295067933573.
I0419 21:05:06.795574 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:06.795714 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:06.795740 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295067933735.
I0419 21:05:06.822847 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13651, -0.492158)
I0419 21:05:06.823037 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295068224348.
I0419 21:05:06.823817 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295068224467.
I0419 21:05:06.872136 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295068540077.
I0419 21:05:06.872910 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:06.873013 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:06.873088 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:06.873165 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295068540201.
I0419 21:05:06.881840 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295068813270.
I0419 21:05:06.883355 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295068813428.
I0419 21:05:06.910118 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295069094805.
I0419 21:05:06.911245 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:06.911664 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069094913.
I0419 21:05:06.938359 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0229776 range=1.23875 variance=0.000517479 t_weight=5797.34 r_weight=0 yaml=(13.215, -1.32) prior=(14.6149, -1.85465, 178.26deg) obs_actual=(1.43861, -0.4918) obs_expected=(1.41552, -0.491887) delta=(0.0230966, 8.74875e-05) |delta|=0.0230968m
I0419 21:05:06.938508 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069377719.
I0419 21:05:06.939309 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0956807, 0.542572), points=21, range=0.551952, residual=0.010297, extent=0.0326836
I0419 21:05:06.939386 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0956807, 0.542572), tracking=(-0.394181, -0.542572), map_predicted=(15.0254, -1.3243), range=0.551952, pts=21
I0419 21:05:06.939414 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0112553m maha_sq=0.00549866 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0254, -1.3243) lm_pos=(15.015, -1.32) delta=(0.0104029, -0.00429658) -> 1 candidate(s)
I0419 21:05:06.939546 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069377931.
I0419 21:05:06.969843 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13582, -0.491861)
I0419 21:05:06.969949 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:06.970033 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069693683.
I0419 21:05:07.013496 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069693849.
I0419 21:05:07.014827 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604547s, prior_pose=(14.6155, -1.85591), yaw=178.262 deg
I0419 21:05:07.014947 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:07.015108 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069982266.
I0419 21:05:07.015755 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.464 deg, rms_residual=0.00908643m, sigma_yaw=0.0119702 rad, N=2
I0419 21:05:07.015813 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.6031, -1.84608, 178.464deg) inliers=2 rms=0.00908643m
I0419 21:05:07.015852 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295069982454.
I0419 21:05:07.028265 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295070277115.
I0419 21:05:07.029193 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295070277365.
I0419 21:05:07.057160 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:07.057247 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:07.057394 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295070566583.
I0419 21:05:07.058851 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295070566795.
I0419 21:05:07.087033 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295070864279.
I0419 21:05:07.087869 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:07.087960 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0389826 range=1.22775 variance=0.000536961 t_weight=5587 r_weight=0 yaml=(15.915, -2.52) prior=(14.6149, -1.85594, 178.264deg) obs_actual=(-1.34072, 0.645624) obs_expected=(-1.3196, 0.624369) delta=(-0.021125, 0.021255) |delta|=0.0299673m
I0419 21:05:07.088022 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:07.088045 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295070864380.
I0419 21:05:07.136974 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.13379, -0.492979)
I0419 21:05:07.137203 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295071139818.
I0419 21:05:07.137866 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0475, -0.64086), points=5, range=1.2262, residual=0.00839155, extent=0.0191086
I0419 21:05:07.137956 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0475, -0.64086), tracking=(-1.346, 0.64086), map_predicted=(15.9411, -2.53136), range=1.2262, pts=5
I0419 21:05:07.137984 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.028499m maha_sq=0.0352621 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9411, -2.53136) lm_pos=(15.915, -2.52) delta=(0.0261389, -0.0113556) -> 1 candidate(s)
I0419 21:05:07.138072 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295071139993.
I0419 21:05:07.146538 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295071458193.
I0419 21:05:07.148324 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:07.148394 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:07.148442 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:07.148515 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295071458362.
I0419 21:05:07.176551 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295071758643.
I0419 21:05:07.177820 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295071758832.
I0419 21:05:07.203235 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295072019268.
I0419 21:05:07.204639 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:07.204790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295072019478.
I0419 21:05:07.234578 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295072336661.
I0419 21:05:07.303743 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.961 rad/s > flush threshold 3.
I0419 21:05:07.303912 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295072336870.
I0419 21:05:07.305157 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.12564, -0.493319)
I0419 21:05:07.305253 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:07.305333 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295072620824.
I0419 21:05:07.306022 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295072621023.
I0419 21:05:07.307917 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562016s, prior_pose=(14.602, -1.84635), yaw=178.274 deg
I0419 21:05:07.308001 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1408, max_intensity=254, threshold=230, above_threshold=27, candidates=27
I0419 21:05:07.308151 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.00804983 range=1.226 variance=0.000656271 t_weight=4571.28 r_weight=0 yaml=(15.915, -2.52) prior=(14.602, -1.84635, 178.274deg) obs_actual=(-1.33454, 0.647367) obs_expected=(-1.33271, 0.633799) delta=(-0.00182499, 0.0135671) |delta|=0.0136893m
I0419 21:05:07.308199 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295072898886.
I0419 21:05:07.308809 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295072937294.
I0419 21:05:07.322551 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.162489, 0.685688), points=18, range=0.705444, residual=0.0117237, extent=0.0357128
I0419 21:05:07.322680 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.162489, 0.685688), tracking=(0.460989, 0.685688), map_predicted=(14.1205, -2.51784), range=0.705444, pts=18
I0419 21:05:07.322733 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00595376m maha_sq=0.00153619 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1205, -2.51784) lm_pos=(14.115, -2.52) delta=(0.00554738, 0.00216192) -> 1 candidate(s)
I0419 21:05:07.322899 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295073217371.
I0419 21:05:07.323657 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295073217695.
I0419 21:05:07.350507 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:07.350610 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:07.350767 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295073499714.
I0419 21:05:07.351526 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295073499904.
I0419 21:05:07.398154 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295073783589.
I0419 21:05:07.398885 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 22 -> 21 (threshold=0.03, iters=3)
I0419 21:05:07.399029 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:07.399091 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:07.399115 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295073783796.
I0419 21:05:07.410218 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.11307, -0.495528)
I0419 21:05:07.410415 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074097779.
I0419 21:05:07.418205 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074176162.
I0419 21:05:07.438246 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074376128.
I0419 21:05:07.442404 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:07.442512 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:07.442569 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:07.442606 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.549 deg, rms_residual=0.0131806m, sigma_yaw=0.0172706 rad, N=2
I0419 21:05:07.442627 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0293837 range=1.21525 variance=0.000731458 t_weight=4101.4 r_weight=0 yaml=(13.215, -1.32) prior=(14.5909, -1.84858, 178.42deg) obs_actual=(1.41516, -0.497152) obs_expected=(1.38991, -0.490449) delta=(0.0252528, -0.00670243) |delta|=0.0261271m
I0419 21:05:07.442728 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5997, -1.86666, 177.549deg) inliers=2 rms=0.0131806m
I0419 21:05:07.442764 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074419512.
I0419 21:05:07.444242 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.5901, -1.85391), yaw=178.45 deg backend=(14.5927, -1.84805)
I0419 21:05:07.470118 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295074695127.
I0419 21:05:07.470695 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07134, -0.64656), points=4, range=1.2505, residual=0.00611298, extent=0.0148448
I0419 21:05:07.470754 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.07134, -0.64656), tracking=(-1.36984, 0.64656), map_predicted=(15.9419, -2.53729), range=1.2505, pts=4
I0419 21:05:07.470779 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0319915m maha_sq=0.0444953 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9419, -2.53729) lm_pos=(15.915, -2.52) delta=(0.0269148, -0.017293) -> 1 candidate(s)
I0419 21:05:07.470863 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074695418.
I0419 21:05:07.498862 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074978877.
I0419 21:05:07.544422 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:07.544523 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.5098 rad/s > flush threshold 3.
I0419 21:05:07.544602 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295074979288.
I0419 21:05:07.545956 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295075258943.
I0419 21:05:07.546756 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295075259173.
I0419 21:05:07.558525 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.09359, -0.496424)
I0419 21:05:07.558653 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:07.558738 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295075579940.
I0419 21:05:07.559535 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295075580185.
I0419 21:05:07.587208 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088475s, prior_pose=(14.5782, -1.85373), yaw=178.447 deg
I0419 21:05:07.587389 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:07.587783 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295075864038.
I0419 21:05:07.590903 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.2816 rad/s > flush threshold 3.
I0419 21:05:07.591145 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295075864260.
I0419 21:05:07.614348 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0159385 range=1.1945 variance=0.000659491 t_weight=4548.96 r_weight=0 yaml=(13.215, -1.32) prior=(14.573, -1.85766, 178.452deg) obs_actual=(1.39106, -0.497897) obs_expected=(1.37207, -0.500779) delta=(0.0189953, 0.00288246) |delta|=0.0192127m
I0419 21:05:07.614591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295076136226.
I0419 21:05:07.615639 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.142325, 0.543715), points=22, range=0.564045, residual=0.0123671, extent=0.0396389
I0419 21:05:07.615710 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.142325, 0.543715), tracking=(-0.440825, -0.543715), map_predicted=(15.0284, -1.32605), range=0.564045, pts=22
I0419 21:05:07.615734 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0146928m maha_sq=0.00935111 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0284, -1.32605) lm_pos=(15.015, -1.32) delta=(0.0133897, -0.00604925) -> 1 candidate(s)
I0419 21:05:07.615811 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295076136397.
I0419 21:05:07.675725 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:07.675819 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:07.675912 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295076431893.
I0419 21:05:07.676599 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295076432065.
I0419 21:05:07.677834 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295076702464.
I0419 21:05:07.678437 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:07.678509 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:07.678534 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295076735951.
I0419 21:05:07.702529 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.07956, -0.497664)
I0419 21:05:07.702747 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295077018984.
I0419 21:05:07.703419 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295077019165.
I0419 21:05:07.734696 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295077340883.
I0419 21:05:07.735601 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:07.735661 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:07.735702 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:07.735773 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295077341000.
I0419 21:05:07.764325 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295077616029.
I0419 21:05:07.815430 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.1124 rad/s > flush threshold 3.
I0419 21:05:07.815557 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00135103 range=0.569762 variance=0.000559089 t_weight=5365.87 r_weight=0 yaml=(15.015, -1.32) prior=(14.5386, -1.84808, 178.503deg) obs_actual=(-0.465928, -0.544737) obs_expected=(-0.462426, -0.540342) delta=(-0.00350242, -0.00439446) |delta|=0.00561945m
I0419 21:05:07.815637 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295077616204.
I0419 21:05:07.817487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295077892776.
I0419 21:05:07.818308 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.107331, 0.684084), points=17, range=0.693235, residual=0.0103129, extent=0.0334987
I0419 21:05:07.818380 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:07.818399 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.107331, 0.684084), tracking=(0.405831, 0.684084), map_predicted=(14.1151, -2.52133), range=0.693235, pts=17
I0419 21:05:07.818423 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00133003m maha_sq=7.67672e-05 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1151, -2.52133) lm_pos=(14.115, -2.52) delta=(5.64613e-05, -0.00132883) -> 1 candidate(s)
I0419 21:05:07.818490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295077935809.
I0419 21:05:07.822679 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295078220627.
I0419 21:05:07.823211 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.171264, 0.545752)
I0419 21:05:07.823323 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295078220856.
I0419 21:05:07.850559 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:07.850677 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.045 deg, rms_residual=0.00710404m, sigma_yaw=0.00938318 rad, N=2
I0419 21:05:07.850747 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5409, -1.85675, 178.045deg) inliers=2 rms=0.00710404m
I0419 21:05:07.850783 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295078499716.
I0419 21:05:07.852248 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.5187 rad/s > flush threshold 3.
I0419 21:05:07.852360 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295078499855.
I0419 21:05:07.877709 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553172s, prior_pose=(14.5307, -1.84979), yaw=178.488 deg
I0419 21:05:07.877825 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:07.878046 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295078773799.
I0419 21:05:07.878156 1237626 collated_trajectory_builder.cc:82] imu rate: 200.05 Hz 5.00e-03 s +/- 4.35e-03 s (pulsed at 100.36% real time)
I0419 21:05:07.878273 1237626 collated_trajectory_builder.cc:82] odom rate: 248.74 Hz 4.02e-03 s +/- 7.10e-04 s (pulsed at 100.39% real time)
I0419 21:05:07.878381 1237626 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.13e-03 s (pulsed at 100.21% real time)
I0419 21:05:07.878407 1237626 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.21e-03 s (pulsed at 100.01% real time)
I0419 21:05:07.879089 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295078774020.
I0419 21:05:07.947495 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295079092689.
I0419 21:05:07.947607 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:07.948302 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079092853.
I0419 21:05:07.949659 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:07.949748 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:07.949836 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079374547.
I0419 21:05:07.951284 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.85857 rad/s > flush threshold 3.
I0419 21:05:07.951370 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0566086 range=1.30825 variance=0.000539314 t_weight=5562.63 r_weight=0 yaml=(15.915, -2.52) prior=(14.5255, -1.85131, 178.491deg) obs_actual=(-1.43634, 0.652524) obs_expected=(-1.40658, 0.631869) delta=(-0.029759, 0.020655) |delta|=0.0362247m
I0419 21:05:07.951426 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079374680.
I0419 21:05:07.966001 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0800576, 0.684882), points=19, range=0.690211, residual=0.0114892, extent=0.0367536
I0419 21:05:07.966109 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0800576, 0.684882), tracking=(0.378558, 0.684882), map_predicted=(14.1291, -2.52599), range=0.690211, pts=19
I0419 21:05:07.966149 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0153088m maha_sq=0.0101591 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1291, -2.52599) lm_pos=(14.115, -2.52) delta=(0.0140878, -0.0059912) -> 1 candidate(s)
I0419 21:05:07.966253 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079654913.
I0419 21:05:07.967135 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.192954, 0.547247)
I0419 21:05:07.967245 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:07.967307 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:07.967332 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079655136.
I0419 21:05:07.998728 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079980309.
I0419 21:05:07.999825 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295079980504.
I0419 21:05:08.026572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295080258886.
I0419 21:05:08.072454 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:08.072573 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:08.072604 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=24.7297 rad/s > flush threshold 3.
I0419 21:05:08.073977 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:08.074150 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295080550573.
I0419 21:05:08.074843 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295080550725.
I0419 21:05:08.087500 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295080868459.
I0419 21:05:08.088342 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.209396, 0.547651)
I0419 21:05:08.088430 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:08.088508 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295080868643.
I0419 21:05:08.114938 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=4.02704e-05 range=0.687895 variance=0.000565251 t_weight=5307.37 r_weight=0 yaml=(14.115, -2.52) prior=(14.4952, -1.84495, 178.453deg) obs_actual=(0.362391, 0.684303) obs_expected=(0.361801, 0.685065) delta=(0.000590094, -0.000761995) |delta|=0.000963767m
I0419 21:05:08.115108 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295081141136.
I0419 21:05:08.118925 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.208276, 0.547297), points=21, range=0.587143, residual=0.0118585, extent=0.0352825
I0419 21:05:08.119032 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.208276, 0.547297), tracking=(-0.506776, -0.547297), map_predicted=(15.0138, -1.31421), range=0.587143, pts=21
I0419 21:05:08.119061 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00591235m maha_sq=0.00150929 (gate chi2=5.99) pose_sigma=(0.150287, 0.150287, rho=0) det_map=(15.0138, -1.31421) lm_pos=(15.015, -1.32) delta=(-0.00121481, 0.0057862) -> 1 candidate(s)
I0419 21:05:08.119153 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295081144324.
I0419 21:05:08.141852 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:08.142012 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295081413132.
I0419 21:05:08.142843 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295081413416.
I0419 21:05:08.187824 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595133s, prior_pose=(14.4935, -1.8517), yaw=178.442 deg
I0419 21:05:08.187969 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:08.188176 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295081739457.
I0419 21:05:08.188902 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295081739640.
I0419 21:05:08.202780 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.779 deg, rms_residual=0.0105715m, sigma_yaw=0.0138995 rad, N=2
I0419 21:05:08.202891 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.5009, -1.85842, 177.779deg) inliers=2 rms=0.0105715m
I0419 21:05:08.202934 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082021645.
I0419 21:05:08.204284 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.221686, 0.546336)
I0419 21:05:08.204392 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=8.47093 rad/s > flush threshold 3.
I0419 21:05:08.204463 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082021763.
I0419 21:05:08.230840 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:08.230937 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:08.231045 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082302474.
I0419 21:05:08.231770 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082302614.
I0419 21:05:08.262132 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082615653.
I0419 21:05:08.262904 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00273757 range=0.593474 variance=0.000548282 t_weight=5471.63 r_weight=0 yaml=(15.015, -1.32) prior=(14.4817, -1.84951, 178.429deg) obs_actual=(-0.525972, -0.546834) obs_expected=(-0.518576, -0.543936) delta=(-0.00739603, -0.00289743) |delta|=0.00794332m
I0419 21:05:08.262997 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295082615848.
I0419 21:05:08.290628 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0449127, 0.685218), points=19, range=0.688, residual=0.0116136, extent=0.0368054
I0419 21:05:08.290740 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0449127, 0.685218), tracking=(0.343413, 0.685218), map_predicted=(14.1196, -2.52506), range=0.688, pts=19
I0419 21:05:08.290773 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00686279m maha_sq=0.00204137 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1196, -2.52506) lm_pos=(14.115, -2.52) delta=(0.00463622, -0.00505998) -> 1 candidate(s)
I0419 21:05:08.290831 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:08.290881 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:08.290901 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082900856.
I0419 21:05:08.338559 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295082901036.
I0419 21:05:08.340030 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295083221300.
I0419 21:05:08.340673 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.231549, 0.547517)
I0419 21:05:08.340742 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:08.340767 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:08.340834 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295083221506.
I0419 21:05:08.341869 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4779, -1.84811), yaw=178.42 deg backend=(14.4976, -1.84441)
I0419 21:05:08.346727 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:08.347420 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295083462430.
I0419 21:05:08.350276 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295083497441.
I0419 21:05:08.377830 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295083772525.
I0419 21:05:08.378515 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:08.378669 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295083772707.
I0419 21:05:08.405691 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:08.406338 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084054944.
I0419 21:05:08.410446 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00280905 range=0.687 variance=0.000545368 t_weight=5500.87 r_weight=0 yaml=(14.115, -2.52) prior=(14.4715, -1.84608, 178.396deg) obs_actual=(0.345398, 0.685064) obs_expected=(0.33748, 0.683634) delta=(0.00791786, 0.00142935) |delta|=0.00804585m
I0419 21:05:08.410652 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084094699.
I0419 21:05:08.471474 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0419298, 0.685598), points=18, range=0.687222, residual=0.0110002, extent=0.0343724
I0419 21:05:08.471588 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0419298, 0.685598), tracking=(0.34043, 0.685598), map_predicted=(14.1186, -2.52208), range=0.687222, pts=18
I0419 21:05:08.471624 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00415889m maha_sq=0.000745571 (gate chi2=5.99) pose_sigma=(0.150469, 0.150469, rho=0) det_map=(14.1186, -2.52208) lm_pos=(14.115, -2.52) delta=(0.00359877, -0.00208452) -> 1 candidate(s)
I0419 21:05:08.471650 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:08.471741 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084372923.
I0419 21:05:08.472239 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295084373093.
I0419 21:05:08.473747 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885129s, prior_pose=(14.4778, -1.84611), yaw=178.424 deg
I0419 21:05:08.473851 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:08.473951 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00629, -0.496229)
I0419 21:05:08.474071 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084657836.
I0419 21:05:08.475440 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.3825 rad/s > flush threshold 3.
I0419 21:05:08.475538 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084657976.
I0419 21:05:08.498948 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084981582.
I0419 21:05:08.500356 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295084981840.
I0419 21:05:08.526320 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:08.526471 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:08.526575 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.441 deg, rms_residual=0.0148267m, sigma_yaw=0.0193857 rad, N=2
I0419 21:05:08.526657 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.466, -1.83915, 178.441deg) inliers=2 rms=0.0148267m
I0419 21:05:08.526707 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295085252503.
I0419 21:05:08.530370 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295085297332.
I0419 21:05:08.554204 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295085532488.
I0419 21:05:08.555084 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295085532703.
I0419 21:05:08.614658 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.23143, 0.547187)
I0419 21:05:08.614882 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:08.614921 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.000611626 range=0.5942 variance=0.000589656 t_weight=5087.72 r_weight=0 yaml=(15.015, -1.32) prior=(14.4772, -1.85016, 178.446deg) obs_actual=(-0.526607, -0.546096) obs_expected=(-0.523179, -0.544546) delta=(-0.00342797, -0.00154996) |delta|=0.0037621m
I0419 21:05:08.615010 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:08.615034 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295085819041.
I0419 21:05:08.615696 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0419476, 0.685931), points=18, range=0.687667, residual=0.0110172, extent=0.0347383
I0419 21:05:08.615761 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0419476, 0.685931), tracking=(0.340448, 0.685931), map_predicted=(14.1183, -2.5266), range=0.687667, pts=18
I0419 21:05:08.615794 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00739346m maha_sq=0.00237067 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1183, -2.5266) lm_pos=(14.115, -2.52) delta=(0.00332306, -0.00660459) -> 1 candidate(s)
I0419 21:05:08.615887 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295085892645.
I0419 21:05:08.618532 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295086136700.
I0419 21:05:08.619035 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:08.619084 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:08.619163 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295086136869.
I0419 21:05:08.643056 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:08.643314 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295086419919.
I0419 21:05:08.646812 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.80634 rad/s > flush threshold 3.
I0419 21:05:08.647084 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295086420145.
I0419 21:05:08.674801 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:05:08.675057 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295086740053.
I0419 21:05:08.676568 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:08.676743 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295086740293.
I0419 21:05:08.766148 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.0460288, 0.68674)
I0419 21:05:08.766435 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087015035.
I0419 21:05:08.767409 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087015323.
I0419 21:05:08.769034 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:08.769191 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00323608 range=0.689118 variance=0.000539959 t_weight=5555.98 r_weight=0 yaml=(14.115, -2.52) prior=(14.4802, -1.85136, 178.442deg) obs_actual=(0.345541, 0.686844) obs_expected=(0.346925, 0.678321) delta=(-0.00138399, 0.00852313) |delta|=0.00863476m
I0419 21:05:08.769304 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087300052.
I0419 21:05:08.770836 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.23075, 0.545754), points=18, range=0.592667, residual=0.00974354, extent=0.0308836
I0419 21:05:08.770918 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.23075, 0.545754), tracking=(-0.52925, -0.545754), map_predicted=(15.0288, -1.32224), range=0.592667, pts=18
I0419 21:05:08.770951 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0139627m maha_sq=0.00842279 (gate chi2=5.99) pose_sigma=(0.150391, 0.150391, rho=0) det_map=(15.0288, -1.32224) lm_pos=(15.015, -1.32) delta=(0.0137826, -0.00223521) -> 1 candidate(s)
I0419 21:05:08.770979 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.39785 rad/s > flush threshold 3.
I0419 21:05:08.771064 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087300424.
I0419 21:05:08.772543 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602078s, prior_pose=(14.485, -1.85351), yaw=178.454 deg
I0419 21:05:08.772611 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:08.772795 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087617113.
I0419 21:05:08.773599 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087617346.
I0419 21:05:08.791392 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087901907.
I0419 21:05:08.793238 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295087902254.
I0419 21:05:08.818203 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:08.818338 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.0450559, 0.687335)
I0419 21:05:08.818432 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:08.818681 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295088172887.
I0419 21:05:08.897907 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.9915 rad/s > flush threshold 3.
I0419 21:05:08.898087 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.235 deg, rms_residual=0.0136033m, sigma_yaw=0.0178146 rad, N=2
I0419 21:05:08.898131 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4657, -1.83848, 178.235deg) inliers=2 rms=0.0136033m
I0419 21:05:08.898178 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295088173130.
I0419 21:05:08.899853 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295088497317.
I0419 21:05:08.900633 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295088497599.
I0419 21:05:08.902944 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:08.903024 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00111936 range=0.687889 variance=0.000553792 t_weight=5417.2 r_weight=0 yaml=(14.115, -2.52) prior=(14.477, -1.8489, 178.422deg) obs_actual=(0.345426, 0.685491) obs_expected=(0.343414, 0.680811) delta=(0.00201187, 0.00468038) |delta|=0.00509446m
I0419 21:05:08.903100 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:08.903127 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295088782055.
I0419 21:05:08.903863 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295088782341.
I0419 21:05:08.907382 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00809, -0.497112), points=5, range=1.1186, residual=0.0145847, extent=0.0354517
I0419 21:05:08.907523 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00809, -0.497112), tracking=(1.30659, -0.497112), map_predicted=(13.1846, -1.316), range=1.1186, pts=5
I0419 21:05:08.907579 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0306321m maha_sq=0.0404992 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1846, -1.316) lm_pos=(13.215, -1.32) delta=(-0.0303697, 0.00400115) -> 1 candidate(s)
I0419 21:05:08.907739 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295089065299.
I0419 21:05:08.910718 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:08.910818 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:08.910949 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295089066225.
I0419 21:05:08.939167 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.0470464, 0.686342)
I0419 21:05:08.939386 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:05:08.939586 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295089379700.
I0419 21:05:08.941246 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295089379964.
I0419 21:05:09.029004 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295089655590.
I0419 21:05:09.029937 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:09.030083 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295089655833.
I0419 21:05:09.031566 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295089975037.
I0419 21:05:09.033134 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295089975297.
I0419 21:05:09.034657 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:09.034776 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295090292682.
I0419 21:05:09.035602 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295090292849.
I0419 21:05:09.054080 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055981s, prior_pose=(14.4934, -1.86032), yaw=178.475 deg
I0419 21:05:09.054518 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:09.055058 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0193272 range=0.687 variance=0.000573738 t_weight=5228.86 r_weight=0 yaml=(14.115, -2.52) prior=(14.4934, -1.86032, 178.475deg) obs_actual=(0.345346, 0.684024) obs_expected=(0.3607, 0.669519) delta=(-0.0153544, 0.0145042) |delta|=0.0211218m
I0419 21:05:09.055213 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295090535107.
I0419 21:05:09.056468 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.18104, -0.652388)
I0419 21:05:09.056559 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227312, 0.544197), points=20, range=0.592, residual=0.0121829, extent=0.0394018
I0419 21:05:09.056603 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227312, 0.544197), tracking=(-0.525812, -0.544197), map_predicted=(15.0335, -1.33031), range=0.592, pts=20
I0419 21:05:09.056639 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0211876m maha_sq=0.0194485 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0335, -1.33031) lm_pos=(15.015, -1.32) delta=(0.018508, -0.0103134) -> 1 candidate(s)
I0419 21:05:09.056769 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295090535329.
I0419 21:05:09.083400 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295090822500.
I0419 21:05:09.086854 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295090856873.
I0419 21:05:09.171520 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:09.171674 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:09.171830 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091132650.
I0419 21:05:09.172384 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091132877.
I0419 21:05:09.175233 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091416217.
I0419 21:05:09.176187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091416437.
I0419 21:05:09.177546 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:09.177670 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:09.177707 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091696755.
I0419 21:05:09.178373 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85283, 0.742324)
I0419 21:05:09.178478 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091742460.
I0419 21:05:09.200107 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.579 deg, rms_residual=0.0130241m, sigma_yaw=0.017069 rad, N=2
I0419 21:05:09.200513 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00697241 range=0.686667 variance=0.000559332 t_weight=5363.54 r_weight=0 yaml=(14.115, -2.52) prior=(14.4862, -1.85522, 178.454deg) obs_actual=(0.344328, 0.683745) obs_expected=(0.353085, 0.674544) delta=(-0.00875709, 0.00920139) |delta|=0.0127025m
I0419 21:05:09.200649 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4957, -1.86183, 177.579deg) inliers=2 rms=0.0130241m
I0419 21:05:09.200727 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091992126.
I0419 21:05:09.201555 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:09.201634 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227729, 0.547472), points=19, range=0.594526, residual=0.0107691, extent=0.0323612
I0419 21:05:09.201663 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:09.201682 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227729, 0.547472), tracking=(-0.526229, -0.547472), map_predicted=(15.027, -1.32215), range=0.594526, pts=19
I0419 21:05:09.201711 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0121449m maha_sq=0.00639917 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.027, -1.32215) lm_pos=(15.015, -1.32) delta=(0.011954, -0.00214534) -> 1 candidate(s)
I0419 21:05:09.201856 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295091992459.
I0419 21:05:09.284745 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4836, -1.85091), yaw=178.444 deg backend=(14.4891, -1.84351)
I0419 21:05:09.286597 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:09.286803 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295092298765.
I0419 21:05:09.287815 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295092299022.
I0419 21:05:09.289681 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295092611822.
I0419 21:05:09.291460 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:09.291663 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295092612166.
I0419 21:05:09.293318 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295092897595.
I0419 21:05:09.294306 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.1748, -0.65116)
I0419 21:05:09.294466 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295092898592.
I0419 21:05:09.319110 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:09.319478 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295093179727.
I0419 21:05:09.321153 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295093179958.
I0419 21:05:09.350011 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880208s, prior_pose=(14.4782, -1.84784), yaw=178.446 deg
I0419 21:05:09.350175 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:09.350649 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295093492374.
I0419 21:05:09.428529 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.69314 rad/s > flush threshold 3.
I0419 21:05:09.428745 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0441119 range=1.3455 variance=0.000529475 t_weight=5665.99 r_weight=0 yaml=(15.915, -2.52) prior=(14.4763, -1.85084, 178.453deg) obs_actual=(-1.47778, 0.653681) obs_expected=(-1.45629, 0.630068) delta=(-0.0214906, 0.0236132) |delta|=0.0319285m
I0419 21:05:09.428823 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295093492695.
I0419 21:05:09.430182 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:09.430466 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00706, -0.498442), points=4, range=1.11975, residual=0.00950828, extent=0.0222526
I0419 21:05:09.430644 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00706, -0.498442), tracking=(1.30556, -0.498442), map_predicted=(13.1846, -1.31732), range=1.11975, pts=4
I0419 21:05:09.430677 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0304856m maha_sq=0.0403254 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1846, -1.31732) lm_pos=(13.215, -1.32) delta=(-0.0303676, 0.00267885) -> 1 candidate(s)
I0419 21:05:09.430754 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295093775894.
I0419 21:05:09.431493 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295093776118.
I0419 21:05:09.433725 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:09.433796 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:09.433874 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094052808.
I0419 21:05:09.434525 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.1733, -0.650342)
I0419 21:05:09.434638 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094053139.
I0419 21:05:09.436008 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094341967.
I0419 21:05:09.438663 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094378104.
I0419 21:05:09.466629 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:09.466847 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:09.466898 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094655362.
I0419 21:05:09.468037 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094655601.
I0419 21:05:09.549430 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094937923.
I0419 21:05:09.550177 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:09.550254 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:09.550310 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.36 deg, rms_residual=0.0150005m, sigma_yaw=0.0196085 rad, N=2
I0419 21:05:09.550338 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0445037 range=1.344 variance=0.000566681 t_weight=5293.99 r_weight=0 yaml=(15.915, -2.52) prior=(14.4798, -1.84744, 178.43deg) obs_actual=(-1.47887, 0.652053) obs_expected=(-1.45313, 0.632973) delta=(-0.0257391, 0.0190802) |delta|=0.0320399m
I0419 21:05:09.550372 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4644, -1.83789, 178.36deg) inliers=2 rms=0.0150005m
I0419 21:05:09.550400 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295094938154.
I0419 21:05:09.551832 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01145, -0.498777), points=5, range=1.1244, residual=0.00997352, extent=0.0247238
I0419 21:05:09.551898 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01145, -0.498777), tracking=(1.30995, -0.498777), map_predicted=(13.184, -1.31296), range=1.1244, pts=5
I0419 21:05:09.551927 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0318184m maha_sq=0.0439107 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.184, -1.31296) lm_pos=(13.215, -1.32) delta=(-0.0310296, 0.00704101) -> 1 candidate(s)
I0419 21:05:09.551970 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:09.552009 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295095261967.
I0419 21:05:09.553404 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.174, -0.649609)
I0419 21:05:09.553522 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295095262138.
I0419 21:05:09.554868 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295095534473.
I0419 21:05:09.555486 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:09.555549 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295095534585.
I0419 21:05:09.582260 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295095817048.
I0419 21:05:09.583053 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295095817180.
I0419 21:05:09.614619 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:09.614760 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295096141808.
I0419 21:05:09.663055 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=127.956 rad/s > flush threshold 3.
I0419 21:05:09.663198 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295096141929.
I0419 21:05:09.664225 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059931s, prior_pose=(14.4858, -1.85554), yaw=178.516 deg
I0419 21:05:09.664288 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:09.664417 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295096416358.
I0419 21:05:09.664970 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.16783, -0.650249)
I0419 21:05:09.665035 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00601299 range=0.593381 variance=0.000599082 t_weight=5007.66 r_weight=0 yaml=(15.015, -1.32) prior=(14.4858, -1.85554, 178.516deg) obs_actual=(-0.52651, -0.545848) obs_expected=(-0.515174, -0.549069) delta=(-0.0113368, 0.0032204) |delta|=0.0117854m
I0419 21:05:09.665099 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295096416484.
I0419 21:05:09.670306 1264424 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:05:09.670385 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0438313, 0.684076), points=18, range=0.686556, residual=0.0108649, extent=0.0343737
I0419 21:05:09.670415 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0438313, 0.684076), tracking=(0.342331, 0.684076), map_predicted=(14.1211, -2.52748), range=0.686556, pts=18
I0419 21:05:09.670444 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00966123m maha_sq=0.00402648 (gate chi2=5.99) pose_sigma=(0.150421, 0.150421, rho=0) det_map=(14.1211, -2.52748) lm_pos=(14.115, -2.52) delta=(0.00611157, -0.00748252) -> 1 candidate(s)
I0419 21:05:09.670529 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295096698839.
I0419 21:05:09.671219 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295096698999.
I0419 21:05:09.698024 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:09.698112 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:09.698225 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295096975202.
I0419 21:05:09.704504 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295097038732.
I0419 21:05:09.730260 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295097296931.
I0419 21:05:09.730787 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295097297183.
I0419 21:05:09.779917 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:05:09.780117 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:09.780143 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295097574345.
I0419 21:05:09.780745 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17105, -0.65132)
I0419 21:05:09.780839 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295097574507.
I0419 21:05:09.786830 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295097859400.
I0419 21:05:09.789865 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:09.789961 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:09.790035 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00489258 range=0.686 variance=0.000560355 t_weight=5353.75 r_weight=0 yaml=(14.115, -2.52) prior=(14.4821, -1.85108, 178.474deg) obs_actual=(0.340349, 0.684401) obs_expected=(0.34915, 0.678455) delta=(-0.00880175, 0.00594591) |delta|=0.0106219m
I0419 21:05:09.790094 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295097894159.
I0419 21:05:09.818480 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0457894, 0.683347), points=18, range=0.686, residual=0.0109689, extent=0.0348358
I0419 21:05:09.818573 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0457894, 0.683347), tracking=(0.344289, 0.683347), map_predicted=(14.1226, -2.52785), range=0.686, pts=18
I0419 21:05:09.818606 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0109076m maha_sq=0.00514003 (gate chi2=5.99) pose_sigma=(0.150299, 0.150299, rho=0) det_map=(14.1226, -2.52785) lm_pos=(14.115, -2.52) delta=(0.00757373, -0.00784949) -> 1 candidate(s)
I0419 21:05:09.818645 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:09.818708 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295098180239.
I0419 21:05:09.819139 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.464 deg, rms_residual=0.0151421m, sigma_yaw=0.0197899 rad, N=2
I0419 21:05:09.819180 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4619, -1.83991, 178.464deg) inliers=2 rms=0.0151421m
I0419 21:05:09.819211 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295098180419.
I0419 21:05:09.845762 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295098452317.
I0419 21:05:09.849792 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:09.849927 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295098493155.
I0419 21:05:09.878129 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295098774967.
I0419 21:05:09.878733 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.17015, -0.651562)
I0419 21:05:09.878841 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295098775264.
I0419 21:05:09.932327 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:09.932812 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099052991.
I0419 21:05:09.933696 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099053160.
I0419 21:05:09.935626 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556645s, prior_pose=(14.4703, -1.84985), yaw=178.424 deg
I0419 21:05:09.935695 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1406, max_intensity=252, threshold=230, above_threshold=22, candidates=22
I0419 21:05:09.935859 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099331909.
I0419 21:05:09.938069 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00130532 range=0.6855 variance=0.00056015 t_weight=5355.71 r_weight=0 yaml=(14.115, -2.52) prior=(14.4703, -1.84985, 178.424deg) obs_actual=(0.340312, 0.683802) obs_expected=(0.336707, 0.679666) delta=(0.00360459, 0.00413616) |delta|=0.00548643m
I0419 21:05:09.938174 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099376000.
I0419 21:05:09.966173 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0428286, 0.684042), points=17, range=0.685647, residual=0.0104454, extent=0.0322741
I0419 21:05:09.966316 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0428286, 0.684042), tracking=(0.341329, 0.684042), map_predicted=(14.1103, -2.52425), range=0.685647, pts=17
I0419 21:05:09.966377 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00636436m maha_sq=0.00175759 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1103, -2.52425) lm_pos=(14.115, -2.52) delta=(-0.00473977, -0.00424732) -> 1 candidate(s)
I0419 21:05:09.966583 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099653412.
I0419 21:05:09.967564 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099653589.
I0419 21:05:09.994506 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:09.994666 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:05:09.994918 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295099936543.
I0419 21:05:09.996320 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17651, -0.654369)
I0419 21:05:09.996544 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295099936760.
I0419 21:05:10.070988 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295100222497.
I0419 21:05:10.071767 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295100256145.
I0419 21:05:10.073467 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:10.073575 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:10.073611 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295100536186.
I0419 21:05:10.074069 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295100536415.
I0419 21:05:10.087932 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295100857012.
I0419 21:05:10.090579 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:10.090749 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:10.090934 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295100896619.
I0419 21:05:10.094305 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4812, -1.85264), yaw=178.455 deg backend=(14.4818, -1.84405)
I0419 21:05:10.110425 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:10.110706 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101095315.
I0419 21:05:10.114184 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85561, 0.743439)
I0419 21:05:10.114372 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00128216 range=0.684278 variance=0.000556136 t_weight=5394.36 r_weight=0 yaml=(14.115, -2.52) prior=(14.4812, -1.85264, 178.455deg) obs_actual=(0.345176, 0.681571) obs_expected=(0.348107, 0.676992) delta=(-0.00293121, 0.00457926) |delta|=0.00543706m
I0419 21:05:10.114480 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101136054.
I0419 21:05:10.143055 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0477359, 0.682479), points=19, range=0.685263, residual=0.0114716, extent=0.036284
I0419 21:05:10.143220 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0477359, 0.682479), tracking=(0.346236, 0.682479), map_predicted=(14.1167, -2.52554), range=0.685263, pts=19
I0419 21:05:10.143276 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0057972m maha_sq=0.00145687 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1167, -2.52554) lm_pos=(14.115, -2.52) delta=(0.00172244, -0.0055354) -> 1 candidate(s)
I0419 21:05:10.143496 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101422131.
I0419 21:05:10.144249 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:10.144403 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101422447.
I0419 21:05:10.224521 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101694710.
I0419 21:05:10.225616 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.06 deg, rms_residual=0.00662587m, sigma_yaw=0.00875712 rad, N=2
I0419 21:05:10.225751 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4718, -1.8521, 179.06deg) inliers=2 rms=0.00662587m
I0419 21:05:10.225805 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101694959.
I0419 21:05:10.227990 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:10.228098 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295101977294.
I0419 21:05:10.228601 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102022224.
I0419 21:05:10.230073 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0873301s, prior_pose=(14.4751, -1.84985), yaw=178.497 deg
I0419 21:05:10.230149 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:10.230348 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102295748.
I0419 21:05:10.230738 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.16986, -0.651401)
I0419 21:05:10.230825 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102297437.
I0419 21:05:10.259135 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102579387.
I0419 21:05:10.260612 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.000491798 range=0.5915 variance=0.000527715 t_weight=5684.89 r_weight=0 yaml=(15.015, -1.32) prior=(14.4725, -1.84718, 178.498deg) obs_actual=(-0.528741, -0.544573) obs_expected=(-0.528514, -0.541215) delta=(-0.000226788, -0.00335761) |delta|=0.00336526m
I0419 21:05:10.260776 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102579672.
I0419 21:05:10.321851 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:10.321949 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:10.321977 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226076, 0.545684), points=22, range=0.592864, residual=0.0131726, extent=0.0438507
I0419 21:05:10.321996 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.226076, 0.545684), tracking=(-0.524576, -0.545684), map_predicted=(15.0044, -1.31428), range=0.592864, pts=22
I0419 21:05:10.322019 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0120395m maha_sq=0.00622716 (gate chi2=5.99) pose_sigma=(0.150564, 0.150564, rho=0) det_map=(15.0044, -1.31428) lm_pos=(15.015, -1.32) delta=(-0.0105925, 0.00572251) -> 1 candidate(s)
I0419 21:05:10.322098 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102858488.
I0419 21:05:10.322587 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295102902509.
I0419 21:05:10.324368 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295103180763.
I0419 21:05:10.324864 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295103180876.
I0419 21:05:10.350996 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:10.351213 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:10.351259 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295103501306.
I0419 21:05:10.352304 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.18084, -0.65153)
I0419 21:05:10.352486 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295103501536.
I0419 21:05:10.378330 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295103772648.
I0419 21:05:10.382731 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:10.382846 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:10.383086 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295103818997.
I0419 21:05:10.407352 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:10.407651 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104062788.
I0419 21:05:10.460839 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295104063245.
I0419 21:05:10.462749 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00010396 range=0.686 variance=0.000569455 t_weight=5268.2 r_weight=0 yaml=(14.115, -2.52) prior=(14.4752, -1.84752, 178.445deg) obs_actual=(0.342303, 0.683477) obs_expected=(0.3418, 0.682012) delta=(0.000502903, 0.00146472) |delta|=0.00154865m
I0419 21:05:10.462991 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104342968.
I0419 21:05:10.463748 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227338, 0.544304), points=21, range=0.591667, residual=0.0122471, extent=0.0408025
I0419 21:05:10.463830 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:10.463850 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227338, 0.544304), tracking=(-0.525838, -0.544304), map_predicted=(15.0156, -1.31768), range=0.591667, pts=21
I0419 21:05:10.463876 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00239381m maha_sq=0.00024824 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0156, -1.31768) lm_pos=(15.015, -1.32) delta=(0.000600468, 0.00231727) -> 1 candidate(s)
I0419 21:05:10.463968 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104343095.
I0419 21:05:10.466224 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104635003.
I0419 21:05:10.466954 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.175, -0.648326)
I0419 21:05:10.467139 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104635136.
I0419 21:05:10.494664 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:10.494972 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104939812.
I0419 21:05:10.497470 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.49 deg, rms_residual=0.0125633m, sigma_yaw=0.0164751 rad, N=2
I0419 21:05:10.497622 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4688, -1.8414, 178.49deg) inliers=2 rms=0.0125633m
I0419 21:05:10.497690 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295104940028.
I0419 21:05:10.522742 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0582923s, prior_pose=(14.4773, -1.84894), yaw=178.443 deg
I0419 21:05:10.522887 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:10.523358 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295105217926.
I0419 21:05:10.524983 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295105218197.
I0419 21:05:10.606700 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295105532769.
I0419 21:05:10.607766 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295105533009.
I0419 21:05:10.609407 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:10.609499 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:10.609597 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000450215 range=0.684722 variance=0.000552486 t_weight=5430.01 r_weight=0 yaml=(14.115, -2.52) prior=(14.4776, -1.84592, 178.459deg) obs_actual=(0.341259, 0.682758) obs_expected=(0.344372, 0.683585) delta=(-0.00311364, -0.000826946) |delta|=0.00322158m
I0419 21:05:10.609688 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295105821258.
I0419 21:05:10.611333 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17367, -0.652792)
I0419 21:05:10.611400 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22776, 0.545285), points=20, range=0.5933, residual=0.0122967, extent=0.0397872
I0419 21:05:10.611433 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.22776, 0.545285), tracking=(-0.52626, -0.545285), map_predicted=(15.023, -1.31991), range=0.5933, pts=20
I0419 21:05:10.611459 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00800519m maha_sq=0.00275777 (gate chi2=5.99) pose_sigma=(0.150507, 0.150507, rho=0) det_map=(15.023, -1.31991) lm_pos=(15.015, -1.32) delta=(0.00800463, 9.42384e-05) -> 1 candidate(s)
I0419 21:05:10.611553 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295105821615.
I0419 21:05:10.612902 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295106100586.
I0419 21:05:10.613674 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295106100781.
I0419 21:05:10.642901 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:10.643134 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:10.643188 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295106419248.
I0419 21:05:10.644779 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295106419578.
I0419 21:05:10.670660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295106695837.
I0419 21:05:10.742112 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:10.742219 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:10.742319 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295106696074.
I0419 21:05:10.743770 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:10.743865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107059481.
I0419 21:05:10.744451 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.16491, -0.648641)
I0419 21:05:10.744599 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107059718.
I0419 21:05:10.746441 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000843767 range=0.687684 variance=0.000580546 t_weight=5167.55 r_weight=0 yaml=(14.115, -2.52) prior=(14.4774, -1.84764, 178.461deg) obs_actual=(0.341402, 0.685284) obs_expected=(0.344184, 0.681847) delta=(-0.0027822, 0.00343701) |delta|=0.00442195m
I0419 21:05:10.746562 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107293601.
I0419 21:05:10.747118 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.2254, 0.544115), points=18, range=0.590667, residual=0.0104907, extent=0.032669
I0419 21:05:10.747164 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:10.747184 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.2254, 0.544115), tracking=(-0.5239, -0.544115), map_predicted=(15.0157, -1.31779), range=0.590667, pts=18
I0419 21:05:10.747206 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00231482m maha_sq=0.000232532 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0157, -1.31779) lm_pos=(15.015, -1.32) delta=(0.00069198, 0.00220897) -> 1 candidate(s)
I0419 21:05:10.747269 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107293865.
I0419 21:05:10.758373 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107577194.
I0419 21:05:10.760923 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107577400.
I0419 21:05:10.787046 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:10.787266 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107861414.
I0419 21:05:10.788599 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.448 deg, rms_residual=0.0111931m, sigma_yaw=0.0147047 rad, N=2
I0419 21:05:10.788695 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4694, -1.83974, 178.448deg) inliers=2 rms=0.0111931m
I0419 21:05:10.788744 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295107861640.
I0419 21:05:10.853102 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603878s, prior_pose=(14.4805, -1.84847), yaw=178.434 deg
I0419 21:05:10.853299 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:10.853605 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295108181278.
I0419 21:05:10.854378 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:10.854498 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.16753, -0.6501)
I0419 21:05:10.854873 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295108181428.
I0419 21:05:10.856627 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295108453263.
I0419 21:05:10.858596 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295108453439.
I0419 21:05:10.874492 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:10.874634 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:10.874727 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00737825 range=0.6875 variance=0.000562609 t_weight=5332.3 r_weight=0 yaml=(14.115, -2.52) prior=(14.4843, -1.8519, 178.435deg) obs_actual=(0.340436, 0.685731) obs_expected=(0.350894, 0.677935) delta=(-0.0104585, 0.00779627) |delta|=0.0130446m
I0419 21:05:10.874786 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295108740922.
I0419 21:05:10.875555 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.225151, 0.543503), points=20, range=0.58975, residual=0.0111977, extent=0.0366139
I0419 21:05:10.875625 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.225151, 0.543503), tracking=(-0.523651, -0.543503), map_predicted=(15.0226, -1.3229), range=0.58975, pts=20
I0419 21:05:10.875675 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00810873m maha_sq=0.00285144 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0226, -1.3229) lm_pos=(15.015, -1.32) delta=(0.00757307, -0.00289829) -> 1 candidate(s)
I0419 21:05:10.875761 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295108741117.
I0419 21:05:10.902798 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109021712.
I0419 21:05:10.906030 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109055464.
I0419 21:05:10.935689 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:10.935848 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:10.935881 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109351214.
I0419 21:05:10.936302 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16974, -0.650593)
I0419 21:05:10.936408 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109351375.
I0419 21:05:10.983932 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109618944.
I0419 21:05:10.985176 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:10.985399 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:10.985631 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295109619100.
I0419 21:05:10.987342 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(14.4979, -1.8566), yaw=178.442 deg backend=(14.479, -1.84426)
I0419 21:05:10.994524 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:10.994663 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109940141.
I0419 21:05:10.995118 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295109940328.
I0419 21:05:11.021895 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00531609 range=1.11867 variance=0.000598472 t_weight=5012.77 r_weight=0 yaml=(13.215, -1.32) prior=(14.4979, -1.8566, 178.442deg) obs_actual=(1.30587, -0.494944) obs_expected=(1.29696, -0.501538) delta=(0.00890581, 0.00659394) |delta|=0.0110812m
I0419 21:05:11.022059 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295110213308.
I0419 21:05:11.023495 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17763, -0.649766), points=4, range=1.3395, residual=0.0140032, extent=0.0302923
I0419 21:05:11.023554 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:11.023572 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17763, -0.649766), tracking=(-1.47613, 0.649766), map_predicted=(15.9545, -2.54682), range=1.3395, pts=4
I0419 21:05:11.023592 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0477706m maha_sq=0.0983786 (gate chi2=5.99) pose_sigma=(0.150101, 0.150101, rho=0) det_map=(15.9545, -2.54682) lm_pos=(15.915, -2.52) delta=(0.0395339, -0.026816) -> 1 candidate(s)
I0419 21:05:11.023655 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295110213507.
I0419 21:05:11.050803 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295110500298.
I0419 21:05:11.051663 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.17666, -0.652215)
I0419 21:05:11.051810 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295110500519.
I0419 21:05:11.101853 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:11.102030 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295110802723.
I0419 21:05:11.102859 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295110802963.
I0419 21:05:11.110634 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0887853s, prior_pose=(14.488, -1.85117), yaw=178.426 deg
I0419 21:05:11.110754 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:11.110939 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.623 deg, rms_residual=0.0113599m, sigma_yaw=0.0149205 rad, N=2
I0419 21:05:11.110988 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4944, -1.85882, 177.623deg) inliers=2 rms=0.0113599m
I0419 21:05:11.111023 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111101360.
I0419 21:05:11.112490 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111101470.
I0419 21:05:11.138757 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111381767.
I0419 21:05:11.139566 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111381913.
I0419 21:05:11.169744 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:11.169836 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:11.169924 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000898716 range=0.685706 variance=0.000542701 t_weight=5527.9 r_weight=0 yaml=(14.115, -2.52) prior=(14.483, -1.85023, 178.426deg) obs_actual=(0.346254, 0.682907) obs_expected=(0.349431, 0.679626) delta=(-0.00317777, 0.00328103) |delta|=0.00456765m
I0419 21:05:11.170010 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111692114.
I0419 21:05:11.170782 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.17588, -0.648799)
I0419 21:05:11.170831 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.225059, 0.545534), points=19, range=0.591053, residual=0.0102471, extent=0.0327153
I0419 21:05:11.170854 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.225059, 0.545534), tracking=(-0.523559, -0.545534), map_predicted=(15.0213, -1.31929), range=0.591053, pts=19
I0419 21:05:11.170876 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0063611m maha_sq=0.00175633 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0213, -1.31929) lm_pos=(15.015, -1.32) delta=(0.00632105, 0.000712682) -> 1 candidate(s)
I0419 21:05:11.170936 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111692318.
I0419 21:05:11.198860 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111978627.
I0419 21:05:11.252904 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.5936 rad/s > flush threshold 3.
I0419 21:05:11.253108 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295111978803.
I0419 21:05:11.254452 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:11.254524 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:11.254549 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295112255635.
I0419 21:05:11.255048 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295112300016.
I0419 21:05:11.257993 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295112575277.
I0419 21:05:11.258458 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:11.258503 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:11.258580 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295112575467.
I0419 21:05:11.287199 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:11.287474 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295112860168.
I0419 21:05:11.290341 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85933, 0.744927)
I0419 21:05:11.290613 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295112894025.
I0419 21:05:11.314656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295113140468.
I0419 21:05:11.315196 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:11.315265 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0698225 range=1.33933 variance=0.000554451 t_weight=5410.76 r_weight=0 yaml=(15.915, -2.52) prior=(14.4888, -1.8588, 178.462deg) obs_actual=(-1.47361, 0.649142) obs_expected=(-1.44345, 0.622682) delta=(-0.0301593, 0.0264601) |delta|=0.0401213m
I0419 21:05:11.315369 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295113140672.
I0419 21:05:11.397204 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0091, -0.495809), points=4, range=1.1205, residual=0.00887869, extent=0.0195984
I0419 21:05:11.397336 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0091, -0.495809), tracking=(1.3076, -0.495809), map_predicted=(13.1902, -1.3222), range=1.1205, pts=4
I0419 21:05:11.397368 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0249028m maha_sq=0.0267359 (gate chi2=5.99) pose_sigma=(0.150533, 0.150533, rho=0) det_map=(13.1902, -1.3222) lm_pos=(13.215, -1.32) delta=(-0.0248056, -0.00219733) -> 1 candidate(s)
I0419 21:05:11.397476 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295113464701.
I0419 21:05:11.398200 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295113464913.
I0419 21:05:11.400043 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:11.400188 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295113741510.
I0419 21:05:11.402361 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295113741775.
I0419 21:05:11.406729 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596146s, prior_pose=(14.4858, -1.85556), yaw=178.42 deg
I0419 21:05:11.406860 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:11.407186 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295114060847.
I0419 21:05:11.408499 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.17287, -0.650111)
I0419 21:05:11.408722 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295114063168.
I0419 21:05:11.434625 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.597 deg, rms_residual=0.0103268m, sigma_yaw=0.0135821 rad, N=2
I0419 21:05:11.434859 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4939, -1.85975, 177.597deg) inliers=2 rms=0.0103268m
I0419 21:05:11.434942 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295114337258.
I0419 21:05:11.436414 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295114337506.
I0419 21:05:11.462951 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:11.463132 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:11.463389 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295114617992.
I0419 21:05:11.544361 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00612296 range=0.592556 variance=0.000539225 t_weight=5563.54 r_weight=0 yaml=(15.015, -1.32) prior=(14.4859, -1.85709, 178.42deg) obs_actual=(-0.524825, -0.546329) obs_expected=(-0.514102, -0.551471) delta=(-0.0107231, 0.00514168) |delta|=0.011892m
I0419 21:05:11.544590 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295114618209.
I0419 21:05:11.546679 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0487283, 0.682388), points=19, range=0.684526, residual=0.0115029, extent=0.0362223
I0419 21:05:11.546820 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0487283, 0.682388), tracking=(0.347228, 0.682388), map_predicted=(14.12, -2.52964), range=0.684526, pts=19
I0419 21:05:11.546859 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0108485m maha_sq=0.00510161 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.12, -2.52964) lm_pos=(14.115, -2.52) delta=(0.00497529, -0.00964031) -> 1 candidate(s)
I0419 21:05:11.547016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295114936822.
I0419 21:05:11.547891 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295114937061.
I0419 21:05:11.550232 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:11.550354 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:11.550384 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295115217178.
I0419 21:05:11.551075 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.17587, -0.648807)
I0419 21:05:11.551189 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295115217429.
I0419 21:05:11.552634 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295115499479.
I0419 21:05:11.554262 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:11.554328 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:11.554420 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295115499640.
I0419 21:05:11.582881 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:11.583112 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295115819080.
I0419 21:05:11.584640 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295115820590.
I0419 21:05:11.662792 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116092456.
I0419 21:05:11.663856 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:11.663964 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00522665 range=0.592857 variance=0.000576525 t_weight=5203.59 r_weight=0 yaml=(15.015, -1.32) prior=(14.4862, -1.85524, 178.387deg) obs_actual=(-0.52393, -0.546424) obs_expected=(-0.513518, -0.549919) delta=(-0.0104117, 0.00349407) |delta|=0.0109824m
I0419 21:05:11.664090 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116133043.
I0419 21:05:11.665519 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0468809, 0.684648), points=20, range=0.68755, residual=0.0122263, extent=0.0386694
I0419 21:05:11.665603 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0468809, 0.684648), tracking=(0.345381, 0.684648), map_predicted=(14.1217, -2.5299), range=0.68755, pts=20
I0419 21:05:11.665691 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.011944m maha_sq=0.00617935 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1217, -2.5299) lm_pos=(14.115, -2.52) delta=(0.00668605, -0.00989722) -> 1 candidate(s)
I0419 21:05:11.665807 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116421989.
I0419 21:05:11.667285 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.17323, -0.652539)
I0419 21:05:11.667402 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295116422168.
I0419 21:05:11.670215 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:11.670320 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116698007.
I0419 21:05:11.670998 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116698171.
I0419 21:05:11.698679 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557976s, prior_pose=(14.482, -1.8524), yaw=178.385 deg
I0419 21:05:11.698895 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:11.699419 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116980144.
I0419 21:05:11.701201 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295116980440.
I0419 21:05:11.730293 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295117292423.
I0419 21:05:11.811129 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.2676 rad/s > flush threshold 3.
I0419 21:05:11.811357 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295117292680.
I0419 21:05:11.813989 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:11.814091 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:11.814214 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295117574902.
I0419 21:05:11.815024 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17323, -0.652547)
I0419 21:05:11.815124 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.524 deg, rms_residual=0.0130108m, sigma_yaw=0.017052 rad, N=2
I0419 21:05:11.815160 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4647, -1.84023, 178.524deg) inliers=2 rms=0.0130108m
I0419 21:05:11.815187 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295117575102.
I0419 21:05:11.817456 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000286719 range=0.688211 variance=0.000583565 t_weight=5140.81 r_weight=0 yaml=(14.115, -2.52) prior=(14.4758, -1.84675, 178.448deg) obs_actual=(0.344373, 0.684477) obs_expected=(0.34243, 0.68278) delta=(0.00194313, 0.00169659) |delta|=0.00257957m
I0419 21:05:11.817564 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295117862122.
I0419 21:05:11.818225 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226743, 0.545099), points=21, range=0.592905, residual=0.0130003, extent=0.0421128
I0419 21:05:11.818321 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.226743, 0.545099), tracking=(-0.525243, -0.545099), map_predicted=(15.0156, -1.31607), range=0.592905, pts=21
I0419 21:05:11.818351 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00397419m maha_sq=0.00068365 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0156, -1.31607) lm_pos=(15.015, -1.32) delta=(0.000613359, 0.00392658) -> 1 candidate(s)
I0419 21:05:11.818418 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295117862342.
I0419 21:05:11.819909 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:11.819978 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:11.820005 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295118181970.
I0419 21:05:11.825467 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295118182208.
I0419 21:05:11.846807 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295118459292.
I0419 21:05:11.847930 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:11.848014 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:11.848129 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295118459545.
I0419 21:05:11.933357 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4808, -1.85221), yaw=178.411 deg backend=(14.4774, -1.84514)
I0419 21:05:11.934804 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:11.934916 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295118733505.
I0419 21:05:11.935750 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.1687, -0.650749)
I0419 21:05:11.935911 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295118733706.
I0419 21:05:11.937423 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295119020000.
I0419 21:05:11.939193 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:11.939324 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295119020269.
I0419 21:05:11.941679 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295119331969.
I0419 21:05:11.942423 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295119332144.
I0419 21:05:11.962178 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:11.962375 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.012621 range=0.686474 variance=0.000566759 t_weight=5293.26 r_weight=0 yaml=(14.115, -2.52) prior=(14.4867, -1.85675, 178.412deg) obs_actual=(0.340363, 0.6846) obs_expected=(0.353183, 0.673303) delta=(-0.0128206, 0.0112976) |delta|=0.0170881m
I0419 21:05:11.962493 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295119614493.
I0419 21:05:11.963501 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295119614786.
I0419 21:05:11.994776 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0919303s, prior_pose=(14.4867, -1.85675), yaw=178.412 deg
I0419 21:05:11.994993 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:11.995250 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0097, -0.496101), points=4, range=1.1215, residual=0.00845153, extent=0.0196071
I0419 21:05:11.995316 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0097, -0.496101), tracking=(1.3082, -0.496101), map_predicted=(13.1928, -1.32457), range=1.1215, pts=4
I0419 21:05:11.995380 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0227048m maha_sq=0.0223863 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1928, -1.32457) lm_pos=(13.215, -1.32) delta=(-0.0222394, -0.00457365) -> 1 candidate(s)
I0419 21:05:11.995631 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295119939572.
I0419 21:05:12.068408 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.228973, 0.54589)
I0419 21:05:12.068626 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=22.9356 rad/s > flush threshold 3.
I0419 21:05:12.070127 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295120220839.
I0419 21:05:12.070927 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295120221133.
I0419 21:05:12.073001 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:12.073094 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:12.073192 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295120497365.
I0419 21:05:12.073872 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295120497551.
I0419 21:05:12.078099 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295120773104.
I0419 21:05:12.083037 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295120819579.
I0419 21:05:12.110738 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121094831.
I0419 21:05:12.111858 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.230531, 0.547289)
I0419 21:05:12.112011 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:12.112105 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:12.112149 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295121095046.
I0419 21:05:12.198858 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121376630.
I0419 21:05:12.199743 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:12.199862 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:12.199985 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0269112 range=0.592278 variance=0.000532597 t_weight=5632.77 r_weight=0 yaml=(15.015, -1.32) prior=(14.4944, -1.85906, 178.416deg) obs_actual=(-0.529022, -0.54523) obs_expected=(-0.50545, -0.553244) delta=(-0.0235713, 0.00801418) |delta|=0.0248965m
I0419 21:05:12.200057 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121376857.
I0419 21:05:12.202088 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17549, -0.651573), points=3, range=1.33833, residual=0.0117178, extent=0.0240255
I0419 21:05:12.202517 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17549, -0.651573), tracking=(-1.47399, 0.651573), map_predicted=(15.9499, -2.55113), range=1.33833, pts=3
I0419 21:05:12.202570 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0467381m maha_sq=0.0945361 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9499, -2.55113) lm_pos=(15.915, -2.52) delta=(0.0348595, -0.0311331) -> 1 candidate(s)
I0419 21:05:12.202730 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121656923.
I0419 21:05:12.203418 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:12.203511 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121693819.
I0419 21:05:12.206537 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.593 deg, rms_residual=0.0118435m, sigma_yaw=0.0155458 rad, N=2
I0419 21:05:12.206636 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.494, -1.85922, 177.593deg) inliers=2 rms=0.0118435m
I0419 21:05:12.206673 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121942648.
I0419 21:05:12.207067 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:12.207149 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295121975704.
I0419 21:05:12.226747 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295122257162.
I0419 21:05:12.228339 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.231172, 0.546645)
I0419 21:05:12.228572 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295122257504.
I0419 21:05:12.258100 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:12.258425 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295122572002.
I0419 21:05:12.342335 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.519 rad/s > flush threshold 3.
I0419 21:05:12.342568 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295122572258.
I0419 21:05:12.345845 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:12.347802 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595719s, prior_pose=(14.4897, -1.85555), yaw=178.358 deg
I0419 21:05:12.347916 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:12.348119 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295122852881.
I0419 21:05:12.348867 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0094691 range=0.593 variance=0.000545061 t_weight=5503.97 r_weight=0 yaml=(15.015, -1.32) prior=(14.4897, -1.85555, 178.358deg) obs_actual=(-0.524151, -0.54698) obs_expected=(-0.509777, -0.550385) delta=(-0.0143742, 0.00340568) |delta|=0.0147721m
I0419 21:05:12.348963 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295122853145.
I0419 21:05:12.351169 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0106, -0.49654), points=4, range=1.1225, residual=0.00868691, extent=0.0204864
I0419 21:05:12.351265 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0106, -0.49654), tracking=(1.3091, -0.49654), map_predicted=(13.1885, -1.31705), range=1.1225, pts=4
I0419 21:05:12.351297 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0266757m maha_sq=0.0306486 (gate chi2=5.99) pose_sigma=(0.150618, 0.150618, rho=0) det_map=(13.1885, -1.31705) lm_pos=(13.215, -1.32) delta=(-0.0265118, 0.00295252) -> 1 candidate(s)
I0419 21:05:12.351369 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295123134463.
I0419 21:05:12.352097 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295123134672.
I0419 21:05:12.353588 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:12.353657 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:12.353742 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295123501724.
I0419 21:05:12.355118 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.229287, 0.546625)
I0419 21:05:12.355175 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.0994 rad/s > flush threshold 3.
I0419 21:05:12.355224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295123501904.
I0419 21:05:12.375145 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295123741936.
I0419 21:05:12.376583 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295123742188.
I0419 21:05:12.455287 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124020157.
I0419 21:05:12.456033 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:12.456107 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:12.456135 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124022705.
I0419 21:05:12.457487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124336538.
I0419 21:05:12.458823 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:12.458887 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:12.458935 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00244799 range=0.591952 variance=0.000583206 t_weight=5143.98 r_weight=0 yaml=(15.015, -1.32) prior=(14.4845, -1.85233, 178.463deg) obs_actual=(-0.523548, -0.545501) obs_expected=(-0.516062, -0.546362) delta=(-0.0074858, 0.000861794) |delta|=0.00753525m
I0419 21:05:12.459024 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124336740.
I0419 21:05:12.462565 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0109, -0.496689), points=4, range=1.12225, residual=0.00947623, extent=0.0213643
I0419 21:05:12.462651 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0109, -0.496689), tracking=(1.3094, -0.496689), map_predicted=(13.1889, -1.32071), range=1.12225, pts=4
I0419 21:05:12.462679 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0261473m maha_sq=0.0296656 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1889, -1.32071) lm_pos=(13.215, -1.32) delta=(-0.0261378, -0.000706846) -> 1 candidate(s)
I0419 21:05:12.462762 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124621436.
I0419 21:05:12.463418 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.229062, 0.546124)
I0419 21:05:12.463480 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:12.463521 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295124621590.
I0419 21:05:12.490371 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124898380.
I0419 21:05:12.491202 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:12.491300 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.79 deg, rms_residual=0.0103311m, sigma_yaw=0.0135876 rad, N=2
I0419 21:05:12.491339 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4672, -1.84616, 178.79deg) inliers=2 rms=0.0103311m
I0419 21:05:12.491369 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295124898567.
I0419 21:05:12.522589 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295125219022.
I0419 21:05:12.565860 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.027 rad/s > flush threshold 3.
I0419 21:05:12.567224 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:12.567327 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295125500784.
I0419 21:05:12.567926 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295125500940.
I0419 21:05:12.577864 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554358s, prior_pose=(14.4791, -1.85256), yaw=178.426 deg
I0419 21:05:12.577970 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:12.578176 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295125773595.
I0419 21:05:12.578903 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.230713, 0.547519)
I0419 21:05:12.579002 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295125773753.
I0419 21:05:12.606593 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295126060329.
I0419 21:05:12.609685 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00139, -0.495628), points=4, range=1.11975, residual=0.00827213, extent=0.0204739
I0419 21:05:12.609760 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00139, -0.495628), tracking=(1.29989, -0.495628), map_predicted=(13.1933, -1.32142), range=1.11975, pts=4
I0419 21:05:12.609790 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0217037m maha_sq=0.0204584 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1933, -1.32142) lm_pos=(13.215, -1.32) delta=(-0.0216573, -0.00141778) -> 1 candidate(s)
I0419 21:05:12.609858 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0204584 range=1.11975 variance=0.000524774 t_weight=5716.74 r_weight=0 yaml=(13.215, -1.32) prior=(14.4791, -1.85256, 178.426deg) obs_actual=(1.29989, -0.495628) obs_expected=(1.27828, -0.49764) delta=(0.0216102, 0.00201202) |delta|=0.0217037m
I0419 21:05:12.609902 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295126093126.
I0419 21:05:12.638342 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:12.638422 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:12.638551 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295126378839.
I0419 21:05:12.639075 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295126379043.
I0419 21:05:12.685003 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295126654010.
I0419 21:05:12.685958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295126697494.
I0419 21:05:12.698396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295126978598.
I0419 21:05:12.699898 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.230789, 0.547694)
I0419 21:05:12.700026 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295126978765.
I0419 21:05:12.726461 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:12.726795 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:12.726826 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295127258759.
I0419 21:05:12.727500 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:12.727542 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:12.727595 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295127258913.
I0419 21:05:12.733060 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4831, -1.85318), yaw=178.432 deg backend=(14.4785, -1.84505)
I0419 21:05:12.753839 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295127533759.
I0419 21:05:12.758236 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295127577460.
I0419 21:05:12.786015 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.011, -0.498549), points=5, range=1.122, residual=0.0144025, extent=0.0354687
I0419 21:05:12.786212 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.011, -0.498549), tracking=(1.3095, -0.498549), map_predicted=(13.1878, -1.31899), range=1.122, pts=5
I0419 21:05:12.786279 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0272622m maha_sq=0.0320857 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1878, -1.31899) lm_pos=(13.215, -1.32) delta=(-0.0272434, 0.0010141) -> 1 candidate(s)
I0419 21:05:12.786382 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:12.786464 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0320857 range=1.122 variance=0.000663903 t_weight=4518.73 r_weight=0 yaml=(13.215, -1.32) prior=(14.4831, -1.85318, 178.432deg) obs_actual=(1.3095, -0.498549) obs_expected=(1.28224, -0.49828) delta=(0.0272609, -0.000268256) |delta|=0.0272622m
I0419 21:05:12.786589 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295127854076.
I0419 21:05:12.829879 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:12.829983 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.4287 rad/s > flush threshold 3.
I0419 21:05:12.831254 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295128139038.
I0419 21:05:12.831880 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295128139158.
I0419 21:05:12.842222 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.00187, -0.494642)
I0419 21:05:12.842391 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:12.842487 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295128417598.
I0419 21:05:12.846573 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295128462003.
I0419 21:05:12.874415 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0886396s, prior_pose=(14.4816, -1.85453), yaw=178.451 deg
I0419 21:05:12.874537 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:12.874675 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:05:12.874796 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295128740780.
I0419 21:05:12.876520 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.003 deg, rms_residual=0.00840044m, sigma_yaw=0.0110765 rad, N=2
I0419 21:05:12.876586 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4709, -1.85058, 179.003deg) inliers=2 rms=0.00840044m
I0419 21:05:12.876627 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295128740931.
I0419 21:05:12.907460 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129061328.
I0419 21:05:12.909195 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129061542.
I0419 21:05:12.988936 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:12.989382 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:12.989660 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129341797.
I0419 21:05:12.990564 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17061, -0.6511), points=3, range=1.34333, residual=0.00884556, extent=0.0187082
I0419 21:05:12.990659 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17061, -0.6511), tracking=(-1.46911, 0.6511), map_predicted=(15.9292, -2.54549), range=1.34333, pts=3
I0419 21:05:12.990691 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0291765m maha_sq=0.036934 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9292, -2.54549) lm_pos=(15.915, -2.52) delta=(0.0142023, -0.0254865) -> 1 candidate(s)
I0419 21:05:12.990759 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.000840185 range=0.5924 variance=0.000568723 t_weight=5274.98 r_weight=0 yaml=(15.015, -1.32) prior=(14.4787, -1.85385, 178.409deg) obs_actual=(-0.524536, -0.54562) obs_expected=(-0.521236, -0.548533) delta=(-0.00330038, 0.00291368) |delta|=0.0044025m
I0419 21:05:12.990828 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129341957.
I0419 21:05:12.992091 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.0045, -0.497148)
I0419 21:05:12.992216 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129614665.
I0419 21:05:12.993712 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129614868.
I0419 21:05:12.995154 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295129901774.
I0419 21:05:12.995824 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295129902020.
I0419 21:05:13.022168 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295130211447.
I0419 21:05:13.023519 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:13.023612 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:13.023705 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:13.023789 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:13.023830 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295130211691.
I0419 21:05:13.050870 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295130491797.
I0419 21:05:13.143373 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.0112 rad/s > flush threshold 3.
I0419 21:05:13.143605 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295130492009.
I0419 21:05:13.145654 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.00361, -0.496696)
I0419 21:05:13.145973 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295130772921.
I0419 21:05:13.146754 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:13.146828 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:13.146961 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295130773157.
I0419 21:05:13.149741 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.1795, -0.651568), points=3, range=1.33967, residual=0.0147728, extent=0.025784
I0419 21:05:13.149847 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.1795, -0.651568), tracking=(-1.478, 0.651568), map_predicted=(15.9406, -2.54355), range=1.33967, pts=3
I0419 21:05:13.149880 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0347983m maha_sq=0.051795 (gate chi2=5.99) pose_sigma=(0.150636, 0.150636, rho=0) det_map=(15.9406, -2.54355) lm_pos=(15.915, -2.52) delta=(0.0256219, -0.0235467) -> 1 candidate(s)
I0419 21:05:13.149931 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00348925 range=0.592158 variance=0.000538539 t_weight=5570.63 r_weight=0 yaml=(15.015, -1.32) prior=(14.481, -1.85177, 178.432deg) obs_actual=(-0.528209, -0.545494) obs_expected=(-0.519233, -0.546186) delta=(-0.00897634, 0.00069238) |delta|=0.009003m
I0419 21:05:13.149991 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131058136.
I0419 21:05:13.150502 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131091738.
I0419 21:05:13.152087 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:13.152199 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131373802.
I0419 21:05:13.152642 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131374029.
I0419 21:05:13.170470 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0641495s, prior_pose=(14.4762, -1.84792), yaw=178.432 deg
I0419 21:05:13.170605 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:13.170904 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131699631.
I0419 21:05:13.171825 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295131699866.
I0419 21:05:13.226742 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00427, -0.495237)
I0419 21:05:13.226963 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131938300.
I0419 21:05:13.227770 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295131973451.
I0419 21:05:13.229020 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:13.229110 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:13.229183 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.603 deg, rms_residual=0.0124429m, sigma_yaw=0.0163198 rad, N=2
I0419 21:05:13.229233 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4953, -1.85935, 177.603deg) inliers=2 rms=0.0124429m
I0419 21:05:13.229267 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295132262245.
I0419 21:05:13.230661 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295132262501.
I0419 21:05:13.255175 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0459782, 0.686274), points=18, range=0.689278, residual=0.0111375, extent=0.0345132
I0419 21:05:13.255340 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0459782, 0.686274), tracking=(0.344478, 0.686274), map_predicted=(14.1219, -2.53037), range=0.689278, pts=18
I0419 21:05:13.255399 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0124784m maha_sq=0.00675218 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1219, -2.53037) lm_pos=(14.115, -2.52) delta=(0.00694202, -0.0103692) -> 1 candidate(s)
I0419 21:05:13.255630 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295132542352.
I0419 21:05:13.257189 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.072717 range=1.345 variance=0.000534904 t_weight=5608.48 r_weight=0 yaml=(15.915, -2.52) prior=(14.4852, -1.85387, 178.418deg) obs_actual=(-1.47931, 0.65229) obs_expected=(-1.44761, 0.626404) delta=(-0.0317009, 0.0258859) |delta|=0.0409271m
I0419 21:05:13.257347 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295132542611.
I0419 21:05:13.286983 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295132857997.
I0419 21:05:13.289507 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295132858254.
I0419 21:05:13.314427 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.00346, -0.494796)
I0419 21:05:13.314846 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295133134651.
I0419 21:05:13.393986 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:13.394140 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:13.394178 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.88135 rad/s > flush threshold 3.
I0419 21:05:13.395740 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:13.395879 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:13.395907 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295133418777.
I0419 21:05:13.396654 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295133419025.
I0419 21:05:13.399048 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295133740148.
I0419 21:05:13.399781 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:13.399853 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295133740429.
I0419 21:05:13.401600 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:13.401700 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134011704.
I0419 21:05:13.403191 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227644, 0.545014), points=20, range=0.592, residual=0.011034, extent=0.0359385
I0419 21:05:13.403275 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227644, 0.545014), tracking=(-0.526144, -0.545014), map_predicted=(15.0229, -1.32097), range=0.592, pts=20
I0419 21:05:13.403362 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00791345m maha_sq=0.00270177 (gate chi2=5.99) pose_sigma=(0.150409, 0.150409, rho=0) det_map=(15.0229, -1.32097) lm_pos=(15.015, -1.32) delta=(0.00785366, -0.000970988) -> 1 candidate(s)
I0419 21:05:13.403721 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134011847.
I0419 21:05:13.430361 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00517, -0.495677)
I0419 21:05:13.430552 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:13.430662 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00287308 range=0.685235 variance=0.00054814 t_weight=5473.05 r_weight=0 yaml=(14.115, -2.52) prior=(14.4818, -1.85119, 178.412deg) obs_actual=(0.34128, 0.683115) obs_expected=(0.348127, 0.678717) delta=(-0.00684701, 0.00439747) |delta|=0.00813752m
I0419 21:05:13.430804 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134295580.
I0419 21:05:13.434929 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295134341682.
I0419 21:05:13.517047 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604228s, prior_pose=(14.4866, -1.8537), yaw=178.425 deg
I0419 21:05:13.517241 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:13.517505 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134616075.
I0419 21:05:13.518388 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134616304.
I0419 21:05:13.520293 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134899483.
I0419 21:05:13.522380 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295134899706.
I0419 21:05:13.523674 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:13.523739 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:13.523811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295135176984.
I0419 21:05:13.524437 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295135177203.
I0419 21:05:13.550947 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.00576, -0.494143)
I0419 21:05:13.551664 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295135499855.
I0419 21:05:13.553295 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.448 deg, rms_residual=0.0165602m, sigma_yaw=0.0216033 rad, N=2
I0419 21:05:13.553434 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4637, -1.83876, 178.448deg) inliers=2 rms=0.0165602m
I0419 21:05:13.553510 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295135500103.
I0419 21:05:13.582684 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17774, -0.650601), points=5, range=1.3434, residual=0.00782955, extent=0.0170748
I0419 21:05:13.582933 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17774, -0.650601), tracking=(-1.47624, 0.650601), map_predicted=(15.9393, -2.54113), range=1.3434, pts=5
I0419 21:05:13.583060 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0322161m maha_sq=0.0450634 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9393, -2.54113) lm_pos=(15.915, -2.52) delta=(0.0243167, -0.0211322) -> 1 candidate(s)
I0419 21:05:13.583312 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295135816928.
I0419 21:05:13.587265 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.03671 range=1.12417 variance=0.000539104 t_weight=5564.79 r_weight=0 yaml=(13.215, -1.32) prior=(14.4815, -1.85022, 178.426deg) obs_actual=(1.30964, -0.496796) obs_expected=(1.2806, -0.495223) delta=(0.0290395, -0.00157285) |delta|=0.029082m
I0419 21:05:13.587666 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295135862176.
I0419 21:05:13.641898 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295136061695.
I0419 21:05:13.642459 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:13.642567 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:13.642688 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295136062291.
I0419 21:05:13.644104 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4761, -1.84976), yaw=178.425 deg backend=(14.4711, -1.84581)
I0419 21:05:13.649890 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:13.650022 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:13.650053 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295136347856.
I0419 21:05:13.650750 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295136347962.
I0419 21:05:13.666354 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.00256, -0.494365)
I0419 21:05:13.666617 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295136658167.
I0419 21:05:13.668223 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:13.668386 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295136658444.
I0419 21:05:13.696316 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:13.696599 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295136934577.
I0419 21:05:13.698195 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295136976360.
I0419 21:05:13.747527 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:13.747695 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295137255771.
I0419 21:05:13.747718 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:13.748350 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.226978, 0.545686), points=19, range=0.592526, residual=0.0107401, extent=0.0343411
I0419 21:05:13.748483 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.226978, 0.545686), tracking=(-0.525478, -0.545686), map_predicted=(15.0291, -1.32049), range=0.592526, pts=19
I0419 21:05:13.748513 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0141401m maha_sq=0.00867466 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0291, -1.32049) lm_pos=(15.015, -1.32) delta=(0.0141315, -0.000493505) -> 1 candidate(s)
I0419 21:05:13.748610 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295137255916.
I0419 21:05:13.754011 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878424s, prior_pose=(14.4889, -1.85156), yaw=178.428 deg
I0419 21:05:13.754312 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:13.754617 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00758088 range=0.687211 variance=0.000584784 t_weight=5130.1 r_weight=0 yaml=(14.115, -2.52) prior=(14.4889, -1.85156, 178.428deg) obs_actual=(0.343325, 0.683846) obs_expected=(0.355402, 0.678447) delta=(-0.0120773, 0.00539835) |delta|=0.0132289m
I0419 21:05:13.754806 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295137536868.
I0419 21:05:13.756366 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295137537046.
I0419 21:05:13.781983 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00127, -0.49736)
I0419 21:05:13.782388 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295137814488.
I0419 21:05:13.783291 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295137814606.
I0419 21:05:13.813844 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:13.813934 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:13.814069 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295138133600.
I0419 21:05:13.814821 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295138133800.
I0419 21:05:13.843164 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295138424800.
I0419 21:05:13.886193 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=24.857 rad/s > flush threshold 3.
I0419 21:05:13.886384 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295138424944.
I0419 21:05:13.887578 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295138698050.
I0419 21:05:13.888324 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295138731597.
I0419 21:05:13.899349 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00472, -0.495458)
I0419 21:05:13.899537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295138984783.
I0419 21:05:13.902933 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:13.903133 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.229531, 0.547245), points=21, range=0.596143, residual=0.0134203, extent=0.0441816
I0419 21:05:13.903188 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:13.903231 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.229531, 0.547245), tracking=(-0.528031, -0.547245), map_predicted=(15.0209, -1.31634), range=0.596143, pts=21
I0419 21:05:13.903285 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00697504m maha_sq=0.00210484 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0209, -1.31634) lm_pos=(15.015, -1.32) delta=(0.00593739, 0.00366041) -> 1 candidate(s)
I0419 21:05:13.903395 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295139012268.
I0419 21:05:13.930068 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:13.930166 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000364766 range=0.686056 variance=0.000558427 t_weight=5372.23 r_weight=0 yaml=(14.115, -2.52) prior=(14.4779, -1.84871, 178.409deg) obs_actual=(0.342293, 0.683344) obs_expected=(0.344136, 0.681105) delta=(-0.0018434, 0.00223893) |delta|=0.00290016m
I0419 21:05:13.930222 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:13.930248 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295139294934.
I0419 21:05:13.931691 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295139295059.
I0419 21:05:13.957007 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.4 deg, rms_residual=0.0145034m, sigma_yaw=0.018971 rad, N=2
I0419 21:05:13.957158 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4655, -1.83968, 178.4deg) inliers=2 rms=0.0145034m
I0419 21:05:13.957206 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295139563580.
I0419 21:05:13.958096 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:13.958339 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295139575660.
I0419 21:05:14.007916 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:14.008119 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295139893947.
I0419 21:05:14.008582 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295139894096.
I0419 21:05:14.020500 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.00607, -0.496121)
I0419 21:05:14.020840 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:14.021100 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295140197678.
I0419 21:05:14.022884 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295140197917.
I0419 21:05:14.045666 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559445s, prior_pose=(14.4896, -1.85563), yaw=178.425 deg
I0419 21:05:14.045770 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:14.046053 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295140453392.
I0419 21:05:14.046698 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17862, -0.651085), points=3, range=1.344, residual=0.00573633, extent=0.0104881
I0419 21:05:14.046744 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17862, -0.651085), tracking=(-1.47712, 0.651085), map_predicted=(15.9483, -2.54707), range=1.344, pts=3
I0419 21:05:14.046772 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.042918m maha_sq=0.0800743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9483, -2.54707) lm_pos=(15.915, -2.52) delta=(0.0333082, -0.027065) -> 1 candidate(s)
I0419 21:05:14.046836 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295140453563.
I0419 21:05:14.080158 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0343025 range=1.1235 variance=0.000527535 t_weight=5686.83 r_weight=0 yaml=(13.215, -1.32) prior=(14.4827, -1.85034, 178.426deg) obs_actual=(1.31, -0.496984) obs_expected=(1.28182, -0.495308) delta=(0.0281746, -0.00167614) |delta|=0.0282244m
I0419 21:05:14.080281 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295140796610.
I0419 21:05:14.080953 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295140796747.
I0419 21:05:14.106057 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:14.106319 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:14.106567 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141055652.
I0419 21:05:14.154436 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.9683 rad/s > flush threshold 3.
I0419 21:05:14.154891 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141055796.
I0419 21:05:14.156634 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17236, -0.652047)
I0419 21:05:14.156989 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141360473.
I0419 21:05:14.157661 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141371864.
I0419 21:05:14.166749 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141659868.
I0419 21:05:14.167346 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141660122.
I0419 21:05:14.193785 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295141932220.
I0419 21:05:14.195268 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:14.195343 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:14.195415 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295141932377.
I0419 21:05:14.226375 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0487444, 0.682888), points=19, range=0.685263, residual=0.0114875, extent=0.0368966
I0419 21:05:14.226514 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0487444, 0.682888), tracking=(0.347244, 0.682888), map_predicted=(14.1238, -2.52947), range=0.685263, pts=19
I0419 21:05:14.226544 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0129342m maha_sq=0.00725199 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1238, -2.52947) lm_pos=(14.115, -2.52) delta=(0.00880957, -0.00947024) -> 1 candidate(s)
I0419 21:05:14.226608 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:14.226650 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:14.226667 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295142258945.
I0419 21:05:14.227346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295142259087.
I0419 21:05:14.278542 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.00467, -0.497244)
I0419 21:05:14.278731 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0130325 range=1.121 variance=0.000521751 t_weight=5749.87 r_weight=0 yaml=(13.215, -1.32) prior=(14.4904, -1.85843, 178.408deg) obs_actual=(1.30614, -0.496901) obs_expected=(1.28983, -0.502786) delta=(0.0163082, 0.00588532) |delta|=0.0173376m
I0419 21:05:14.278800 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295142533885.
I0419 21:05:14.279436 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:14.279544 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295142534006.
I0419 21:05:14.282603 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:14.282804 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295142820497.
I0419 21:05:14.284343 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295142820681.
I0419 21:05:14.314694 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:14.314837 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.832 deg, rms_residual=0.0093176m, sigma_yaw=0.012271 rad, N=2
I0419 21:05:14.314924 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4916, -1.85624, 177.832deg) inliers=2 rms=0.0093176m
I0419 21:05:14.314972 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295143139942.
I0419 21:05:14.316115 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295143140103.
I0419 21:05:14.342617 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599548s, prior_pose=(14.4913, -1.85794), yaw=178.408 deg
I0419 21:05:14.342763 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:14.343140 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295143420229.
I0419 21:05:14.344537 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295143420515.
I0419 21:05:14.370491 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.00534, -0.495149)
I0419 21:05:14.370774 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295143699251.
I0419 21:05:14.443856 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.12105 rad/s > flush threshold 3.
I0419 21:05:14.444051 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295143699489.
I0419 21:05:14.445621 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:14.445722 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:14.445755 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00826, -0.492976), points=4, range=1.12, residual=0.00749113, extent=0.015471
I0419 21:05:14.445780 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00826, -0.492976), tracking=(1.30676, -0.492976), map_predicted=(13.1898, -1.32394), range=1.12, pts=4
I0419 21:05:14.445807 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0255369m maha_sq=0.0283383 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1898, -1.32394) lm_pos=(13.215, -1.32) delta=(-0.0252304, -0.00394499) -> 1 candidate(s)
I0419 21:05:14.445902 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295143997539.
I0419 21:05:14.446621 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.039966 range=1.33933 variance=0.000547706 t_weight=5477.39 r_weight=0 yaml=(15.915, -2.52) prior=(14.4824, -1.85288, 178.415deg) obs_actual=(-1.46865, 0.651567) obs_expected=(-1.45051, 0.627232) delta=(-0.0181363, 0.0243351) |delta|=0.03035m
I0419 21:05:14.446702 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295143997740.
I0419 21:05:14.448848 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295144295963.
I0419 21:05:14.449587 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295144296149.
I0419 21:05:14.458491 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295144578003.
I0419 21:05:14.460072 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295144578198.
I0419 21:05:14.486660 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.00614, -0.496144)
I0419 21:05:14.487111 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295144860239.
I0419 21:05:14.488186 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:14.488317 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:14.488476 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295144860494.
I0419 21:05:14.535586 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4813, -1.84836), yaw=178.419 deg backend=(14.4799, -1.84595)
I0419 21:05:14.536825 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:14.536957 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:14.536994 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295145175369.
I0419 21:05:14.537775 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295145175545.
I0419 21:05:14.546964 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0467642, 0.682902), points=19, range=0.685684, residual=0.0115218, extent=0.0368253
I0419 21:05:14.547077 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0467642, 0.682902), tracking=(0.345264, 0.682902), map_predicted=(14.1173, -2.52148), range=0.685684, pts=19
I0419 21:05:14.547111 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00273709m maha_sq=0.000324744 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1173, -2.52148) lm_pos=(14.115, -2.52) delta=(0.00230181, -0.00148099) -> 1 candidate(s)
I0419 21:05:14.547210 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295145464036.
I0419 21:05:14.551299 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:14.551599 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295145507464.
I0419 21:05:14.578559 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:14.578678 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0294367 range=1.12075 variance=0.00053882 t_weight=5567.72 r_weight=0 yaml=(13.215, -1.32) prior=(14.4828, -1.84991, 178.421deg) obs_actual=(1.3079, -0.495956) obs_expected=(1.28189, -0.49477) delta=(0.026015, -0.00118622) |delta|=0.026042m
I0419 21:05:14.578775 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295145779555.
I0419 21:05:14.579568 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295145779774.
I0419 21:05:14.606671 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85654, 0.743811)
I0419 21:05:14.606796 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:14.606907 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146061492.
I0419 21:05:14.607657 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295146061688.
I0419 21:05:14.633841 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.082645s, prior_pose=(14.4782, -1.84917), yaw=178.421 deg
I0419 21:05:14.633947 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:14.634179 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146333914.
I0419 21:05:14.680405 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=8.52541 rad/s > flush threshold 3.
I0419 21:05:14.680583 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146334122.
I0419 21:05:14.682144 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146687096.
I0419 21:05:14.682965 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.412 deg, rms_residual=0.0133909m, sigma_yaw=0.0175413 rad, N=2
I0419 21:05:14.683037 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4674, -1.83838, 178.412deg) inliers=2 rms=0.0133909m
I0419 21:05:14.683116 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146687322.
I0419 21:05:14.698108 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:14.698240 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:14.698457 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146972890.
I0419 21:05:14.700026 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.225853, 0.542942), points=21, range=0.590238, residual=0.0125744, extent=0.0428545
I0419 21:05:14.700122 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.225853, 0.542942), tracking=(-0.524353, -0.542942), map_predicted=(15.0169, -1.32016), range=0.590238, pts=21
I0419 21:05:14.700223 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00193999m maha_sq=0.000162983 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0169, -1.32016) lm_pos=(15.015, -1.32) delta=(0.00193347, -0.000158983) -> 1 candidate(s)
I0419 21:05:14.700399 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295146973117.
I0419 21:05:14.722173 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.86211, 0.746043)
I0419 21:05:14.722342 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000292153 range=0.687105 variance=0.000572714 t_weight=5238.22 r_weight=0 yaml=(14.115, -2.52) prior=(14.4777, -1.84836, 178.411deg) obs_actual=(0.344331, 0.684012) obs_expected=(0.343972, 0.681441) delta=(0.00035835, 0.00257145) |delta|=0.0025963m
I0419 21:05:14.722440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295147216432.
I0419 21:05:14.723930 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295147216660.
I0419 21:05:14.754298 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295147537611.
I0419 21:05:14.755024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295147537740.
I0419 21:05:14.805565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295147821774.
I0419 21:05:14.806344 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:14.806427 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:14.806499 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295147821956.
I0419 21:05:14.810593 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:14.810716 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:14.810743 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148101235.
I0419 21:05:14.812160 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148101358.
I0419 21:05:14.841859 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85654, 0.743811)
I0419 21:05:14.842087 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148413538.
I0419 21:05:14.842772 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.231535, 0.545373), points=19, range=0.592474, residual=0.0104082, extent=0.0334782
I0419 21:05:14.842823 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:14.842846 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.231535, 0.545373), tracking=(-0.530035, -0.545373), map_predicted=(15.026, -1.31982), range=0.592474, pts=19
I0419 21:05:14.842868 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0110463m maha_sq=0.00529559 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.026, -1.31982) lm_pos=(15.015, -1.32) delta=(0.0110448, 0.000182089) -> 1 candidate(s)
I0419 21:05:14.842941 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148413650.
I0419 21:05:14.869753 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:14.869864 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000270883 range=0.683263 variance=0.000574654 t_weight=5220.53 r_weight=0 yaml=(14.115, -2.52) prior=(14.4764, -1.84832, 178.405deg) obs_actual=(0.340226, 0.682338) obs_expected=(0.342578, 0.681474) delta=(-0.00235268, 0.000863696) |delta|=0.00250621m
I0419 21:05:14.869964 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148692067.
I0419 21:05:14.870642 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295148692240.
I0419 21:05:14.898087 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:14.898375 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148973811.
I0419 21:05:14.942883 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.5274 rad/s > flush threshold 3.
I0419 21:05:14.943066 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295148974070.
I0419 21:05:14.944312 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0609618s, prior_pose=(14.4824, -1.85214), yaw=178.379 deg
I0419 21:05:14.944387 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:14.944561 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295149301685.
I0419 21:05:14.945259 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295149301856.
I0419 21:05:14.958305 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85747, 0.744183)
I0419 21:05:14.958750 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295149578440.
I0419 21:05:14.962013 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295149611773.
I0419 21:05:14.987330 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:14.987488 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:14.987736 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295149864990.
I0419 21:05:14.990934 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.646 deg, rms_residual=0.00945952m, sigma_yaw=0.0124556 rad, N=2
I0419 21:05:14.991094 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4718, -1.84385, 178.646deg) inliers=2 rms=0.00945952m
I0419 21:05:14.991166 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295149865190.
I0419 21:05:15.018441 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00348, -0.496662), points=4, range=1.122, residual=0.00839078, extent=0.0204822
I0419 21:05:15.018572 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00348, -0.496662), tracking=(1.30198, -0.496662), map_predicted=(13.1942, -1.31876), range=1.122, pts=4
I0419 21:05:15.018610 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0207892m maha_sq=0.0187689 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1942, -1.31876) lm_pos=(13.215, -1.32) delta=(-0.0207523, 0.00123771) -> 1 candidate(s)
I0419 21:05:15.018797 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295150180065.
I0419 21:05:15.019549 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00187922 range=0.5918 variance=0.00055835 t_weight=5372.97 r_weight=0 yaml=(15.015, -1.32) prior=(14.4817, -1.85206, 178.379deg) obs_actual=(-0.524516, -0.545564) obs_expected=(-0.518078, -0.546936) delta=(-0.00643811, 0.00137202) |delta|=0.00658268m
I0419 21:05:15.019636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295150180239.
I0419 21:05:15.065249 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295150455261.
I0419 21:05:15.066267 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295150455394.
I0419 21:05:15.077788 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85097, 0.74158)
I0419 21:05:15.078089 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295150770454.
I0419 21:05:15.082077 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:15.082235 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:15.082396 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295150816435.
I0419 21:05:15.106951 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:15.107216 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:15.107285 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295151060629.
I0419 21:05:15.108738 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295151060815.
I0419 21:05:15.134240 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295151332508.
I0419 21:05:15.138279 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:15.138479 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295151377615.
I0419 21:05:15.162472 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:15.162779 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295151619066.
I0419 21:05:15.212291 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.045791, 0.683347), points=19, range=0.686526, residual=0.0116573, extent=0.0370784
I0419 21:05:15.212402 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.045791, 0.683347), tracking=(0.344291, 0.683347), map_predicted=(14.1198, -2.52778), range=0.686526, pts=19
I0419 21:05:15.212436 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.00911453m maha_sq=0.00357477 (gate chi2=5.99) pose_sigma=(0.150554, 0.150554, rho=0) det_map=(14.1198, -2.52778) lm_pos=(14.115, -2.52) delta=(0.00475475, -0.00777605) -> 1 candidate(s)
I0419 21:05:15.212534 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295151654731.
I0419 21:05:15.212769 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:15.213732 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.8584, 0.744555)
I0419 21:05:15.213798 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:15.213853 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00484853 range=0.686333 variance=0.000556899 t_weight=5386.98 r_weight=0 yaml=(14.115, -2.52) prior=(14.4828, -1.85418, 178.42deg) obs_actual=(0.342313, 0.683677) obs_expected=(0.349258, 0.675705) delta=(-0.00694542, 0.00797203) |delta|=0.0105732m
I0419 21:05:15.213898 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295151937539.
I0419 21:05:15.214295 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295151937689.
I0419 21:05:15.222728 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567669s, prior_pose=(14.4783, -1.85205), yaw=178.42 deg
I0419 21:05:15.222841 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:15.223073 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295152222400.
I0419 21:05:15.223819 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295152222554.
I0419 21:05:15.254289 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295152537009.
I0419 21:05:15.255878 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295152537164.
I0419 21:05:15.281880 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:15.281991 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:15.282109 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295152813680.
I0419 21:05:15.282982 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295152813916.
I0419 21:05:15.329679 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.86304, 0.746414)
I0419 21:05:15.329931 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153097622.
I0419 21:05:15.330593 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.227945, 0.545717), points=19, range=0.592947, residual=0.0112254, extent=0.0403256
I0419 21:05:15.330693 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.227945, 0.545717), tracking=(-0.526445, -0.545717), map_predicted=(15.0181, -1.31873), range=0.592947, pts=19
I0419 21:05:15.330722 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00335941m maha_sq=0.000489407 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0181, -1.31873) lm_pos=(15.015, -1.32) delta=(0.00310952, 0.00127142) -> 1 candidate(s)
I0419 21:05:15.330806 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153097812.
I0419 21:05:15.338156 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.622 deg, rms_residual=0.0103444m, sigma_yaw=0.0136049 rad, N=2
I0419 21:05:15.338270 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=2.05271e-05 range=0.5909 variance=0.000557234 t_weight=5383.73 r_weight=0 yaml=(15.015, -1.32) prior=(14.477, -1.84995, 178.444deg) obs_actual=(-0.524048, -0.544485) obs_expected=(-0.523371, -0.544362) delta=(-0.000676924, -0.000122768) |delta|=0.000687966m
I0419 21:05:15.338337 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4718, -1.84345, 178.622deg) inliers=2 rms=0.0103444m
I0419 21:05:15.338388 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153376085.
I0419 21:05:15.342368 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:05:15.342551 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153418751.
I0419 21:05:15.370186 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153696360.
I0419 21:05:15.370636 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:15.370682 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:15.370744 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153696548.
I0419 21:05:15.372768 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4775, -1.84929), yaw=178.444 deg backend=(14.4756, -1.84536)
I0419 21:05:15.398499 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:15.398633 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:15.398655 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153979510.
I0419 21:05:15.399376 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295153979737.
I0419 21:05:15.430143 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.85654, 0.743811)
I0419 21:05:15.430325 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295154296197.
I0419 21:05:15.473575 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:15.473685 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.1717 rad/s > flush threshold 3.
I0419 21:05:15.473778 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295154296369.
I0419 21:05:15.474983 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:05:15.475075 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295154597202.
I0419 21:05:15.475752 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295154597437.
I0419 21:05:15.486315 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00652, -0.496342), points=5, range=1.118, residual=0.0118396, extent=0.0290515
I0419 21:05:15.486420 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00652, -0.496342), tracking=(1.30502, -0.496342), map_predicted=(13.1871, -1.3197), range=1.118, pts=5
I0419 21:05:15.486454 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0278919m maha_sq=0.0336091 (gate chi2=5.99) pose_sigma=(0.150169, 0.150169, rho=0) det_map=(13.1871, -1.3197) lm_pos=(13.215, -1.32) delta=(-0.0278904, 0.000295553) -> 1 candidate(s)
I0419 21:05:15.486474 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:15.486552 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295154856640.
I0419 21:05:15.487284 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0715561 range=1.35 variance=0.000633374 t_weight=4736.53 r_weight=0 yaml=(15.915, -2.52) prior=(14.478, -1.85166, 178.428deg) obs_actual=(-1.48778, 0.652461) obs_expected=(-1.45477, 0.62867) delta=(-0.033005, 0.0237909) |delta|=0.0406858m
I0419 21:05:15.487352 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295154857797.
I0419 21:05:15.518244 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882403s, prior_pose=(14.478, -1.85166), yaw=178.428 deg
I0419 21:05:15.518392 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:15.518671 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295155178772.
I0419 21:05:15.520100 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295155178893.
I0419 21:05:15.549875 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.0458287, 0.683958)
I0419 21:05:15.550189 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295155493723.
I0419 21:05:15.550911 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295155493846.
I0419 21:05:15.598150 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:15.598248 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:15.598371 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295155737509.
I0419 21:05:15.599025 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295155737653.
I0419 21:05:15.604871 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156021727.
I0419 21:05:15.605880 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156054376.
I0419 21:05:15.633800 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01065, -0.494743), points=5, range=1.1222, residual=0.00872634, extent=0.0204781
I0419 21:05:15.633949 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01065, -0.494743), tracking=(1.30915, -0.494743), map_predicted=(13.19, -1.32365), range=1.1222, pts=5
I0419 21:05:15.634020 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0252382m maha_sq=0.0275561 (gate chi2=5.99) pose_sigma=(0.150275, 0.150275, rho=0) det_map=(13.19, -1.32365) lm_pos=(13.215, -1.32) delta=(-0.0249731, -0.00364786) -> 1 candidate(s)
I0419 21:05:15.634147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156332414.
I0419 21:05:15.634639 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.867 deg, rms_residual=0.0121583m, sigma_yaw=0.0159525 rad, N=2
I0419 21:05:15.634675 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0415703 range=1.34067 variance=0.000586212 t_weight=5117.6 r_weight=0 yaml=(15.915, -2.52) prior=(14.4852, -1.854, 178.433deg) obs_actual=(-1.46416, 0.652793) obs_expected=(-1.44752, 0.626661) delta=(-0.0166382, 0.0261318) |delta|=0.030979m
I0419 21:05:15.634730 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4713, -1.84812, 178.867deg) inliers=2 rms=0.0121583m
I0419 21:05:15.634764 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156333149.
I0419 21:05:15.661789 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.044874, 0.684508)
I0419 21:05:15.661965 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156613797.
I0419 21:05:15.662675 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:15.662716 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:15.662807 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156613984.
I0419 21:05:15.694262 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:15.694373 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:15.694492 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156936750.
I0419 21:05:15.701982 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:15.751061 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.6278 rad/s > flush threshold 3.
I0419 21:05:15.751211 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295156936899.
I0419 21:05:15.752496 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295157220679.
I0419 21:05:15.753198 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:15.753302 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295157220834.
I0419 21:05:15.755206 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:05:15.755334 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295157501040.
I0419 21:05:15.755981 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295157501197.
I0419 21:05:15.781988 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(0.0449638, 0.685782)
I0419 21:05:15.782090 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0419149, 0.685332), points=18, range=0.687333, residual=0.0112616, extent=0.0345968
I0419 21:05:15.782117 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0419149, 0.685332), tracking=(0.340415, 0.685332), map_predicted=(14.1268, -2.53229), range=0.687333, pts=18
I0419 21:05:15.782143 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0170383m maha_sq=0.0125871 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1268, -2.53229) lm_pos=(14.115, -2.52) delta=(0.0118025, -0.0122884) -> 1 candidate(s)
I0419 21:05:15.782161 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:15.782302 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295157815383.
I0419 21:05:15.783954 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295157815530.
I0419 21:05:15.810366 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598847s, prior_pose=(14.4876, -1.85764), yaw=178.422 deg
I0419 21:05:15.810473 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:15.810715 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0156266 range=1.1165 variance=0.000541894 t_weight=5536.14 r_weight=0 yaml=(13.215, -1.32) prior=(14.4876, -1.85764, 178.422deg) obs_actual=(1.30402, -0.494041) obs_expected=(1.28697, -0.502381) delta=(0.0170446, 0.00833948) |delta|=0.0189754m
I0419 21:05:15.810809 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295158099887.
I0419 21:05:15.812623 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295158100104.
I0419 21:05:15.889062 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295158417535.
I0419 21:05:15.890268 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295158417650.
I0419 21:05:15.892038 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:15.892127 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:15.892241 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295158695647.
I0419 21:05:15.893766 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295158695851.
I0419 21:05:15.898351 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0439196, 0.685349)
I0419 21:05:15.898617 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295158975456.
I0419 21:05:15.902129 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295159013632.
I0419 21:05:15.930444 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295159293523.
I0419 21:05:15.932150 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295159293731.
I0419 21:05:15.958608 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00952, -0.494197), points=5, range=1.121, residual=0.00860362, extent=0.0195984
I0419 21:05:15.958781 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00952, -0.494197), tracking=(1.30802, -0.494197), map_predicted=(13.1845, -1.31994), range=1.121, pts=5
I0419 21:05:15.958844 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0305328m maha_sq=0.040479 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1845, -1.31994) lm_pos=(13.215, -1.32) delta=(-0.0305327, 5.80397e-05) -> 1 candidate(s)
I0419 21:05:15.959095 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295159576442.
I0419 21:05:16.049841 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:16.049993 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:16.050033 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.63 rad/s > flush threshold 3.
I0419 21:05:16.051824 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0140761 range=1.116 variance=0.000603791 t_weight=4968.6 r_weight=0 yaml=(13.215, -1.32) prior=(14.4866, -1.85366, 178.407deg) obs_actual=(1.30354, -0.493795) obs_expected=(1.28594, -0.498097) delta=(0.0175945, 0.00430284) |delta|=0.018113m
I0419 21:05:16.051976 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295159859149.
I0419 21:05:16.052721 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:16.052811 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:16.052845 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295159859777.
I0419 21:05:16.055181 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0457521, 0.683067)
I0419 21:05:16.055395 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.705 deg, rms_residual=0.0113164m, sigma_yaw=0.0148643 rad, N=2
I0419 21:05:16.055454 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.496, -1.86118, 177.705deg) inliers=2 rms=0.0113164m
I0419 21:05:16.055500 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295160145744.
I0419 21:05:16.056206 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:16.056310 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295160145931.
I0419 21:05:16.058087 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295160460390.
I0419 21:05:16.059903 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:16.060058 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295160460526.
I0419 21:05:16.074530 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:16.074779 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295160733464.
I0419 21:05:16.076320 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295160733676.
I0419 21:05:16.160559 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05609s, prior_pose=(14.4848, -1.85626), yaw=178.413 deg
I0419 21:05:16.160830 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1411, max_intensity=253, threshold=230, above_threshold=24, candidates=24
I0419 21:05:16.161183 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161021426.
I0419 21:05:16.161986 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0478721, 0.684474), points=19, range=0.686842, residual=0.0115212, extent=0.0367737
I0419 21:05:16.162071 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0478721, 0.684474), tracking=(0.346372, 0.684474), map_predicted=(14.1196, -2.53088), range=0.686842, pts=19
I0419 21:05:16.162102 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0118277m maha_sq=0.00606402 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1196, -2.53088) lm_pos=(14.115, -2.52) delta=(0.00463944, -0.0108798) -> 1 candidate(s)
I0419 21:05:16.162194 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295161058475.
I0419 21:05:16.163938 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0438459, 0.684352)
I0419 21:05:16.164191 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161341959.
I0419 21:05:16.164884 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0712033 range=1.34475 variance=0.000544532 t_weight=5509.32 r_weight=0 yaml=(15.915, -2.52) prior=(14.4848, -1.85626, 178.413deg) obs_actual=(-1.47816, 0.65091) obs_expected=(-1.448, 0.623872) delta=(-0.0301622, 0.0270387) |delta|=0.0405074m
I0419 21:05:16.164990 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161342162.
I0419 21:05:16.167356 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:16.167446 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:16.167529 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161619404.
I0419 21:05:16.168206 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161659401.
I0419 21:05:16.195158 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161938548.
I0419 21:05:16.198182 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295161972339.
I0419 21:05:16.227399 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295162260962.
I0419 21:05:16.228542 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295162261178.
I0419 21:05:16.302021 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(0.0457884, 0.683433)
I0419 21:05:16.302237 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295162500662.
I0419 21:05:16.302863 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:16.302925 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.230264, 0.544579), points=20, range=0.5914, residual=0.0111816, extent=0.0375789
I0419 21:05:16.302945 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:16.302996 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.230264, 0.544579), tracking=(-0.528764, -0.544579), map_predicted=(15.0218, -1.32066), range=0.5914, pts=20
I0419 21:05:16.303021 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00683119m maha_sq=0.00202375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0218, -1.32066) lm_pos=(15.015, -1.32) delta=(0.00679961, -0.000656104) -> 1 candidate(s)
I0419 21:05:16.303103 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295162500924.
I0419 21:05:16.304343 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4735, -1.8467), yaw=178.389 deg backend=(14.4744, -1.84574)
I0419 21:05:16.305323 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295162815907.
I0419 21:05:16.305972 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:16.306022 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0288935 range=1.343 variance=0.000552338 t_weight=5431.46 r_weight=0 yaml=(15.915, -2.52) prior=(14.4735, -1.8467, 178.389deg) obs_actual=(-1.47756, 0.651326) obs_expected=(-1.45989, 0.632519) delta=(-0.0176736, 0.0188071) |delta|=0.0258082m
I0419 21:05:16.306067 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:16.306085 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295162816128.
I0419 21:05:16.310276 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163093560.
I0419 21:05:16.313637 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:16.314260 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163093804.
I0419 21:05:16.338742 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.5 deg, rms_residual=0.0115307m, sigma_yaw=0.0151414 rad, N=2
I0419 21:05:16.338968 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4918, -1.86072, 177.5deg) inliers=2 rms=0.0115307m
I0419 21:05:16.339056 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163374894.
I0419 21:05:16.340498 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:16.340643 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163375149.
I0419 21:05:16.414443 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(0.0457677, 0.682928)
I0419 21:05:16.414575 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:16.414662 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163664081.
I0419 21:05:16.415367 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295163698788.
I0419 21:05:16.416620 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882411s, prior_pose=(14.477, -1.8478), yaw=178.43 deg
I0419 21:05:16.416726 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:16.416895 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163976215.
I0419 21:05:16.418437 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295163976433.
I0419 21:05:16.426821 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01042, -0.494634), points=5, range=1.1222, residual=0.00831196, extent=0.0196071
I0419 21:05:16.426959 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.01042, -0.494634), tracking=(1.30892, -0.494634), map_predicted=(13.1863, -1.32142), range=1.1222, pts=5
I0419 21:05:16.427013 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0287145m maha_sq=0.0358089 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1863, -1.32142) lm_pos=(13.215, -1.32) delta=(-0.0286794, -0.00141804) -> 1 candidate(s)
I0419 21:05:16.427153 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295164260423.
I0419 21:05:16.428421 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00376521 range=0.592789 variance=0.000543606 t_weight=5518.71 r_weight=0 yaml=(15.015, -1.32) prior=(14.4812, -1.85169, 178.432deg) obs_actual=(-0.528345, -0.545798) obs_expected=(-0.519035, -0.5461) delta=(-0.00930982, 0.000301979) |delta|=0.00931472m
I0419 21:05:16.428537 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295164260686.
I0419 21:05:16.438943 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:16.457804 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:16.457895 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:16.458035 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295164573405.
I0419 21:05:16.462687 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295164622012.
I0419 21:05:16.487037 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295164863692.
I0419 21:05:16.536839 1219494 pose_graph_2d.cc:160] Inserted submap (1, 60).
I0419 21:05:16.537508 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17127, -0.651435)
I0419 21:05:16.537634 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.1278 rad/s > flush threshold 3.
I0419 21:05:16.537739 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295164863870.
I0419 21:05:16.539098 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295165134234.
I0419 21:05:16.539919 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295165179306.
I0419 21:05:16.546669 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295165458283.
I0419 21:05:16.547690 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:16.547857 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:16.548074 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295165458480.
I0419 21:05:16.574184 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295165735252.
I0419 21:05:16.575937 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17184, -0.654017), points=4, range=1.34325, residual=0.00668057, extent=0.0160638
I0419 21:05:16.576108 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17184, -0.654017), tracking=(-1.47034, 0.654017), map_predicted=(15.9236, -2.5401), range=1.34325, pts=4
I0419 21:05:16.576172 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.021869m maha_sq=0.0207698 (gate chi2=5.99) pose_sigma=(0.150039, 0.150039, rho=0) det_map=(15.9236, -2.5401) lm_pos=(15.915, -2.52) delta=(0.00861853, -0.0200991) -> 1 candidate(s)
I0419 21:05:16.576272 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:16.576355 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:16.576413 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295165735468.
I0419 21:05:16.603575 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295166026110.
I0419 21:05:16.608038 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.172, -0.649594)
I0419 21:05:16.608155 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:16.608239 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0219551 range=1.34 variance=0.000696007 t_weight=4310.3 r_weight=0 yaml=(15.915, -2.52) prior=(14.4719, -1.84581, 178.421deg) obs_actual=(-1.477, 0.650246) obs_expected=(-1.46117, 0.634163) delta=(-0.0158304, 0.0160832) |delta|=0.022567m
I0419 21:05:16.608305 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166026228.
I0419 21:05:16.660425 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166371180.
I0419 21:05:16.661428 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:16.661643 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166371321.
I0419 21:05:16.662950 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:16.663165 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166615251.
I0419 21:05:16.664705 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166615505.
I0419 21:05:16.695363 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0578213s, prior_pose=(14.4801, -1.84938), yaw=178.426 deg
I0419 21:05:16.695478 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:16.695684 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.593 deg, rms_residual=0.0124533m, sigma_yaw=0.0163332 rad, N=2
I0419 21:05:16.695726 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4912, -1.86112, 177.593deg) inliers=2 rms=0.0124533m
I0419 21:05:16.695757 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166949393.
I0419 21:05:16.696585 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295166949503.
I0419 21:05:16.717500 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 48
I0419 21:05:16.722488 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295167218985.
I0419 21:05:16.723436 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16931, -0.650345)
I0419 21:05:16.723523 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.233205, 0.547117), points=19, range=0.594053, residual=0.0108379, extent=0.0345715
I0419 21:05:16.723548 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.233205, 0.547117), tracking=(-0.531705, -0.547117), map_predicted=(15.0222, -1.31392), range=0.594053, pts=19
I0419 21:05:16.723573 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00944852m maha_sq=0.00387287 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0222, -1.31392) lm_pos=(15.015, -1.32) delta=(0.00723474, 0.00607726) -> 1 candidate(s)
I0419 21:05:16.723652 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295167219238.
I0419 21:05:16.749739 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:16.749821 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:16.749943 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295167492359.
I0419 21:05:16.796658 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.75111 rad/s > flush threshold 3.
I0419 21:05:16.796785 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0383009 range=1.338 variance=0.000689759 t_weight=4349.35 r_weight=0 yaml=(15.915, -2.52) prior=(14.4779, -1.85047, 178.422deg) obs_actual=(-1.47487, 0.652048) obs_expected=(-1.45504, 0.629708) delta=(-0.01983, 0.0223395) |delta|=0.0298711m
I0419 21:05:16.796845 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295167492544.
I0419 21:05:16.798214 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295167818539.
I0419 21:05:16.798864 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295167818668.
I0419 21:05:16.809885 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168093430.
I0419 21:05:16.810591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168093586.
I0419 21:05:16.837958 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168373407.
I0419 21:05:16.839535 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17476, -0.653397)
I0419 21:05:16.839618 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:16.839644 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:16.839740 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168373607.
I0419 21:05:16.869967 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168693663.
I0419 21:05:16.870961 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22659, 0.546982), points=20, range=0.59345, residual=0.0111519, extent=0.0359385
I0419 21:05:16.871048 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.22659, 0.546982), tracking=(-0.52509, -0.546982), map_predicted=(15.0206, -1.31972), range=0.59345, pts=20
I0419 21:05:16.871081 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00558493m maha_sq=0.00135273 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0206, -1.31972) lm_pos=(15.015, -1.32) delta=(0.00557798, 0.000278554) -> 1 candidate(s)
I0419 21:05:16.871143 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:16.871176 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:16.871193 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168693848.
I0419 21:05:16.923391 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168972282.
I0419 21:05:16.924082 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:16.924151 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0141007 range=1.33667 variance=0.000686031 t_weight=4372.98 r_weight=0 yaml=(15.915, -2.52) prior=(14.4739, -1.84894, 178.438deg) obs_actual=(-1.45849, 0.649615) obs_expected=(-1.45888, 0.631538) delta=(0.000396521, 0.0180771) |delta|=0.0180815m
I0419 21:05:16.924211 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295168972453.
I0419 21:05:16.926047 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295169255426.
I0419 21:05:16.927464 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:16.927546 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295169255599.
I0419 21:05:16.953996 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:16.954149 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295169534785.
I0419 21:05:16.958294 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17417, -0.650837)
I0419 21:05:16.958455 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295169578857.
I0419 21:05:16.986373 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604228s, prior_pose=(14.4753, -1.84925), yaw=178.439 deg
I0419 21:05:16.986505 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:16.986750 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295169859827.
I0419 21:05:16.987762 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.474 deg, rms_residual=0.0149308m, sigma_yaw=0.0195191 rad, N=2
I0419 21:05:16.987855 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4621, -1.84024, 178.474deg) inliers=2 rms=0.0149308m
I0419 21:05:16.987892 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295169860026.
I0419 21:05:17.014253 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295170137462.
I0419 21:05:17.061692 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=107.075 rad/s > flush threshold 3.
I0419 21:05:17.062103 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295170137570.
I0419 21:05:17.063534 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:17.063578 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:17.063602 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0097, -0.496103), points=4, range=1.121, residual=0.00929489, extent=0.0200834
I0419 21:05:17.063627 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0097, -0.496103), tracking=(1.3082, -0.496103), map_predicted=(13.1923, -1.31997), range=1.121, pts=4
I0419 21:05:17.063645 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0226784m maha_sq=0.0223198 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1923, -1.31997) lm_pos=(13.215, -1.32) delta=(-0.0226784, 2.83714e-05) -> 1 candidate(s)
I0419 21:05:17.063701 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295170455201.
I0419 21:05:17.064311 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.010416 range=0.59175 variance=0.000564028 t_weight=5318.88 r_weight=0 yaml=(15.015, -1.32) prior=(14.4859, -1.85303, 178.373deg) obs_actual=(-0.528995, -0.545092) obs_expected=(-0.513741, -0.54784) delta=(-0.0152539, 0.00274831) |delta|=0.0154995m
I0419 21:05:17.064371 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295170455435.
I0419 21:05:17.074370 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295170739365.
I0419 21:05:17.075043 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(1.17234, -0.649813)
I0419 21:05:17.075139 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295170739480.
I0419 21:05:17.102016 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171012971.
I0419 21:05:17.103654 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295171013074.
I0419 21:05:17.130594 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171299675.
I0419 21:05:17.133882 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:17.133991 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:17.134107 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171332970.
I0419 21:05:17.191846 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4786, -1.84863), yaw=178.443 deg backend=(14.4786, -1.8468)
I0419 21:05:17.193254 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171620362.
I0419 21:05:17.194027 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:17.194113 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:17.194142 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171620525.
I0419 21:05:17.195434 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.228151, 0.546205), points=19, range=0.593947, residual=0.0120656, extent=0.0421519
I0419 21:05:17.195502 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.228151, 0.546205), tracking=(-0.526651, -0.546205), map_predicted=(15.0199, -1.31694), range=0.593947, pts=19
I0419 21:05:17.195530 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00581834m maha_sq=0.00146681 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0199, -1.31694) lm_pos=(15.015, -1.32) delta=(0.00494849, 0.00306032) -> 1 candidate(s)
I0419 21:05:17.195616 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171894448.
I0419 21:05:17.196192 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.8584, 0.744555)
I0419 21:05:17.196250 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:17.196323 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295171937876.
I0419 21:05:17.222600 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00190364 range=0.685294 variance=0.000540727 t_weight=5548.09 r_weight=0 yaml=(14.115, -2.52) prior=(14.4826, -1.85232, 178.442deg) obs_actual=(0.345238, 0.682641) obs_expected=(0.349348, 0.677424) delta=(-0.00410928, 0.00521612) |delta|=0.00664034m
I0419 21:05:17.222783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295172215664.
I0419 21:05:17.223421 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:17.223523 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295172215826.
I0419 21:05:17.250459 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:17.250804 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295172495658.
I0419 21:05:17.252328 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295172495873.
I0419 21:05:17.282333 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878495s, prior_pose=(14.4771, -1.84866), yaw=178.441 deg
I0419 21:05:17.282510 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:17.283010 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295172816371.
I0419 21:05:17.361790 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.27211 rad/s > flush threshold 3.
I0419 21:05:17.361994 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295172816824.
I0419 21:05:17.363565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173093297.
I0419 21:05:17.364238 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17673, -0.654493)
I0419 21:05:17.364324 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.421 deg, rms_residual=0.0169839m, sigma_yaw=0.0221437 rad, N=2
I0419 21:05:17.364385 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4648, -1.83875, 178.421deg) inliers=2 rms=0.0169839m
I0419 21:05:17.364424 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173093539.
I0419 21:05:17.367777 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:17.367848 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:17.367960 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173376340.
I0419 21:05:17.368709 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17986, -0.654), points=3, range=1.345, residual=0.00919855, extent=0.0190436
I0419 21:05:17.368779 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.17986, -0.654), tracking=(-1.47836, 0.654), map_predicted=(15.9351, -2.54274), range=1.345, pts=3
I0419 21:05:17.368816 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0303345m maha_sq=0.0399126 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.9351, -2.54274) lm_pos=(15.915, -2.52) delta=(0.0200785, -0.0227383) -> 1 candidate(s)
I0419 21:05:17.368927 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173376668.
I0419 21:05:17.370697 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.000468634 range=0.686944 variance=0.000565796 t_weight=5302.27 r_weight=0 yaml=(14.115, -2.52) prior=(14.4753, -1.84827, 178.422deg) obs_actual=(0.343346, 0.68422) obs_expected=(0.341654, 0.681401) delta=(0.001692, 0.00281896) |delta|=0.00328777m
I0419 21:05:17.370807 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173657978.
I0419 21:05:17.372581 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173658271.
I0419 21:05:17.395473 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295173941849.
I0419 21:05:17.398465 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295173975812.
I0419 21:05:17.467101 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295174263751.
I0419 21:05:17.467798 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.17558, -0.648647)
I0419 21:05:17.467855 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:17.467878 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:17.467947 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295174263984.
I0419 21:05:17.469221 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295174540144.
I0419 21:05:17.470551 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:17.470638 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:17.470662 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295174540347.
I0419 21:05:17.487399 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295174860033.
I0419 21:05:17.489450 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:17.489729 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295174860266.
I0419 21:05:17.514178 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00773, -0.493316), points=5, range=1.1196, residual=0.00749586, extent=0.017059
I0419 21:05:17.514389 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00773, -0.493316), tracking=(1.30623, -0.493316), map_predicted=(13.1876, -1.32259), range=1.1196, pts=5
I0419 21:05:17.514458 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0275063m maha_sq=0.0326385 (gate chi2=5.99) pose_sigma=(0.150561, 0.150561, rho=0) det_map=(13.1876, -1.32259) lm_pos=(13.215, -1.32) delta=(-0.0273841, -0.0025897) -> 1 candidate(s)
I0419 21:05:17.514714 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295175133185.
I0419 21:05:17.516225 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:17.516325 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.00147367 range=0.59425 variance=0.000579766 t_weight=5174.5 r_weight=0 yaml=(15.015, -1.32) prior=(14.48, -1.85114, 178.446deg) obs_actual=(-0.52604, -0.546993) obs_expected=(-0.520417, -0.545446) delta=(-0.00562302, -0.00154714) |delta|=0.00583198m
I0419 21:05:17.516446 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295175133447.
I0419 21:05:17.546975 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:17.547286 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295175460163.
I0419 21:05:17.626366 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.17646, -0.649125)
I0419 21:05:17.626559 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.90256 rad/s > flush threshold 3.
I0419 21:05:17.626684 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295175460422.
I0419 21:05:17.628165 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608173s, prior_pose=(14.4841, -1.85291), yaw=178.439 deg
I0419 21:05:17.628305 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:17.628549 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295175741358.
I0419 21:05:17.629441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295175741596.
I0419 21:05:17.631649 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176014721.
I0419 21:05:17.632366 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176014980.
I0419 21:05:17.633697 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:17.633775 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:17.633862 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176302861.
I0419 21:05:17.635771 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.461 deg, rms_residual=0.014009m, sigma_yaw=0.0183362 rad, N=2
I0419 21:05:17.635926 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.466, -1.83942, 178.461deg) inliers=2 rms=0.014009m
I0419 21:05:17.636041 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176303080.
I0419 21:05:17.662283 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.00795, -0.493428), points=5, range=1.12, residual=0.00729809, extent=0.0162511
I0419 21:05:17.662442 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.00795, -0.493428), tracking=(1.30645, -0.493428), map_predicted=(13.1906, -1.32348), range=1.12, pts=5
I0419 21:05:17.662504 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0246301m maha_sq=0.0263648 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1906, -1.32348) lm_pos=(13.215, -1.32) delta=(-0.0243834, -0.00347762) -> 1 candidate(s)
I0419 21:05:17.662724 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176613141.
I0419 21:05:17.664122 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.15686, -0.650086)
I0419 21:05:17.664306 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295176613496.
I0419 21:05:17.732755 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0607161 range=1.3375 variance=0.000637357 t_weight=4706.94 r_weight=0 yaml=(15.915, -2.52) prior=(14.4863, -1.85567, 178.415deg) obs_actual=(-1.47312, 0.651089) obs_expected=(-1.44651, 0.62457) delta=(-0.0266051, 0.0265196) |delta|=0.0375649m
I0419 21:05:17.732901 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176892332.
I0419 21:05:17.733572 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295176936061.
I0419 21:05:17.734902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295177189293.
I0419 21:05:17.735287 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:17.735327 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:17.735385 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295177189509.
I0419 21:05:17.754220 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295177531965.
I0419 21:05:17.758638 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:17.758798 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:17.758837 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295177580143.
I0419 21:05:17.779192 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295177780689.
I0419 21:05:17.780829 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.16957, -0.65123)
I0419 21:05:17.780939 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:17.781195 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295177780989.
I0419 21:05:17.811307 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178100818.
I0419 21:05:17.894644 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18081, -0.652294), points=3, range=1.34567, residual=0.00692926, extent=0.0119203
I0419 21:05:17.894868 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.18081, -0.652294), tracking=(-1.47931, 0.652294), map_predicted=(15.9415, -2.54157), range=1.34567, pts=3
I0419 21:05:17.894912 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[18] 'ref_19' eucl_dist=0.0341698m maha_sq=0.0504485 (gate chi2=5.99) pose_sigma=(0.150418, 0.150418, rho=0) det_map=(15.9415, -2.54157) lm_pos=(15.915, -2.52) delta=(0.0264973, -0.0215747) -> 1 candidate(s)
I0419 21:05:17.894940 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=17.7328 rad/s > flush threshold 3.
I0419 21:05:17.894965 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:17.895052 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178101065.
I0419 21:05:17.896639 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:17.896721 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00269738 range=0.686667 variance=0.00056391 t_weight=5320 r_weight=0 yaml=(14.115, -2.52) prior=(14.4805, -1.84927, 178.441deg) obs_actual=(0.340367, 0.684533) obs_expected=(0.347099, 0.680424) delta=(-0.00673221, 0.00410967) |delta|=0.00788746m
I0419 21:05:17.896799 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178373494.
I0419 21:05:17.897555 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178374107.
I0419 21:05:17.899569 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557607s, prior_pose=(14.4757, -1.846), yaw=178.44 deg
I0419 21:05:17.899632 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:17.899777 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295178658672.
I0419 21:05:17.900446 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178659558.
I0419 21:05:17.901816 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178941013.
I0419 21:05:17.903190 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17498, -0.653523)
I0419 21:05:17.903328 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295178975323.
I0419 21:05:17.926687 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:17.926815 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:17.926864 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:05:17.927007 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295179258600.
I0419 21:05:17.928531 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295179258760.
I0419 21:05:18.024652 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295179537405.
I0419 21:05:18.025795 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295179537701.
I0419 21:05:18.027714 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0097, -0.496103), points=4, range=1.1215, residual=0.00827176, extent=0.0187444
I0419 21:05:18.027851 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0097, -0.496103), tracking=(1.3082, -0.496103), map_predicted=(13.1795, -1.31528), range=1.1215, pts=4
I0419 21:05:18.027916 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.035767m maha_sq=0.0555608 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1795, -1.31528) lm_pos=(13.215, -1.32) delta=(-0.0354548, 0.00471562) -> 1 candidate(s)
I0419 21:05:18.028294 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295179852496.
I0419 21:05:18.030136 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295179852714.
I0419 21:05:18.031659 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.564 deg, rms_residual=0.0122829m, sigma_yaw=0.0161133 rad, N=2
I0419 21:05:18.031729 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0327684 range=1.1195 variance=0.000518488 t_weight=5786.06 r_weight=0 yaml=(13.215, -1.32) prior=(14.4796, -1.85159, 178.43deg) obs_actual=(1.30611, -0.495072) obs_expected=(1.2787, -0.496733) delta=(0.0274138, 0.0016611) |delta|=0.0274641m
I0419 21:05:18.031770 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4915, -1.86031, 177.564deg) inliers=2 rms=0.0122829m
I0419 21:05:18.031801 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295180136274.
I0419 21:05:18.032469 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17556, -0.649384)
I0419 21:05:18.032517 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:18.032538 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:18.032593 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295180136512.
I0419 21:05:18.034358 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.4755, -1.84814), yaw=178.43 deg backend=(14.4706, -1.84741)
I0419 21:05:18.044080 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295180431151.
I0419 21:05:18.046075 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:18.046634 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:18.047030 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295180431397.
I0419 21:05:18.070919 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295180698002.
I0419 21:05:18.129341 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:18.129463 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295180732565.
I0419 21:05:18.129966 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:18.130571 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181020608.
I0419 21:05:18.131245 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:18.131318 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181020824.
I0419 21:05:18.133306 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:18.133430 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181295331.
I0419 21:05:18.134029 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.1823, -0.652338)
I0419 21:05:18.134089 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.229391, 0.546981), points=19, range=0.594421, residual=0.0108035, extent=0.0343411
I0419 21:05:18.134111 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.229391, 0.546981), tracking=(-0.527891, -0.546981), map_predicted=(15.0159, -1.31614), range=0.594421, pts=19
I0419 21:05:18.134140 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.00395849m maha_sq=0.000679794 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0159, -1.31614) lm_pos=(15.015, -1.32) delta=(0.000872605, 0.00386111) -> 1 candidate(s)
I0419 21:05:18.134202 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181295458.
I0419 21:05:18.161852 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.088046s, prior_pose=(14.4732, -1.84847), yaw=178.432 deg
I0419 21:05:18.162038 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:18.162418 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181613025.
I0419 21:05:18.164891 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0460599 range=1.35033 variance=0.000548976 t_weight=5464.72 r_weight=0 yaml=(15.915, -2.52) prior=(14.4774, -1.85187, 178.433deg) obs_actual=(-1.47523, 0.654503) obs_expected=(-1.45535, 0.628578) delta=(-0.019878, 0.0259245) |delta|=0.0326682m
I0419 21:05:18.165017 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181613323.
I0419 21:05:18.191126 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181897720.
I0419 21:05:18.192669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295181898004.
I0419 21:05:18.252684 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:18.252782 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:18.252807 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 19 -> 18 (threshold=0.03, iters=3)
I0419 21:05:18.252902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295182219341.
I0419 21:05:18.253569 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295182219777.
I0419 21:05:18.254710 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295182498148.
I0419 21:05:18.255955 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.18424, -0.656421)
I0419 21:05:18.256006 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=59.3785 rad/s > flush threshold 3.
I0419 21:05:18.256052 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295182498266.
I0419 21:05:18.278764 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295182781731.
I0419 21:05:18.279464 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.240405, 0.544146), points=18, range=0.596722, residual=0.0107666, extent=0.0332581
I0419 21:05:18.279511 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.240405, 0.544146), tracking=(-0.538905, -0.544146), map_predicted=(15.0281, -1.32246), range=0.596722, pts=18
I0419 21:05:18.279536 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0132808m maha_sq=0.00765213 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0281, -1.32246) lm_pos=(15.015, -1.32) delta=(0.0130517, -0.00245619) -> 1 candidate(s)
I0419 21:05:18.279594 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295182781853.
I0419 21:05:18.306190 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295183056954.
I0419 21:05:18.310380 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:18.310438 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:18.310523 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[17] 'ref_18' maha_sq=0.00349267 range=0.59885 variance=0.000572502 t_weight=5240.15 r_weight=0 yaml=(15.015, -1.32) prior=(14.4666, -1.84802, 178.491deg) obs_actual=(-0.542959, -0.544717) obs_expected=(-0.534319, -0.542281) delta=(-0.00863992, -0.00243647) |delta|=0.0089769m
I0419 21:05:18.310575 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295183100215.
I0419 21:05:18.334651 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295183341302.
I0419 21:05:18.404992 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:18.405102 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.659 deg, rms_residual=0.0151314m, sigma_yaw=0.0197762 rad, N=2
I0419 21:05:18.405136 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.4442, -1.8405, 178.659deg) inliers=2 rms=0.0151314m
I0419 21:05:18.405167 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:18.405185 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295183376136.
I0419 21:05:18.406445 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295183655052.
I0419 21:05:18.407069 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.19549, -0.653594)
I0419 21:05:18.407121 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:18.407173 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295183699128.
I0419 21:05:18.408972 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295183941121.
I0419 21:05:18.409583 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:18.409646 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295183941272.
I0419 21:05:18.422386 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:18.422537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295184217257.
I0419 21:05:18.426544 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295184260538.
I0419 21:05:18.454329 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599165s, prior_pose=(14.4563, -1.85477), yaw=178.51 deg
I0419 21:05:18.454423 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:18.454545 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00793923, 0.681833), points=18, range=0.6835, residual=0.0112796, extent=0.0359638
I0419 21:05:18.454571 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00793923, 0.681833), tracking=(0.306439, 0.681833), map_predicted=(14.1323, -2.5284), range=0.6835, pts=18
I0419 21:05:18.454594 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0192138m maha_sq=0.0160064 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1323, -2.5284) lm_pos=(14.115, -2.52) delta=(0.0172787, -0.00840335) -> 1 candidate(s)
I0419 21:05:18.454680 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295184540286.
I0419 21:05:18.455354 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295184540435.
I0419 21:05:18.510283 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.010969 range=1.086 variance=0.000517807 t_weight=5793.67 r_weight=0 yaml=(13.215, -1.32) prior=(14.4526, -1.85522, 178.463deg) obs_actual=(1.26664, -0.496849) obs_expected=(1.25152, -0.501822) delta=(0.0151221, 0.00497333) |delta|=0.0159189m
I0419 21:05:18.510428 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295184821185.
I0419 21:05:18.511025 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.21527, -0.655255)
I0419 21:05:18.511140 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295184821339.
I0419 21:05:18.513882 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:18.513968 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:05:18.514094 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295185133786.
I0419 21:05:18.515456 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=32.5906 rad/s > flush threshold 3.
I0419 21:05:18.515555 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295185133922.
I0419 21:05:18.541898 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295185413028.
I0419 21:05:18.542763 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295185413176.
I0419 21:05:18.570679 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295185697253.
I0419 21:05:18.574503 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295185734300.
I0419 21:05:18.603025 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295186017480.
I0419 21:05:18.604422 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.23215, -0.655135)
I0419 21:05:18.604528 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:18.604573 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.291742, 0.543106), points=19, range=0.619, residual=0.012886, extent=0.0431381
I0419 21:05:18.604609 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:18.604637 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.291742, 0.543106), tracking=(-0.590242, -0.543106), map_predicted=(15.0448, -1.32997), range=0.619, pts=19
I0419 21:05:18.604676 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.03143m maha_sq=0.0427626 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0448, -1.32997) lm_pos=(15.015, -1.32) delta=(0.0298079, -0.00996647) -> 1 candidate(s)
I0419 21:05:18.604811 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295186017869.
I0419 21:05:18.688436 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295186302371.
I0419 21:05:18.689450 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:18.689550 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[18] 'ref_19' maha_sq=0.0952707 range=1.39567 variance=0.000600165 t_weight=4998.63 r_weight=0 yaml=(15.915, -2.52) prior=(14.4403, -1.85735, 178.532deg) obs_actual=(-1.52382, 0.658381) obs_expected=(-1.49121, 0.624659) delta=(-0.0326119, 0.0337229) |delta|=0.0469123m
I0419 21:05:18.689649 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:18.689669 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295186302599.
I0419 21:05:18.692207 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295186577080.
I0419 21:05:18.692898 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:18.693058 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295186622360.
I0419 21:05:18.695016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295186892101.
I0419 21:05:18.695590 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:18.695636 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.829 deg, rms_residual=0.0118191m, sigma_yaw=0.0155144 rad, N=2
I0419 21:05:18.695683 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3882, -1.84077, 178.829deg) inliers=2 rms=0.0118191m
I0419 21:05:18.695714 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295186918359.
I0419 21:05:18.719029 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:18.719426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295187179690.
I0419 21:05:18.720891 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.25144, -0.656096)
I0419 21:05:18.721670 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295187180045.
I0419 21:05:18.794955 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0578098s, prior_pose=(14.4079, -1.85195), yaw=178.511 deg
I0419 21:05:18.795125 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:18.795331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295187496457.
I0419 21:05:18.796005 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295187496691.
I0419 21:05:18.797454 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.913577, -0.499456), points=6, range=1.03833, residual=0.0100297, extent=0.0274917
I0419 21:05:18.797530 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.913577, -0.499456), tracking=(1.21208, -0.499456), map_predicted=(13.2092, -1.32118), range=1.03833, pts=6
I0419 21:05:18.797561 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00591016m maha_sq=0.00151523 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2092, -1.32118) lm_pos=(13.215, -1.32) delta=(-0.00579207, -0.00117552) -> 1 candidate(s)
I0419 21:05:18.797647 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295187771639.
I0419 21:05:18.798971 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=66.9122 rad/s > flush threshold 3.
I0419 21:05:18.811194 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:18.811286 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:05:18.811369 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0257833 range=0.687 variance=0.000558378 t_weight=5372.7 r_weight=0 yaml=(14.115, -2.52) prior=(14.3964, -1.85368, 178.456deg) obs_actual=(0.240723, 0.683241) obs_expected=(0.263296, 0.673662) delta=(-0.0225733, 0.00957821) |delta|=0.0245213m
I0419 21:05:18.811456 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295188107039.
I0419 21:05:18.812415 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295188107335.
I0419 21:05:18.838775 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295188377743.
I0419 21:05:18.839919 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.28143, -0.655252)
I0419 21:05:18.840111 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295188378048.
I0419 21:05:18.867205 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295188661592.
I0419 21:05:18.932762 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=32.4109 rad/s > flush threshold 3.
I0419 21:05:18.934201 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295188940140.
I0419 21:05:18.934861 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:18.934939 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:18.935009 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295188940386.
I0419 21:05:18.936151 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.3699, -1.85155), yaw=178.544 deg backend=(14.4017, -1.84363)
I0419 21:05:18.936944 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295189217403.
I0419 21:05:18.937492 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0831309, 0.685142), points=18, range=0.690056, residual=0.0110512, extent=0.0366246
I0419 21:05:18.937546 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0831309, 0.685142), tracking=(0.215369, 0.685142), map_predicted=(14.1372, -2.531), range=0.690056, pts=18
I0419 21:05:18.937574 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0247442m maha_sq=0.0265525 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1372, -2.531) lm_pos=(14.115, -2.52) delta=(0.0221636, -0.0110023) -> 1 candidate(s)
I0419 21:05:18.937633 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295189253343.
I0419 21:05:18.955124 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295189544049.
I0419 21:05:18.955806 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.31275, -0.659288)
I0419 21:05:18.955875 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:18.955919 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:18.955978 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:18.955998 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295189544316.
I0419 21:05:18.982892 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.023205 range=0.692684 variance=0.000575618 t_weight=5211.79 r_weight=0 yaml=(14.115, -2.52) prior=(14.3589, -1.85181, 178.551deg) obs_actual=(0.206303, 0.684834) obs_expected=(0.226967, 0.674148) delta=(-0.0206635, 0.0106864) |delta|=0.0232632m
I0419 21:05:18.983186 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295189816763.
I0419 21:05:18.987165 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295189861830.
I0419 21:05:19.050508 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:19.050680 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295190145479.
I0419 21:05:19.051448 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:19.051555 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295190145782.
I0419 21:05:19.052615 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0869398s, prior_pose=(14.3295, -1.85133), yaw=178.614 deg
I0419 21:05:19.052721 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:19.052898 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295190413714.
I0419 21:05:19.054239 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.22803 rad/s > flush threshold 3.
I0419 21:05:19.070758 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295190698320.
I0419 21:05:19.071918 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.32391, -0.660064)
I0419 21:05:19.072142 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295190698536.
I0419 21:05:19.099153 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:19.099299 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:19.099469 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.972 deg, rms_residual=0.0108403m, sigma_yaw=0.0142478 rad, N=2
I0419 21:05:19.099596 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.3296, -1.85171, 177.972deg) inliers=2 rms=0.0108403m
I0419 21:05:19.099679 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295190982145.
I0419 21:05:19.102610 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.396127, 0.541831), points=16, range=0.674, residual=0.0120145, extent=0.0374843
I0419 21:05:19.102766 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.396127, 0.541831), tracking=(-0.694627, -0.541831), map_predicted=(15.0233, -1.3213), range=0.674, pts=16
I0419 21:05:19.102828 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[17] 'ref_18' eucl_dist=0.00839514m maha_sq=0.00305356 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0233, -1.3213) lm_pos=(15.015, -1.32) delta=(0.0082933, -0.00130366) -> 1 candidate(s)
I0419 21:05:19.103024 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295191016244.
I0419 21:05:19.130904 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295191298786.
I0419 21:05:19.220782 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=32.4539 rad/s > flush threshold 3.
I0419 21:05:19.220940 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295191299090.
I0419 21:05:19.222386 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0161357 range=0.699 variance=0.000548245 t_weight=5472.01 r_weight=0 yaml=(14.115, -2.52) prior=(14.3173, -1.84773, 178.698deg) obs_actual=(0.170257, 0.686287) obs_expected=(0.186986, 0.676694) delta=(-0.0167296, 0.00959284) |delta|=0.0192847m
I0419 21:05:19.222520 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295191579192.
I0419 21:05:19.223208 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295191579398.
I0419 21:05:19.225478 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295191939629.
I0419 21:05:19.226190 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.35345, -0.665006)
I0419 21:05:19.226259 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:19.226282 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:19.226341 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295191939847.
I0419 21:05:19.227557 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295192179527.
I0419 21:05:19.229120 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=32.3482 rad/s > flush threshold 3.
I0419 21:05:19.229228 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295192179734.
I0419 21:05:19.246986 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295192462875.
I0419 21:05:19.247768 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:19.247900 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295192463114.
I0419 21:05:19.313448 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.148885, 0.685688), points=17, range=0.702588, residual=0.0110437, extent=0.0330094
I0419 21:05:19.313618 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.148885, 0.685688), tracking=(0.149615, 0.685688), map_predicted=(14.1332, -2.53013), range=0.702588, pts=17
I0419 21:05:19.313661 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[16] 'ref_17' eucl_dist=0.0208424m maha_sq=0.0187956 (gate chi2=5.99) pose_sigma=(0.150176, 0.150176, rho=0) det_map=(14.1332, -2.53013) lm_pos=(14.115, -2.52) delta=(0.0182148, -0.0101306) -> 1 candidate(s)
I0419 21:05:19.313736 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:19.313797 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:19.313819 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295192777314.
I0419 21:05:19.314620 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295192777450.
I0419 21:05:19.316277 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:19.316505 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295193056935.
I0419 21:05:19.317909 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.37073, -0.666086)
I0419 21:05:19.318034 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.3011 rad/s > flush threshold 3.
I0419 21:05:19.333832 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557985s, prior_pose=(14.2851, -1.84823), yaw=178.694 deg
I0419 21:05:19.333935 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1416, max_intensity=250, threshold=230, above_threshold=17, candidates=17
I0419 21:05:19.338683 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295193379068.
I0419 21:05:19.366562 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:19.366677 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.000510524 range=0.921 variance=0.000608134 t_weight=4933.13 r_weight=0 yaml=(13.215, -1.32) prior=(14.2789, -1.84857, 178.707deg) obs_actual=(1.07502, -0.501028) obs_expected=(1.07553, -0.504435) delta=(-0.000512899, 0.00340677) |delta|=0.00344517m
I0419 21:05:19.366783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295193659281.
I0419 21:05:19.367347 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295193659415.
I0419 21:05:19.394292 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:19.394390 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:19.394585 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295193935063.
I0419 21:05:19.456545 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=73.1832 rad/s > flush threshold 3.
I0419 21:05:19.456693 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295193935245.
I0419 21:05:19.458153 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295194213640.
I0419 21:05:19.459035 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.40223, -0.66633)
I0419 21:05:19.459198 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295194270991.
I0419 21:05:19.461568 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.194484, 0.689549), points=18, range=0.7155, residual=0.0120115, extent=0.0359258
I0419 21:05:19.461638 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.194484, 0.689549), tracking=(0.104016, 0.689549), map_predicted=(14.1319, -2.53406), range=0.7155, pts=18
I0419 21:05:19.461665 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[16] 'ref_17' eucl_dist=0.0220193m maha_sq=0.0209195 (gate chi2=5.99) pose_sigma=(0.150316, 0.150316, rho=0) det_map=(14.1319, -2.53406) lm_pos=(14.115, -2.52) delta=(0.016944, -0.0140623) -> 1 candidate(s)
I0419 21:05:19.461757 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295194531756.
I0419 21:05:19.462522 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295194531873.
I0419 21:05:19.482023 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295194814526.
I0419 21:05:19.483414 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:19.483471 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:19.483495 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.4073 rad/s > flush threshold 3.
I0419 21:05:19.483513 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:19.510118 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295195094384.
I0419 21:05:19.511088 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.982 deg, rms_residual=0.0103277m, sigma_yaw=0.0135832 rad, N=2
I0419 21:05:19.511154 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0241147 range=0.7935 variance=0.000604307 t_weight=4964.37 r_weight=0 yaml=(14.115, -2.52) prior=(14.2459, -1.84056, 178.833deg) obs_actual=(0.0961478, 0.692885) obs_expected=(0.117077, 0.681969) delta=(-0.0209287, 0.0109152) |delta|=0.0236041m
I0419 21:05:19.511222 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.2172, -1.8372, 178.982deg) inliers=2 rms=0.0103277m
I0419 21:05:19.511263 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295195094536.
I0419 21:05:19.586706 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.733046, -0.503697)
I0419 21:05:19.586903 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295195420889.
I0419 21:05:19.587391 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:19.587626 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:19.588958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295195421101.
I0419 21:05:19.591027 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295195697687.
I0419 21:05:19.593173 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=45.9308 rad/s > flush threshold 3.
I0419 21:05:19.593310 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295195697913.
I0419 21:05:19.602573 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.725374, -0.504735), points=9, range=0.880444, residual=0.0112069, extent=0.0323078
I0419 21:05:19.602710 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.725374, -0.504735), tracking=(1.02387, -0.504735), map_predicted=(13.2113, -1.31591), range=0.880444, pts=9
I0419 21:05:19.602751 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00551065m maha_sq=0.00131631 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2113, -1.31591) lm_pos=(13.215, -1.32) delta=(-0.00368977, 0.00409303) -> 1 candidate(s)
I0419 21:05:19.602783 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:19.602872 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295196018658.
I0419 21:05:19.603873 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:05:19.603982 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:19.604013 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295196018862.
I0419 21:05:19.630281 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598334s, prior_pose=(14.1953, -1.83644), yaw=178.93 deg
I0419 21:05:19.630448 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:19.630643 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.711605, -0.502966)
I0419 21:05:19.630818 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295196296247.
I0419 21:05:19.632197 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[17] 'ref_18' maha_sq=0.00758343 range=0.752583 variance=0.000538934 t_weight=5566.54 r_weight=2922.31 yaml=(15.015, -1.32) prior=(14.1953, -1.83644, 178.93deg) obs_actual=(-0.820762, -0.539215) obs_expected=(-0.80992, -0.531655) delta=(-0.0108427, -0.00755976) |delta|=0.013218m
I0419 21:05:19.632337 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295196296558.
I0419 21:05:19.658967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295196576875.
I0419 21:05:19.742551 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:19.742707 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295196622824.
I0419 21:05:19.743855 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:19.743919 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:19.743999 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295196859240.
I0419 21:05:19.744719 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295196859447.
I0419 21:05:19.746636 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.55644, 0.725759)
I0419 21:05:19.746721 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.246706, 0.690271), points=16, range=0.7355, residual=0.0123008, extent=0.0356044
I0419 21:05:19.746748 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.246706, 0.690271), tracking=(0.0517944, 0.690271), map_predicted=(14.1121, -2.52632), range=0.7355, pts=16
I0419 21:05:19.746771 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[16] 'ref_17' eucl_dist=0.00696805m maha_sq=0.00209332 (gate chi2=5.99) pose_sigma=(0.150349, 0.150349, rho=0) det_map=(14.1121, -2.52632) lm_pos=(14.115, -2.52) delta=(-0.00293948, -0.00631769) -> 1 candidate(s)
I0419 21:05:19.746846 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295197175793.
I0419 21:05:19.747493 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295197175934.
I0419 21:05:19.748759 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295197452276.
I0419 21:05:19.750052 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=164.874 rad/s > flush threshold 3.
I0419 21:05:19.750144 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295197452403.
I0419 21:05:19.774595 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.00718935 range=0.7436 variance=0.000563765 t_weight=5321.37 r_weight=0 yaml=(14.115, -2.52) prior=(14.1678, -1.8374, 179.144deg) obs_actual=(0.0345975, 0.693437) obs_expected=(0.0425561, 0.683314) delta=(-0.00795866, 0.0101229) |delta|=0.0128769m
I0419 21:05:19.774788 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295197734414.
I0419 21:05:19.778631 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:19.778733 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:19.778851 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295197779523.
I0419 21:05:19.844163 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(14.1639, -1.83791), yaw=179.203 deg backend=(14.1846, -1.83524)
I0419 21:05:19.845412 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.667898, -0.506264)
I0419 21:05:19.845569 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198056955.
I0419 21:05:19.846346 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.637 deg, rms_residual=0.0124937m, sigma_yaw=0.0163853 rad, N=2
I0419 21:05:19.846400 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.1481, -1.8414, 179.637deg) inliers=2 rms=0.0124937m
I0419 21:05:19.846431 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198057084.
I0419 21:05:19.847733 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198340377.
I0419 21:05:19.849231 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:19.849442 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.7557 rad/s > flush threshold 3.
I0419 21:05:19.849514 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198340516.
I0419 21:05:19.862249 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.662596, -0.506861), points=10, range=0.8301, residual=0.0133051, extent=0.0369636
I0419 21:05:19.862378 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.662596, -0.506861), tracking=(0.961096, -0.506861), map_predicted=(13.1974, -1.31688), range=0.8301, pts=10
I0419 21:05:19.862418 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0178259m maha_sq=0.0137445 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.1974, -1.31688) lm_pos=(13.215, -1.32) delta=(-0.0175511, 0.00311771) -> 1 candidate(s)
I0419 21:05:19.862524 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198616925.
I0419 21:05:19.863472 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198617062.
I0419 21:05:19.894063 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.294431, 0.693493)
I0419 21:05:19.894169 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:19.894253 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198933646.
I0419 21:05:19.894956 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:19.895011 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:19.895035 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295198933759.
I0419 21:05:19.922605 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881458s, prior_pose=(14.1411, -1.83917), yaw=179.145 deg
I0419 21:05:19.922986 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:19.923398 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0173103 range=0.757625 variance=0.000622864 t_weight=4816.46 r_weight=0 yaml=(14.115, -2.52) prior=(14.1411, -1.83917, 179.145deg) obs_actual=(-0.000366707, 0.692777) obs_expected=(0.0159126, 0.681147) delta=(-0.0162793, 0.0116296) |delta|=0.0200066m
I0419 21:05:19.923595 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295199221974.
I0419 21:05:19.983441 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=114.052 rad/s > flush threshold 3.
I0419 21:05:19.983592 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295199222095.
I0419 21:05:19.985114 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295199496987.
I0419 21:05:19.985998 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:19.986101 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295199541125.
I0419 21:05:19.988168 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:19.988308 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:19.988395 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295199812671.
I0419 21:05:19.989190 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.623176, 0.53061)
I0419 21:05:19.989295 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295199812778.
I0419 21:05:20.010228 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.606809, -0.509104), points=13, range=0.794308, residual=0.0146628, extent=0.0464796
I0419 21:05:20.010318 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.606809, -0.509104), tracking=(0.905309, -0.509104), map_predicted=(13.2321, -1.32004), range=0.794308, pts=13
I0419 21:05:20.010346 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0171284m maha_sq=0.01267 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2321, -1.32004) lm_pos=(13.215, -1.32) delta=(0.0171284, -3.60813e-05) -> 1 candidate(s)
I0419 21:05:20.010445 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295200097119.
I0419 21:05:20.011962 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=101.211 rad/s > flush threshold 3.
I0419 21:05:20.012075 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295200097341.
I0419 21:05:20.038501 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295200379876.
I0419 21:05:20.039217 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295200380018.
I0419 21:05:20.100206 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.00620626 range=0.783083 variance=0.000695504 t_weight=4313.42 r_weight=4995.51 yaml=(13.215, -1.32) prior=(14.0963, -1.83558, 179.383deg) obs_actual=(0.89809, -0.510495) obs_expected=(0.886849, -0.506061) delta=(0.0112406, -0.00443381) |delta|=0.0120834m
I0419 21:05:20.100347 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295200693011.
I0419 21:05:20.100945 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:20.100992 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:20.101055 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295200693119.
I0419 21:05:20.102396 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.585559, -0.508884)
I0419 21:05:20.102526 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295200973660.
I0419 21:05:20.103865 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.96283 rad/s > flush threshold 3.
I0419 21:05:20.103978 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.846 deg, rms_residual=0.0111317m, sigma_yaw=0.0146252 rad, N=2
I0419 21:05:20.104009 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(14.0697, -1.84124, -179.846deg) inliers=2 rms=0.0111317m
I0419 21:05:20.104038 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295200974030.
I0419 21:05:20.130810 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.348027, 0.695401), points=15, range=0.780733, residual=0.0133842, extent=0.0393434
I0419 21:05:20.131016 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.348027, 0.695401), tracking=(-0.0495267, 0.695401), map_predicted=(14.125, -2.5305), range=0.780733, pts=15
I0419 21:05:20.131062 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[16] 'ref_17' eucl_dist=0.0144791m maha_sq=0.00906787 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.125, -2.5305) lm_pos=(14.115, -2.52) delta=(0.00996551, -0.0105039) -> 1 candidate(s)
I0419 21:05:20.131201 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295201300951.
I0419 21:05:20.132055 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:20.132141 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295201301237.
I0419 21:05:20.158977 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.304021, 0.523064)
I0419 21:05:20.159245 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295201581856.
I0419 21:05:20.160475 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295201582058.
I0419 21:05:20.186290 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:20.186785 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0308514 range=0.791929 variance=0.000731377 t_weight=4101.85 r_weight=0 yaml=(14.115, -2.52) prior=(14.0728, -1.83691, 179.429deg) obs_actual=(-0.071197, 0.697641) obs_expected=(-0.0490261, 0.682635) delta=(-0.0221709, 0.0150057) |delta|=0.0267716m
I0419 21:05:20.187191 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295201853508.
I0419 21:05:20.276131 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:20.276255 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:20.276283 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295201900193.
I0419 21:05:20.277562 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594041s, prior_pose=(14.0584, -1.83496), yaw=179.498 deg
I0419 21:05:20.277665 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=255, threshold=230, above_threshold=42, candidates=42
I0419 21:05:20.277926 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295202175897.
I0419 21:05:20.278632 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295202176055.
I0419 21:05:20.280591 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.44458, 0.717604)
I0419 21:05:20.280735 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295202457756.
I0419 21:05:20.281364 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:20.281440 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295202457963.
I0419 21:05:20.282752 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=6
I0419 21:05:20.282799 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=6, r_post=0.015, gain=250 -> after=3
I0419 21:05:20.282868 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.540295, -0.511156), points=13, range=0.745154, residual=0.0125585, extent=0.0389364
I0419 21:05:20.282896 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.540295, -0.511156), tracking=(0.838795, -0.511156), map_predicted=(13.2124, -1.32037), range=0.745154, pts=13
I0419 21:05:20.282919 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00260767m maha_sq=0.000294414 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2124, -1.32037) lm_pos=(13.215, -1.32) delta=(-0.00258176, -0.000366684) -> 1 candidate(s)
I0419 21:05:20.282995 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295202733840.
I0419 21:05:20.284523 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=50.6809 rad/s > flush threshold 3.
I0419 21:05:20.284660 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295202734001.
I0419 21:05:20.302583 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.349929, 0.614328)
I0419 21:05:20.302943 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295203019056.
I0419 21:05:20.306385 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0968305 range=0.882333 variance=0.000547729 t_weight=5477.16 r_weight=0 yaml=(15.015, -1.32) prior=(14.0486, -1.83169, 179.588deg) obs_actual=(-1.00958, -0.524518) obs_expected=(-0.962711, -0.518625) delta=(-0.0468722, -0.0058924) |delta|=0.0472411m
I0419 21:05:20.306571 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295203057242.
I0419 21:05:20.390853 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295203337248.
I0419 21:05:20.391597 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295203337505.
I0419 21:05:20.392776 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295203617505.
I0419 21:05:20.394052 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:20.394125 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:20.394150 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.1929 rad/s > flush threshold 3.
I0419 21:05:20.394212 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295203617680.
I0419 21:05:20.395428 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295203941597.
I0419 21:05:20.396010 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.192975, -0.688146)
I0419 21:05:20.396106 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295203941748.
I0419 21:05:20.423027 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.501739, -0.51496), points=13, range=0.719923, residual=0.013966, extent=0.0463249
I0419 21:05:20.423179 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.501739, -0.51496), tracking=(0.800239, -0.51496), map_predicted=(13.2111, -1.32098), range=0.719923, pts=13
I0419 21:05:20.423233 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00403834m maha_sq=0.000695527 (gate chi2=5.99) pose_sigma=(0.151044, 0.151044, rho=0) det_map=(13.2111, -1.32098) lm_pos=(13.215, -1.32) delta=(-0.00391672, -0.00098362) -> 1 candidate(s)
I0419 21:05:20.423463 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295204223445.
I0419 21:05:20.424618 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:20.424736 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.127 deg, rms_residual=0.0120768m, sigma_yaw=0.0158473 rad, N=2
I0419 21:05:20.424820 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9864, -1.84753, -179.127deg) inliers=2 rms=0.0120768m
I0419 21:05:20.424878 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295204223681.
I0419 21:05:20.450277 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295204493078.
I0419 21:05:20.527477 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295204538130.
I0419 21:05:20.528795 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:20.528896 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0163926 range=1.556 variance=0.000513297 t_weight=5844.57 r_weight=0 yaml=(12.315, -2.52) prior=(13.9993, -1.83694, 179.813deg) obs_actual=(1.68299, 0.707961) obs_expected=(1.68209, 0.688559) delta=(0.000897913, 0.0194021) |delta|=0.0194229m
I0419 21:05:20.528973 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295204821601.
I0419 21:05:20.529667 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:20.529752 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:20.529780 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295204821781.
I0419 21:05:20.531601 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05602s, prior_pose=(13.9857, -1.83997), yaw=179.879 deg
I0419 21:05:20.531674 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=249, threshold=230, above_threshold=18, candidates=18
I0419 21:05:20.531808 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205098330.
I0419 21:05:20.532392 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.768193, 0.51971)
I0419 21:05:20.532495 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205098545.
I0419 21:05:20.538884 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205381816.
I0419 21:05:20.542284 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:20.542488 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205415492.
I0419 21:05:20.571787 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:20.572146 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:20.572340 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.458849, -0.512484), points=17, range=0.689118, residual=0.0139311, extent=0.0455612
I0419 21:05:20.572536 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.458849, -0.512484), tracking=(0.757349, -0.512484), map_predicted=(13.2158, -1.32587), range=0.689118, pts=17
I0419 21:05:20.572624 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00591764m maha_sq=0.00151392 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2158, -1.32587) lm_pos=(13.215, -1.32) delta=(0.000784628, -0.00586539) -> 1 candidate(s)
I0419 21:05:20.573174 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205700902.
I0419 21:05:20.575498 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205701256.
I0419 21:05:20.650954 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205997406.
I0419 21:05:20.652540 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295205997740.
I0419 21:05:20.655171 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0305674 range=1.52433 variance=0.000531338 t_weight=5646.12 r_weight=0 yaml=(12.315, -2.52) prior=(13.9639, -1.8415, 179.908deg) obs_actual=(1.65238, 0.707286) obs_expected=(1.64777, 0.681156) delta=(0.00460924, 0.0261297) |delta|=0.0265331m
I0419 21:05:20.655733 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295206262387.
I0419 21:05:20.657799 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.796748, 0.51736)
I0419 21:05:20.658274 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=4.00375 rad/s > flush threshold 3.
I0419 21:05:20.658537 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295206262551.
I0419 21:05:20.660120 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295206554619.
I0419 21:05:20.660889 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:20.660970 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:20.661346 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295206554799.
I0419 21:05:20.662748 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.9384, -1.84062), yaw=179.943 deg backend=(13.9911, -1.83054)
I0419 21:05:20.687491 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295206868068.
I0419 21:05:20.688438 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295206868267.
I0419 21:05:20.718106 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.413644, -0.51375), points=16, range=0.662875, residual=0.0134267, extent=0.0446623
I0419 21:05:20.718267 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.413644, -0.51375), tracking=(0.712144, -0.51375), map_predicted=(13.2268, -1.32616), range=0.662875, pts=16
I0419 21:05:20.718323 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0133182m maha_sq=0.00767312 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2268, -1.32616) lm_pos=(13.215, -1.32) delta=(0.011807, -0.00616189) -> 1 candidate(s)
I0419 21:05:20.718484 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295207175802.
I0419 21:05:20.769608 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:20.769727 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=129.998 rad/s > flush threshold 3.
I0419 21:05:20.769793 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.839 deg, rms_residual=0.0103226m, sigma_yaw=0.0135766 rad, N=2
I0419 21:05:20.769984 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.9117, -1.85024, -178.839deg) inliers=2 rms=0.0103226m
I0419 21:05:20.770047 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295207175989.
I0419 21:05:20.771438 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295207457920.
I0419 21:05:20.772291 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295207458040.
I0419 21:05:20.775075 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.30447, 0.708238)
I0419 21:05:20.775183 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:20.775240 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0500859 range=1.48433 variance=0.000624729 t_weight=4802.08 r_weight=0 yaml=(12.315, -2.52) prior=(13.9091, -1.8398, -179.929deg) obs_actual=(1.60941, 0.709289) obs_expected=(1.59497, 0.678228) delta=(0.0144435, 0.0310608) |delta|=0.0342548m
I0419 21:05:20.775295 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295207746792.
I0419 21:05:20.776310 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:20.776396 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:20.776419 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295207747046.
I0419 21:05:20.801798 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838634s, prior_pose=(13.9091, -1.8398), yaw=-179.929 deg
I0419 21:05:20.801915 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 21:05:20.802162 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208014623.
I0419 21:05:20.806562 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208059395.
I0419 21:05:20.836892 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208363432.
I0419 21:05:20.837713 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:20.837873 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208363599.
I0419 21:05:20.886201 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:20.886514 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:20.886679 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.379051, -0.512133), points=17, range=0.639235, residual=0.012648, extent=0.0423599
I0419 21:05:20.886830 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.379051, -0.512133), tracking=(0.677551, -0.512133), map_predicted=(13.2197, -1.32687), range=0.639235, pts=17
I0419 21:05:20.887027 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00832638m maha_sq=0.00298451 (gate chi2=5.99) pose_sigma=(0.150447, 0.150447, rho=0) det_map=(13.2197, -1.32687) lm_pos=(13.215, -1.32) delta=(0.00470246, -0.00687136) -> 1 candidate(s)
I0419 21:05:20.887279 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208612329.
I0419 21:05:20.888034 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208612439.
I0419 21:05:20.890058 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208894890.
I0419 21:05:20.894569 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.0678083, -0.683693)
I0419 21:05:20.894783 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295208939758.
I0419 21:05:20.922479 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0260828 range=1.45833 variance=0.000548222 t_weight=5472.24 r_weight=0 yaml=(12.315, -2.52) prior=(13.8848, -1.83511, -179.974deg) obs_actual=(1.57866, 0.707167) obs_expected=(1.57012, 0.684183) delta=(0.00853869, 0.0229837) |delta|=0.0245186m
I0419 21:05:20.922636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295209220606.
I0419 21:05:20.923373 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295209220736.
I0419 21:05:20.950589 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295209499286.
I0419 21:05:20.951486 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:20.951712 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:20.951817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295209499447.
I0419 21:05:20.978343 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295209774060.
I0419 21:05:21.047699 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.4389 rad/s > flush threshold 3.
I0419 21:05:21.047866 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295209774574.
I0419 21:05:21.048661 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:21.049232 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.338112, -0.512304), points=19, range=0.616842, residual=0.0138607, extent=0.0455359
I0419 21:05:21.049304 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.338112, -0.512304), tracking=(0.636612, -0.512304), map_predicted=(13.2079, -1.32506), range=0.616842, pts=19
I0419 21:05:21.049329 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00870506m maha_sq=0.00327666 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2079, -1.32506) lm_pos=(13.215, -1.32) delta=(-0.00708223, -0.00506162) -> 1 candidate(s)
I0419 21:05:21.049401 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210098683.
I0419 21:05:21.049968 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.76721, -0.714003)
I0419 21:05:21.050058 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:21.050097 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.314 deg, rms_residual=0.0116906m, sigma_yaw=0.0153482 rad, N=2
I0419 21:05:21.050122 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.8292, -1.85547, -178.314deg) inliers=2 rms=0.0116906m
I0419 21:05:21.050148 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210099544.
I0419 21:05:21.052019 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210375574.
I0419 21:05:21.052711 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210419203.
I0419 21:05:21.069891 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:21.070212 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0543793 range=1.423 variance=0.000553552 t_weight=5419.55 r_weight=0 yaml=(12.315, -2.52) prior=(13.8359, -1.84142, -179.811deg) obs_actual=(1.53991, 0.704735) obs_expected=(1.52312, 0.673564) delta=(0.0167925, 0.0311712) |delta|=0.0354067m
I0419 21:05:21.070420 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210693131.
I0419 21:05:21.072064 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=65.3478 rad/s > flush threshold 3.
I0419 21:05:21.072297 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:21.072479 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:21.072629 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210693268.
I0419 21:05:21.097785 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597746s, prior_pose=(13.8273, -1.83584), yaw=-179.76 deg
I0419 21:05:21.098109 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:21.098558 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210973320.
I0419 21:05:21.099858 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295210973518.
I0419 21:05:21.156340 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295211255835.
I0419 21:05:21.157435 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(-0.0119109, -0.684493)
I0419 21:05:21.157591 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:21.157680 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295211256001.
I0419 21:05:21.158928 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:21.158975 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:21.158998 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.301133, -0.516222), points=20, range=0.5969, residual=0.0124504, extent=0.0427317
I0419 21:05:21.159014 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.301133, -0.516222), tracking=(0.599633, -0.516222), map_predicted=(13.2144, -1.32825), range=0.5969, pts=20
I0419 21:05:21.159066 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00826971m maha_sq=0.00296194 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2144, -1.32825) lm_pos=(13.215, -1.32) delta=(-0.000623063, -0.0082462) -> 1 candidate(s)
I0419 21:05:21.159125 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295211563600.
I0419 21:05:21.160375 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=192.596 rad/s > flush threshold 3.
I0419 21:05:21.160437 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295211563710.
I0419 21:05:21.187983 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295211852420.
I0419 21:05:21.188934 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295211852538.
I0419 21:05:21.222311 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295212217728.
I0419 21:05:21.223093 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0010613 range=0.685235 variance=0.000543417 t_weight=5520.62 r_weight=0 yaml=(14.115, -2.52) prior=(13.8025, -1.83431, -179.535deg) obs_actual=(-0.309447, 0.683937) obs_expected=(-0.306942, 0.6882) delta=(-0.00250555, -0.0042636) |delta|=0.0049453m
I0419 21:05:21.223176 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295212217867.
I0419 21:05:21.246495 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295212459865.
I0419 21:05:21.292425 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(0.967781, 0.499299)
I0419 21:05:21.292548 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:21.292575 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:21.292604 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=78.6568 rad/s > flush threshold 3.
I0419 21:05:21.292681 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295212460089.
I0419 21:05:21.294045 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295212741875.
I0419 21:05:21.294729 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295212742030.
I0419 21:05:21.306645 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17508, 0.695197), points=3, range=1.36533, residual=0.0124688, extent=0.0304282
I0419 21:05:21.306741 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17508, 0.695197), tracking=(1.47358, 0.695197), map_predicted=(12.3012, -2.54868), range=1.36533, pts=3
I0419 21:05:21.306770 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0318364m maha_sq=0.0433055 (gate chi2=5.99) pose_sigma=(0.150923, 0.150923, rho=0) det_map=(12.3012, -2.54868) lm_pos=(12.315, -2.52) delta=(-0.0138285, -0.0286763) -> 1 candidate(s)
I0419 21:05:21.306856 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295213062155.
I0419 21:05:21.307492 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:21.307591 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295213062359.
I0419 21:05:21.334342 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295213338106.
I0419 21:05:21.335803 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=146.795 rad/s > flush threshold 3.
I0419 21:05:21.362473 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:21.362715 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.369 deg, rms_residual=0.0155206m, sigma_yaw=0.0202745 rad, N=2
I0419 21:05:21.362782 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.7674, -1.81964, -179.369deg) inliers=2 rms=0.0155206m
I0419 21:05:21.362838 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295213618075.
I0419 21:05:21.363471 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.00181, 0.494018)
I0419 21:05:21.363572 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295213618181.
I0419 21:05:21.414242 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555897s, prior_pose=(13.7581, -1.84199), yaw=-179.31 deg
I0419 21:05:21.414419 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:21.414608 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:21.414659 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0556344 range=1.354 variance=0.00051203 t_weight=5859.04 r_weight=0 yaml=(12.315, -2.52) prior=(13.7581, -1.84199, -179.31deg) obs_actual=(1.46472, 0.693821) obs_expected=(1.45112, 0.660585) delta=(0.013596, 0.0332361) |delta|=0.0359095m
I0419 21:05:21.414728 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:21.414765 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295213894114.
I0419 21:05:21.415606 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295213944947.
I0419 21:05:21.422371 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295214218938.
I0419 21:05:21.423784 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=110.768 rad/s > flush threshold 3.
I0419 21:05:21.423870 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295214219112.
I0419 21:05:21.450948 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:21.451141 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:21.451246 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:21.451351 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295214502233.
I0419 21:05:21.452061 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02865, 0.490629), points=4, range=1.136, residual=0.00884766, extent=0.0196682
I0419 21:05:21.452112 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02865, 0.490629), tracking=(-1.32715, -0.490629), map_predicted=(15.066, -1.32609), range=1.136, pts=4
I0419 21:05:21.452168 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.051319m maha_sq=0.11433 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.066, -1.32609) lm_pos=(15.015, -1.32) delta=(0.0509563, -0.00609109) -> 1 candidate(s)
I0419 21:05:21.452235 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295214502405.
I0419 21:05:21.478703 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295214781272.
I0419 21:05:21.479449 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295214781399.
I0419 21:05:21.510238 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=22, centroid=(0.200309, -0.519342)
I0419 21:05:21.510439 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215097226.
I0419 21:05:21.555588 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=38.612 rad/s > flush threshold 3.
I0419 21:05:21.557303 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215463947.
I0419 21:05:21.558009 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:21.558097 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:21.558152 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.0916218 range=1.1592 variance=0.000547174 t_weight=5482.72 r_weight=0 yaml=(15.015, -1.32) prior=(13.7107, -1.84784, -179.221deg) obs_actual=(-1.35257, -0.489639) obs_expected=(-1.3114, -0.51005) delta=(-0.0411705, 0.0204111) |delta|=0.0459524m
I0419 21:05:21.558205 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215464072.
I0419 21:05:21.559363 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.6989, -1.85117), yaw=-179.191 deg backend=(13.7271, -1.82902)
I0419 21:05:21.566381 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215658195.
I0419 21:05:21.567827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215658433.
I0419 21:05:21.598495 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215977721.
I0419 21:05:21.600571 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:21.600639 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=189.033 rad/s > flush threshold 3.
I0419 21:05:21.600992 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295215977851.
I0419 21:05:21.626250 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.161928, -0.521303), points=24, range=0.546375, residual=0.0121778, extent=0.041635
I0419 21:05:21.626408 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.161928, -0.521303), tracking=(0.460428, -0.521303), map_predicted=(13.2206, -1.32755), range=0.546375, pts=24
I0419 21:05:21.626467 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00941552m maha_sq=0.00384095 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2206, -1.32755) lm_pos=(13.215, -1.32) delta=(0.00562836, -0.00754808) -> 1 candidate(s)
I0419 21:05:21.626691 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295216253841.
I0419 21:05:21.628022 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.111328, -0.689767)
I0419 21:05:21.628197 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295216254087.
I0419 21:05:21.684036 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:21.684190 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295216536744.
I0419 21:05:21.684876 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295216536897.
I0419 21:05:21.686136 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879659s, prior_pose=(13.7042, -1.83411), yaw=-178.978 deg
I0419 21:05:21.686224 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:05:21.686434 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295216857510.
I0419 21:05:21.687813 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.7362 rad/s > flush threshold 3.
I0419 21:05:21.713984 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:21.714082 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.096 deg, rms_residual=0.016363m, sigma_yaw=0.0213515 rad, N=2
I0419 21:05:21.714147 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.6747, -1.82205, -179.096deg) inliers=2 rms=0.016363m
I0419 21:05:21.714182 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:21.714202 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295217134967.
I0419 21:05:21.714928 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295217135137.
I0419 21:05:21.741803 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:21.741976 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:21.742093 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0201754 range=0.539125 variance=0.000573577 t_weight=5230.34 r_weight=0 yaml=(13.215, -1.32) prior=(13.677, -1.82792, -179.037deg) obs_actual=(0.43292, -0.522769) obs_expected=(0.453387, -0.515617) delta=(-0.0204667, -0.00715154) |delta|=0.0216802m
I0419 21:05:21.742210 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295217413682.
I0419 21:05:21.745709 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295217451833.
I0419 21:05:21.774682 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.05648, 0.683845)
I0419 21:05:21.774821 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:05:21.774916 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295217741758.
I0419 21:05:21.823937 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=237.078 rad/s > flush threshold 3.
I0419 21:05:21.825462 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295218022612.
I0419 21:05:21.826166 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.153281, -0.696059), points=17, range=0.714588, residual=0.011927, extent=0.0389396
I0419 21:05:21.826243 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.153281, -0.696059), tracking=(-0.451781, 0.696059), map_predicted=(14.1129, -2.52479), range=0.714588, pts=17
I0419 21:05:21.826272 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0052386m maha_sq=0.00118903 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1129, -2.52479) lm_pos=(14.115, -2.52) delta=(-0.00212888, -0.00478652) -> 1 candidate(s)
I0419 21:05:21.826351 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295218022765.
I0419 21:05:21.830153 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295218295794.
I0419 21:05:21.830858 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:21.830967 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:21.831048 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295218295937.
I0419 21:05:21.862644 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295218619577.
I0419 21:05:21.864984 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=104.331 rad/s > flush threshold 3.
I0419 21:05:21.865315 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295218619745.
I0419 21:05:21.889863 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295218892363.
I0419 21:05:21.894068 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:21.894274 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295218934197.
I0419 21:05:21.962852 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.01795, 0.68085)
I0419 21:05:21.963065 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295219221283.
I0419 21:05:21.963582 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[17] 'ref_18' maha_sq=0.124899 range=1.25525 variance=0.000590437 t_weight=5080.98 r_weight=0 yaml=(15.015, -1.32) prior=(13.6159, -1.82738, -178.66deg) obs_actual=(-1.4643, -0.476257) obs_expected=(-1.41062, -0.474527) delta=(-0.0536748, -0.00173038) |delta|=0.0537027m
I0419 21:05:21.963681 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295219221465.
I0419 21:05:21.965404 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:21.965566 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295219496511.
I0419 21:05:21.967077 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.5036 rad/s > flush threshold 3.
I0419 21:05:21.967197 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295219496718.
I0419 21:05:21.978614 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558814s, prior_pose=(13.6018, -1.82662), yaw=-178.628 deg
I0419 21:05:21.978799 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:21.979190 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295219780097.
I0419 21:05:21.980209 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.17705, 0.471563), points=3, range=1.26433, residual=0.00883568, extent=0.0186215
I0419 21:05:21.980304 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.17705, 0.471563), tracking=(-1.47555, -0.471563), map_predicted=(15.0656, -1.31985), range=1.26433, pts=3
I0419 21:05:21.980340 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[17] 'ref_18' eucl_dist=0.0506143m maha_sq=0.111175 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(15.0656, -1.31985) lm_pos=(15.015, -1.32) delta=(0.0506141, 0.000147757) -> 1 candidate(s)
I0419 21:05:21.980448 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295219780455.
I0419 21:05:22.018191 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220172721.
I0419 21:05:22.019357 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:22.019508 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:22.019551 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220173139.
I0419 21:05:22.037767 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:22.037858 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:22.038018 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220372839.
I0419 21:05:22.082150 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.4306 rad/s > flush threshold 3.
I0419 21:05:22.082309 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220373027.
I0419 21:05:22.083616 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.983034, 0.677692)
I0419 21:05:22.083787 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220652672.
I0419 21:05:22.084432 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:22.084520 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220652811.
I0419 21:05:22.098212 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.000231871 range=0.526 variance=0.000571424 t_weight=5250.04 r_weight=0 yaml=(13.215, -1.32) prior=(13.5611, -1.83797, -178.545deg) obs_actual=(0.331373, -0.524747) obs_expected=(0.332794, -0.52659) delta=(-0.0014218, 0.00184302) |delta|=0.00232772m
I0419 21:05:22.098380 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220975056.
I0419 21:05:22.099156 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295220975174.
I0419 21:05:22.126128 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.849 deg, rms_residual=0.0115424m, sigma_yaw=0.0151567 rad, N=2
I0419 21:05:22.127745 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.5545, -1.82733, -178.849deg) inliers=2 rms=0.0115424m
I0419 21:05:22.127811 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295221254753.
I0419 21:05:22.129382 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:22.129456 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:22.129480 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=76.1113 rad/s > flush threshold 3.
I0419 21:05:22.155478 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0160019, -0.523251), points=23, range=0.523565, residual=0.0105639, extent=0.0348681
I0419 21:05:22.155706 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0160019, -0.523251), tracking=(0.314502, -0.523251), map_predicted=(13.2191, -1.32038), range=0.523565, pts=23
I0419 21:05:22.155755 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.00413156m maha_sq=0.000730817 (gate chi2=5.99) pose_sigma=(0.151042, 0.151042, rho=0) det_map=(13.2191, -1.32038) lm_pos=(13.215, -1.32) delta=(0.00411399, -0.00038062) -> 1 candidate(s)
I0419 21:05:22.155910 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295221550502.
I0419 21:05:22.156641 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295221550624.
I0419 21:05:22.207202 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295221859686.
I0419 21:05:22.209357 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:22.209509 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295221859851.
I0419 21:05:22.214612 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(0.944943, 0.675367)
I0419 21:05:22.214891 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295222141810.
I0419 21:05:22.216411 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295222157295.
I0419 21:05:22.242197 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:22.242394 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295222416632.
I0419 21:05:22.243077 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295222416808.
I0419 21:05:22.274096 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0579607s, prior_pose=(13.5265, -1.82699), yaw=-178.356 deg
I0419 21:05:22.274214 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:05:22.274492 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295222736902.
I0419 21:05:22.275254 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00144176 range=0.762812 variance=0.00062165 t_weight=4825.87 r_weight=0 yaml=(14.115, -2.52) prior=(13.5265, -1.82699, -178.356deg) obs_actual=(-0.574007, 0.708402) obs_expected=(-0.56836, 0.709608) delta=(-0.00564641, -0.00120577) |delta|=0.00577372m
I0419 21:05:22.275357 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295222737037.
I0419 21:05:22.302589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295223015243.
I0419 21:05:22.370544 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295223061969.
I0419 21:05:22.371771 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:22.371884 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:22.371984 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:22.372049 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:22.372074 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295223298470.
I0419 21:05:22.372762 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 17 -> 15 (threshold=0.03, iters=3)
I0419 21:05:22.372815 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.292057, -0.710833), points=15, range=0.771133, residual=0.0130006, extent=0.0412653
I0419 21:05:22.372840 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.292057, -0.710833), tracking=(-0.590557, 0.710833), map_predicted=(14.1112, -2.51933), range=0.771133, pts=15
I0419 21:05:22.372861 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00385124m maha_sq=0.000641833 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1112, -2.51933) lm_pos=(14.115, -2.52) delta=(-0.00379284, 0.000668166) -> 1 candidate(s)
I0419 21:05:22.372927 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295223298630.
I0419 21:05:22.374972 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.2884, 0.458347)
I0419 21:05:22.375113 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295223578235.
I0419 21:05:22.375671 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295223612488.
I0419 21:05:22.391000 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:22.391511 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295223901400.
I0419 21:05:22.392102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295223901561.
I0419 21:05:22.418063 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295224172448.
I0419 21:05:22.422180 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:22.422302 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:22.422410 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295224216960.
I0419 21:05:22.471482 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.4597, -1.82719), yaw=-178.084 deg backend=(13.4746, -1.82953)
I0419 21:05:22.472617 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:22.472771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295224458290.
I0419 21:05:22.473815 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295224493785.
I0419 21:05:22.478772 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0116965 range=1.09886 variance=0.000603431 t_weight=4971.57 r_weight=0 yaml=(12.315, -2.52) prior=(13.4597, -1.82719, -178.084deg) obs_actual=(1.1735, 0.66934) obs_expected=(1.16723, 0.654142) delta=(0.00626626, 0.0151975) |delta|=0.0164386m
I0419 21:05:22.479045 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295224777594.
I0419 21:05:22.481554 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:22.481635 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.4434 rad/s > flush threshold 3.
I0419 21:05:22.512068 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.863729, 0.67074)
I0419 21:05:22.512385 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295225102355.
I0419 21:05:22.514024 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295225102603.
I0419 21:05:22.538273 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.849984, 0.672023), points=9, range=1.08644, residual=0.0125574, extent=0.03767
I0419 21:05:22.538475 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.849984, 0.672023), tracking=(1.14848, 0.672023), map_predicted=(12.316, -2.53801), range=1.08644, pts=9
I0419 21:05:22.538513 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0180327m maha_sq=0.0139701 (gate chi2=5.99) pose_sigma=(0.150547, 0.150547, rho=0) det_map=(12.316, -2.53801) lm_pos=(12.315, -2.52) delta=(0.00099567, -0.0180052) -> 1 candidate(s)
I0419 21:05:22.538542 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:22.538627 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295225376225.
I0419 21:05:22.539427 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295225376428.
I0419 21:05:22.566349 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881093s, prior_pose=(13.4402, -1.82608), yaw=-177.988 deg
I0419 21:05:22.566468 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:22.566736 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295225659353.
I0419 21:05:22.613792 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=108.868 rad/s > flush threshold 3.
I0419 21:05:22.615254 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295225933887.
I0419 21:05:22.615921 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295225977593.
I0419 21:05:22.625730 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:22.625823 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:22.625938 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295226252157.
I0419 21:05:22.626643 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295226252307.
I0419 21:05:22.654335 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:22.654455 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:22.654480 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295226538622.
I0419 21:05:22.655896 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.383405, -0.718392)
I0419 21:05:22.655963 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=183.169 rad/s > flush threshold 3.
I0419 21:05:22.686378 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295226857899.
I0419 21:05:22.687258 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295226858102.
I0419 21:05:22.734779 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.801 deg, rms_residual=0.0167562m, sigma_yaw=0.0218533 rad, N=2
I0419 21:05:22.734944 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[15] 'ref_16' maha_sq=0.0404674 range=0.544762 variance=0.00053955 t_weight=5560.19 r_weight=0 yaml=(13.215, -1.32) prior=(13.4065, -1.82426, -177.842deg) obs_actual=(0.143832, -0.522106) obs_expected=(0.172376, -0.511119) delta=(-0.0285432, -0.0109868) |delta|=0.0305847m
I0419 21:05:22.735005 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.3888, -1.8228, -177.801deg) inliers=2 rms=0.0167562m
I0419 21:05:22.735060 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295227140199.
I0419 21:05:22.735662 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:22.735704 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:22.735740 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:05:22.735774 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295227140328.
I0419 21:05:22.741995 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.161197, -0.521789), points=22, range=0.545818, residual=0.0101637, extent=0.0332869
I0419 21:05:22.742069 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.161197, -0.521789), tracking=(0.137303, -0.521789), map_predicted=(13.2496, -1.30802), range=0.545818, pts=22
I0419 21:05:22.742095 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0366595m maha_sq=0.0583406 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2496, -1.30802) lm_pos=(13.215, -1.32) delta=(0.0346456, 0.0119835) -> 1 candidate(s)
I0419 21:05:22.742165 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295227415932.
I0419 21:05:22.743448 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.3751 rad/s > flush threshold 3.
I0419 21:05:22.769929 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295227693204.
I0419 21:05:22.774174 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:22.774303 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295227737216.
I0419 21:05:22.802263 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295228017269.
I0419 21:05:22.803050 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295228017449.
I0419 21:05:22.830302 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=9, centroid=(0.770018, 0.664465)
I0419 21:05:22.830412 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:22.830500 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295228298006.
I0419 21:05:22.874339 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.0119 rad/s > flush threshold 3.
I0419 21:05:22.875651 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558244s, prior_pose=(13.3513, -1.82753), yaw=-177.815 deg
I0419 21:05:22.875747 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=253, threshold=230, above_threshold=31, candidates=31
I0419 21:05:22.875947 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295228575513.
I0419 21:05:22.876539 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295228618674.
I0419 21:05:22.886503 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:22.891014 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295228898782.
I0419 21:05:22.891306 1218967 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.02% real time)
I0419 21:05:22.891492 1218967 collated_trajectory_builder.cc:82] odom rate: 249.00 Hz 4.02e-03 s +/- 7.26e-04 s (pulsed at 100.04% real time)
I0419 21:05:22.891661 1218967 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.52e-03 s (pulsed at 99.90% real time)
I0419 21:05:22.891712 1218967 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.54e-03 s (pulsed at 100.27% real time)
I0419 21:05:22.892930 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295228898938.
I0419 21:05:22.918287 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:22.918367 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:22.918453 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[14] 'ref_15' maha_sq=0.0100917 range=0.9993 variance=0.000636132 t_weight=4716 r_weight=0 yaml=(12.315, -2.52) prior=(13.3449, -1.82755, -177.782deg) obs_actual=(1.04848, 0.665394) obs_expected=(1.05595, 0.652068) delta=(-0.00747685, 0.0133259) |delta|=0.0152801m
I0419 21:05:22.918531 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295229178563.
I0419 21:05:22.919862 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.457151, -0.724497), points=12, range=0.859667, residual=0.0120194, extent=0.0361791
I0419 21:05:22.919909 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.457151, -0.724497), tracking=(-0.755651, 0.724497), map_predicted=(14.1106, -2.52285), range=0.859667, pts=12
I0419 21:05:22.919934 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.00527255m maha_sq=0.00118342 (gate chi2=5.99) pose_sigma=(0.151338, 0.151338, rho=0) det_map=(14.1106, -2.52285) lm_pos=(14.115, -2.52) delta=(-0.0044371, -0.00284815) -> 1 candidate(s)
I0419 21:05:22.919956 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=32.7865 rad/s > flush threshold 3.
I0419 21:05:22.954931 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295229537089.
I0419 21:05:22.956530 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295229537385.
I0419 21:05:23.023063 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295229777610.
I0419 21:05:23.023783 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295229777862.
I0419 21:05:23.025110 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:23.025192 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:23.025215 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295230059097.
I0419 21:05:23.026472 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:23.026521 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:23.026543 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=39.2914 rad/s > flush threshold 3.
I0419 21:05:23.038086 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(-0.247087, -0.522054)
I0419 21:05:23.038401 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295230372431.
I0419 21:05:23.039970 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295230372656.
I0419 21:05:23.066915 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295230659056.
I0419 21:05:23.068411 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:23.068516 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:05:23.068612 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295230659529.
I0419 21:05:23.094733 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295230933305.
I0419 21:05:23.173447 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295230979776.
I0419 21:05:23.175150 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.688125, 0.672233), points=9, range=0.958667, residual=0.0124752, extent=0.0374024
I0419 21:05:23.175237 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.688125, 0.672233), tracking=(0.986625, 0.672233), map_predicted=(12.3089, -2.53846), range=0.958667, pts=9
I0419 21:05:23.175268 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[14] 'ref_15' eucl_dist=0.0194303m maha_sq=0.016341 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3089, -2.53846) lm_pos=(12.315, -2.52) delta=(-0.00606214, -0.0184604) -> 1 candidate(s)
I0419 21:05:23.175294 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:23.175402 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295231258551.
I0419 21:05:23.176085 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.00229711 range=0.8993 variance=0.000541831 t_weight=5536.78 r_weight=0 yaml=(14.115, -2.52) prior=(13.2696, -1.8296, -177.845deg) obs_actual=(-0.822569, 0.727959) obs_expected=(-0.818854, 0.721704) delta=(-0.00371526, 0.00625512) |delta|=0.00727528m
I0419 21:05:23.176254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295231258828.
I0419 21:05:23.178416 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056146s, prior_pose=(13.2617, -1.82922), yaw=-177.871 deg
I0419 21:05:23.178490 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1371, max_intensity=254, threshold=230, above_threshold=41, candidates=41
I0419 21:05:23.178750 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295231541236.
I0419 21:05:23.179406 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295231541511.
I0419 21:05:23.182755 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.664778, 0.6744)
I0419 21:05:23.183020 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295231819328.
I0419 21:05:23.186280 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295231853776.
I0419 21:05:23.214314 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:23.214495 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:23.214774 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295232135114.
I0419 21:05:23.216307 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295232135400.
I0419 21:05:23.296293 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295232423476.
I0419 21:05:23.297297 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.715 deg, rms_residual=0.0106686m, sigma_yaw=0.0140253 rad, N=2
I0419 21:05:23.297618 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.2277, -1.83388, -177.715deg) inliers=2 rms=0.0106686m
I0419 21:05:23.297827 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295232423710.
I0419 21:05:23.299546 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295232740798.
I0419 21:05:23.301594 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.4113 rad/s > flush threshold 3.
I0419 21:05:23.301903 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295232741095.
I0419 21:05:23.303357 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295233012401.
I0419 21:05:23.304302 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:23.304371 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.583764, -0.729486), points=11, range=0.936364, residual=0.0108771, extent=0.031679
I0419 21:05:23.304396 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:23.304414 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.583764, -0.729486), tracking=(-0.882264, 0.729486), map_predicted=(14.1323, -2.53271), range=0.936364, pts=11
I0419 21:05:23.304435 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0214766m maha_sq=0.0199973 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1323, -2.53271) lm_pos=(14.115, -2.52) delta=(0.0173134, -0.0127078) -> 1 candidate(s)
I0419 21:05:23.304519 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:23.304540 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00183726 range=0.593483 variance=0.000731969 t_weight=4098.54 r_weight=0 yaml=(13.215, -1.32) prior=(13.2263, -1.83291, -178.098deg) obs_actual=(-0.00649612, -0.51949) obs_expected=(-0.00571189, -0.513004) delta=(-0.000784226, -0.006486) |delta|=0.00653324m
I0419 21:05:23.304586 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:23.304602 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295233012666.
I0419 21:05:23.305881 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(13.2171, -1.83203), yaw=-178.131 deg backend=(13.2395, -1.83372)
I0419 21:05:23.330981 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295233301777.
I0419 21:05:23.332157 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=28, centroid=(-0.279225, 0.519667)
I0419 21:05:23.332336 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295233301960.
I0419 21:05:23.358593 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295233574702.
I0419 21:05:23.363174 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:23.363296 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:23.363409 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295233621741.
I0419 21:05:23.431438 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295233893085.
I0419 21:05:23.432168 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295233893398.
I0419 21:05:23.434851 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:23.435029 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295234181729.
I0419 21:05:23.435757 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295234182810.
I0419 21:05:23.450505 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879014s, prior_pose=(13.1869, -1.83318), yaw=-178.398 deg
I0419 21:05:23.450608 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=254, threshold=230, above_threshold=11, candidates=11
I0419 21:05:23.450784 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295234500755.
I0419 21:05:23.452731 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=73.3316 rad/s > flush threshold 3.
I0419 21:05:23.452888 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295234500988.
I0419 21:05:23.478207 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295234772174.
I0419 21:05:23.479903 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295234772512.
I0419 21:05:23.555596 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:23.555743 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:23.555779 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.557773, 0.680622), points=12, range=0.879083, residual=0.00991939, extent=0.0309687
I0419 21:05:23.555809 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.557773, 0.680622), tracking=(0.856273, 0.680622), map_predicted=(12.3209, -2.53498), range=0.879083, pts=12
I0419 21:05:23.555841 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0160928m maha_sq=0.0111121 (gate chi2=5.99) pose_sigma=(0.150875, 0.150875, rho=0) det_map=(12.3209, -2.53498) lm_pos=(12.315, -2.52) delta=(0.00586797, -0.0149849) -> 1 candidate(s)
I0419 21:05:23.555945 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295235058941.
I0419 21:05:23.556737 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.657606, -0.728177)
I0419 21:05:23.556862 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0221493 range=0.9812 variance=0.000543056 t_weight=5524.29 r_weight=0 yaml=(14.115, -2.52) prior=(13.1591, -1.83224, -178.504deg) obs_actual=(-0.953013, 0.729027) obs_expected=(-0.937639, 0.712473) delta=(-0.0153734, 0.0165543) |delta|=0.0225917m
I0419 21:05:23.556952 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295235059249.
I0419 21:05:23.558506 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295235333910.
I0419 21:05:23.560245 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295235379851.
I0419 21:05:23.566524 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295235655560.
I0419 21:05:23.568455 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295235655761.
I0419 21:05:23.595216 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295235939683.
I0419 21:05:23.596735 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:23.596840 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:23.596939 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:23.597043 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:23.597142 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295235939957.
I0419 21:05:23.626381 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295236253392.
I0419 21:05:23.705718 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.7356 rad/s > flush threshold 3.
I0419 21:05:23.705943 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295236253642.
I0419 21:05:23.707455 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295236535796.
I0419 21:05:23.708222 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:23.708348 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:05:23.708420 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295236536015.
I0419 21:05:23.710426 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295236820699.
I0419 21:05:23.711233 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.168769, 0.516726)
I0419 21:05:23.711301 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.165511, 0.516979), points=22, range=0.543682, residual=0.0109961, extent=0.0344121
I0419 21:05:23.711328 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.165511, 0.516979), tracking=(-0.132989, -0.516979), map_predicted=(13.2271, -1.31193), range=0.543682, pts=22
I0419 21:05:23.711354 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0145108m maha_sq=0.00913378 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2271, -1.31193) lm_pos=(13.215, -1.32) delta=(0.0120603, 0.00806926) -> 1 candidate(s)
I0419 21:05:23.711417 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295236820914.
I0419 21:05:23.715514 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:23.715689 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0325273 range=0.8395 variance=0.000629234 t_weight=4767.7 r_weight=0 yaml=(12.315, -2.52) prior=(13.1051, -1.83163, -178.777deg) obs_actual=(0.779957, 0.683289) obs_expected=(0.80465, 0.671347) delta=(-0.0246925, 0.0119419) |delta|=0.0274287m
I0419 21:05:23.715794 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295237145153.
I0419 21:05:23.718879 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=65.795 rad/s > flush threshold 3.
I0419 21:05:23.719065 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295237145386.
I0419 21:05:23.750368 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.067599s, prior_pose=(13.0885, -1.83211), yaw=-178.865 deg
I0419 21:05:23.750555 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:05:23.750870 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295237496689.
I0419 21:05:23.752466 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295237496936.
I0419 21:05:23.832863 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295237701752.
I0419 21:05:23.834082 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295237735708.
I0419 21:05:23.835517 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:23.835616 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:23.835752 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295238020850.
I0419 21:05:23.837469 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=83.5958 rad/s > flush threshold 3.
I0419 21:05:23.837612 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295238021094.
I0419 21:05:23.839054 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295238301671.
I0419 21:05:23.839803 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.904 deg, rms_residual=0.0106495m, sigma_yaw=0.0140006 rad, N=2
I0419 21:05:23.839879 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(13.044, -1.83118, -178.904deg) inliers=2 rms=0.0106495m
I0419 21:05:23.839911 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295238301928.
I0419 21:05:23.859799 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295238583334.
I0419 21:05:23.861635 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295238583552.
I0419 21:05:23.890794 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295238897253.
I0419 21:05:23.969275 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.783945, -0.71831)
I0419 21:05:23.969413 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:23.969441 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.786006, -0.71811), points=7, range=1.06329, residual=0.00877865, extent=0.0258616
I0419 21:05:23.969461 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:23.969477 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.786006, -0.71811), tracking=(-1.08451, 0.71811), map_predicted=(14.1283, -2.53501), range=1.06329, pts=7
I0419 21:05:23.969506 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0200542m maha_sq=0.0171864 (gate chi2=5.99) pose_sigma=(0.151229, 0.151229, rho=0) det_map=(14.1283, -2.53501) lm_pos=(14.115, -2.52) delta=(0.0133037, -0.0150061) -> 1 candidate(s)
I0419 21:05:23.969532 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.3732 rad/s > flush threshold 3.
I0419 21:05:23.969583 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:23.969606 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00219513 range=0.526273 variance=0.000553068 t_weight=5424.29 r_weight=0 yaml=(13.215, -1.32) prior=(13.0343, -1.83149, -179.232deg) obs_actual=(-0.192208, -0.514489) obs_expected=(-0.187565, -0.509025) delta=(-0.00464333, -0.00546412) |delta|=0.00717057m
I0419 21:05:23.969666 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:23.969684 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295238897638.
I0419 21:05:23.970969 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:23.971170 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295239175035.
I0419 21:05:23.971943 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295239175292.
I0419 21:05:23.974197 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295239454032.
I0419 21:05:23.974707 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:23.974764 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:05:23.974830 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295239501357.
I0419 21:05:23.978873 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295239780360.
I0419 21:05:23.980065 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295239780532.
I0419 21:05:24.006775 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:24.007048 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295240057560.
I0419 21:05:24.008651 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295240057801.
I0419 21:05:24.079020 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559729s, prior_pose=(12.9951, -1.82822), yaw=-179.237 deg
I0419 21:05:24.079221 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1360, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:05:24.079448 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295240340261.
I0419 21:05:24.080343 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295240340475.
I0419 21:05:24.081802 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295240661152.
I0419 21:05:24.083267 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.9571 rad/s > flush threshold 3.
I0419 21:05:24.083369 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295240661387.
I0419 21:05:24.094043 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:24.094136 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.37095, 0.687727)
I0419 21:05:24.094156 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:24.094183 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.366196, 0.686206), points=16, range=0.779938, residual=0.0131595, extent=0.0418895
I0419 21:05:24.094205 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.366196, 0.686206), tracking=(0.664696, 0.686206), map_predicted=(12.3253, -2.52374), range=0.779938, pts=16
I0419 21:05:24.094231 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0109541m maha_sq=0.0051915 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3253, -2.52374) lm_pos=(12.315, -2.52) delta=(0.0102956, -0.00374082) -> 1 candidate(s)
I0419 21:05:24.094305 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295240936449.
I0419 21:05:24.095109 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0235176 range=1.1132 variance=0.000527805 t_weight=5683.91 r_weight=0 yaml=(14.115, -2.52) prior=(12.9802, -1.82822, -179.191deg) obs_actual=(-1.1414, 0.724135) obs_expected=(-1.12488, 0.707741) delta=(-0.016517, 0.0163935) |delta|=0.0232714m
I0419 21:05:24.095193 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295240936611.
I0419 21:05:24.122330 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295241216951.
I0419 21:05:24.126606 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295241261553.
I0419 21:05:24.154644 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295241541140.
I0419 21:05:24.155205 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295241541289.
I0419 21:05:24.206434 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295241818697.
I0419 21:05:24.207111 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:24.207178 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:24.207231 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:24.207267 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:24.207285 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295241818818.
I0419 21:05:24.208441 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.9487, -1.83045), yaw=-179.133 deg backend=(12.9927, -1.83657)
I0419 21:05:24.209671 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295242092418.
I0419 21:05:24.210518 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295242092567.
I0419 21:05:24.241968 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295242413637.
I0419 21:05:24.243410 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:24.243467 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=40.4036 rad/s > flush threshold 3.
I0419 21:05:24.243500 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:24.243551 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295242413828.
I0419 21:05:24.271131 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295242701615.
I0419 21:05:24.272612 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(0.00740562, 0.511874)
I0419 21:05:24.272713 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0103859, 0.511339), points=25, range=0.51204, residual=0.0115087, extent=0.0363267
I0419 21:05:24.272759 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0103859, 0.511339), tracking=(-0.308886, -0.511339), map_predicted=(13.2335, -1.31392), range=0.51204, pts=25
I0419 21:05:24.272801 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0194429m maha_sq=0.0163903 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2335, -1.31392) lm_pos=(13.215, -1.32) delta=(0.018467, 0.00608224) -> 1 candidate(s)
I0419 21:05:24.272918 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295242701811.
I0419 21:05:24.342694 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:24.342819 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00152949 range=0.751294 variance=0.000585194 t_weight=5126.5 r_weight=0 yaml=(12.315, -2.52) prior=(12.918, -1.82976, -178.94deg) obs_actual=(0.610708, 0.682343) obs_expected=(0.615646, 0.678961) delta=(-0.00493743, 0.00338212) |delta|=0.00598473m
I0419 21:05:24.342926 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295242977884.
I0419 21:05:24.343595 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295242978008.
I0419 21:05:24.344683 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880834s, prior_pose=(12.918, -1.82976), yaw=-178.94 deg
I0419 21:05:24.344736 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:05:24.344841 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295243294662.
I0419 21:05:24.346210 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=238.286 rad/s > flush threshold 3.
I0419 21:05:24.346293 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295243294790.
I0419 21:05:24.358487 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295243580026.
I0419 21:05:24.359339 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295243580215.
I0419 21:05:24.388974 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:24.389097 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:24.389201 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295243881178.
I0419 21:05:24.389962 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295243881356.
I0419 21:05:24.418135 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295244176060.
I0419 21:05:24.462697 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=97.792 rad/s > flush threshold 3.
I0419 21:05:24.462872 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295244176272.
I0419 21:05:24.464159 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295244454051.
I0419 21:05:24.464805 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.172 deg, rms_residual=0.0112171m, sigma_yaw=0.0147358 rad, N=2
I0419 21:05:24.464864 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.8608, -1.83039, -178.172deg) inliers=2 rms=0.0112171m
I0419 21:05:24.464896 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295244455261.
I0419 21:05:24.473937 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295244733213.
I0419 21:05:24.478586 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.948768, -0.741223)
I0419 21:05:24.478677 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:24.478704 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0720712, 0.507365), points=26, range=0.513192, residual=0.012216, extent=0.0475921
I0419 21:05:24.478719 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:24.478734 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0720712, 0.507365), tracking=(-0.370571, -0.507365), map_predicted=(13.2181, -1.31163), range=0.513192, pts=26
I0419 21:05:24.478796 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.00892743m maha_sq=0.00345304 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2181, -1.31163) lm_pos=(13.215, -1.32) delta=(0.00310561, 0.00836984) -> 1 candidate(s)
I0419 21:05:24.478859 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:24.478909 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:24.478927 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295244779550.
I0419 21:05:24.502139 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00861675 range=0.727176 variance=0.000582225 t_weight=5152.65 r_weight=0 yaml=(12.315, -2.52) prior=(12.8607, -1.82838, -178.523deg) obs_actual=(0.5498, 0.681143) obs_expected=(0.563378, 0.677328) delta=(-0.0135773, 0.00381458) |delta|=0.014103m
I0419 21:05:24.502311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295245013880.
I0419 21:05:24.506884 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295245060036.
I0419 21:05:24.534750 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295245341012.
I0419 21:05:24.535781 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:24.535841 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:24.535897 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295245341230.
I0419 21:05:24.614181 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295245621553.
I0419 21:05:24.614969 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295245621765.
I0419 21:05:24.616291 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:24.616423 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295245933204.
I0419 21:05:24.617811 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=114.162 rad/s > flush threshold 3.
I0419 21:05:24.617934 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295245933363.
I0419 21:05:24.622437 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594434s, prior_pose=(12.8312, -1.82899), yaw=-178.246 deg
I0419 21:05:24.622550 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:24.622802 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295246215987.
I0419 21:05:24.624177 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295246216170.
I0419 21:05:24.656744 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295246556434.
I0419 21:05:24.658445 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295246556814.
I0419 21:05:24.682847 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:24.683063 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.207767, 0.67946)
I0419 21:05:24.683109 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:24.683327 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295246820630.
I0419 21:05:24.759516 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.1534 rad/s > flush threshold 3.
I0419 21:05:24.759754 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295246820900.
I0419 21:05:24.761219 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295247098937.
I0419 21:05:24.762226 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.143223, 0.502158), points=26, range=0.523731, residual=0.0126717, extent=0.0425259
I0419 21:05:24.762337 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.143223, 0.502158), tracking=(-0.441723, -0.502158), map_predicted=(13.2302, -1.31108), range=0.523731, pts=26
I0419 21:05:24.762370 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[15] 'ref_16' eucl_dist=0.0176062m maha_sq=0.0134233 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2302, -1.31108) lm_pos=(13.215, -1.32) delta=(0.0151795, 0.00891965) -> 1 candidate(s)
I0419 21:05:24.762450 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295247136539.
I0419 21:05:24.764539 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0143203 range=0.702059 variance=0.000552348 t_weight=5431.36 r_weight=0 yaml=(12.315, -2.52) prior=(12.7964, -1.8276, -178.092deg) obs_actual=(0.485951, 0.675899) obs_expected=(0.504196, 0.67599) delta=(-0.0182454, -9.11002e-05) |delta|=0.0182456m
I0419 21:05:24.764675 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295247412956.
I0419 21:05:24.765518 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295247413208.
I0419 21:05:24.770382 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295247695064.
I0419 21:05:24.772923 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:24.773027 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:24.773066 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=107.624 rad/s > flush threshold 3.
I0419 21:05:24.773161 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:24.773247 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:24.773283 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295247695243.
I0419 21:05:24.797220 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295247964965.
I0419 21:05:24.798089 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295247976320.
I0419 21:05:24.846628 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295248297560.
I0419 21:05:24.847397 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:24.847496 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:24.847570 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295248297713.
I0419 21:05:24.858099 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295248575594.
I0419 21:05:24.859644 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.192055, 0.502346)
I0419 21:05:24.859725 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=96.5359 rad/s > flush threshold 3.
I0419 21:05:24.859817 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295248575762.
I0419 21:05:24.886229 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:24.886478 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295248853663.
I0419 21:05:24.887365 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295248853769.
I0419 21:05:24.918588 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605877s, prior_pose=(12.7297, -1.82801), yaw=-177.714 deg
I0419 21:05:24.918694 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:24.918897 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295249181639.
I0419 21:05:24.919549 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.07813, -0.757261), points=3, range=1.31733, residual=0.00840257, extent=0.0155977
I0419 21:05:24.919592 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.07813, -0.757261), tracking=(-1.37663, 0.757261), map_predicted=(14.1354, -2.52976), range=1.31733, pts=3
I0419 21:05:24.919616 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.0226396m maha_sq=0.0222472 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(14.1354, -2.52976) lm_pos=(14.115, -2.52) delta=(0.0204296, -0.00975626) -> 1 candidate(s)
I0419 21:05:24.919667 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.00773639 range=0.544091 variance=0.000552349 t_weight=5431.34 r_weight=0 yaml=(13.215, -1.32) prior=(12.7297, -1.82801, -177.714deg) obs_actual=(-0.510899, -0.500315) obs_expected=(-0.505183, -0.488245) delta=(-0.0057156, -0.0120695) |delta|=0.0133545m
I0419 21:05:24.919718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295249181776.
I0419 21:05:24.946713 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295249457986.
I0419 21:05:25.001434 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=92.3208 rad/s > flush threshold 3.
I0419 21:05:25.002779 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:25.002874 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:25.003647 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295249772468.
I0419 21:05:25.005498 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295250022092.
I0419 21:05:25.006378 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295250056313.
I0419 21:05:25.034298 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295250337502.
I0419 21:05:25.036000 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=85.2597 rad/s > flush threshold 3.
I0419 21:05:25.036118 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295250337722.
I0419 21:05:25.066810 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295250657365.
I0419 21:05:25.068389 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.12928, -0.764106)
I0419 21:05:25.068502 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:25.068548 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:25.068696 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295250657603.
I0419 21:05:25.135660 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.6802, -1.82784), yaw=-177.727 deg backend=(12.7177, -1.83752)
I0419 21:05:25.137044 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295250937851.
I0419 21:05:25.137943 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:25.138049 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:25.138079 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295250938094.
I0419 21:05:25.139377 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295251220678.
I0419 21:05:25.140976 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:25.141064 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.1438 rad/s > flush threshold 3.
I0419 21:05:25.151193 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0658351, 0.673605), points=19, range=0.678053, residual=0.0114158, extent=0.0359548
I0419 21:05:25.151343 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0658351, 0.673605), tracking=(0.364335, 0.673605), map_predicted=(12.3251, -2.5151), range=0.678053, pts=19
I0419 21:05:25.151405 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0111845m maha_sq=0.00533163 (gate chi2=5.99) pose_sigma=(0.151313, 0.151313, rho=0) det_map=(12.3251, -2.5151) lm_pos=(12.315, -2.52) delta=(0.0100527, 0.00490276) -> 1 candidate(s)
I0419 21:05:25.152756 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295251504856.
I0419 21:05:25.182915 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:25.183204 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295251821449.
I0419 21:05:25.184414 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:05:25.184525 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0139017 range=0.579739 variance=0.000623015 t_weight=4815.29 r_weight=0 yaml=(13.215, -1.32) prior=(12.6512, -1.82657, -177.777deg) obs_actual=(-0.583711, -0.502235) obs_expected=(-0.583035, -0.484319) delta=(-0.000675561, -0.0179162) |delta|=0.017929m
I0419 21:05:25.184708 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295251821760.
I0419 21:05:25.209931 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0871559s, prior_pose=(12.6512, -1.82657), yaw=-177.777 deg
I0419 21:05:25.210139 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:25.210559 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295252092456.
I0419 21:05:25.277909 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=82.9718 rad/s > flush threshold 3.
I0419 21:05:25.278059 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295252092742.
I0419 21:05:25.279516 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295252379383.
I0419 21:05:25.280386 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.163 deg, rms_residual=0.0192248m, sigma_yaw=0.0249924 rad, N=2
I0419 21:05:25.280496 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.6185, -1.82773, -178.163deg) inliers=2 rms=0.0192248m
I0419 21:05:25.280539 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295252413827.
I0419 21:05:25.282699 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:25.282773 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0283876, 0.67238)
I0419 21:05:25.282792 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:25.282877 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295252697189.
I0419 21:05:25.283632 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295252697367.
I0419 21:05:25.298434 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295252973816.
I0419 21:05:25.301733 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=100.751 rad/s > flush threshold 3.
I0419 21:05:25.301980 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295252974090.
I0419 21:05:25.326730 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295253258171.
I0419 21:05:25.328280 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.329958, 0.504782), points=19, range=0.604842, residual=0.011646, extent=0.0382396
I0419 21:05:25.328385 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.329958, 0.504782), tracking=(-0.628458, -0.504782), map_predicted=(13.2201, -1.30292), range=0.604842, pts=19
I0419 21:05:25.328441 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.017831m maha_sq=0.0137819 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2201, -1.30292) lm_pos=(13.215, -1.32) delta=(0.00511893, 0.0170805) -> 1 candidate(s)
I0419 21:05:25.328599 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295253258447.
I0419 21:05:25.404668 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295253573947.
I0419 21:05:25.405787 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:25.405892 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:25.405997 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295253574197.
I0419 21:05:25.406791 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:25.407630 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295253853669.
I0419 21:05:25.409253 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=135.658 rad/s > flush threshold 3.
I0419 21:05:25.409368 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[16] 'ref_17' maha_sq=0.0228844 range=1.43967 variance=0.000518443 t_weight=5786.55 r_weight=0 yaml=(14.115, -2.52) prior=(12.5816, -1.82871, -178.358deg) obs_actual=(-1.53388, 0.744743) obs_expected=(-1.51292, 0.734935) delta=(-0.020962, 0.00980812) |delta|=0.0231432m
I0419 21:05:25.409431 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295253853842.
I0419 21:05:25.415666 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295254146874.
I0419 21:05:25.418994 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:25.419130 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:25.419196 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:25.419234 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295254181618.
I0419 21:05:25.446251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295254452509.
I0419 21:05:25.447767 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.362543, 0.508167)
I0419 21:05:25.447966 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295254452730.
I0419 21:05:25.474382 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:25.474618 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295254735706.
I0419 21:05:25.530654 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:25.530791 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295254781663.
I0419 21:05:25.531808 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0573298s, prior_pose=(12.543, -1.82754), yaw=-178.614 deg
I0419 21:05:25.531873 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:25.532006 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295255025807.
I0419 21:05:25.532616 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295255025927.
I0419 21:05:25.534698 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295255338913.
I0419 21:05:25.535319 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295255339025.
I0419 21:05:25.562203 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:25.562295 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:25.562402 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295255617820.
I0419 21:05:25.563737 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.29445, -0.734858), points=3, range=1.48567, residual=0.00642985, extent=0.0117702
I0419 21:05:25.563787 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.29445, -0.734858), tracking=(-1.59295, 0.734858), map_predicted=(14.1371, -2.52764), range=1.48567, pts=3
I0419 21:05:25.563812 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[16] 'ref_17' eucl_dist=0.023383m maha_sq=0.0235511 (gate chi2=5.99) pose_sigma=(0.150647, 0.150647, rho=0) det_map=(14.1371, -2.52764) lm_pos=(14.115, -2.52) delta=(0.0220982, -0.00764432) -> 1 candidate(s)
I0419 21:05:25.563834 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=79.6638 rad/s > flush threshold 3.
I0419 21:05:25.563889 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295255618014.
I0419 21:05:25.590629 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295255899971.
I0419 21:05:25.594231 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295255935628.
I0419 21:05:25.636431 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.016577 range=0.688158 variance=0.000582511 t_weight=5150.12 r_weight=0 yaml=(12.315, -2.52) prior=(12.5295, -1.82567, -178.764deg) obs_actual=(0.211883, 0.680888) obs_expected=(0.22944, 0.689543) delta=(-0.0175578, -0.00865464) |delta|=0.019575m
I0419 21:05:25.636579 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295256219955.
I0419 21:05:25.637259 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295256220094.
I0419 21:05:25.650192 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295256497423.
I0419 21:05:25.651556 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.31155, -0.732005)
I0419 21:05:25.651616 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:25.651641 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:25.651664 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=77.8433 rad/s > flush threshold 3.
I0419 21:05:25.710180 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:25.711277 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:25.711439 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295257096985.
I0419 21:05:25.738502 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295257379585.
I0419 21:05:25.799512 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=20.881 rad/s > flush threshold 3.
I0419 21:05:25.799674 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295257379811.
I0419 21:05:25.801373 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:25.801457 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295257698120.
I0419 21:05:25.802165 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.459658, 0.508955), points=14, range=0.687643, residual=0.0105396, extent=0.0302091
I0419 21:05:25.802259 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.459658, 0.508955), tracking=(-0.758158, -0.508955), map_predicted=(13.2265, -1.30473), range=0.687643, pts=14
I0419 21:05:25.802289 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0191202m maha_sq=0.0158619 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2265, -1.30473) lm_pos=(13.215, -1.32) delta=(0.0115089, 0.0152686) -> 1 candidate(s)
I0419 21:05:25.802335 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:25.802366 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:25.802383 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295257698323.
I0419 21:05:25.804378 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056999s, prior_pose=(12.4664, -1.82966), yaw=-178.886 deg
I0419 21:05:25.804446 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:25.804551 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295257949801.
I0419 21:05:25.805444 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295257972848.
I0419 21:05:25.826248 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(-0.149764, 0.680013)
I0419 21:05:25.826428 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295258257562.
I0419 21:05:25.828114 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.521 rad/s > flush threshold 3.
I0419 21:05:25.828176 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:25.828384 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295258257788.
I0419 21:05:25.854863 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:25.854951 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:25.855043 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295258544342.
I0419 21:05:25.855722 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0142804 range=0.705462 variance=0.000530559 t_weight=5654.41 r_weight=0 yaml=(13.215, -1.32) prior=(12.4487, -1.83087, -178.955deg) obs_actual=(-0.790096, -0.507526) obs_expected=(-0.775468, -0.496806) delta=(-0.014628, -0.0107195) |delta|=0.0181352m
I0419 21:05:25.855789 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295258544505.
I0419 21:05:25.907704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295258853238.
I0419 21:05:25.908542 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295258853359.
I0419 21:05:25.914407 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295259137923.
I0419 21:05:25.915871 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=116.432 rad/s > flush threshold 3.
I0419 21:05:25.947021 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:25.947129 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:25.953610 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.416, -1.83163), yaw=-178.779 deg backend=(12.4502, -1.84175)
I0419 21:05:26.080652 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.391364, -0.680191)
I0419 21:05:26.080837 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.532968, 0.50868), points=11, range=0.737909, residual=0.00839065, extent=0.0250831
I0419 21:05:26.080868 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:26.080881 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.532968, 0.50868), tracking=(-0.831468, -0.50868), map_predicted=(13.2194, -1.30321), range=0.737909, pts=11
I0419 21:05:26.080914 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0173524m maha_sq=0.0126278 (gate chi2=5.99) pose_sigma=(0.15276, 0.15276, rho=0) det_map=(13.2194, -1.30321) lm_pos=(13.215, -1.32) delta=(0.00437733, 0.0167912) -> 1 candidate(s)
I0419 21:05:26.081030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295260023646.
I0419 21:05:26.082887 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295260334452.
I0419 21:05:26.083777 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295260334697.
I0419 21:05:26.086102 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:26.086261 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295260622201.
I0419 21:05:26.087159 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295260624175.
I0419 21:05:26.090595 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878344s, prior_pose=(12.3891, -1.83355), yaw=-178.784 deg
I0419 21:05:26.090691 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:05:26.090850 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295260901990.
I0419 21:05:26.094679 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.398 deg, rms_residual=0.0178389m, sigma_yaw=0.0188759 rad, N=3
I0419 21:05:26.094790 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.368, -1.83688, -178.398deg) inliers=3 rms=0.0178389m
I0419 21:05:26.094830 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295260941490.
I0419 21:05:26.122493 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295261218680.
I0419 21:05:26.123559 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.45163, -0.736977)
I0419 21:05:26.123740 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295261218850.
I0419 21:05:26.187620 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:26.187809 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:26.187944 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0171924 range=0.733471 variance=0.000585464 t_weight=5124.14 r_weight=0 yaml=(12.315, -2.52) prior=(12.3635, -1.84135, -178.679deg) obs_actual=(0.0484861, 0.689902) obs_expected=(0.0640988, 0.677352) delta=(-0.0156127, 0.0125506) |delta|=0.0200318m
I0419 21:05:26.188007 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295261501679.
I0419 21:05:26.188885 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:26.189008 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:26.189036 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295261501890.
I0419 21:05:26.190682 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295261778062.
I0419 21:05:26.192299 1232263 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 23 -> 11 (threshold=0.03, iters=3)
I0419 21:05:26.192377 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.593013, 0.505311), points=9, range=0.780444, residual=0.00913609, extent=0.027259
I0419 21:05:26.192414 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.593013, 0.505311), tracking=(-0.891513, -0.505311), map_predicted=(13.2291, -1.31585), range=0.780444, pts=9
I0419 21:05:26.192441 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0146906m maha_sq=0.00924841 (gate chi2=5.99) pose_sigma=(0.151035, 0.151035, rho=0) det_map=(13.2291, -1.31585) lm_pos=(13.215, -1.32) delta=(0.0140926, 0.00414857) -> 1 candidate(s)
I0419 21:05:26.192545 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295261815844.
I0419 21:05:26.211189 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295262101914.
I0419 21:05:26.212630 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:05:26.212797 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295262102166.
I0419 21:05:26.239107 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(-0.272307, 0.691533)
I0419 21:05:26.239519 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295262380650.
I0419 21:05:26.240998 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:26.241130 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:26.241297 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295262381434.
I0419 21:05:26.267074 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295262661038.
I0419 21:05:26.338861 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295262696256.
I0419 21:05:26.340252 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295262978143.
I0419 21:05:26.340996 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:26.341132 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295262978402.
I0419 21:05:26.343034 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295263299808.
I0419 21:05:26.343843 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.000199072 range=0.746882 variance=0.000584362 t_weight=5133.81 r_weight=0 yaml=(12.315, -2.52) prior=(12.312, -1.84324, -178.626deg) obs_actual=(0.0117927, 0.678192) obs_expected=(0.0132703, 0.676639) delta=(-0.00147755, 0.00155315) |delta|=0.0021437m
I0419 21:05:26.343935 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295263335345.
I0419 21:05:26.353749 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(-0.308048, 0.691714)
I0419 21:05:26.353884 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:26.354010 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295263531860.
I0419 21:05:26.358042 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295263573422.
I0419 21:05:26.386147 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554509s, prior_pose=(12.2959, -1.84493), yaw=-178.595 deg
I0419 21:05:26.386338 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:05:26.386540 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.312952, 0.689332), points=15, range=0.759733, residual=0.0120328, extent=0.0345188
I0419 21:05:26.386596 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.312952, 0.689332), tracking=(-0.0144525, 0.689332), map_predicted=(12.3273, -2.5337), range=0.759733, pts=15
I0419 21:05:26.386646 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0183877m maha_sq=0.0146467 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3273, -2.5337) lm_pos=(12.315, -2.52) delta=(0.0122645, -0.0137001) -> 1 candidate(s)
I0419 21:05:26.386868 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295263854317.
I0419 21:05:26.388656 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295263854533.
I0419 21:05:26.467401 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295264175688.
I0419 21:05:26.468678 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295264175935.
I0419 21:05:26.470635 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:26.470749 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:26.470875 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295264425334.
I0419 21:05:26.471257 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=5, centroid=(-0.411636, 0.667469)
I0419 21:05:26.471341 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:26.471375 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:26.471395 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295264459170.
I0419 21:05:26.473942 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295264732833.
I0419 21:05:26.478282 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295264778317.
I0419 21:05:26.503291 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295265022443.
I0419 21:05:26.504891 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:05:26.505012 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[16] 'ref_17' maha_sq=0.0411877 range=1.729 variance=0.000549953 t_weight=5455.01 r_weight=5000 yaml=(14.115, -2.52) prior=(12.257, -1.84664, -178.62deg) obs_actual=(-1.85528, 0.745329) obs_expected=(-1.84122, 0.717909) delta=(-0.0140529, 0.0274206) |delta|=0.0308119m
I0419 21:05:26.505179 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295265022741.
I0419 21:05:26.531718 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295265305110.
I0419 21:05:26.602998 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:26.603149 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:26.603302 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295265340984.
I0419 21:05:26.604588 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(-0.383675, 0.686868)
I0419 21:05:26.604669 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.378977, 0.691103), points=22, range=0.789182, residual=0.0216141, extent=0.0584986
I0419 21:05:26.604703 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.378977, 0.691103), tracking=(-0.080477, 0.691103), map_predicted=(12.338, -2.53767), range=0.789182, pts=22
I0419 21:05:26.604738 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0290186m maha_sq=0.0359743 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.338, -2.53767) lm_pos=(12.315, -2.52) delta=(0.0230213, -0.0176663) -> 1 candidate(s)
I0419 21:05:26.604835 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295265616303.
I0419 21:05:26.605717 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295265616580.
I0419 21:05:26.607980 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295265895535.
I0419 21:05:26.608646 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:26.608750 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295265895785.
I0419 21:05:26.622563 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295266214547.
I0419 21:05:26.626700 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.60151, -0.738309)
I0419 21:05:26.626870 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=45.3244 rad/s > flush threshold 3.
I0419 21:05:26.626991 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295266214906.
I0419 21:05:26.650491 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:26.650777 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295266497972.
I0419 21:05:26.652195 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.776 deg, rms_residual=0.0110339m, sigma_yaw=0.0144986 rad, N=2
I0419 21:05:26.652316 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(12.1994, -1.85149, -177.776deg) inliers=2 rms=0.0110339m
I0419 21:05:26.652390 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295266498258.
I0419 21:05:26.731119 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562695s, prior_pose=(12.1983, -1.8498), yaw=-178.614 deg
I0419 21:05:26.731298 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=244, threshold=230, above_threshold=7, candidates=7
I0419 21:05:26.732352 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295266822554.
I0419 21:05:26.735495 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00831499 range=0.709875 variance=0.000556331 t_weight=5392.48 r_weight=0 yaml=(12.315, -2.52) prior=(12.1835, -1.84998, -178.532deg) obs_actual=(-0.103064, 0.681488) obs_expected=(-0.114256, 0.673168) delta=(0.0111917, 0.00832033) |delta|=0.0139457m
I0419 21:05:26.735667 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295267095405.
I0419 21:05:26.738515 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:26.738658 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:26.738803 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295267381474.
I0419 21:05:26.740316 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.63399, -0.744638)
I0419 21:05:26.740479 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295267381728.
I0419 21:05:26.770789 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.177173, -0.680996), points=17, range=0.704294, residual=0.0113139, extent=0.0331488
I0419 21:05:26.770925 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.177173, -0.680996), tracking=(-0.121327, 0.680996), map_predicted=(12.3113, -2.52538), range=0.704294, pts=17
I0419 21:05:26.770982 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.00652079m maha_sq=0.00182293 (gate chi2=5.99) pose_sigma=(0.150864, 0.150864, rho=0) det_map=(12.3113, -2.52538) lm_pos=(12.315, -2.52) delta=(-0.00368947, -0.00537666) -> 1 candidate(s)
I0419 21:05:26.771165 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295267700535.
I0419 21:05:26.860550 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:26.860692 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:26.860721 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295267980322.
I0419 21:05:26.861199 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:26.862908 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295268300132.
I0419 21:05:26.864212 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(12.147, -1.84944), yaw=-178.464 deg backend=(12.1884, -1.84018)
I0419 21:05:26.865309 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295268537829.
I0419 21:05:26.866098 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295268537997.
I0419 21:05:26.885978 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:05:26.891345 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:26.891592 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295268852704.
I0419 21:05:26.914422 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.35921, 0.653164)
I0419 21:05:26.916123 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295269136243.
I0419 21:05:27.003537 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:27.003718 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:27.003826 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295269456980.
I0419 21:05:27.004822 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0849014s, prior_pose=(12.1226, -1.8539), yaw=-178.324 deg
I0419 21:05:27.004913 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=231, threshold=230, above_threshold=1, candidates=1
I0419 21:05:27.006614 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295269734463.
I0419 21:05:27.008378 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.00109475 range=0.687222 variance=0.000566178 t_weight=5298.68 r_weight=0 yaml=(12.315, -2.52) prior=(12.1087, -1.85501, -178.27deg) obs_actual=(-0.186386, 0.675932) obs_expected=(-0.186158, 0.670912) delta=(-0.000227987, 0.00501994) |delta|=0.00502512m
I0419 21:05:27.008481 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295270019250.
I0419 21:05:27.031080 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:27.031169 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:27.031299 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295270300730.
I0419 21:05:27.108691 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.871227, 0.492897), points=6, range=0.999167, residual=0.00752005, extent=0.0216027
I0419 21:05:27.108847 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:27.108867 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.871227, 0.492897), tracking=(-1.16973, -0.492897), map_predicted=(13.2342, -1.32861), range=0.999167, pts=6
I0419 21:05:27.108897 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0210655m maha_sq=0.0189777 (gate chi2=5.99) pose_sigma=(0.15125, 0.15125, rho=0) det_map=(13.2342, -1.32861) lm_pos=(13.215, -1.32) delta=(0.0192257, -0.00860979) -> 1 candidate(s)
I0419 21:05:27.109057 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295270614572.
I0419 21:05:27.111323 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295270916573.
I0419 21:05:27.117925 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.30482, 0.650553)
I0419 21:05:27.118808 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295271174876.
I0419 21:05:27.152387 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:27.152562 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295271499018.
I0419 21:05:27.179764 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295271777369.
I0419 21:05:27.257939 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295272066358.
I0419 21:05:27.261294 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295272384182.
I0419 21:05:27.265697 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0586495s, prior_pose=(12.0302, -1.85747), yaw=-178.132 deg
I0419 21:05:27.265816 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=238, threshold=230, above_threshold=3, candidates=3
I0419 21:05:27.265993 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295272652684.
I0419 21:05:27.266808 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295272652951.
I0419 21:05:27.304121 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.94325, 0.490999)
I0419 21:05:27.304446 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.0506061 range=1.0634 variance=0.000503133 t_weight=5962.64 r_weight=0 yaml=(13.215, -1.32) prior=(12.0245, -1.85866, -178.187deg) obs_actual=(-1.24002, -0.491843) obs_expected=(-1.20697, -0.500726) delta=(-0.0330437, 0.00888343) |delta|=0.0342169m
I0419 21:05:27.304613 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295273018647.
I0419 21:05:27.327219 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:27.327503 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:27.327562 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295273262419.
I0419 21:05:27.405838 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:27.405992 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:27.406062 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.0592 rad/s > flush threshold 3.
I0419 21:05:27.406173 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295273262777.
I0419 21:05:27.408345 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295273539860.
I0419 21:05:27.410573 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.2096, 0.670474), points=3, range=1.383, residual=0.00698465, extent=0.0170202
I0419 21:05:27.410667 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.2096, 0.670474), tracking=(1.5081, 0.670474), map_predicted=(10.5134, -2.57598), range=1.383, pts=3
I0419 21:05:27.410772 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.056001m maha_sq=0.135135 (gate chi2=5.99) pose_sigma=(0.150618, 0.150618, rho=0) det_map=(10.5134, -2.57598) lm_pos=(10.515, -2.52) delta=(-0.00163667, -0.0559771) -> 1 candidate(s)
I0419 21:05:27.410876 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295273859950.
I0419 21:05:27.411602 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:05:27.411708 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295273860160.
I0419 21:05:27.414000 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295274134880.
I0419 21:05:27.415869 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:27.415952 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:27.415988 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=205.13 rad/s > flush threshold 3.
I0419 21:05:27.416074 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.71 deg, rms_residual=0.0118589m, sigma_yaw=0.0155658 rad, N=2
I0419 21:05:27.416141 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.9688, -1.8655, -177.71deg) inliers=2 rms=0.0118589m
I0419 21:05:27.416190 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295274135176.
I0419 21:05:27.444584 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295274422506.
I0419 21:05:27.516985 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295274742164.
I0419 21:05:27.518632 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.18671, 0.680548)
I0419 21:05:27.520211 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295275022560.
I0419 21:05:27.531265 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:27.531442 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295275298537.
I0419 21:05:27.560328 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0576319s, prior_pose=(11.9496, -1.86444), yaw=-178.989 deg
I0419 21:05:27.560434 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=230, threshold=230, above_threshold=1, candidates=1
I0419 21:05:27.561331 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295275599104.
I0419 21:05:27.591001 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:05:27.634251 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295275900337.
I0419 21:05:27.636075 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:27.636224 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295276177528.
I0419 21:05:27.651494 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.145179 range=1.16225 variance=0.000500428 t_weight=5994.87 r_weight=0 yaml=(13.215, -1.32) prior=(11.9339, -1.86429, -179.173deg) obs_actual=(-1.345, -0.5104) obs_expected=(-1.28887, -0.525742) delta=(-0.0561306, 0.0153421) |delta|=0.0581896m
I0419 21:05:27.651680 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295276500739.
I0419 21:05:27.679188 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:27.679296 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0943803, -0.678388)
I0419 21:05:27.679320 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:27.679467 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295276772958.
I0419 21:05:27.707015 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295277059471.
I0419 21:05:27.751272 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.8912, -1.86779), yaw=-179.185 deg backend=(11.926, -1.84235)
I0419 21:05:27.752923 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06954, 0.506322), points=4, range=1.1805, residual=0.0072058, extent=0.0158011
I0419 21:05:27.753015 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06954, 0.506322), tracking=(-1.36804, -0.506322), map_predicted=(13.2519, -1.34205), range=1.1805, pts=4
I0419 21:05:27.753047 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0430122m maha_sq=0.0789035 (gate chi2=5.99) pose_sigma=(0.151444, 0.151444, rho=0) det_map=(13.2519, -1.34205) lm_pos=(13.215, -1.32) delta=(0.0369329, -0.0220457) -> 1 candidate(s)
I0419 21:05:27.753208 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295277340400.
I0419 21:05:27.768050 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295277660667.
I0419 21:05:27.794449 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295277934121.
I0419 21:05:27.826699 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:27.826850 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:27.826877 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295278256239.
I0419 21:05:27.853785 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0872703s, prior_pose=(11.8627, -1.86782), yaw=-179.07 deg
I0419 21:05:27.853876 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1372, max_intensity=218, threshold=230, above_threshold=0, candidates=0
I0419 21:05:27.899770 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295278533529.
I0419 21:05:27.901536 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295278815170.
I0419 21:05:27.915031 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295279139759.
I0419 21:05:27.944396 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:27.944597 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295279419132.
I0419 21:05:27.971263 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.174106, -0.685373)
I0419 21:05:27.971541 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295279697025.
I0419 21:05:28.042464 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:28.042595 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:28.042676 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0227871 range=0.712333 variance=0.000605938 t_weight=4951 r_weight=0 yaml=(12.315, -2.52) prior=(11.8168, -1.86597, -178.779deg) obs_actual=(-0.478263, 0.686808) obs_expected=(-0.484122, 0.664493) delta=(0.00585913, 0.0223151) |delta|=0.0230715m
I0419 21:05:28.042748 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295280006456.
I0419 21:05:28.045331 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295280293816.
I0419 21:05:28.058846 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.16751, 0.489574), points=3, range=1.26333, residual=0.00586129, extent=0.0101421
I0419 21:05:28.058967 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.16751, 0.489574), tracking=(-1.46601, -0.489574), map_predicted=(13.2537, -1.34388), range=1.26333, pts=3
I0419 21:05:28.059010 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[15] 'ref_16' eucl_dist=0.0454494m maha_sq=0.0898137 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(13.2537, -1.34388) lm_pos=(13.215, -1.32) delta=(0.0386732, -0.0238753) -> 1 candidate(s)
I0419 21:05:28.059163 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295280575033.
I0419 21:05:28.090487 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295280892696.
I0419 21:05:28.168134 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:28.168432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295281179221.
I0419 21:05:28.169970 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0569448s, prior_pose=(11.7677, -1.8654), yaw=-178.575 deg
I0419 21:05:28.170096 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=223, threshold=230, above_threshold=0, candidates=0
I0419 21:05:28.170948 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295281495713.
I0419 21:05:28.177985 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:05:28.179044 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295281775160.
I0419 21:05:28.212471 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:28.212960 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295282103334.
I0419 21:05:28.238313 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.252973, -0.691687)
I0419 21:05:28.238511 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.746 deg, rms_residual=0.0115111m, sigma_yaw=0.0151162 rad, N=2
I0419 21:05:28.238583 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.7328, -1.86114, -177.746deg) inliers=2 rms=0.0115111m
I0419 21:05:28.238624 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295282378651.
I0419 21:05:28.284806 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:28.284971 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:28.285121 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295282662378.
I0419 21:05:28.295096 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0210912 range=0.743471 variance=0.000642428 t_weight=4669.78 r_weight=0 yaml=(12.315, -2.52) prior=(11.7246, -1.86407, -178.584deg) obs_actual=(-0.564745, 0.690543) obs_expected=(-0.57406, 0.670319) delta=(0.00931446, 0.0202236) |delta|=0.0222655m
I0419 21:05:28.295250 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295282931671.
I0419 21:05:28.303632 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:28.304632 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:28.330901 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295283300896.
I0419 21:05:28.354697 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295283534712.
I0419 21:05:28.433813 1218967 pose_graph_2d.cc:160] Inserted submap (1, 61).
I0419 21:05:28.435626 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 15 -> 14 (threshold=0.03, iters=3)
I0419 21:05:28.435933 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.292619, -0.692058), points=14, range=0.754429, residual=0.0130727, extent=0.041566
I0419 21:05:28.436122 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.292619, -0.692058), tracking=(-0.591119, 0.692058), map_predicted=(12.2971, -2.54285), range=0.754429, pts=14
I0419 21:05:28.436300 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.028994m maha_sq=0.0355967 (gate chi2=5.99) pose_sigma=(0.151677, 0.151677, rho=0) det_map=(12.2971, -2.54285) lm_pos=(12.315, -2.52) delta=(-0.0178531, -0.0228455) -> 1 candidate(s)
I0419 21:05:28.436508 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295283841792.
I0419 21:05:28.442474 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:28.442919 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:28.443185 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295284126768.
I0419 21:05:28.445948 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563477s, prior_pose=(11.6782, -1.86605), yaw=-178.521 deg
I0419 21:05:28.446425 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1381, max_intensity=228, threshold=230, above_threshold=0, candidates=0
I0419 21:05:28.447597 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295284405384.
I0419 21:05:28.472216 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295284700646.
I0419 21:05:28.502758 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(0.329041, -0.697518)
I0419 21:05:28.502960 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295285017252.
I0419 21:05:28.551376 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:28.551587 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295285341217.
I0419 21:05:28.562366 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295285616946.
I0419 21:05:28.594653 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:28.594761 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:28.594870 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295285925291.
I0419 21:05:28.599877 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.6324, -1.86617), yaw=-178.281 deg backend=(11.6707, -1.84096)
I0419 21:05:28.619374 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295286182079.
I0419 21:05:28.684687 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295286452166.
I0419 21:05:28.686640 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:28.686789 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:28.686899 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295286779225.
I0419 21:05:28.706496 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.35398, 0.4662)
I0419 21:05:28.706616 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:28.706684 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[15] 'ref_16' maha_sq=0.14074 range=1.432 variance=0.000519819 t_weight=5771.23 r_weight=0 yaml=(13.215, -1.32) prior=(11.6227, -1.86737, -178.198deg) obs_actual=(-1.656, -0.465211) obs_expected=(-1.60868, -0.49703) delta=(-0.0473184, 0.0318189) |delta|=0.0570217m
I0419 21:05:28.706740 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295287054978.
I0419 21:05:28.733791 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882231s, prior_pose=(11.6227, -1.86737), yaw=-178.198 deg
I0419 21:05:28.733953 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1374, max_intensity=235, threshold=230, above_threshold=1, candidates=1
I0419 21:05:28.735642 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295287334564.
I0419 21:05:28.761670 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:05:28.762446 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295287612534.
I0419 21:05:28.803328 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:28.803675 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295287939267.
I0419 21:05:28.824012 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295288221631.
I0419 21:05:28.854672 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.427719, -0.707125), points=13, range=0.829462, residual=0.0126648, extent=0.0401905
I0419 21:05:28.854764 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.427719, -0.707125), tracking=(-0.726219, 0.707125), map_predicted=(12.3282, -2.54431), range=0.829462, pts=13
I0419 21:05:28.854799 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0276512m maha_sq=0.0330952 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3282, -2.54431) lm_pos=(12.315, -2.52) delta=(0.0131742, -0.024311) -> 1 candidate(s)
I0419 21:05:28.854933 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295288540844.
I0419 21:05:28.882221 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295288817271.
I0419 21:05:28.882915 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.41735, 0.462798)
I0419 21:05:28.883023 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295288817383.
I0419 21:05:28.911090 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295289102394.
I0419 21:05:28.949625 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=118.333 rad/s > flush threshold 3.
I0419 21:05:28.970829 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:28.970963 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:29.030057 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599169s, prior_pose=(11.529, -1.86436), yaw=-177.874 deg
I0419 21:05:29.030166 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1366, max_intensity=243, threshold=230, above_threshold=13, candidates=13
I0419 21:05:29.030241 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.731183, 0.67383)
I0419 21:05:29.030264 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:29.030283 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:29.086483 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:29.115841 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295291138383.
I0419 21:05:29.117566 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.506422, -0.714343), points=11, range=0.878364, residual=0.0109118, extent=0.0319104
I0419 21:05:29.117643 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.506422, -0.714343), tracking=(-0.804922, 0.714343), map_predicted=(12.3351, -2.54657), range=0.878364, pts=11
I0419 21:05:29.117671 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0333352m maha_sq=0.0481818 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3351, -2.54657) lm_pos=(12.315, -2.52) delta=(0.0201358, -0.0265666) -> 1 candidate(s)
I0419 21:05:29.117692 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:29.117725 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:29.117761 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:29.117779 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295291172135.
I0419 21:05:29.149567 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295291489325.
I0419 21:05:29.150574 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295291489442.
I0419 21:05:29.173909 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53643, -0.582093)
I0419 21:05:29.174134 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295291734546.
I0419 21:05:29.216307 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:05:29.216460 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295291779317.
I0419 21:05:29.217876 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295292053741.
I0419 21:05:29.218562 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0231809 range=0.898091 variance=0.000571488 t_weight=5249.46 r_weight=0 yaml=(12.315, -2.52) prior=(11.4762, -1.82373, -177.693deg) obs_actual=(-0.831063, 0.719689) obs_expected=(-0.810106, 0.729468) delta=(-0.0209572, -0.00977819) |delta|=0.0231261m
I0419 21:05:29.218649 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295292053940.
I0419 21:05:29.234097 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295292333808.
I0419 21:05:29.235033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295292334009.
I0419 21:05:29.263036 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295292624056.
I0419 21:05:29.265362 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=11, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:29.265453 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:29.265499 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.357 rad/s > flush threshold 3.
I0419 21:05:29.265527 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:29.337677 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592088s, prior_pose=(11.4404, -1.83141), yaw=-177.625 deg
I0419 21:05:29.337852 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=245, threshold=230, above_threshold=14, candidates=14
I0419 21:05:29.337936 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.49774, -0.582436)
I0419 21:05:29.337991 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:29.338017 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:29.381997 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.625247, 0.664578), points=12, range=0.91, residual=0.012702, extent=0.0403697
I0419 21:05:29.382112 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:29.382140 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.625247, 0.664578), tracking=(0.923747, 0.664578), map_predicted=(10.5371, -2.53616), range=0.91, pts=12
I0419 21:05:29.382179 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0273713m maha_sq=0.0313771 (gate chi2=5.99) pose_sigma=(0.152545, 0.152545, rho=0) det_map=(10.5371, -2.53616) lm_pos=(10.515, -2.52) delta=(0.022093, -0.0161583) -> 1 candidate(s)
I0419 21:05:29.414678 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:29.512316 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295294696712.
I0419 21:05:29.513149 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.59609, 0.437635)
I0419 21:05:29.513362 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295294696914.
I0419 21:05:29.514832 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.4, -1.83239), yaw=-177.401 deg backend=(11.4067, -1.85059)
I0419 21:05:29.516131 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295294973992.
I0419 21:05:29.516968 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295294974128.
I0419 21:05:29.526289 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295295257126.
I0419 21:05:29.529641 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295295291504.
I0419 21:05:29.557842 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295295573346.
I0419 21:05:29.558292 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:29.558341 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:29.558439 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295295573544.
I0419 21:05:29.630170 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295295858356.
I0419 21:05:29.631002 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295295858562.
I0419 21:05:29.632455 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0890212s, prior_pose=(11.3812, -1.82901), yaw=-177.275 deg
I0419 21:05:29.632557 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=253, threshold=230, above_threshold=14, candidates=14
I0419 21:05:29.632637 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:29.632663 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:29.632714 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:29.632761 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:29.632786 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295296181716.
I0419 21:05:29.634280 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=44.8136 rad/s > flush threshold 3.
I0419 21:05:29.647118 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.670524, -0.738147), points=10, range=0.9995, residual=0.0110081, extent=0.0317693
I0419 21:05:29.647254 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.670524, -0.738147), tracking=(-0.969024, 0.738147), map_predicted=(12.3747, -2.51971), range=0.9995, pts=10
I0419 21:05:29.647301 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0596697m maha_sq=0.152808 (gate chi2=5.99) pose_sigma=(0.150762, 0.150762, rho=0) det_map=(12.3747, -2.51971) lm_pos=(12.315, -2.52) delta=(0.059669, 0.000289527) -> 1 candidate(s)
I0419 21:05:29.674962 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.39109, -0.600056)
I0419 21:05:29.675164 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:29.675416 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295296735888.
I0419 21:05:29.676584 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295296736091.
I0419 21:05:29.706952 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.219539 range=0.832769 variance=0.000555578 t_weight=5399.78 r_weight=0 yaml=(10.515, -2.52) prior=(11.369, -1.82938, -177.206deg) obs_actual=(0.81555, 0.651921) obs_expected=(0.886597, 0.648182) delta=(-0.0710465, 0.00373904) |delta|=0.0711449m
I0419 21:05:29.707255 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295297059502.
I0419 21:05:29.776429 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:29.776566 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (4 entries) on yaw_rate=45.79 rad/s > flush threshold 3.
I0419 21:05:29.777549 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:29.778071 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:29.778215 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295297334621.
I0419 21:05:29.778995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295297336861.
I0419 21:05:29.781312 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295297621730.
I0419 21:05:29.782073 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295297621992.
I0419 21:05:29.795017 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295297938551.
I0419 21:05:29.798496 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.8481 rad/s > flush threshold 3.
I0419 21:05:29.822407 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295298215698.
I0419 21:05:29.823503 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.723529, -0.742676)
I0419 21:05:29.823660 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295298215975.
I0419 21:05:29.886837 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295298579034.
I0419 21:05:29.887514 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:29.887604 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:29.887629 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.72787, -0.742818), points=8, range=1.04338, residual=0.0109115, extent=0.0285333
I0419 21:05:29.887648 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.72787, -0.742818), tracking=(-1.02637, 0.742818), map_predicted=(12.3459, -2.53213), range=1.04338, pts=8
I0419 21:05:29.887667 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.0332191m maha_sq=0.0478305 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3459, -2.53213) lm_pos=(12.315, -2.52) delta=(0.0309271, -0.0121254) -> 1 candidate(s)
I0419 21:05:29.887730 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295298579260.
I0419 21:05:29.888820 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.596 deg, rms_residual=0.0108452m, sigma_yaw=0.0142541 rad, N=2
I0419 21:05:29.888929 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.255, -1.84846, -177.596deg) inliers=2 rms=0.0108452m
I0419 21:05:29.888962 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295298779407.
I0419 21:05:29.890241 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295298812719.
I0419 21:05:29.909523 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0512498s, prior_pose=(11.2612, -1.84546), yaw=-176.99 deg
I0419 21:05:29.909632 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:29.909736 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:29.909768 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:29.909881 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295299091532.
I0419 21:05:29.910606 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0611877 range=1.06086 variance=0.000544653 t_weight=5508.09 r_weight=0 yaml=(12.315, -2.52) prior=(11.2612, -1.84546, -176.99deg) obs_actual=(-1.0506, 0.745524) obs_expected=(-1.0169, 0.728952) delta=(-0.0336957, 0.0165726) |delta|=0.0375506m
I0419 21:05:29.910676 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295299091661.
I0419 21:05:29.938622 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295299379711.
I0419 21:05:29.939457 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295299379949.
I0419 21:05:29.970137 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:29.970311 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295299697134.
I0419 21:05:30.024191 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=132.072 rad/s > flush threshold 3.
I0419 21:05:30.025581 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:30.025666 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:30.025695 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295299973849.
I0419 21:05:30.026275 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:30.026335 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295299974220.
I0419 21:05:30.028064 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.421438, 0.64681)
I0419 21:05:30.028162 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295300256088.
I0419 21:05:30.028720 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295300256192.
I0419 21:05:30.058276 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.412151, 0.644843), points=17, range=0.766882, residual=0.0125025, extent=0.0438229
I0419 21:05:30.058383 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.412151, 0.644843), tracking=(0.710651, 0.644843), map_predicted=(10.5534, -2.53273), range=0.766882, pts=17
I0419 21:05:30.058454 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0404264m maha_sq=0.0707608 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5534, -2.53273) lm_pos=(10.515, -2.52) delta=(0.0383694, -0.0127311) -> 1 candidate(s)
I0419 21:05:30.058496 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:30.058571 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295300574010.
I0419 21:05:30.060104 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=7.88108 rad/s > flush threshold 3.
I0419 21:05:30.086203 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295300855828.
I0419 21:05:30.087049 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295300856019.
I0419 21:05:30.154183 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295301140315.
I0419 21:05:30.154924 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295301140441.
I0419 21:05:30.156280 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00425035 range=1.39033 variance=0.000541879 t_weight=5536.29 r_weight=0 yaml=(9.615, -1.32) prior=(11.2013, -1.85333, -176.87deg) obs_actual=(1.55275, -0.609485) obs_expected=(1.55485, -0.619155) delta=(-0.00210035, 0.00967081) |delta|=0.00989627m
I0419 21:05:30.156390 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295301460278.
I0419 21:05:30.157692 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:30.157755 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:30.157781 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.047 rad/s > flush threshold 3.
I0419 21:05:30.157797 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:30.174309 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295301736976.
I0419 21:05:30.174960 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295301737075.
I0419 21:05:30.201764 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553366s, prior_pose=(11.1736, -1.85713), yaw=-176.819 deg
I0419 21:05:30.201882 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:30.201987 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:30.202016 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:30.202096 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295302013848.
I0419 21:05:30.202747 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295302013989.
I0419 21:05:30.229120 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:30.234257 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.21712, -0.609024)
I0419 21:05:30.234720 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295302335923.
I0419 21:05:30.300684 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=193.656 rad/s > flush threshold 3.
I0419 21:05:30.301965 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.347524, 0.642239), points=16, range=0.731188, residual=0.0111398, extent=0.0339631
I0419 21:05:30.302052 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:30.302068 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.347524, 0.642239), tracking=(0.646024, 0.642239), map_predicted=(10.5481, -2.50858), range=0.731188, pts=16
I0419 21:05:30.302096 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0350323m maha_sq=0.0515716 (gate chi2=5.99) pose_sigma=(0.15243, 0.15243, rho=0) det_map=(10.5481, -2.50858) lm_pos=(10.515, -2.52) delta=(0.0331202, 0.0114154) -> 1 candidate(s)
I0419 21:05:30.302174 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295302619033.
I0419 21:05:30.302805 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295302619232.
I0419 21:05:30.304791 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295302900984.
I0419 21:05:30.305614 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:30.305733 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295302934595.
I0419 21:05:30.322692 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295303217007.
I0419 21:05:30.325755 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.1785 rad/s > flush threshold 3.
I0419 21:05:30.349946 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:30.350099 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:30.350126 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295303494617.
I0419 21:05:30.350766 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295303494776.
I0419 21:05:30.409373 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(11.1221, -1.85351), yaw=-176.644 deg backend=(11.1466, -1.85167)
I0419 21:05:30.410609 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00665765 range=1.321 variance=0.000580403 t_weight=5168.83 r_weight=0 yaml=(9.615, -1.32) prior=(11.1221, -1.85351, -176.644deg) obs_actual=(1.46359, -0.612973) obs_expected=(1.47326, -0.620809) delta=(-0.00967245, 0.00783612) |delta|=0.0124483m
I0419 21:05:30.410730 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295303815200.
I0419 21:05:30.412607 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.16509, -0.612957)
I0419 21:05:30.412804 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295304101933.
I0419 21:05:30.414201 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=7.0273 rad/s > flush threshold 3.
I0419 21:05:30.437847 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:30.438014 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295304373676.
I0419 21:05:30.438717 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:30.438771 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:30.438833 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295304373879.
I0419 21:05:30.466220 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.285078, 0.642739), points=19, range=0.704421, residual=0.0126843, extent=0.0426212
I0419 21:05:30.466315 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.285078, 0.642739), tracking=(0.583578, 0.642739), map_predicted=(10.5477, -2.5354), range=0.704421, pts=19
I0419 21:05:30.466346 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0361756m maha_sq=0.0561259 (gate chi2=5.99) pose_sigma=(0.150727, 0.150727, rho=0) det_map=(10.5477, -2.5354) lm_pos=(10.515, -2.52) delta=(0.0327353, -0.0153973) -> 1 candidate(s)
I0419 21:05:30.466466 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295304657248.
I0419 21:05:30.470592 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295304701939.
I0419 21:05:30.498926 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.087819s, prior_pose=(11.0929, -1.85978), yaw=-176.663 deg
I0419 21:05:30.499085 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:30.499392 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.757 deg, rms_residual=0.0168721m, sigma_yaw=0.0220011 rad, N=2
I0419 21:05:30.499521 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(11.0787, -1.86836, -177.757deg) inliers=2 rms=0.0168721m
I0419 21:05:30.499588 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295304980232.
I0419 21:05:30.571530 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:30.571650 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:30.571683 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.294 rad/s > flush threshold 3.
I0419 21:05:30.573040 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295305259516.
I0419 21:05:30.573693 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295305259736.
I0419 21:05:30.575606 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295305540038.
I0419 21:05:30.576237 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:30.576323 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295305572688.
I0419 21:05:30.586820 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295305855677.
I0419 21:05:30.588253 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.95761, -0.75265)
I0419 21:05:30.588366 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=30.9012 rad/s > flush threshold 3.
I0419 21:05:30.621366 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:30.621594 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0127809 range=1.266 variance=0.000514395 t_weight=5832.09 r_weight=0 yaml=(9.615, -1.32) prior=(11.0513, -1.86629, -176.65deg) obs_actual=(1.40972, -0.613851) obs_expected=(1.40189, -0.629283) delta=(0.00783079, 0.0154319) |delta|=0.017305m
I0419 21:05:30.621771 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295306140132.
I0419 21:05:30.622866 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295306140286.
I0419 21:05:30.708328 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295306461208.
I0419 21:05:30.709009 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295306461447.
I0419 21:05:30.710304 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.09404, -0.61897), points=4, range=1.25325, residual=0.00925424, extent=0.0210517
I0419 21:05:30.710394 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.09404, -0.61897), tracking=(1.39254, -0.61897), map_predicted=(9.6256, -1.32865), range=1.25325, pts=4
I0419 21:05:30.710419 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.013679m maha_sq=0.00811788 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.6256, -1.32865) lm_pos=(9.615, -1.32) delta=(0.0106002, -0.00864597) -> 1 candidate(s)
I0419 21:05:30.710510 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295306739873.
I0419 21:05:30.712891 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295307016429.
I0419 21:05:30.731253 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:30.731513 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:30.731570 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295307302008.
I0419 21:05:30.734997 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:30.735111 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:30.735348 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295307342285.
I0419 21:05:30.762166 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295307614095.
I0419 21:05:30.812791 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.2155 rad/s > flush threshold 3.
I0419 21:05:30.814210 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593633s, prior_pose=(11.0077, -1.87001), yaw=-176.455 deg
I0419 21:05:30.814358 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:30.814486 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.19343, 0.639183)
I0419 21:05:30.814631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295307895641.
I0419 21:05:30.822146 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:30.822328 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295308216327.
I0419 21:05:30.823545 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295308216502.
I0419 21:05:30.850183 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:30.850276 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:30.850343 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.105165 range=0.661524 variance=0.000588293 t_weight=5099.5 r_weight=0 yaml=(10.515, -2.52) prior=(10.9944, -1.87088, -176.444deg) obs_actual=(0.473149, 0.636891) obs_expected=(0.518718, 0.61814) delta=(-0.0455685, 0.0187509) |delta|=0.0492756m
I0419 21:05:30.850430 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295308496712.
I0419 21:05:30.851922 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295308496897.
I0419 21:05:30.879110 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295308782525.
I0419 21:05:30.880656 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295308782741.
I0419 21:05:30.957958 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02184, -0.620043), points=5, range=1.19, residual=0.0143534, extent=0.0357664
I0419 21:05:30.958084 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:30.958101 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02184, -0.620043), tracking=(1.32034, -0.620043), map_predicted=(9.61339, -1.33655), range=1.19, pts=5
I0419 21:05:30.958125 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0166331m maha_sq=0.0118815 (gate chi2=5.99) pose_sigma=(0.150394, 0.150394, rho=0) det_map=(9.61339, -1.33655) lm_pos=(9.615, -1.32) delta=(-0.00161025, -0.0165549) -> 1 candidate(s)
I0419 21:05:30.958223 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295309102504.
I0419 21:05:30.958822 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295309102884.
I0419 21:05:30.960465 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295309373376.
I0419 21:05:30.962121 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:30.962180 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=34.764 rad/s > flush threshold 3.
I0419 21:05:30.965992 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295309654947.
I0419 21:05:30.970546 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295309700729.
I0419 21:05:31.002429 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.988785, -0.619806)
I0419 21:05:31.002803 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295310016205.
I0419 21:05:31.003937 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295310016478.
I0419 21:05:31.026707 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295310256602.
I0419 21:05:31.121837 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:31.121937 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:31.122025 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295310303139.
I0419 21:05:31.123257 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.070555 range=0.650318 variance=0.00060472 t_weight=4960.97 r_weight=0 yaml=(10.515, -2.52) prior=(10.9162, -1.87868, -176.568deg) obs_actual=(0.406657, 0.640525) obs_expected=(0.438847, 0.616155) delta=(-0.0321904, 0.0243706) |delta|=0.0403751m
I0419 21:05:31.123348 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295310549730.
I0419 21:05:31.123898 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:31.123953 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:31.123973 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295310549957.
I0419 21:05:31.125787 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556078s, prior_pose=(10.907, -1.87832), yaw=-176.588 deg
I0419 21:05:31.125866 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:31.126030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295310859217.
I0419 21:05:31.126533 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11948, -0.759842), points=4, range=1.34975, residual=0.0084755, extent=0.0198588
I0419 21:05:31.126572 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.11948, -0.759842), tracking=(-1.41798, 0.759842), map_predicted=(12.3676, -2.55242), range=1.34975, pts=4
I0419 21:05:31.126596 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[14] 'ref_15' eucl_dist=0.061829m maha_sq=0.165904 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(12.3676, -2.55242) lm_pos=(12.315, -2.52) delta=(0.0526482, -0.0324191) -> 1 candidate(s)
I0419 21:05:31.126653 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295310859463.
I0419 21:05:31.128386 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.651 deg, rms_residual=0.0132352m, sigma_yaw=0.0173409 rad, N=2
I0419 21:05:31.128489 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.8905, -1.8752, -177.651deg) inliers=2 rms=0.0132352m
I0419 21:05:31.128548 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295311134549.
I0419 21:05:31.146740 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:31.147029 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295311460518.
I0419 21:05:31.219503 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:31.219683 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:31.219841 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295311734897.
I0419 21:05:31.219926 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:31.220654 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.14058, -0.756495)
I0419 21:05:31.220810 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295311735135.
I0419 21:05:31.222357 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295312024674.
I0419 21:05:31.223869 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=26.7103 rad/s > flush threshold 3.
I0419 21:05:31.234592 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:31.234817 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295312339236.
I0419 21:05:31.243260 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.8529, -1.87634), yaw=-176.732 deg backend=(10.9161, -1.86667)
I0419 21:05:31.262688 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295312614476.
I0419 21:05:31.264333 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295312614685.
I0419 21:05:31.290827 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:31.291154 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0627844 range=0.642609 variance=0.000619516 t_weight=4842.49 r_weight=0 yaml=(10.515, -2.52) prior=(10.8529, -1.87634, -176.732deg) obs_actual=(0.339462, 0.639397) obs_expected=(0.374016, 0.623348) delta=(-0.0345536, 0.0160498) |delta|=0.0380991m
I0419 21:05:31.291353 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295312895447.
I0419 21:05:31.354053 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=20.9632 rad/s > flush threshold 3.
I0419 21:05:31.355568 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.034195, 0.634841), points=22, range=0.637, residual=0.0131577, extent=0.0392623
I0419 21:05:31.355631 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.034195, 0.634841), tracking=(0.332695, 0.634841), map_predicted=(10.5177, -2.53012), range=0.637, pts=22
I0419 21:05:31.355661 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.010477m maha_sq=0.00457302 (gate chi2=5.99) pose_sigma=(0.152954, 0.152954, rho=0) det_map=(10.5177, -2.53012) lm_pos=(10.515, -2.52) delta=(0.00271071, -0.0101202) -> 1 candidate(s)
I0419 21:05:31.355741 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295313211756.
I0419 21:05:31.356310 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:31.356352 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:31.356411 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295313211912.
I0419 21:05:31.358466 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295313495650.
I0419 21:05:31.359094 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295313495888.
I0419 21:05:31.378099 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878662s, prior_pose=(10.812, -1.8786), yaw=-176.65 deg
I0419 21:05:31.378587 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:31.378901 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.879604, -0.614931)
I0419 21:05:31.379118 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295313774526.
I0419 21:05:31.382689 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295313818705.
I0419 21:05:31.410540 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295314099261.
I0419 21:05:31.411267 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295314099467.
I0419 21:05:31.450776 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:31.450920 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:31.450943 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295314376122.
I0419 21:05:31.451565 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295314376295.
I0419 21:05:31.465984 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295314653447.
I0419 21:05:31.467487 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:31.467542 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:31.467567 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=30.0063 rad/s > flush threshold 3.
I0419 21:05:31.498457 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295314978725.
I0419 21:05:31.499285 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:05:31.499361 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[14] 'ref_15' maha_sq=0.0698483 range=1.44667 variance=0.00064623 t_weight=4642.31 r_weight=0 yaml=(12.315, -2.52) prior=(10.7811, -1.87757, -176.735deg) obs_actual=(-1.52825, 0.751125) obs_expected=(-1.49484, 0.728754) delta=(-0.0334104, 0.0223712) |delta|=0.0402085m
I0419 21:05:31.499413 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295314978914.
I0419 21:05:31.526011 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.832846, -0.615311), points=5, range=1.032, residual=0.0114868, extent=0.0283988
I0419 21:05:31.526103 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.832846, -0.615311), tracking=(1.13135, -0.615311), map_predicted=(9.60787, -1.3295), range=1.032, pts=5
I0419 21:05:31.526134 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0118758m maha_sq=0.00606011 (gate chi2=5.99) pose_sigma=(0.150629, 0.150629, rho=0) det_map=(9.60787, -1.3295) lm_pos=(9.615, -1.32) delta=(-0.00713171, -0.00949602) -> 1 candidate(s)
I0419 21:05:31.526248 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295315255007.
I0419 21:05:31.526849 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:31.526909 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295315255141.
I0419 21:05:31.554726 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295315540934.
I0419 21:05:31.593293 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.2542, -0.751912)
I0419 21:05:31.593467 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=18.4875 rad/s > flush threshold 3.
I0419 21:05:31.594810 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:31.594964 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295315814807.
I0419 21:05:31.595752 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295315878376.
I0419 21:05:31.614213 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295316136888.
I0419 21:05:31.614939 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:31.614988 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:31.615048 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295316137048.
I0419 21:05:31.642735 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295316421464.
I0419 21:05:31.669503 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554566s, prior_pose=(10.7249, -1.87732), yaw=-176.651 deg
I0419 21:05:31.669607 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:05:31.669862 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295316691454.
I0419 21:05:31.738279 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.296 deg, rms_residual=0.0114514m, sigma_yaw=0.015039 rad, N=2
I0419 21:05:31.738407 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.7087, -1.87534, -177.296deg) inliers=2 rms=0.0114514m
I0419 21:05:31.738446 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295317048204.
I0419 21:05:31.739053 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295317048315.
I0419 21:05:31.740139 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.763495, -0.613152)
I0419 21:05:31.740202 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0932858, 0.643149), points=20, range=0.651, residual=0.0116157, extent=0.036799
I0419 21:05:31.740226 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0932858, 0.643149), tracking=(0.205214, 0.643149), map_predicted=(10.5526, -2.53226), range=0.651, pts=20
I0419 21:05:31.740247 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.039551m maha_sq=0.0678045 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5526, -2.53226) lm_pos=(10.515, -2.52) delta=(0.0376025, -0.0122611) -> 1 candidate(s)
I0419 21:05:31.740295 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0678045 range=0.651 variance=0.00057052 t_weight=5258.36 r_weight=0 yaml=(10.515, -2.52) prior=(10.7194, -1.8781, -176.608deg) obs_actual=(0.205214, 0.643149) obs_expected=(0.242026, 0.628685) delta=(-0.0368113, 0.0144642) |delta|=0.039551m
I0419 21:05:31.740331 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295317297020.
I0419 21:05:31.741787 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295317340859.
I0419 21:05:31.762625 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295317620501.
I0419 21:05:31.763314 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295317620617.
I0419 21:05:31.790627 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:31.790812 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:31.790866 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295317896636.
I0419 21:05:31.792208 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:31.792356 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:31.792523 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295317896897.
I0419 21:05:31.818636 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295318177735.
I0419 21:05:31.875238 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295318219009.
I0419 21:05:31.876597 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:31.876679 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295318499846.
I0419 21:05:31.877223 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:31.877296 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295318500061.
I0419 21:05:31.879189 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.719039, -0.612497)
I0419 21:05:31.879314 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295318774562.
I0419 21:05:31.879878 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295318774670.
I0419 21:05:31.910293 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:31.910465 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295319097482.
I0419 21:05:31.911902 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:31.911978 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:31.912011 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=109.078 rad/s > flush threshold 3.
I0419 21:05:31.937889 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.705964, -0.606477), points=8, range=0.928625, residual=0.0101495, extent=0.0307778
I0419 21:05:31.937991 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.705964, -0.606477), tracking=(1.00446, -0.606477), map_predicted=(9.59171, -1.33132), range=0.928625, pts=8
I0419 21:05:31.938021 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0259008m maha_sq=0.0287765 (gate chi2=5.99) pose_sigma=(0.150874, 0.150874, rho=0) det_map=(9.59171, -1.33132) lm_pos=(9.615, -1.32) delta=(-0.0232938, -0.0113246) -> 1 candidate(s)
I0419 21:05:31.938104 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0164785 range=0.671048 variance=0.000608023 t_weight=4934.03 r_weight=0 yaml=(10.515, -2.52) prior=(10.6294, -1.87907, -176.705deg) obs_actual=(0.14223, 0.650846) obs_expected=(0.151008, 0.633295) delta=(-0.0087788, 0.0175513) |delta|=0.0196244m
I0419 21:05:31.938167 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295319372779.
I0419 21:05:31.939035 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295319372899.
I0419 21:05:31.980909 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560672s, prior_pose=(10.6591, -1.91337), yaw=-176.926 deg
I0419 21:05:31.981020 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:05:31.981271 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295319658365.
I0419 21:05:31.981920 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295319658526.
I0419 21:05:31.998522 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295319976346.
I0419 21:05:32.000474 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=253.124 rad/s > flush threshold 3.
I0419 21:05:32.026037 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.683274, -0.597384)
I0419 21:05:32.026291 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295320255757.
I0419 21:05:32.027001 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295320255945.
I0419 21:05:32.054347 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295320532819.
I0419 21:05:32.087493 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295320862840.
I0419 21:05:32.159610 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.221104, 0.654402), points=18, range=0.692389, residual=0.012005, extent=0.0365166
I0419 21:05:32.159787 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.221104, 0.654402), tracking=(0.0773961, 0.654402), map_predicted=(10.5423, -2.52929), range=0.692389, pts=18
I0419 21:05:32.159837 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0288784m maha_sq=0.0355192 (gate chi2=5.99) pose_sigma=(0.151321, 0.151321, rho=0) det_map=(10.5423, -2.52929) lm_pos=(10.515, -2.52) delta=(0.0273429, -0.00929134) -> 1 candidate(s)
I0419 21:05:32.160012 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295321138422.
I0419 21:05:32.162212 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.583, -1.87289), yaw=-177.869 deg backend=(10.5749, -1.86936)
I0419 21:05:32.163187 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:32.163246 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:32.163349 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[12] 'ref_13' maha_sq=0.0293556 range=0.696 variance=0.000593797 t_weight=5052.23 r_weight=0 yaml=(10.515, -2.52) prior=(10.583, -1.87289, -177.869deg) obs_actual=(0.0678531, 0.654274) obs_expected=(0.0919809, 0.644132) delta=(-0.0241278, 0.0101417) |delta|=0.0261726m
I0419 21:05:32.163491 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295321422552.
I0419 21:05:32.164129 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.335483, -0.569537)
I0419 21:05:32.164211 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:32.164261 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:32.164285 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295321422836.
I0419 21:05:32.170677 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295321701656.
I0419 21:05:32.172544 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=254.651 rad/s > flush threshold 3.
I0419 21:05:32.172669 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295321701826.
I0419 21:05:32.203318 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:32.203744 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295322020801.
I0419 21:05:32.205279 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:32.205377 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:32.205463 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:05:32.205572 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295322021049.
I0419 21:05:32.280095 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295322296006.
I0419 21:05:32.281054 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:32.281216 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.435 deg, rms_residual=0.0316452m, sigma_yaw=0.033967 rad, N=2
I0419 21:05:32.281311 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.5381, -1.87091, -178.435deg) inliers=2 rms=0.0316452m
I0419 21:05:32.281356 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295322296260.
I0419 21:05:32.282820 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880103s, prior_pose=(10.5699, -1.87415), yaw=-178.377 deg
I0419 21:05:32.282954 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:05:32.283082 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=18, centroid=(-0.276841, 0.654621)
I0419 21:05:32.283231 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295322581929.
I0419 21:05:32.290854 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295322615810.
I0419 21:05:32.292738 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.287024, 0.654814), points=17, range=0.714706, residual=0.0116439, extent=0.0352436
I0419 21:05:32.292853 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.287024, 0.654814), tracking=(0.011476, 0.654814), map_predicted=(10.5512, -2.53037), range=0.714706, pts=17
I0419 21:05:32.292948 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[12] 'ref_13' eucl_dist=0.0376947m maha_sq=0.0615815 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5512, -2.53037) lm_pos=(10.515, -2.52) delta=(0.036241, -0.0103674) -> 1 candidate(s)
I0419 21:05:32.293143 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295322919606.
I0419 21:05:32.294344 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295322919771.
I0419 21:05:32.318746 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.00182783 range=0.835923 variance=0.000623347 t_weight=4812.73 r_weight=5000 yaml=(9.615, -1.32) prior=(10.5352, -1.87596, -178.764deg) obs_actual=(0.901485, -0.575455) obs_expected=(0.908022, -0.575673) delta=(-0.00653684, 0.000218055) |delta|=0.00654047m
I0419 21:05:32.318974 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295323178262.
I0419 21:05:32.320238 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295323178497.
I0419 21:05:32.347477 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295323464252.
I0419 21:05:32.399814 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295323498761.
I0419 21:05:32.401134 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.50166, 0.632246)
I0419 21:05:32.401328 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295323781476.
I0419 21:05:32.402043 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295323781721.
I0419 21:05:32.405992 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295324053965.
I0419 21:05:32.410264 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295324097895.
I0419 21:05:32.439150 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:32.439293 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:32.439481 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295324381482.
I0419 21:05:32.442234 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.275546, -0.646476), points=19, range=0.703789, residual=0.0121882, extent=0.0372632
I0419 21:05:32.442353 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.275546, -0.646476), tracking=(-0.0229535, 0.646476), map_predicted=(10.5147, -2.51802), range=0.703789, pts=19
I0419 21:05:32.442406 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.00199689m maha_sq=0.000169355 (gate chi2=5.99) pose_sigma=(0.151524, 0.151524, rho=0) det_map=(10.5147, -2.51802) lm_pos=(10.515, -2.52) delta=(-0.000294709, 0.00197502) -> 1 candidate(s)
I0419 21:05:32.442454 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.7405 rad/s > flush threshold 3.
I0419 21:05:32.466863 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=28, centroid=(-0.361943, 0.651494)
I0419 21:05:32.467098 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:05:32.467216 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[12] 'ref_13' maha_sq=0.0393829 range=0.747857 variance=0.000896693 t_weight=3345.63 r_weight=4276.66 yaml=(10.515, -2.52) prior=(10.483, -1.87192, -179.228deg) obs_actual=(-0.0528834, 0.656181) obs_expected=(-0.0232216, 0.648454) delta=(-0.0296618, 0.0077269) |delta|=0.0306517m
I0419 21:05:32.467345 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:32.467387 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295324657304.
I0419 21:05:32.471148 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295324702700.
I0419 21:05:32.544869 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:32.545193 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295324935299.
I0419 21:05:32.546113 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:32.546213 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=1
I0419 21:05:32.546325 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295324980398.
I0419 21:05:32.547894 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:05:32.548032 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295325261077.
I0419 21:05:32.549780 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:32.549839 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=104.01 rad/s > flush threshold 3.
I0419 21:05:32.554203 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598405s, prior_pose=(10.4611, -1.87275), yaw=-179.363 deg
I0419 21:05:32.554390 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=252, threshold=230, above_threshold=23, candidates=23
I0419 21:05:32.554565 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.537742, -0.563244)
I0419 21:05:32.554801 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295325533704.
I0419 21:05:32.556545 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295325533940.
I0419 21:05:32.582229 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295325813590.
I0419 21:05:32.588032 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295325871139.
I0419 21:05:32.615033 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295326141096.
I0419 21:05:32.682958 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=26.8454 rad/s > flush threshold 3.
I0419 21:05:32.683853 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:32.684473 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.506302, -0.562235), points=13, range=0.758692, residual=0.0113597, extent=0.0338727
I0419 21:05:32.684567 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.506302, -0.562235), tracking=(0.804802, -0.562235), map_predicted=(9.63581, -1.31967), range=0.758692, pts=13
I0419 21:05:32.684605 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0208123m maha_sq=0.0186774 (gate chi2=5.99) pose_sigma=(0.150409, 0.150409, rho=0) det_map=(9.63581, -1.31967) lm_pos=(9.615, -1.32) delta=(0.0208097, 0.000327864) -> 1 candidate(s)
I0419 21:05:32.687776 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.41438, 0.644562)
I0419 21:05:32.688062 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295326695019.
I0419 21:05:32.688995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295326739408.
I0419 21:05:32.699461 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295326982773.
I0419 21:05:32.710116 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0124726 range=0.6761 variance=0.000589242 t_weight=5091.28 r_weight=0 yaml=(10.515, -2.52) prior=(10.4202, -1.87255, -179.37deg) obs_actual=(-0.104808, 0.646971) obs_expected=(-0.0877289, 0.64845) delta=(-0.0170789, -0.00147928) |delta|=0.0171429m
I0419 21:05:32.710357 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295327081114.
I0419 21:05:32.731104 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:32.731655 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:32.731823 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295327302048.
I0419 21:05:32.732944 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295327302342.
I0419 21:05:32.785362 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295327585139.
I0419 21:05:32.786298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295327585482.
I0419 21:05:32.787642 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:32.787763 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295327857830.
I0419 21:05:32.790939 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:32.791069 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:32.791167 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295327901577.
I0419 21:05:32.818784 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:32.818909 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:32.818936 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295328182317.
I0419 21:05:32.819825 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.159223, -0.642676)
I0419 21:05:32.819890 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:32.819967 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295328182525.
I0419 21:05:32.846179 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556162s, prior_pose=(10.3918, -1.86983), yaw=-179.222 deg
I0419 21:05:32.846303 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=253, threshold=230, above_threshold=18, candidates=18
I0419 21:05:32.846518 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295328457739.
I0419 21:05:32.847303 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295328457986.
I0419 21:05:32.878469 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.35256, 0.642715), points=3, range=1.499, residual=0.00568647, extent=0.0118301
I0419 21:05:32.878574 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.35256, 0.642715), tracking=(1.65106, 0.642715), map_predicted=(8.74958, -2.5349), range=1.499, pts=3
I0419 21:05:32.878604 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.037651m maha_sq=0.0615986 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74958, -2.5349) lm_pos=(8.715, -2.52) delta=(0.0345779, -0.0148986) -> 1 candidate(s)
I0419 21:05:32.878654 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:32.878715 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295328780792.
I0419 21:05:32.930517 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.77703 rad/s > flush threshold 3.
I0419 21:05:32.932340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295329060317.
I0419 21:05:32.933266 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295329060429.
I0419 21:05:32.935417 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295329341678.
I0419 21:05:32.936127 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295329341802.
I0419 21:05:32.963111 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.039268 range=0.694706 variance=0.000633809 t_weight=4733.29 r_weight=0 yaml=(9.615, -1.32) prior=(10.3565, -1.8661, -179.177deg) obs_actual=(0.703769, -0.56109) obs_expected=(0.733586, -0.556689) delta=(-0.0298169, -0.00440138) |delta|=0.03014m
I0419 21:05:32.963238 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295329625080.
I0419 21:05:32.966297 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.69714, -0.688555)
I0419 21:05:32.966425 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295329658352.
I0419 21:05:32.993995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295329933545.
I0419 21:05:32.994871 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295329933660.
I0419 21:05:33.039956 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.3205, -1.86434), yaw=-179.191 deg backend=(10.324, -1.86669)
I0419 21:05:33.041191 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:33.041458 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:33.041697 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295330219216.
I0419 21:05:33.042690 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295330251893.
I0419 21:05:33.054441 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.109 deg, rms_residual=0.0123452m, sigma_yaw=0.0161937 rad, N=2
I0419 21:05:33.054546 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.3057, -1.859, -179.109deg) inliers=2 rms=0.0123452m
I0419 21:05:33.054620 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295330538811.
I0419 21:05:33.056341 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=61.6808 rad/s > flush threshold 3.
I0419 21:05:33.056411 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:33.081720 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.30312, 0.644971), points=4, range=1.4485, residual=0.0126903, extent=0.027998
I0419 21:05:33.081804 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:33.081823 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.30312, 0.644971), tracking=(1.60162, 0.644971), map_predicted=(8.71128, -2.52874), range=1.4485, pts=4
I0419 21:05:33.081847 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.00950206m maha_sq=0.00384159 (gate chi2=5.99) pose_sigma=(0.15121, 0.15121, rho=0) det_map=(8.71128, -2.52874) lm_pos=(8.715, -2.52) delta=(-0.00372111, -0.00874315) -> 1 candidate(s)
I0419 21:05:33.081928 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295330812881.
I0419 21:05:33.082597 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:33.082643 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:33.082702 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295330813009.
I0419 21:05:33.110852 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295331103118.
I0419 21:05:33.111581 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.74739, -0.685382)
I0419 21:05:33.111651 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:33.111701 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295331103253.
I0419 21:05:33.138633 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844052s, prior_pose=(10.2958, -1.86196), yaw=-179.227 deg
I0419 21:05:33.138758 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:33.138916 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:33.138973 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:33.138994 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295331383033.
I0419 21:05:33.176191 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295331410204.
I0419 21:05:33.177767 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.00509378 range=1.42 variance=0.00060502 t_weight=4958.52 r_weight=0 yaml=(8.715, -2.52) prior=(10.278, -1.86283, -179.186deg) obs_actual=(1.57002, 0.645534) obs_expected=(1.57213, 0.634893) delta=(-0.00211235, 0.010641) |delta|=0.0108486m
I0419 21:05:33.177870 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295331717143.
I0419 21:05:33.178542 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295331738895.
I0419 21:05:33.198197 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:33.198330 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295331975961.
I0419 21:05:33.202838 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295332018866.
I0419 21:05:33.230273 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295332296084.
I0419 21:05:33.231837 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.0026 rad/s > flush threshold 3.
I0419 21:05:33.300954 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.308601, -0.562003)
I0419 21:05:33.301333 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 20 -> 19 (threshold=0.03, iters=3)
I0419 21:05:33.301553 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.24586, 0.646248), points=3, range=1.39933, residual=0.00821023, extent=0.015333
I0419 21:05:33.301746 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.24586, 0.646248), tracking=(1.54436, 0.646248), map_predicted=(8.7171, -2.55365), range=1.39933, pts=3
I0419 21:05:33.301939 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0337157m maha_sq=0.0475363 (gate chi2=5.99) pose_sigma=(0.152879, 0.152879, rho=0) det_map=(8.7171, -2.55365) lm_pos=(8.715, -2.52) delta=(0.00210441, -0.03365) -> 1 candidate(s)
I0419 21:05:33.302217 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295332858979.
I0419 21:05:33.303264 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295332892636.
I0419 21:05:33.317966 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:33.318064 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:33.318185 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295333173026.
I0419 21:05:33.319784 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=46.9833 rad/s > flush threshold 3.
I0419 21:05:33.346536 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295333458584.
I0419 21:05:33.347249 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295333458741.
I0419 21:05:33.374630 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:33.374817 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295333741129.
I0419 21:05:33.375494 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:33.375536 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:33.375612 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295333741239.
I0419 21:05:33.406795 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295334057526.
I0419 21:05:33.469862 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:33.469993 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=14.6989 rad/s > flush threshold 3.
I0419 21:05:33.471581 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0590842s, prior_pose=(10.1986, -1.87001), yaw=-179.047 deg
I0419 21:05:33.471729 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:33.471978 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0126459 range=0.6237 variance=0.000619901 t_weight=4839.48 r_weight=0 yaml=(9.615, -1.32) prior=(10.1986, -1.87001, -179.047deg) obs_actual=(0.557744, -0.564359) obs_expected=(0.574372, -0.559642) delta=(-0.0166282, -0.00471672) |delta|=0.0172842m
I0419 21:05:33.472090 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295334331971.
I0419 21:05:33.472941 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.0178429, -0.645712)
I0419 21:05:33.473148 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295334378764.
I0419 21:05:33.475461 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295334657611.
I0419 21:05:33.476239 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295334657838.
I0419 21:05:33.494381 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.243776, -0.564939), points=22, range=0.615727, residual=0.0146055, extent=0.0498745
I0419 21:05:33.494597 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.243776, -0.564939), tracking=(0.542276, -0.564939), map_predicted=(9.63874, -1.3114), range=0.615727, pts=22
I0419 21:05:33.494665 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.025249m maha_sq=0.0275409 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.63874, -1.3114) lm_pos=(9.615, -1.32) delta=(0.023741, 0.0085951) -> 1 candidate(s)
I0419 21:05:33.494894 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295334933568.
I0419 21:05:33.498108 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=74.3683 rad/s > flush threshold 3.
I0419 21:05:33.523247 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:33.523483 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:33.523531 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295335223017.
I0419 21:05:33.525043 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295335223230.
I0419 21:05:33.589104 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295335531858.
I0419 21:05:33.590101 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295335532071.
I0419 21:05:33.591761 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:33.591883 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295335821741.
I0419 21:05:33.593495 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.88253, -0.7101)
I0419 21:05:33.593693 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=105.057 rad/s > flush threshold 3.
I0419 21:05:33.614667 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:33.614758 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:33.614868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295336142327.
I0419 21:05:33.618280 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295336177810.
I0419 21:05:33.639621 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295336385153.
I0419 21:05:33.643267 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0260287 range=0.653 variance=0.000582787 t_weight=5147.68 r_weight=0 yaml=(10.515, -2.52) prior=(10.1424, -1.86213, -178.77deg) obs_actual=(-0.374124, 0.646881) obs_expected=(-0.358437, 0.665716) delta=(-0.0156868, -0.0188345) |delta|=0.0245115m
I0419 21:05:33.643450 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295336421924.
I0419 21:05:33.670272 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:33.670571 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295336694295.
I0419 21:05:33.742919 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:33.743093 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:33.743165 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=72.7619 rad/s > flush threshold 3.
I0419 21:05:33.745018 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.176275, -0.567416), points=24, range=0.596042, residual=0.0149528, extent=0.0525373
I0419 21:05:33.745149 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.176275, -0.567416), tracking=(0.474775, -0.567416), map_predicted=(9.64322, -1.3077), range=0.596042, pts=24
I0419 21:05:33.745191 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0307871m maha_sq=0.0404753 (gate chi2=5.99) pose_sigma=(0.150866, 0.150866, rho=0) det_map=(9.64322, -1.3077) lm_pos=(9.615, -1.32) delta=(0.028223, 0.0123008) -> 1 candidate(s)
I0419 21:05:33.745268 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.532 deg, rms_residual=0.0146494m, sigma_yaw=0.0191583 rad, N=2
I0419 21:05:33.745343 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(10.1129, -1.86335, -178.532deg) inliers=2 rms=0.0146494m
I0419 21:05:33.745399 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295336983266.
I0419 21:05:33.746327 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:33.746440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295337013980.
I0419 21:05:33.748785 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600993s, prior_pose=(10.1191, -1.86398), yaw=-178.614 deg
I0419 21:05:33.748872 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:33.749267 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295337295504.
I0419 21:05:33.750186 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295337295813.
I0419 21:05:33.758661 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295337579722.
I0419 21:05:33.760434 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.108892, -0.650272)
I0419 21:05:33.760514 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=82.6697 rad/s > flush threshold 3.
I0419 21:05:33.787350 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295337861389.
I0419 21:05:33.790792 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295337895921.
I0419 21:05:33.899071 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295338181626.
I0419 21:05:33.899861 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295338181877.
I0419 21:05:33.901240 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295338461110.
I0419 21:05:33.902586 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=21.7498 rad/s > flush threshold 3.
I0419 21:05:33.905471 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(10.0721, -1.86467), yaw=-178.541 deg backend=(10.0927, -1.86908)
I0419 21:05:33.906497 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:33.906590 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06641, 0.628152), points=4, range=1.234, residual=0.00904054, extent=0.0209662
I0419 21:05:33.906631 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:33.906664 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06641, 0.628152), tracking=(1.36491, 0.628152), map_predicted=(8.72362, -2.52739), range=1.234, pts=4
I0419 21:05:33.906701 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0113506m maha_sq=0.00544436 (gate chi2=5.99) pose_sigma=(0.152051, 0.152051, rho=0) det_map=(8.72362, -2.52739) lm_pos=(8.715, -2.52) delta=(0.00861922, -0.00738554) -> 1 candidate(s)
I0419 21:05:33.906777 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:33.906862 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:33.906896 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295339060955.
I0419 21:05:33.908159 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.029375 range=0.671421 variance=0.000581891 t_weight=5155.6 r_weight=0 yaml=(10.515, -2.52) prior=(10.0721, -1.86467, -178.541deg) obs_actual=(-0.448208, 0.652678) obs_expected=(-0.426075, 0.666395) delta=(-0.0221331, -0.0137171) |delta|=0.026039m
I0419 21:05:33.908305 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295339061547.
I0419 21:05:33.934624 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295339335685.
I0419 21:05:34.031102 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=83.6328 rad/s > flush threshold 3.
I0419 21:05:34.032541 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.03365, 0.625173)
I0419 21:05:34.032650 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:34.033354 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:34.033432 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:34.035960 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:34.037014 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0884575s, prior_pose=(10.05, -1.86374), yaw=-178.376 deg
I0419 21:05:34.037096 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:34.058573 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:34.162640 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295340812276.
I0419 21:05:34.162935 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:34.163296 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:05:34.163367 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295340812523.
I0419 21:05:34.164522 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295341094290.
I0419 21:05:34.165808 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (4 entries) on yaw_rate=63.0636 rad/s > flush threshold 3.
I0419 21:05:34.167071 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295341379998.
I0419 21:05:34.167821 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.216545, -0.659785), points=18, range=0.6975, residual=0.014027, extent=0.0457247
I0419 21:05:34.167884 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.216545, -0.659785), tracking=(-0.515045, 0.659785), map_predicted=(10.5477, -2.50565), range=0.6975, pts=18
I0419 21:05:34.167909 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0357521m maha_sq=0.0552527 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5477, -2.50565) lm_pos=(10.515, -2.52) delta=(0.032745, 0.0143519) -> 1 candidate(s)
I0419 21:05:34.167956 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295341414695.
I0419 21:05:34.169756 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(0.0323537, -0.568465)
I0419 21:05:34.169867 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295341694105.
I0419 21:05:34.170449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295341694391.
I0419 21:05:34.198644 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:34.198845 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:34.199043 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295341976116.
I0419 21:05:34.269819 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.3695 rad/s > flush threshold 3.
I0419 21:05:34.274706 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:34.274914 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295342574679.
I0419 21:05:34.275604 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:34.275662 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:34.275730 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295342574856.
I0419 21:05:34.286590 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295342856691.
I0419 21:05:34.288563 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:34.288718 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (4 entries) on yaw_rate=72.0343 rad/s > flush threshold 3.
I0419 21:05:34.314143 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056089s, prior_pose=(9.94544, -1.86809), yaw=-178.218 deg
I0419 21:05:34.314276 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:05:34.395195 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.282421, -0.659787)
I0419 21:05:34.396502 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0162445 range=1.1085 variance=0.000622519 t_weight=4819.13 r_weight=0 yaml=(8.715, -2.52) prior=(9.92655, -1.86853, -178.259deg) obs_actual=(1.21753, 0.628988) obs_expected=(1.23078, 0.61436) delta=(-0.0132509, 0.0146275) |delta|=0.019737m
I0419 21:05:34.396601 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295343732497.
I0419 21:05:34.397926 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.287809, -0.65657), points=16, range=0.720125, residual=0.0134265, extent=0.0413359
I0419 21:05:34.397998 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.287809, -0.65657), tracking=(-0.586309, 0.65657), map_predicted=(10.5134, -2.50811), range=0.720125, pts=16
I0419 21:05:34.398027 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.011998m maha_sq=0.00611817 (gate chi2=5.99) pose_sigma=(0.151362, 0.151362, rho=0) det_map=(10.5134, -2.50811) lm_pos=(10.515, -2.52) delta=(-0.0016379, 0.0118857) -> 1 candidate(s)
I0419 21:05:34.398082 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295343777032.
I0419 21:05:34.402535 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295344020577.
I0419 21:05:34.406021 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295344055889.
I0419 21:05:34.434494 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295344338791.
I0419 21:05:34.435330 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295344338928.
I0419 21:05:34.462589 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:34.462700 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:34.462723 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295344620374.
I0419 21:05:34.499469 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=283.758 rad/s > flush threshold 3.
I0419 21:05:34.500911 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:34.501021 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:34.501129 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295344894170.
I0419 21:05:34.502041 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295344941688.
I0419 21:05:34.522662 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295345221469.
I0419 21:05:34.523355 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:05:34.523413 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295345221605.
I0419 21:05:34.550577 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.858364, 0.635129)
I0419 21:05:34.550698 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:34.550793 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295345500326.
I0419 21:05:34.552170 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:34.552225 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:34.552258 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=66.794 rad/s > flush threshold 3.
I0419 21:05:34.578596 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.848817, 0.638642), points=5, range=1.0594, residual=0.00936612, extent=0.0221783
I0419 21:05:34.578692 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.848817, 0.638642), tracking=(1.14732, 0.638642), map_predicted=(8.72195, -2.53517), range=1.0594, pts=5
I0419 21:05:34.578722 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0166822m maha_sq=0.0118619 (gate chi2=5.99) pose_sigma=(0.151395, 0.151395, rho=0) det_map=(8.72195, -2.53517) lm_pos=(8.715, -2.52) delta=(0.00694561, -0.0151676) -> 1 candidate(s)
I0419 21:05:34.578799 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295345781572.
I0419 21:05:34.581849 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:34.581938 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00594859 range=0.749438 variance=0.000648148 t_weight=4628.57 r_weight=0 yaml=(10.515, -2.52) prior=(9.85485, -1.8713, -178.732deg) obs_actual=(-0.654328, 0.655269) obs_expected=(-0.645634, 0.663149) delta=(-0.00869462, -0.0078805) |delta|=0.0117345m
I0419 21:05:34.581990 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295345814452.
I0419 21:05:34.648829 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599251s, prior_pose=(9.85374, -1.87214), yaw=-178.806 deg
I0419 21:05:34.648978 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:34.649183 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.88 deg, rms_residual=0.0131255m, sigma_yaw=0.0171996 rad, N=2
I0419 21:05:34.649225 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.83732, -1.86811, -178.88deg) inliers=2 rms=0.0131255m
I0419 21:05:34.649279 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295346099777.
I0419 21:05:34.649901 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295346099880.
I0419 21:05:34.651115 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295346375298.
I0419 21:05:34.652619 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295346418903.
I0419 21:05:34.669777 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295346692920.
I0419 21:05:34.670459 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295346693051.
I0419 21:05:34.703261 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295347025844.
I0419 21:05:34.704083 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295347026045.
I0419 21:05:34.726619 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295347259895.
I0419 21:05:34.763700 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=78.5241 rad/s > flush threshold 3.
I0419 21:05:34.765544 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.133367, -0.56265)
I0419 21:05:34.765744 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295347540318.
I0419 21:05:34.766691 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295347581207.
I0419 21:05:34.767967 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.79661, -1.8808), yaw=-179.239 deg backend=(9.85175, -1.87509)
I0419 21:05:34.786899 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:34.787006 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.138252, -0.564815), points=22, range=0.581682, residual=0.0117264, extent=0.0354857
I0419 21:05:34.787035 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:34.787055 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.138252, -0.564815), tracking=(0.160248, -0.564815), map_predicted=(9.62888, -1.31816), range=0.581682, pts=22
I0419 21:05:34.787082 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0140029m maha_sq=0.0084101 (gate chi2=5.99) pose_sigma=(0.150811, 0.150811, rho=0) det_map=(9.62888, -1.31816) lm_pos=(9.615, -1.32) delta=(0.0138816, 0.00183942) -> 1 candidate(s)
I0419 21:05:34.787205 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295347860584.
I0419 21:05:34.788007 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:34.788064 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00478624 range=0.7805 variance=0.000661973 t_weight=4531.9 r_weight=0 yaml=(10.515, -2.52) prior=(9.79661, -1.8808, -179.239deg) obs_actual=(-0.719628, 0.652557) obs_expected=(-0.709838, 0.648682) delta=(-0.00978998, 0.0038749) |delta|=0.0105289m
I0419 21:05:34.788134 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:34.788187 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295347860918.
I0419 21:05:34.814509 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295348136978.
I0419 21:05:34.818001 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295348173390.
I0419 21:05:34.842149 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:34.842360 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295348415875.
I0419 21:05:34.845721 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:34.845805 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:34.845860 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:34.845945 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295348452391.
I0419 21:05:34.883021 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295348737462.
I0419 21:05:34.883800 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:34.883936 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295348737605.
I0419 21:05:34.902076 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842928s, prior_pose=(9.76896, -1.87699), yaw=-179.379 deg
I0419 21:05:34.902187 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1344, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:05:34.902462 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295349016318.
I0419 21:05:34.906031 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295349055083.
I0419 21:05:34.934082 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295349301630.
I0419 21:05:34.937536 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.474882, -0.653471)
I0419 21:05:34.937726 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295349371800.
I0419 21:05:34.962034 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295349614222.
I0419 21:05:34.962740 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.480571, -0.653348), points=13, range=0.813615, residual=0.0121697, extent=0.0372967
I0419 21:05:34.962792 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.480571, -0.653348), tracking=(-0.779071, 0.653348), map_predicted=(10.5241, -2.52393), range=0.813615, pts=13
I0419 21:05:34.962816 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0099238m maha_sq=0.0042652 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.5241, -2.52393) lm_pos=(10.515, -2.52) delta=(0.00911094, -0.00393354) -> 1 candidate(s)
I0419 21:05:34.962885 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295349614331.
I0419 21:05:34.989910 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0330541 range=0.965 variance=0.000581499 t_weight=5159.08 r_weight=0 yaml=(8.715, -2.52) prior=(9.7398, -1.87688, -179.539deg) obs_actual=(1.00928, 0.653172) obs_expected=(1.02995, 0.634847) delta=(-0.0206673, 0.0183248) |delta|=0.0276213m
I0419 21:05:34.990113 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295349892497.
I0419 21:05:35.028431 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295349936763.
I0419 21:05:35.029834 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295350216068.
I0419 21:05:35.030591 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295350216227.
I0419 21:05:35.049971 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295350493370.
I0419 21:05:35.050731 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295350493552.
I0419 21:05:35.079221 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:35.079562 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:35.079990 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295350779721.
I0419 21:05:35.082355 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:35.082494 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:35.082520 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295350814009.
I0419 21:05:35.109831 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295351092570.
I0419 21:05:35.110589 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295351092752.
I0419 21:05:35.149493 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.666355, 0.652849)
I0419 21:05:35.149663 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:35.149799 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295351377770.
I0419 21:05:35.150691 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:35.150771 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:35.150836 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:35.150913 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295351412361.
I0419 21:05:35.166946 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.661316, 0.651717), points=10, range=0.9266, residual=0.0103744, extent=0.0295971
I0419 21:05:35.167094 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.661316, 0.651717), tracking=(0.959816, 0.651717), map_predicted=(8.72618, -2.53371), range=0.9266, pts=10
I0419 21:05:35.167138 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0176921m maha_sq=0.0135772 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72618, -2.53371) lm_pos=(8.715, -2.52) delta=(0.0111845, -0.0137082) -> 1 candidate(s)
I0419 21:05:35.167379 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295351662403.
I0419 21:05:35.169307 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:35.169359 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.5551 rad/s > flush threshold 3.
I0419 21:05:35.197849 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595512s, prior_pose=(9.6653, -1.87555), yaw=-179.621 deg
I0419 21:05:35.197991 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:35.198271 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.957 deg, rms_residual=0.0108373m, sigma_yaw=0.0142439 rad, N=2
I0419 21:05:35.198318 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0112376 range=0.922222 variance=0.000521488 t_weight=5752.77 r_weight=0 yaml=(8.715, -2.52) prior=(9.6653, -1.87555, -179.621deg) obs_actual=(0.950479, 0.65384) obs_expected=(0.954551, 0.638142) delta=(-0.0040716, 0.0156975) |delta|=0.0162169m
I0419 21:05:35.198422 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.65946, -1.87554, 179.957deg) inliers=2 rms=0.0108373m
I0419 21:05:35.198486 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295351973282.
I0419 21:05:35.199517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295351973623.
I0419 21:05:35.226307 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295352256384.
I0419 21:05:35.227173 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295352256548.
I0419 21:05:35.254102 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295352534298.
I0419 21:05:35.326675 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295352580120.
I0419 21:05:35.328141 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.623788, 0.655358)
I0419 21:05:35.328369 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295352870024.
I0419 21:05:35.329144 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295352870257.
I0419 21:05:35.331211 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295353143142.
I0419 21:05:35.331949 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.31972, 0.559271), points=27, range=0.642037, residual=0.0166761, extent=0.0534704
I0419 21:05:35.332034 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.31972, 0.559271), tracking=(0.0212199, -0.559271), map_predicted=(9.60702, -1.31481), range=0.642037, pts=27
I0419 21:05:35.332062 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.00951817m maha_sq=0.00390272 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.60702, -1.31481) lm_pos=(9.615, -1.32) delta=(-0.00797913, 0.00518932) -> 1 candidate(s)
I0419 21:05:35.332132 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295353143375.
I0419 21:05:35.348251 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295353455551.
I0419 21:05:35.352046 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=77.7872 rad/s > flush threshold 3.
I0419 21:05:35.352324 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00623678 range=0.899273 variance=0.000548575 t_weight=5468.72 r_weight=0 yaml=(10.515, -2.52) prior=(9.61042, -1.87246, -179.529deg) obs_actual=(-0.899151, 0.667067) obs_expected=(-0.899222, 0.654952) delta=(7.15292e-05, 0.0121152) |delta|=0.0121154m
I0419 21:05:35.352461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295353455745.
I0419 21:05:35.374992 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:35.375126 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:35.375290 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295353741822.
I0419 21:05:35.376967 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295353741988.
I0419 21:05:35.469278 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:35.469426 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:35.469451 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295354016661.
I0419 21:05:35.470166 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295354016877.
I0419 21:05:35.471383 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(-0.261145, 0.557837)
I0419 21:05:35.471441 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:35.471506 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295354299976.
I0419 21:05:35.471988 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:35.472025 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:35.472088 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295354333317.
I0419 21:05:35.474211 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:35.474311 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295354616570.
I0419 21:05:35.474730 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:35.474807 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295354616679.
I0419 21:05:35.490916 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0567411s, prior_pose=(9.57103, -1.87226), yaw=-179.524 deg
I0419 21:05:35.491046 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=12, candidates=12
I0419 21:05:35.491289 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295354900728.
I0419 21:05:35.494222 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.648977, -0.668108), points=10, range=0.9327, residual=0.00962035, extent=0.0269188
I0419 21:05:35.494319 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.648977, -0.668108), tracking=(-0.947477, 0.668108), map_predicted=(10.524, -2.53246), range=0.9327, pts=10
I0419 21:05:35.494416 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[12] 'ref_13' eucl_dist=0.0153927m maha_sq=0.010284 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(10.524, -2.53246) lm_pos=(10.515, -2.52) delta=(0.00903127, -0.0124649) -> 1 candidate(s)
I0419 21:05:35.494560 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295354933717.
I0419 21:05:35.518692 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295355177729.
I0419 21:05:35.602845 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.00686964 range=0.937545 variance=0.000556352 t_weight=5392.27 r_weight=0 yaml=(10.515, -2.52) prior=(9.549, -1.87137, -179.409deg) obs_actual=(-0.952445, 0.669318) obs_expected=(-0.95925, 0.658571) delta=(0.00680508, 0.0107465) |delta|=0.0127199m
I0419 21:05:35.603006 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295355221926.
I0419 21:05:35.603335 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:35.604444 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295355494623.
I0419 21:05:35.605548 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295355494823.
I0419 21:05:35.607800 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295355775904.
I0419 21:05:35.608609 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.677625, -0.671689)
I0419 21:05:35.608754 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.934 deg, rms_residual=0.00755659m, sigma_yaw=0.00997495 rad, N=2
I0419 21:05:35.608790 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.53399, -1.87155, -178.934deg) inliers=2 rms=0.00755659m
I0419 21:05:35.608820 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295355820436.
I0419 21:05:35.610257 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295356058636.
I0419 21:05:35.611956 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295356093198.
I0419 21:05:35.638515 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295356379295.
I0419 21:05:35.639400 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295356379512.
I0419 21:05:35.707744 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.52212, -1.87229), yaw=-179.429 deg backend=(9.58818, -1.87449)
I0419 21:05:35.708760 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:35.708828 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:35.708923 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295356655190.
I0419 21:05:35.709702 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295356655362.
I0419 21:05:35.710886 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.500457, 0.650166), points=12, range=0.819083, residual=0.0106523, extent=0.031843
I0419 21:05:35.710989 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.500457, 0.650166), tracking=(0.798957, 0.650166), map_predicted=(8.72968, -2.53039), range=0.819083, pts=12
I0419 21:05:35.711023 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0179805m maha_sq=0.0140228 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72968, -2.53039) lm_pos=(8.715, -2.52) delta=(0.0146774, -0.0103861) -> 1 candidate(s)
I0419 21:05:35.711076 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:35.711105 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:35.711123 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295356981283.
I0419 21:05:35.712447 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.96529 rad/s > flush threshold 3.
I0419 21:05:35.712543 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295356981450.
I0419 21:05:35.728123 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:35.728257 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0125036 range=0.814692 variance=0.000587869 t_weight=5103.18 r_weight=0 yaml=(8.715, -2.52) prior=(9.50627, -1.87223, -179.435deg) obs_actual=(0.784299, 0.650488) obs_expected=(0.797615, 0.639935) delta=(-0.0133156, 0.0105534) |delta|=0.0169906m
I0419 21:05:35.728322 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295357275613.
I0419 21:05:35.730297 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:35.730394 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.721767, -0.672988)
I0419 21:05:35.730414 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:35.730516 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295357298226.
I0419 21:05:35.754627 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:05:35.754791 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295357541416.
I0419 21:05:35.755479 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:35.755568 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295357541545.
I0419 21:05:35.786953 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0878255s, prior_pose=(9.49464, -1.87219), yaw=-179.421 deg
I0419 21:05:35.787075 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:05:35.787254 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295357859705.
I0419 21:05:35.859229 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=112.225 rad/s > flush threshold 3.
I0419 21:05:35.859520 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295357859947.
I0419 21:05:35.860894 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295358131571.
I0419 21:05:35.861717 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295358131664.
I0419 21:05:35.863741 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295358458646.
I0419 21:05:35.864492 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295358458826.
I0419 21:05:35.871044 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295358705014.
I0419 21:05:35.874204 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.766648, -0.674264)
I0419 21:05:35.874292 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.126099, 0.549714), points=22, range=0.563909, residual=0.0111392, extent=0.0374077
I0419 21:05:35.874318 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.126099, 0.549714), tracking=(-0.172401, -0.549714), map_predicted=(9.61786, -1.31859), range=0.563909, pts=22
I0419 21:05:35.874339 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.00319073m maha_sq=0.000434402 (gate chi2=5.99) pose_sigma=(0.151259, 0.151259, rho=0) det_map=(9.61786, -1.31859) lm_pos=(9.615, -1.32) delta=(0.00286348, 0.00140756) -> 1 candidate(s)
I0419 21:05:35.874414 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295358737760.
I0419 21:05:35.907768 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295359051194.
I0419 21:05:35.908833 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00952329 range=0.56213 variance=0.000582922 t_weight=5146.49 r_weight=0 yaml=(9.615, -1.32) prior=(9.45265, -1.87051, -179.252deg) obs_actual=(-0.184343, -0.548671) obs_expected=(-0.16952, -0.548344) delta=(-0.0148229, -0.000327195) |delta|=0.0148265m
I0419 21:05:35.909122 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295359051340.
I0419 21:05:35.975817 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295359292562.
I0419 21:05:35.977043 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295359341096.
I0419 21:05:35.978256 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:35.978475 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:35.978664 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295359602660.
I0419 21:05:35.980165 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.0434 rad/s > flush threshold 3.
I0419 21:05:35.980417 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295359602832.
I0419 21:05:35.990447 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:35.990576 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:35.990600 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295359898590.
I0419 21:05:35.991326 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295359898772.
I0419 21:05:36.018158 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:36.018337 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295360176487.
I0419 21:05:36.022457 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:36.022533 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.814807, -0.676181)
I0419 21:05:36.022554 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:36.022661 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295360220429.
I0419 21:05:36.047428 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:36.047583 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295360468802.
I0419 21:05:36.114800 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:36.114889 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=54.4363 rad/s > flush threshold 3.
I0419 21:05:36.114972 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295360469082.
I0419 21:05:36.116227 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600422s, prior_pose=(9.39223, -1.87539), yaw=-179.329 deg
I0419 21:05:36.116307 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:05:36.116389 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.375035, 0.647337), points=14, range=0.750357, residual=0.0112531, extent=0.0360698
I0419 21:05:36.116410 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.375035, 0.647337), tracking=(0.673535, 0.647337), map_predicted=(8.72632, -2.53056), range=0.750357, pts=14
I0419 21:05:36.116430 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.015486m maha_sq=0.0103971 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72632, -2.53056) lm_pos=(8.715, -2.52) delta=(0.0113225, -0.010565) -> 1 candidate(s)
I0419 21:05:36.116501 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295360776909.
I0419 21:05:36.117201 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295360777035.
I0419 21:05:36.119130 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0102495 range=0.745429 variance=0.000557407 t_weight=5382.06 r_weight=0 yaml=(8.715, -2.52) prior=(9.38431, -1.87269, -179.332deg) obs_actual=(0.663685, 0.647593) obs_expected=(0.676807, 0.639463) delta=(-0.0131215, 0.00812915) |delta|=0.0154356m
I0419 21:05:36.119230 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295361059929.
I0419 21:05:36.119915 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295361060070.
I0419 21:05:36.137970 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.455 deg, rms_residual=0.0128361m, sigma_yaw=0.0168268 rad, N=2
I0419 21:05:36.138109 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.38362, -1.8894, 179.455deg) inliers=2 rms=0.0128361m
I0419 21:05:36.138154 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295361374186.
I0419 21:05:36.139588 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=58.63 rad/s > flush threshold 3.
I0419 21:05:36.139719 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295361374337.
I0419 21:05:36.167680 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295361670530.
I0419 21:05:36.168437 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.862674, -0.677341)
I0419 21:05:36.168555 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295361670640.
I0419 21:05:36.239396 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295361934348.
I0419 21:05:36.240262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295361980128.
I0419 21:05:36.241529 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295362258680.
I0419 21:05:36.242879 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=95.1815 rad/s > flush threshold 3.
I0419 21:05:36.242977 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295362258805.
I0419 21:05:36.253849 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:36.254050 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.321599, 0.649734), points=13, range=0.726462, residual=0.00941153, extent=0.0300862
I0419 21:05:36.254086 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:36.254104 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.321599, 0.649734), tracking=(0.620099, 0.649734), map_predicted=(8.72657, -2.52718), range=0.726462, pts=13
I0419 21:05:36.254130 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0136143m maha_sq=0.00804932 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72657, -2.52718) lm_pos=(8.715, -2.52) delta=(0.0115673, -0.00717962) -> 1 candidate(s)
I0419 21:05:36.254242 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295362533651.
I0419 21:05:36.258529 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295362579218.
I0419 21:05:36.282678 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:36.282786 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00711725 range=0.722533 variance=0.000549276 t_weight=5461.74 r_weight=0 yaml=(8.715, -2.52) prior=(9.33006, -1.86894, -179.357deg) obs_actual=(0.610826, 0.649879) obs_expected=(0.622329, 0.644116) delta=(-0.0115033, 0.00576346) |delta|=0.0128663m
I0419 21:05:36.282888 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:36.282917 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295362821832.
I0419 21:05:36.286021 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295362854765.
I0419 21:05:36.310531 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:36.310751 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295363099625.
I0419 21:05:36.399907 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:36.400038 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.904901, -0.677719)
I0419 21:05:36.400061 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:36.400182 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295363133287.
I0419 21:05:36.401446 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:36.401543 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295363422037.
I0419 21:05:36.402311 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:36.402410 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295363456052.
I0419 21:05:36.404014 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566042s, prior_pose=(9.31072, -1.86576), yaw=-179.261 deg
I0419 21:05:36.404100 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:36.404248 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295363699329.
I0419 21:05:36.405123 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295363732918.
I0419 21:05:36.406260 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364016266.
I0419 21:05:36.407544 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.6184 rad/s > flush threshold 3.
I0419 21:05:36.407629 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364016423.
I0419 21:05:36.430392 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.19359, -0.567182), points=3, range=1.31567, residual=0.0111199, extent=0.0223491
I0419 21:05:36.430519 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.19359, -0.567182), tracking=(1.49209, -0.567182), map_predicted=(7.7971, -1.32445), range=1.31567, pts=3
I0419 21:05:36.430553 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0184446m maha_sq=0.0147325 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.7971, -1.32445) lm_pos=(7.815, -1.32) delta=(-0.0178987, -0.00445419) -> 1 candidate(s)
I0419 21:05:36.430675 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364298678.
I0419 21:05:36.431787 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.00889006 range=0.550042 variance=0.000566497 t_weight=5295.71 r_weight=0 yaml=(9.615, -1.32) prior=(9.29675, -1.87134, -179.223deg) obs_actual=(-0.340007, -0.54757) obs_expected=(-0.325699, -0.546972) delta=(-0.0143075, -0.000597663) |delta|=0.01432m
I0419 21:05:36.431901 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364298883.
I0419 21:05:36.541616 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364619529.
I0419 21:05:36.542374 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.943018, -0.680897)
I0419 21:05:36.542529 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364619673.
I0419 21:05:36.543831 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364897879.
I0419 21:05:36.545176 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=22.8242 rad/s > flush threshold 3.
I0419 21:05:36.545305 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295364898080.
I0419 21:05:36.546571 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.706 deg, rms_residual=0.0155286m, sigma_yaw=0.0202848 rad, N=2
I0419 21:05:36.546663 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.27117, -1.88571, 179.706deg) inliers=2 rms=0.0155286m
I0419 21:05:36.546705 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295365180324.
I0419 21:05:36.551461 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295365180499.
I0419 21:05:36.552759 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(9.25673, -1.86813), yaw=-179.13 deg backend=(9.32527, -1.8702)
I0419 21:05:36.553649 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:36.553719 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:36.553826 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295365457330.
I0419 21:05:36.554958 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295365532807.
I0419 21:05:36.578442 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.15255, -0.570443), points=4, range=1.2795, residual=0.0155314, extent=0.0367322
I0419 21:05:36.578558 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.15255, -0.570443), tracking=(1.45105, -0.570443), map_predicted=(7.79718, -1.31979), range=1.2795, pts=4
I0419 21:05:36.578600 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.017818m maha_sq=0.0136804 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.79718, -1.31979) lm_pos=(7.815, -1.32) delta=(-0.0178168, 0.000209334) -> 1 candidate(s)
I0419 21:05:36.578992 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:36.579108 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:36.579146 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295365776223.
I0419 21:05:36.651099 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=72.9471 rad/s > flush threshold 3.
I0419 21:05:36.651237 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0130804 range=0.551217 variance=0.000552665 t_weight=5428.25 r_weight=0 yaml=(9.615, -1.32) prior=(9.25334, -1.87253, -179.058deg) obs_actual=(-0.387774, -0.543115) obs_expected=(-0.370697, -0.546511) delta=(-0.0170777, 0.00339508) |delta|=0.0174119m
I0419 21:05:36.651296 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295365776395.
I0419 21:05:36.652720 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:36.652858 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295366056868.
I0419 21:05:36.653613 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:36.653695 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.989674, -0.686535)
I0419 21:05:36.653716 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:36.653813 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295366101211.
I0419 21:05:36.655776 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:36.655912 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295366333168.
I0419 21:05:36.656652 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:36.656752 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295366377969.
I0419 21:05:36.666199 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880572s, prior_pose=(9.23728, -1.86843), yaw=-179.034 deg
I0419 21:05:36.666354 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:36.666646 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295366656967.
I0419 21:05:36.669194 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.0917 rad/s > flush threshold 3.
I0419 21:05:36.694166 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295366933450.
I0419 21:05:36.698715 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295366976862.
I0419 21:05:36.790484 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295367261849.
I0419 21:05:36.791985 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.134946, 0.541038), points=23, range=0.558217, residual=0.0115726, extent=0.0361512
I0419 21:05:36.792097 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.134946, 0.541038), tracking=(-0.433446, -0.541038), map_predicted=(9.63404, -1.31964), range=0.558217, pts=23
I0419 21:05:36.792152 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[11] 'ref_12' eucl_dist=0.0190448m maha_sq=0.0157242 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.63404, -1.31964) lm_pos=(9.615, -1.32) delta=(0.0190415, 0.00035568) -> 1 candidate(s)
I0419 21:05:36.792287 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295367262120.
I0419 21:05:36.795208 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295367535981.
I0419 21:05:36.798461 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.03726, -0.693072)
I0419 21:05:36.798530 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 24 -> 23 (threshold=0.03, iters=3)
I0419 21:05:36.798563 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=56.7762 rad/s > flush threshold 3.
I0419 21:05:36.799790 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0421488 range=0.668 variance=0.000535084 t_weight=5606.59 r_weight=0 yaml=(8.715, -2.52) prior=(9.19468, -1.87386, -178.931deg) obs_actual=(0.461713, 0.646603) obs_expected=(0.491647, 0.637085) delta=(-0.0299336, 0.00951768) |delta|=0.0314103m
I0419 21:05:36.799962 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295367822078.
I0419 21:05:36.800786 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295367856313.
I0419 21:05:36.814072 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295368136712.
I0419 21:05:36.814790 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295368136844.
I0419 21:05:36.841929 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:36.842046 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:36.842229 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295368414350.
I0419 21:05:36.886049 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.0243 rad/s > flush threshold 3.
I0419 21:05:36.886234 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295368414664.
I0419 21:05:36.888017 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295368694949.
I0419 21:05:36.889281 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.207 deg, rms_residual=0.0167158m, sigma_yaw=0.0218018 rad, N=2
I0419 21:05:36.889473 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.13546, -1.86017, -179.207deg) inliers=2 rms=0.0167158m
I0419 21:05:36.889536 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295368738579.
I0419 21:05:36.902701 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.128252, 0.644751), points=17, range=0.658235, residual=0.0102261, extent=0.0314779
I0419 21:05:36.902953 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:36.902999 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.128252, 0.644751), tracking=(0.426752, 0.644751), map_predicted=(8.73233, -2.52362), range=0.658235, pts=17
I0419 21:05:36.903053 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.017706m maha_sq=0.0134222 (gate chi2=5.99) pose_sigma=(0.151051, 0.151051, rho=0) det_map=(8.73233, -2.52362) lm_pos=(8.715, -2.52) delta=(0.017331, -0.0036244) -> 1 candidate(s)
I0419 21:05:36.903159 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:36.903333 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:36.903371 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369013358.
I0419 21:05:36.906301 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:36.906404 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.08736, -0.697169)
I0419 21:05:36.906435 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:36.906629 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369017396.
I0419 21:05:36.931265 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369301922.
I0419 21:05:36.934514 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:36.934607 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.8364 rad/s > flush threshold 3.
I0419 21:05:36.934696 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0676454 range=1.298 variance=0.00056136 t_weight=5344.16 r_weight=0 yaml=(10.515, -2.52) prior=(9.13354, -1.87625, -178.875deg) obs_actual=(-1.40006, 0.695032) obs_expected=(-1.36856, 0.670747) delta=(-0.0315002, 0.0242854) |delta|=0.039775m
I0419 21:05:36.934818 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369302189.
I0419 21:05:36.958354 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564343s, prior_pose=(9.13354, -1.87625), yaw=-178.875 deg
I0419 21:05:36.958498 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:05:36.958742 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:36.958887 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369577701.
I0419 21:05:36.975091 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369740673.
I0419 21:05:37.082751 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369896716.
I0419 21:05:37.082787 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:37.083509 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295369897079.
I0419 21:05:37.084779 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295370182459.
I0419 21:05:37.086230 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=31.6738 rad/s > flush threshold 3.
I0419 21:05:37.086367 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295370182711.
I0419 21:05:37.087627 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.90116, 0.61772)
I0419 21:05:37.087759 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295370460230.
I0419 21:05:37.088388 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.231316, 0.547096), points=22, range=0.594955, residual=0.0119254, extent=0.0373381
I0419 21:05:37.088459 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.231316, 0.547096), tracking=(-0.529816, -0.547096), map_predicted=(9.61893, -1.31087), range=0.594955, pts=22
I0419 21:05:37.088485 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.00993873m maha_sq=0.00428056 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.61893, -1.31087) lm_pos=(9.615, -1.32) delta=(0.00393185, 0.00912792) -> 1 candidate(s)
I0419 21:05:37.088546 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295370493688.
I0419 21:05:37.090456 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295370780123.
I0419 21:05:37.091130 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295370780260.
I0419 21:05:37.106544 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0376709 range=1.14325 variance=0.000516421 t_weight=5809.21 r_weight=0 yaml=(7.815, -1.32) prior=(9.08961, -1.86695, -178.865deg) obs_actual=(1.29292, -0.570272) obs_expected=(1.26353, -0.572097) delta=(0.0293891, 0.00182473) |delta|=0.0294457m
I0419 21:05:37.106803 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295371055618.
I0419 21:05:37.189460 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295371102024.
I0419 21:05:37.190743 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:37.190865 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:37.190937 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295371376343.
I0419 21:05:37.191538 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295371376623.
I0419 21:05:37.193394 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295371659414.
I0419 21:05:37.194026 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.17201, -0.683475)
I0419 21:05:37.194120 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295371659604.
I0419 21:05:37.195315 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:37.195390 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:37.195451 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:37.195489 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295371942352.
I0419 21:05:37.196718 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:37.196768 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:37.196831 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=302.466 rad/s > flush threshold 3.
I0419 21:05:37.196902 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295371942478.
I0419 21:05:37.222369 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0226641, 0.649287), points=19, range=0.650526, residual=0.0109054, extent=0.035161
I0419 21:05:37.222462 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0226641, 0.649287), tracking=(0.321164, 0.649287), map_predicted=(8.74533, -2.53421), range=0.650526, pts=19
I0419 21:05:37.222493 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0334919m maha_sq=0.0486547 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74533, -2.53421) lm_pos=(8.715, -2.52) delta=(0.0303301, -0.0142055) -> 1 candidate(s)
I0419 21:05:37.222582 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295372219224.
I0419 21:05:37.225785 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:37.225893 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.265 deg, rms_residual=0.0110877m, sigma_yaw=0.0145682 rad, N=2
I0419 21:05:37.225935 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(9.03841, -1.87106, -179.265deg) inliers=2 rms=0.0110877m
I0419 21:05:37.226011 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295372252905.
I0419 21:05:37.290912 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598747s, prior_pose=(9.0449, -1.87849), yaw=-179.506 deg
I0419 21:05:37.291031 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:05:37.291163 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:37.291231 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295372541225.
I0419 21:05:37.291906 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0769591 range=1.37525 variance=0.00056199 t_weight=5338.17 r_weight=0 yaml=(10.515, -2.52) prior=(9.0449, -1.87849, -179.506deg) obs_actual=(-1.50265, 0.672051) obs_expected=(-1.46451, 0.654149) delta=(-0.0381357, 0.0179025) |delta|=0.0421287m
I0419 21:05:37.291985 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295372541374.
I0419 21:05:37.293148 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295372822155.
I0419 21:05:37.294446 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=398.091 rad/s > flush threshold 3.
I0419 21:05:37.294559 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295372822307.
I0419 21:05:37.310161 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.80229, 0.66192)
I0419 21:05:37.310355 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295373095671.
I0419 21:05:37.314580 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295373139890.
I0419 21:05:37.341810 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295373412212.
I0419 21:05:37.342635 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295373412344.
I0419 21:05:37.370952 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0275992, 0.653372), points=17, range=0.655353, residual=0.0105215, extent=0.0330181
I0419 21:05:37.371065 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0275992, 0.653372), tracking=(0.270901, 0.653372), map_predicted=(8.74543, -2.52808), range=0.655353, pts=17
I0419 21:05:37.371117 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0314889m maha_sq=0.0430241 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74543, -2.52808) lm_pos=(8.715, -2.52) delta=(0.0304335, -0.0080844) -> 1 candidate(s)
I0419 21:05:37.371253 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295373702090.
I0419 21:05:37.467162 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=179.549 rad/s > flush threshold 3.
I0419 21:05:37.467324 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295373702267.
I0419 21:05:37.468714 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374059545.
I0419 21:05:37.469331 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.126696 range=1.41875 variance=0.000596002 t_weight=5033.54 r_weight=0 yaml=(10.515, -2.52) prior=(9.00656, -1.87728, 179.815deg) obs_actual=(-1.56101, 0.657215) obs_expected=(-1.51051, 0.637835) delta=(-0.0505033, 0.0193801) |delta|=0.0540941m
I0419 21:05:37.469445 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374059762.
I0419 21:05:37.470511 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.99112, -1.86991), yaw=179.699 deg backend=(9.06843, -1.86819)
I0419 21:05:37.471158 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.77474, 0.681253)
I0419 21:05:37.471196 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:37.471220 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:37.471271 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374297224.
I0419 21:05:37.471846 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374297381.
I0419 21:05:37.473004 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374581874.
I0419 21:05:37.474298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374616288.
I0419 21:05:37.488652 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:37.488808 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:37.488878 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:37.488901 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374879567.
I0419 21:05:37.489624 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:37.489689 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:37.489785 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295374879711.
I0419 21:05:37.526275 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.076664, 0.655681), points=18, range=0.659889, residual=0.0106513, extent=0.0332782
I0419 21:05:37.526444 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.076664, 0.655681), tracking=(0.221836, 0.655681), map_predicted=(8.73552, -2.52155), range=0.659889, pts=18
I0419 21:05:37.526500 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0205756m maha_sq=0.0180986 (gate chi2=5.99) pose_sigma=(0.151136, 0.151136, rho=0) det_map=(8.73552, -2.52155) lm_pos=(8.715, -2.52) delta=(0.0205167, -0.00155466) -> 1 candidate(s)
I0419 21:05:37.526620 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295375176137.
I0419 21:05:37.527263 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:37.527355 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.396 deg, rms_residual=0.0140374m, sigma_yaw=0.0183727 rad, N=2
I0419 21:05:37.527408 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.943, -1.86017, 179.396deg) inliers=2 rms=0.0140374m
I0419 21:05:37.527457 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295375176286.
I0419 21:05:37.550262 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882822s, prior_pose=(8.96377, -1.86808), yaw=179.439 deg
I0419 21:05:37.550397 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:37.550518 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.73284, 0.685484)
I0419 21:05:37.550590 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:37.550683 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295375499110.
I0419 21:05:37.552246 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.1823 rad/s > flush threshold 3.
I0419 21:05:37.552376 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0710226 range=1.45967 variance=0.00050503 t_weight=5940.24 r_weight=0 yaml=(10.515, -2.52) prior=(8.95027, -1.87235, 179.452deg) obs_actual=(-1.60549, 0.654021) obs_expected=(-1.57086, 0.632645) delta=(-0.0346349, 0.0213758) |delta|=0.0407001m
I0419 21:05:37.552443 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295375499333.
I0419 21:05:37.578297 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295375777748.
I0419 21:05:37.579048 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295375777934.
I0419 21:05:37.606848 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376062083.
I0419 21:05:37.607669 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376062296.
I0419 21:05:37.626225 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:37.634670 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376338745.
I0419 21:05:37.738675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376374920.
I0419 21:05:37.740003 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.6996, 0.683794)
I0419 21:05:37.740075 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.113789, 0.656492), points=18, range=0.667556, residual=0.0110091, extent=0.0341766
I0419 21:05:37.740105 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.113789, 0.656492), tracking=(0.184711, 0.656492), map_predicted=(8.73884, -2.53266), range=0.667556, pts=18
I0419 21:05:37.740129 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0269884m maha_sq=0.0315896 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.73884, -2.53266) lm_pos=(8.715, -2.52) delta=(0.0238354, -0.0126589) -> 1 candidate(s)
I0419 21:05:37.740224 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376658015.
I0419 21:05:37.740901 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376658126.
I0419 21:05:37.742902 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376937767.
I0419 21:05:37.743577 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[12] 'ref_13' maha_sq=0.0900978 range=1.495 variance=0.000559093 t_weight=5365.83 r_weight=0 yaml=(10.515, -2.52) prior=(8.91343, -1.87233, 179.49deg) obs_actual=(-1.64719, 0.655378) obs_expected=(-1.60727, 0.633385) delta=(-0.0399237, 0.0219926) |delta|=0.0455804m
I0419 21:05:37.743712 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295376937969.
I0419 21:05:37.744829 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:37.744880 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:37.744956 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295377217522.
I0419 21:05:37.746373 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295377262184.
I0419 21:05:37.755041 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295377540840.
I0419 21:05:37.756548 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295377540971.
I0419 21:05:37.825839 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.66736, 0.682122)
I0419 21:05:37.826021 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:37.826133 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:37.826234 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:37.826263 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295377852023.
I0419 21:05:37.827046 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:37.827100 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:37.827229 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295377852274.
I0419 21:05:37.828859 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.159707, 0.65674), points=18, range=0.678056, residual=0.0120718, extent=0.0368214
I0419 21:05:37.828944 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.159707, 0.65674), tracking=(0.138793, 0.65674), map_predicted=(8.75064, -2.52412), range=0.678056, pts=18
I0419 21:05:37.828976 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0358805m maha_sq=0.055775 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75064, -2.52412) lm_pos=(8.715, -2.52) delta=(0.035643, -0.00412169) -> 1 candidate(s)
I0419 21:05:37.829094 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295378138283.
I0419 21:05:37.830708 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:37.830794 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.606 deg, rms_residual=0.0151672m, sigma_yaw=0.0198221 rad, N=2
I0419 21:05:37.830859 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.84974, -1.85969, 179.606deg) inliers=2 rms=0.0151672m
I0419 21:05:37.830911 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295378138481.
I0419 21:05:37.842592 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566979s, prior_pose=(8.87675, -1.87094), yaw=179.638 deg
I0419 21:05:37.842797 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:37.843068 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:37.843192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295378419002.
I0419 21:05:37.844525 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[11] 'ref_12' maha_sq=0.0287158 range=0.728 variance=0.000627694 t_weight=4779.4 r_weight=0 yaml=(9.615, -1.32) prior=(8.87675, -1.87094, 179.638deg) obs_actual=(-0.760485, -0.557052) obs_expected=(-0.734756, -0.555591) delta=(-0.0257293, -0.00146082) |delta|=0.0257707m
I0419 21:05:37.844655 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295378419193.
I0419 21:05:37.870353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295378693046.
I0419 21:05:37.871853 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295378693251.
I0419 21:05:37.898818 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.62967, 0.677793)
I0419 21:05:37.899250 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295378978584.
I0419 21:05:37.899492 1237626 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.31e-03 s (pulsed at 100.41% real time)
I0419 21:05:37.899734 1237626 collated_trajectory_builder.cc:82] odom rate: 248.42 Hz 4.03e-03 s +/- 7.23e-04 s (pulsed at 100.46% real time)
I0419 21:05:37.899950 1237626 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.38e-03 s (pulsed at 100.27% real time)
I0419 21:05:37.900063 1237626 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.54e-03 s (pulsed at 99.99% real time)
I0419 21:05:38.008962 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295379022414.
I0419 21:05:38.010340 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295379292535.
I0419 21:05:38.011034 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295379292753.
I0419 21:05:38.013029 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295379572492.
I0419 21:05:38.013810 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295379616560.
I0419 21:05:38.014869 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.61339, 0.676541), points=3, range=1.74433, residual=0.0105748, extent=0.021538
I0419 21:05:38.014938 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.61339, 0.676541), tracking=(1.91189, 0.676541), map_predicted=(6.91007, -2.53744), range=1.74433, pts=3
I0419 21:05:38.014966 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0181192m maha_sq=0.0142045 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.91007, -2.53744) lm_pos=(6.915, -2.52) delta=(-0.00493195, -0.0174351) -> 1 candidate(s)
I0419 21:05:38.015043 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295379855788.
I0419 21:05:38.016345 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295379901568.
I0419 21:05:38.017562 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:38.017675 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:38.017735 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[10] 'ref_11' maha_sq=0.0653618 range=0.700235 variance=0.000563069 t_weight=5327.94 r_weight=4515.04 yaml=(8.715, -2.52) prior=(8.82875, -1.86974, 179.729deg) obs_actual=(0.0736232, 0.662392) obs_expected=(0.110675, 0.650789) delta=(-0.0370515, 0.011603) |delta|=0.0388258m
I0419 21:05:38.017779 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295380151468.
I0419 21:05:38.018584 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295380175008.
I0419 21:05:38.067443 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.712827, -0.542013)
I0419 21:05:38.067809 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295380452698.
I0419 21:05:38.068600 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295380452823.
I0419 21:05:38.078480 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:38.078631 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:05:38.078737 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:38.078766 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295380779435.
I0419 21:05:38.080734 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:38.080801 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:38.080849 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.619 rad/s > flush threshold 3.
I0419 21:05:38.080945 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295380779600.
I0419 21:05:38.106292 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295381054312.
I0419 21:05:38.107420 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.373126, -0.659395), points=25, range=0.75964, residual=0.0180537, extent=0.0575521
I0419 21:05:38.107498 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.373126, -0.659395), tracking=(0.0746262, 0.659395), map_predicted=(8.72382, -2.52744), range=0.75964, pts=25
I0419 21:05:38.107533 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0115391m maha_sq=0.00572314 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.72382, -2.52744) lm_pos=(8.715, -2.52) delta=(0.00881614, -0.00744491) -> 1 candidate(s)
I0419 21:05:38.107569 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:38.107663 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295381054536.
I0419 21:05:38.134688 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056129s, prior_pose=(8.78895, -1.86879), yaw=179.657 deg
I0419 21:05:38.134862 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=253, threshold=230, above_threshold=27, candidates=27
I0419 21:05:38.135169 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:05:38.135385 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295381340890.
I0419 21:05:38.138583 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.558196, 0.558086)
I0419 21:05:38.138816 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0613714 range=0.789364 variance=0.000575539 t_weight=5212.51 r_weight=0 yaml=(9.615, -1.32) prior=(8.78895, -1.86879, 179.657deg) obs_actual=(-0.860099, -0.558265) obs_expected=(-0.822741, -0.553728) delta=(-0.0373577, -0.00453624) |delta|=0.0376321m
I0419 21:05:38.138949 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295381376291.
I0419 21:05:38.162860 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295381618512.
I0419 21:05:38.260537 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295381653724.
I0419 21:05:38.261904 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295381943335.
I0419 21:05:38.262581 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295381943514.
I0419 21:05:38.264395 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.564 deg, rms_residual=0.0152524m, sigma_yaw=0.0199312 rad, N=2
I0419 21:05:38.264465 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.75383, -1.86834, 178.564deg) inliers=2 rms=0.0152524m
I0419 21:05:38.264495 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295382217281.
I0419 21:05:38.265169 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295382261412.
I0419 21:05:38.266237 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.297141, 0.6647), points=16, range=0.729312, residual=0.0114923, extent=0.032667
I0419 21:05:38.266286 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.297141, 0.6647), tracking=(0.00135904, 0.6647), map_predicted=(8.75426, -2.53361), range=0.729312, pts=16
I0419 21:05:38.266311 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0415554m maha_sq=0.0748515 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75426, -2.53361) lm_pos=(8.715, -2.52) delta=(0.0392649, -0.0136057) -> 1 candidate(s)
I0419 21:05:38.266377 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295382562124.
I0419 21:05:38.267663 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(-0.316797, -0.659093)
I0419 21:05:38.267752 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295382574998.
I0419 21:05:38.283432 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295382821089.
I0419 21:05:38.285045 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0159766 range=0.7264 variance=0.000557201 t_weight=5384.05 r_weight=0 yaml=(8.715, -2.52) prior=(8.74372, -1.86901, 179.578deg) obs_actual=(0.00581907, 0.657568) obs_expected=(0.0239212, 0.651189) delta=(-0.0181021, 0.00637878) |delta|=0.0191931m
I0419 21:05:38.285300 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295382821291.
I0419 21:05:38.355203 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.73639, -1.86864), yaw=179.606 deg backend=(8.81035, -1.86391)
I0419 21:05:38.356770 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:38.356871 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:38.357065 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383096591.
I0419 21:05:38.358397 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383132348.
I0419 21:05:38.360216 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383419379.
I0419 21:05:38.362094 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.93587 rad/s > flush threshold 3.
I0419 21:05:38.362232 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383419795.
I0419 21:05:38.367645 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=15, centroid=(-0.330665, 0.667977)
I0419 21:05:38.367792 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:38.368247 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:38.368570 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:38.368629 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383667455.
I0419 21:05:38.371336 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:38.371498 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:38.371726 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383701875.
I0419 21:05:38.398360 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.335652, 0.668325), points=14, range=0.749857, residual=0.0115501, extent=0.0287625
I0419 21:05:38.398538 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.335652, 0.668325), tracking=(-0.0371522, 0.668325), map_predicted=(8.73696, -2.53553), range=0.749857, pts=14
I0419 21:05:38.398618 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.026898m maha_sq=0.0309112 (gate chi2=5.99) pose_sigma=(0.151107, 0.151107, rho=0) det_map=(8.73696, -2.53553) lm_pos=(8.715, -2.52) delta=(0.0219634, -0.0155277) -> 1 candidate(s)
I0419 21:05:38.398852 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295383972944.
I0419 21:05:38.402549 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:38.402864 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384013317.
I0419 21:05:38.430023 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0873251s, prior_pose=(8.70409, -1.86698), yaw=179.634 deg
I0419 21:05:38.430158 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=42, candidates=42
I0419 21:05:38.430511 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:38.430649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384293046.
I0419 21:05:38.496455 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=52.6286 rad/s > flush threshold 3.
I0419 21:05:38.496665 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00149538 range=0.709333 variance=0.000550312 t_weight=5451.45 r_weight=0 yaml=(8.715, -2.52) prior=(8.67743, -1.86634, 179.585deg) obs_actual=(-0.0391469, 0.658411) obs_expected=(-0.0422989, 0.653368) delta=(0.003152, 0.00504291) |delta|=0.00594693m
I0419 21:05:38.496755 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384293206.
I0419 21:05:38.498003 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:38.498528 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.36966, 0.663185)
I0419 21:05:38.498669 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384582990.
I0419 21:05:38.499451 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384583207.
I0419 21:05:38.501904 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384856647.
I0419 21:05:38.502807 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295384901314.
I0419 21:05:38.518106 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.974 deg, rms_residual=0.00967619m, sigma_yaw=0.0127373 rad, N=2
I0419 21:05:38.518254 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.6672, -1.86314, 178.974deg) inliers=2 rms=0.00967619m
I0419 21:05:38.518313 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295385173357.
I0419 21:05:38.520835 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.3683 rad/s > flush threshold 3.
I0419 21:05:38.521010 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295385173538.
I0419 21:05:38.546123 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44623, 0.682076), points=3, range=1.595, residual=0.00838905, extent=0.0167927
I0419 21:05:38.546288 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44623, 0.682076), tracking=(1.74473, 0.682076), map_predicted=(6.90547, -2.53618), range=1.595, pts=3
I0419 21:05:38.546353 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0187714m maha_sq=0.015281 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.90547, -2.53618) lm_pos=(6.915, -2.52) delta=(-0.00952501, -0.0161753) -> 1 candidate(s)
I0419 21:05:38.546540 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295385452612.
I0419 21:05:38.550855 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(0.687708, 0.555848)
I0419 21:05:38.551568 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295385497836.
I0419 21:05:38.634473 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0164055 range=1.58633 variance=0.000525673 t_weight=5706.97 r_weight=0 yaml=(6.915, -2.52) prior=(8.6461, -1.86616, 179.64deg) obs_actual=(1.72766, 0.684215) obs_expected=(1.72695, 0.66471) delta=(0.000705964, 0.0195049) |delta|=0.0195177m
I0419 21:05:38.634608 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295385737876.
I0419 21:05:38.635334 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295385771970.
I0419 21:05:38.636526 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:38.636587 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:38.636651 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295386061614.
I0419 21:05:38.637953 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295386061732.
I0419 21:05:38.639187 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295386339907.
I0419 21:05:38.639850 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295386340050.
I0419 21:05:38.662297 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:38.662461 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:38.662530 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:38.662565 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295386616608.
I0419 21:05:38.666631 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:38.666718 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:38.666831 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295386661344.
I0419 21:05:38.690449 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295386898225.
I0419 21:05:38.755532 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.182979, -0.660155)
I0419 21:05:38.755631 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.181413, -0.657825), points=17, range=0.685118, residual=0.0122703, extent=0.0345627
I0419 21:05:38.755661 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.181413, -0.657825), tracking=(-0.117087, 0.657825), map_predicted=(8.71087, -2.52406), range=0.685118, pts=17
I0419 21:05:38.755689 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00579484m maha_sq=0.00142785 (gate chi2=5.99) pose_sigma=(0.151429, 0.151429, rho=0) det_map=(8.71087, -2.52406) lm_pos=(8.715, -2.52) delta=(-0.00413177, -0.00406308) -> 1 candidate(s)
I0419 21:05:38.755712 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:38.755796 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295386942160.
I0419 21:05:38.756795 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603664s, prior_pose=(8.59789, -1.86552), yaw=179.642 deg
I0419 21:05:38.756855 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=250, threshold=230, above_threshold=14, candidates=14
I0419 21:05:38.756947 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:38.756995 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295387220272.
I0419 21:05:38.757664 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295387220391.
I0419 21:05:38.759634 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0152021 range=0.727923 variance=0.000550896 t_weight=5445.67 r_weight=0 yaml=(7.815, -1.32) prior=(8.58797, -1.86592, 179.61deg) obs_actual=(0.794631, -0.535081) obs_expected=(0.776664, -0.540651) delta=(0.0179663, 0.00557077) |delta|=0.0188101m
I0419 21:05:38.759752 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295387505825.
I0419 21:05:38.760438 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295387506046.
I0419 21:05:38.782096 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295387814145.
I0419 21:05:38.783571 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=128.551 rad/s > flush threshold 3.
I0419 21:05:38.783684 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295387814303.
I0419 21:05:38.810281 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295388097282.
I0419 21:05:38.811192 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295388097514.
I0419 21:05:38.875969 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295388381593.
I0419 21:05:38.876734 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(-0.131442, -0.650863)
I0419 21:05:38.876888 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295388381736.
I0419 21:05:38.878127 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.463856, -0.525759), points=14, range=0.699571, residual=0.0108572, extent=0.0349919
I0419 21:05:38.878193 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.463856, -0.525759), tracking=(0.762356, -0.525759), map_predicted=(7.81071, -1.33337), range=0.699571, pts=14
I0419 21:05:38.878224 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0140405m maha_sq=0.00855062 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.81071, -1.33337) lm_pos=(7.815, -1.32) delta=(-0.00429161, -0.0133685) -> 1 candidate(s)
I0419 21:05:38.878288 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.459 deg, rms_residual=0.00720119m, sigma_yaw=0.00951027 rad, N=2
I0419 21:05:38.878317 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.56726, -1.86031, 178.459deg) inliers=2 rms=0.00720119m
I0419 21:05:38.878348 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295388700953.
I0419 21:05:38.879580 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=290.922 rad/s > flush threshold 3.
I0419 21:05:38.879669 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295388701122.
I0419 21:05:38.898275 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:38.898365 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:38.898433 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.048985 range=1.512 variance=0.000518785 t_weight=5782.75 r_weight=0 yaml=(6.915, -2.52) prior=(8.55578, -1.86457, 179.154deg) obs_actual=(1.63469, 0.712954) obs_expected=(1.63093, 0.679586) delta=(0.0037635, 0.0333678) |delta|=0.0335794m
I0419 21:05:38.898509 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295388977201.
I0419 21:05:38.902834 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295389020262.
I0419 21:05:38.926368 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295389258453.
I0419 21:05:38.929948 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295389293236.
I0419 21:05:38.958344 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:38.958468 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:38.958534 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:38.958557 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295389578800.
I0419 21:05:39.026660 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:39.026757 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:39.026808 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=220.11 rad/s > flush threshold 3.
I0419 21:05:39.026886 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295389579017.
I0419 21:05:39.028223 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295389853844.
I0419 21:05:39.028820 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.0819068, -0.651155)
I0419 21:05:39.028875 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:39.028932 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295389854035.
I0419 21:05:39.030761 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596998s, prior_pose=(8.51884, -1.86463), yaw=178.611 deg
I0419 21:05:39.030830 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=249, threshold=230, above_threshold=19, candidates=19
I0419 21:05:39.030915 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28962, 0.727148), points=3, range=1.48267, residual=0.00668014, extent=0.0139745
I0419 21:05:39.030944 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28962, 0.727148), tracking=(1.58812, 0.727148), map_predicted=(6.91355, -2.55306), range=1.48267, pts=3
I0419 21:05:39.030967 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0330889m maha_sq=0.0468615 (gate chi2=5.99) pose_sigma=(0.151127, 0.151127, rho=0) det_map=(6.91355, -2.55306) lm_pos=(6.915, -2.52) delta=(-0.00144982, -0.0330571) -> 1 candidate(s)
I0419 21:05:39.031000 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 7 (intra-scan=2, buffered=5).
I0419 21:05:39.031046 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295390176015.
I0419 21:05:39.031678 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295390176186.
I0419 21:05:39.046705 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295390461899.
I0419 21:05:39.048190 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00738447 range=0.653375 variance=0.000530713 t_weight=5652.77 r_weight=0 yaml=(8.715, -2.52) prior=(8.50502, -1.86052, 178.495deg) obs_actual=(-0.239754, 0.649773) obs_expected=(-0.227234, 0.653735) delta=(-0.0125204, -0.00396283) |delta|=0.0131326m
I0419 21:05:39.048274 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295390469301.
I0419 21:05:39.073799 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295390732791.
I0419 21:05:39.074584 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295390732928.
I0419 21:05:39.130147 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391059826.
I0419 21:05:39.131031 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391060024.
I0419 21:05:39.132418 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391300894.
I0419 21:05:39.134205 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0350311, -0.65065)
I0419 21:05:39.134341 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391334528.
I0419 21:05:39.163105 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391616653.
I0419 21:05:39.166961 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0274088, -0.649113), points=18, range=0.651722, residual=0.0123881, extent=0.0396892
I0419 21:05:39.167107 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0274088, -0.649113), tracking=(-0.271091, 0.649113), map_predicted=(8.73916, -2.50852), range=0.651722, pts=18
I0419 21:05:39.167165 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0267458m maha_sq=0.0309817 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.73916, -2.50852) lm_pos=(8.715, -2.52) delta=(0.024157, 0.0114796) -> 1 candidate(s)
I0419 21:05:39.167338 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391661647.
I0419 21:05:39.171700 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.46905, -1.87046), yaw=178.398 deg backend=(8.54326, -1.85452)
I0419 21:05:39.194507 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:39.194645 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:39.194764 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.124 deg, rms_residual=0.0108742m, sigma_yaw=0.0142917 rad, N=2
I0419 21:05:39.194852 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.46673, -1.85088, 178.124deg) inliers=2 rms=0.0108742m
I0419 21:05:39.194902 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391893672.
I0419 21:05:39.196761 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0770846 range=1.0445 variance=0.000499058 t_weight=6011.33 r_weight=0 yaml=(9.615, -1.32) prior=(8.46905, -1.87046, 178.398deg) obs_actual=(-1.17186, -0.576834) obs_expected=(-1.13011, -0.582284) delta=(-0.0417512, 0.00545068) |delta|=0.0421055m
I0419 21:05:39.196935 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295391937744.
I0419 21:05:39.223801 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295392221725.
I0419 21:05:39.328094 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=26.7875 rad/s > flush threshold 3.
I0419 21:05:39.328266 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295392221982.
I0419 21:05:39.329456 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:39.329535 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:39.329612 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:39.329633 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295392494771.
I0419 21:05:39.330370 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:39.330430 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:39.330525 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295392534920.
I0419 21:05:39.332345 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295392780964.
I0419 21:05:39.333017 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.00755036, -0.64936)
I0419 21:05:39.333105 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:39.333184 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295392815134.
I0419 21:05:39.334266 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0877276s, prior_pose=(8.44322, -1.86614), yaw=178.439 deg
I0419 21:05:39.334326 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:39.334440 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:39.334498 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393099258.
I0419 21:05:39.335764 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0160162, -0.6474), points=18, range=0.649944, residual=0.0113099, extent=0.0338757
I0419 21:05:39.335817 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0160162, -0.6474), tracking=(-0.314516, 0.6474), map_predicted=(8.72588, -2.51422), range=0.649944, pts=18
I0419 21:05:39.335841 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0123164m maha_sq=0.00647348 (gate chi2=5.99) pose_sigma=(0.151227, 0.151227, rho=0) det_map=(8.72588, -2.51422) lm_pos=(8.715, -2.52) delta=(0.0108765, 0.00577881) -> 1 candidate(s)
I0419 21:05:39.335862 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.1012 rad/s > flush threshold 3.
I0419 21:05:39.335920 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393099463.
I0419 21:05:39.338827 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393379672.
I0419 21:05:39.340207 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0927554 range=1.086 variance=0.00051007 t_weight=5881.55 r_weight=0 yaml=(9.615, -1.32) prior=(8.42855, -1.85875, 178.488deg) obs_actual=(-1.21759, -0.576147) obs_expected=(-1.17182, -0.569865) delta=(-0.0457696, -0.00628122) |delta|=0.0461986m
I0419 21:05:39.340391 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393379960.
I0419 21:05:39.409789 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393698882.
I0419 21:05:39.410490 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393699053.
I0419 21:05:39.411695 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393973113.
I0419 21:05:39.412925 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.31618 rad/s > flush threshold 3.
I0419 21:05:39.413012 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295393973311.
I0419 21:05:39.426486 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295394257505.
I0419 21:05:39.430998 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.0511507, -0.649629)
I0419 21:05:39.431280 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295394301636.
I0419 21:05:39.455152 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295394540440.
I0419 21:05:39.458971 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.963179, 0.573021), points=5, range=1.117, residual=0.0105007, extent=0.0257206
I0419 21:05:39.459096 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.963179, 0.573021), tracking=(-1.26168, -0.573021), map_predicted=(9.66579, -1.31115), range=1.117, pts=5
I0419 21:05:39.459148 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0515572m maha_sq=0.115239 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66579, -1.31115) lm_pos=(9.615, -1.32) delta=(0.0507924, 0.0088477) -> 1 candidate(s)
I0419 21:05:39.459342 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295394579820.
I0419 21:05:39.487402 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:39.487555 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:39.487920 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295394862736.
I0419 21:05:39.607079 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=27.4363 rad/s > flush threshold 3.
I0419 21:05:39.608527 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.524 deg, rms_residual=0.0111895m, sigma_yaw=0.0147001 rad, N=2
I0419 21:05:39.608635 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.36759, -1.84076, 178.524deg) inliers=2 rms=0.0111895m
I0419 21:05:39.608711 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295395135246.
I0419 21:05:39.609498 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00963603 range=0.655706 variance=0.000536544 t_weight=5591.34 r_weight=0 yaml=(8.715, -2.52) prior=(8.36639, -1.84886, 178.493deg) obs_actual=(-0.375463, 0.65013) obs_expected=(-0.366133, 0.661746) delta=(-0.0093294, -0.0116165) |delta|=0.014899m
I0419 21:05:39.609637 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295395179836.
I0419 21:05:39.611938 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:39.612063 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295395459195.
I0419 21:05:39.612705 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:05:39.612752 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.954904, -0.313343)
I0419 21:05:39.612771 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 21:05:39.612823 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:39.612892 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:39.612912 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295395459433.
I0419 21:05:39.614338 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295395732538.
I0419 21:05:39.615732 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:39.615773 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=23.1401 rad/s > flush threshold 3.
I0419 21:05:39.615846 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295395732815.
I0419 21:05:39.617318 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563043s, prior_pose=(8.3465, -1.84446), yaw=178.547 deg
I0419 21:05:39.617381 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:39.617528 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396022238.
I0419 21:05:39.618185 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=1, buffered=4).
I0419 21:05:39.618275 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295396022424.
I0419 21:05:39.693713 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396301708.
I0419 21:05:39.694639 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:05:39.694681 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01389, 0.569733), points=4, range=1.15975, residual=0.0079235, extent=0.0180839
I0419 21:05:39.694720 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.01389, 0.569733), tracking=(-1.31239, -0.569733), map_predicted=(9.67579, -1.30591), range=1.15975, pts=4
I0419 21:05:39.694743 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0623962m maha_sq=0.169116 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.67579, -1.30591) lm_pos=(9.615, -1.32) delta=(0.0607855, 0.0140858) -> 1 candidate(s)
I0419 21:05:39.694825 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396335138.
I0419 21:05:39.696089 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396619895.
I0419 21:05:39.697482 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.02052, 0.5676)
I0419 21:05:39.697577 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=6.82676 rad/s > flush threshold 3.
I0419 21:05:39.697647 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396620064.
I0419 21:05:39.699003 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.00321311 range=1.3105 variance=0.000511279 t_weight=5867.64 r_weight=0 yaml=(6.915, -2.52) prior=(8.33027, -1.8395, 178.517deg) obs_actual=(1.39283, 0.724327) obs_expected=(1.39718, 0.716909) delta=(-0.00434965, 0.00741743) |delta|=0.0085987m
I0419 21:05:39.699105 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396942811.
I0419 21:05:39.699717 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295396943046.
I0419 21:05:39.722854 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295397218630.
I0419 21:05:39.723855 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295397218825.
I0419 21:05:39.751433 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295397499052.
I0419 21:05:39.854463 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.0413 rad/s > flush threshold 3.
I0419 21:05:39.854628 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295397499392.
I0419 21:05:39.856070 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:39.856146 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:39.856222 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295397780156.
I0419 21:05:39.857041 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295397780404.
I0419 21:05:39.859300 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.05655, 0.723879)
I0419 21:05:39.859391 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.175484, -0.519332), points=22, range=0.547091, residual=0.0115042, extent=0.0380532
I0419 21:05:39.859418 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.175484, -0.519332), tracking=(0.473984, -0.519332), map_predicted=(7.81743, -1.32441), range=0.547091, pts=22
I0419 21:05:39.859437 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00503895m maha_sq=0.00108229 (gate chi2=5.99) pose_sigma=(0.151313, 0.151313, rho=0) det_map=(7.81743, -1.32441) lm_pos=(7.815, -1.32) delta=(0.00242922, -0.00441474) -> 1 candidate(s)
I0419 21:05:39.859508 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295398099854.
I0419 21:05:39.860267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295398100075.
I0419 21:05:39.861747 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:39.861845 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295398375408.
I0419 21:05:39.863713 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:05:39.863812 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 21:05:39.863897 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:39.863952 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:39.863976 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295398419787.
I0419 21:05:39.866165 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0285131 range=1.2642 variance=0.000620888 t_weight=4831.79 r_weight=0 yaml=(6.915, -2.52) prior=(8.26678, -1.85114, 178.601deg) obs_actual=(1.33719, 0.727261) obs_expected=(1.33504, 0.701675) delta=(0.00214852, 0.0255858) |delta|=0.0256758m
I0419 21:05:39.866263 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295398656906.
I0419 21:05:39.870527 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:39.870639 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295398701069.
I0419 21:05:39.944315 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:39.944324 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560785s, prior_pose=(8.2634, -1.84724), yaw=178.607 deg
I0419 21:05:39.944442 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:39.944660 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295398980572.
I0419 21:05:39.945338 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:39.945396 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295398980764.
I0419 21:05:39.946607 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295399252460.
I0419 21:05:39.947846 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.09652, 0.566753)
I0419 21:05:39.947911 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.2545 rad/s > flush threshold 3.
I0419 21:05:39.954170 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.355 deg, rms_residual=0.0114898m, sigma_yaw=0.0150885 rad, N=2
I0419 21:05:39.954319 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.23674, -1.84012, 178.355deg) inliers=2 rms=0.0114898m
I0419 21:05:39.954393 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295399532318.
I0419 21:05:39.958340 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295399576816.
I0419 21:05:39.987434 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295399861584.
I0419 21:05:39.988406 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.11421, 0.561607), points=5, range=1.2462, residual=0.00651662, extent=0.015658
I0419 21:05:39.988481 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.11421, 0.561607), tracking=(-1.41271, -0.561607), map_predicted=(9.66444, -1.31637), range=1.2462, pts=5
I0419 21:05:39.988512 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0495684m maha_sq=0.106798 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.66444, -1.31637) lm_pos=(9.615, -1.32) delta=(0.0494356, 0.0036262) -> 1 candidate(s)
I0419 21:05:39.988631 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295399861835.
I0419 21:05:40.014391 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295400134237.
I0419 21:05:40.105022 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295400179824.
I0419 21:05:40.106567 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295400462046.
I0419 21:05:40.107211 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.13239 range=1.266 variance=0.00050187 t_weight=5977.65 r_weight=0 yaml=(9.615, -1.32) prior=(8.22247, -1.84051, 178.576deg) obs_actual=(-1.43327, -0.565775) obs_expected=(-1.37916, -0.554942) delta=(-0.0541097, -0.0108335) |delta|=0.0551836m
I0419 21:05:40.107285 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295400462278.
I0419 21:05:40.108325 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(8.20348, -1.84742), yaw=178.551 deg backend=(8.29901, -1.84347)
I0419 21:05:40.108939 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:40.108982 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:40.109041 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295400701018.
I0419 21:05:40.109776 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.13851, 0.565555)
I0419 21:05:40.109867 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295400733884.
I0419 21:05:40.110893 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401011600.
I0419 21:05:40.112308 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401055755.
I0419 21:05:40.130285 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:40.130456 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401297787.
I0419 21:05:40.131276 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:40.131325 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:40.131417 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401297924.
I0419 21:05:40.208494 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0670712, -0.514927), points=25, range=0.51888, residual=0.011802, extent=0.0405088
I0419 21:05:40.208607 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0670712, -0.514927), tracking=(0.365571, -0.514927), map_predicted=(7.81961, -1.32456), range=0.51888, pts=25
I0419 21:05:40.208638 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00648754m maha_sq=0.00179409 (gate chi2=5.99) pose_sigma=(0.151289, 0.151289, rho=0) det_map=(7.81961, -1.32456) lm_pos=(7.815, -1.32) delta=(0.00461406, -0.00456056) -> 1 candidate(s)
I0419 21:05:40.208745 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:40.208791 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:40.208811 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401620535.
I0419 21:05:40.209420 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:40.209501 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401620672.
I0419 21:05:40.210543 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0865113s, prior_pose=(8.17158, -1.84888), yaw=178.5 deg
I0419 21:05:40.210601 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:05:40.210764 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401920868.
I0419 21:05:40.212059 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[11] 'ref_12' maha_sq=0.0441198 range=1.303 variance=0.000499515 t_weight=6005.82 r_weight=0 yaml=(9.615, -1.32) prior=(8.15688, -1.84363, 178.508deg) obs_actual=(-1.47601, -0.563741) obs_expected=(-1.44399, -0.56141) delta=(-0.0320124, -0.00233088) |delta|=0.0320972m
I0419 21:05:40.212126 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295401932626.
I0419 21:05:40.218058 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:40.218298 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295402175097.
I0419 21:05:40.222617 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.18337, 0.566545)
I0419 21:05:40.222761 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295402218963.
I0419 21:05:40.249984 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295402493993.
I0419 21:05:40.250764 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295402494122.
I0419 21:05:40.279009 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295402780486.
I0419 21:05:40.378541 1264424 pose_graph_2d.cc:160] Inserted submap (1, 62).
I0419 21:05:40.379132 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.8264 rad/s > flush threshold 3.
I0419 21:05:40.380471 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:40.381088 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295403094506.
I0419 21:05:40.382917 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0127669, -0.515669), points=25, range=0.51548, residual=0.0113737, extent=0.0390437
I0419 21:05:40.382983 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0127669, -0.515669), tracking=(0.311267, -0.515669), map_predicted=(7.81876, -1.32158), range=0.51548, pts=25
I0419 21:05:40.383010 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.00407966m maha_sq=0.000710822 (gate chi2=5.99) pose_sigma=(0.151174, 0.151174, rho=0) det_map=(7.81876, -1.32158) lm_pos=(7.815, -1.32) delta=(0.00375994, -0.00158318) -> 1 candidate(s)
I0419 21:05:40.383100 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.339 deg, rms_residual=0.0117878m, sigma_yaw=0.0154739 rad, N=2
I0419 21:05:40.383131 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(8.11826, -1.83505, 178.339deg) inliers=2 rms=0.0117878m
I0419 21:05:40.383157 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295403376910.
I0419 21:05:40.383751 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295403377102.
I0419 21:05:40.384835 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:40.384884 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:40.384944 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295403653692.
I0419 21:05:40.386282 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.23148, 0.561206)
I0419 21:05:40.386425 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295403692943.
I0419 21:05:40.394380 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295403936688.
I0419 21:05:40.398655 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00393515 range=0.746867 variance=0.000572184 t_weight=5243.07 r_weight=0 yaml=(8.715, -2.52) prior=(8.10111, -1.84094, 178.61deg) obs_actual=(-0.639515, 0.662046) obs_expected=(-0.630182, 0.663968) delta=(-0.00933271, -0.00192173) |delta|=0.00952852m
I0419 21:05:40.398792 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295403980541.
I0419 21:05:40.473248 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:40.473415 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295404263079.
I0419 21:05:40.474027 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:40.474082 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:40.474164 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295404263195.
I0419 21:05:40.475414 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295404535018.
I0419 21:05:40.476679 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:40.476763 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295404578198.
I0419 21:05:40.486274 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595121s, prior_pose=(8.07478, -1.84008), yaw=178.583 deg
I0419 21:05:40.486387 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:05:40.486593 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:40.486652 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:40.486675 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295404858200.
I0419 21:05:40.487361 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26954, 0.558607), points=3, range=1.38567, residual=0.00456909, extent=0.00859522
I0419 21:05:40.487457 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.26954, 0.558607), tracking=(-1.56804, -0.558607), map_predicted=(9.65615, -1.32043), range=1.38567, pts=3
I0419 21:05:40.487483 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[11] 'ref_12' eucl_dist=0.0411538m maha_sq=0.0736561 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(9.65615, -1.32043) lm_pos=(9.615, -1.32) delta=(0.0411516, -0.00043465) -> 1 candidate(s)
I0419 21:05:40.487555 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295404858494.
I0419 21:05:40.508857 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:40.514313 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295405135541.
I0419 21:05:40.515298 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.27676, 0.559567)
I0419 21:05:40.515442 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295405135939.
I0419 21:05:40.546257 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:40.546415 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295405456553.
I0419 21:05:40.617642 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.8984 rad/s > flush threshold 3.
I0419 21:05:40.619014 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295405740590.
I0419 21:05:40.619714 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0157838 range=0.51672 variance=0.000561375 t_weight=5344.02 r_weight=0 yaml=(7.815, -1.32) prior=(8.05254, -1.84719, 178.514deg) obs_actual=(0.234099, -0.512269) obs_expected=(0.251139, -0.52085) delta=(-0.0170399, 0.00858131) |delta|=0.0190787m
I0419 21:05:40.619801 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295405777918.
I0419 21:05:40.621954 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295406042691.
I0419 21:05:40.622363 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295406042808.
I0419 21:05:40.630609 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295406298492.
I0419 21:05:40.634034 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295406334571.
I0419 21:05:40.662362 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:40.662640 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.779701, 0.731306), points=7, range=1.07414, residual=0.0133496, extent=0.0339861
I0419 21:05:40.662779 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:40.662909 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.779701, 0.731306), tracking=(1.0782, 0.731306), map_predicted=(6.92921, -2.5408), range=1.07414, pts=7
I0419 21:05:40.663048 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0251883m maha_sq=0.0274274 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92921, -2.5408) lm_pos=(6.915, -2.52) delta=(0.0142059, -0.0208001) -> 1 candidate(s)
I0419 21:05:40.663304 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295406619084.
I0419 21:05:40.664110 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.32163, 0.556458)
I0419 21:05:40.664336 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295406619323.
I0419 21:05:40.734606 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295406925382.
I0419 21:05:40.735653 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295406943456.
I0419 21:05:40.736896 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:40.737131 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.2 deg, rms_residual=0.00974478m, sigma_yaw=0.0128264 rad, N=2
I0419 21:05:40.737188 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.99842, -1.83254, 178.2deg) inliers=2 rms=0.00974478m
I0419 21:05:40.737222 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295407225790.
I0419 21:05:40.738524 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:40.738587 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:40.738620 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=38.8347 rad/s > flush threshold 3.
I0419 21:05:40.746562 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295407459485.
I0419 21:05:40.750582 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:40.750707 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.005067 range=0.807 variance=0.000540651 t_weight=5548.86 r_weight=0 yaml=(8.715, -2.52) prior=(7.993, -1.83869, 178.595deg) obs_actual=(-0.748016, 0.668492) obs_expected=(-0.738484, 0.663404) delta=(-0.00953205, 0.00508794) |delta|=0.010805m
I0419 21:05:40.750787 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295407500349.
I0419 21:05:40.778445 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554513s, prior_pose=(7.98632, -1.83611), yaw=178.602 deg
I0419 21:05:40.778558 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:05:40.778810 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295407780490.
I0419 21:05:40.779527 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295407780684.
I0419 21:05:40.808373 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:40.808485 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:40.808506 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295408078336.
I0419 21:05:40.877120 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=39.3992 rad/s > flush threshold 3.
I0419 21:05:40.878620 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(-0.144187, -0.514153)
I0419 21:05:40.878829 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295408351588.
I0419 21:05:40.879719 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475457, -0.670648), points=11, range=0.824364, residual=0.0104658, extent=0.02841
I0419 21:05:40.879788 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475457, -0.670648), tracking=(-0.773957, 0.670648), map_predicted=(8.71716, -2.52466), range=0.824364, pts=11
I0419 21:05:40.879813 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.00513805m maha_sq=0.00114524 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.71716, -2.52466) lm_pos=(8.715, -2.52) delta=(0.00216307, -0.00466054) -> 1 candidate(s)
I0419 21:05:40.879979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295408351785.
I0419 21:05:40.882440 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295408682962.
I0419 21:05:40.883131 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=1, buffered=5).
I0419 21:05:40.883224 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295408683214.
I0419 21:05:40.893862 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295408932174.
I0419 21:05:40.898111 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295408976088.
I0419 21:05:40.922699 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295409221561.
I0419 21:05:40.925999 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295409254516.
I0419 21:05:40.999737 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.93496, -1.83049), yaw=178.504 deg backend=(8.03248, -1.83098)
I0419 21:05:41.001262 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:41.001328 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:41.001449 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295409536954.
I0419 21:05:41.002331 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.00640561 range=0.847455 variance=0.000554703 t_weight=5408.3 r_weight=0 yaml=(8.715, -2.52) prior=(7.93496, -1.83049, 178.504deg) obs_actual=(-0.809063, 0.673422) obs_expected=(-0.797781, 0.668907) delta=(-0.0112824, 0.0045153) |delta|=0.0121523m
I0419 21:05:41.002444 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295409537065.
I0419 21:05:41.003893 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295409814744.
I0419 21:05:41.005522 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=11, centroid=(0.523281, -0.673706)
I0419 21:05:41.005645 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295409858654.
I0419 21:05:41.014024 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:41.014384 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295410134467.
I0419 21:05:41.015255 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:41.015369 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:41.015451 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295410134600.
I0419 21:05:41.042593 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.672328, 0.733655), points=8, range=0.99325, residual=0.0111221, extent=0.0332987
I0419 21:05:41.042724 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.672328, 0.733655), tracking=(0.970828, 0.733655), map_predicted=(6.91868, -2.53764), range=0.99325, pts=8
I0419 21:05:41.042802 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0180234m maha_sq=0.0139537 (gate chi2=5.99) pose_sigma=(0.150688, 0.150688, rho=0) det_map=(6.91868, -2.53764) lm_pos=(6.915, -2.52) delta=(0.00367792, -0.0176442) -> 1 candidate(s)
I0419 21:05:41.043010 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295410419353.
I0419 21:05:41.045831 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:41.045993 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295410453120.
I0419 21:05:41.070464 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.083932s, prior_pose=(7.90825, -1.82947), yaw=178.51 deg
I0419 21:05:41.070670 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:05:41.071216 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295410697974.
I0419 21:05:41.171452 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295410731671.
I0419 21:05:41.172781 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295411015546.
I0419 21:05:41.173424 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:41.173507 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:41.173534 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295411015779.
I0419 21:05:41.175395 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295411294165.
I0419 21:05:41.176118 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.569218, -0.676308)
I0419 21:05:41.176214 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295411338552.
I0419 21:05:41.177270 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0289132 range=0.9653 variance=0.000578128 t_weight=5189.17 r_weight=0 yaml=(6.915, -2.52) prior=(7.8792, -1.82731, 178.549deg) obs_actual=(0.924751, 0.731037) obs_expected=(0.946355, 0.716877) delta=(-0.0216046, 0.01416) |delta|=0.0258314m
I0419 21:05:41.177353 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295411572836.
I0419 21:05:41.178681 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:41.178750 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295411617808.
I0419 21:05:41.193796 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295411925141.
I0419 21:05:41.195420 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295411925404.
I0419 21:05:41.288618 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295412180826.
I0419 21:05:41.289362 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295412181060.
I0419 21:05:41.290798 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:41.290892 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.288442, -0.509626), points=34, range=0.583088, residual=0.0192266, extent=0.0550192
I0419 21:05:41.290916 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:41.290931 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.288442, -0.509626), tracking=(0.010058, -0.509626), map_predicted=(7.8587, -1.31575), range=0.583088, pts=34
I0419 21:05:41.290951 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[9] 'ref_10' eucl_dist=0.0439052m maha_sq=0.0827212 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.8587, -1.31575) lm_pos=(7.815, -1.32) delta=(0.0436993, 0.00424643) -> 1 candidate(s)
I0419 21:05:41.291044 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295412498463.
I0419 21:05:41.292343 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.412 rad/s > flush threshold 3.
I0419 21:05:41.293730 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295412773664.
I0419 21:05:41.294350 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295412773835.
I0419 21:05:41.306067 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.583511, 0.731301)
I0419 21:05:41.306160 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:41.306211 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.039 deg, rms_residual=0.00876046m, sigma_yaw=0.0115458 rad, N=2
I0419 21:05:41.306265 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.81266, -1.82632, 178.039deg) inliers=2 rms=0.00876046m
I0419 21:05:41.306299 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295413055511.
I0419 21:05:41.310627 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:41.310702 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:41.310804 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295413102102.
I0419 21:05:41.339540 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295413384215.
I0419 21:05:41.435679 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:41.435767 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=39.1617 rad/s > flush threshold 3.
I0419 21:05:41.436563 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:41.437037 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599648s, prior_pose=(7.80191, -1.82274), yaw=178.56 deg
I0419 21:05:41.437132 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:41.437323 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295413655159.
I0419 21:05:41.437942 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0197142 range=0.941375 variance=0.000544159 t_weight=5513.1 r_weight=0 yaml=(8.715, -2.52) prior=(7.80191, -1.82274, 178.56deg) obs_actual=(-0.949312, 0.683782) obs_expected=(-0.930328, 0.674091) delta=(-0.0189838, 0.00969077) |delta|=0.0213142m
I0419 21:05:41.438019 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295413655384.
I0419 21:05:41.439935 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295413940400.
I0419 21:05:41.440680 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295413974947.
I0419 21:05:41.441807 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295414220370.
I0419 21:05:41.443172 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.54278, 0.548843)
I0419 21:05:41.443249 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.288469, 0.509753), points=24, range=0.582875, residual=0.0147746, extent=0.0419017
I0419 21:05:41.443274 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.288469, 0.509753), tracking=(-0.0100307, -0.509753), map_predicted=(7.80348, -1.31396), range=0.582875, pts=24
I0419 21:05:41.443297 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0130023m maha_sq=0.00720038 (gate chi2=5.99) pose_sigma=(0.151088, 0.151088, rho=0) det_map=(7.80348, -1.31396) lm_pos=(7.815, -1.32) delta=(-0.0115167, 0.00603524) -> 1 candidate(s)
I0419 21:05:41.443346 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:41.443374 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:41.443390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295414254004.
I0419 21:05:41.454349 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295414534810.
I0419 21:05:41.456184 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295414535492.
I0419 21:05:41.554383 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295414819744.
I0419 21:05:41.555212 1258777 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 30 -> 29 (threshold=0.03, iters=3)
I0419 21:05:41.555325 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:41.555393 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295414819951.
I0419 21:05:41.556537 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295415099039.
I0419 21:05:41.558104 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295415133082.
I0419 21:05:41.559303 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:41.559391 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:41.559506 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295415423455.
I0419 21:05:41.560163 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295415423571.
I0419 21:05:41.570618 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.500579, 0.728175)
I0419 21:05:41.570855 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0169737 range=0.883692 variance=0.00065602 t_weight=4573.03 r_weight=0 yaml=(6.915, -2.52) prior=(7.74727, -1.81808, 178.562deg) obs_actual=(0.794841, 0.726622) obs_expected=(0.814391, 0.72259) delta=(-0.0195497, 0.00403164) |delta|=0.019961m
I0419 21:05:41.570947 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295415701369.
I0419 21:05:41.571774 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295415701475.
I0419 21:05:41.598119 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:41.598273 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295415976765.
I0419 21:05:41.663573 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:41.663697 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:41.663810 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295416021246.
I0419 21:05:41.664916 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.475911, 0.728139), points=13, range=0.872692, residual=0.0126463, extent=0.0422021
I0419 21:05:41.665001 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.475911, 0.728139), tracking=(0.774411, 0.728139), map_predicted=(6.93914, -2.52413), range=0.872692, pts=13
I0419 21:05:41.665030 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0244862m maha_sq=0.0259512 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93914, -2.52413) lm_pos=(6.915, -2.52) delta=(0.0241359, -0.00412738) -> 1 candidate(s)
I0419 21:05:41.665128 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295416331714.
I0419 21:05:41.665812 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:41.665902 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295416331881.
I0419 21:05:41.667745 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568907s, prior_pose=(7.71861, -1.81574), yaw=178.517 deg
I0419 21:05:41.667819 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:05:41.667944 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295416590153.
I0419 21:05:41.668680 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295416622158.
I0419 21:05:41.690199 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295416880095.
I0419 21:05:41.692670 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.56796 rad/s > flush threshold 3.
I0419 21:05:41.692930 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295416880226.
I0419 21:05:41.718505 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.4024, -0.448911)
I0419 21:05:41.718694 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295417180656.
I0419 21:05:41.719746 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:41.719818 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:41.719841 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295417193348.
I0419 21:05:41.790455 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0117817 range=0.854286 variance=0.000628175 t_weight=4775.74 r_weight=0 yaml=(6.915, -2.52) prior=(7.69113, -1.81361, 178.454deg) obs_actual=(0.74021, 0.727825) obs_expected=(0.756783, 0.727077) delta=(-0.016573, 0.00074784) |delta|=0.0165899m
I0419 21:05:41.790624 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295417478697.
I0419 21:05:41.791373 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295417478891.
I0419 21:05:41.792656 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295417777365.
I0419 21:05:41.794067 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=33.182 rad/s > flush threshold 3.
I0419 21:05:41.794149 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:41.794201 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295417777526.
I0419 21:05:41.805866 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38266, -0.451475), points=3, range=1.45033, residual=0.00851741, extent=0.0172079
I0419 21:05:41.805971 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.38266, -0.451475), tracking=(1.68116, -0.451475), map_predicted=(6.00457, -1.31801), range=1.45033, pts=3
I0419 21:05:41.806007 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.010622m maha_sq=0.00489489 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00457, -1.31801) lm_pos=(6.015, -1.32) delta=(-0.0104342, 0.00198866) -> 1 candidate(s)
I0419 21:05:41.806061 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.643 deg, rms_residual=0.00972321m, sigma_yaw=0.0127984 rad, N=2
I0419 21:05:41.806090 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.67033, -1.83246, 177.643deg) inliers=2 rms=0.00972321m
I0419 21:05:41.806121 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418054400.
I0419 21:05:41.810658 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418100134.
I0419 21:05:41.813979 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.66187, -1.81437), yaw=178.493 deg backend=(7.77912, -1.81995)
I0419 21:05:41.834264 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:41.834367 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:41.834517 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418338451.
I0419 21:05:41.839427 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418388009.
I0419 21:05:41.866293 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.36222, -0.453568)
I0419 21:05:41.866501 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418658590.
I0419 21:05:41.935496 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=127.211 rad/s > flush threshold 3.
I0419 21:05:41.935690 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418658767.
I0419 21:05:41.937057 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:41.937208 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418937397.
I0419 21:05:41.937947 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:41.938015 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:41.938077 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.213512 range=1.06867 variance=0.000514883 t_weight=5826.57 r_weight=0 yaml=(8.715, -2.52) prior=(7.64312, -1.86427, 178.364deg) obs_actual=(-1.11601, 0.690019) obs_expected=(-1.09016, 0.62486) delta=(-0.0258493, 0.0651596) |delta|=0.0700996m
I0419 21:05:41.938135 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295418982271.
I0419 21:05:41.939996 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295419215610.
I0419 21:05:41.940829 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:41.940919 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295419259034.
I0419 21:05:41.955919 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.089684s, prior_pose=(7.63106, -1.84791), yaw=178.381 deg
I0419 21:05:41.956015 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:05:41.956115 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.378624, 0.724676), points=14, range=0.820143, residual=0.0125092, extent=0.0400187
I0419 21:05:41.956141 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.378624, 0.724676), tracking=(0.677124, 0.724676), map_predicted=(6.93373, -2.55317), range=0.820143, pts=14
I0419 21:05:41.956166 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0380902m maha_sq=0.0628127 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93373, -2.55317) lm_pos=(6.915, -2.52) delta=(0.0187315, -0.0331662) -> 1 candidate(s)
I0419 21:05:41.956284 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295419555607.
I0419 21:05:41.957810 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=71.115 rad/s > flush threshold 3.
I0419 21:05:41.957933 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295419555733.
I0419 21:05:41.981796 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295419813007.
I0419 21:05:41.982754 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295419813140.
I0419 21:05:42.046037 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.31175, -0.451657)
I0419 21:05:42.046262 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295420100899.
I0419 21:05:42.046981 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:42.047071 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:42.047097 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295420101116.
I0419 21:05:42.048408 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295420420869.
I0419 21:05:42.049701 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.4156 rad/s > flush threshold 3.
I0419 21:05:42.049787 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295420421023.
I0419 21:05:42.070055 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295420695316.
I0419 21:05:42.074647 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:05:42.074752 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0408868 range=1.10767 variance=0.000500647 t_weight=5992.25 r_weight=0 yaml=(8.715, -2.52) prior=(7.58963, -1.82014, 178.491deg) obs_actual=(-1.16409, 0.692627) obs_expected=(-1.14341, 0.669984) delta=(-0.0206809, 0.0226435) |delta|=0.0306663m
I0419 21:05:42.074841 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295420741771.
I0419 21:05:42.098279 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295420976760.
I0419 21:05:42.102748 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295421020778.
I0419 21:05:42.133615 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:42.133781 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.27521, -0.453657), points=3, range=1.35767, residual=0.00930307, extent=0.0196551
I0419 21:05:42.133836 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:42.133879 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.27521, -0.453657), tracking=(1.57371, -0.453657), map_predicted=(6.01764, -1.32103), range=1.35767, pts=3
I0419 21:05:42.133929 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0028331m maha_sq=0.000348104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.01764, -1.32103) lm_pos=(6.015, -1.32) delta=(0.00263769, -0.00103395) -> 1 candidate(s)
I0419 21:05:42.134086 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295421332449.
I0419 21:05:42.199937 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=75.9674 rad/s > flush threshold 3.
I0419 21:05:42.200089 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295421332582.
I0419 21:05:42.201217 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.27188, -0.454549)
I0419 21:05:42.201329 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.015 deg, rms_residual=0.00864673m, sigma_yaw=0.0113976 rad, N=2
I0419 21:05:42.201431 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.55937, -1.82224, 178.015deg) inliers=2 rms=0.00864673m
I0419 21:05:42.201462 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295421580423.
I0419 21:05:42.202200 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295421580623.
I0419 21:05:42.204234 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:42.204363 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295421859785.
I0419 21:05:42.204993 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:42.205044 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:42.205168 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295421893078.
I0419 21:05:42.218746 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295422180952.
I0419 21:05:42.220249 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:42.220325 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=21.6068 rad/s > flush threshold 3.
I0419 21:05:42.220417 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295422181091.
I0419 21:05:42.246122 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597781s, prior_pose=(7.54152, -1.81148), yaw=178.582 deg
I0419 21:05:42.246229 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:42.246389 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00501642 range=1.32633 variance=0.000525607 t_weight=5707.68 r_weight=0 yaml=(6.015, -1.32) prior=(7.54152, -1.81148, 178.582deg) obs_actual=(1.54895, -0.453068) obs_expected=(1.53821, -0.453564) delta=(0.0107359, 0.000496092) |delta|=0.0107474m
I0419 21:05:42.246481 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295422457566.
I0419 21:05:42.247257 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295422457686.
I0419 21:05:42.333470 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295422774709.
I0419 21:05:42.334333 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.930578, -0.697001), points=4, range=1.162, residual=0.00485722, extent=0.01179
I0419 21:05:42.334434 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.930578, -0.697001), tracking=(-1.22908, 0.697001), map_predicted=(8.75239, -2.53801), range=1.162, pts=4
I0419 21:05:42.334465 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0415012m maha_sq=0.0749423 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.75239, -2.53801) lm_pos=(8.715, -2.52) delta=(0.0373894, -0.0180107) -> 1 candidate(s)
I0419 21:05:42.334573 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295422774868.
I0419 21:05:42.336059 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.22774, -0.45496)
I0419 21:05:42.336267 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423059128.
I0419 21:05:42.338080 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.64214 rad/s > flush threshold 3.
I0419 21:05:42.338179 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:42.338243 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:42.338266 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423060651.
I0419 21:05:42.339824 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423357916.
I0419 21:05:42.340776 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423381141.
I0419 21:05:42.366377 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423658183.
I0419 21:05:42.367156 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:42.367252 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423658384.
I0419 21:05:42.394562 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0494006 range=0.769313 variance=0.000628277 t_weight=4774.97 r_weight=0 yaml=(6.915, -2.52) prior=(7.50938, -1.81207, 178.63deg) obs_actual=(0.543681, 0.725653) obs_expected=(0.577278, 0.72194) delta=(-0.0335971, 0.00371275) |delta|=0.0338017m
I0419 21:05:42.394765 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295423938640.
I0419 21:05:42.485895 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295423972380.
I0419 21:05:42.487249 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:42.487371 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:42.487502 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295424218207.
I0419 21:05:42.488415 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295424252455.
I0419 21:05:42.490355 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.18525, -0.458931)
I0419 21:05:42.490440 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18778, -0.457932), points=3, range=1.271, residual=0.00495135, extent=0.00951792
I0419 21:05:42.490468 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.18778, -0.457932), tracking=(1.48628, -0.457932), map_predicted=(6.00346, -1.31993), range=1.271, pts=3
I0419 21:05:42.490491 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0115358m maha_sq=0.00574243 (gate chi2=5.99) pose_sigma=(0.150612, 0.150612, rho=0) det_map=(6.00346, -1.31993) lm_pos=(6.015, -1.32) delta=(-0.0115356, 6.98605e-05) -> 1 candidate(s)
I0419 21:05:42.490595 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295424541653.
I0419 21:05:42.491328 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295424541785.
I0419 21:05:42.492455 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:42.492555 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295424812406.
I0419 21:05:42.493968 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:42.494040 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:42.494078 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=50.3181 rad/s > flush threshold 3.
I0419 21:05:42.510433 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295425096401.
I0419 21:05:42.513761 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:42.514140 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295425132901.
I0419 21:05:42.604846 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604774s, prior_pose=(7.45066, -1.81032), yaw=178.706 deg
I0419 21:05:42.604966 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:42.605162 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295425417287.
I0419 21:05:42.605880 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295425417457.
I0419 21:05:42.607077 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295425692973.
I0419 21:05:42.608384 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=62.2507 rad/s > flush threshold 3.
I0419 21:05:42.609645 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.13531, -0.456748)
I0419 21:05:42.609727 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=177.826 deg, rms_residual=0.0104451m, sigma_yaw=0.0137355 rad, N=2
I0419 21:05:42.609773 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.4297, -1.82297, 177.826deg) inliers=2 rms=0.0104451m
I0419 21:05:42.609805 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295425976746.
I0419 21:05:42.610415 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0580586 range=1.24325 variance=0.000546569 t_weight=5488.79 r_weight=0 yaml=(8.715, -2.52) prior=(7.43494, -1.80712, 178.756deg) obs_actual=(-1.3278, 0.701569) obs_expected=(-1.29523, 0.684933) delta=(-0.0325777, 0.0166356) |delta|=0.0365794m
I0419 21:05:42.610489 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295426017233.
I0419 21:05:42.630271 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295426295860.
I0419 21:05:42.631176 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0384, -0.704803), points=4, range=1.252, residual=0.00814714, extent=0.0202057
I0419 21:05:42.631407 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0384, -0.704803), tracking=(-1.3369, 0.704803), map_predicted=(8.7434, -2.53762), range=1.252, pts=4
I0419 21:05:42.631440 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0334207m maha_sq=0.0484984 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.7434, -2.53762) lm_pos=(8.715, -2.52) delta=(0.0283958, -0.0176245) -> 1 candidate(s)
I0419 21:05:42.631491 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:42.631568 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:42.631589 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295426296054.
I0419 21:05:42.658512 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295426577427.
I0419 21:05:42.740082 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=82.4415 rad/s > flush threshold 3.
I0419 21:05:42.740252 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295426577611.
I0419 21:05:42.741693 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295426854139.
I0419 21:05:42.742449 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:42.742551 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295426898030.
I0419 21:05:42.743680 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(7.39181, -1.80198), yaw=178.7 deg backend=(7.44357, -1.80533)
I0419 21:05:42.744436 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:42.744488 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:42.744562 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295427146608.
I0419 21:05:42.745339 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295427180107.
I0419 21:05:42.746636 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.09309, -0.462079)
I0419 21:05:42.747340 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295427462854.
I0419 21:05:42.748799 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=47.2329 rad/s > flush threshold 3.
I0419 21:05:42.774596 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:42.774951 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295427738478.
I0419 21:05:42.777653 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:42.777721 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:42.777791 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.0576554 range=1.2905 variance=0.00050936 t_weight=5889.74 r_weight=0 yaml=(8.715, -2.52) prior=(7.37873, -1.80943, 178.756deg) obs_actual=(-1.37572, 0.708491) obs_expected=(-1.35138, 0.681402) delta=(-0.0243472, 0.0270893) |delta|=0.0364227m
I0419 21:05:42.777871 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295427771578.
I0419 21:05:42.859697 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:42.859756 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.127677, 0.717826), points=17, range=0.730412, residual=0.0112264, extent=0.0343828
I0419 21:05:42.860073 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.127677, 0.717826), tracking=(0.426177, 0.717826), map_predicted=(6.93195, -2.51357), range=0.730412, pts=17
I0419 21:05:42.860152 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0181323m maha_sq=0.0141394 (gate chi2=5.99) pose_sigma=(0.150626, 0.150626, rho=0) det_map=(6.93195, -2.51357) lm_pos=(6.915, -2.52) delta=(0.0169543, 0.00642884) -> 1 candidate(s)
I0419 21:05:42.860234 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428060130.
I0419 21:05:42.860896 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:42.860982 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428060256.
I0419 21:05:42.862215 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876123s, prior_pose=(7.37215, -1.80426), yaw=178.874 deg
I0419 21:05:42.862319 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:42.862464 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295428339187.
I0419 21:05:42.863837 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=58.1445 rad/s > flush threshold 3.
I0419 21:05:42.863951 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428339297.
I0419 21:05:42.865135 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428621962.
I0419 21:05:42.865968 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428655513.
I0419 21:05:42.894480 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.05467, -0.464047)
I0419 21:05:42.894650 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428940626.
I0419 21:05:42.895370 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295428940775.
I0419 21:05:42.922049 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295429214663.
I0419 21:05:42.989377 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.7651 rad/s > flush threshold 3.
I0419 21:05:42.989573 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295429214767.
I0419 21:05:42.990947 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:42.991006 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0340305 range=1.13825 variance=0.000505528 t_weight=5934.39 r_weight=0 yaml=(6.015, -1.32) prior=(7.32134, -1.79789, 178.901deg) obs_actual=(1.34085, -0.46409) obs_expected=(1.31527, -0.452757) delta=(0.0255824, -0.0113328) |delta|=0.0279802m
I0419 21:05:42.991056 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:42.991075 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295429498208.
I0419 21:05:42.991771 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.195798, 0.492774), points=23, range=0.531043, residual=0.0112001, extent=0.0360453
I0419 21:05:42.991833 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.195798, 0.492774), tracking=(-0.494298, -0.492774), map_predicted=(7.825, -1.31469), range=0.531043, pts=23
I0419 21:05:42.991858 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0113242m maha_sq=0.00556166 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.825, -1.31469) lm_pos=(7.815, -1.32) delta=(0.010001, 0.00531204) -> 1 candidate(s)
I0419 21:05:42.991945 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=178.928 deg, rms_residual=0.0133389m, sigma_yaw=0.0174744 rad, N=2
I0419 21:05:42.991971 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.30356, -1.79277, 178.928deg) inliers=2 rms=0.0133389m
I0419 21:05:42.991994 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295429535294.
I0419 21:05:42.993938 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295429842610.
I0419 21:05:42.994671 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295429842766.
I0419 21:05:43.010618 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.01705, -0.46585)
I0419 21:05:43.010708 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:43.010732 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:43.010790 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:43.010845 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295430101639.
I0419 21:05:43.012205 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.0332 rad/s > flush threshold 3.
I0419 21:05:43.012285 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295430101783.
I0419 21:05:43.038787 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295430382078.
I0419 21:05:43.041956 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295430414500.
I0419 21:05:43.111312 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:43.111510 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295430698409.
I0419 21:05:43.112190 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:43.112260 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:43.112346 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295430698529.
I0419 21:05:43.113615 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0386865 range=0.722235 variance=0.000558331 t_weight=5373.15 r_weight=0 yaml=(6.915, -2.52) prior=(7.29563, -1.79397, 179.079deg) obs_actual=(0.34152, 0.720167) obs_expected=(0.368919, 0.732056) delta=(-0.0273987, -0.0118894) |delta|=0.0298671m
I0419 21:05:43.113706 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295430973029.
I0419 21:05:43.115031 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.240753, 0.491672)
I0419 21:05:43.115095 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:43.115152 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431020208.
I0419 21:05:43.125730 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0555144s, prior_pose=(7.28073, -1.80201), yaw=179.135 deg
I0419 21:05:43.125860 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:43.125998 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.984275, -0.467702), points=5, range=1.0854, residual=0.0120462, extent=0.0297881
I0419 21:05:43.126026 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.984275, -0.467702), tracking=(1.28278, -0.467702), map_predicted=(6.00516, -1.31499), range=1.0854, pts=5
I0419 21:05:43.126050 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0110398m maha_sq=0.00527613 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.00516, -1.31499) lm_pos=(6.015, -1.32) delta=(-0.00983603, 0.00501285) -> 1 candidate(s)
I0419 21:05:43.126154 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431253553.
I0419 21:05:43.130780 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431301224.
I0419 21:05:43.160092 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431592112.
I0419 21:05:43.160990 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431592273.
I0419 21:05:43.188007 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431871093.
I0419 21:05:43.250556 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.1175 rad/s > flush threshold 3.
I0419 21:05:43.250725 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295431871329.
I0419 21:05:43.252058 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295432164184.
I0419 21:05:43.252638 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=22, centroid=(0.27692, 0.490965)
I0419 21:05:43.252720 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295432164371.
I0419 21:05:43.254593 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:43.254667 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:43.254690 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295432459312.
I0419 21:05:43.255278 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[10] 'ref_11' maha_sq=0.109097 range=1.41333 variance=0.000524671 t_weight=5717.86 r_weight=0 yaml=(8.715, -2.52) prior=(7.24559, -1.81075, 179.144deg) obs_actual=(-1.52004, 0.71715) obs_expected=(-1.47984, 0.687218) delta=(-0.0401989, 0.0299328) |delta|=0.0501191m
I0419 21:05:43.255342 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295432459478.
I0419 21:05:43.274493 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0114777, 0.716573), points=18, range=0.718833, residual=0.0119797, extent=0.0362181
I0419 21:05:43.274616 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0114777, 0.716573), tracking=(0.287022, 0.716573), map_predicted=(6.94789, -2.52295), range=0.718833, pts=18
I0419 21:05:43.274650 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[8] 'ref_9' eucl_dist=0.0330262m maha_sq=0.0472557 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94789, -2.52295) lm_pos=(6.915, -2.52) delta=(0.0328938, -0.00295432) -> 1 candidate(s)
I0419 21:05:43.274791 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295432739278.
I0419 21:05:43.277805 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.14 deg, rms_residual=0.0137678m, sigma_yaw=0.0180262 rad, N=2
I0419 21:05:43.277930 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.20518, -1.7905, 179.14deg) inliers=2 rms=0.0137678m
I0419 21:05:43.277967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295432772420.
I0419 21:05:43.302433 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:43.302541 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:43.302590 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:43.302654 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295433019384.
I0419 21:05:43.305828 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295433053338.
I0419 21:05:43.372889 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295433332124.
I0419 21:05:43.373665 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.316507, 0.49029)
I0419 21:05:43.373818 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295433332298.
I0419 21:05:43.374899 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:43.375000 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295433618124.
I0419 21:05:43.376335 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:43.376405 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:43.376441 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=77.5371 rad/s > flush threshold 3.
I0419 21:05:43.394179 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295433935497.
I0419 21:05:43.394906 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:43.395001 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295433935634.
I0419 21:05:43.423013 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0608787s, prior_pose=(7.18889, -1.80813), yaw=179.336 deg
I0419 21:05:43.423136 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1347, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:05:43.423322 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0106445 range=1.91933 variance=0.000685254 t_weight=4377.94 r_weight=5000 yaml=(5.115, -2.52) prior=(7.18889, -1.80813, 179.336deg) obs_actual=(2.0588, 0.75021) obs_expected=(2.0655, 0.73585) delta=(-0.00670145, 0.0143596) |delta|=0.0158464m
I0419 21:05:43.423390 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295434227079.
I0419 21:05:43.424098 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.26891, -0.72279), points=4, range=1.4605, residual=0.00614926, extent=0.0140671
I0419 21:05:43.424151 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.26891, -0.72279), tracking=(-1.56741, 0.72279), map_predicted=(8.74782, -2.54903), range=1.4605, pts=4
I0419 21:05:43.424178 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0438163m maha_sq=0.0834141 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74782, -2.54903) lm_pos=(8.715, -2.52) delta=(0.0328214, -0.0290281) -> 1 candidate(s)
I0419 21:05:43.424258 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295434227274.
I0419 21:05:43.450151 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295434495811.
I0419 21:05:43.525705 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(0.351226, 0.489216)
I0419 21:05:43.525889 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295434531842.
I0419 21:05:43.527097 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295434782544.
I0419 21:05:43.527854 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295434816690.
I0419 21:05:43.529790 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295435073093.
I0419 21:05:43.530552 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295435095723.
I0419 21:05:43.537933 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295435372784.
I0419 21:05:43.542276 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:43.542416 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:43.542441 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295435417477.
I0419 21:05:43.566771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295435658999.
I0419 21:05:43.569825 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.388575, 0.485452)
I0419 21:05:43.569972 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[9] 'ref_10' maha_sq=0.0419709 range=0.621895 variance=0.000587428 t_weight=5107 r_weight=0 yaml=(7.815, -1.32) prior=(7.15136, -1.8176, 179.432deg) obs_actual=(-0.683521, -0.485412) obs_expected=(-0.658671, -0.50416) delta=(-0.0248498, 0.0187479) |delta|=0.0311288m
I0419 21:05:43.570050 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295435693163.
I0419 21:05:43.634640 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR N=3 α=1 map_from_tracking=(7.14526, -1.81597), yaw=179.462 deg backend=(7.20309, -1.7949)
I0419 21:05:43.635736 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:43.635821 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.71032, 0.74365), points=4, range=1.8685, residual=0.0108317, extent=0.027381
I0419 21:05:43.635843 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:43.635859 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.71032, 0.74365), tracking=(2.00882, 0.74365), map_predicted=(5.12955, -2.54073), range=1.8685, pts=4
I0419 21:05:43.635919 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.025327m maha_sq=0.0275639 (gate chi2=5.99) pose_sigma=(0.150473, 0.150473, rho=0) det_map=(5.12955, -2.54073) lm_pos=(5.115, -2.52) delta=(0.0145521, -0.0207291) -> 1 candidate(s)
I0419 21:05:43.636034 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295435972884.
I0419 21:05:43.636813 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:43.636911 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295436022319.
I0419 21:05:43.638159 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295436257815.
I0419 21:05:43.639549 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=42.3904 rad/s > flush threshold 3.
I0419 21:05:43.639685 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295436258029.
I0419 21:05:43.658529 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:43.658777 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295436577943.
I0419 21:05:43.659600 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:43.659696 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:43.659790 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295436578236.
I0419 21:05:43.686661 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295436855071.
I0419 21:05:43.690613 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.423327, 0.483978)
I0419 21:05:43.690757 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:43.690829 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.666 deg, rms_residual=0.0137161m, sigma_yaw=0.0179597 rad, N=2
I0419 21:05:43.690948 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.08374, -1.78845, 179.666deg) inliers=2 rms=0.0137161m
I0419 21:05:43.690985 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295436900675.
I0419 21:05:43.714753 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882201s, prior_pose=(7.12429, -1.81244), yaw=179.539 deg
I0419 21:05:43.715046 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:43.715529 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0162132 range=1.845 variance=0.000564147 t_weight=5317.76 r_weight=4075.86 yaml=(5.115, -2.52) prior=(7.12429, -1.81244, 179.539deg) obs_actual=(1.99215, 0.739346) obs_expected=(2.00354, 0.723712) delta=(-0.0113812, 0.0156337) |delta|=0.0193376m
I0419 21:05:43.715732 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295437140230.
I0419 21:05:43.809633 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.34441, -0.732479), points=3, range=1.535, residual=0.00994639, extent=0.0209902
I0419 21:05:43.809732 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.34441, -0.732479), tracking=(-1.64291, 0.732479), map_predicted=(8.7431, -2.55339), range=1.535, pts=3
I0419 21:05:43.809795 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0436406m maha_sq=0.0809777 (gate chi2=5.99) pose_sigma=(0.151446, 0.151446, rho=0) det_map=(8.7431, -2.55339) lm_pos=(8.715, -2.52) delta=(0.0280969, -0.0333926) -> 1 candidate(s)
I0419 21:05:43.809887 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295437176105.
I0419 21:05:43.811218 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295437452846.
I0419 21:05:43.811940 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295437453081.
I0419 21:05:43.813962 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295437735416.
I0419 21:05:43.814620 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295437735704.
I0419 21:05:43.815857 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295438078905.
I0419 21:05:43.817162 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.462472, 0.482915)
I0419 21:05:43.817262 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295438092929.
I0419 21:05:43.834444 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295438334528.
I0419 21:05:43.835677 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:43.835796 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:43.835841 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295438334761.
I0419 21:05:43.957612 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.000137288 range=0.894167 variance=0.000528054 t_weight=5681.23 r_weight=0 yaml=(6.015, -1.32) prior=(7.05878, -1.80539, 179.753deg) obs_actual=(1.04745, -0.481723) obs_expected=(1.04587, -0.48088) delta=(0.0015822, -0.000842881) |delta|=0.00179271m
I0419 21:05:43.957772 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295438619222.
I0419 21:05:43.958503 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.39569, -0.7395), points=3, range=1.574, residual=0.0106818, extent=0.0210877
I0419 21:05:43.958557 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.39569, -0.7395), tracking=(-1.69419, 0.7395), map_predicted=(8.74976, -2.5522), range=1.574, pts=3
I0419 21:05:43.958581 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[10] 'ref_11' eucl_dist=0.0473864m maha_sq=0.0972022 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74976, -2.5522) lm_pos=(8.715, -2.52) delta=(0.0347617, -0.032204) -> 1 candidate(s)
I0419 21:05:43.958702 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295438619411.
I0419 21:05:43.959955 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:43.960004 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:43.960083 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295438904289.
I0419 21:05:43.961807 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 11 inliers from pool of 11 (intra-scan=3, buffered=8).
I0419 21:05:43.961982 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295438939358.
I0419 21:05:43.963137 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.61944, 0.737985)
I0419 21:05:43.963284 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295439212112.
I0419 21:05:43.964017 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295439212335.
I0419 21:05:43.966197 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:43.966316 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295439499693.
I0419 21:05:43.966954 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:05:43.967000 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=3
I0419 21:05:43.967060 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[9] 'ref_10' maha_sq=0.0438568 range=0.700786 variance=0.000586682 t_weight=5113.5 r_weight=5000 yaml=(7.815, -1.32) prior=(7.03225, -1.80283, 179.866deg) obs_actual=(-0.81306, -0.479753) obs_expected=(-0.781621, -0.484661) delta=(-0.0314391, 0.00490837) |delta|=0.0318199m
I0419 21:05:43.967110 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295439499892.
I0419 21:05:43.979061 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.61785, 0.734428), points=5, range=1.7706, residual=0.0169568, extent=0.0414394
I0419 21:05:43.979205 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.61785, 0.734428), tracking=(1.91635, 0.734428), map_predicted=(5.11419, -2.53277), range=1.7706, pts=5
I0419 21:05:43.979259 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0127913m maha_sq=0.00702499 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11419, -2.53277) lm_pos=(5.115, -2.52) delta=(-0.000814051, -0.0127654) -> 1 candidate(s)
I0419 21:05:43.979480 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295439781748.
I0419 21:05:44.077595 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.43291, -0.740638)
I0419 21:05:44.077705 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:44.077792 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295439815096.
I0419 21:05:44.078963 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592371s, prior_pose=(7.01962, -1.80156), yaw=179.952 deg
I0419 21:05:44.079033 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:44.079228 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295440092064.
I0419 21:05:44.080070 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295440138488.
I0419 21:05:44.081964 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.607 deg, rms_residual=0.0126846m, sigma_yaw=0.0135038 rad, N=3
I0419 21:05:44.082099 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(7.00292, -1.80114, 179.607deg) inliers=3 rms=0.0126846m
I0419 21:05:44.082144 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295440373480.
I0419 21:05:44.083050 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295440418984.
I0419 21:05:44.084219 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295440652885.
I0419 21:05:44.085666 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.45345, -0.745883)
I0419 21:05:44.085809 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[10] 'ref_11' maha_sq=0.0475537 range=1.63367 variance=0.000601757 t_weight=4985.4 r_weight=5000 yaml=(8.715, -2.52) prior=(6.98701, -1.80224, -179.984deg) obs_actual=(-1.74671, 0.745871) obs_expected=(-1.72779, 0.718251) delta=(-0.0189218, 0.0276195) |delta|=0.0334794m
I0419 21:05:44.085888 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295440693240.
I0419 21:05:44.098570 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.676539, -0.482527), points=8, range=0.82925, residual=0.00964256, extent=0.0285225
I0419 21:05:44.098778 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.676539, -0.482527), tracking=(0.975039, -0.482527), map_predicted=(6.01183, -1.31999), range=0.82925, pts=8
I0419 21:05:44.098845 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.00316867m maha_sq=0.000435875 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.01183, -1.31999) lm_pos=(6.015, -1.32) delta=(-0.00316865, 1.00625e-05) -> 1 candidate(s)
I0419 21:05:44.099123 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295440976845.
I0419 21:05:44.103240 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295441021329.
I0419 21:05:44.202270 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295441255889.
I0419 21:05:44.203024 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:44.203121 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:44.203148 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295441256707.
I0419 21:05:44.204366 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295441580801.
I0419 21:05:44.205783 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=43.8897 rad/s > flush threshold 3.
I0419 21:05:44.205912 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295441581099.
I0419 21:05:44.207069 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(0.647771, -0.482185)
I0419 21:05:44.207115 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:44.207140 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:44.207202 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295441859585.
I0419 21:05:44.207757 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.581393, 0.476397), points=11, range=0.754091, residual=0.00984928, extent=0.0304369
I0419 21:05:44.207803 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.581393, 0.476397), tracking=(-0.879893, -0.476397), map_predicted=(7.84545, -1.31952), range=0.754091, pts=11
I0419 21:05:44.207826 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[9] 'ref_10' eucl_dist=0.0304493m maha_sq=0.040248 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.84545, -1.31952) lm_pos=(7.815, -1.32) delta=(0.0304456, 0.000478052) -> 1 candidate(s)
I0419 21:05:44.207896 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=3, buffered=5).
I0419 21:05:44.207921 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.016555 range=0.796 variance=0.000635771 t_weight=4718.68 r_weight=3664.54 yaml=(6.915, -2.52) prior=(6.96602, -1.79678, -179.944deg) obs_actual=(0.0323559, 0.720377) obs_expected=(0.0517261, 0.723171) delta=(-0.0193702, -0.0027945) |delta|=0.0195707m
I0419 21:05:44.207967 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295441859791.
I0419 21:05:44.214460 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295442135268.
I0419 21:05:44.219306 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295442182016.
I0419 21:05:44.246969 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:44.247320 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295442460447.
I0419 21:05:44.345511 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:44.345613 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:44.345665 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=28.7889 rad/s > flush threshold 3.
I0419 21:05:44.345752 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295442460774.
I0419 21:05:44.346050 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:44.347098 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.297815, 0.727925)
I0419 21:05:44.347239 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295442733524.
I0419 21:05:44.347849 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:44.347930 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295442733766.
I0419 21:05:44.349596 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0552226s, prior_pose=(6.92538, -1.79955), yaw=-179.843 deg
I0419 21:05:44.349685 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1346, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:44.349838 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.021505 range=0.790667 variance=0.000561375 t_weight=5344.03 r_weight=3911.52 yaml=(6.915, -2.52) prior=(6.92538, -1.79955, -179.843deg) obs_actual=(-0.00899307, 0.727295) obs_expected=(0.012355, 0.720416) delta=(-0.021348, 0.00687902) |delta|=0.022429m
I0419 21:05:44.349889 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295443013000.
I0419 21:05:44.350571 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.52334, -0.751226), points=3, range=1.69333, residual=0.0103179, extent=0.0205157
I0419 21:05:44.350621 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.52334, -0.751226), tracking=(-1.82184, 0.751226), map_predicted=(8.74927, -2.54578), range=1.69333, pts=3
I0419 21:05:44.350647 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0428847m maha_sq=0.0796037 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74927, -2.54578) lm_pos=(8.715, -2.52) delta=(0.0342695, -0.0257817) -> 1 candidate(s)
I0419 21:05:44.350754 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295443057493.
I0419 21:05:44.351918 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.837 deg, rms_residual=0.011295m, sigma_yaw=0.0148366 rad, N=2
I0419 21:05:44.351989 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.91272, -1.79951, 179.837deg) inliers=2 rms=0.011295m
I0419 21:05:44.352021 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295443333165.
I0419 21:05:44.353303 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=131.729 rad/s > flush threshold 3.
I0419 21:05:44.353390 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295443333284.
I0419 21:05:44.362121 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295443613378.
I0419 21:05:44.363108 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53944, -0.753606)
I0419 21:05:44.363260 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295443613597.
I0419 21:05:44.433380 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295443893726.
I0419 21:05:44.434314 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295443936914.
I0419 21:05:44.435398 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00920576 range=1.64575 variance=0.000701725 t_weight=4275.18 r_weight=4983.32 yaml=(5.115, -2.52) prior=(6.90417, -1.79886, -179.734deg) obs_actual=(1.78331, 0.724175) obs_expected=(1.7925, 0.712813) delta=(-0.00919245, 0.0113617) |delta|=0.0146147m
I0419 21:05:44.435487 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295444181439.
I0419 21:05:44.436867 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.26484, -0.721006), points=16, range=0.77125, residual=0.0137265, extent=0.0415447
I0419 21:05:44.436931 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.26484, -0.721006), tracking=(-0.0336597, 0.721006), map_predicted=(6.92563, -2.51927), range=0.77125, pts=16
I0419 21:05:44.436961 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0106584m maha_sq=0.00483593 (gate chi2=5.99) pose_sigma=(0.151205, 0.151205, rho=0) det_map=(6.92563, -2.51927) lm_pos=(6.915, -2.52) delta=(0.0106333, 0.000731359) -> 1 candidate(s)
I0419 21:05:44.437016 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:44.437044 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:44.437063 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295444215967.
I0419 21:05:44.453562 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295444527599.
I0419 21:05:44.454263 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=9, centroid=(0.666442, 0.469473)
I0419 21:05:44.454363 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295444527744.
I0419 21:05:44.462379 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.87196, -1.80049), yaw=-179.655 deg backend=(6.95038, -1.78862)
I0419 21:05:44.481498 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 21:05:44.481622 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:44.481753 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295444807580.
I0419 21:05:44.482652 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:44.482766 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295444822709.
I0419 21:05:44.506376 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295445058072.
I0419 21:05:44.574644 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295445093886.
I0419 21:05:44.575940 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=11, centroid=(-0.432509, 0.719947)
I0419 21:05:44.576022 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:44.576092 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[8] 'ref_9' maha_sq=0.023598 range=0.824929 variance=0.000578366 t_weight=5187.03 r_weight=4207.67 yaml=(6.915, -2.52) prior=(6.85546, -1.79896, -179.57deg) obs_actual=(-0.0732541, 0.734825) obs_expected=(-0.0541214, 0.721463) delta=(-0.0191327, 0.0133621) |delta|=0.0233368m
I0419 21:05:44.576139 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295445381292.
I0419 21:05:44.576710 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:44.576750 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:05:44.576776 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.58072, -0.762453), points=3, range=1.75667, residual=0.00568201, extent=0.0113817
I0419 21:05:44.576795 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.58072, -0.762453), tracking=(-1.87922, 0.762453), map_predicted=(8.74036, -2.54728), range=1.75667, pts=3
I0419 21:05:44.576814 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[10] 'ref_11' eucl_dist=0.0372453m maha_sq=0.0602234 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(8.74036, -2.54728) lm_pos=(8.715, -2.52) delta=(0.0253573, -0.0272803) -> 1 candidate(s)
I0419 21:05:44.576874 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295445381448.
I0419 21:05:44.578807 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295445662221.
I0419 21:05:44.579428 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:44.579504 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295445695709.
I0419 21:05:44.598412 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885802s, prior_pose=(6.82599, -1.80405), yaw=-179.53 deg
I0419 21:05:44.598516 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=45, candidates=45
I0419 21:05:44.598800 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295445979688.
I0419 21:05:44.600138 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.59848, -0.762438)
I0419 21:05:44.600240 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=84.0175 rad/s > flush threshold 3.
I0419 21:05:44.600298 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295445979826.
I0419 21:05:44.626667 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.65 deg, rms_residual=0.00780769m, sigma_yaw=0.00835256 rad, N=3
I0419 21:05:44.626766 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.81841, -1.79293, -179.65deg) inliers=3 rms=0.00780769m
I0419 21:05:44.626803 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295446261106.
I0419 21:05:44.627483 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295446261264.
I0419 21:05:44.697041 1218970 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 12 -> 11 (threshold=0.03, iters=3)
I0419 21:05:44.697266 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00756852 range=1.58925 variance=0.000567989 t_weight=5281.79 r_weight=5000 yaml=(5.115, -2.52) prior=(6.82387, -1.79633, -179.413deg) obs_actual=(1.71967, 0.718917) obs_expected=(1.71619, 0.706121) delta=(0.00347809, 0.0127959) |delta|=0.0132602m
I0419 21:05:44.697337 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295446536419.
I0419 21:05:44.698098 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.197631, -0.720735), points=16, range=0.74925, residual=0.0117918, extent=0.0341262
I0419 21:05:44.698181 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.197631, -0.720735), tracking=(-0.100869, 0.720735), map_predicted=(6.93212, -2.51599), range=0.74925, pts=16
I0419 21:05:44.698210 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0175811m maha_sq=0.0133934 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93212, -2.51599) lm_pos=(6.915, -2.52) delta=(0.0171178, 0.00400937) -> 1 candidate(s)
I0419 21:05:44.698293 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295446580386.
I0419 21:05:44.699551 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.4052, 0.718508)
I0419 21:05:44.699672 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295446852211.
I0419 21:05:44.700989 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=80.219 rad/s > flush threshold 3.
I0419 21:05:44.701103 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295446852356.
I0419 21:05:44.714571 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295447140046.
I0419 21:05:44.715303 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:44.715363 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:44.715387 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295447140180.
I0419 21:05:44.742115 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295447415874.
I0419 21:05:44.746666 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295447460743.
I0419 21:05:44.770239 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.460002, -0.490264)
I0419 21:05:44.770404 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:44.770543 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:44.770673 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295447697812.
I0419 21:05:44.843345 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:44.843497 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295447732507.
I0419 21:05:44.844578 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00287015 range=0.664067 variance=0.000596526 t_weight=5029.12 r_weight=0 yaml=(6.015, -1.32) prior=(6.77486, -1.79321, -179.251deg) obs_actual=(0.747603, -0.488585) obs_expected=(0.753614, -0.483094) delta=(-0.00601121, -0.00549144) |delta|=0.0081419m
I0419 21:05:44.844663 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448019304.
I0419 21:05:44.845383 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.155008, -0.713886), points=18, range=0.731722, residual=0.0117154, extent=0.0370832
I0419 21:05:44.845434 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.155008, -0.713886), tracking=(-0.143492, 0.713886), map_predicted=(6.92767, -2.50516), range=0.731722, pts=18
I0419 21:05:44.845460 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0195169m maha_sq=0.0165071 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92767, -2.50516) lm_pos=(6.915, -2.52) delta=(0.0126707, 0.0148447) -> 1 candidate(s)
I0419 21:05:44.845517 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448054452.
I0419 21:05:44.847110 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:44.847182 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448302521.
I0419 21:05:44.847887 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:44.847927 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:44.847987 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448335267.
I0419 21:05:44.862455 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448618211.
I0419 21:05:44.863968 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:44.864027 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.6176 rad/s > flush threshold 3.
I0419 21:05:44.864094 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448618407.
I0419 21:05:44.890151 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594648s, prior_pose=(6.74847, -1.79584), yaw=-179.208 deg
I0419 21:05:44.890246 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=251, threshold=230, above_threshold=21, candidates=21
I0419 21:05:44.890345 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.421237, -0.488705)
I0419 21:05:44.890496 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448897169.
I0419 21:05:44.891935 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:44.895305 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295448943722.
I0419 21:05:44.993049 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295449177852.
I0419 21:05:44.993896 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.151 deg, rms_residual=0.00257533m, sigma_yaw=0.00342202 rad, N=2
I0419 21:05:44.994000 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.71174, -1.81243, -178.151deg) inliers=2 rms=0.00257533m
I0419 21:05:44.994041 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295449214059.
I0419 21:05:44.995350 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.000724846 range=0.634588 variance=0.000612638 t_weight=4896.85 r_weight=0 yaml=(6.015, -1.32) prior=(6.72239, -1.80299, -179.274deg) obs_actual=(0.704507, -0.489496) obs_expected=(0.701206, -0.491917) delta=(0.0033007, 0.00242043) |delta|=0.00409306m
I0419 21:05:44.995462 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295449496447.
I0419 21:05:44.996784 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.114186, -0.714093), points=18, range=0.725889, residual=0.0125877, extent=0.0370832
I0419 21:05:44.996876 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.114186, -0.714093), tracking=(-0.184314, 0.714093), map_predicted=(6.90897, -2.5097), range=0.725889, pts=18
I0419 21:05:44.996906 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0119391m maha_sq=0.00611764 (gate chi2=5.99) pose_sigma=(0.150677, 0.150677, rho=0) det_map=(6.90897, -2.5097) lm_pos=(6.915, -2.52) delta=(-0.00603368, 0.0103023) -> 1 candidate(s)
I0419 21:05:44.996927 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=91.417 rad/s > flush threshold 3.
I0419 21:05:44.996999 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295449496592.
I0419 21:05:44.998390 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295449778495.
I0419 21:05:44.999079 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295449778736.
I0419 21:05:45.006781 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.384527, -0.488934)
I0419 21:05:45.007056 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450060296.
I0419 21:05:45.014990 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:45.015192 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:45.015223 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450138695.
I0419 21:05:45.038296 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450374255.
I0419 21:05:45.135906 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=37.165 rad/s > flush threshold 3.
I0419 21:05:45.136089 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450374518.
I0419 21:05:45.137378 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:45.137454 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:45.137532 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450654002.
I0419 21:05:45.138213 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:45.138289 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450698657.
I0419 21:05:45.140125 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00576879 range=0.605895 variance=0.00066917 t_weight=4483.17 r_weight=0 yaml=(6.015, -1.32) prior=(6.68409, -1.80133, -179.111deg) obs_actual=(0.650652, -0.487539) obs_expected=(0.661543, -0.491662) delta=(-0.0108912, 0.00412334) |delta|=0.0116456m
I0419 21:05:45.140239 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450941273.
I0419 21:05:45.140865 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.071995, -0.714834), points=17, range=0.719706, residual=0.0109409, extent=0.0343607
I0419 21:05:45.140918 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.071995, -0.714834), tracking=(-0.226505, 0.714834), map_predicted=(6.92167, -2.51257), range=0.719706, pts=17
I0419 21:05:45.140945 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0099849m maha_sq=0.00432387 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92167, -2.51257) lm_pos=(6.915, -2.52) delta=(0.00666733, 0.00743269) -> 1 candidate(s)
I0419 21:05:45.141024 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295450977282.
I0419 21:05:45.142221 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:45.142334 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295451261459.
I0419 21:05:45.143605 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:45.143659 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.0616706, -0.718829)
I0419 21:05:45.143682 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:45.143711 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=46.1582 rad/s > flush threshold 3.
I0419 21:05:45.143769 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295451261659.
I0419 21:05:45.154541 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295451534898.
I0419 21:05:45.159035 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:45.159248 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295451581880.
I0419 21:05:45.250152 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592558s, prior_pose=(6.66814, -1.80188), yaw=-178.954 deg
I0419 21:05:45.250264 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1349, max_intensity=251, threshold=230, above_threshold=24, candidates=24
I0419 21:05:45.250519 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295451854217.
I0419 21:05:45.251192 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295451854555.
I0419 21:05:45.252449 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295452141498.
I0419 21:05:45.253702 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=10.0815 rad/s > flush threshold 3.
I0419 21:05:45.255386 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.019 deg, rms_residual=0.0133553m, sigma_yaw=0.0174955 rad, N=2
I0419 21:05:45.255473 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.64432, -1.78912, -179.019deg) inliers=2 rms=0.0133553m
I0419 21:05:45.255513 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295452418430.
I0419 21:05:45.256245 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.918647, 0.456333), points=5, range=1.0268, residual=0.00664178, extent=0.0169184
I0419 21:05:45.256299 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.918647, 0.456333), tracking=(-1.21715, -0.456333), map_predicted=(7.85902, -1.3187), range=1.0268, pts=5
I0419 21:05:45.256331 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0440395m maha_sq=0.0843418 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85902, -1.3187) lm_pos=(7.815, -1.32) delta=(0.0440204, 0.00129803) -> 1 candidate(s)
I0419 21:05:45.256376 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0213644 range=0.716944 variance=0.000574842 t_weight=5218.82 r_weight=0 yaml=(6.915, -2.52) prior=(6.65049, -1.79739, -178.944deg) obs_actual=(-0.269373, 0.714683) obs_expected=(-0.251145, 0.727361) delta=(-0.018228, -0.0126776) |delta|=0.0222032m
I0419 21:05:45.256435 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295452451788.
I0419 21:05:45.270633 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295452693782.
I0419 21:05:45.274367 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(-0.019765, -0.715645)
I0419 21:05:45.274582 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295452738416.
I0419 21:05:45.302984 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453021306.
I0419 21:05:45.391639 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=22.9698 rad/s > flush threshold 3.
I0419 21:05:45.391805 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453021467.
I0419 21:05:45.393115 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:45.393251 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:45.393285 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453298250.
I0419 21:05:45.394392 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453333012.
I0419 21:05:45.395496 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.60002, -1.80482), yaw=-178.958 deg backend=(6.68428, -1.78864)
I0419 21:05:45.396389 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:45.396471 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:45.396567 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453578200.
I0419 21:05:45.397405 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453613371.
I0419 21:05:45.398676 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:45.398784 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453901190.
I0419 21:05:45.400111 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.970845, 0.456143), points=4, range=1.069, residual=0.00885547, extent=0.0211607
I0419 21:05:45.400189 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.970845, 0.456143), tracking=(-1.26935, -0.456143), map_predicted=(7.84884, -1.32029), range=1.069, pts=4
I0419 21:05:45.400215 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0338399m maha_sq=0.0490973 (gate chi2=5.99) pose_sigma=(0.15097, 0.15097, rho=0) det_map=(7.84884, -1.32029) lm_pos=(7.815, -1.32) delta=(0.0338386, -0.00029219) -> 1 candidate(s)
I0419 21:05:45.400236 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=8.74099 rad/s > flush threshold 3.
I0419 21:05:45.400265 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00605588 range=0.716412 variance=0.000567462 t_weight=5286.7 r_weight=0 yaml=(6.915, -2.52) prior=(6.5881, -1.79971, -178.946deg) obs_actual=(-0.312006, 0.714395) obs_expected=(-0.313594, 0.726182) delta=(0.00158763, -0.0117873) |delta|=0.0118937m
I0419 21:05:45.400314 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295453901437.
I0419 21:05:45.418023 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:45.418277 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295454172832.
I0419 21:05:45.422586 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:45.422693 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.0219055, -0.717417)
I0419 21:05:45.422720 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:45.422865 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295454220167.
I0419 21:05:45.500185 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295454453112.
I0419 21:05:45.500975 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:45.501122 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295454497611.
I0419 21:05:45.502257 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0885088s, prior_pose=(6.56559, -1.80526), yaw=-178.962 deg
I0419 21:05:45.502351 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=253, threshold=230, above_threshold=27, candidates=27
I0419 21:05:45.502532 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295454786525.
I0419 21:05:45.504184 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295454816611.
I0419 21:05:45.506300 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455052571.
I0419 21:05:45.511070 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455100990.
I0419 21:05:45.535079 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.932 deg, rms_residual=0.0160416m, sigma_yaw=0.0209409 rad, N=2
I0419 21:05:45.535248 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.55627, -1.78881, -178.932deg) inliers=2 rms=0.0160416m
I0419 21:05:45.535320 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455340715.
I0419 21:05:45.538831 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0119, 0.450519), points=4, range=1.105, residual=0.00700588, extent=0.0161781
I0419 21:05:45.538941 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.0119, 0.450519), tracking=(-1.3104, -0.450519), map_predicted=(7.84453, -1.33021), range=1.105, pts=4
I0419 21:05:45.538995 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.03125m maha_sq=0.0424508 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.84453, -1.33021) lm_pos=(7.815, -1.32) delta=(0.0295344, -0.0102119) -> 1 candidate(s)
I0419 21:05:45.539099 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.00155295 range=0.719944 variance=0.000574649 t_weight=5220.58 r_weight=0 yaml=(6.915, -2.52) prior=(6.54272, -1.80498, -178.936deg) obs_actual=(-0.356971, 0.71616) obs_expected=(-0.358947, 0.721811) delta=(0.00197549, -0.00565078) |delta|=0.00598614m
I0419 21:05:45.539203 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455378076.
I0419 21:05:45.567435 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455662584.
I0419 21:05:45.670236 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.065921, -0.717116)
I0419 21:05:45.670349 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=92.9318 rad/s > flush threshold 3.
I0419 21:05:45.670426 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455662842.
I0419 21:05:45.671808 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295455935944.
I0419 21:05:45.672514 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295455974092.
I0419 21:05:45.674577 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:45.674703 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:45.674731 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295456259991.
I0419 21:05:45.675400 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295456260232.
I0419 21:05:45.676743 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:45.676797 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:45.676910 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295456539885.
I0419 21:05:45.678282 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=16.1315 rad/s > flush threshold 3.
I0419 21:05:45.678385 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295456540040.
I0419 21:05:45.683321 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:45.683472 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295456825136.
I0419 21:05:45.684571 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295456825321.
I0419 21:05:45.771657 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:45.771733 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10208, 0.71338), points=7, range=1.31057, residual=0.011536, extent=0.0331345
I0419 21:05:45.771943 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:45.771982 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10208, 0.71338), tracking=(1.40058, 0.71338), map_predicted=(5.11983, -2.54591), range=1.31057, pts=7
I0419 21:05:45.772027 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0263572m maha_sq=0.0297161 (gate chi2=5.99) pose_sigma=(0.150921, 0.150921, rho=0) det_map=(5.11983, -2.54591) lm_pos=(5.115, -2.52) delta=(0.00482632, -0.0259116) -> 1 candidate(s)
I0419 21:05:45.772104 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0156879 range=0.5174 variance=0.000610768 t_weight=4911.85 r_weight=0 yaml=(6.015, -1.32) prior=(6.50526, -1.80355, -178.808deg) obs_actual=(0.461463, -0.489198) obs_expected=(0.480095, -0.493643) delta=(-0.018632, 0.00444479) |delta|=0.0191548m
I0419 21:05:45.772166 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295457141263.
I0419 21:05:45.772997 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:45.773047 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.109642, -0.719026)
I0419 21:05:45.773102 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:45.773201 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295457141430.
I0419 21:05:45.774654 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295457415083.
I0419 21:05:45.776055 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:45.776156 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295457459156.
I0419 21:05:45.777103 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553966s, prior_pose=(6.48626, -1.79927), yaw=-178.766 deg
I0419 21:05:45.777168 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:05:45.777341 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295457695229.
I0419 21:05:45.778072 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295457739690.
I0419 21:05:45.802161 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295458013912.
I0419 21:05:45.802973 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295458014101.
I0419 21:05:45.830019 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295458292176.
I0419 21:05:45.899049 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295458336701.
I0419 21:05:45.900236 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295458581257.
I0419 21:05:45.900873 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.153159, -0.720292)
I0419 21:05:45.900933 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10595, 0.445559), points=4, range=1.19025, residual=0.00876825, extent=0.0204253
I0419 21:05:45.900957 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10595, 0.445559), tracking=(-1.40445, -0.445559), map_predicted=(7.85387, -1.32052), range=1.19025, pts=4
I0419 21:05:45.900977 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0388784m maha_sq=0.0656122 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(7.85387, -1.32052) lm_pos=(7.815, -1.32) delta=(0.0388749, -0.000518413) -> 1 candidate(s)
I0419 21:05:45.901022 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0134449 range=0.736471 variance=0.00060234 t_weight=4980.57 r_weight=0 yaml=(6.915, -2.52) prior=(6.45879, -1.79457, -178.834deg) obs_actual=(-0.449098, 0.718734) obs_expected=(-0.44135, 0.734563) delta=(-0.00774796, -0.0158296) |delta|=0.0176241m
I0419 21:05:45.901064 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295458614932.
I0419 21:05:45.902884 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.934 deg, rms_residual=0.012696m, sigma_yaw=0.0166462 rad, N=2
I0419 21:05:45.902938 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.4409, -1.79134, -178.934deg) inliers=2 rms=0.012696m
I0419 21:05:45.902966 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295458898054.
I0419 21:05:45.903539 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295458898205.
I0419 21:05:45.918612 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:45.918761 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:45.918789 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295459180079.
I0419 21:05:45.922044 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295459214749.
I0419 21:05:45.946135 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:45.946254 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:45.946389 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295459454936.
I0419 21:05:45.950397 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295459499375.
I0419 21:05:46.017932 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:46.018111 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295459775423.
I0419 21:05:46.018723 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295459775559.
I0419 21:05:46.019909 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:46.019979 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295460058264.
I0419 21:05:46.021221 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:46.021281 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.196112, -0.727591)
I0419 21:05:46.021301 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:46.021325 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.7055 rad/s > flush threshold 3.
I0419 21:05:46.034094 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295460336205.
I0419 21:05:46.038268 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:46.038349 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295460379406.
I0419 21:05:46.066182 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600278s, prior_pose=(6.39177, -1.79487), yaw=-178.747 deg
I0419 21:05:46.066345 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:05:46.066589 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.994903, 0.711811), points=7, range=1.22143, residual=0.0098877, extent=0.0299118
I0419 21:05:46.066659 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.994903, 0.711811), tracking=(1.2934, 0.711811), map_predicted=(5.11424, -2.5348), range=1.22143, pts=7
I0419 21:05:46.066730 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0148228m maha_sq=0.00945371 (gate chi2=5.99) pose_sigma=(0.150602, 0.150602, rho=0) det_map=(5.11424, -2.5348) lm_pos=(5.115, -2.52) delta=(-0.000758123, -0.0148034) -> 1 candidate(s)
I0419 21:05:46.066803 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00945371 range=1.22143 variance=0.000560064 t_weight=5356.53 r_weight=0 yaml=(5.115, -2.52) prior=(6.39177, -1.79487, -178.747deg) obs_actual=(1.2934, 0.711811) obs_expected=(1.29232, 0.697028) delta=(0.00108176, 0.0147833) |delta|=0.0148228m
I0419 21:05:46.066855 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295460658695.
I0419 21:05:46.069715 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295460692122.
I0419 21:05:46.094213 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295460935637.
I0419 21:05:46.158247 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295460979503.
I0419 21:05:46.159647 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295461222628.
I0419 21:05:46.160245 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295461255203.
I0419 21:05:46.162158 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295461538565.
I0419 21:05:46.162765 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.240181, -0.731869)
I0419 21:05:46.162855 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295461538690.
I0419 21:05:46.181825 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295461811932.
I0419 21:05:46.188427 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295461877599.
I0419 21:05:46.209837 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462092776.
I0419 21:05:46.213485 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.254446, -0.731991), points=15, range=0.776933, residual=0.0121692, extent=0.0357905
I0419 21:05:46.213562 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.254446, -0.731991), tracking=(-0.552946, 0.731991), map_predicted=(6.91174, -2.51786), range=0.776933, pts=15
I0419 21:05:46.213588 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.00389754m maha_sq=0.000657948 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.91174, -2.51786) lm_pos=(6.915, -2.52) delta=(-0.00325669, 0.00214121) -> 1 candidate(s)
I0419 21:05:46.213649 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:46.213670 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.000657948 range=0.776933 variance=0.000588179 t_weight=5100.49 r_weight=0 yaml=(6.915, -2.52) prior=(6.34284, -1.7982, -178.74deg) obs_actual=(-0.552946, 0.731991) obs_expected=(-0.556155, 0.734203) delta=(0.00320883, -0.0022123) |delta|=0.00389754m
I0419 21:05:46.213712 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:46.213727 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462131706.
I0419 21:05:46.298391 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.3383, -1.80486), yaw=-178.634 deg backend=(6.40835, -1.7884)
I0419 21:05:46.299547 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:46.299620 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:46.299741 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462441617.
I0419 21:05:46.300419 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462441779.
I0419 21:05:46.301685 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462698816.
I0419 21:05:46.303165 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:46.303241 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.454 deg, rms_residual=0.00537994m, sigma_yaw=0.00712216 rad, N=2
I0419 21:05:46.303297 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.30741, -1.81795, -177.454deg) inliers=2 rms=0.00537994m
I0419 21:05:46.303329 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462733085.
I0419 21:05:46.304534 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:46.304697 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295462975712.
I0419 21:05:46.305389 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:46.305444 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.281088, -0.735416)
I0419 21:05:46.305464 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:46.305546 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295463020270.
I0419 21:05:46.331274 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295463300666.
I0419 21:05:46.332895 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:46.333132 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295463300897.
I0419 21:05:46.358708 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846978s, prior_pose=(6.30805, -1.80707), yaw=-178.576 deg
I0419 21:05:46.358877 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1353, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:05:46.359342 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295463580063.
I0419 21:05:46.459108 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295463614270.
I0419 21:05:46.460428 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0467365, -0.485442), points=25, range=0.48824, residual=0.0108914, extent=0.0351915
I0419 21:05:46.460507 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0467365, -0.485442), tracking=(0.251763, -0.485442), map_predicted=(6.02868, -1.32466), range=0.48824, pts=25
I0419 21:05:46.460534 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0144507m maha_sq=0.0090597 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02868, -1.32466) lm_pos=(6.015, -1.32) delta=(0.0136804, -0.004655) -> 1 candidate(s)
I0419 21:05:46.460599 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0090597 range=0.48824 variance=0.000549581 t_weight=5458.7 r_weight=0 yaml=(6.015, -1.32) prior=(6.29328, -1.80322, -178.474deg) obs_actual=(0.251763, -0.485442) obs_expected=(0.265315, -0.490459) delta=(-0.0135516, 0.00501771) |delta|=0.0144507m
I0419 21:05:46.460664 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295463866217.
I0419 21:05:46.461563 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295464019818.
I0419 21:05:46.463292 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295464182352.
I0419 21:05:46.463979 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295464182652.
I0419 21:05:46.465282 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295464461912.
I0419 21:05:46.466521 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.326177, -0.73822)
I0419 21:05:46.466630 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295464495421.
I0419 21:05:46.476447 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295464759212.
I0419 21:05:46.478255 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295464774177.
I0419 21:05:46.585601 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295465057294.
I0419 21:05:46.586414 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:46.586541 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:46.586573 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295465057529.
I0419 21:05:46.587868 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:46.587953 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:46.588048 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295465340620.
I0419 21:05:46.589394 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31231, 0.428499), points=3, range=1.375, residual=0.0106564, extent=0.0215382
I0419 21:05:46.589951 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31231, 0.428499), tracking=(-1.61081, -0.428499), map_predicted=(7.84781, -1.32745), range=1.375, pts=3
I0419 21:05:46.590000 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[9] 'ref_10' eucl_dist=0.0336491m maha_sq=0.0481227 (gate chi2=5.99) pose_sigma=(0.151469, 0.151469, rho=0) det_map=(7.84781, -1.32745) lm_pos=(7.815, -1.32) delta=(0.0328137, -0.00745156) -> 1 candidate(s)
I0419 21:05:46.590060 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[9] 'ref_10' maha_sq=0.0481227 range=1.375 variance=0.000585824 t_weight=5120.99 r_weight=0 yaml=(7.815, -1.32) prior=(6.24971, -1.80114, -178.386deg) obs_actual=(-1.61081, -0.428499) obs_expected=(-1.57822, -0.436871) delta=(-0.0325908, 0.00837267) |delta|=0.0336491m
I0419 21:05:46.590133 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295465374189.
I0419 21:05:46.591532 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295465618975.
I0419 21:05:46.592213 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:46.592308 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295465696183.
I0419 21:05:46.594409 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:46.594545 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295465940506.
I0419 21:05:46.595122 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:46.595172 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=15, centroid=(0.369507, -0.740979)
I0419 21:05:46.595191 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:46.595252 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295465940830.
I0419 21:05:46.623375 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295466217705.
I0419 21:05:46.726509 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:46.726696 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295466252407.
I0419 21:05:46.727828 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059252s, prior_pose=(6.21034, -1.80364), yaw=-178.336 deg
I0419 21:05:46.727916 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:05:46.728150 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295466533026.
I0419 21:05:46.728811 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295466533289.
I0419 21:05:46.730958 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295466814504.
I0419 21:05:46.731798 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295466859937.
I0419 21:05:46.732900 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.51 deg, rms_residual=0.010123m, sigma_yaw=0.0133176 rad, N=2
I0419 21:05:46.732980 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(6.18245, -1.79221, -178.51deg) inliers=2 rms=0.010123m
I0419 21:05:46.733016 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295467097099.
I0419 21:05:46.734508 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295467141457.
I0419 21:05:46.742865 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.157385, -0.484266), points=24, range=0.508417, residual=0.0113184, extent=0.0343463
I0419 21:05:46.742991 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.157385, -0.484266), tracking=(0.141115, -0.484266), map_predicted=(6.02909, -1.31798), range=0.508417, pts=24
I0419 21:05:46.743039 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0142361m maha_sq=0.00878879 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02909, -1.31798) lm_pos=(6.015, -1.32) delta=(0.0140922, 0.00201888) -> 1 candidate(s)
I0419 21:05:46.743134 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.00878879 range=0.508417 variance=0.000559569 t_weight=5361.27 r_weight=0 yaml=(6.015, -1.32) prior=(6.18486, -1.79774, -178.259deg) obs_actual=(0.141115, -0.484266) obs_expected=(0.155262, -0.482676) delta=(-0.014147, -0.00158974) |delta|=0.0142361m
I0419 21:05:46.743235 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295467419893.
I0419 21:05:46.744318 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.410594, -0.745776)
I0419 21:05:46.744472 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295467420436.
I0419 21:05:46.846607 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295467711096.
I0419 21:05:46.847347 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295467711383.
I0419 21:05:46.848788 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295467977342.
I0419 21:05:46.850345 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:46.850464 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:46.850524 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295468022270.
I0419 21:05:46.851640 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:46.851691 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:46.851764 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295468299522.
I0419 21:05:46.858918 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295468299939.
I0419 21:05:46.862599 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295468619622.
I0419 21:05:46.863258 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:46.863323 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295468619751.
I0419 21:05:46.891125 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:46.891525 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295468897059.
I0419 21:05:46.993250 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:46.993342 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.456864, -0.750342)
I0419 21:05:46.993360 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:46.993398 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=49.7825 rad/s > flush threshold 3.
I0419 21:05:46.994776 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295469178507.
I0419 21:05:46.995360 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.463401, -0.751266), points=13, range=0.885077, residual=0.0121005, extent=0.0355492
I0419 21:05:46.995419 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.463401, -0.751266), tracking=(-0.761901, 0.751266), map_predicted=(6.92172, -2.52168), range=0.885077, pts=13
I0419 21:05:46.995443 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0069311m maha_sq=0.00208047 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.92172, -2.52168) lm_pos=(6.915, -2.52) delta=(0.00672473, -0.00167873) -> 1 candidate(s)
I0419 21:05:46.995464 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:46.995518 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295469178725.
I0419 21:05:46.997335 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564494s, prior_pose=(6.12809, -1.7944), yaw=-178.262 deg
I0419 21:05:46.997403 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=252, threshold=230, above_threshold=33, candidates=33
I0419 21:05:46.997570 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0163051 range=0.53113 variance=0.000542835 t_weight=5526.55 r_weight=0 yaml=(6.015, -1.32) prior=(6.12809, -1.7944, -178.262deg) obs_actual=(0.0803399, -0.484231) obs_expected=(0.098652, -0.477615) delta=(-0.0183121, -0.00661638) |delta|=0.0194707m
I0419 21:05:46.997633 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295469461913.
I0419 21:05:46.998283 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295469462163.
I0419 21:05:46.999585 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295469775373.
I0419 21:05:47.000850 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.0259 rad/s > flush threshold 3.
I0419 21:05:47.007725 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295470067120.
I0419 21:05:47.009155 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295470067353.
I0419 21:05:47.106370 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295470335998.
I0419 21:05:47.107125 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.45701, 0.422378)
I0419 21:05:47.107264 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295470383996.
I0419 21:05:47.108629 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295470654379.
I0419 21:05:47.110030 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=116.777 rad/s > flush threshold 3.
I0419 21:05:47.111449 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295470963735.
I0419 21:05:47.112115 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295470963954.
I0419 21:05:47.113246 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(6.0748, -1.79276), yaw=-178.517 deg backend=(6.17595, -1.79452)
I0419 21:05:47.122113 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:47.122193 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.671047, 0.715391), points=11, range=0.979455, residual=0.0102099, extent=0.0294111
I0419 21:05:47.122215 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:47.122234 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.671047, 0.715391), tracking=(0.969547, 0.715391), map_predicted=(5.12409, -2.53301), range=0.979455, pts=11
I0419 21:05:47.122259 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0158708m maha_sq=0.0107683 (gate chi2=5.99) pose_sigma=(0.151122, 0.151122, rho=0) det_map=(5.12409, -2.53301) lm_pos=(5.115, -2.52) delta=(0.00909269, -0.0130079) -> 1 candidate(s)
I0419 21:05:47.122356 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295471216276.
I0419 21:05:47.126375 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295471259498.
I0419 21:05:47.150149 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:47.150255 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0193132 range=0.974 variance=0.000599321 t_weight=5005.66 r_weight=0 yaml=(5.115, -2.52) prior=(6.0748, -1.79276, -178.517deg) obs_actual=(0.962146, 0.715761) obs_expected=(0.9783, 0.702153) delta=(-0.0161538, 0.013608) |delta|=0.0211216m
I0419 21:05:47.150350 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:47.150377 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295471494665.
I0419 21:05:47.216988 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295471538140.
I0419 21:05:47.217238 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:47.218356 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.651868, 0.717588)
I0419 21:05:47.218456 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:47.218546 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295471820489.
I0419 21:05:47.219133 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:47.219195 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:47.219270 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295471820649.
I0419 21:05:47.221158 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:47.221261 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472101632.
I0419 21:05:47.221827 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:47.221905 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472101770.
I0419 21:05:47.237792 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836676s, prior_pose=(6.04428, -1.7949), yaw=-178.605 deg
I0419 21:05:47.237891 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=254, threshold=230, above_threshold=12, candidates=12
I0419 21:05:47.238037 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472374816.
I0419 21:05:47.242187 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472416584.
I0419 21:05:47.271090 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472704150.
I0419 21:05:47.271647 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472704504.
I0419 21:05:47.344370 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472986505.
I0419 21:05:47.344960 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295472986663.
I0419 21:05:47.346446 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.49257, -0.509084)
I0419 21:05:47.346575 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295473268014.
I0419 21:05:47.347911 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295473298435.
I0419 21:05:47.358253 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295473577275.
I0419 21:05:47.359018 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.60916, -0.754438), points=12, range=0.972167, residual=0.0125522, extent=0.0393836
I0419 21:05:47.359086 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.60916, -0.754438), tracking=(-0.90766, 0.754438), map_predicted=(6.94752, -2.53119), range=0.972167, pts=12
I0419 21:05:47.359110 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0343973m maha_sq=0.0512059 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.94752, -2.53119) lm_pos=(6.915, -2.52) delta=(0.0325245, -0.0111949) -> 1 candidate(s)
I0419 21:05:47.359231 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295473577387.
I0419 21:05:47.387153 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295473859184.
I0419 21:05:47.390681 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0390644 range=0.976 variance=0.000572222 t_weight=5242.72 r_weight=0 yaml=(6.915, -2.52) prior=(6.00801, -1.79643, -178.698deg) obs_actual=(-0.919036, 0.752722) obs_expected=(-0.890312, 0.743991) delta=(-0.0287239, 0.00873158) |delta|=0.0300217m
I0419 21:05:47.390805 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295473901046.
I0419 21:05:47.418396 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:47.418512 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:47.418605 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295474179714.
I0419 21:05:47.485056 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.63078, -0.753862)
I0419 21:05:47.485198 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=11.0617 rad/s > flush threshold 3.
I0419 21:05:47.485249 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.253 deg, rms_residual=0.00233224m, sigma_yaw=0.00310002 rad, N=2
I0419 21:05:47.485280 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.96831, -1.79655, -178.253deg) inliers=2 rms=0.00233224m
I0419 21:05:47.485316 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295474179974.
I0419 21:05:47.486657 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:47.486755 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:47.486780 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295474453518.
I0419 21:05:47.487493 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295474497876.
I0419 21:05:47.489430 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:47.489524 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295474739583.
I0419 21:05:47.490151 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:47.490202 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:47.490268 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295474772950.
I0419 21:05:47.502642 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:47.502808 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295475022402.
I0419 21:05:47.510385 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:47.510562 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295475098328.
I0419 21:05:47.533783 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0594595s, prior_pose=(5.95511, -1.79532), yaw=-178.641 deg
I0419 21:05:47.533960 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=14, candidates=14
I0419 21:05:47.534042 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.53569, 0.71076)
I0419 21:05:47.534157 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295475334178.
I0419 21:05:47.534914 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295475334293.
I0419 21:05:47.604961 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.525621, 0.710261), points=13, range=0.885462, residual=0.0118307, extent=0.0353348
I0419 21:05:47.605085 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.525621, 0.710261), tracking=(0.824121, 0.710261), map_predicted=(5.14205, -2.52504), range=0.885462, pts=13
I0419 21:05:47.605118 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0275144m maha_sq=0.0326065 (gate chi2=5.99) pose_sigma=(0.150442, 0.150442, rho=0) det_map=(5.14205, -2.52504) lm_pos=(5.115, -2.52) delta=(0.0270494, -0.00503677) -> 1 candidate(s)
I0419 21:05:47.605206 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295475616553.
I0419 21:05:47.606020 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295475661966.
I0419 21:05:47.607203 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0552988 range=0.880667 variance=0.000581578 t_weight=5158.38 r_weight=0 yaml=(5.115, -2.52) prior=(5.94921, -1.79556, -178.65deg) obs_actual=(0.815671, 0.709605) obs_expected=(0.851044, 0.704588) delta=(-0.0353725, 0.00501725) |delta|=0.0357265m
I0419 21:05:47.607263 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295475933859.
I0419 21:05:47.608528 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=36.596 rad/s > flush threshold 3.
I0419 21:05:47.608599 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295475933999.
I0419 21:05:47.622301 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295476216097.
I0419 21:05:47.626637 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295476260491.
I0419 21:05:47.655949 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.504607, 0.711668)
I0419 21:05:47.656114 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295476496491.
I0419 21:05:47.658149 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295476576499.
I0419 21:05:47.678563 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295476779886.
I0419 21:05:47.751050 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295476815967.
I0419 21:05:47.752308 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:47.752372 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:47.752491 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295477096911.
I0419 21:05:47.753295 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295477141677.
I0419 21:05:47.755164 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:47.755239 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:47.755261 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295477375544.
I0419 21:05:47.756042 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=24, centroid=(-0.144975, 0.476412)
I0419 21:05:47.756089 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.145529, 0.475865), points=24, range=0.498083, residual=0.0110753, extent=0.0360368
I0419 21:05:47.756116 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.145529, 0.475865), tracking=(-0.152971, -0.475865), map_predicted=(6.02199, -1.31578), range=0.498083, pts=24
I0419 21:05:47.756140 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00816371m maha_sq=0.00289089 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02199, -1.31578) lm_pos=(6.015, -1.32) delta=(0.0069893, 0.00421852) -> 1 candidate(s)
I0419 21:05:47.756208 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295477416171.
I0419 21:05:47.770213 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:47.770355 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295477697418.
I0419 21:05:47.771768 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:47.771816 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:47.771848 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=9.37253 rad/s > flush threshold 3.
I0419 21:05:47.771884 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00253929 range=0.495652 variance=0.000544751 t_weight=5507.1 r_weight=0 yaml=(6.015, -1.32) prior=(5.86607, -1.79509, -178.584deg) obs_actual=(-0.166346, -0.476422) obs_expected=(-0.160627, -0.471259) delta=(-0.00571842, -0.0051626) |delta|=0.00770408m
I0419 21:05:47.771935 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295477697720.
I0419 21:05:47.798769 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 3 inliers from pool of 3 (intra-scan=1, buffered=2).
I0419 21:05:47.799033 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295477978789.
I0419 21:05:47.802338 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:47.802541 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295478015016.
I0419 21:05:47.871330 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560888s, prior_pose=(5.85872, -1.79324), yaw=-178.555 deg
I0419 21:05:47.871445 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1354, max_intensity=255, threshold=230, above_threshold=16, candidates=16
I0419 21:05:47.871601 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295478258608.
I0419 21:05:47.872346 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295478292022.
I0419 21:05:47.873582 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295478577311.
I0419 21:05:47.874909 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=27, centroid=(-0.108418, 0.475561)
I0419 21:05:47.874979 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.7617 rad/s > flush threshold 3.
I0419 21:05:47.875046 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295478577485.
I0419 21:05:47.886062 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295478853812.
I0419 21:05:47.890139 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295478894200.
I0419 21:05:47.914417 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295479136233.
I0419 21:05:47.919202 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295479181240.
I0419 21:05:47.946861 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295479458610.
I0419 21:05:48.047787 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788029, -0.765395), points=8, range=1.10025, residual=0.0106414, extent=0.0337692
I0419 21:05:48.047919 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.788029, -0.765395), tracking=(-1.08653, 0.765395), map_predicted=(6.91131, -2.53045), range=1.10025, pts=8
I0419 21:05:48.047952 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0110814m maha_sq=0.00519157 (gate chi2=5.99) pose_sigma=(0.151936, 0.151936, rho=0) det_map=(6.91131, -2.53045) lm_pos=(6.915, -2.52) delta=(-0.0036944, -0.0104474) -> 1 candidate(s)
I0419 21:05:48.047974 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.6636 rad/s > flush threshold 3.
I0419 21:05:48.048038 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295479458804.
I0419 21:05:48.049333 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00274988 range=0.818375 variance=0.000643522 t_weight=4661.84 r_weight=0 yaml=(5.115, -2.52) prior=(5.80471, -1.79437, -178.468deg) obs_actual=(0.701258, 0.709366) obs_expected=(0.708856, 0.706933) delta=(-0.00759749, 0.0024331) |delta|=0.00797758m
I0419 21:05:48.049475 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295479740317.
I0419 21:05:48.050206 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.636 deg, rms_residual=0.0111267m, sigma_yaw=0.0146187 rad, N=2
I0419 21:05:48.050292 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.79678, -1.78909, -178.636deg) inliers=2 rms=0.0111267m
I0419 21:05:48.050331 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295479775078.
I0419 21:05:48.051486 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.79559, -1.79297), yaw=-178.445 deg backend=(5.89255, -1.7928)
I0419 21:05:48.052323 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(0.399111, 0.712438)
I0419 21:05:48.052378 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:48.052404 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:48.052522 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295480059665.
I0419 21:05:48.053288 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480059865.
I0419 21:05:48.054546 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:48.054630 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:48.054661 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480340957.
I0419 21:05:48.056103 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480341900.
I0419 21:05:48.062566 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:48.062827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480617175.
I0419 21:05:48.067039 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:48.067130 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:48.067308 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480661816.
I0419 21:05:48.158224 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:48.158371 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480896200.
I0419 21:05:48.159166 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0394085, 0.474056), points=27, range=0.475037, residual=0.0115956, extent=0.036119
I0419 21:05:48.159225 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0394085, 0.474056), tracking=(-0.259092, -0.474056), map_predicted=(6.02553, -1.31661), range=0.475037, pts=27
I0419 21:05:48.159250 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.011066m maha_sq=0.00530914 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02553, -1.31661) lm_pos=(6.015, -1.32) delta=(0.0105348, 0.00338729) -> 1 candidate(s)
I0419 21:05:48.159271 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:48.159334 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295480933622.
I0419 21:05:48.160368 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0871775s, prior_pose=(5.77882, -1.79722), yaw=-178.515 deg
I0419 21:05:48.160432 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:48.160576 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295481213675.
I0419 21:05:48.162076 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.030633 range=1.14614 variance=0.000568202 t_weight=5279.81 r_weight=0 yaml=(6.915, -2.52) prior=(5.76452, -1.80135, -178.468deg) obs_actual=(-1.14822, 0.769542) obs_expected=(-1.13086, 0.749153) delta=(-0.0173545, 0.0203893) |delta|=0.0267751m
I0419 21:05:48.162186 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295481259304.
I0419 21:05:48.163249 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.24416, -0.515328)
I0419 21:05:48.163339 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295481493283.
I0419 21:05:48.164157 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295481540304.
I0419 21:05:48.182504 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295481814514.
I0419 21:05:48.183696 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295481814782.
I0419 21:05:48.211052 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482098472.
I0419 21:05:48.311854 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=44.2396 rad/s > flush threshold 3.
I0419 21:05:48.311990 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482098729.
I0419 21:05:48.313400 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482373680.
I0419 21:05:48.314105 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.01166, 0.471321), points=27, range=0.472333, residual=0.011298, extent=0.03814
I0419 21:05:48.314158 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.01166, 0.471321), tracking=(-0.31016, -0.471321), map_predicted=(6.04356, -1.32234), range=0.472333, pts=27
I0419 21:05:48.314183 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0286575m maha_sq=0.0356164 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.04356, -1.32234) lm_pos=(6.015, -1.32) delta=(0.0285619, -0.00233838) -> 1 candidate(s)
I0419 21:05:48.314250 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482421818.
I0419 21:05:48.316069 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482700126.
I0419 21:05:48.316682 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.897651, -0.772949)
I0419 21:05:48.316761 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0604407 range=1.1846 variance=0.000585848 t_weight=5120.78 r_weight=0 yaml=(6.915, -2.52) prior=(5.73225, -1.8009, -178.358deg) obs_actual=(-1.19302, 0.772987) obs_expected=(-1.16166, 0.752696) delta=(-0.0313629, 0.0202902) |delta|=0.037354m
I0419 21:05:48.316817 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482700369.
I0419 21:05:48.318105 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:48.318167 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:48.318216 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.795 deg, rms_residual=0.0053063m, sigma_yaw=0.00702536 rad, N=2
I0419 21:05:48.318259 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.71425, -1.80108, -178.795deg) inliers=2 rms=0.0053063m
I0419 21:05:48.318286 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295482974938.
I0419 21:05:48.319717 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483019263.
I0419 21:05:48.325896 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:48.325989 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:48.326010 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483255098.
I0419 21:05:48.330595 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483299847.
I0419 21:05:48.413275 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:48.413415 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483575985.
I0419 21:05:48.414105 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:48.414165 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:48.414270 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483576194.
I0419 21:05:48.415544 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:48.415630 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483855482.
I0419 21:05:48.417352 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0567876, 0.468033), points=27, range=0.472185, residual=0.0112675, extent=0.0362881
I0419 21:05:48.417429 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0567876, 0.468033), tracking=(-0.355288, -0.468033), map_predicted=(6.02711, -1.32446), range=0.472185, pts=27
I0419 21:05:48.417455 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0129032m maha_sq=0.00711451 (gate chi2=5.99) pose_sigma=(0.151143, 0.151143, rho=0) det_map=(6.02711, -1.32446) lm_pos=(6.015, -1.32) delta=(0.0121068, -0.00446276) -> 1 candidate(s)
I0419 21:05:48.417476 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:48.417557 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295483900729.
I0419 21:05:48.418812 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561891s, prior_pose=(5.68627, -1.80312), yaw=-178.251 deg
I0419 21:05:48.418869 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:05:48.418936 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.27581, 0.709053)
I0419 21:05:48.419024 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295484137876.
I0419 21:05:48.419737 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0381109 range=1.212 variance=0.000605743 t_weight=4952.6 r_weight=0 yaml=(6.915, -2.52) prior=(5.68627, -1.80312, -178.251deg) obs_actual=(-1.22617, 0.776072) obs_expected=(-1.20629, 0.75404) delta=(-0.0198794, 0.0220316) |delta|=0.0296746m
I0419 21:05:48.419806 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295484176421.
I0419 21:05:48.446539 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295484454218.
I0419 21:05:48.448295 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295484454632.
I0419 21:05:48.474766 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295484733288.
I0419 21:05:48.585777 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295484778897.
I0419 21:05:48.587574 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295485019350.
I0419 21:05:48.588771 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295485054261.
I0419 21:05:48.591622 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295485300737.
I0419 21:05:48.592701 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295485334297.
I0419 21:05:48.594231 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.232598, 0.708601)
I0419 21:05:48.594370 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295485620963.
I0419 21:05:48.595886 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.109576, 0.465234), points=27, range=0.478963, residual=0.0114365, extent=0.038248
I0419 21:05:48.595945 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.109576, 0.465234), tracking=(-0.408076, -0.465234), map_predicted=(6.02286, -1.31555), range=0.478963, pts=27
I0419 21:05:48.595995 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.00902805m maha_sq=0.00346716 (gate chi2=5.99) pose_sigma=(0.151481, 0.151481, rho=0) det_map=(6.02286, -1.31555) lm_pos=(6.015, -1.32) delta=(0.00785615, 0.00444821) -> 1 candidate(s)
I0419 21:05:48.596021 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=54.734 rad/s > flush threshold 3.
I0419 21:05:48.596086 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295485621146.
I0419 21:05:48.597503 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:48.597560 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:48.597749 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295485900790.
I0419 21:05:48.598822 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0611501 range=1.26043 variance=0.000619222 t_weight=4844.79 r_weight=0 yaml=(6.915, -2.52) prior=(5.63155, -1.79498, -177.965deg) obs_actual=(-1.29275, 0.781438) obs_expected=(-1.2569, 0.770129) delta=(-0.0358589, 0.0113086) |delta|=0.0375998m
I0419 21:05:48.598904 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295485935187.
I0419 21:05:48.665410 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:48.665731 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:48.665834 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:48.665860 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295486213721.
I0419 21:05:48.666584 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295486213924.
I0419 21:05:48.667834 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:48.667922 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.125 deg, rms_residual=0.0126767m, sigma_yaw=0.0166213 rad, N=2
I0419 21:05:48.667958 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.61373, -1.817, -179.125deg) inliers=2 rms=0.0126767m
I0419 21:05:48.667984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295486494734.
I0419 21:05:48.669515 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:48.669574 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:48.669723 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295486541507.
I0419 21:05:48.678557 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:48.678705 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295486777409.
I0419 21:05:48.681756 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:48.681870 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295486813315.
I0419 21:05:48.710839 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558996s, prior_pose=(5.59223, -1.79772), yaw=-177.805 deg
I0419 21:05:48.711045 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:05:48.711244 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.190623, 0.703049)
I0419 21:05:48.711445 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487100503.
I0419 21:05:48.712809 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.156571, 0.465566), points=27, range=0.492185, residual=0.011995, extent=0.0398688
I0419 21:05:48.712903 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.156571, 0.465566), tracking=(-0.455071, -0.465566), map_predicted=(6.02913, -1.31506), range=0.492185, pts=27
I0419 21:05:48.712952 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0149672m maha_sq=0.00970822 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.02913, -1.31506) lm_pos=(6.015, -1.32) delta=(0.0141288, 0.0049389) -> 1 candidate(s)
I0419 21:05:48.713105 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487100760.
I0419 21:05:48.738646 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487376902.
I0419 21:05:48.810570 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0247286 range=1.2926 variance=0.000625842 t_weight=4793.54 r_weight=0 yaml=(6.915, -2.52) prior=(5.57767, -1.80577, -177.731deg) obs_actual=(-1.31925, 0.78794) obs_expected=(-1.30801, 0.766611) delta=(-0.0112345, 0.0213287) |delta|=0.0241065m
I0419 21:05:48.810737 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487415211.
I0419 21:05:48.812067 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487651826.
I0419 21:05:48.812835 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487695883.
I0419 21:05:48.814725 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487941509.
I0419 21:05:48.815506 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295487981571.
I0419 21:05:48.825845 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295488253088.
I0419 21:05:48.830435 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295488297999.
I0419 21:05:48.854278 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=20, centroid=(0.148428, 0.702435)
I0419 21:05:48.854492 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295488536425.
I0419 21:05:48.857944 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295488573002.
I0419 21:05:48.926031 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.5349, -1.80389), yaw=-177.638 deg backend=(5.66612, -1.79737)
I0419 21:05:48.927173 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:48.927249 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.0245, -0.533307), points=4, range=1.14925, residual=0.0134336, extent=0.0306772
I0419 21:05:48.927274 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:48.927292 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.0245, -0.533307), tracking=(1.323, -0.533307), map_predicted=(4.19104, -1.32557), range=1.14925, pts=4
I0419 21:05:48.927316 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0245946m maha_sq=0.0256744 (gate chi2=5.99) pose_sigma=(0.151399, 0.151399, rho=0) det_map=(4.19104, -1.32557) lm_pos=(4.215, -1.32) delta=(-0.0239559, -0.00556856) -> 1 candidate(s)
I0419 21:05:48.927412 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295488869739.
I0419 21:05:48.928124 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.00372981 range=0.510577 variance=0.00058863 t_weight=5096.58 r_weight=0 yaml=(6.015, -1.32) prior=(5.5349, -1.80389, -177.638deg) obs_actual=(-0.50891, -0.463379) obs_expected=(-0.499635, -0.463695) delta=(-0.00927451, 0.000315999) |delta|=0.00927989m
I0419 21:05:48.928196 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295488869901.
I0419 21:05:48.929461 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:48.929540 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:48.929565 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295489134311.
I0419 21:05:48.930941 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295489178984.
I0419 21:05:48.942078 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:48.942330 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295489416189.
I0419 21:05:48.946637 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:48.946837 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:48.946995 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.498 deg, rms_residual=0.0121064m, sigma_yaw=0.0158854 rad, N=2
I0419 21:05:48.947070 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.50184, -1.7953, -177.498deg) inliers=2 rms=0.0121064m
I0419 21:05:48.947140 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295489461298.
I0419 21:05:48.973878 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:48.974014 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295489733494.
I0419 21:05:48.974767 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.959076, -0.701083)
I0419 21:05:48.974848 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:48.974916 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295489733643.
I0419 21:05:49.002089 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838818s, prior_pose=(5.50971, -1.80491), yaw=-177.492 deg
I0419 21:05:49.002194 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:49.002419 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295490017802.
I0419 21:05:49.063964 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295490107600.
I0419 21:05:49.065099 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295490293463.
I0419 21:05:49.065927 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.253758, 0.462454), points=25, range=0.52928, residual=0.0129509, extent=0.04254
I0419 21:05:49.066011 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.253758, 0.462454), tracking=(-0.552258, -0.462454), map_predicted=(6.03151, -1.3218), range=0.52928, pts=25
I0419 21:05:49.066038 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0166058m maha_sq=0.0119375 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.03151, -1.3218) lm_pos=(6.015, -1.32) delta=(0.0165082, -0.00179788) -> 1 candidate(s)
I0419 21:05:49.066093 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295490341523.
I0419 21:05:49.067885 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295490600562.
I0419 21:05:49.068729 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[7] 'ref_8' maha_sq=0.0169447 range=0.533522 variance=0.000566355 t_weight=5297.03 r_weight=0 yaml=(6.015, -1.32) prior=(5.49196, -1.81206, -177.428deg) obs_actual=(-0.563249, -0.461549) obs_expected=(-0.544593, -0.468092) delta=(-0.0186561, 0.00654244) |delta|=0.01977m
I0419 21:05:49.068809 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295490616760.
I0419 21:05:49.090066 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295490894153.
I0419 21:05:49.094566 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295490940141.
I0419 21:05:49.120903 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.947475, -0.536024)
I0419 21:05:49.121124 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295491203764.
I0419 21:05:49.121906 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295491204074.
I0419 21:05:49.187099 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295491470659.
I0419 21:05:49.187975 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295491494014.
I0419 21:05:49.189244 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:49.189364 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:49.189456 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295491777663.
I0419 21:05:49.190922 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295491813463.
I0419 21:05:49.210330 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:49.210469 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:49.210494 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295492097016.
I0419 21:05:49.211251 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295492097153.
I0419 21:05:49.237823 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0396258, 0.698126), points=20, range=0.701, residual=0.0125714, extent=0.0392315
I0419 21:05:49.237926 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:49.237942 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0396258, 0.698126), tracking=(0.338126, 0.698126), map_predicted=(5.13713, -2.53182), range=0.701, pts=20
I0419 21:05:49.237967 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0250851m maha_sq=0.0270695 (gate chi2=5.99) pose_sigma=(0.150502, 0.150502, rho=0) det_map=(5.13713, -2.53182) lm_pos=(5.115, -2.52) delta=(0.0221264, -0.0118188) -> 1 candidate(s)
I0419 21:05:49.238056 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295492373383.
I0419 21:05:49.238699 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:05:49.238739 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:05:49.238806 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295492373515.
I0419 21:05:49.272076 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.906464, -0.539267)
I0419 21:05:49.272235 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:49.272281 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.040803 range=0.694895 variance=0.000641534 t_weight=4676.29 r_weight=0 yaml=(5.115, -2.52) prior=(5.44258, -1.81879, -177.347deg) obs_actual=(0.329636, 0.691737) obs_expected=(0.359681, 0.685296) delta=(-0.0300458, 0.00644149) |delta|=0.0307286m
I0419 21:05:49.272362 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295492716314.
I0419 21:05:49.335611 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:49.335732 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=140.632 rad/s > flush threshold 3.
I0419 21:05:49.336819 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563001s, prior_pose=(5.43127, -1.82528), yaw=-177.245 deg
I0419 21:05:49.336925 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1350, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:49.337066 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:05:49.337208 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295492936384.
I0419 21:05:49.338013 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295492984710.
I0419 21:05:49.340158 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295493252987.
I0419 21:05:49.340906 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295493253091.
I0419 21:05:49.353895 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295493533126.
I0419 21:05:49.358287 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295493577039.
I0419 21:05:49.382614 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.80368, 0.629863)
I0419 21:05:49.382874 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295493820893.
I0419 21:05:49.386020 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295493854437.
I0419 21:05:49.456929 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295494139691.
I0419 21:05:49.457747 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295494139856.
I0419 21:05:49.458926 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.857361, -0.54793), points=5, range=1.0138, residual=0.0111437, extent=0.0294579
I0419 21:05:49.459017 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.857361, -0.54793), tracking=(1.15586, -0.54793), map_predicted=(4.22285, -1.33405), range=1.0138, pts=5
I0419 21:05:49.459048 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0160919m maha_sq=0.0112221 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.22285, -1.33405) lm_pos=(4.215, -1.32) delta=(0.00784884, -0.014048) -> 1 candidate(s)
I0419 21:05:49.459146 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295494414432.
I0419 21:05:49.460768 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295494460670.
I0419 21:05:49.470660 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:49.470762 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:49.470844 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0675494 range=0.703105 variance=0.000575522 t_weight=5212.66 r_weight=0 yaml=(5.115, -2.52) prior=(5.38597, -1.82249, -177.045deg) obs_actual=(0.271939, 0.701575) obs_expected=(0.306567, 0.682612) delta=(-0.0346286, 0.0189631) |delta|=0.0394809m
I0419 21:05:49.470928 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295494700429.
I0419 21:05:49.474128 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(1.07488, -0.711449)
I0419 21:05:49.474308 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295494736773.
I0419 21:05:49.502712 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295495015564.
I0419 21:05:49.504348 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:49.504478 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:49.504524 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295495015872.
I0419 21:05:49.530994 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:49.531199 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.73 deg, rms_residual=0.00729016m, sigma_yaw=0.00962664 rad, N=2
I0419 21:05:49.531333 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.34594, -1.81486, -177.73deg) inliers=2 rms=0.00729016m
I0419 21:05:49.531397 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295495301476.
I0419 21:05:49.626623 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:05:49.626727 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=1
I0419 21:05:49.626827 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295495342373.
I0419 21:05:49.628152 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295495619063.
I0419 21:05:49.628717 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.25346, -0.816605)
I0419 21:05:49.628772 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:49.628803 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:49.628842 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295495619233.
I0419 21:05:49.630507 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558641s, prior_pose=(5.34488, -1.81948), yaw=-176.873 deg
I0419 21:05:49.630580 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1351, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:05:49.630748 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295495901014.
I0419 21:05:49.631340 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295495901136.
I0419 21:05:49.632541 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295496177365.
I0419 21:05:49.633962 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.436281, 0.450392), points=15, range=0.631067, residual=0.0132762, extent=0.0368818
I0419 21:05:49.634020 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.436281, 0.450392), tracking=(-0.734781, -0.450392), map_predicted=(6.03619, -1.3294), range=0.631067, pts=15
I0419 21:05:49.634044 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[7] 'ref_8' eucl_dist=0.0231794m maha_sq=0.022859 (gate chi2=5.99) pose_sigma=(0.151305, 0.151305, rho=0) det_map=(6.03619, -1.3294) lm_pos=(6.015, -1.32) delta=(0.021189, -0.0093973) -> 1 candidate(s)
I0419 21:05:49.634148 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295496222371.
I0419 21:05:49.650053 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.72988, 0.62108)
I0419 21:05:49.650480 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295496493255.
I0419 21:05:49.651486 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0425387 range=0.636562 variance=0.000603853 t_weight=4968.1 r_weight=0 yaml=(6.015, -1.32) prior=(5.32741, -1.81969, -176.833deg) obs_actual=(-0.743608, -0.450238) obs_expected=(-0.714143, -0.460945) delta=(-0.0294649, 0.0107065) |delta|=0.0313498m
I0419 21:05:49.651588 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295496493525.
I0419 21:05:49.729902 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295496794933.
I0419 21:05:49.730813 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295496818002.
I0419 21:05:49.731952 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295497051747.
I0419 21:05:49.733407 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295497095741.
I0419 21:05:49.734731 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295497336622.
I0419 21:05:49.738601 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.32083, -0.819994)
I0419 21:05:49.738786 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295497381664.
I0419 21:05:49.742153 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.27474, -1.80988), yaw=-176.805 deg backend=(5.39641, -1.80847)
I0419 21:05:49.766466 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:49.766557 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:49.766693 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295497659953.
I0419 21:05:49.767454 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295497660152.
I0419 21:05:49.794495 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.119532, 0.701567), points=18, range=0.7135, residual=0.0125913, extent=0.0374673
I0419 21:05:49.794649 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.119532, 0.701567), tracking=(0.178968, 0.701567), map_predicted=(5.13516, -2.52033), range=0.7135, pts=18
I0419 21:05:49.794699 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0201599m maha_sq=0.0175969 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13516, -2.52033) lm_pos=(5.115, -2.52) delta=(0.0201572, -0.000333572) -> 1 candidate(s)
I0419 21:05:49.794917 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295497937497.
I0419 21:05:49.869573 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:49.869726 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:49.869801 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295497992487.
I0419 21:05:49.871112 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:49.871248 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.0144642 range=0.715263 variance=0.000597863 t_weight=5017.88 r_weight=0 yaml=(5.115, -2.52) prior=(5.26323, -1.81202, -176.803deg) obs_actual=(0.169464, 0.701733) obs_expected=(0.187474, 0.698616) delta=(-0.0180104, 0.00311693) |delta|=0.0182782m
I0419 21:05:49.871336 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295498262367.
I0419 21:05:49.871954 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:49.872011 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:49.872108 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295498262649.
I0419 21:05:49.874197 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295498536768.
I0419 21:05:49.874833 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(1.34006, -0.818471)
I0419 21:05:49.874909 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:49.874945 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:49.874997 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295498536893.
I0419 21:05:49.882176 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0825651s, prior_pose=(5.25558, -1.81434), yaw=-176.802 deg
I0419 21:05:49.882300 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:49.882688 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295498818138.
I0419 21:05:49.890519 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295498895373.
I0419 21:05:49.915982 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295499153936.
I0419 21:05:49.916877 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.538 deg, rms_residual=0.0100911m, sigma_yaw=0.0132762 rad, N=2
I0419 21:05:49.916998 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.2097, -1.80913, -176.538deg) inliers=2 rms=0.0100911m
I0419 21:05:49.917111 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295499154102.
I0419 21:05:49.986402 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295499420901.
I0419 21:05:49.988284 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36513, -0.82295), points=3, range=1.59867, residual=0.0108544, extent=0.0229646
I0419 21:05:49.988406 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36513, -0.82295), tracking=(-1.66363, 0.82295), map_predicted=(6.93445, -2.53917), range=1.59867, pts=3
I0419 21:05:49.988437 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[8] 'ref_9' eucl_dist=0.0273052m maha_sq=0.0322665 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(6.93445, -2.53917) lm_pos=(6.915, -2.52) delta=(0.0194451, -0.0191693) -> 1 candidate(s)
I0419 21:05:49.988600 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295499457158.
I0419 21:05:49.990042 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295499736839.
I0419 21:05:49.991487 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.3813, -0.824494)
I0419 21:05:49.991585 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=74.1171 rad/s > flush threshold 3.
I0419 21:05:49.991636 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[8] 'ref_9' maha_sq=0.0509291 range=1.60867 variance=0.000601071 t_weight=4991.09 r_weight=0 yaml=(6.915, -2.52) prior=(5.21197, -1.81522, -176.636deg) obs_actual=(-1.68558, 0.825225) obs_expected=(-1.65874, 0.803489) delta=(-0.0268418, 0.0217359) |delta|=0.0345389m
I0419 21:05:49.991705 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295499736986.
I0419 21:05:50.002838 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500021259.
I0419 21:05:50.003578 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500021412.
I0419 21:05:50.030431 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500298110.
I0419 21:05:50.034689 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500342364.
I0419 21:05:50.057945 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:50.058058 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:50.058207 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500573336.
I0419 21:05:50.121176 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500622734.
I0419 21:05:50.122282 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.648669, -0.548383)
I0419 21:05:50.122424 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295500886152.
I0419 21:05:50.123030 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.400063, -0.710511), points=17, range=0.814647, residual=0.0156583, extent=0.04018
I0419 21:05:50.123085 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.400063, -0.710511), tracking=(0.101563, 0.710511), map_predicted=(5.12123, -2.52954), range=0.814647, pts=17
I0419 21:05:50.123111 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0113962m maha_sq=0.00560116 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.12123, -2.52954) lm_pos=(5.115, -2.52) delta=(0.00623255, -0.00954086) -> 1 candidate(s)
I0419 21:05:50.123162 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 3 jointly-compatible match(es) from 3 survivor(s) (scale=1).
I0419 21:05:50.123195 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=3 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:50.123211 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295500886280.
I0419 21:05:50.125062 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:50.125190 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[6] 'ref_7' maha_sq=0.00159995 range=0.742778 variance=0.000598355 t_weight=5013.74 r_weight=0 yaml=(5.115, -2.52) prior=(5.16178, -1.80901, -176.556deg) obs_actual=(0.0838354, 0.709442) obs_expected=(0.0894147, 0.70689) delta=(-0.00557932, 0.002552) |delta|=0.00613527m
I0419 21:05:50.125288 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295501175463.
I0419 21:05:50.126020 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=40, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:50.126070 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:05:50.126154 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295501219180.
I0419 21:05:50.129011 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:50.146414 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295501458507.
I0419 21:05:50.149770 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 29 -> 18 (threshold=0.03, iters=3)
I0419 21:05:50.149873 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:50.149923 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:50.149984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295501492367.
I0419 21:05:50.178100 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060211s, prior_pose=(5.15045, -1.81137), yaw=-176.527 deg
I0419 21:05:50.178206 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1345, max_intensity=255, threshold=230, above_threshold=30, candidates=30
I0419 21:05:50.178344 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.58251, 0.612733)
I0419 21:05:50.178483 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295501777573.
I0419 21:05:50.182709 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295501821269.
I0419 21:05:50.247407 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502055056.
I0419 21:05:50.248162 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.362781, -0.706805), points=18, range=0.797111, residual=0.0151426, extent=0.040784
I0419 21:05:50.248226 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.362781, -0.706805), tracking=(0.0642809, 0.706805), map_predicted=(5.11837, -2.52699), range=0.797111, pts=18
I0419 21:05:50.248250 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.00775737m maha_sq=0.00259717 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11837, -2.52699) lm_pos=(5.115, -2.52) delta=(0.00337361, -0.00698539) -> 1 candidate(s)
I0419 21:05:50.248311 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.3 deg, rms_residual=0.00743888m, sigma_yaw=0.00982109 rad, N=2
I0419 21:05:50.248338 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.12908, -1.81647, -176.3deg) inliers=2 rms=0.00743888m
I0419 21:05:50.248364 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502111570.
I0419 21:05:50.249487 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502341388.
I0419 21:05:50.250815 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[8] 'ref_9' maha_sq=0.0321946 range=1.676 variance=0.000657232 t_weight=4564.6 r_weight=4296.81 yaml=(6.915, -2.52) prior=(5.12559, -1.81742, -176.514deg) obs_actual=(-1.76167, 0.830628) obs_expected=(-1.74338, 0.810099) delta=(-0.0182907, 0.0205281) |delta|=0.0274946m
I0419 21:05:50.250919 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295502381648.
I0419 21:05:50.265933 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.55748, 0.610882)
I0419 21:05:50.266131 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502654548.
I0419 21:05:50.270486 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502698717.
I0419 21:05:50.294380 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502935770.
I0419 21:05:50.298691 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295502980358.
I0419 21:05:50.326215 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295503255976.
I0419 21:05:50.391104 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.658248, 0.44117), points=8, range=0.79375, residual=0.00855902, extent=0.0241939
I0419 21:05:50.391254 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.658248, 0.44117), tracking=(-0.956748, -0.44117), map_predicted=(6.03022, -1.31969), range=0.79375, pts=8
I0419 21:05:50.391288 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[7] 'ref_8' eucl_dist=0.0152236m maha_sq=0.00994808 (gate chi2=5.99) pose_sigma=(0.150939, 0.150939, rho=0) det_map=(6.03022, -1.31969) lm_pos=(6.015, -1.32) delta=(0.0152203, 0.000314525) -> 1 candidate(s)
I0419 21:05:50.391309 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=13.1228 rad/s > flush threshold 3.
I0419 21:05:50.391391 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 3 landmark obs (yaw_constraint=yes) for scan at 639122295503256161.
I0419 21:05:50.393119 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:50.393239 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:50.393326 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295503537461.
I0419 21:05:50.393944 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(-0.319795, -0.701657)
I0419 21:05:50.394044 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295503537594.
I0419 21:05:50.396297 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[6] 'ref_7' maha_sq=0.00912249 range=0.769235 variance=0.000611075 t_weight=4909.38 r_weight=0 yaml=(5.115, -2.52) prior=(5.08872, -1.8208, -176.488deg) obs_actual=(0.00582831, 0.709372) obs_expected=(0.0166053, 0.699499) delta=(-0.010777, 0.00987321) |delta|=0.0146159m
I0419 21:05:50.396456 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295503824811.
I0419 21:05:50.397131 1264424 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:50.397217 1264424 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:50.397238 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295503824948.
I0419 21:05:50.414642 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:50.414824 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295504140681.
I0419 21:05:50.416219 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:50.416288 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:50.416325 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=32.296 rad/s > flush threshold 3.
I0419 21:05:50.416388 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295504140824.
I0419 21:05:50.442520 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295504419414.
I0419 21:05:50.445650 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.700693, 0.442053)
I0419 21:05:50.445771 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:50.445803 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:50.445868 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295504451853.
I0419 21:05:50.509371 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559125s, prior_pose=(5.05723, -1.82232), yaw=-176.422 deg
I0419 21:05:50.509500 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1348, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:50.509721 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295504699949.
I0419 21:05:50.510533 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.283751, -0.702247), points=17, range=0.759529, residual=0.0133334, extent=0.0405417
I0419 21:05:50.510601 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.283751, -0.702247), tracking=(-0.0147493, 0.702247), map_predicted=(5.11577, -2.52228), range=0.759529, pts=17
I0419 21:05:50.510627 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.00240807m maha_sq=0.000250845 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11577, -2.52228) lm_pos=(5.115, -2.52) delta=(0.000773571, -0.00228044) -> 1 candidate(s)
I0419 21:05:50.510700 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295504738152.
I0419 21:05:50.511829 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505005360.
I0419 21:05:50.513200 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=20.6392 rad/s > flush threshold 3.
I0419 21:05:50.513298 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.845 deg, rms_residual=0.00474578m, sigma_yaw=0.00628792 rad, N=2
I0419 21:05:50.513331 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(5.03992, -1.82725, -175.845deg) inliers=2 rms=0.00474578m
I0419 21:05:50.513363 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505005478.
I0419 21:05:50.530411 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[6] 'ref_7' maha_sq=0.0102918 range=0.789875 variance=0.000597422 t_weight=5021.58 r_weight=0 yaml=(5.115, -2.52) prior=(5.04364, -1.82138, -176.408deg) obs_actual=(-0.0378613, 0.713097) obs_expected=(-0.0274538, 0.701722) delta=(-0.0104075, 0.0113753) |delta|=0.015418m
I0419 21:05:50.530579 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505298062.
I0419 21:05:50.534832 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505342533.
I0419 21:05:50.561456 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=12, centroid=(0.500762, -0.547942)
I0419 21:05:50.561854 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505606075.
I0419 21:05:50.562704 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505615456.
I0419 21:05:50.586687 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505860871.
I0419 21:05:50.648718 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295505894203.
I0419 21:05:50.650182 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45477, 0.61003), points=3, range=1.574, residual=0.00757923, extent=0.0150912
I0419 21:05:50.650286 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45477, 0.61003), tracking=(1.75327, 0.61003), map_predicted=(3.30962, -2.5434), range=1.574, pts=3
I0419 21:05:50.650316 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.221617m maha_sq=2.13128 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.30962, -2.5434) lm_pos=(3.53, -2.52) delta=(-0.220377, -0.0234043) -> 1 candidate(s)
I0419 21:05:50.650401 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295506150107.
I0419 21:05:50.651110 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57076, -0.835193)
I0419 21:05:50.651230 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295506216967.
I0419 21:05:50.652207 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(5.00857, -1.82646), yaw=-176.374 deg backend=(5.13698, -1.82014)
I0419 21:05:50.653028 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:50.653101 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:50.653172 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295506456821.
I0419 21:05:50.653887 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295506501760.
I0419 21:05:50.674468 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[6] 'ref_7' maha_sq=0.0360413 range=0.813895 variance=0.000812442 t_weight=3692.57 r_weight=0 yaml=(5.115, -2.52) prior=(5.00857, -1.82646, -176.374deg) obs_actual=(-0.0852609, 0.716654) obs_expected=(-0.062362, 0.698882) delta=(-0.0228989, 0.0177721) |delta|=0.0289864m
I0419 21:05:50.674623 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295506738805.
I0419 21:05:50.677874 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:50.678004 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:50.678030 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295506773265.
I0419 21:05:50.706408 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.42655, 0.610416)
I0419 21:05:50.706525 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:05:50.706629 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507058780.
I0419 21:05:50.707378 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:50.707430 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:50.707509 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507059031.
I0419 21:05:50.774636 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.391928, 0.719398), points=10, range=0.8181, residual=0.0123779, extent=0.0331804
I0419 21:05:50.774751 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.391928, 0.719398), tracking=(-0.0934283, 0.719398), map_predicted=(5.11942, -2.53976), range=0.8181, pts=10
I0419 21:05:50.774783 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[6] 'ref_7' eucl_dist=0.0202506m maha_sq=0.0175227 (gate chi2=5.99) pose_sigma=(0.151023, 0.151023, rho=0) det_map=(5.11942, -2.53976) lm_pos=(5.115, -2.52) delta=(0.00441883, -0.0197626) -> 1 candidate(s)
I0419 21:05:50.774876 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507333838.
I0419 21:05:50.775579 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:50.775625 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:50.775668 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507378938.
I0419 21:05:50.776693 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0879439s, prior_pose=(4.98011, -1.82783), yaw=-176.328 deg
I0419 21:05:50.776747 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1355, max_intensity=251, threshold=230, above_threshold=25, candidates=25
I0419 21:05:50.776814 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.41589, 0.610746)
I0419 21:05:50.776882 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507652704.
I0419 21:05:50.778267 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507697022.
I0419 21:05:50.794415 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507938578.
I0419 21:05:50.799727 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.573 deg, rms_residual=0.00437464m, sigma_yaw=0.00579903 rad, N=2
I0419 21:05:50.799835 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.95444, -1.83845, -175.573deg) inliers=2 rms=0.00437464m
I0419 21:05:50.799875 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295507982853.
I0419 21:05:50.823478 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295508227770.
I0419 21:05:50.826651 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00112789 range=0.720111 variance=0.000571224 t_weight=5251.88 r_weight=0 yaml=(5.115, -2.52) prior=(4.95602, -1.82951, -176.259deg) obs_actual=(-0.1156, 0.694706) obs_expected=(-0.11359, 0.699394) delta=(-0.00201039, -0.00468831) |delta|=0.00510117m
I0419 21:05:50.826799 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295508260927.
I0419 21:05:50.919970 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=78.52 rad/s > flush threshold 3.
I0419 21:05:50.920156 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295508535377.
I0419 21:05:50.921485 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.38001, 0.609612)
I0419 21:05:50.921595 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.396896, -0.546125), points=16, range=0.679312, residual=0.0157297, extent=0.052221
I0419 21:05:50.921624 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.396896, -0.546125), tracking=(0.695396, -0.546125), map_predicted=(4.20851, -1.33367), range=0.679312, pts=16
I0419 21:05:50.921653 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0151364m maha_sq=0.00988224 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.20851, -1.33367) lm_pos=(4.215, -1.32) delta=(-0.00649437, -0.0136723) -> 1 candidate(s)
I0419 21:05:50.922339 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295508820691.
I0419 21:05:50.924917 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295509137241.
I0419 21:05:50.942402 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:50.942499 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:50.942581 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295509419401.
I0419 21:05:50.943944 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=9.46853 rad/s > flush threshold 3.
I0419 21:05:50.944028 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295509419498.
I0419 21:05:50.975907 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295509747791.
I0419 21:05:51.040463 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:51.040591 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:51.041322 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:51.041424 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:51.041523 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295510018812.
I0419 21:05:51.042688 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.33462, 0.608191)
I0419 21:05:51.042781 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.32903, 0.607994), points=3, range=1.46667, residual=0.0115872, extent=0.0245293
I0419 21:05:51.042809 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.32903, 0.607994), tracking=(1.62753, 0.607994), map_predicted=(3.31895, -2.55347), range=1.46667, pts=3
I0419 21:05:51.042832 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.213689m maha_sq=1.97563 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.31895, -2.55347) lm_pos=(3.53, -2.52) delta=(-0.211051, -0.0334719) -> 1 candidate(s)
I0419 21:05:51.044284 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:51.044353 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=27.079 rad/s > flush threshold 3.
I0419 21:05:51.044381 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:05:51.044446 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295510293232.
I0419 21:05:51.058486 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607134s, prior_pose=(4.88593, -1.84233), yaw=-176.207 deg
I0419 21:05:51.058599 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1361, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:51.058770 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295510581259.
I0419 21:05:51.061998 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:51.062105 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:51.062129 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295510615367.
I0419 21:05:51.090412 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[5] 'ref_6' maha_sq=0.0190976 range=0.642412 variance=0.000588578 t_weight=5097.03 r_weight=0 yaml=(4.215, -1.32) prior=(4.87555, -1.8429, -176.193deg) obs_actual=(0.632015, -0.545928) obs_expected=(0.624376, -0.565601) delta=(0.00763868, 0.0196737) |delta|=0.0211046m
I0419 21:05:51.090559 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295510898606.
I0419 21:05:51.091334 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295510898820.
I0419 21:05:51.185663 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=94.085 rad/s > flush threshold 3.
I0419 21:05:51.187064 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295511174078.
I0419 21:05:51.189141 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.0888095, -0.698276)
I0419 21:05:51.189316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295511462174.
I0419 21:05:51.191805 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.926894, 0.428933), points=4, range=1.0175, residual=0.00921442, extent=0.0198794
I0419 21:05:51.191915 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.926894, 0.428933), tracking=(-1.22539, -0.428933), map_predicted=(6.04701, -1.34129), range=1.0175, pts=4
I0419 21:05:51.191943 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0384435m maha_sq=0.0633894 (gate chi2=5.99) pose_sigma=(0.150927, 0.150927, rho=0) det_map=(6.04701, -1.34129) lm_pos=(6.015, -1.32) delta=(0.0320074, -0.0212937) -> 1 candidate(s)
I0419 21:05:51.192011 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295511776116.
I0419 21:05:51.208695 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=55.353 rad/s > flush threshold 3.
I0419 21:05:51.234012 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:51.234292 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:51.238188 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295512375502.
I0419 21:05:51.309293 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.74793, -0.846239)
I0419 21:05:51.309569 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295512660973.
I0419 21:05:51.310801 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:51.312130 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:51.312199 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:51.312295 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295512978840.
I0419 21:05:51.326800 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:51.327016 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295513259081.
I0419 21:05:51.354700 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561936s, prior_pose=(4.79829, -1.85309), yaw=-176 deg
I0419 21:05:51.354842 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=253, threshold=230, above_threshold=20, candidates=20
I0419 21:05:51.355031 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.253008, -0.54867), points=18, range=0.605667, residual=0.0113151, extent=0.0367286
I0419 21:05:51.355078 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.253008, -0.54867), tracking=(0.551508, -0.54867), map_predicted=(4.20985, -1.34423), range=0.605667, pts=18
I0419 21:05:51.355118 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0247665m maha_sq=0.0262844 (gate chi2=5.99) pose_sigma=(0.150911, 0.150911, rho=0) det_map=(4.20985, -1.34423) lm_pos=(4.215, -1.32) delta=(-0.00514923, -0.0242253) -> 1 candidate(s)
I0419 21:05:51.355271 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295513540776.
I0419 21:05:51.356705 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:51.356837 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295513541004.
I0419 21:05:51.490274 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=19.9353 rad/s > flush threshold 3.
I0419 21:05:51.490399 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0123259 range=0.698053 variance=0.000577423 t_weight=5195.5 r_weight=0 yaml=(5.115, -2.52) prior=(4.77383, -1.85292, -175.971deg) obs_actual=(-0.278236, 0.697117) obs_expected=(-0.293458, 0.689401) delta=(0.0152216, 0.00771579) |delta|=0.0170655m
I0419 21:05:51.490454 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295513820735.
I0419 21:05:51.491684 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.22991, 0.60576)
I0419 21:05:51.492405 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-174.973 deg, rms_residual=0.00358795m, sigma_yaw=0.00476115 rad, N=2
I0419 21:05:51.492482 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.76852, -1.85321, -174.973deg) inliers=2 rms=0.00358795m
I0419 21:05:51.492516 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295514136227.
I0419 21:05:51.495090 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295514415296.
I0419 21:05:51.496397 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295514697717.
I0419 21:05:51.497821 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=15.144 rad/s > flush threshold 3.
I0419 21:05:51.502682 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295515016210.
I0419 21:05:51.604535 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.75322, -1.85773), yaw=-175.967 deg backend=(4.87448, -1.83224)
I0419 21:05:51.605350 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:51.605546 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:51.605593 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.201222, -0.55012), points=21, range=0.585, residual=0.0131951, extent=0.0494866
I0419 21:05:51.605615 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:51.605630 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.201222, -0.55012), tracking=(0.499722, -0.55012), map_predicted=(4.21604, -1.34412), range=0.585, pts=21
I0419 21:05:51.605655 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0241454m maha_sq=0.0251482 (gate chi2=5.99) pose_sigma=(0.15025, 0.15025, rho=0) det_map=(4.21604, -1.34412) lm_pos=(4.215, -1.32) delta=(0.00104253, -0.0241229) -> 1 candidate(s)
I0419 21:05:51.606331 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295515300629.
I0419 21:05:51.607638 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.19207, -0.549678)
I0419 21:05:51.609277 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295515619106.
I0419 21:05:51.610478 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:51.611150 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:51.611200 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:51.611269 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295515900283.
I0419 21:05:51.619989 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:51.620162 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:51.620252 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:51.620296 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295516177072.
I0419 21:05:51.646708 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842393s, prior_pose=(4.72677, -1.85832), yaw=-175.852 deg
I0419 21:05:51.646872 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1359, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:05:51.647246 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295516461499.
I0419 21:05:51.720218 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295516496343.
I0419 21:05:51.721572 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:51.722244 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:51.722316 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295516781405.
I0419 21:05:51.724077 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.145675, -0.549748)
I0419 21:05:51.724134 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.144811, -0.549795), points=21, range=0.56881, residual=0.0113224, extent=0.0371798
I0419 21:05:51.724159 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.144811, -0.549795), tracking=(0.443311, -0.549795), map_predicted=(4.21409, -1.34449), range=0.56881, pts=21
I0419 21:05:51.724179 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.024508m maha_sq=0.0257166 (gate chi2=5.99) pose_sigma=(0.15098, 0.15098, rho=0) det_map=(4.21409, -1.34449) lm_pos=(4.215, -1.32) delta=(-0.000905469, -0.0244912) -> 1 candidate(s)
I0419 21:05:51.724758 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295517061161.
I0419 21:05:51.738015 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00930192 range=0.706737 variance=0.000618025 t_weight=4854.17 r_weight=0 yaml=(5.115, -2.52) prior=(4.6822, -1.86247, -175.774deg) obs_actual=(-0.375198, 0.70006) obs_expected=(-0.383174, 0.687634) delta=(0.00797612, 0.0124265) |delta|=0.0147661m
I0419 21:05:51.738127 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295517374790.
I0419 21:05:51.774171 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295517735921.
I0419 21:05:51.843113 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295517934327.
I0419 21:05:51.844313 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:51.844393 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:51.845786 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.847382, -0.383203)
I0419 21:05:51.845906 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295518258079.
I0419 21:05:51.850546 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295518497931.
I0419 21:05:51.854588 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295518541908.
I0419 21:05:51.882151 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:51.882323 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295518815770.
I0419 21:05:51.883219 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:51.883275 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:51.883355 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295518815929.
I0419 21:05:51.910737 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0819283, -0.547891), points=22, range=0.554727, residual=0.0117893, extent=0.0453488
I0419 21:05:51.910872 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.0819283, -0.547891), tracking=(0.380428, -0.547891), map_predicted=(4.2275, -1.34658), range=0.554727, pts=22
I0419 21:05:51.910943 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0293713m maha_sq=0.037391 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.2275, -1.34658) lm_pos=(4.215, -1.32) delta=(0.0125014, -0.026578) -> 1 candidate(s)
I0419 21:05:51.911055 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295519102204.
I0419 21:05:51.979956 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:51.980105 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295519135293.
I0419 21:05:51.981168 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557479s, prior_pose=(4.64153, -1.86311), yaw=-175.673 deg
I0419 21:05:51.981240 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1364, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:05:51.981396 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295519373249.
I0419 21:05:51.982055 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295519418198.
I0419 21:05:51.984499 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.14853, -0.713737)
I0419 21:05:51.984596 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:51.984638 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295519731452.
I0419 21:05:51.998122 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295519974653.
I0419 21:05:52.002549 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295520019160.
I0419 21:05:52.030351 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:52.030462 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:52.030488 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295520296598.
I0419 21:05:52.103010 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295520578903.
I0419 21:05:52.103753 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295520579105.
I0419 21:05:52.106202 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0157691 range=0.737167 variance=0.000603436 t_weight=4971.53 r_weight=0 yaml=(5.115, -2.52) prior=(4.58831, -1.86455, -175.565deg) obs_actual=(-0.480587, 0.71251) obs_expected=(-0.474427, 0.694213) delta=(-0.00616002, 0.0182966) |delta|=0.0193057m
I0419 21:05:52.106315 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295520897566.
I0419 21:05:52.118189 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:52.118283 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:52.118995 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.191224, -0.713509)
I0419 21:05:52.119045 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.191924, -0.711963), points=17, range=0.738765, residual=0.0121018, extent=0.0350393
I0419 21:05:52.119102 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.191924, -0.711963), tracking=(-0.490424, 0.711963), map_predicted=(5.13232, -2.53646), range=0.738765, pts=17
I0419 21:05:52.119127 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0238949m maha_sq=0.024733 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13232, -2.53646) lm_pos=(5.115, -2.52) delta=(0.0173216, -0.0164599) -> 1 candidate(s)
I0419 21:05:52.119201 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295521177322.
I0419 21:05:52.147289 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295521460585.
I0419 21:05:52.174189 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:52.174350 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295521737259.
I0419 21:05:52.190501 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:52.249593 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:52.268831 1218967 pose_graph_2d.cc:160] Inserted submap (1, 63).
I0419 21:05:52.269543 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:52.269623 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:52.269752 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295521781089.
I0419 21:05:52.271579 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:52.271694 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295522059103.
I0419 21:05:52.273404 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551431s, prior_pose=(4.54255, -1.8643), yaw=-175.614 deg
I0419 21:05:52.273494 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1375, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:52.274288 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295522376359.
I0419 21:05:52.275489 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295522616742.
I0419 21:05:52.276755 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.237278, -0.715859)
I0419 21:05:52.276846 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:52.276885 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295522661482.
I0419 21:05:52.294653 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.242235, -0.713522), points=16, range=0.755375, residual=0.0127493, extent=0.0371418
I0419 21:05:52.294778 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.242235, -0.713522), tracking=(-0.540735, 0.713522), map_predicted=(5.11869, -2.53534), range=0.755375, pts=16
I0419 21:05:52.294804 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0157754m maha_sq=0.0107724 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.11869, -2.53534) lm_pos=(5.115, -2.52) delta=(0.00368587, -0.0153387) -> 1 candidate(s)
I0419 21:05:52.294884 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295522934446.
I0419 21:05:52.368465 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295523252680.
I0419 21:05:52.371279 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=78.2327 rad/s > flush threshold 3.
I0419 21:05:52.371662 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295523521760.
I0419 21:05:52.382246 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295523817369.
I0419 21:05:52.383605 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.49617, -1.86408), yaw=-175.612 deg backend=(4.59926, -1.8437)
I0419 21:05:52.407811 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:52.407907 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:52.410475 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29801, 0.409247)
I0419 21:05:52.410650 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295524099996.
I0419 21:05:52.505329 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.00837648 range=0.771875 variance=0.000598341 t_weight=5013.86 r_weight=0 yaml=(5.115, -2.52) prior=(4.48141, -1.86553, -175.542deg) obs_actual=(-0.583941, 0.715389) obs_expected=(-0.580809, 0.701734) delta=(-0.00313286, 0.0136551) |delta|=0.0140099m
I0419 21:05:52.505553 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295524419532.
I0419 21:05:52.506742 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.910347, 0.606339), points=6, range=1.09067, residual=0.0108057, extent=0.0290382
I0419 21:05:52.506824 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:52.506840 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.910347, 0.606339), tracking=(1.20885, 0.606339), map_predicted=(3.32334, -2.56399), range=1.09067, pts=6
I0419 21:05:52.506865 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.211285m maha_sq=1.93492 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.32334, -2.56399) lm_pos=(3.53, -2.52) delta=(-0.206656, -0.0439851) -> 1 candidate(s)
I0419 21:05:52.507516 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:52.507572 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:52.507649 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295524700783.
I0419 21:05:52.509728 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:52.510388 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:52.510481 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295524984774.
I0419 21:05:52.528568 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0861514s, prior_pose=(4.46894, -1.86651), yaw=-175.567 deg
I0419 21:05:52.528666 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1380, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:52.530282 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=58.7957 rad/s > flush threshold 3.
I0419 21:05:52.530396 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:52.530448 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:52.530470 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295525281194.
I0419 21:05:52.566300 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.33273, 0.413795)
I0419 21:05:52.566450 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:52.566526 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295525652533.
I0419 21:05:52.652899 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295525862970.
I0419 21:05:52.655609 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295526198840.
I0419 21:05:52.657033 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.14012, -0.541733), points=23, range=0.560043, residual=0.0115282, extent=0.0365821
I0419 21:05:52.657138 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.14012, -0.541733), tracking=(0.15838, -0.541733), map_predicted=(4.22452, -1.33872), range=0.560043, pts=23
I0419 21:05:52.657168 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0210037m maha_sq=0.019126 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.22452, -1.33872) lm_pos=(4.215, -1.32) delta=(0.0095215, -0.0187215) -> 1 candidate(s)
I0419 21:05:52.657752 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 16 -> 15 (threshold=0.03, iters=3)
I0419 21:05:52.657842 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295526452674.
I0419 21:05:52.678154 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295526776269.
I0419 21:05:52.701952 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:52.702032 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:52.767596 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.38411, 0.425365)
I0419 21:05:52.767794 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295527058394.
I0419 21:05:52.769817 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295527333099.
I0419 21:05:52.771850 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:52.772439 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:52.772490 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:52.772572 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295527638721.
I0419 21:05:52.794255 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:52.794446 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295527938486.
I0419 21:05:52.822553 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0582832s, prior_pose=(4.37233, -1.87165), yaw=-176.414 deg
I0419 21:05:52.822688 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1373, max_intensity=254, threshold=230, above_threshold=30, candidates=30
I0419 21:05:52.822928 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.788762, 0.627372), points=8, range=1.00625, residual=0.0098688, extent=0.0294926
I0419 21:05:52.822999 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.788762, 0.627372), tracking=(1.08726, 0.627372), map_predicted=(3.32644, -2.5658), range=1.00625, pts=8
I0419 21:05:52.823042 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.208652m maha_sq=1.88894 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.32644, -2.5658) lm_pos=(3.53, -2.52) delta=(-0.203564, -0.0457986) -> 1 candidate(s)
I0419 21:05:52.824040 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295528221540.
I0419 21:05:52.902462 1258777 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.43% real time)
I0419 21:05:52.902662 1258777 collated_trajectory_builder.cc:82] odom rate: 248.52 Hz 4.02e-03 s +/- 7.47e-04 s (pulsed at 100.37% real time)
I0419 21:05:52.902770 1258777 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.26e-03 s (pulsed at 100.06% real time)
I0419 21:05:52.902803 1258777 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.44e-03 s (pulsed at 100.29% real time)
I0419 21:05:52.903525 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=13, centroid=(0.430346, -0.711371)
I0419 21:05:52.903621 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:52.903668 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[7] 'ref_8' maha_sq=0.0375613 range=1.48167 variance=0.000519157 t_weight=5778.59 r_weight=0 yaml=(6.015, -1.32) prior=(4.36232, -1.87137, -176.465deg) obs_actual=(-1.71145, -0.438724) obs_expected=(-1.68354, -0.448413) delta=(-0.0279147, 0.00968838) |delta|=0.0295482m
I0419 21:05:52.903718 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295528541527.
I0419 21:05:52.906268 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-175.829 deg, rms_residual=0.0102328m, sigma_yaw=0.0134601 rad, N=2
I0419 21:05:52.906394 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.32388, -1.8732, -175.829deg) inliers=2 rms=0.0102328m
I0419 21:05:52.906435 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295528819261.
I0419 21:05:52.914710 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295529143045.
I0419 21:05:52.942530 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295529415503.
I0419 21:05:53.068696 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44433, 0.443871), points=3, range=1.51367, residual=0.00806363, extent=0.0154528
I0419 21:05:53.068847 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44433, 0.443871), tracking=(-1.74283, -0.443871), map_predicted=(6.02992, -1.33626), range=1.51367, pts=3
I0419 21:05:53.068897 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[7] 'ref_8' eucl_dist=0.0220643m maha_sq=0.0207626 (gate chi2=5.99) pose_sigma=(0.151329, 0.151329, rho=0) det_map=(6.02992, -1.33626) lm_pos=(6.015, -1.32) delta=(0.0149196, -0.0162555) -> 1 candidate(s)
I0419 21:05:53.069017 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295529736972.
I0419 21:05:53.069505 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:53.070302 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.58072, -0.61736)
I0419 21:05:53.070395 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:53.070432 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:53.071133 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295529974671.
I0419 21:05:53.073791 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295530302427.
I0419 21:05:53.075058 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:53.076345 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=14, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:53.076399 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:53.076429 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.3286 rad/s > flush threshold 3.
I0419 21:05:53.076448 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:53.088141 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:53.088343 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295530861218.
I0419 21:05:53.207643 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563065s, prior_pose=(4.28019, -1.86952), yaw=-176.978 deg
I0419 21:05:53.207762 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1395, max_intensity=255, threshold=230, above_threshold=39, candidates=39
I0419 21:05:53.207909 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=28, centroid=(-0.289833, -0.535842)
I0419 21:05:53.208613 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295531175974.
I0419 21:05:53.211184 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:05:53.211282 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:53.211304 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295531456542.
I0419 21:05:53.212466 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.310369, -0.537294), points=31, range=0.616774, residual=0.0228116, extent=0.054574
I0419 21:05:53.212523 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.310369, -0.537294), tracking=(-0.0118694, -0.537294), map_predicted=(4.24458, -1.33463), range=0.616774, pts=31
I0419 21:05:53.212548 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0329993m maha_sq=0.0464276 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.24458, -1.33463) lm_pos=(4.215, -1.32) delta=(0.029581, -0.014626) -> 1 candidate(s)
I0419 21:05:53.213140 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:53.213205 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295531734195.
I0419 21:05:53.215641 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.53626, 0.438086)
I0419 21:05:53.215747 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295532034081.
I0419 21:05:53.305662 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295532334078.
I0419 21:05:53.307536 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0430247 range=0.917833 variance=0.00063969 t_weight=4689.77 r_weight=0 yaml=(5.115, -2.52) prior=(4.23421, -1.86387, -176.924deg) obs_actual=(-0.86841, 0.722817) obs_expected=(-0.844312, 0.702448) delta=(-0.0240975, 0.0203688) |delta|=0.0315528m
I0419 21:05:53.307646 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295532620861.
I0419 21:05:53.308749 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(4.2226, -1.86056), yaw=-176.919 deg backend=(4.3458, -1.86019)
I0419 21:05:53.309432 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:53.309479 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:53.310163 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=3, centroid=(-0.320351, 0.533158)
I0419 21:05:53.310258 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295532933081.
I0419 21:05:53.327301 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.577665, -0.721814), points=13, range=0.927308, residual=0.0139165, extent=0.0428661
I0419 21:05:53.327425 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.577665, -0.721814), tracking=(-0.876165, 0.721814), map_predicted=(5.12108, -2.53238), range=0.927308, pts=13
I0419 21:05:53.327450 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0137913m maha_sq=0.00809678 (gate chi2=5.99) pose_sigma=(0.151165, 0.151165, rho=0) det_map=(5.12108, -2.53238) lm_pos=(5.115, -2.52) delta=(0.00607703, -0.0123803) -> 1 candidate(s)
I0419 21:05:53.327473 1218970 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.5353 rad/s > flush threshold 3.
I0419 21:05:53.327539 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295533220576.
I0419 21:05:53.351604 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:53.354558 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:53.354631 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:53.354735 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295533540377.
I0419 21:05:53.421602 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:53.421753 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295533816821.
I0419 21:05:53.422739 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0880892s, prior_pose=(4.1929, -1.85895), yaw=-176.816 deg
I0419 21:05:53.422804 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1388, max_intensity=251, threshold=230, above_threshold=32, candidates=32
I0419 21:05:53.422961 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295534101468.
I0419 21:05:53.423491 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.593263, 0.637946)
I0419 21:05:53.442596 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295534414950.
I0419 21:05:53.470367 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:53.470528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295534698327.
I0419 21:05:53.497958 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.43995, -0.559961), points=3, range=1.54933, residual=0.00994734, extent=0.0210274
I0419 21:05:53.498065 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.43995, -0.559961), tracking=(1.73845, -0.559961), map_predicted=(2.40491, -1.37411), range=1.54933, pts=3
I0419 21:05:53.498097 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0550446m maha_sq=0.131256 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40491, -1.37411) lm_pos=(2.415, -1.32) delta=(-0.0100917, -0.0541116) -> 1 candidate(s)
I0419 21:05:53.525427 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:53.559834 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:53.563000 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=561.858 rad/s > flush threshold 3.
I0419 21:05:53.563163 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295534974742.
I0419 21:05:53.564954 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.59056, 0.521919)
I0419 21:05:53.565120 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295535299279.
I0419 21:05:53.567790 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0296745 range=0.9674 variance=0.000607279 t_weight=4940.07 r_weight=0 yaml=(5.115, -2.52) prior=(4.1406, -1.85006, -178.918deg) obs_actual=(-0.985282, 0.676806) obs_expected=(-0.961575, 0.688216) delta=(-0.0237076, -0.0114097) |delta|=0.0263103m
I0419 21:05:53.567903 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295535578699.
I0419 21:05:53.587709 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:53.587859 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:53.658730 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=274.524 rad/s > flush threshold 3.
I0419 21:05:53.658900 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295535863057.
I0419 21:05:53.660847 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295536172376.
I0419 21:05:53.662825 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:53.662921 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:53.663532 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=33, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:53.663591 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.195964, 0.540714)
I0419 21:05:53.663611 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:53.663635 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.724241, -0.669418), points=10, range=0.9889, residual=0.012396, extent=0.034601
I0419 21:05:53.663656 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.724241, -0.669418), tracking=(-1.02274, 0.669418), map_predicted=(5.13643, -2.52079), range=0.9889, pts=10
I0419 21:05:53.663718 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.021443m maha_sq=0.0196905 (gate chi2=5.99) pose_sigma=(0.150825, 0.150825, rho=0) det_map=(5.13643, -2.52079) lm_pos=(5.115, -2.52) delta=(0.0214284, -0.000790264) -> 1 candidate(s)
I0419 21:05:53.663769 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.666 deg, rms_residual=0.00925669m, sigma_yaw=0.0121918 rad, N=2
I0419 21:05:53.663806 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(4.10174, -1.85203, 179.666deg) inliers=2 rms=0.00925669m
I0419 21:05:53.663836 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295536462129.
I0419 21:05:53.677778 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:53.677873 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=172.851 rad/s > flush threshold 3.
I0419 21:05:53.678010 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295536739602.
I0419 21:05:53.710707 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.063724s, prior_pose=(4.097, -1.85206), yaw=179.778 deg
I0419 21:05:53.710911 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1374, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:05:53.712791 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295537099500.
I0419 21:05:53.814613 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:53.814774 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:53.814801 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295537340268.
I0419 21:05:53.818593 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=22, centroid=(-0.157254, 0.539309)
I0419 21:05:53.818737 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:53.818840 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295537652051.
I0419 21:05:53.821748 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295537932328.
I0419 21:05:53.824450 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.433823, 0.674386), points=12, range=0.80425, residual=0.0108648, extent=0.0320438
I0419 21:05:53.824549 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.433823, 0.674386), tracking=(0.732323, 0.674386), map_predicted=(3.33139, -2.52658), range=0.80425, pts=12
I0419 21:05:53.824579 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.198716m maha_sq=1.69383 (gate chi2=5.99) pose_sigma=(0.150844, 0.150844, rho=0) det_map=(3.33139, -2.52658) lm_pos=(3.53, -2.52) delta=(-0.198607, -0.00658277) -> 1 candidate(s)
I0419 21:05:53.825636 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295538221153.
I0419 21:05:53.947096 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0212986 range=1.03743 variance=0.000679752 t_weight=4413.37 r_weight=0 yaml=(5.115, -2.52) prior=(4.04555, -1.84949, -179.822deg) obs_actual=(-1.08895, 0.679835) obs_expected=(-1.06736, 0.67383) delta=(-0.0215907, 0.00600495) |delta|=0.0224103m
I0419 21:05:53.947242 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295538537063.
I0419 21:05:53.948349 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:53.948446 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:53.949365 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295538820891.
I0419 21:05:53.951139 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.33516, -0.534922)
I0419 21:05:53.951975 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295539096009.
I0419 21:05:53.953207 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:53.954771 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:53.954849 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:53.954953 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295539418478.
I0419 21:05:53.970249 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.807882, -0.685918), points=7, range=1.06686, residual=0.0162444, extent=0.0387114
I0419 21:05:53.970397 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.807882, -0.685918), tracking=(-1.10638, 0.685918), map_predicted=(5.13131, -2.52877), range=1.06686, pts=7
I0419 21:05:53.970431 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[6] 'ref_7' eucl_dist=0.0185235m maha_sq=0.0147786 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.13131, -2.52877) lm_pos=(5.115, -2.52) delta=(0.0163148, -0.00877195) -> 1 candidate(s)
I0419 21:05:53.970463 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:53.970594 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295539697040.
I0419 21:05:54.041364 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562228s, prior_pose=(4.01187, -1.85171), yaw=-179.518 deg
I0419 21:05:54.041486 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1373, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:05:54.042315 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295539980946.
I0419 21:05:54.044883 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.829886, -0.690136)
I0419 21:05:54.045025 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=144.105 rad/s > flush threshold 3.
I0419 21:05:54.045123 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295540257510.
I0419 21:05:54.059011 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:54.059307 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295540577788.
I0419 21:05:54.088769 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295540863090.
I0419 21:05:54.222014 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0420394, 0.534017), points=23, range=0.536783, residual=0.0112378, extent=0.0348457
I0419 21:05:54.222124 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0420394, 0.534017), tracking=(-0.256461, -0.534017), map_predicted=(4.21493, -1.31021), range=0.536783, pts=23
I0419 21:05:54.222194 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.00979241m maha_sq=0.0040857 (gate chi2=5.99) pose_sigma=(0.151365, 0.151365, rho=0) det_map=(4.21493, -1.31021) lm_pos=(4.215, -1.32) delta=(-6.53317e-05, 0.00979219) -> 1 candidate(s)
I0419 21:05:54.222280 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295541173135.
I0419 21:05:54.224092 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0113458 range=1.10743 variance=0.000665698 t_weight=4506.55 r_weight=0 yaml=(5.115, -2.52) prior=(3.96605, -1.8478, -179.19deg) obs_actual=(-1.15477, 0.693363) obs_expected=(-1.13934, 0.688374) delta=(-0.0154255, 0.00498877) |delta|=0.0162121m
I0419 21:05:54.224195 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295541455519.
I0419 21:05:54.225351 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.95731, -1.84859), yaw=-179.141 deg backend=(3.97157, -1.86361)
I0419 21:05:54.226126 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:54.226167 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:54.226748 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.873049, -0.695571)
I0419 21:05:54.226851 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295541742342.
I0419 21:05:54.229264 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=53.6465 rad/s > flush threshold 3.
I0419 21:05:54.229359 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295542026616.
I0419 21:05:54.230512 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:54.230562 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:54.234685 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:54.234784 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:54.234890 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.199 deg, rms_residual=0.00771683m, sigma_yaw=0.0101843 rad, N=2
I0419 21:05:54.234973 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.92861, -1.84883, -179.199deg) inliers=2 rms=0.00771683m
I0419 21:05:54.235037 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295542339022.
I0419 21:05:54.305789 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-5.25171e-07, 0.530091), points=24, range=0.53125, residual=0.0111794, extent=0.03611
I0419 21:05:54.305899 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-5.25171e-07, 0.530091), tracking=(-0.298499, -0.530091), map_predicted=(4.22152, -1.31258), range=0.53125, pts=24
I0419 21:05:54.305922 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.00987182m maha_sq=0.00419769 (gate chi2=5.99) pose_sigma=(0.150528, 0.150528, rho=0) det_map=(4.22152, -1.31258) lm_pos=(4.215, -1.32) delta=(0.00651524, 0.0074165) -> 1 candidate(s)
I0419 21:05:54.305945 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:54.306023 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295542612492.
I0419 21:05:54.307145 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0870033s, prior_pose=(3.93263, -1.84797), yaw=-178.966 deg
I0419 21:05:54.307204 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1371, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:54.308521 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=69.4077 rad/s > flush threshold 3.
I0419 21:05:54.308619 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295542896888.
I0419 21:05:54.322813 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.915424, -0.698149)
I0419 21:05:54.323020 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:54.323135 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:54.323164 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295543221254.
I0419 21:05:54.352624 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:05:54.352857 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295543502080.
I0419 21:05:54.475724 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.67067 rad/s > flush threshold 3.
I0419 21:05:54.475863 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295543777752.
I0419 21:05:54.476239 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:54.477710 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0479002, 0.529613), points=24, range=0.532625, residual=0.0112501, extent=0.0362091
I0419 21:05:54.477778 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0479002, 0.529613), tracking=(-0.3464, -0.529613), map_predicted=(4.22638, -1.31187), range=0.532625, pts=24
I0419 21:05:54.477805 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0139825m maha_sq=0.00847886 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.22638, -1.31187) lm_pos=(4.215, -1.32) delta=(0.0113761, 0.00812996) -> 1 candidate(s)
I0419 21:05:54.477870 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295544098549.
I0419 21:05:54.480293 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0588577 range=1.18683 variance=0.000640647 t_weight=4682.77 r_weight=0 yaml=(5.115, -2.52) prior=(3.87871, -1.84778, -178.805deg) obs_actual=(-1.2588, 0.702779) obs_expected=(-1.222, 0.697852) delta=(-0.0367931, 0.00492645) |delta|=0.0371215m
I0419 21:05:54.480376 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295544374665.
I0419 21:05:54.481460 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.255916, 0.663545)
I0419 21:05:54.481508 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:54.481527 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:54.482908 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295544693707.
I0419 21:05:54.499131 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295544979706.
I0419 21:05:54.599151 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:54.599879 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:54.599941 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:54.600032 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295545334321.
I0419 21:05:54.602402 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:54.602511 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295545580841.
I0419 21:05:54.603437 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479923s, prior_pose=(3.82841, -1.84561), yaw=-178.624 deg
I0419 21:05:54.603505 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1374, max_intensity=255, threshold=230, above_threshold=20, candidates=20
I0419 21:05:54.603583 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.12732, -0.56205), points=4, range=1.254, residual=0.0132855, extent=0.0291217
I0419 21:05:54.603616 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.12732, -0.56205), tracking=(1.42582, -0.56205), map_predicted=(2.3895, -1.31797), range=1.254, pts=4
I0419 21:05:54.603638 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.02558m maha_sq=0.0282764 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.3895, -1.31797) lm_pos=(2.415, -1.32) delta=(-0.0254993, 0.00203144) -> 1 candidate(s)
I0419 21:05:54.604403 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295545857837.
I0419 21:05:54.614447 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.21086, 0.661903)
I0419 21:05:54.615234 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295546140824.
I0419 21:05:54.708864 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:54.709014 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295546453120.
I0419 21:05:54.710960 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295546737202.
I0419 21:05:54.713590 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295547015506.
I0419 21:05:54.729660 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.173049, 0.657195), points=16, range=0.681437, residual=0.0108829, extent=0.0365773
I0419 21:05:54.729761 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.173049, 0.657195), tracking=(0.471549, 0.657195), map_predicted=(3.33815, -2.51127), range=0.681437, pts=16
I0419 21:05:54.729792 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.192051m maha_sq=1.59981 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.33815, -2.51127) lm_pos=(3.53, -2.52) delta=(-0.191853, 0.00873478) -> 1 candidate(s)
I0419 21:05:54.733985 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0280982 range=1.2628 variance=0.000579668 t_weight=5175.38 r_weight=0 yaml=(5.115, -2.52) prior=(3.77794, -1.84211, -178.555deg) obs_actual=(-1.34517, 0.712642) obs_expected=(-1.31954, 0.711393) delta=(-0.0256272, 0.00124966) |delta|=0.0256576m
I0419 21:05:54.734089 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295547335320.
I0419 21:05:54.758275 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.167105, 0.657795)
I0419 21:05:54.758383 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:54.758415 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:54.761878 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295547611809.
I0419 21:05:54.831311 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295547965558.
I0419 21:05:54.832679 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:54.832742 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:54.834147 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:54.834199 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:54.834257 1232263 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.922 deg, rms_residual=0.0167m, sigma_yaw=0.0217817 rad, N=2
I0419 21:05:54.834283 1232263 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.743, -1.84409, -178.922deg) inliers=2 rms=0.0167m
I0419 21:05:54.834311 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295548218609.
I0419 21:05:54.849740 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:54.850004 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295548493180.
I0419 21:05:54.878252 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560312s, prior_pose=(3.73863, -1.84321), yaw=-178.553 deg
I0419 21:05:54.878358 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1371, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:54.878481 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.13036, 0.65535), points=18, range=0.669889, residual=0.0117401, extent=0.0384618
I0419 21:05:54.878511 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.13036, 0.65535), tracking=(0.42886, 0.65535), map_predicted=(3.32646, -2.50918), range=0.669889, pts=18
I0419 21:05:54.878542 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.203831m maha_sq=1.7807 (gate chi2=5.99) pose_sigma=(0.150857, 0.150857, rho=0) det_map=(3.32646, -2.50918) lm_pos=(3.53, -2.52) delta=(-0.203544, 0.0108154) -> 1 candidate(s)
I0419 21:05:54.879383 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295548779311.
I0419 21:05:54.913815 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=18, centroid=(0.122804, 0.657102)
I0419 21:05:54.976853 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=130.385 rad/s > flush threshold 3.
I0419 21:05:54.976991 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:54.977042 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:54.977061 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295549134097.
I0419 21:05:54.978735 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:05:54.978852 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295549375831.
I0419 21:05:54.981297 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295549660553.
I0419 21:05:54.998508 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295549979419.
I0419 21:05:55.026089 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0911577, 0.655359), points=18, range=0.662222, residual=0.0106493, extent=0.0339843
I0419 21:05:55.026219 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0911577, 0.655359), tracking=(0.389658, 0.655359), map_predicted=(3.32653, -2.50843), range=0.662222, pts=18
I0419 21:05:55.026248 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[4] 'ref_5' eucl_dist=0.203795m maha_sq=1.80189 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(3.32653, -2.50843) lm_pos=(3.53, -2.52) delta=(-0.203466, 0.0115727) -> 1 candidate(s)
I0419 21:05:55.027015 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[6] 'ref_7' maha_sq=0.0175819 range=1.3308 variance=0.000584895 t_weight=5129.13 r_weight=0 yaml=(5.115, -2.52) prior=(3.69785, -1.8425, -178.409deg) obs_actual=(-1.41791, 0.715412) obs_expected=(-1.3978, 0.716581) delta=(-0.0201124, -0.00116961) |delta|=0.0201464m
I0419 21:05:55.027114 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295550255585.
I0419 21:05:55.106225 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.68677, -1.84418), yaw=-178.375 deg backend=(3.70532, -1.86206)
I0419 21:05:55.107185 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.0796562, 0.6565)
I0419 21:05:55.107242 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:55.107271 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:55.107980 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295550537933.
I0419 21:05:55.110636 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295550853300.
I0419 21:05:55.113927 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:55.114643 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:05:55.114687 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=1
I0419 21:05:55.114799 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295551133960.
I0419 21:05:55.146987 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.868989, -0.536003)
I0419 21:05:55.147174 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:55.147336 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295551461676.
I0419 21:05:55.170936 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846734s, prior_pose=(3.66511, -1.84715), yaw=-178.329 deg
I0419 21:05:55.171101 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1368, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:05:55.301323 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295551733583.
I0419 21:05:55.302731 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.942005, -0.565072), points=5, range=1.0956, residual=0.00947319, extent=0.0218405
I0419 21:05:55.302891 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.942005, -0.565072), tracking=(1.24051, -0.565072), map_predicted=(2.40227, -1.3174), range=1.0956, pts=5
I0419 21:05:55.302922 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0129978m maha_sq=0.00733104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40227, -1.3174) lm_pos=(2.415, -1.32) delta=(-0.0127344, 0.00260321) -> 1 candidate(s)
I0419 21:05:55.303771 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295552019560.
I0419 21:05:55.306715 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:05:55.306854 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295552333501.
I0419 21:05:55.309401 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=19, centroid=(0.309603, 0.52544)
I0419 21:05:55.309537 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295552618789.
I0419 21:05:55.311257 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295552899879.
I0419 21:05:55.375021 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295553218106.
I0419 21:05:55.376096 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:55.376187 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:55.377817 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.920219, -0.542053)
I0419 21:05:55.377971 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295553493423.
I0419 21:05:55.379750 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.342372, 0.524016), points=18, range=0.628222, residual=0.0119368, extent=0.0392959
I0419 21:05:55.379830 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.342372, 0.524016), tracking=(-0.640872, -0.524016), map_predicted=(4.24261, -1.30869), range=0.628222, pts=18
I0419 21:05:55.379855 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.029836m maha_sq=0.038574 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(4.24261, -1.30869) lm_pos=(4.215, -1.32) delta=(0.0276097, 0.011309) -> 1 candidate(s)
I0419 21:05:55.379925 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295553775795.
I0419 21:05:55.402012 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:05:55.405680 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:55.405787 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:55.410036 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:05:55.410121 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:05:55.410274 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295554095971.
I0419 21:05:55.498164 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.23322, -0.711987)
I0419 21:05:55.498303 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:55.498387 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295554381479.
I0419 21:05:55.499570 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604333s, prior_pose=(3.58402, -1.85096), yaw=-178.287 deg
I0419 21:05:55.499662 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1379, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:05:55.500396 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0214706 range=0.641353 variance=0.000565996 t_weight=5300.39 r_weight=0 yaml=(4.215, -1.32) prior=(3.58402, -1.85096, -178.287deg) obs_actual=(-0.665862, -0.522965) obs_expected=(-0.646574, -0.511865) delta=(-0.0192878, -0.0111005) |delta|=0.022254m
I0419 21:05:55.500516 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295554656434.
I0419 21:05:55.503094 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:55.503204 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:55.503227 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295554938197.
I0419 21:05:55.525900 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.26114, -0.713531)
I0419 21:05:55.526026 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:55.526124 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295555255393.
I0419 21:05:55.550467 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.828383, -0.567545), points=7, range=1.00214, residual=0.00884407, extent=0.0239228
I0419 21:05:55.550558 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.828383, -0.567545), tracking=(1.12688, -0.567545), map_predicted=(2.40377, -1.3154), range=1.00214, pts=7
I0419 21:05:55.550587 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.012138m maha_sq=0.00639787 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.40377, -1.3154) lm_pos=(2.415, -1.32) delta=(-0.0112341, 0.00459632) -> 1 candidate(s)
I0419 21:05:55.554316 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295555538124.
I0419 21:05:55.622207 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295555863819.
I0419 21:05:55.624862 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295556134774.
I0419 21:05:55.642306 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.799466, -0.57023)
I0419 21:05:55.642400 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:55.642426 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:55.643539 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295556418608.
I0419 21:05:55.675009 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295556735813.
I0419 21:05:55.698210 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.777957, -0.570387), points=7, range=0.966429, residual=0.00932377, extent=0.0285116
I0419 21:05:55.698334 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:55.698352 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.777957, -0.570387), tracking=(1.07646, -0.570387), map_predicted=(2.41432, -1.31396), range=0.966429, pts=7
I0419 21:05:55.698377 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.00607372m maha_sq=0.00160146 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.41432, -1.31396) lm_pos=(2.415, -1.32) delta=(-0.000683266, 0.00603517) -> 1 candidate(s)
I0419 21:05:55.763168 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:55.763314 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:55.763453 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295557017141.
I0419 21:05:55.765202 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:55.765377 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295557294656.
I0419 21:05:55.767172 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558732s, prior_pose=(3.47754, -1.84958), yaw=-178.13 deg
I0419 21:05:55.767311 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1379, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:05:55.767445 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.67275, 0.614344)
I0419 21:05:55.768189 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295557613289.
I0419 21:05:55.794490 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.448 deg, rms_residual=0.0132963m, sigma_yaw=0.0174195 rad, N=2
I0419 21:05:55.794586 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[5] 'ref_6' maha_sq=0.0108044 range=0.704333 variance=0.000569556 t_weight=5267.26 r_weight=0 yaml=(4.215, -1.32) prior=(3.46595, -1.85037, -178.095deg) obs_actual=(-0.770065, -0.520596) obs_expected=(-0.76626, -0.505182) delta=(-0.00380499, -0.0154142) |delta|=0.0158769m
I0419 21:05:55.794648 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(3.45134, -1.85063, -178.448deg) inliers=2 rms=0.0132963m
I0419 21:05:55.794687 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295557939974.
I0419 21:05:55.818102 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:05:55.818261 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295558176802.
I0419 21:05:55.889660 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:55.890242 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.48991, 0.519241), points=13, range=0.715846, residual=0.00992063, extent=0.0288278
I0419 21:05:55.890312 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.48991, 0.519241), tracking=(-0.78841, -0.519241), map_predicted=(4.22078, -1.30478), range=0.715846, pts=13
I0419 21:05:55.890336 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[5] 'ref_6' eucl_dist=0.0162753m maha_sq=0.0113221 (gate chi2=5.99) pose_sigma=(0.151192, 0.151192, rho=0) det_map=(4.22078, -1.30478) lm_pos=(4.215, -1.32) delta=(0.00577808, 0.015215) -> 1 candidate(s)
I0419 21:05:55.890410 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295558501935.
I0419 21:05:55.893651 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=14, centroid=(0.503705, 0.519986)
I0419 21:05:55.893836 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295558776306.
I0419 21:05:55.906895 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295559053853.
I0419 21:05:55.912501 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(3.42478, -1.8552), yaw=-178.053 deg backend=(3.44212, -1.86863)
I0419 21:05:55.934438 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:55.934583 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:55.938076 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295559374460.
I0419 21:05:56.024565 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295559659352.
I0419 21:05:56.025736 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:56.025797 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:56.026448 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:56.026499 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:56.026580 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295559942667.
I0419 21:05:56.028363 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(0.684614, -0.572698)
I0419 21:05:56.028416 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.688116, -0.572263), points=10, range=0.8926, residual=0.0103768, extent=0.0300938
I0419 21:05:56.028440 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.688116, -0.572263), tracking=(0.986616, -0.572263), map_predicted=(2.38925, -1.31886), range=0.8926, pts=10
I0419 21:05:56.028461 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0257733m maha_sq=0.0285011 (gate chi2=5.99) pose_sigma=(0.150844, 0.150844, rho=0) det_map=(2.38925, -1.31886) lm_pos=(2.415, -1.32) delta=(-0.0257482, 0.0011362) -> 1 candidate(s)
I0419 21:05:56.029112 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:56.029192 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295560255228.
I0419 21:05:56.050357 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841073s, prior_pose=(3.39579, -1.85532), yaw=-177.941 deg
I0419 21:05:56.050477 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1375, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:56.054019 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295560533809.
I0419 21:05:56.147573 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.4453, -0.725842)
I0419 21:05:56.147724 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=3, buffered=7).
I0419 21:05:56.147761 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:05:56.147809 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:05:56.147867 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295561164437.
I0419 21:05:56.150377 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45786, -0.72157), points=4, range=1.62225, residual=0.0111143, extent=0.0253126
I0419 21:05:56.150466 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45786, -0.72157), tracking=(-1.75636, 0.72157), map_predicted=(5.13337, -2.51925), range=1.62225, pts=4
I0419 21:05:56.150492 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0183864m maha_sq=0.0144019 (gate chi2=5.99) pose_sigma=(0.151191, 0.151191, rho=0) det_map=(5.13337, -2.51925) lm_pos=(5.115, -2.52) delta=(0.0183712, 0.000745901) -> 1 candidate(s)
I0419 21:05:56.150517 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=47.6165 rad/s > flush threshold 3.
I0419 21:05:56.150561 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[5] 'ref_6' maha_sq=0.0064669 range=0.7819 variance=0.000524299 t_weight=5721.93 r_weight=0 yaml=(4.215, -1.32) prior=(3.35304, -1.85902, -178.013deg) obs_actual=(-0.878919, -0.521044) obs_expected=(-0.880128, -0.508807) delta=(0.00120993, -0.0122373) |delta|=0.012297m
I0419 21:05:56.150609 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295561418682.
I0419 21:05:56.172334 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295561711606.
I0419 21:05:56.205806 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.60348, 0.519942)
I0419 21:05:56.205986 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295562052828.
I0419 21:05:56.226167 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:56.226271 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:56.290560 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295562297194.
I0419 21:05:56.292536 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.50251, -0.722031), points=4, range=1.66375, residual=0.00912914, extent=0.0223489
I0419 21:05:56.292663 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.50251, -0.722031), tracking=(-1.80101, 0.722031), map_predicted=(5.14834, -2.52057), range=1.66375, pts=4
I0419 21:05:56.292692 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0333438m maha_sq=0.0481771 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(5.14834, -2.52057) lm_pos=(5.115, -2.52) delta=(0.0333389, -0.000569329) -> 1 candidate(s)
I0419 21:05:56.292768 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295562573514.
I0419 21:05:56.294591 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:56.295292 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:56.295349 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:05:56.295428 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295562892625.
I0419 21:05:56.318058 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.51273, -0.72153)
I0419 21:05:56.318171 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 3 candidate pair(s).
I0419 21:05:56.318257 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295563176224.
I0419 21:05:56.346355 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599904s, prior_pose=(3.29395, -1.86055), yaw=-178.14 deg
I0419 21:05:56.346482 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1378, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:56.415308 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.560291, -0.566787), points=12, range=0.79875, residual=0.0136157, extent=0.0483214
I0419 21:05:56.415441 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.560291, -0.566787), tracking=(0.858791, -0.566787), map_predicted=(2.40876, -1.32424), range=0.79875, pts=12
I0419 21:05:56.415465 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0075455m maha_sq=0.00244319 (gate chi2=5.99) pose_sigma=(0.150589, 0.150589, rho=0) det_map=(2.40876, -1.32424) lm_pos=(2.415, -1.32) delta=(-0.00623913, -0.00424356) -> 1 candidate(s)
I0419 21:05:56.416742 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=38.702 rad/s > flush threshold 3.
I0419 21:05:56.434299 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(-0.336483, 0.669918)
I0419 21:05:56.437573 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:56.466176 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=3, buffered=18446744073709551615).
I0419 21:05:56.466733 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295564656634.
I0419 21:05:56.570887 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=21, centroid=(-0.366788, 0.659589)
I0419 21:05:56.571089 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:56.571182 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 21 -> 19 (threshold=0.03, iters=3)
I0419 21:05:56.571228 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:56.572288 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57517, -0.72616), points=3, range=1.72767, residual=0.0135416, extent=0.0278737
I0419 21:05:56.572376 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.57517, -0.72616), tracking=(-1.87367, 0.72616), map_predicted=(5.14788, -2.53628), range=1.72767, pts=3
I0419 21:05:56.572410 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[6] 'ref_7' eucl_dist=0.0366873m maha_sq=0.0568219 (gate chi2=5.99) pose_sigma=(0.151672, 0.151672, rho=0) det_map=(5.14788, -2.53628) lm_pos=(5.115, -2.52) delta=(0.032876, -0.0162828) -> 1 candidate(s)
I0419 21:05:56.572495 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295565252354.
I0419 21:05:56.582490 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:56.583972 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:56.584033 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:56.584072 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=64.0514 rad/s > flush threshold 3.
I0419 21:05:56.611433 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.57032, -0.721164)
I0419 21:05:56.611557 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:56.674719 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556819s, prior_pose=(3.21798, -1.87107), yaw=-177.986 deg
I0419 21:05:56.674990 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1378, max_intensity=251, threshold=230, above_threshold=14, candidates=14
I0419 21:05:56.702751 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.192765, -0.654216), points=16, range=0.68375, residual=0.0109249, extent=0.033446
I0419 21:05:56.702872 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.192765, -0.654216), tracking=(-0.105735, 0.654216), map_predicted=(3.33655, -2.52024), range=0.68375, pts=16
I0419 21:05:56.702919 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.193448m maha_sq=1.55743 (gate chi2=5.99) pose_sigma=(0.153206, 0.153206, rho=0) det_map=(3.33655, -2.52024) lm_pos=(3.53, -2.52) delta=(-0.193447, -0.000235365) -> 1 candidate(s)
I0419 21:05:56.758414 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.38223, 0.620203)
I0419 21:05:56.842763 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:56.845598 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(3.17489, -1.86924), yaw=-177.912 deg backend=(3.18016, -1.86842)
I0419 21:05:56.846482 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:56.846550 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:56.874066 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:56.877894 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:56.877978 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:56.878011 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.143903, -0.649053), points=18, range=0.666167, residual=0.0107882, extent=0.0334358
I0419 21:05:56.878036 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.143903, -0.649053), tracking=(-0.154597, 0.649053), map_predicted=(3.33744, -2.51279), range=0.666167, pts=18
I0419 21:05:56.878058 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.192694m maha_sq=1.47859 (gate chi2=5.99) pose_sigma=(0.156717, 0.156717, rho=0) det_map=(3.33744, -2.51279) lm_pos=(3.53, -2.52) delta=(-0.192559, 0.00721026) -> 1 candidate(s)
I0419 21:05:56.945755 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.34721, 0.616315)
I0419 21:05:56.946557 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:56.947719 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0883028s, prior_pose=(3.143, -1.87175), yaw=-177.952 deg
I0419 21:05:56.947816 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1372, max_intensity=254, threshold=230, above_threshold=21, candidates=21
I0419 21:05:57.097705 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.100373, -0.652136), points=19, range=0.661105, residual=0.0113788, extent=0.0384563
I0419 21:05:57.097826 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.100373, -0.652136), tracking=(-0.198127, 0.652136), map_predicted=(3.32075, -2.51537), range=0.661105, pts=19
I0419 21:05:57.097862 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.209304m maha_sq=1.65235 (gate chi2=5.99) pose_sigma=(0.161082, 0.161082, rho=0) det_map=(3.32075, -2.51537) lm_pos=(3.53, -2.52) delta=(-0.209253, 0.0046264) -> 1 candidate(s)
I0419 21:05:57.099104 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.3028, 0.621348)
I0419 21:05:57.100009 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:57.109709 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:57.109807 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:57.240929 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:57.241906 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:57.242010 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:57.242036 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0511502, -0.649872), points=18, range=0.653278, residual=0.0108949, extent=0.033971
I0419 21:05:57.242054 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0511502, -0.649872), tracking=(-0.24735, 0.649872), map_predicted=(3.32519, -2.51451), range=0.653278, pts=18
I0419 21:05:57.242074 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.204884m maha_sq=1.53011 (gate chi2=5.99) pose_sigma=(0.163951, 0.163951, rho=0) det_map=(3.32519, -2.51451) lm_pos=(3.53, -2.52) delta=(-0.204811, 0.00549361) -> 1 candidate(s)
I0419 21:05:57.243554 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.25406, 0.641243)
I0419 21:05:57.245584 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:57.246831 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0591464s, prior_pose=(3.04054, -1.87371), yaw=-178.373 deg
I0419 21:05:57.246961 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1369, max_intensity=254, threshold=230, above_threshold=24, candidates=24
I0419 21:05:57.350064 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:57.350063 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.21029, 0.652529)
I0419 21:05:57.350857 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.95101, 0.538046), points=4, range=1.0885, residual=0.0101017, extent=0.0228148
I0419 21:05:57.350934 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.95101, 0.538046), tracking=(-1.24951, -0.538046), map_predicted=(4.25651, -1.3103), range=1.0885, pts=4
I0419 21:05:57.350960 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.0426259m maha_sq=0.0641883 (gate chi2=5.99) pose_sigma=(0.166584, 0.166584, rho=0) det_map=(4.25651, -1.3103) lm_pos=(4.215, -1.32) delta=(0.0415079, 0.00969871) -> 1 candidate(s)
I0419 21:05:57.353417 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:57.402133 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:57.402237 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:57.469858 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=23, centroid=(0.245428, -0.550763)
I0419 21:05:57.470000 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:57.471464 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:57.471570 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:57.490294 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.233802, -0.550661), points=23, range=0.599261, residual=0.0129377, extent=0.0448294
I0419 21:05:57.490461 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.233802, -0.550661), tracking=(0.532302, -0.550661), map_predicted=(2.42753, -1.33198), range=0.599261, pts=23
I0419 21:05:57.490492 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0173335m maha_sq=0.0102054 (gate chi2=5.99) pose_sigma=(0.169821, 0.169821, rho=0) det_map=(2.42753, -1.33198) lm_pos=(2.415, -1.32) delta=(0.0125292, -0.0119779) -> 1 candidate(s)
I0419 21:05:57.495045 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:57.522472 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561279s, prior_pose=(2.95976, -1.87342), yaw=-178.971 deg
I0419 21:05:57.522598 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1369, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:57.618330 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.19884, -0.551086)
I0419 21:05:57.638530 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.191524, -0.550892), points=20, range=0.5832, residual=0.0107792, extent=0.03443
I0419 21:05:57.638629 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.191524, -0.550892), tracking=(0.490024, -0.550892), map_predicted=(2.43179, -1.33411), range=0.5832, pts=20
I0419 21:05:57.638659 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0219352m maha_sq=0.0159126 (gate chi2=5.99) pose_sigma=(0.172301, 0.172301, rho=0) det_map=(2.43179, -1.33411) lm_pos=(2.415, -1.32) delta=(0.0167942, -0.0141107) -> 1 candidate(s)
I0419 21:05:57.642350 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:57.734575 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.90357, -1.8735), yaw=-178.855 deg backend=(2.90884, -1.87267)
I0419 21:05:57.735594 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:57.735651 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:57.737339 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.09295, 0.650186)
I0419 21:05:57.754283 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:57.758636 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:57.758710 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:57.789005 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.133702, -0.652249), points=16, range=0.667375, residual=0.0104062, extent=0.0321705
I0419 21:05:57.789155 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.133702, -0.652249), tracking=(-0.432202, 0.652249), map_predicted=(3.32424, -2.51642), range=0.667375, pts=16
I0419 21:05:57.789203 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.205793m maha_sq=1.34606 (gate chi2=5.99) pose_sigma=(0.175836, 0.175836, rho=0) det_map=(3.32424, -2.51642) lm_pos=(3.53, -2.52) delta=(-0.205761, 0.00357713) -> 1 candidate(s)
I0419 21:05:57.789238 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:57.814515 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843901s, prior_pose=(2.87748, -1.87406), yaw=-178.712 deg
I0419 21:05:57.814627 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:05:57.903189 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.154219, -0.658281)
I0419 21:05:57.935774 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:58.020776 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.185961, -0.663052)
I0419 21:05:58.020879 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.187477, -0.660962), points=17, range=0.688706, residual=0.011374, extent=0.0325901
I0419 21:05:58.020903 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.187477, -0.660962), tracking=(-0.485977, 0.660962), map_predicted=(3.3235, -2.5274), range=0.688706, pts=17
I0419 21:05:58.020923 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.206633m maha_sq=1.30425 (gate chi2=5.99) pose_sigma=(0.179362, 0.179362, rho=0) det_map=(3.3235, -2.5274) lm_pos=(3.53, -2.52) delta=(-0.2065, -0.00740261) -> 1 candidate(s)
I0419 21:05:58.021977 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:58.022042 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:58.050719 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:58.054327 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:58.054484 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:58.182397 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:58.183598 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600142s, prior_pose=(2.78329, -1.87679), yaw=-178.475 deg
I0419 21:05:58.183705 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1363, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:05:58.184486 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.84617, -0.576201)
I0419 21:05:58.185283 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.228452, -0.663418), points=16, range=0.704, residual=0.011908, extent=0.0347556
I0419 21:05:58.185360 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.228452, -0.663418), tracking=(-0.526952, 0.663418), map_predicted=(3.32771, -2.52595), range=0.704, pts=16
I0419 21:05:58.185388 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.202377m maha_sq=1.21799 (gate chi2=5.99) pose_sigma=(0.181788, 0.181788, rho=0) det_map=(3.32771, -2.52595) lm_pos=(3.53, -2.52) delta=(-0.20229, -0.00595465) -> 1 candidate(s)
I0419 21:05:58.265852 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.944186, 0.641472)
I0419 21:05:58.266909 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:58.269897 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.23143, 0.50379), points=3, range=1.32933, residual=0.00439007, extent=0.00798063
I0419 21:05:58.270217 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.23143, 0.50379), tracking=(-1.52993, -0.50379), map_predicted=(4.24073, -1.32857), range=1.32933, pts=3
I0419 21:05:58.270378 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[5] 'ref_6' eucl_dist=0.027122m maha_sq=0.0211313 (gate chi2=5.99) pose_sigma=(0.185263, 0.185263, rho=0) det_map=(4.24073, -1.32857) lm_pos=(4.215, -1.32) delta=(0.0257333, -0.00856729) -> 1 candidate(s)
I0419 21:05:58.282459 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:58.282567 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:58.342599 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:58.409533 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:58.409631 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.25997, 0.504802)
I0419 21:05:58.409651 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:58.411556 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:58.413501 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566286s, prior_pose=(2.69083, -1.87629), yaw=-178.158 deg
I0419 21:05:58.413604 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1356, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:05:58.430255 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0548667, -0.552792), points=24, range=0.555625, residual=0.0116986, extent=0.0385113
I0419 21:05:58.430347 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0548667, -0.552792), tracking=(0.243633, -0.552792), map_predicted=(2.42956, -1.33161), range=0.555625, pts=24
I0419 21:05:58.430380 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0186203m maha_sq=0.00971157 (gate chi2=5.99) pose_sigma=(0.187435, 0.187435, rho=0) det_map=(2.42956, -1.33161) lm_pos=(2.415, -1.32) delta=(0.0145569, -0.0116109) -> 1 candidate(s)
I0419 21:05:58.463850 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.29445, 0.505544)
I0419 21:05:58.567858 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:58.570899 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.63401, -1.87901), yaw=-178.126 deg backend=(2.64077, -1.87848)
I0419 21:05:58.578328 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:58.578447 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.83051, 0.645683), points=7, range=1.057, residual=0.0154454, extent=0.0403168
I0419 21:05:58.578480 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:58.578505 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.83051, 0.645683), tracking=(1.12901, 0.645683), map_predicted=(1.52672, -2.56128), range=1.057, pts=7
I0419 21:05:58.578536 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.222148m maha_sq=1.33004 (gate chi2=5.99) pose_sigma=(0.19082, 0.19082, rho=0) det_map=(1.52672, -2.56128) lm_pos=(1.745, -2.52) delta=(-0.218279, -0.0412773) -> 1 candidate(s)
I0419 21:05:58.606520 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(0.830245, 0.650493)
I0419 21:05:58.702195 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:58.702857 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:58.702921 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:58.705222 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:58.706301 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846036s, prior_pose=(2.60845, -1.87762), yaw=-178.453 deg
I0419 21:05:58.706389 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1357, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:05:58.726020 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.790704, 0.651204)
I0419 21:05:58.815495 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.784607, 0.653287), points=8, range=1.01813, residual=0.0146227, extent=0.0447648
I0419 21:05:58.815588 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.784607, 0.653287), tracking=(1.08311, 0.653287), map_predicted=(1.52394, -2.55836), range=1.01813, pts=8
I0419 21:05:58.815616 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.224366m maha_sq=1.32271 (gate chi2=5.99) pose_sigma=(0.193374, 0.193374, rho=0) det_map=(1.52394, -2.55836) lm_pos=(1.745, -2.52) delta=(-0.221062, -0.0383632) -> 1 candidate(s)
I0419 21:05:58.815819 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:05:58.820196 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:58.842398 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.753591, 0.653024)
I0419 21:05:58.871065 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:58.871246 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:58.969651 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:58.970412 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=13, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:58.970476 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:05:58.970499 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.479155, -0.6717), points=11, range=0.828, residual=0.0113947, extent=0.0331644
I0419 21:05:58.970518 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.479155, -0.6717), tracking=(-0.777655, 0.6717), map_predicted=(3.33435, -2.53035), range=0.828, pts=11
I0419 21:05:58.970536 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.195927m maha_sq=0.981622 (gate chi2=5.99) pose_sigma=(0.196301, 0.196301, rho=0) det_map=(3.33435, -2.53035) lm_pos=(3.53, -2.52) delta=(-0.195653, -0.0103479) -> 1 candidate(s)
I0419 21:05:58.971470 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.715962, 0.652092)
I0419 21:05:58.972857 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:05:58.987099 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566816s, prior_pose=(2.52321, -1.87892), yaw=-178.527 deg
I0419 21:05:58.987243 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1352, max_intensity=253, threshold=230, above_threshold=30, candidates=30
I0419 21:05:59.063071 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295590178841.
I0419 21:05:59.064082 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295590217190.
I0419 21:05:59.066922 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[4] 'ref_5' maha_sq=1.77304 range=0.851909 variance=0.00057706 t_weight=5198.76 r_weight=0 yaml=(3.53, -2.52) prior=(2.4968, -1.87921, -178.579deg) obs_actual=(-0.813453, 0.675109) obs_expected=(-1.017, 0.666208) delta=(0.203546, 0.00890153) |delta|=0.203741m
I0419 21:05:59.067044 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295590499513.
I0419 21:05:59.078298 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.68046, 0.65512)
I0419 21:05:59.079800 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295590774830.
I0419 21:05:59.086009 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:05:59.109896 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295591094065.
I0419 21:05:59.135093 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.268724, -0.548881), points=20, range=0.6101, residual=0.0116324, extent=0.0335311
I0419 21:05:59.135229 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.268724, -0.548881), tracking=(0.0297757, -0.548881), map_predicted=(2.44866, -1.32945), range=0.6101, pts=20
I0419 21:05:59.135283 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0349569m maha_sq=0.0529694 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.44866, -1.32945) lm_pos=(2.415, -1.32) delta=(0.0336554, -0.00944969) -> 1 candidate(s)
I0419 21:05:59.232789 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295591375923.
I0419 21:05:59.235441 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:05:59.235594 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:59.235744 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295591654339.
I0419 21:05:59.236543 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.313672, 0.554418)
I0419 21:05:59.236653 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295591701096.
I0419 21:05:59.239338 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:05:59.242316 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:59.244184 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:05:59.244268 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:05:59.244318 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=194.189 rad/s > flush threshold 3.
I0419 21:05:59.244349 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:59.258626 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:59.358605 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556839s, prior_pose=(2.44877, -1.87316), yaw=-179.211 deg
I0419 21:05:59.358722 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1358, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 21:05:59.358855 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=24, centroid=(-0.309376, -0.544542)
I0419 21:05:59.358891 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.609973, 0.663625), points=11, range=0.899273, residual=0.0137024, extent=0.0476168
I0419 21:05:59.358911 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.609973, 0.663625), tracking=(0.908473, 0.663625), map_predicted=(1.54952, -2.54923), range=0.899273, pts=11
I0419 21:05:59.358932 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.197652m maha_sq=1.63795 (gate chi2=5.99) pose_sigma=(0.152374, 0.152374, rho=0) det_map=(1.54952, -2.54923) lm_pos=(1.745, -2.52) delta=(-0.195478, -0.0292336) -> 1 candidate(s)
I0419 21:05:59.360954 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.806 deg, rms_residual=0.0153084m, sigma_yaw=0.0167249 rad, N=2
I0419 21:05:59.361110 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(2.40815, -1.87389, 179.806deg) inliers=2 rms=0.0153084m
I0419 21:05:59.361202 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295593135360.
I0419 21:05:59.362592 1219452 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[1] points 30 -> 25 (threshold=0.03, iters=3)
I0419 21:05:59.362690 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=12.2058 rad/s > flush threshold 3.
I0419 21:05:59.370014 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.581144, 0.662527)
I0419 21:05:59.498807 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.245599, 0.542978), points=21, range=0.596857, residual=0.011693, extent=0.0370153
I0419 21:05:59.498926 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.245599, 0.542978), tracking=(-0.052901, -0.542978), map_predicted=(2.44116, -1.32961), range=0.596857, pts=21
I0419 21:05:59.498955 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0278659m maha_sq=0.0320162 (gate chi2=5.99) pose_sigma=(0.153893, 0.153893, rho=0) det_map=(2.44116, -1.32961) lm_pos=(2.415, -1.32) delta=(0.0261577, -0.00960635) -> 1 candidate(s)
I0419 21:05:59.499943 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(2.39195, -1.87359), yaw=-179.167 deg backend=(2.3891, -1.87898)
I0419 21:05:59.500751 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:05:59.500816 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:59.502671 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.544908, 0.658915)
I0419 21:05:59.518404 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:05:59.522785 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:59.522907 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:59.616343 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:05:59.617131 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:59.618283 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841474s, prior_pose=(2.37572, -1.87372), yaw=-179.1 deg
I0419 21:05:59.618360 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1341, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:05:59.634439 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(1.41504, -0.56454)
I0419 21:05:59.634608 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.500333, 0.655923), points=13, range=0.827385, residual=0.0118712, extent=0.0358503
I0419 21:05:59.634647 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.500333, 0.655923), tracking=(0.798833, 0.655923), map_predicted=(1.56381, -2.54472), range=0.827385, pts=13
I0419 21:05:59.634686 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.182869m maha_sq=1.32192 (gate chi2=5.99) pose_sigma=(0.157207, 0.157207, rho=0) det_map=(1.56381, -2.54472) lm_pos=(1.745, -2.52) delta=(-0.18119, -0.0247239) -> 1 candidate(s)
I0419 21:05:59.762809 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.3775, -0.570577)
I0419 21:05:59.762928 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:05:59.762950 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:05:59.782903 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.458933, 0.651265), points=15, range=0.7996, residual=0.0142008, extent=0.0451278
I0419 21:05:59.783072 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.458933, 0.651265), tracking=(0.757433, 0.651265), map_predicted=(1.56055, -2.54368), range=0.7996, pts=15
I0419 21:05:59.783123 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.185959m maha_sq=1.30891 (gate chi2=5.99) pose_sigma=(0.160552, 0.160552, rho=0) det_map=(1.56055, -2.54368) lm_pos=(1.745, -2.52) delta=(-0.184446, -0.0236763) -> 1 candidate(s)
I0419 21:05:59.878525 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:05:59.879451 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:05:59.879535 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:05:59.880705 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:05:59.882263 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:05:59.883369 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597616s, prior_pose=(2.27486, -1.87474), yaw=-178.652 deg
I0419 21:05:59.883455 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1335, max_intensity=255, threshold=230, above_threshold=18, candidates=18
I0419 21:05:59.883533 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.433545, 0.650743)
I0419 21:05:59.930617 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.414026, 0.649801), points=15, range=0.772, residual=0.0118768, extent=0.0349964
I0419 21:05:59.930825 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.414026, 0.649801), tracking=(0.712526, 0.649801), map_predicted=(1.56762, -2.54204), range=0.772, pts=15
I0419 21:05:59.930956 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.178744m maha_sq=1.17287 (gate chi2=5.99) pose_sigma=(0.163277, 0.163277, rho=0) det_map=(1.56762, -2.54204) lm_pos=(1.745, -2.52) delta=(-0.17738, -0.0220376) -> 1 candidate(s)
I0419 21:06:00.037771 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.808667, -0.696066)
I0419 21:06:00.046715 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:00.046821 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:00.128733 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.834859, -0.698449), points=5, range=1.0868, residual=0.00698033, extent=0.0181332
I0419 21:06:00.128849 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.834859, -0.698449), tracking=(-1.13336, 0.698449), map_predicted=(3.37965, -2.54209), range=1.0868, pts=5
I0419 21:06:00.128876 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.151967m maha_sq=0.82434 (gate chi2=5.99) pose_sigma=(0.165867, 0.165867, rho=0) det_map=(3.37965, -2.54209) lm_pos=(3.53, -2.52) delta=(-0.150353, -0.0220878) -> 1 candidate(s)
I0419 21:06:00.130076 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:00.131448 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=32, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:00.131510 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:00.134147 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.26087, -0.58348)
I0419 21:06:00.134254 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:00.138016 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:00.166074 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055361s, prior_pose=(2.20025, -1.87722), yaw=-178.168 deg
I0419 21:06:00.166287 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1333, max_intensity=255, threshold=230, above_threshold=22, candidates=22
I0419 21:06:00.312129 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.873555, -0.702111), points=5, range=1.1228, residual=0.00972963, extent=0.0265813
I0419 21:06:00.312263 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.873555, -0.702111), tracking=(-1.17205, 0.702111), map_predicted=(3.37622, -2.53921), range=1.1228, pts=5
I0419 21:06:00.312290 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[4] 'ref_5' eucl_dist=0.154974m maha_sq=0.82611 (gate chi2=5.99) pose_sigma=(0.168882, 0.168882, rho=0) det_map=(3.37622, -2.53921) lm_pos=(3.53, -2.52) delta=(-0.153779, -0.0192051) -> 1 candidate(s)
I0419 21:06:00.312542 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:00.314937 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.00853292, 0.534865)
I0419 21:06:00.379894 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(2.15249, -1.87755), yaw=-178.076 deg backend=(2.1401, -1.88292)
I0419 21:06:00.380888 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:00.380949 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:00.398610 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.276637, 0.649), points=19, range=0.707789, residual=0.0136526, extent=0.0419993
I0419 21:06:00.398738 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:00.398758 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.276637, 0.649), tracking=(0.575137, 0.649), map_predicted=(1.5819, -2.54543), range=0.707789, pts=19
I0419 21:06:00.398787 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.165074m maha_sq=0.902548 (gate chi2=5.99) pose_sigma=(0.171952, 0.171952, rho=0) det_map=(1.5819, -2.54543) lm_pos=(1.745, -2.52) delta=(-0.163102, -0.0254349) -> 1 candidate(s)
I0419 21:06:00.401778 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=29, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:00.401863 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=24, centroid=(0.0492702, 0.535964)
I0419 21:06:00.401882 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:00.429719 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:00.430621 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:00.458417 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845487s, prior_pose=(2.12611, -1.8784), yaw=-178.222 deg
I0419 21:06:00.458513 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1326, max_intensity=255, threshold=230, above_threshold=21, candidates=21
I0419 21:06:00.546203 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.22587, 0.655892), points=19, range=0.694895, residual=0.0123396, extent=0.04042
I0419 21:06:00.546310 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.22587, 0.655892), tracking=(0.52437, 0.655892), map_predicted=(1.59383, -2.54689), range=0.694895, pts=19
I0419 21:06:00.546344 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.153544m maha_sq=0.76237 (gate chi2=5.99) pose_sigma=(0.17417, 0.17417, rho=0) det_map=(1.59383, -2.54689) lm_pos=(1.745, -2.52) delta=(-0.151171, -0.0268891) -> 1 candidate(s)
I0419 21:06:00.550607 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.980551, -0.688699)
I0419 21:06:00.659224 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:00.659337 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:00.694422 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:00.699126 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:00.699270 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:00.722280 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=20, centroid=(0.170144, 0.661472)
I0419 21:06:00.722805 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:00.818840 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:00.820276 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565426s, prior_pose=(2.03295, -1.87816), yaw=-179.366 deg
I0419 21:06:00.820573 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1321, max_intensity=255, threshold=230, above_threshold=24, candidates=24
I0419 21:06:00.820829 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.08993, -0.547377), points=4, range=1.22275, residual=0.00946339, extent=0.0237343
I0419 21:06:00.820981 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.08993, -0.547377), tracking=(1.38843, -0.547377), map_predicted=(0.638549, -1.34618), range=1.22275, pts=4
I0419 21:06:00.821023 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0352107m maha_sq=0.0382269 (gate chi2=5.99) pose_sigma=(0.178551, 0.178551, rho=0) det_map=(0.638549, -1.34618) lm_pos=(0.615, -1.32) delta=(0.0235494, -0.0261767) -> 1 candidate(s)
I0419 21:06:00.938508 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.788691, -0.483313)
I0419 21:06:00.942305 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:00.942420 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:00.943089 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.198365, 0.544836), points=22, range=0.579, residual=0.0125498, extent=0.0399496
I0419 21:06:00.943150 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.198365, 0.544836), tracking=(-0.496865, -0.544836), map_predicted=(2.47191, -1.33054), range=0.579, pts=22
I0419 21:06:00.943176 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[3] 'ref_4' eucl_dist=0.0578793m maha_sq=0.0994019 (gate chi2=5.99) pose_sigma=(0.181964, 0.181964, rho=0) det_map=(2.47191, -1.33054) lm_pos=(2.415, -1.32) delta=(0.0569123, -0.0105355) -> 1 candidate(s)
I0419 21:06:00.986511 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:01.049150 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:01.049283 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.215126, 0.545959)
I0419 21:06:01.049325 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:01.050637 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:01.051432 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:01.053344 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561391s, prior_pose=(1.93878, -1.87637), yaw=-179.485 deg
I0419 21:06:01.053459 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1313, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:06:01.192269 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.043965, 0.656109), points=20, range=0.6584, residual=0.0119143, extent=0.0374364
I0419 21:06:01.192400 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.043965, 0.656109), tracking=(0.342465, 0.656109), map_predicted=(1.57907, -2.53723), range=0.6584, pts=20
I0419 21:06:01.192435 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.166826m maha_sq=0.792512 (gate chi2=5.99) pose_sigma=(0.185848, 0.185848, rho=0) det_map=(1.57907, -2.53723) lm_pos=(1.745, -2.52) delta=(-0.165933, -0.0172342) -> 1 candidate(s)
I0419 21:06:01.193136 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.260677, 0.542266)
I0419 21:06:01.198860 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.88872, -1.87807), yaw=-179.247 deg backend=(1.88417, -1.88188)
I0419 21:06:01.222818 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:01.222961 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:01.350208 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:01.351058 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:01.351161 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.30634, 0.539449)
I0419 21:06:01.351184 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:01.353046 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:01.354115 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:01.355154 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0832534s, prior_pose=(1.86452, -1.87632), yaw=-179.155 deg
I0419 21:06:01.355242 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1304, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:06:01.355356 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0104346, 0.652983), points=20, range=0.65455, residual=0.0117831, extent=0.0366938
I0419 21:06:01.355387 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0104346, 0.652983), tracking=(0.288065, 0.652983), map_predicted=(1.58612, -2.53348), range=0.65455, pts=20
I0419 21:06:01.355412 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.159453m maha_sq=0.701336 (gate chi2=5.99) pose_sigma=(0.188886, 0.188886, rho=0) det_map=(1.58612, -2.53348) lm_pos=(1.745, -2.52) delta=(-0.158882, -0.0134784) -> 1 candidate(s)
I0419 21:06:01.468369 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295613975657.
I0419 21:06:01.469236 1237626 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:06:01.469324 1237626 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:01.469348 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295614060286.
I0419 21:06:01.471637 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=19, centroid=(0.353278, 0.536969)
I0419 21:06:01.471748 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295614299026.
I0419 21:06:01.473735 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295614618831.
I0419 21:06:01.491981 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295614906450.
I0419 21:06:01.514540 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:01.514700 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:01.609115 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295615180240.
I0419 21:06:01.610495 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.836198, -0.560486), points=4, range=1.00925, residual=0.00742494, extent=0.0175282
I0419 21:06:01.610595 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.836198, -0.560486), tracking=(1.1347, -0.560486), map_predicted=(0.643388, -1.34118), range=1.00925, pts=4
I0419 21:06:01.610623 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0354175m maha_sq=0.0545259 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.643388, -1.34118) lm_pos=(0.615, -1.32) delta=(0.0283879, -0.0211785) -> 1 candidate(s)
I0419 21:06:01.611338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295615493460.
I0419 21:06:01.613451 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:01.614171 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:01.614238 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.400808, 0.534971)
I0419 21:06:01.614259 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:01.614343 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295615782226.
I0419 21:06:01.616827 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:01.616916 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295616062200.
I0419 21:06:01.634758 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604487s, prior_pose=(1.76843, -1.88031), yaw=-178.749 deg
I0419 21:06:01.634931 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1295, max_intensity=255, threshold=230, above_threshold=31, candidates=31
I0419 21:06:01.635317 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:01.637058 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295616341212.
I0419 21:06:01.748638 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:01.749066 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[3] 'ref_4' maha_sq=0.127533 range=0.686375 variance=0.000565486 t_weight=5305.17 r_weight=0 yaml=(2.415, -1.32) prior=(1.75719, -1.8812, -178.798deg) obs_actual=(-0.722936, -0.536726) obs_expected=(-0.669433, -0.547279) delta=(-0.0535035, 0.0105521) |delta|=0.0545341m
I0419 21:06:01.749323 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295616623632.
I0419 21:06:01.751259 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295616932765.
I0419 21:06:01.752810 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.21652 rad/s > flush threshold 3.
I0419 21:06:01.754578 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.76567, 0.654303)
I0419 21:06:01.754712 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.125577, 0.656104), points=19, range=0.668789, residual=0.0113696, extent=0.0356164
I0419 21:06:01.754747 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.125577, 0.656104), tracking=(0.172923, 0.656104), map_predicted=(1.57742, -2.53345), range=0.668789, pts=19
I0419 21:06:01.754769 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.168123m maha_sq=1.19985 (gate chi2=5.99) pose_sigma=(0.151631, 0.151631, rho=0) det_map=(1.57742, -2.53345) lm_pos=(1.745, -2.52) delta=(-0.167584, -0.0134512) -> 1 candidate(s)
I0419 21:06:01.779277 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:01.875417 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:01.875537 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:01.875615 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295618096672.
I0419 21:06:01.876276 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=16, centroid=(0.475011, 0.535239)
I0419 21:06:01.876359 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295618141210.
I0419 21:06:01.878093 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295618378587.
I0419 21:06:01.878697 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295618411603.
I0419 21:06:01.879789 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:01.879863 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295618654686.
I0419 21:06:01.881162 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:01.881217 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:01.881282 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295618698251.
I0419 21:06:01.894953 1219494 reflector_detector.cc:209] [Detect]   cluster[6]: points=19, centroid=(-0.177241, 0.661256)
I0419 21:06:01.895093 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.736501, -0.560015), points=9, range=0.922556, residual=0.0120014, extent=0.0359827
I0419 21:06:01.895146 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.736501, -0.560015), tracking=(1.035, -0.560015), map_predicted=(0.630446, -1.32844), range=0.922556, pts=9
I0419 21:06:01.895190 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0175996m maha_sq=0.0134146 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.630446, -1.32844) lm_pos=(0.615, -1.32) delta=(0.0154461, -0.00843587) -> 1 candidate(s)
I0419 21:06:01.906498 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:01.906679 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295619020122.
I0419 21:06:02.007491 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0634766s, prior_pose=(1.66087, -1.86542), yaw=-178.703 deg
I0419 21:06:02.007608 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1294, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:06:02.008438 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295619333233.
I0419 21:06:02.010772 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=72.4354 rad/s > flush threshold 3.
I0419 21:06:02.011953 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.67436, 0.639944)
I0419 21:06:02.043766 1219494 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(1.60034, 0.635769)
I0419 21:06:02.043883 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:06:02.112825 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.37454, -0.655404), points=13, range=0.757154, residual=0.0111834, extent=0.0277596
I0419 21:06:02.112959 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.37454, -0.655404), tracking=(0.0760401, 0.655404), map_predicted=(1.58218, -2.52514), range=0.757154, pts=13
I0419 21:06:02.112983 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.1629m maha_sq=1.12974 (gate chi2=5.99) pose_sigma=(0.151408, 0.151408, rho=0) det_map=(1.58218, -2.52514) lm_pos=(1.745, -2.52) delta=(-0.162819, -0.00514099) -> 1 candidate(s)
I0419 21:06:02.114153 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(1.63338, -1.86836), yaw=-178.655 deg backend=(1.61908, -1.87712)
I0419 21:06:02.114959 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=4
I0419 21:06:02.115008 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:02.115103 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295621029859.
I0419 21:06:02.115764 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.568292, 0.53174)
I0419 21:06:02.136314 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=12.3085 rad/s > flush threshold 3.
I0419 21:06:02.162470 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:02.163626 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=39, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:02.163708 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:02.235399 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(4.04175, 1.55825)
I0419 21:06:02.236337 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.593167, 0.532715), points=9, range=0.798333, residual=0.008541, extent=0.0223701
I0419 21:06:02.236404 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.593167, 0.532715), tracking=(-0.891667, -0.532715), map_predicted=(2.4717, -1.32419), range=0.798333, pts=9
I0419 21:06:02.236431 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0568512m maha_sq=0.134941 (gate chi2=5.99) pose_sigma=(0.153094, 0.153094, rho=0) det_map=(2.4717, -1.32419) lm_pos=(2.415, -1.32) delta=(0.0566966, -0.00419049) -> 1 candidate(s)
I0419 21:06:02.236454 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:02.236465 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:02.237509 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0871018s, prior_pose=(1.59287, -1.87784), yaw=-178.645 deg
I0419 21:06:02.237615 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1288, max_intensity=255, threshold=230, above_threshold=37, candidates=37
I0419 21:06:02.254114 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.411747, -0.658933)
I0419 21:06:02.279093 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:02.279328 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:02.279386 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295622782963.
I0419 21:06:02.282472 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 4 (intra-scan=2, buffered=2).
I0419 21:06:02.403352 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.306277, -0.654298), points=19, range=0.725, residual=0.0142116, extent=0.0417685
I0419 21:06:02.403513 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.306277, -0.654298), tracking=(0.00777688, 0.654298), map_predicted=(1.55631, -2.53372), range=0.725, pts=19
I0419 21:06:02.403569 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.189193m maha_sq=1.51175 (gate chi2=5.99) pose_sigma=(0.151779, 0.151779, rho=0) det_map=(1.55631, -2.53372) lm_pos=(1.745, -2.52) delta=(-0.188695, -0.0137192) -> 1 candidate(s)
I0419 21:06:02.404764 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.63371, -0.621681)
I0419 21:06:02.404939 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295623372132.
I0419 21:06:02.407876 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0323375 range=0.809143 variance=0.000614597 t_weight=4881.25 r_weight=0 yaml=(0.615, -1.32) prior=(1.52869, -1.87794, -178.518deg) obs_actual=(0.878298, -0.563102) obs_expected=(0.898955, -0.581385) delta=(-0.0206569, 0.0182828) |delta|=0.0275857m
I0419 21:06:02.408028 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295623697151.
I0419 21:06:02.409898 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(3.97383, 1.54534)
I0419 21:06:02.409974 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=4, merge_r=0.1 -> after=3
I0419 21:06:02.410005 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:02.426642 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.96584, 1.55552), points=3, range=4.25367, residual=0.0163271, extent=0.0331046
I0419 21:06:02.426743 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.96584, 1.55552), tracking=(4.26434, 1.55552), map_predicted=(-2.71368, -3.54068), range=4.25367, pts=3
I0419 21:06:02.426775 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63444m maha_sq=288.108 (gate chi2=5.99) pose_sigma=(0.151477, 0.151477, rho=0) det_map=(-2.71368, -3.54068) lm_pos=(-0.285, -2.52) delta=(-2.42868, -1.02068) -> 0 candidate(s)
I0419 21:06:02.507755 1232263 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(-0.331318, 0.577741)
I0419 21:06:02.507871 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:02.508538 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:02.508605 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:02.510068 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295624857747.
I0419 21:06:02.511596 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:02.513725 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0550704s, prior_pose=(1.47699, -1.87188), yaw=-178.494 deg
I0419 21:06:02.513808 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1284, max_intensity=253, threshold=230, above_threshold=43, candidates=43
I0419 21:06:02.513957 1218967 reflector_detector.cc:209] [Detect]   cluster[6]: points=1, centroid=(-0.311498, 0.539535)
I0419 21:06:02.546649 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.523755, -0.564881), points=13, range=0.770308, residual=0.0109775, extent=0.0373918
I0419 21:06:02.546841 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.523755, -0.564881), tracking=(0.822255, -0.564881), map_predicted=(0.630294, -1.32921), range=0.770308, pts=13
I0419 21:06:02.546901 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0178555m maha_sq=0.0134153 (gate chi2=5.99) pose_sigma=(0.152331, 0.152331, rho=0) det_map=(0.630294, -1.32921) lm_pos=(0.615, -1.32) delta=(0.0152942, -0.00921446) -> 1 candidate(s)
I0419 21:06:02.547113 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295625457571.
I0419 21:06:02.575001 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:02.674167 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.58112, -0.70948)
I0419 21:06:02.674288 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=35.8801 rad/s > flush threshold 3.
I0419 21:06:02.678531 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295626297843.
I0419 21:06:02.679447 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 3 (intra-scan=2, buffered=1).
I0419 21:06:02.680687 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.483921, -0.561552), points=15, range=0.744067, residual=0.0124655, extent=0.0412202
I0419 21:06:02.680774 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.483921, -0.561552), tracking=(0.782421, -0.561552), map_predicted=(0.646271, -1.33222), range=0.744067, pts=15
I0419 21:06:02.680801 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0335737m maha_sq=0.0488085 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.646271, -1.33222) lm_pos=(0.615, -1.32) delta=(0.0312713, -0.0122187) -> 1 candidate(s)
I0419 21:06:02.682328 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(-0.205503, -0.654918)
I0419 21:06:02.682420 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (3 entries) on yaw_rate=57.7112 rad/s > flush threshold 3.
I0419 21:06:02.690409 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:02.690513 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:02.690644 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295626898682.
I0419 21:06:02.759194 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295627182815.
I0419 21:06:02.761255 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:02.762781 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:02.762948 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.62446, -0.709142)
I0419 21:06:02.762977 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:02.763020 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=59.4817 rad/s > flush threshold 3.
I0419 21:06:02.778324 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38223, 0.627492), points=3, range=1.51633, residual=0.00517817, extent=0.00967906
I0419 21:06:02.778596 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.38223, 0.627492), tracking=(1.68073, 0.627492), map_predicted=(-0.272324, -2.54752), range=1.51633, pts=3
I0419 21:06:02.778781 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0302999m maha_sq=0.0392932 (gate chi2=5.99) pose_sigma=(0.151181, 0.151181, rho=0) det_map=(-0.272324, -2.54752) lm_pos=(-0.285, -2.52) delta=(0.0126756, -0.0275211) -> 1 candidate(s)
I0419 21:06:02.779026 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295627778363.
I0419 21:06:02.782016 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:02.806536 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560943s, prior_pose=(1.37901, -1.86747), yaw=-178.267 deg
I0419 21:06:02.806646 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1266, max_intensity=253, threshold=230, above_threshold=22, candidates=22
I0419 21:06:02.837919 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295628372685.
I0419 21:06:02.899434 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=51.285 rad/s > flush threshold 3.
I0419 21:06:02.900826 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=17, centroid=(0.425085, -0.560496)
I0419 21:06:02.901005 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295628657377.
I0419 21:06:02.904357 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.821297, 0.523202), points=6, range=0.971667, residual=0.0080845, extent=0.0220865
I0419 21:06:02.904457 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.821297, 0.523202), tracking=(-1.1198, -0.523202), map_predicted=(2.4553, -1.31179), range=0.971667, pts=6
I0419 21:06:02.904487 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0411232m maha_sq=0.0726942 (gate chi2=5.99) pose_sigma=(0.150829, 0.150829, rho=0) det_map=(2.4553, -1.31179) lm_pos=(2.415, -1.32) delta=(0.0402958, 0.00820786) -> 1 candidate(s)
I0419 21:06:02.926891 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295629262780.
I0419 21:06:02.953749 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.32623, 0.627838)
I0419 21:06:02.953933 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.008611 range=0.688167 variance=0.000623418 t_weight=4812.18 r_weight=0 yaml=(0.615, -1.32) prior=(1.33599, -1.86672, -178.309deg) obs_actual=(0.691772, -0.561525) obs_expected=(0.704548, -0.567759) delta=(-0.0127756, 0.00623396) |delta|=0.0142155m
I0419 21:06:02.954046 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295629532134.
I0419 21:06:03.037161 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.32617, -1.86341), yaw=-178.27 deg backend=(1.35077, -1.88016)
I0419 21:06:03.038255 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:03.038334 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:03.038379 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:03.038415 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.704 deg, rms_residual=0.00768657m, sigma_yaw=0.0101448 rad, N=2
I0419 21:06:03.038450 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.31619, -1.8591, -178.704deg) inliers=2 rms=0.00768657m
I0419 21:06:03.038486 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295629816356.
I0419 21:06:03.039206 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:03.040551 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295630133550.
I0419 21:06:03.043283 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.366574, -0.560761), points=18, range=0.672556, residual=0.0135411, extent=0.0435979
I0419 21:06:03.043380 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:03.043401 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.366574, -0.560761), tracking=(0.665074, -0.560761), map_predicted=(0.626795, -1.3225), range=0.672556, pts=18
I0419 21:06:03.043423 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0120584m maha_sq=0.00618388 (gate chi2=5.99) pose_sigma=(0.151307, 0.151307, rho=0) det_map=(0.626795, -1.3225) lm_pos=(0.615, -1.32) delta=(0.0117953, -0.00250487) -> 1 candidate(s)
I0419 21:06:03.043520 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295630417478.
I0419 21:06:03.045712 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:03.045805 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.7183, -0.714671)
I0419 21:06:03.045830 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:03.074787 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295630741684.
I0419 21:06:03.075671 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:03.102339 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839924s, prior_pose=(1.29553, -1.86464), yaw=-178.245 deg
I0419 21:06:03.102708 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1251, max_intensity=253, threshold=230, above_threshold=25, candidates=25
I0419 21:06:03.171260 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:03.173879 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=18, centroid=(0.333392, -0.560165)
I0419 21:06:03.174072 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295631578095.
I0419 21:06:03.174866 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0539595, -0.649454), points=19, range=0.653053, residual=0.0112019, extent=0.0346988
I0419 21:06:03.174925 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0539595, -0.649454), tracking=(-0.244541, 0.649454), map_predicted=(1.5429, -2.50544), range=0.653053, pts=19
I0419 21:06:03.174950 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.202626m maha_sq=1.78037 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.5429, -2.50544) lm_pos=(1.745, -2.52) delta=(-0.202102, 0.0145625) -> 1 candidate(s)
I0419 21:06:03.190522 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295631898115.
I0419 21:06:03.285378 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.23895, 0.631251)
I0419 21:06:03.287427 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:03.287532 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:03.287571 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 7 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:03.287635 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295632776586.
I0419 21:06:03.288946 1232263 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=25.4402 rad/s > flush threshold 3.
I0419 21:06:03.305974 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.71351, 1.52554), points=3, range=4.01467, residual=0.0100887, extent=0.0243762
I0419 21:06:03.306066 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.71351, 1.52554), tracking=(4.01201, 1.52554), map_predicted=(-2.72934, -3.50587), range=4.01467, pts=3
I0419 21:06:03.306093 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63567m maha_sq=291.493 (gate chi2=5.99) pose_sigma=(0.151334, 0.151334, rho=0) det_map=(-2.72934, -3.50587) lm_pos=(-0.285, -2.52) delta=(-2.44434, -0.985866) -> 0 candidate(s)
I0419 21:06:03.306147 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:03.306202 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:03.306221 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295633055082.
I0419 21:06:03.333846 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:03.334003 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295633333971.
I0419 21:06:03.338238 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:03.338495 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:03.366402 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(3.69494, 1.52422)
I0419 21:06:03.366571 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0250352 range=0.624048 variance=0.000641062 t_weight=4679.73 r_weight=0 yaml=(0.615, -1.32) prior=(1.22151, -1.86061, -178.206deg) obs_actual=(0.565292, -0.561245) obs_expected=(0.589286, -0.55933) delta=(-0.0239931, -0.00191561) |delta|=0.0240695m
I0419 21:06:03.366634 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295633659571.
I0419 21:06:03.428748 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:03.429955 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597741s, prior_pose=(1.19855, -1.86265), yaw=-178.148 deg
I0419 21:06:03.430042 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1237, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:06:03.430248 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295633931712.
I0419 21:06:03.432758 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.18485, 0.6344), points=4, range=1.34725, residual=0.0100886, extent=0.0249391
I0419 21:06:03.432834 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.18485, 0.6344), tracking=(1.48335, 0.6344), map_predicted=(-0.273642, -2.54379), range=1.34725, pts=4
I0419 21:06:03.432861 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0263579m maha_sq=0.0298164 (gate chi2=5.99) pose_sigma=(0.150759, 0.150759, rho=0) det_map=(-0.273642, -2.54379) lm_pos=(-0.285, -2.52) delta=(0.0113578, -0.0237853) -> 1 candidate(s)
I0419 21:06:03.432928 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295634271874.
I0419 21:06:03.454743 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295634540215.
I0419 21:06:03.458781 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.992448, 0.519066)
I0419 21:06:03.459072 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:03.482450 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295634819349.
I0419 21:06:03.553789 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295635099107.
I0419 21:06:03.555771 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295635416387.
I0419 21:06:03.557168 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02409, 0.518043), points=4, range=1.14825, residual=0.00492424, extent=0.0116699
I0419 21:06:03.557250 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.02409, 0.518043), tracking=(-1.32259, -0.518043), map_predicted=(2.45619, -1.30087), range=1.14825, pts=4
I0419 21:06:03.557278 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0454118m maha_sq=0.0882262 (gate chi2=5.99) pose_sigma=(0.151302, 0.151302, rho=0) det_map=(2.45619, -1.30087) lm_pos=(2.415, -1.32) delta=(0.041187, 0.0191275) -> 1 candidate(s)
I0419 21:06:03.570297 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:03.570413 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:03.570525 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295635696899.
I0419 21:06:03.574561 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.03274, 0.51865)
I0419 21:06:03.574697 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:03.630188 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:03.630587 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295636294639.
I0419 21:06:03.702996 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:03.703100 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:03.704250 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295636581153.
I0419 21:06:03.704986 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:03.706710 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560939s, prior_pose=(1.10999, -1.8808), yaw=-178.311 deg
I0419 21:06:03.706835 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1221, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:06:03.706974 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.59218, 1.51863), points=3, range=3.90367, residual=0.0135097, extent=0.028363
I0419 21:06:03.707002 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.59218, 1.51863), tracking=(3.89068, 1.51863), map_predicted=(-2.73423, -3.51344), range=3.90367, pts=3
I0419 21:06:03.707027 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64304m maha_sq=294.489 (gate chi2=5.99) pose_sigma=(0.150774, 0.150774, rho=0) det_map=(-2.73423, -3.51344) lm_pos=(-0.285, -2.52) delta=(-2.44923, -0.993442) -> 0 candidate(s)
I0419 21:06:03.707083 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00898091 range=0.587625 variance=0.00062332 t_weight=4812.94 r_weight=0 yaml=(0.615, -1.32) prior=(1.10999, -1.8808, -178.311deg) obs_actual=(0.47139, -0.562392) obs_expected=(0.478249, -0.575148) delta=(-0.00685912, 0.0127559) |delta|=0.0144831m
I0419 21:06:03.707132 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295636899611.
I0419 21:06:03.707731 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.06403, 0.517029)
I0419 21:06:03.718639 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.626 deg, rms_residual=0.00965369m, sigma_yaw=0.012708 rad, N=2
I0419 21:06:03.718784 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(1.09311, -1.86084, -178.626deg) inliers=2 rms=0.00965369m
I0419 21:06:03.718833 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295637179730.
I0419 21:06:03.746737 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295637461231.
I0419 21:06:03.749976 1218967 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 21 -> 20 (threshold=0.03, iters=3)
I0419 21:06:03.811800 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295637778073.
I0419 21:06:03.815008 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(1.09814, 0.525726)
I0419 21:06:03.815117 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.10145, 0.52536), points=4, range=1.2175, residual=0.00728346, extent=0.016013
I0419 21:06:03.815145 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.10145, 0.52536), tracking=(-1.39995, -0.52536), map_predicted=(2.45448, -1.30868), range=1.2175, pts=4
I0419 21:06:03.815166 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0410764m maha_sq=0.0721836 (gate chi2=5.99) pose_sigma=(0.151194, 0.151194, rho=0) det_map=(2.45448, -1.30868) lm_pos=(2.415, -1.32) delta=(0.0394847, 0.011324) -> 1 candidate(s)
I0419 21:06:03.837841 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295638341232.
I0419 21:06:03.842486 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(1.05745, -1.86648), yaw=-178.692 deg backend=(1.0766, -1.87628)
I0419 21:06:03.863090 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:03.863199 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:03.863332 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295638626420.
I0419 21:06:03.866431 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:03.964970 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:03.965188 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295639220443.
I0419 21:06:03.966127 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:03.966208 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.854833, -0.297129)
I0419 21:06:03.966229 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:03.968536 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.01794, 0.652638), points=6, range=1.20533, residual=0.0127267, extent=0.03385
I0419 21:06:03.968641 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(1.01794, 0.652638), tracking=(1.31644, 0.652638), map_predicted=(-0.268812, -2.54103), range=1.20533, pts=6
I0419 21:06:03.968670 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0265382m maha_sq=0.0300718 (gate chi2=5.99) pose_sigma=(0.150985, 0.150985, rho=0) det_map=(-0.268812, -2.54103) lm_pos=(-0.285, -2.52) delta=(0.0161878, -0.0210293) -> 1 candidate(s)
I0419 21:06:03.968756 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295639534583.
I0419 21:06:03.969498 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:03.969556 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:03.982210 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0832105s, prior_pose=(1.03594, -1.86532), yaw=-178.991 deg
I0419 21:06:03.982321 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1202, max_intensity=255, threshold=230, above_threshold=32, candidates=32
I0419 21:06:03.982535 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:03.982626 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:03.982651 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295639817288.
I0419 21:06:03.995152 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:04.010299 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295640096147.
I0419 21:06:04.013931 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=4, centroid=(1.15474, 0.536402)
I0419 21:06:04.078755 1219452 pose_graph_2d.cc:160] Inserted submap (1, 64).
I0419 21:06:04.080053 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00287108 range=0.555333 variance=0.000582122 t_weight=5153.56 r_weight=0 yaml=(0.615, -1.32) prior=(1.00264, -1.86247, -179.139deg) obs_actual=(0.371961, -0.551601) obs_expected=(0.37944, -0.548232) delta=(-0.00747839, -0.00336911) |delta|=0.00820227m
I0419 21:06:04.080205 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295640412651.
I0419 21:06:04.082082 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.983592, 0.65306), points=7, range=1.17814, residual=0.0104319, extent=0.0286197
I0419 21:06:04.082181 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.983592, 0.65306), tracking=(1.28209, 0.65306), map_predicted=(-0.269497, -2.53472), range=1.17814, pts=7
I0419 21:06:04.082247 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0213787m maha_sq=0.0198127 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.269497, -2.53472) lm_pos=(-0.285, -2.52) delta=(0.0155029, -0.0147211) -> 1 candidate(s)
I0419 21:06:04.082320 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295640699832.
I0419 21:06:04.099009 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295640981646.
I0419 21:06:04.134433 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295641337520.
I0419 21:06:04.135296 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.836551, -0.282616)
I0419 21:06:04.158150 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:04.158301 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:04.158427 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295641575392.
I0419 21:06:04.229426 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:04.231305 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.957346, 0.653861), points=4, range=1.155, residual=0.011567, extent=0.0268692
I0419 21:06:04.231467 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.957346, 0.653861), tracking=(1.25585, 0.653861), map_predicted=(-0.282342, -2.53795), range=1.155, pts=4
I0419 21:06:04.231518 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0181444m maha_sq=0.0140738 (gate chi2=5.99) pose_sigma=(0.150998, 0.150998, rho=0) det_map=(-0.282342, -2.53795) lm_pos=(-0.285, -2.52) delta=(0.00265768, -0.0179487) -> 1 candidate(s)
I0419 21:06:04.231631 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295641894682.
I0419 21:06:04.234639 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:04.234863 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295642179135.
I0419 21:06:04.235724 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:04.235831 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:04.252333 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.928214, 0.653891)
I0419 21:06:04.253417 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295642517553.
I0419 21:06:04.257901 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:04.280246 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599779s, prior_pose=(0.935429, -1.86365), yaw=-179.146 deg
I0419 21:06:04.280375 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1176, max_intensity=255, threshold=230, above_threshold=36, candidates=36
I0419 21:06:04.280717 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295642778914.
I0419 21:06:04.362944 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295643052138.
I0419 21:06:04.363752 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.29299, -0.660606), points=16, range=0.724437, residual=0.0115598, extent=0.0357924
I0419 21:06:04.363832 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.29299, -0.660606), tracking=(-0.59149, 0.660606), map_predicted=(1.52614, -2.51685), range=0.724437, pts=16
I0419 21:06:04.363862 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.21888m maha_sq=2.0765 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(1.52614, -2.51685) lm_pos=(1.745, -2.52) delta=(-0.218857, 0.0031473) -> 1 candidate(s)
I0419 21:06:04.365181 1264424 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0225587 range=0.5544 variance=0.000571343 t_weight=5250.79 r_weight=0 yaml=(0.615, -1.32) prior=(0.924822, -1.86518, -179.142deg) obs_actual=(0.279166, -0.553803) obs_expected=(0.301619, -0.549763) delta=(-0.022453, -0.00404025) |delta|=0.0228136m
I0419 21:06:04.365299 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295643333564.
I0419 21:06:04.368032 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.897573, 0.650741)
I0419 21:06:04.368163 1264424 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-179.111 deg, rms_residual=0.0108102m, sigma_yaw=0.0142088 rad, N=2
I0419 21:06:04.368212 1264424 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.897978, -1.85937, -179.111deg) inliers=2 rms=0.0108102m
I0419 21:06:04.368248 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295643622909.
I0419 21:06:04.394479 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295643938057.
I0419 21:06:04.422683 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295644220138.
I0419 21:06:04.487746 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.325454, -0.662313), points=15, range=0.740333, residual=0.0121411, extent=0.0376754
I0419 21:06:04.487882 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.325454, -0.662313), tracking=(-0.623954, 0.662313), map_predicted=(1.51418, -2.51461), range=0.740333, pts=15
I0419 21:06:04.487916 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.230879m maha_sq=2.26555 (gate chi2=5.99) pose_sigma=(0.151468, 0.151468, rho=0) det_map=(1.51418, -2.51461) lm_pos=(1.745, -2.52) delta=(-0.230816, 0.00539043) -> 1 candidate(s)
I0419 21:06:04.489441 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:04.489544 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:04.489630 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295644536982.
I0419 21:06:04.490257 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:04.492260 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(0.862606, 0.652591)
I0419 21:06:04.492450 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295644812195.
I0419 21:06:04.509841 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:04.510040 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295645093005.
I0419 21:06:04.514158 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:04.514279 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:04.543344 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295645420016.
I0419 21:06:04.544754 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.31543, 0.515952), points=3, range=1.413, residual=0.00425921, extent=0.00845462
I0419 21:06:04.544849 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.31543, 0.515952), tracking=(-1.61393, -0.515952), map_predicted=(2.45808, -1.31772), range=1.413, pts=3
I0419 21:06:04.544898 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[3] 'ref_4' eucl_dist=0.0431398m maha_sq=0.0809392 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(2.45808, -1.31772) lm_pos=(2.415, -1.32) delta=(0.0430794, 0.00228087) -> 1 candidate(s)
I0419 21:06:04.544941 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:04.544986 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:04.640120 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0575214s, prior_pose=(0.848715, -1.86137), yaw=-178.92 deg
I0419 21:06:04.640295 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1149, max_intensity=255, threshold=230, above_threshold=33, candidates=33
I0419 21:06:04.640537 1218970 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:04.640614 1218970 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:04.640640 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295645712769.
I0419 21:06:04.640771 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:04.642518 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(0.825311, 0.650235)
I0419 21:06:04.642699 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295645974206.
I0419 21:06:04.645463 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.00746748 range=0.56176 variance=0.000582932 t_weight=5146.4 r_weight=0 yaml=(0.615, -1.32) prior=(0.828596, -1.86184, -178.87deg) obs_actual=(0.190572, -0.550898) obs_expected=(0.202868, -0.545943) delta=(-0.0122963, -0.00495525) |delta|=0.0132572m
I0419 21:06:04.645601 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295646300155.
I0419 21:06:04.658512 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295646578015.
I0419 21:06:04.694003 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.801356, 0.648882), points=9, range=1.02744, residual=0.012499, extent=0.034528
I0419 21:06:04.694114 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.801356, 0.648882), tracking=(1.09986, 0.648882), map_predicted=(-0.267456, -2.53283), range=1.02744, pts=9
I0419 21:06:04.694150 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0217356m maha_sq=0.020445 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.267456, -2.53283) lm_pos=(-0.285, -2.52) delta=(0.0175441, -0.0128312) -> 1 candidate(s)
I0419 21:06:04.694257 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295646934492.
I0419 21:06:04.760023 1264424 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=12.9329 rad/s > flush threshold 3.
I0419 21:06:04.761252 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.788546, 0.648037)
I0419 21:06:04.761387 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295647180283.
I0419 21:06:04.762964 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(0.789583, -1.86324), yaw=-178.801 deg backend=(0.827342, -1.87881)
I0419 21:06:04.763795 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:04.763851 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:04.763911 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295647458407.
I0419 21:06:04.775177 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:04.775337 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295647742382.
I0419 21:06:04.807102 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:04.807338 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295648060986.
I0419 21:06:04.808696 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=18, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:04.808791 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:04.897157 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.754701, 0.648746)
I0419 21:06:04.897272 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.176141, -0.552861), points=23, range=0.580217, residual=0.0123008, extent=0.0374762
I0419 21:06:04.897302 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.176141, -0.552861), tracking=(0.122359, -0.552861), map_predicted=(0.630588, -1.31314), range=0.580217, pts=23
I0419 21:06:04.897330 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.017029m maha_sq=0.0124685 (gate chi2=5.99) pose_sigma=(0.150575, 0.150575, rho=0) det_map=(0.630588, -1.31314) lm_pos=(0.615, -1.32) delta=(0.0155877, 0.00685632) -> 1 candidate(s)
I0419 21:06:04.897415 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295648334804.
I0419 21:06:04.898085 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:04.899178 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0882499s, prior_pose=(0.764933, -1.86322), yaw=-178.755 deg
I0419 21:06:04.899246 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1117, max_intensity=254, threshold=230, above_threshold=37, candidates=37
I0419 21:06:04.899423 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295648662076.
I0419 21:06:04.900704 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=5.3831 rad/s > flush threshold 3.
I0419 21:06:04.901949 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295648931814.
I0419 21:06:04.922896 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0048783 range=0.588545 variance=0.00057512 t_weight=5216.3 r_weight=0 yaml=(0.615, -1.32) prior=(0.736591, -1.86425, -178.717deg) obs_actual=(0.10141, -0.553914) obs_expected=(0.109377, -0.546835) delta=(-0.00796641, -0.00707903) |delta|=0.0106572m
I0419 21:06:04.923112 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295649221904.
I0419 21:06:04.950812 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=8, centroid=(0.721016, 0.647712)
I0419 21:06:04.951020 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.99 deg, rms_residual=0.00945616m, sigma_yaw=0.0124512 rad, N=2
I0419 21:06:04.951084 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(0.71533, -1.8623, -178.99deg) inliers=2 rms=0.00945616m
I0419 21:06:04.951133 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295649500373.
I0419 21:06:05.034062 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.215224, -0.553379), points=20, range=0.594, residual=0.0108901, extent=0.0330132
I0419 21:06:05.034209 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.215224, -0.553379), tracking=(0.0832761, -0.553379), map_predicted=(0.622245, -1.31206), range=0.594, pts=20
I0419 21:06:05.034235 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0107511m maha_sq=0.0049269 (gate chi2=5.99) pose_sigma=(0.151354, 0.151354, rho=0) det_map=(0.622245, -1.31206) lm_pos=(0.615, -1.32) delta=(0.00724546, 0.00794295) -> 1 candidate(s)
I0419 21:06:05.034315 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295649816381.
I0419 21:06:05.036589 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295650099646.
I0419 21:06:05.038254 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:05.038326 1237626 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:05.038390 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295650377146.
I0419 21:06:05.070458 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=10, centroid=(0.683678, 0.646822)
I0419 21:06:05.070993 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295650697002.
I0419 21:06:05.074764 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:05.142009 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:05.156316 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:05.166363 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:05.166535 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295650978946.
I0419 21:06:05.167251 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=12, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:05.167309 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:06:05.168417 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.266481, -0.548307), points=20, range=0.6091, residual=0.0113426, extent=0.0339459
I0419 21:06:05.168485 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.266481, -0.548307), tracking=(0.0320192, -0.548307), map_predicted=(0.644284, -1.35433), range=0.6091, pts=20
I0419 21:06:05.168514 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0451264m maha_sq=0.088297 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.644284, -1.35433) lm_pos=(0.615, -1.32) delta=(0.029284, -0.0343341) -> 1 candidate(s)
I0419 21:06:05.168651 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295651261553.
I0419 21:06:05.170318 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:05.170395 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:05.171347 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599423s, prior_pose=(0.669631, -1.88977), yaw=-178.772 deg
I0419 21:06:05.171411 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1071, max_intensity=253, threshold=230, above_threshold=43, candidates=43
I0419 21:06:05.171591 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:05.171648 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:05.171669 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295651578369.
I0419 21:06:05.186966 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.14787, 1.53532)
I0419 21:06:05.187348 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295651860863.
I0419 21:06:05.218782 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0385241 range=0.62203 variance=0.00106898 t_weight=2806.42 r_weight=0 yaml=(0.615, -1.32) prior=(0.657274, -1.88163, -178.709deg) obs_actual=(0.00674134, -0.542817) obs_expected=(0.0296113, -0.562436) delta=(-0.02287, 0.0196198) |delta|=0.0301326m
I0419 21:06:05.219043 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295652178085.
I0419 21:06:05.323990 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.629618, 0.64255), points=10, range=0.9012, residual=0.00921085, extent=0.029085
I0419 21:06:05.324131 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.629618, 0.64255), tracking=(0.928118, 0.64255), map_predicted=(-0.274898, -2.5414), range=0.9012, pts=10
I0419 21:06:05.324157 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0236604m maha_sq=0.0238452 (gate chi2=5.99) pose_sigma=(0.151482, 0.151482, rho=0) det_map=(-0.274898, -2.5414) lm_pos=(-0.285, -2.52) delta=(0.010102, -0.0213954) -> 1 candidate(s)
I0419 21:06:05.324250 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295652457032.
I0419 21:06:05.326970 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295652739650.
I0419 21:06:05.328851 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=14, centroid=(-0.306732, -0.539911)
I0419 21:06:05.328962 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295653060745.
I0419 21:06:05.334725 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:05.334841 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:05.422940 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.265445, 0.544113), points=21, range=0.603857, residual=0.0124991, extent=0.0365845
I0419 21:06:05.423086 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.265445, 0.544113), tracking=(-0.0330548, -0.544113), map_predicted=(0.622086, -1.32291), range=0.603857, pts=21
I0419 21:06:05.423171 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00765992m maha_sq=0.00248625 (gate chi2=5.99) pose_sigma=(0.151688, 0.151688, rho=0) det_map=(0.622086, -1.32291) lm_pos=(0.615, -1.32) delta=(0.00708589, -0.00290937) -> 1 candidate(s)
I0419 21:06:05.423218 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:05.424721 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:05.426685 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:05.426765 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:05.428309 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08298, 1.52037)
I0419 21:06:05.429282 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:05.453855 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.055942s, prior_pose=(0.591219, -1.86736), yaw=-178.38 deg
I0419 21:06:05.454012 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1024, max_intensity=255, threshold=230, above_threshold=15, candidates=15
I0419 21:06:05.579754 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.217, 0.543813), points=21, range=0.585476, residual=0.011766, extent=0.0390972
I0419 21:06:05.579895 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.217, 0.543813), tracking=(-0.0814999, -0.543813), map_predicted=(0.648198, -1.31996), range=0.585476, pts=21
I0419 21:06:05.579926 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0331985m maha_sq=0.0458413 (gate chi2=5.99) pose_sigma=(0.153201, 0.153201, rho=0) det_map=(0.648198, -1.31996) lm_pos=(0.615, -1.32) delta=(0.0331985, 3.90151e-05) -> 1 candidate(s)
I0419 21:06:05.579954 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:05.583439 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.04144, 1.52194)
I0419 21:06:05.700183 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.555814, -1.86348), yaw=-178.156 deg backend=(0.557527, -1.85936)
I0419 21:06:05.701309 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:05.701376 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:05.704782 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.1708, 0.541589), points=22, range=0.567545, residual=0.011279, extent=0.0359278
I0419 21:06:05.704887 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.1708, 0.541589), tracking=(-0.1277, -0.541589), map_predicted=(0.648733, -1.31853), range=0.567545, pts=22
I0419 21:06:05.704919 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0337646m maha_sq=0.04548 (gate chi2=5.99) pose_sigma=(0.156546, 0.156546, rho=0) det_map=(0.648733, -1.31853) lm_pos=(0.615, -1.32) delta=(0.0337327, 0.00146737) -> 1 candidate(s)
I0419 21:06:05.704950 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:05.705968 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:05.706646 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=35, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:05.706697 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:05.714727 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.00074, 1.5016)
I0419 21:06:05.718268 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:05.746214 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838394s, prior_pose=(0.529391, -1.86435), yaw=-178.054 deg
I0419 21:06:05.746316 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=983, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:06:05.830945 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.120385, 0.539248), points=24, range=0.553292, residual=0.0119597, extent=0.0380742
I0419 21:06:05.831036 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.120385, 0.539248), tracking=(-0.178115, -0.539248), map_predicted=(0.66325, -1.32093), range=0.553292, pts=24
I0419 21:06:05.831060 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0482593m maha_sq=0.0901009 (gate chi2=5.99) pose_sigma=(0.158974, 0.158974, rho=0) det_map=(0.66325, -1.32093) lm_pos=(0.615, -1.32) delta=(0.0482504, -0.00092618) -> 1 candidate(s)
I0419 21:06:05.831092 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:05.862071 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.96198, 1.49299)
I0419 21:06:05.972389 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:05.972520 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:05.975812 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0777501, 0.536216), points=24, range=0.542625, residual=0.0116534, extent=0.0370289
I0419 21:06:05.975929 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0777501, 0.536216), tracking=(-0.22075, -0.536216), map_predicted=(0.671366, -1.31952), range=0.542625, pts=24
I0419 21:06:05.975955 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0563681m maha_sq=0.11937 (gate chi2=5.99) pose_sigma=(0.161399, 0.161399, rho=0) det_map=(0.671366, -1.31952) lm_pos=(0.615, -1.32) delta=(0.056366, 0.000480385) -> 1 candidate(s)
I0419 21:06:05.975984 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:05.982837 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:05.984982 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=30, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:05.985147 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:06.010833 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.93321, 1.48384)
I0419 21:06:06.117007 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:06.117738 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:06.118108 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558266s, prior_pose=(0.444114, -1.86421), yaw=-177.622 deg
I0419 21:06:06.118172 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=921, max_intensity=255, threshold=230, above_threshold=19, candidates=19
I0419 21:06:06.123966 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0381009, 0.533616), points=24, range=0.535625, residual=0.0115819, extent=0.037322
I0419 21:06:06.124063 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0381009, 0.533616), tracking=(-0.260399, -0.533616), map_predicted=(0.657438, -1.32074), range=0.535625, pts=24
I0419 21:06:06.124089 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0424442m maha_sq=0.0648812 (gate chi2=5.99) pose_sigma=(0.164924, 0.164924, rho=0) det_map=(0.657438, -1.32074) lm_pos=(0.615, -1.32) delta=(0.0424377, -0.000742815) -> 1 candidate(s)
I0419 21:06:06.124176 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 2 candidates rejected by consistency filter.
I0419 21:06:06.130275 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=26, centroid=(-0.033502, 0.5344)
I0419 21:06:06.242113 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:06.242223 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:06.246671 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.354435, 0.624281), points=17, range=0.718529, residual=0.0113253, extent=0.0377164
I0419 21:06:06.246773 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.354435, 0.624281), tracking=(0.652935, 0.624281), map_predicted=(-0.232138, -2.5205), range=0.718529, pts=17
I0419 21:06:06.246835 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.052864m maha_sq=0.0982727 (gate chi2=5.99) pose_sigma=(0.166946, 0.166946, rho=0) det_map=(-0.232138, -2.5205) lm_pos=(-0.285, -2.52) delta=(0.0528616, -0.000500273) -> 1 candidate(s)
I0419 21:06:06.247749 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=25, centroid=(-1.08636e-05, 0.532603)
I0419 21:06:06.247829 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 5 inliers from pool of 8 (intra-scan=2, buffered=6).
I0419 21:06:06.274072 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:06.371562 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=31, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:06.371687 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:06.373533 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:06.375269 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560709s, prior_pose=(0.36544, -1.86418), yaw=-177.135 deg
I0419 21:06:06.375334 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=866, max_intensity=255, threshold=230, above_threshold=23, candidates=23
I0419 21:06:06.377064 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.31999, 0.623485), points=16, range=0.701, residual=0.010315, extent=0.0310979
I0419 21:06:06.377130 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.31999, 0.623485), tracking=(0.61849, 0.623485), map_predicted=(-0.221112, -2.5178), range=0.701, pts=16
I0419 21:06:06.377157 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0639259m maha_sq=0.140966 (gate chi2=5.99) pose_sigma=(0.168658, 0.168658, rho=0) det_map=(-0.221112, -2.5178) lm_pos=(-0.285, -2.52) delta=(0.0638881, 0.00219762) -> 1 candidate(s)
I0419 21:06:06.378590 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.781364, -0.655645)
I0419 21:06:06.378695 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295663658892.
I0419 21:06:06.394775 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295663941170.
I0419 21:06:06.482633 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:06.485061 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295664220874.
I0419 21:06:06.486447 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:06.488500 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295664540449.
I0419 21:06:06.491186 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295664816049.
I0419 21:06:06.492887 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.313692, -1.86752), yaw=-176.86 deg backend=(0.310282, -1.86435)
I0419 21:06:06.510694 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.34341, -2.29327)
I0419 21:06:06.510771 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:06.510798 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:06.511511 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.075876, 0.528739), points=26, range=0.534769, residual=0.0118766, extent=0.0392376
I0419 21:06:06.511559 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.075876, 0.528739), tracking=(-0.374376, -0.528739), map_predicted=(0.658543, -1.31907), range=0.534769, pts=26
I0419 21:06:06.511584 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0435531m maha_sq=0.0815011 (gate chi2=5.99) pose_sigma=(0.150669, 0.150669, rho=0) det_map=(0.658543, -1.31907) lm_pos=(0.615, -1.32) delta=(0.0435433, 0.000927061) -> 1 candidate(s)
I0419 21:06:06.511678 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295665102000.
I0419 21:06:06.614830 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:06.614964 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295665412207.
I0419 21:06:06.616178 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:06.617089 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:06.617168 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:06.617267 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295665727787.
I0419 21:06:06.620055 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:06.620214 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295666018488.
I0419 21:06:06.626926 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.085311s, prior_pose=(0.297705, -1.86782), yaw=-176.719 deg
I0419 21:06:06.627032 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=799, max_intensity=254, threshold=230, above_threshold=26, candidates=26
I0419 21:06:06.630483 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295666297843.
I0419 21:06:06.654471 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(4.30534, -2.31336)
I0419 21:06:06.658139 1258777 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 26 -> 25 (threshold=0.03, iters=3)
I0419 21:06:06.658354 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295666574720.
I0419 21:06:06.741971 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.129235, 0.524662), points=26, range=0.540654, residual=0.012451, extent=0.0423314
I0419 21:06:06.742079 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.129235, 0.524662), tracking=(-0.427735, -0.524662), map_predicted=(0.667565, -1.32018), range=0.540654, pts=26
I0419 21:06:06.742141 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[1] 'ref_2' eucl_dist=0.0525653m maha_sq=0.118522 (gate chi2=5.99) pose_sigma=(0.150751, 0.150751, rho=0) det_map=(0.667565, -1.32018) lm_pos=(0.615, -1.32) delta=(0.052565, -0.000183989) -> 1 candidate(s)
I0419 21:06:06.742216 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295666860772.
I0419 21:06:06.744993 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0899251 range=0.542292 variance=0.000562705 t_weight=5331.39 r_weight=0 yaml=(0.615, -1.32) prior=(0.256044, -1.87037, -176.546deg) obs_actual=(-0.437155, -0.523458) obs_expected=(-0.391464, -0.527739) delta=(-0.0456911, 0.00428097) |delta|=0.0458913m
I0419 21:06:06.745216 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295667174736.
I0419 21:06:06.747159 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295667461545.
I0419 21:06:06.778041 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:06:06.778259 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:06.778293 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295667773247.
I0419 21:06:06.803018 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(4.24992, -2.3316)
I0419 21:06:06.803215 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:06.803275 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:06.904222 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295668061724.
I0419 21:06:06.905413 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:06.906203 1237626 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:06.906287 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295668341794.
I0419 21:06:06.908253 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.185712, 0.620319), points=20, range=0.6481, residual=0.0115383, extent=0.0366354
I0419 21:06:06.908320 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:06.908336 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.185712, 0.620319), tracking=(0.484212, 0.620319), map_predicted=(-0.22259, -2.51715), range=0.6481, pts=20
I0419 21:06:06.908358 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0624757m maha_sq=0.167676 (gate chi2=5.99) pose_sigma=(0.150697, 0.150697, rho=0) det_map=(-0.22259, -2.51715) lm_pos=(-0.285, -2.52) delta=(0.0624105, 0.00285439) -> 1 candidate(s)
I0419 21:06:06.908931 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:06.908968 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:06.909041 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295668621716.
I0419 21:06:06.911584 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:06.911698 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295668939512.
I0419 21:06:06.922385 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593727s, prior_pose=(0.205148, -1.86836), yaw=-176.342 deg
I0419 21:06:06.922894 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=724, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:06:06.927345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295669262302.
I0419 21:06:07.028648 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.19932, -2.32773)
I0419 21:06:07.029623 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295669532618.
I0419 21:06:07.032429 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295669818401.
I0419 21:06:07.034528 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295670142136.
I0419 21:06:07.038434 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.1871, -2.30506), points=3, range=4.77967, residual=0.0116503, extent=0.0282462
I0419 21:06:07.038583 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.1871, -2.30506), tracking=(4.4856, -2.30506), map_predicted=(-4.45469, 0.149506), range=4.77967, pts=3
I0419 21:06:07.038637 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95102m maha_sq=1028.3 (gate chi2=5.99) pose_sigma=(0.150686, 0.150686, rho=0) det_map=(-4.45469, 0.149506) lm_pos=(-0.285, -2.52) delta=(-4.16969, 2.66951) -> 0 candidate(s)
I0419 21:06:07.038714 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:07.042973 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295670421036.
I0419 21:06:07.184872 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295670695848.
I0419 21:06:07.198267 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.18432, -2.27192)
I0419 21:06:07.198500 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:07.198557 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:07.199848 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295671020103.
I0419 21:06:07.202661 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:07.202859 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295671299447.
I0419 21:06:07.204066 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:07.205602 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:07.205667 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:07.205775 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295671577734.
I0419 21:06:07.207024 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0871283, 0.626678), points=21, range=0.634429, residual=0.0127306, extent=0.0407857
I0419 21:06:07.207086 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0871283, 0.626678), tracking=(0.385628, 0.626678), map_predicted=(-0.221576, -2.51734), range=0.634429, pts=21
I0419 21:06:07.207141 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0634798m maha_sq=0.174467 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.221576, -2.51734) lm_pos=(-0.285, -2.52) delta=(0.0634239, 0.00266342) -> 1 candidate(s)
I0419 21:06:07.207983 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:07.208081 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295671971992.
I0419 21:06:07.278410 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554608s, prior_pose=(0.117193, -1.87275), yaw=-177.138 deg
I0419 21:06:07.278517 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=635, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:06:07.279438 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295672177878.
I0419 21:06:07.280839 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(4.15966, -2.26636)
I0419 21:06:07.283135 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295672452733.
I0419 21:06:07.285552 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295672775456.
I0419 21:06:07.306586 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0898617 range=0.60619 variance=0.000561414 t_weight=5343.65 r_weight=0 yaml=(0.615, -1.32) prior=(0.0946177, -1.87385, -177.23deg) obs_actual=(-0.592213, -0.529793) obs_expected=(-0.546543, -0.528054) delta=(-0.0456703, -0.00173867) |delta|=0.0457033m
I0419 21:06:07.306782 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295673058668.
I0419 21:06:07.448828 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295673333114.
I0419 21:06:07.450184 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.13067, -2.25058), points=3, range=4.70733, residual=0.0151386, extent=0.0317109
I0419 21:06:07.450290 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.13067, -2.25058), tracking=(4.42917, -2.25058), map_predicted=(-4.44884, 0.15904), range=4.70733, pts=3
I0419 21:06:07.450323 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95125m maha_sq=1034.03 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.44884, 0.15904) lm_pos=(-0.285, -2.52) delta=(-4.16384, 2.67904) -> 0 candidate(s)
I0419 21:06:07.451077 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:06:07.451226 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:07.451261 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295673659472.
I0419 21:06:07.452576 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(0.0768881, -1.87377), yaw=-177.201 deg backend=(0.073471, -1.8703)
I0419 21:06:07.453336 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(4.11533, -2.25776)
I0419 21:06:07.453409 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:07.453439 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:07.454272 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295673934096.
I0419 21:06:07.457052 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:07.457195 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295674217242.
I0419 21:06:07.458313 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:07.458998 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:07.459048 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:07.459126 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295674499422.
I0419 21:06:07.533614 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:07.533761 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295674812448.
I0419 21:06:07.533960 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:07.534785 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0837322s, prior_pose=(0.0562904, -1.87188), yaw=-177.062 deg
I0419 21:06:07.534879 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=575, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:06:07.534994 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(4.08554, -2.27243), points=3, range=4.67433, residual=0.0131688, extent=0.0271863
I0419 21:06:07.535030 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(4.08554, -2.27243), tracking=(4.38404, -2.27243), map_predicted=(-4.43845, 0.17288), range=4.67433, pts=3
I0419 21:06:07.535051 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95002m maha_sq=1036.29 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.43845, 0.17288) lm_pos=(-0.285, -2.52) delta=(-4.15345, 2.69288) -> 0 candidate(s)
I0419 21:06:07.536686 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295675091464.
I0419 21:06:07.537976 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.08882, -2.2665)
I0419 21:06:07.542896 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295675414058.
I0419 21:06:07.570377 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295675694112.
I0419 21:06:07.703459 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295675975312.
I0419 21:06:07.710273 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:07.711512 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295676299672.
I0419 21:06:07.713523 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.503, 1.4695), points=5, range=2.9034, residual=0.0149707, extent=0.038223
I0419 21:06:07.713606 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.503, 1.4695), tracking=(2.8015, 1.4695), map_predicted=(-2.70371, -3.48476), range=2.9034, pts=5
I0419 21:06:07.713634 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.60402m maha_sq=288.456 (gate chi2=5.99) pose_sigma=(0.150492, 0.150492, rho=0) det_map=(-2.70371, -3.48476) lm_pos=(-0.285, -2.52) delta=(-2.41871, -0.964764) -> 0 candidate(s)
I0419 21:06:07.714345 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295676577970.
I0419 21:06:07.715380 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.04477, -2.27293)
I0419 21:06:07.715430 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:07.715451 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:07.717003 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295676855416.
I0419 21:06:07.718847 1218970 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:07.718921 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295677179912.
I0419 21:06:07.816121 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:07.816895 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:07.816967 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:07.817049 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295677459483.
I0419 21:06:07.819525 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:07.819614 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295677741929.
I0419 21:06:07.820684 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0589387s, prior_pose=(-0.0141261, -1.8751), yaw=-177.035 deg
I0419 21:06:07.820749 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=563, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:06:07.820853 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.47679, 1.47355), points=5, range=2.8776, residual=0.017131, extent=0.0442676
I0419 21:06:07.820878 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.47679, 1.47355), tracking=(2.77529, 1.47355), map_predicted=(-2.70948, -3.49024), range=2.8776, pts=5
I0419 21:06:07.820895 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61141m maha_sq=291.112 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.70948, -3.49024) lm_pos=(-0.285, -2.52) delta=(-2.42448, -0.970236) -> 0 candidate(s)
I0419 21:06:07.821524 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295678056369.
I0419 21:06:07.830566 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(4.01668, -2.27253)
I0419 21:06:07.834683 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295678340614.
I0419 21:06:07.968557 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295678616593.
I0419 21:06:07.968708 1219494 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.30e-03 s (pulsed at 100.30% real time)
I0419 21:06:07.968830 1219494 collated_trajectory_builder.cc:82] odom rate: 247.87 Hz 4.03e-03 s +/- 7.89e-04 s (pulsed at 99.36% real time)
I0419 21:06:07.968938 1219494 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.41e-03 s (pulsed at 100.33% real time)
I0419 21:06:07.968973 1219494 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.49e-03 s (pulsed at 100.37% real time)
I0419 21:06:07.970815 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[1] 'ref_2' maha_sq=0.0886559 range=0.677294 variance=0.000559276 t_weight=5364.07 r_weight=0 yaml=(0.615, -1.32) prior=(-0.0340161, -1.87546, -177.008deg) obs_actual=(-0.721853, -0.527416) obs_expected=(-0.677121, -0.520832) delta=(-0.0447324, -0.00658401) |delta|=0.0452144m
I0419 21:06:07.970923 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295678940647.
I0419 21:06:07.973662 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295679221912.
I0419 21:06:07.974726 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.45405, 1.4697), points=5, range=2.8582, residual=0.0141897, extent=0.0378131
I0419 21:06:07.974785 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.45405, 1.4697), tracking=(2.75255, 1.4697), map_predicted=(-2.71161, -3.48848), range=2.8582, pts=5
I0419 21:06:07.974813 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.61273m maha_sq=292.594 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.71161, -3.48848) lm_pos=(-0.285, -2.52) delta=(-2.42661, -0.968479) -> 0 candidate(s)
I0419 21:06:07.976424 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 1 jointly-compatible match(es) from 1 survivor(s) (scale=1).
I0419 21:06:07.976511 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=1 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:07.976536 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295679536103.
I0419 21:06:07.978848 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(3.9911, -2.28111)
I0419 21:06:07.978950 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:07.978996 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:07.982405 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295679816379.
I0419 21:06:08.066841 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=1, buffered=8).
I0419 21:06:08.066967 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295680094724.
I0419 21:06:08.068145 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:08.069664 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:08.069763 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:08.069794 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=41.4743 rad/s > flush threshold 3.
I0419 21:06:08.071496 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:08.093921 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560133s, prior_pose=(-0.0753862, -1.87732), yaw=-176.886 deg
I0419 21:06:08.094081 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=559, max_intensity=255, threshold=230, above_threshold=29, candidates=29
I0419 21:06:08.094403 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.104762, 0.631626), points=20, range=0.6412, residual=0.0113045, extent=0.0359074
I0419 21:06:08.094553 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.104762, 0.631626), tracking=(0.193738, 0.631626), map_predicted=(-0.234525, -2.51854), range=0.6412, pts=20
I0419 21:06:08.094666 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0504964m maha_sq=0.108791 (gate chi2=5.99) pose_sigma=(0.151246, 0.151246, rho=0) det_map=(-0.234525, -2.51854) lm_pos=(-0.285, -2.52) delta=(0.0504753, 0.00146108) -> 1 candidate(s)
I0419 21:06:08.098281 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=16, centroid=(0.470632, 0.527172)
I0419 21:06:08.122725 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:08.235116 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=15, centroid=(0.495705, 0.528339)
I0419 21:06:08.242785 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.93808, -2.26603), points=3, range=4.543, residual=0.0129969, extent=0.026494
I0419 21:06:08.242920 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.93808, -2.26603), tracking=(4.23658, -2.26603), map_predicted=(-4.45971, 0.161763), range=4.543, pts=3
I0419 21:06:08.242969 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96186m maha_sq=992.387 (gate chi2=5.99) pose_sigma=(0.153945, 0.153945, rho=0) det_map=(-4.45971, 0.161763) lm_pos=(-0.285, -2.52) delta=(-4.17471, 2.68176) -> 0 candidate(s)
I0419 21:06:08.352955 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-0.119934, -1.88027), yaw=-177.068 deg backend=(-0.134723, -1.87952)
I0419 21:06:08.353859 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:08.353941 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:08.358553 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:08.359346 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=16, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:08.359412 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.515566, 0.530672)
I0419 21:06:08.359431 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:08.363000 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.37184, -0.726856), points=3, range=1.55467, residual=0.00680588, extent=0.0142367
I0419 21:06:08.363137 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.37184, -0.726856), tracking=(-1.67034, 0.726856), map_predicted=(1.56485, -2.52722), range=1.55467, pts=3
I0419 21:06:08.363184 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[2] 'ref_3' eucl_dist=0.180292m maha_sq=1.30867 (gate chi2=5.99) pose_sigma=(0.155906, 0.155906, rho=0) det_map=(1.56485, -2.52722) lm_pos=(1.745, -2.52) delta=(-0.180147, -0.00722293) -> 1 candidate(s)
I0419 21:06:08.363301 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:08.390637 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.083844s, prior_pose=(-0.138373, -1.88119), yaw=-177.255 deg
I0419 21:06:08.390772 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=544, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:06:08.488533 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:08.491927 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=13, centroid=(0.536242, 0.536103)
I0419 21:06:08.506769 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.9102, -2.2123), points=3, range=4.49267, residual=0.0109872, extent=0.0266045
I0419 21:06:08.506978 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.9102, -2.2123), tracking=(4.2087, -2.2123), map_predicted=(-4.4602, 0.148803), range=4.49267, pts=3
I0419 21:06:08.507040 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95528m maha_sq=946.961 (gate chi2=5.99) pose_sigma=(0.157733, 0.157733, rho=0) det_map=(-4.4602, 0.148803) lm_pos=(-0.285, -2.52) delta=(-4.1752, 2.6688) -> 0 candidate(s)
I0419 21:06:08.617705 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:08.617849 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:08.619365 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=12, centroid=(0.560639, 0.53659)
I0419 21:06:08.626695 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:08.628091 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:08.628188 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:08.628248 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.571122, 0.537206), points=12, range=0.787083, residual=0.0117914, extent=0.0362373
I0419 21:06:08.628289 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.571122, 0.537206), tracking=(-0.869622, -0.537206), map_predicted=(0.663552, -1.31391), range=0.787083, pts=12
I0419 21:06:08.628329 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0489324m maha_sq=0.0923291 (gate chi2=5.99) pose_sigma=(0.159228, 0.159228, rho=0) det_map=(0.663552, -1.31391) lm_pos=(0.615, -1.32) delta=(0.0485523, 0.0060874) -> 1 candidate(s)
I0419 21:06:08.761943 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:08.763109 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560238s, prior_pose=(-0.198712, -1.87935), yaw=-177.664 deg
I0419 21:06:08.763177 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=546, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:06:08.763892 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.366557, -0.637062)
I0419 21:06:08.764019 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295686855325.
I0419 21:06:08.766712 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295687141782.
I0419 21:06:08.767992 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:08.769557 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.584745, 0.538903), points=11, range=0.798273, residual=0.0115463, extent=0.0341621
I0419 21:06:08.769627 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.584745, 0.538903), tracking=(-0.883245, -0.538903), map_predicted=(0.633626, -1.3171), range=0.798273, pts=11
I0419 21:06:08.769654 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0188499m maha_sq=0.0151986 (gate chi2=5.99) pose_sigma=(0.15101, 0.15101, rho=0) det_map=(0.633626, -1.3171) lm_pos=(0.615, -1.32) delta=(0.0186258, 0.00289764) -> 1 candidate(s)
I0419 21:06:08.769744 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295687452308.
I0419 21:06:08.774847 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.45335, -0.708838)
I0419 21:06:08.775156 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295687739149.
I0419 21:06:08.878662 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295688012502.
I0419 21:06:08.881568 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295688341139.
I0419 21:06:08.882905 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:08.882985 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:08.883682 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.585864, 0.539892)
I0419 21:06:08.883745 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.589183, 0.53982), points=11, range=0.796727, residual=0.0111867, extent=0.0341224
I0419 21:06:08.883812 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.589183, 0.53982), tracking=(-0.887683, -0.53982), map_predicted=(0.625116, -1.32103), range=0.796727, pts=11
I0419 21:06:08.883834 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0101686m maha_sq=0.00448276 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.625116, -1.32103) lm_pos=(0.615, -1.32) delta=(0.0101162, -0.00103069) -> 1 candidate(s)
I0419 21:06:08.883910 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295688612010.
I0419 21:06:08.895323 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.06 deg, rms_residual=0.00369163m, sigma_yaw=0.00489806 rad, N=2
I0419 21:06:08.895519 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=1.26492e-05 range=0.794846 variance=0.000606897 t_weight=4943.18 r_weight=0 yaml=(0.615, -1.32) prior=(-0.244587, -1.89006, -177.987deg) obs_actual=(-0.879337, -0.539993) obs_expected=(-0.879081, -0.539516) delta=(-0.000255742, -0.000476711) |delta|=0.000540978m
I0419 21:06:08.895641 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.243334, -1.8865, -178.06deg) inliers=2 rms=0.00369163m
I0419 21:06:08.895706 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295688937843.
I0419 21:06:08.918509 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:09.019129 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:09.019229 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:09.019351 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295689221030.
I0419 21:06:09.020370 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:09.020987 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:09.021067 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:09.021150 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295689499904.
I0419 21:06:09.023097 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559903s, prior_pose=(-0.241984, -1.88655), yaw=-177.945 deg
I0419 21:06:09.023219 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=545, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:06:09.023310 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.27564, 1.50624)
I0419 21:06:09.023895 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45411, -0.71184), points=3, range=1.61567, residual=0.00731778, extent=0.0137174
I0419 21:06:09.023947 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45411, -0.71184), tracking=(-1.75261, 0.71184), map_predicted=(1.53502, -2.53509), range=1.61567, pts=3
I0419 21:06:09.023970 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[2] 'ref_3' eucl_dist=0.210519m maha_sq=1.92202 (gate chi2=5.99) pose_sigma=(0.150048, 0.150048, rho=0) det_map=(1.53502, -2.53509) lm_pos=(1.745, -2.52) delta=(-0.209978, -0.015091) -> 1 candidate(s)
I0419 21:06:09.024055 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295689781119.
I0419 21:06:09.026690 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295690098868.
I0419 21:06:09.038456 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295690374495.
I0419 21:06:09.125288 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.363191, -0.634946)
I0419 21:06:09.125463 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295690656776.
I0419 21:06:09.126642 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.234265, 0.637748), points=19, range=0.680842, residual=0.0125331, extent=0.0357528
I0419 21:06:09.126694 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.234265, 0.637748), tracking=(0.064235, 0.637748), map_predicted=(-0.287319, -2.52979), range=0.680842, pts=19
I0419 21:06:09.126720 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0100588m maha_sq=0.00438125 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.287319, -2.52979) lm_pos=(-0.285, -2.52) delta=(-0.00231881, -0.00978786) -> 1 candidate(s)
I0419 21:06:09.128270 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295690976025.
I0419 21:06:09.130061 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295691252551.
I0419 21:06:09.131821 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.244708, -1.88876), yaw=-177.986 deg backend=(-0.233154, -1.88432)
I0419 21:06:09.150063 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:09.150352 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:09.154794 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.585007, 0.539079)
I0419 21:06:09.155131 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295691542043.
I0419 21:06:09.268464 1232263 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:09.268558 1232263 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00317194 range=0.794545 variance=0.000592478 t_weight=5063.48 r_weight=0 yaml=(0.615, -1.32) prior=(-0.24325, -1.88797, -177.955deg) obs_actual=(-0.886379, -0.538612) obs_expected=(-0.87797, -0.536986) delta=(-0.00840964, -0.00162615) |delta|=0.00856542m
I0419 21:06:09.268615 1232263 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:09.268636 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295691857154.
I0419 21:06:09.269788 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.233778, 0.639338), points=17, range=0.682824, residual=0.0117165, extent=0.0335425
I0419 21:06:09.269861 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:09.269883 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.233778, 0.639338), tracking=(0.0647215, 0.639338), map_predicted=(-0.285117, -2.52921), range=0.682824, pts=17
I0419 21:06:09.269905 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00921243m maha_sq=0.00367813 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.285117, -2.52921) lm_pos=(-0.285, -2.52) delta=(-0.000116964, -0.00921169) -> 1 candidate(s)
I0419 21:06:09.270622 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:09.270710 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:09.270821 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295692140792.
I0419 21:06:09.273443 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:09.273518 1232263 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:09.273581 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295692453756.
I0419 21:06:09.274541 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842567s, prior_pose=(-0.244358, -1.88905), yaw=-177.95 deg
I0419 21:06:09.274601 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=548, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:06:09.274684 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.27714, 1.50724)
I0419 21:06:09.276463 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295692734754.
I0419 21:06:09.305845 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295693053644.
I0419 21:06:09.371531 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.241189, 0.639295), points=18, range=0.681278, residual=0.012385, extent=0.038092
I0419 21:06:09.371855 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.241189, 0.639295), tracking=(0.0573106, 0.639295), map_predicted=(-0.27824, -2.52697), range=0.681278, pts=18
I0419 21:06:09.372036 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.00970738m maha_sq=0.00407074 (gate chi2=5.99) pose_sigma=(0.150196, 0.150196, rho=0) det_map=(-0.27824, -2.52697) lm_pos=(-0.285, -2.52) delta=(0.00676043, -0.00696634) -> 1 candidate(s)
I0419 21:06:09.372205 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:09.373383 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295693338859.
I0419 21:06:09.374679 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=16, centroid=(-0.23835, 0.640129)
I0419 21:06:09.376665 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295693615823.
I0419 21:06:09.390843 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295693895944.
I0419 21:06:09.422202 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295694215897.
I0419 21:06:09.446020 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:09.446132 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.27763, 1.51231), points=5, range=2.7296, residual=0.0165784, extent=0.0416493
I0419 21:06:09.446164 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:09.446187 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.27763, 1.51231), tracking=(2.57613, 1.51231), map_predicted=(-2.76518, -3.49036), range=2.7296, pts=5
I0419 21:06:09.446215 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66325m maha_sq=303.296 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.76518, -3.49036) lm_pos=(-0.285, -2.52) delta=(-2.48018, -0.97036) -> 0 candidate(s)
I0419 21:06:09.517525 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.45411, -0.711834)
I0419 21:06:09.517721 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295694498352.
I0419 21:06:09.519717 1219494 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.021 deg, rms_residual=0.00367645m, sigma_yaw=0.00487802 rad, N=2
I0419 21:06:09.519816 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00126667 range=0.796667 variance=0.000603367 t_weight=4972.1 r_weight=0 yaml=(0.615, -1.32) prior=(-0.2471, -1.8857, -177.918deg) obs_actual=(-0.879884, -0.538937) obs_expected=(-0.882087, -0.533996) delta=(0.00220249, -0.004941) |delta|=0.00540966m
I0419 21:06:09.519873 1219494 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.243539, -1.88607, -178.021deg) inliers=2 rms=0.00367645m
I0419 21:06:09.519910 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295694779522.
I0419 21:06:09.522023 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:09.522718 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:09.522784 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:09.522886 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295695055397.
I0419 21:06:09.539110 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:09.539263 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:09.539418 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295695382358.
I0419 21:06:09.561611 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556789s, prior_pose=(-0.245356, -1.88537), yaw=-177.918 deg
I0419 21:06:09.561736 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=543, max_intensity=254, threshold=230, above_threshold=26, candidates=26
I0419 21:06:09.561893 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.87884, -2.20947)
I0419 21:06:09.561934 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.88206, -2.20384), points=3, range=4.464, residual=0.0126692, extent=0.0261345
I0419 21:06:09.561967 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.88206, -2.20384), tracking=(4.18056, -2.20384), map_predicted=(-4.50321, 0.165148), range=4.464, pts=3
I0419 21:06:09.561996 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00033m maha_sq=1060.19 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.50321, 0.165148) lm_pos=(-0.285, -2.52) delta=(-4.21821, 2.68515) -> 0 candidate(s)
I0419 21:06:09.571331 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295695702128.
I0419 21:06:09.672575 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295695977581.
I0419 21:06:09.675328 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295696260211.
I0419 21:06:09.676424 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=19, centroid=(-0.239681, 0.640933)
I0419 21:06:09.677263 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.577538, 0.538505), points=12, range=0.79475, residual=0.0142842, extent=0.0401685
I0419 21:06:09.677366 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.577538, 0.538505), tracking=(-0.876038, -0.538505), map_predicted=(0.612327, -1.31672), range=0.79475, pts=12
I0419 21:06:09.677397 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[1] 'ref_2' eucl_dist=0.00423152m maha_sq=0.000773638 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.612327, -1.31672) lm_pos=(0.615, -1.32) delta=(-0.00267347, 0.00327998) -> 1 candidate(s)
I0419 21:06:09.677495 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295696540696.
I0419 21:06:09.686287 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295696854303.
I0419 21:06:09.802423 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295697133981.
I0419 21:06:09.803797 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:09.803963 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:09.804782 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.4441, -0.709528)
I0419 21:06:09.804986 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295697421872.
I0419 21:06:09.807945 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.359873, -0.636102), points=9, range=0.724667, residual=0.0147135, extent=0.037861
I0419 21:06:09.808099 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.359873, -0.636102), tracking=(0.0613734, 0.636102), map_predicted=(-0.28375, -2.52555), range=0.724667, pts=9
I0419 21:06:09.808151 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00569189m maha_sq=0.0013957 (gate chi2=5.99) pose_sigma=(0.150193, 0.150193, rho=0) det_map=(-0.28375, -2.52555) lm_pos=(-0.285, -2.52) delta=(0.00124993, -0.00555296) -> 1 candidate(s)
I0419 21:06:09.808229 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:09.808275 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.000373726 range=0.797 variance=0.000615198 t_weight=4876.48 r_weight=0 yaml=(0.615, -1.32) prior=(-0.24566, -1.88763, -177.906deg) obs_actual=(-0.881351, -0.538703) obs_expected=(-0.880826, -0.535807) delta=(-0.0005249, -0.00289567) |delta|=0.00294286m
I0419 21:06:09.808342 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:09.808378 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295697738544.
I0419 21:06:09.809517 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:09.811257 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:09.811345 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:09.811460 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295698012599.
I0419 21:06:09.831781 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.586337, 0.540318)
I0419 21:06:09.831905 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:09.831938 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 8 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:09.832023 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295698302166.
I0419 21:06:09.907276 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563324s, prior_pose=(-0.246988, -1.88851), yaw=-177.92 deg
I0419 21:06:09.907399 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=550, max_intensity=253, threshold=230, above_threshold=25, candidates=25
I0419 21:06:09.908430 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295698621986.
I0419 21:06:09.909737 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.238154, 0.639703), points=19, range=0.683158, residual=0.0118294, extent=0.0358135
I0419 21:06:09.909823 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.238154, 0.639703), tracking=(0.0603461, 0.639703), map_predicted=(-0.284078, -2.52998), range=0.683158, pts=19
I0419 21:06:09.909848 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0100264m maha_sq=0.0043563 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.284078, -2.52998) lm_pos=(-0.285, -2.52) delta=(0.000921506, -0.00998395) -> 1 candidate(s)
I0419 21:06:09.911427 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295698894791.
I0419 21:06:09.914417 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:09.922255 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295699217650.
I0419 21:06:09.946364 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.27847, 1.50813)
I0419 21:06:09.950034 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295699494343.
I0419 21:06:10.040619 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295699817654.
I0419 21:06:10.041800 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.88145, -2.21095), points=3, range=4.467, residual=0.0112478, extent=0.0266602
I0419 21:06:10.041886 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.88145, -2.21095), tracking=(4.17995, -2.21095), map_predicted=(-4.50379, 0.170597), range=4.467, pts=3
I0419 21:06:10.041915 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00375m maha_sq=1063.15 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.50379, 0.170597) lm_pos=(-0.285, -2.52) delta=(-4.21879, 2.6906) -> 0 candidate(s)
I0419 21:06:10.042631 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295700062683.
I0419 21:06:10.043877 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.246283, -1.88648), yaw=-177.931 deg backend=(-0.235717, -1.88314)
I0419 21:06:10.044688 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:10.044731 1232263 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:10.045373 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(-0.364012, -0.632623)
I0419 21:06:10.045491 1232263 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295700375166.
I0419 21:06:10.066254 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.96 deg, rms_residual=0.000507693m, sigma_yaw=0.000676466 rad, N=2
I0419 21:06:10.066349 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.000969037 range=0.794083 variance=0.000591583 t_weight=5071.14 r_weight=0 yaml=(0.615, -1.32) prior=(-0.246926, -1.88749, -177.93deg) obs_actual=(-0.878022, -0.538764) obs_expected=(-0.881859, -0.535992) delta=(0.00383685, -0.0027715) |delta|=0.00473314m
I0419 21:06:10.066483 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.242983, -1.88927, -177.96deg) inliers=2 rms=0.000507693m
I0419 21:06:10.066526 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295700657896.
I0419 21:06:10.094487 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:10.095688 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:10.095762 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:10.095942 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295700938171.
I0419 21:06:10.189846 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.88423, -2.20507), points=3, range=4.46467, residual=0.0128377, extent=0.0264445
I0419 21:06:10.190153 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.88423, -2.20507), tracking=(4.18273, -2.20507), map_predicted=(-4.50522, 0.166841), range=4.46467, pts=3
I0419 21:06:10.190335 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00294m maha_sq=1058.58 (gate chi2=5.99) pose_sigma=(0.150187, 0.150187, rho=0) det_map=(-4.50522, 0.166841) lm_pos=(-0.285, -2.52) delta=(-4.22022, 2.68684) -> 0 candidate(s)
I0419 21:06:10.191118 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=12, centroid=(0.586252, 0.538634)
I0419 21:06:10.191188 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:10.191228 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:10.191309 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295701253427.
I0419 21:06:10.192277 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842249s, prior_pose=(-0.245458, -1.88547), yaw=-177.927 deg
I0419 21:06:10.192329 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=546, max_intensity=254, threshold=230, above_threshold=25, candidates=25
I0419 21:06:10.194180 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295701532923.
I0419 21:06:10.196553 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295701814003.
I0419 21:06:10.213896 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.578934, 0.538221), points=13, range=0.794692, residual=0.0138802, extent=0.0373605
I0419 21:06:10.214036 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.578934, 0.538221), tracking=(-0.877434, -0.538221), map_predicted=(0.612608, -1.316), range=0.794692, pts=13
I0419 21:06:10.214116 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0046636m maha_sq=0.000939531 (gate chi2=5.99) pose_sigma=(0.150052, 0.150052, rho=0) det_map=(0.612608, -1.316) lm_pos=(0.615, -1.32) delta=(-0.00239155, 0.0040037) -> 1 candidate(s)
I0419 21:06:10.214295 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295702132278.
I0419 21:06:10.238656 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.87363, -2.2065)
I0419 21:06:10.338135 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295702422654.
I0419 21:06:10.340060 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295702699425.
I0419 21:06:10.342878 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295703014354.
I0419 21:06:10.344050 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.236972, 0.639307)
I0419 21:06:10.344127 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:10.344152 1264424 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:10.345642 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.362268, -0.638169), points=9, range=0.730556, residual=0.00914876, extent=0.0212387
I0419 21:06:10.345708 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.362268, -0.638169), tracking=(0.0637678, 0.638169), map_predicted=(-0.284842, -2.52835), range=0.730556, pts=9
I0419 21:06:10.345734 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00835516m maha_sq=0.00303178 (gate chi2=5.99) pose_sigma=(0.150012, 0.150012, rho=0) det_map=(-0.284842, -2.52835) lm_pos=(-0.285, -2.52) delta=(0.00015825, -0.00835366) -> 1 candidate(s)
I0419 21:06:10.345813 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295703293472.
I0419 21:06:10.359289 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:10.359414 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.000339628 range=0.795154 variance=0.000615347 t_weight=4875.3 r_weight=0 yaml=(0.615, -1.32) prior=(-0.243848, -1.88832, -177.959deg) obs_actual=(-0.877673, -0.540024) obs_expected=(-0.878548, -0.537362) delta=(0.000875317, -0.00266166) |delta|=0.0028019m
I0419 21:06:10.359495 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:10.359519 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295703580348.
I0419 21:06:10.425223 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:10.426137 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=21, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:10.426239 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:10.426360 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295703896100.
I0419 21:06:10.429049 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(1.45232, -0.71096)
I0419 21:06:10.429375 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:10.429422 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:10.429486 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295704183033.
I0419 21:06:10.430575 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:10.442833 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564598s, prior_pose=(-0.245462, -1.88777), yaw=-177.931 deg
I0419 21:06:10.442975 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=546, max_intensity=255, threshold=230, above_threshold=28, candidates=28
I0419 21:06:10.450836 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.360783, -0.635563), points=9, range=0.728556, residual=0.00856146, extent=0.0183622
I0419 21:06:10.451030 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.360783, -0.635563), tracking=(0.0622826, 0.635563), map_predicted=(-0.284757, -2.52516), range=0.728556, pts=9
I0419 21:06:10.451085 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00516889m maha_sq=0.00116104 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.284757, -2.52516) lm_pos=(-0.285, -2.52) delta=(0.00024253, -0.0051632) -> 1 candidate(s)
I0419 21:06:10.451249 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295704499541.
I0419 21:06:10.479259 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295704786671.
I0419 21:06:10.502197 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:10.571870 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295705059513.
I0419 21:06:10.573216 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.88319, -2.21194)
I0419 21:06:10.574021 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295705375204.
I0419 21:06:10.576017 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.23421, 0.637626), points=18, range=0.680667, residual=0.0117988, extent=0.034189
I0419 21:06:10.576089 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.23421, 0.637626), tracking=(0.0642903, 0.637626), map_predicted=(-0.287788, -2.52799), range=0.680667, pts=18
I0419 21:06:10.576120 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.00845828m maha_sq=0.00309539 (gate chi2=5.99) pose_sigma=(0.150123, 0.150123, rho=0) det_map=(-0.287788, -2.52799) lm_pos=(-0.285, -2.52) delta=(-0.0027884, -0.00798545) -> 1 candidate(s)
I0419 21:06:10.576815 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295705665567.
I0419 21:06:10.594038 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295705934608.
I0419 21:06:10.621661 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=17, centroid=(-0.238482, 0.637678)
I0419 21:06:10.621762 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:10.621798 1218970 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:10.626910 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295706262830.
I0419 21:06:10.698516 1218970 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-178.136 deg, rms_residual=0.000562634m, sigma_yaw=0.000750742 rad, N=2
I0419 21:06:10.698637 1218970 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.000874052 range=0.793455 variance=0.000601041 t_weight=4991.34 r_weight=0 yaml=(0.615, -1.32) prior=(-0.245152, -1.8881, -177.934deg) obs_actual=(-0.876187, -0.538993) obs_expected=(-0.88007, -0.536727) delta=(0.00388266, -0.0022656) |delta|=0.00449533m
I0419 21:06:10.698675 1218970 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.243525, -1.88766, -178.136deg) inliers=2 rms=0.000562634m
I0419 21:06:10.698709 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295706532534.
I0419 21:06:10.699728 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.27888, 1.51314), points=5, range=2.731, residual=0.0165529, extent=0.0410125
I0419 21:06:10.699873 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:10.699894 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.27888, 1.51314), tracking=(2.57738, 1.51314), map_predicted=(-2.76632, -3.49316), range=2.731, pts=5
I0419 21:06:10.699914 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66533m maha_sq=303.777 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.76632, -3.49316) lm_pos=(-0.285, -2.52) delta=(-2.48132, -0.973156) -> 0 candidate(s)
I0419 21:06:10.701597 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:10.701675 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:10.701783 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295706812399.
I0419 21:06:10.711156 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(-0.35999, -0.627879)
I0419 21:06:10.711273 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:10.711318 1218967 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:10.711386 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295707099095.
I0419 21:06:10.737660 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561161s, prior_pose=(-0.244498, -1.88689), yaw=-177.933 deg
I0419 21:06:10.737771 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=545, max_intensity=255, threshold=230, above_threshold=27, candidates=27
I0419 21:06:10.742439 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295707419067.
I0419 21:06:10.848380 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295707696416.
I0419 21:06:10.849841 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.88582, -2.19853), points=4, range=4.46475, residual=0.0177455, extent=0.0410219
I0419 21:06:10.849972 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.88582, -2.19853), tracking=(4.18432, -2.19853), map_predicted=(-4.50547, 0.157562), range=4.46475, pts=4
I0419 21:06:10.850005 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99817m maha_sq=1052.38 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.50547, 0.157562) lm_pos=(-0.285, -2.52) delta=(-4.22047, 2.67756) -> 0 candidate(s)
I0419 21:06:10.850795 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.585005, 0.539081)
I0419 21:06:10.850940 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295708025183.
I0419 21:06:10.853776 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295708298012.
I0419 21:06:10.859133 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295708585392.
I0419 21:06:10.889425 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.577457, 0.538429), points=11, range=0.792818, residual=0.0120073, extent=0.037116
I0419 21:06:10.889576 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.577457, 0.538429), tracking=(-0.875957, -0.538429), map_predicted=(0.6119, -1.31763), range=0.792818, pts=11
I0419 21:06:10.889622 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00389995m maha_sq=0.000658856 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.6119, -1.31763) lm_pos=(0.615, -1.32) delta=(-0.00310004, 0.0023663) -> 1 candidate(s)
I0419 21:06:10.889779 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295708881328.
I0419 21:06:10.953266 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.243632, -1.88608), yaw=-178.003 deg backend=(-0.237533, -1.88451)
I0419 21:06:10.954365 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.27947, 1.50879)
I0419 21:06:10.954456 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:10.954509 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:10.955345 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295709180928.
I0419 21:06:10.958735 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:10.958865 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=6.48718e-05 range=0.794545 variance=0.000613276 t_weight=4891.76 r_weight=0 yaml=(0.615, -1.32) prior=(-0.243506, -1.88669, -178.004deg) obs_actual=(-0.878337, -0.537501) obs_expected=(-0.877722, -0.536442) delta=(-0.000615084, -0.00105924) |delta|=0.00122487m
I0419 21:06:10.958966 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:10.959007 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295709460139.
I0419 21:06:10.974639 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:10.977808 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:10.977882 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:10.978014 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295709774410.
I0419 21:06:11.006577 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=9, centroid=(-0.362803, -0.63267)
I0419 21:06:11.006898 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.361557, -0.634156), points=9, range=0.729333, residual=0.00686702, extent=0.0170517
I0419 21:06:11.006955 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.361557, -0.634156), tracking=(0.0630572, 0.634156), map_predicted=(-0.285736, -2.52329), range=0.729333, pts=9
I0419 21:06:11.006994 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0033714m maha_sq=0.0004938 (gate chi2=5.99) pose_sigma=(0.150109, 0.150109, rho=0) det_map=(-0.285736, -2.52329) lm_pos=(-0.285, -2.52) delta=(-0.000735835, -0.00329012) -> 1 candidate(s)
I0419 21:06:11.007054 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:11.007141 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:11.007261 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295710059826.
I0419 21:06:11.034160 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876821s, prior_pose=(-0.244808, -1.88732), yaw=-178.004 deg
I0419 21:06:11.034453 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=543, max_intensity=253, threshold=230, above_threshold=26, candidates=26
I0419 21:06:11.111241 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=49.3241 rad/s > flush threshold 3.
I0419 21:06:11.111395 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295710337110.
I0419 21:06:11.113271 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295710656974.
I0419 21:06:11.115218 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:11.116057 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=11, centroid=(0.585532, 0.539582)
I0419 21:06:11.116211 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295710940390.
I0419 21:06:11.126688 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.364409, -0.631206), points=9, range=0.730111, residual=0.00762105, extent=0.0178977
I0419 21:06:11.127013 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.364409, -0.631206), tracking=(0.0659085, 0.631206), map_predicted=(-0.286668, -2.52021), range=0.730111, pts=9
I0419 21:06:11.127368 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00168101m maha_sq=0.000122786 (gate chi2=5.99) pose_sigma=(0.150058, 0.150058, rho=0) det_map=(-0.286668, -2.52021) lm_pos=(-0.285, -2.52) delta=(-0.00166845, -0.000205108) -> 1 candidate(s)
I0419 21:06:11.127529 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295711260869.
I0419 21:06:11.154462 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295711538980.
I0419 21:06:11.220022 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295711822020.
I0419 21:06:11.221277 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.27664, 1.50691)
I0419 21:06:11.221377 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:11.221401 1218967 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:11.223167 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295712138617.
I0419 21:06:11.238301 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.27711, 1.51672), points=4, range=2.73325, residual=0.011268, extent=0.0262445
I0419 21:06:11.238516 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.27711, 1.51672), tracking=(2.57561, 1.51672), map_predicted=(-2.76343, -3.49436), range=2.73325, pts=4
I0419 21:06:11.238574 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66308m maha_sq=305.181 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.76343, -3.49436) lm_pos=(-0.285, -2.52) delta=(-2.47843, -0.97436) -> 0 candidate(s)
I0419 21:06:11.242969 1237626 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-177.898 deg, rms_residual=0.000243002m, sigma_yaw=0.000323898 rad, N=2
I0419 21:06:11.243063 1237626 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.000875201 range=0.795909 variance=0.000586156 t_weight=5118.1 r_weight=0 yaml=(0.615, -1.32) prior=(-0.244132, -1.88585, -177.936deg) obs_actual=(-0.879887, -0.538934) obs_expected=(-0.878956, -0.534537) delta=(-0.000930689, -0.0043976) |delta|=0.004495m
I0419 21:06:11.243137 1237626 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.244379, -1.89065, -177.898deg) inliers=2 rms=0.000243002m
I0419 21:06:11.243209 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295712421858.
I0419 21:06:11.270866 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:11.271653 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=23, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:06:11.271708 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:06:11.271821 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295712702178.
I0419 21:06:11.295068 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.27797, 1.5078)
I0419 21:06:11.363534 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:11.363657 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:11.363721 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295712991707.
I0419 21:06:11.364884 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551652s, prior_pose=(-0.244066, -1.88777), yaw=-177.96 deg
I0419 21:06:11.364981 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=541, max_intensity=255, threshold=230, above_threshold=26, candidates=26
I0419 21:06:11.365864 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295713298708.
I0419 21:06:11.368011 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.27199, 1.51808), points=5, range=2.7308, residual=0.0127758, extent=0.0319695
I0419 21:06:11.368112 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.27199, 1.51808), tracking=(2.57049, 1.51808), map_predicted=(-2.76029, -3.49583), range=2.7308, pts=5
I0419 21:06:11.368144 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6607m maha_sq=303.718 (gate chi2=5.99) pose_sigma=(0.150114, 0.150114, rho=0) det_map=(-2.76029, -3.49583) lm_pos=(-0.285, -2.52) delta=(-2.47529, -0.97583) -> 0 candidate(s)
I0419 21:06:11.368899 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295713579865.
I0419 21:06:11.390554 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=10, centroid=(-0.361598, -0.63274)
I0419 21:06:11.390875 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295713896741.
I0419 21:06:11.419005 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295714179921.
I0419 21:06:11.526770 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295714454969.
I0419 21:06:11.528155 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.27806, 1.50306), points=5, range=2.7262, residual=0.0143537, extent=0.0369485
I0419 21:06:11.528264 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.27806, 1.50306), tracking=(2.57656, 1.50306), map_predicted=(-2.76516, -3.482), range=2.7262, pts=5
I0419 21:06:11.528293 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6602m maha_sq=303.499 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.76516, -3.482) lm_pos=(-0.285, -2.52) delta=(-2.48016, -0.962004) -> 0 candidate(s)
I0419 21:06:11.529919 1219452 reflector_detector.cc:209] [Detect]   cluster[2]: points=12, centroid=(0.59885, 0.535883)
I0419 21:06:11.530092 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295714779839.
I0419 21:06:11.531355 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:11.531424 1219452 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:11.532125 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295715052629.
I0419 21:06:11.534859 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:11.534930 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00390437 range=0.807333 variance=0.000579549 t_weight=5176.44 r_weight=0 yaml=(0.615, -1.32) prior=(-0.25525, -1.88636, -177.675deg) obs_actual=(-0.901891, -0.532217) obs_expected=(-0.892513, -0.530589) delta=(-0.00937872, -0.001628) |delta|=0.00951897m
I0419 21:06:11.534991 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:11.535007 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295715339587.
I0419 21:06:11.561924 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:11.656251 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=37, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:11.656363 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:11.656414 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=171.907 rad/s > flush threshold 3.
I0419 21:06:11.656489 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295715613228.
I0419 21:06:11.657723 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.25846, 1.48544)
I0419 21:06:11.657799 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.82957, -2.24082), points=3, range=4.437, residual=0.01094, extent=0.0262846
I0419 21:06:11.657826 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.82957, -2.24082), tracking=(4.12807, -2.24082), map_predicted=(-4.48091, 0.172745), range=4.437, pts=3
I0419 21:06:11.657848 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98563m maha_sq=1056.07 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.48091, 0.172745) lm_pos=(-0.285, -2.52) delta=(-4.19591, 2.69275) -> 0 candidate(s)
I0419 21:06:11.658691 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:11.658749 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 4 inliers from pool of 5 (intra-scan=2, buffered=3).
I0419 21:06:11.658820 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295715938573.
I0419 21:06:11.660806 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565808s, prior_pose=(-0.266964, -1.88889), yaw=-177.475 deg
I0419 21:06:11.660913 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=553, max_intensity=255, threshold=230, above_threshold=25, candidates=25
I0419 21:06:11.662046 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295716258466.
I0419 21:06:11.664794 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (7 entries) on yaw_rate=120.167 rad/s > flush threshold 3.
I0419 21:06:11.664927 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295716532649.
I0419 21:06:11.677898 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:11.682565 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=27, centroid=(-0.350317, -0.631341)
I0419 21:06:11.682668 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.644647, 0.528214), points=9, range=0.830111, residual=0.0117935, extent=0.03313
I0419 21:06:11.682701 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.644647, 0.528214), tracking=(-0.943147, -0.528214), map_predicted=(0.641243, -1.32046), range=0.830111, pts=9
I0419 21:06:11.682726 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[1] 'ref_2' eucl_dist=0.0262466m maha_sq=0.029846 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.641243, -1.32046) lm_pos=(0.615, -1.32) delta=(0.0262425, -0.000464448) -> 1 candidate(s)
I0419 21:06:11.682873 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295716819351.
I0419 21:06:11.754046 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295717139976.
I0419 21:06:11.756942 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295717418813.
I0419 21:06:11.770501 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.39267, -0.628404)
I0419 21:06:11.770707 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295717700577.
I0419 21:06:11.772450 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.303767, -1.89358), yaw=-177.371 deg backend=(-0.289911, -1.88514)
I0419 21:06:11.798763 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:11.798892 1258777 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:11.799718 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.305523, -0.631042), points=16, range=0.701375, residual=0.0106372, extent=0.0308674
I0419 21:06:11.799772 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.305523, -0.631042), tracking=(0.00702348, 0.631042), map_predicted=(-0.281836, -2.52428), range=0.701375, pts=16
I0419 21:06:11.799799 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0053208m maha_sq=0.00121981 (gate chi2=5.99) pose_sigma=(0.150529, 0.150529, rho=0) det_map=(-0.281836, -2.52428) lm_pos=(-0.285, -2.52) delta=(0.00316391, -0.00427792) -> 1 candidate(s)
I0419 21:06:11.799969 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295717981906.
I0419 21:06:11.920362 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=-176.92 deg, rms_residual=0.0068403m, sigma_yaw=0.00903797 rad, N=2
I0419 21:06:11.920464 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.00785703 range=0.849636 variance=0.000590415 t_weight=5081.17 r_weight=0 yaml=(0.615, -1.32) prior=(-0.311403, -1.89297, -177.34deg) obs_actual=(-0.965472, -0.530462) obs_expected=(-0.951997, -0.52936) delta=(-0.0134745, -0.00110197) |delta|=0.0135195m
I0419 21:06:11.920503 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.316469, -1.8961, -176.92deg) inliers=2 rms=0.0068403m
I0419 21:06:11.920537 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295718297211.
I0419 21:06:11.921700 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:11.921754 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(-0.379082, 0.612703)
I0419 21:06:11.922303 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:11.922966 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:11.923023 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:11.923118 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295718579314.
I0419 21:06:11.925796 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:11.925911 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:11.925966 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295718894720.
I0419 21:06:11.927114 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838427s, prior_pose=(-0.317697, -1.89308), yaw=-177.345 deg
I0419 21:06:11.927193 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=570, max_intensity=255, threshold=230, above_threshold=35, candidates=35
I0419 21:06:11.927306 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.326885, 0.641471), points=16, range=0.717562, residual=0.0120855, extent=0.0348833
I0419 21:06:11.927335 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.326885, 0.641471), tracking=(-0.0283849, 0.641471), map_predicted=(-0.25963, -2.53255), range=0.717562, pts=16
I0419 21:06:11.927362 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.0283055m maha_sq=0.0347082 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.25963, -2.53255) lm_pos=(-0.285, -2.52) delta=(0.0253703, -0.0125518) -> 1 candidate(s)
I0419 21:06:11.928866 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295719179791.
I0419 21:06:11.942505 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(-0.302498, 0.523947)
I0419 21:06:11.945951 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295719454174.
I0419 21:06:12.042019 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295719738258.
I0419 21:06:12.044857 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295720055598.
I0419 21:06:12.046064 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.17913, 1.49769)
I0419 21:06:12.046144 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.35027, 0.638745), points=22, range=0.727136, residual=0.0186845, extent=0.0504683
I0419 21:06:12.046173 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(-0.35027, 0.638745), tracking=(-0.0517702, 0.638745), map_predicted=(-0.264685, -2.53282), range=0.727136, pts=22
I0419 21:06:12.046195 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[0] 'ref_1' eucl_dist=0.024022m maha_sq=0.0247799 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.264685, -2.53282) lm_pos=(-0.285, -2.52) delta=(0.0203154, -0.0128196) -> 1 candidate(s)
I0419 21:06:12.046989 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295720340984.
I0419 21:06:12.062450 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295720613154.
I0419 21:06:12.089776 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:12.089906 1219494 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[2] points 10 -> 8 (threshold=0.03, iters=3)
I0419 21:06:12.089936 1219494 reflector_detector.cc:337] [Detect] RESULT: 3 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:12.171304 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295720940062.
I0419 21:06:12.172394 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=6, centroid=(-0.347671, 0.616747)
I0419 21:06:12.173307 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:12.173372 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0015005 range=0.895143 variance=0.00052613 t_weight=5702.01 r_weight=0 yaml=(0.615, -1.32) prior=(-0.365794, -1.89927, -177.734deg) obs_actual=(-1.00736, -0.543898) obs_expected=(-1.00293, -0.540035) delta=(-0.0044302, -0.00386317) |delta|=0.00587799m
I0419 21:06:12.173429 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:12.173448 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295721220475.
I0419 21:06:12.175239 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:12.175870 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:12.175930 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:12.175958 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.232537, -0.630359), points=18, range=0.670778, residual=0.011939, extent=0.0343689
I0419 21:06:12.175983 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.232537, -0.630359), tracking=(-0.065963, 0.630359), map_predicted=(-0.282175, -2.52704), range=0.670778, pts=18
I0419 21:06:12.176004 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00758846m maha_sq=0.00248334 (gate chi2=5.99) pose_sigma=(0.150365, 0.150365, rho=0) det_map=(-0.282175, -2.52704) lm_pos=(-0.285, -2.52) delta=(0.0028253, -0.00704289) -> 1 candidate(s)
I0419 21:06:12.176069 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295721532217.
I0419 21:06:12.181438 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295721809656.
I0419 21:06:12.206053 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0524416s, prior_pose=(-0.379478, -1.89874), yaw=-178.348 deg
I0419 21:06:12.206162 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=554, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:06:12.210785 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295722100891.
I0419 21:06:12.286921 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(2.10608, 1.55843)
I0419 21:06:12.287786 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:12.287889 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:12.287956 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295722382352.
I0419 21:06:12.290886 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295722694477.
I0419 21:06:12.298225 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.191883, -0.624498), points=18, range=0.653889, residual=0.0110955, extent=0.0332443
I0419 21:06:12.298538 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.191883, -0.624498), tracking=(-0.106617, 0.624498), map_predicted=(-0.273669, -2.52175), range=0.653889, pts=18
I0419 21:06:12.298744 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0114656m maha_sq=0.00570109 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.273669, -2.52175) lm_pos=(-0.285, -2.52) delta=(0.0113309, -0.00175246) -> 1 candidate(s)
I0419 21:06:12.299033 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295722977132.
I0419 21:06:12.330632 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295723299743.
I0419 21:06:12.471589 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295723573833.
I0419 21:06:12.472822 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(2.0252, 1.6158)
I0419 21:06:12.472909 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:12.472931 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:12.473663 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295723859584.
I0419 21:06:12.476271 1218967 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=179.551 deg, rms_residual=0.00427101m, sigma_yaw=0.00566244 rad, N=2
I0419 21:06:12.476387 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00828341 range=0.948 variance=0.00049226 t_weight=6094.33 r_weight=0 yaml=(0.615, -1.32) prior=(-0.416845, -1.90137, 179.799deg) obs_actual=(-1.04052, -0.593751) obs_expected=(-1.0298, -0.584977) delta=(-0.0107121, -0.0087736) |delta|=0.0138465m
I0419 21:06:12.476423 1218967 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.427571, -1.90217, 179.551deg) inliers=2 rms=0.00427101m
I0419 21:06:12.476459 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295724181303.
I0419 21:06:12.477634 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:12.553961 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:12.554060 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:12.554095 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.738591, 0.599844), points=8, range=0.952, residual=0.0110257, extent=0.0365132
I0419 21:06:12.554118 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.738591, 0.599844), tracking=(-1.03709, -0.599844), map_predicted=(0.616555, -1.31966), range=0.952, pts=8
I0419 21:06:12.554142 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00159237m maha_sq=0.000108575 (gate chi2=5.99) pose_sigma=(0.150946, 0.150946, rho=0) det_map=(0.616555, -1.31966) lm_pos=(0.615, -1.32) delta=(0.00155469, 0.000344367) -> 1 candidate(s)
I0419 21:06:12.554162 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.13953 rad/s > flush threshold 3.
I0419 21:06:12.554225 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295724455339.
I0419 21:06:12.556192 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295724741491.
I0419 21:06:12.558341 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05595s, prior_pose=(-0.434588, -1.90368), yaw=178.783 deg
I0419 21:06:12.558455 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=556, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 21:06:12.559332 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295725060256.
I0419 21:06:12.560413 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.95089, 1.69592)
I0419 21:06:12.640270 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.71723 rad/s > flush threshold 3.
I0419 21:06:12.640426 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295725334512.
I0419 21:06:12.642338 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295725615895.
I0419 21:06:12.645147 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750428, 0.633364), points=8, range=0.9805, residual=0.00972071, extent=0.0289749
I0419 21:06:12.645257 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.750428, 0.633364), tracking=(-1.04893, -0.633364), map_predicted=(0.622122, -1.31224), range=0.9805, pts=8
I0419 21:06:12.645288 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0105357m maha_sq=0.00478555 (gate chi2=5.99) pose_sigma=(0.150504, 0.150504, rho=0) det_map=(0.622122, -1.31224) lm_pos=(0.615, -1.32) delta=(0.00712169, 0.00776417) -> 1 candidate(s)
I0419 21:06:12.645375 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295725932617.
I0419 21:06:12.725735 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.85371 rad/s > flush threshold 3.
I0419 21:06:12.725895 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295726212616.
I0419 21:06:12.726945 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:12.727684 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295726501964.
I0419 21:06:12.729043 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.466933, -1.90268), yaw=176.503 deg backend=(-0.465819, -1.89051)
I0419 21:06:12.729943 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.86714, 1.76158)
I0419 21:06:12.730005 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:12.730032 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:12.730852 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295726821789.
I0419 21:06:12.813402 1218967 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.03822 rad/s > flush threshold 3.
I0419 21:06:12.813521 1218967 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:12.813545 1218967 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.00719773 range=1.00317 variance=0.000552286 t_weight=5431.97 r_weight=0 yaml=(0.615, -1.32) prior=(-0.475218, -1.90067, 175.897deg) obs_actual=(-1.05874, -0.658508) obs_expected=(-1.04588, -0.657189) delta=(-0.0128672, -0.0013187) |delta|=0.0129346m
I0419 21:06:12.813633 1218967 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:12.813652 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295727092280.
I0419 21:06:12.814845 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:12.815519 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:12.815569 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:12.815596 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.750788, 0.661286), points=5, range=1.0036, residual=0.0113179, extent=0.0297155
I0419 21:06:12.815616 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.750788, 0.661286), tracking=(-1.04929, -0.661286), map_predicted=(0.618695, -1.31616), range=1.0036, pts=5
I0419 21:06:12.815636 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.00533071m maha_sq=0.00123131 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(0.618695, -1.31616) lm_pos=(0.615, -1.32) delta=(0.00369531, 0.00384202) -> 1 candidate(s)
I0419 21:06:12.815711 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295727379345.
I0419 21:06:12.818290 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295727697704.
I0419 21:06:12.819358 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839768s, prior_pose=(-0.481337, -1.89882), yaw=175.595 deg
I0419 21:06:12.819429 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=563, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:06:12.821015 1218967 reflector_detector.cc:209] [Detect]   cluster[3]: points=7, centroid=(0.761173, 0.673363)
I0419 21:06:12.821187 1218967 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295727991080.
I0419 21:06:12.830588 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:12.830730 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 9 inliers from pool of 9 (intra-scan=2, buffered=7).
I0419 21:06:12.830849 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295728298169.
I0419 21:06:12.947052 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295728580921.
I0419 21:06:12.949724 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.10621 rad/s > flush threshold 3.
I0419 21:06:12.949864 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295728855043.
I0419 21:06:12.950964 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.89512, -1.58033), points=3, range=4.204, residual=0.0122991, extent=0.0251717
I0419 21:06:12.951021 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.89512, -1.58033), tracking=(4.19362, -1.58033), map_predicted=(-4.5088, 0.11994), range=4.204, pts=3
I0419 21:06:12.951045 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98094m maha_sq=1054.92 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.5088, 0.11994) lm_pos=(-0.285, -2.52) delta=(-4.2238, 2.63994) -> 0 candidate(s)
I0419 21:06:12.951757 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295729172922.
I0419 21:06:13.032460 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.89624, -1.56102)
I0419 21:06:13.033300 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295729462710.
I0419 21:06:13.034353 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:13.034407 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:13.036079 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295729740391.
I0419 21:06:13.037847 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295730055892.
I0419 21:06:13.039736 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:13.040424 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=25, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:13.040467 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:13.040521 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=172.165 deg, rms_residual=0.00271113m, sigma_yaw=0.00360182 rad, N=2
I0419 21:06:13.040544 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.0042185 range=0.594381 variance=0.000548925 t_weight=5465.23 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.532431, -1.89366, 172.667deg) obs_actual=(-0.334761, 0.592714) obs_expected=(-0.325348, 0.589635) delta=(-0.00941301, 0.00307922) |delta|=0.00990385m
I0419 21:06:13.040591 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.537461, -1.88935, 172.165deg) inliers=2 rms=0.00271113m
I0419 21:06:13.040616 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295730340013.
I0419 21:06:13.058467 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.91264, -1.44994), points=4, range=4.17425, residual=0.0161631, extent=0.0393723
I0419 21:06:13.058585 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.91264, -1.44994), tracking=(4.21114, -1.44994), map_predicted=(-4.52407, 0.0818939), range=4.17425, pts=4
I0419 21:06:13.058624 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97389m maha_sq=1047.32 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.52407, 0.0818939) lm_pos=(-0.285, -2.52) delta=(-4.23907, 2.60189) -> 0 candidate(s)
I0419 21:06:13.164768 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.162752, 0.644777)
I0419 21:06:13.164985 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.06945 rad/s > flush threshold 3.
I0419 21:06:13.165114 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295730613750.
I0419 21:06:13.165529 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:13.166281 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607921s, prior_pose=(-0.544316, -1.89006), yaw=172.027 deg
I0419 21:06:13.166407 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=569, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:06:13.167352 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295730937196.
I0419 21:06:13.170260 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295731219758.
I0419 21:06:13.253934 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.0288 rad/s > flush threshold 3.
I0419 21:06:13.254129 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295731494693.
I0419 21:06:13.255941 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295731778989.
I0419 21:06:13.257869 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(3.92323, -1.33815)
I0419 21:06:13.257943 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.92395, -1.34475), points=5, range=4.1452, residual=0.0192962, extent=0.0491864
I0419 21:06:13.257970 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.92395, -1.34475), tracking=(4.22245, -1.34475), map_predicted=(-4.51426, 0.118952), range=4.1452, pts=5
I0419 21:06:13.257992 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98504m maha_sq=1039.43 (gate chi2=5.99) pose_sigma=(0.150602, 0.150602, rho=0) det_map=(-4.51426, 0.118952) lm_pos=(-0.285, -2.52) delta=(-4.22926, 2.63895) -> 0 candidate(s)
I0419 21:06:13.258769 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295732132017.
I0419 21:06:13.259653 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:13.261195 1237626 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (5 entries) on yaw_rate=4.71878 rad/s > flush threshold 3.
I0419 21:06:13.261294 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295732375756.
I0419 21:06:13.266309 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:13.266413 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:13.269876 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295732693156.
I0419 21:06:13.361236 1219494 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:13.361363 1219494 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:13.361390 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295732979702.
I0419 21:06:13.362489 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:13.363982 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:13.364044 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:06:13.364077 1219494 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (6 entries) on yaw_rate=3.07662 rad/s > flush threshold 3.
I0419 21:06:13.365160 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.92434, -1.2123)
I0419 21:06:13.365769 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.132631, -0.570668), points=21, range=0.58681, residual=0.011024, extent=0.0351114
I0419 21:06:13.365815 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.132631, -0.570668), tracking=(-0.431131, 0.570668), map_predicted=(-0.278661, -2.5265), range=0.58681, pts=21
I0419 21:06:13.365839 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00907683m maha_sq=0.00353725 (gate chi2=5.99) pose_sigma=(0.150787, 0.150787, rho=0) det_map=(-0.278661, -2.5265) lm_pos=(-0.285, -2.52) delta=(0.00633908, -0.00649654) -> 1 candidate(s)
I0419 21:06:13.365933 1219494 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0127282 range=1.1205 variance=0.000530896 t_weight=5650.83 r_weight=0 yaml=(0.615, -1.32) prior=(-0.593842, -1.88447, 169.077deg) obs_actual=(-1.09436, -0.792759) obs_expected=(-1.07998, -0.783313) delta=(-0.0143849, -0.00944612) |delta|=0.0172091m
I0419 21:06:13.365984 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295733537618.
I0419 21:06:13.445204 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560736s, prior_pose=(-0.599009, -1.88192), yaw=168.735 deg
I0419 21:06:13.445305 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=563, max_intensity=245, threshold=230, above_threshold=8, candidates=8
I0419 21:06:13.446108 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295733877168.
I0419 21:06:13.448729 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:13.448808 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295734135601.
I0419 21:06:13.450502 1219494 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 6 (intra-scan=2, buffered=4).
I0419 21:06:13.450577 1219494 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295734422140.
I0419 21:06:13.474825 1237626 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295734742284.
I0419 21:06:13.498347 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:13.502596 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.93795, -1.09827)
I0419 21:06:13.632442 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=725.76 rad/s > flush threshold 3.
I0419 21:06:13.633906 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.38698, 2.08235), points=6, range=2.50417, residual=0.0156151, extent=0.0436033
I0419 21:06:13.633996 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.38698, 2.08235), tracking=(1.68548, 2.08235), map_predicted=(-2.73452, -3.52081), range=2.50417, pts=6
I0419 21:06:13.634025 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64609m maha_sq=295.527 (gate chi2=5.99) pose_sigma=(0.151218, 0.151218, rho=0) det_map=(-2.73452, -3.52081) lm_pos=(-0.285, -2.52) delta=(-2.44952, -1.00081) -> 0 candidate(s)
I0419 21:06:13.635012 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295735341903.
I0419 21:06:13.636312 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.635444, -1.86774), yaw=166.738 deg backend=(-0.627798, -1.86569)
I0419 21:06:13.637403 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:13.637473 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:13.638309 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295735617247.
I0419 21:06:13.722222 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295735937339.
I0419 21:06:13.723271 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:13.724113 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=26, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:13.724236 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:13.724339 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295736214589.
I0419 21:06:13.726554 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.92928, -0.96756)
I0419 21:06:13.727388 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295736501829.
I0419 21:06:13.728473 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799865s, prior_pose=(-0.653308, -1.86718), yaw=165.73 deg
I0419 21:06:13.728540 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=541, max_intensity=247, threshold=230, above_threshold=10, candidates=10
I0419 21:06:13.728590 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.28697, 2.14187), points=6, range=2.49833, residual=0.0131116, extent=0.0363025
I0419 21:06:13.728614 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.28697, 2.14187), tracking=(1.58547, 2.14187), map_predicted=(-2.71781, -3.55216), range=2.49833, pts=6
I0419 21:06:13.728637 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64271m maha_sq=300.345 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.71781, -3.55216) lm_pos=(-0.285, -2.52) delta=(-2.43281, -1.03216) -> 0 candidate(s)
I0419 21:06:13.730197 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295736782310.
I0419 21:06:13.731925 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0166665 range=1.185 variance=0.000521501 t_weight=5752.63 r_weight=0 yaml=(0.615, -1.32) prior=(-0.661594, -1.86567, 165.121deg) obs_actual=(-1.10742, -0.869131) obs_expected=(-1.09368, -0.855176) delta=(-0.0137458, -0.0139549) |delta|=0.0195879m
I0419 21:06:13.732012 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295737100661.
I0419 21:06:13.812286 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.797752, 0.870549)
I0419 21:06:13.812485 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295737375612.
I0419 21:06:13.815260 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295737702602.
I0419 21:06:13.817037 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=163.752 deg, rms_residual=0.00529161m, sigma_yaw=0.00700605 rad, N=2
I0419 21:06:13.817147 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.688651, -1.85954, 163.752deg) inliers=2 rms=0.00529161m
I0419 21:06:13.817179 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295737939279.
I0419 21:06:13.893801 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:13.894632 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295738254133.
I0419 21:06:13.895645 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:13.895701 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:13.897449 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=21, centroid=(0.289854, -0.522787)
I0419 21:06:13.897519 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.81188, 0.901676), points=4, range=1.21125, residual=0.0060513, extent=0.0138709
I0419 21:06:13.897584 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.81188, 0.901676), tracking=(-1.11038, -0.901676), map_predicted=(0.630575, -1.31433), range=1.21125, pts=4
I0419 21:06:13.897606 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[1] 'ref_2' eucl_dist=0.0165754m maha_sq=0.0118551 (gate chi2=5.99) pose_sigma=(0.150589, 0.150589, rho=0) det_map=(0.630575, -1.31433) lm_pos=(0.615, -1.32) delta=(0.0155748, 0.00567169) -> 1 candidate(s)
I0419 21:06:13.897694 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295738577112.
I0419 21:06:13.899329 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295738855208.
I0419 21:06:13.910751 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:13.915912 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:13.916088 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:13.916369 1264424 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295739149565.
I0419 21:06:14.044196 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:14.044340 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:14.044370 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295739461222.
I0419 21:06:14.045485 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597554s, prior_pose=(-0.710702, -1.84917), yaw=162.127 deg
I0419 21:06:14.045585 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=535, max_intensity=242, threshold=230, above_threshold=3, candidates=3
I0419 21:06:14.046492 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295739739583.
I0419 21:06:14.049273 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:14.049430 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295740051435.
I0419 21:06:14.133484 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=20, centroid=(0.344415, -0.502575)
I0419 21:06:14.133692 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295740341504.
I0419 21:06:14.135511 1219452 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 10 inliers from pool of 10 (intra-scan=2, buffered=8).
I0419 21:06:14.135656 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295740618766.
I0419 21:06:14.138201 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.357608, -0.4967), points=21, range=0.613952, residual=0.0126861, extent=0.0390845
I0419 21:06:14.138310 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.357608, -0.4967), tracking=(-0.656108, 0.4967), map_predicted=(-0.279772, -2.52819), range=0.613952, pts=21
I0419 21:06:14.138338 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.00971761m maha_sq=0.00405057 (gate chi2=5.99) pose_sigma=(0.150725, 0.150725, rho=0) det_map=(-0.279772, -2.52819) lm_pos=(-0.285, -2.52) delta=(0.00522772, -0.00819164) -> 1 candidate(s)
I0419 21:06:14.138403 1219452 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[0] -> lm[0] 'ref_1' maha_sq=0.00405057 range=0.613952 variance=0.00059536 t_weight=5038.97 r_weight=0 yaml=(-0.285, -2.52) prior=(-0.735235, -1.84281, 160.733deg) obs_actual=(-0.656108, 0.4967) obs_expected=(-0.64847, 0.490692) delta=(-0.00763793, 0.00600783) |delta|=0.00971761m
I0419 21:06:14.138514 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295740898974.
I0419 21:06:14.141439 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 1 landmark obs (yaw_constraint=no) for scan at 639122295741218492.
I0419 21:06:14.146584 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:14.146726 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:14.150240 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295741496771.
I0419 21:06:14.233412 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295741779230.
I0419 21:06:14.234622 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:14.236270 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:14.236339 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:14.236449 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295742097883.
I0419 21:06:14.237684 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.89578, -0.466862)
I0419 21:06:14.238370 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295742373568.
I0419 21:06:14.323642 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051722s, prior_pose=(-0.770597, -1.83067), yaw=158.685 deg
I0419 21:06:14.323735 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=539, max_intensity=239, threshold=230, above_threshold=3, candidates=3
I0419 21:06:14.324626 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295742658988.
I0419 21:06:14.324685 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:14.327459 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.420684, -0.46855), points=19, range=0.631632, residual=0.0119714, extent=0.0362309
I0419 21:06:14.327554 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.420684, -0.46855), tracking=(-0.719184, 0.46855), map_predicted=(-0.287719, -2.53111), range=0.631632, pts=19
I0419 21:06:14.327582 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0114415m maha_sq=0.00562194 (gate chi2=5.99) pose_sigma=(0.150689, 0.150689, rho=0) det_map=(-0.287719, -2.53111) lm_pos=(-0.285, -2.52) delta=(-0.00271942, -0.0111137) -> 1 candidate(s)
I0419 21:06:14.327672 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295742978656.
I0419 21:06:14.329499 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295743262906.
I0419 21:06:14.440996 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295743576924.
I0419 21:06:14.443765 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[1] -> lm[1] 'ref_2' maha_sq=0.0043759 range=1.3045 variance=0.000525887 t_weight=5704.65 r_weight=0 yaml=(0.615, -1.32) prior=(-0.799913, -1.82223, 156.864deg) obs_actual=(-1.11234, -1.02312) obs_expected=(-1.10378, -1.01778) delta=(-0.00855956, -0.00533696) |delta|=0.0100871m
I0419 21:06:14.443926 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295743858478.
I0419 21:06:14.444815 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:14.445681 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.804644, 1.02677)
I0419 21:06:14.445804 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295744143485.
I0419 21:06:14.524701 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.802312, -1.81795), yaw=156.44 deg backend=(-0.793146, -1.81058)
I0419 21:06:14.525735 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:14.525823 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:14.526738 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295744451938.
I0419 21:06:14.529459 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.16047 rad/s > flush threshold 3.
I0419 21:06:14.529582 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295744741087.
I0419 21:06:14.530609 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.86541, -0.213875), points=4, range=3.874, residual=0.0157205, extent=0.0369891
I0419 21:06:14.530676 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:14.530697 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.86541, -0.213875), tracking=(4.16391, -0.213875), map_predicted=(-4.51983, 0.0915266), range=3.874, pts=4
I0419 21:06:14.530717 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97533m maha_sq=1051.24 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.51983, 0.0915266) lm_pos=(-0.285, -2.52) delta=(-4.23483, 2.61153) -> 0 candidate(s)
I0419 21:06:14.531397 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=27, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:06:14.531445 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=2
I0419 21:06:14.531519 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295745012470.
I0419 21:06:14.613408 1258777 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:14.613519 1258777 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=155.136 deg, rms_residual=0.0119285m, sigma_yaw=0.0156556 rad, N=2
I0419 21:06:14.613557 1258777 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.830149, -1.80794, 155.136deg) inliers=2 rms=0.0119285m
I0419 21:06:14.613591 1258777 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:14.613610 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295745301883.
I0419 21:06:14.614609 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800619s, prior_pose=(-0.813723, -1.80619), yaw=155.336 deg
I0419 21:06:14.614673 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=547, max_intensity=243, threshold=230, above_threshold=3, candidates=3
I0419 21:06:14.616433 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(-0.200192, -0.33877)
I0419 21:06:14.616582 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295745620628.
I0419 21:06:14.618124 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 2 candidate pair(s).
I0419 21:06:14.618223 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295745893327.
I0419 21:06:14.698140 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295746176759.
I0419 21:06:14.700858 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-0.151047, -0.247843)
I0419 21:06:14.700966 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.800057, 1.0878), points=4, range=1.34575, residual=0.0110509, extent=0.0249268
I0419 21:06:14.700999 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[2]: sensor=(0.800057, 1.0878), tracking=(-1.09856, -1.0878), map_predicted=(0.625245, -1.31311), range=1.34575, pts=4
I0419 21:06:14.701023 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[2] nearest lm[1] 'ref_2' eucl_dist=0.0123468m maha_sq=0.00653518 (gate chi2=5.99) pose_sigma=(0.150778, 0.150778, rho=0) det_map=(0.625245, -1.31311) lm_pos=(0.615, -1.32) delta=(0.0102451, 0.00689067) -> 1 candidate(s)
I0419 21:06:14.701045 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=720.677 rad/s > flush threshold 3.
I0419 21:06:14.701066 1258777 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 2 inliers from pool of 2 (intra-scan=2, buffered=0).
I0419 21:06:14.701150 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295746466994.
I0419 21:06:14.702883 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.0169181 range=1.35467 variance=0.000509343 t_weight=5889.94 r_weight=0 yaml=(0.615, -1.32) prior=(-0.843174, -1.79671, 153.511deg) obs_actual=(-1.10121, -1.09474) obs_expected=(-1.09246, -1.07706) delta=(-0.008745, -0.0176861) |delta|=0.01973m
I0419 21:06:14.702987 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295746799904.
I0419 21:06:14.787628 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295747098044.
I0419 21:06:14.788717 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:14.788811 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:14.790779 1258777 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=3.73755 rad/s > flush threshold 3.
I0419 21:06:14.790937 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295747381557.
I0419 21:06:14.792682 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.788283, 1.11192)
I0419 21:06:14.792867 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295747653638.
I0419 21:06:14.875708 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=28, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:14.875830 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:14.875952 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295747947719.
I0419 21:06:14.877187 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.81774, 0.0666373), points=3, range=3.81833, residual=0.00985363, extent=0.0232807
I0419 21:06:14.877300 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:14.877317 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.81774, 0.0666373), tracking=(4.11624, 0.0666373), map_predicted=(-4.53427, 0.0941186), range=3.81833, pts=3
I0419 21:06:14.877339 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98898m maha_sq=1064.28 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-4.53427, 0.0941186) lm_pos=(-0.285, -2.52) delta=(-4.24927, 2.61412) -> 0 candidate(s)
I0419 21:06:14.879109 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295748260099.
I0419 21:06:14.880196 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0545741s, prior_pose=(-0.877034, -1.77543), yaw=151.285 deg
I0419 21:06:14.880285 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=559, max_intensity=240, threshold=230, above_threshold=4, candidates=4
I0419 21:06:14.881150 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295748536783.
I0419 21:06:14.960822 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295748852349.
I0419 21:06:14.963646 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=17, centroid=(0.60858, -0.360608)
I0419 21:06:14.963846 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295749138371.
I0419 21:06:14.965723 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295749417089.
I0419 21:06:14.967605 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.78807, 0.148821), points=3, range=3.78467, residual=0.015406, extent=0.0311186
I0419 21:06:14.967674 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.78807, 0.148821), tracking=(4.08657, 0.148821), map_predicted=(-4.50984, 0.150004), range=3.78467, pts=3
I0419 21:06:14.967700 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99782m maha_sq=1053.88 (gate chi2=5.99) pose_sigma=(0.150601, 0.150601, rho=0) det_map=(-4.50984, 0.150004) lm_pos=(-0.285, -2.52) delta=(-4.22484, 2.67) -> 0 candidate(s)
I0419 21:06:14.974586 1258777 reflector_localizer.cc:857] [Localizer] STAGE 6 match: det[2] -> lm[1] 'ref_2' maha_sq=0.00973351 range=1.401 variance=0.000498285 t_weight=6020.66 r_weight=0 yaml=(0.615, -1.32) prior=(-0.89561, -1.763, 150.022deg) obs_actual=(-1.0965, -1.1503) obs_expected=(-1.08717, -1.13853) delta=(-0.00933107, -0.0117705) |delta|=0.0150204m
I0419 21:06:14.974736 1258777 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295749740781.
I0419 21:06:15.091162 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:15.091259 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:15.091944 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295750297682.
I0419 21:06:15.094254 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:15.095113 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-1.01657, -2.43424)
I0419 21:06:15.095233 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295750617622.
I0419 21:06:15.098371 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=24, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:15.098484 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:15.098592 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295750894058.
I0419 21:06:15.114408 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:15.118811 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.00968, -2.42764), points=5, range=2.6324, residual=0.014387, extent=0.0377263
I0419 21:06:15.118911 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.00968, -2.42764), tracking=(0.711182, 2.42764), map_predicted=(-2.75498, -3.48991), range=2.6324, pts=5
I0419 21:06:15.118944 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.65358m maha_sq=302.143 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-2.75498, -3.48991) lm_pos=(-0.285, -2.52) delta=(-2.46998, -0.96991) -> 0 candidate(s)
I0419 21:06:15.146780 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:15.216017 1258777 pose_graph_2d.cc:160] Inserted submap (1, 65).
I0419 21:06:15.217295 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568247s, prior_pose=(-0.925836, -1.74898), yaw=149.839 deg
I0419 21:06:15.217394 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=539, max_intensity=242, threshold=230, above_threshold=5, candidates=5
I0419 21:06:15.218446 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:15.220911 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:15.222688 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.998743, -2.43123)
I0419 21:06:15.238888 1264424 reflector_localizer.cc:643] [Localizer] STAGE 4 RANSAC — 6 inliers from pool of 8 (intra-scan=1, buffered=7).
I0419 21:06:15.344681 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295752731926.
I0419 21:06:15.346701 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.678593, -0.368409), points=13, range=0.774231, residual=0.0107988, extent=0.0336961
I0419 21:06:15.347036 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.678593, -0.368409), tracking=(-0.977093, 0.368409), map_predicted=(-0.272073, -2.54692), range=0.774231, pts=13
I0419 21:06:15.347237 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0298608m maha_sq=0.0386729 (gate chi2=5.99) pose_sigma=(0.15, 0.15, rho=0) det_map=(-0.272073, -2.54692) lm_pos=(-0.285, -2.52) delta=(0.0129272, -0.0269175) -> 1 candidate(s)
I0419 21:06:15.348908 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=REFLECTOR-EMA N=2 α=0.3 map_from_tracking=(-0.947189, -1.73442), yaw=150.163 deg backend=(-0.943298, -1.73081)
I0419 21:06:15.350076 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:15.350332 1219452 reflector_detector.cc:337] [Detect] RESULT: 0 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:15.351419 1219452 reflector_localizer.cc:724] [Localizer] STAGE 5a JCBB — picked 2 jointly-compatible match(es) from 2 survivor(s) (scale=1).
I0419 21:06:15.351715 1219452 reflector_localizer.cc:782] [Localizer] STAGE 5 Horn — yaw=150.612 deg, rms_residual=0.0092684m, sigma_yaw=0.012207 rad, N=2
I0419 21:06:15.351907 1219452 reflector_localizer.cc:923] [Localizer] PHASE3 publish — pose=(-0.965024, -1.72498, 150.612deg) inliers=2 rms=0.0092684m
I0419 21:06:15.352095 1219452 reflector_localizer.cc:970] [Localizer] STAGE 7 EKF update — k=2 posterior σ=(0.15, 0.15), cross=0
I0419 21:06:15.352262 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295753268679.
I0419 21:06:15.353675 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.70816, 0.124065)
I0419 21:06:15.355792 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295753536967.
I0419 21:06:15.382143 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=22, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:15.382239 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=3
I0419 21:06:15.382356 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295753816825.
I0419 21:06:15.462988 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 3 cluster(s).
I0419 21:06:15.463199 1218970 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295754142262.
I0419 21:06:15.463709 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 4
I0419 21:06:15.464171 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842345s, prior_pose=(-0.972842, -1.72169), yaw=150.292 deg
I0419 21:06:15.464275 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=518, max_intensity=244, threshold=230, above_threshold=3, candidates=3
I0419 21:06:15.472680 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.955572, -2.43629), points=5, range=2.6138, residual=0.0142539, extent=0.0375185
I0419 21:06:15.472819 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.955572, -2.43629), tracking=(0.657072, 2.43629), map_predicted=(-2.75703, -3.5102), range=2.6138, pts=5
I0419 21:06:15.472848 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.66297m maha_sq=301.006 (gate chi2=5.99) pose_sigma=(0.150864, 0.150864, rho=0) det_map=(-2.75703, -3.5102) lm_pos=(-0.285, -2.52) delta=(-2.47203, -0.9902) -> 0 candidate(s)
I0419 21:06:15.499114 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.67011, 0.117457)
I0419 21:06:15.500093 1219452 reflector_localizer.cc:1001] [Localizer] STAGE 7 — pushed 2 landmark obs (yaw_constraint=skipped(low-N)) for scan at 639122295754982303.
I0419 21:06:15.637583 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:15.637694 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:15.646121 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.64403, 0.111315)
I0419 21:06:15.646965 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.75204, -0.374949), points=13, range=0.842077, residual=0.0105874, extent=0.0323115
I0419 21:06:15.647023 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.75204, -0.374949), tracking=(-1.05054, 0.374949), map_predicted=(-0.274138, -2.54348), range=0.842077, pts=13
I0419 21:06:15.647050 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0258704m maha_sq=0.0283998 (gate chi2=5.99) pose_sigma=(0.151695, 0.151695, rho=0) det_map=(-0.274138, -2.54348) lm_pos=(-0.285, -2.52) delta=(0.0108621, -0.0234796) -> 1 candidate(s)
I0419 21:06:15.738778 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:15.739746 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=20, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:15.739806 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:15.742823 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:15.743913 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0570706s, prior_pose=(-1.01884, -1.69212), yaw=150.503 deg
I0419 21:06:15.743974 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=508, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:06:15.762426 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.155835, 1.28458)
I0419 21:06:15.766618 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:15.877393 1219452 reflector_localizer.cc:550] [Localizer] STAGE 4b — flushing obs_buffer (8 entries) on yaw_rate=8.21019 rad/s > flush threshold 3.
I0419 21:06:15.879403 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.785878, -0.37622), points=14, range=0.873857, residual=0.0129864, extent=0.0434276
I0419 21:06:15.879526 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.785878, -0.37622), tracking=(-1.08438, 0.37622), map_predicted=(-0.273501, -2.54289), range=0.873857, pts=14
I0419 21:06:15.879561 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0256154m maha_sq=0.026888 (gate chi2=5.99) pose_sigma=(0.154241, 0.154241, rho=0) det_map=(-0.273501, -2.54289) lm_pos=(-0.285, -2.52) delta=(0.0114986, -0.0228895) -> 1 candidate(s)
I0419 21:06:15.882450 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.885652, -2.43342)
I0419 21:06:15.906548 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:15.906623 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:15.913794 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:15.986896 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(0.260465, 2.4439)
I0419 21:06:15.988813 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=19, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:15.988899 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:15.988929 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.819399, -0.377722), points=12, range=0.905333, residual=0.0129293, extent=0.0343117
I0419 21:06:15.988951 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.819399, -0.377722), tracking=(-1.1179, 0.377722), map_predicted=(-0.274746, -2.5431), range=0.905333, pts=12
I0419 21:06:15.988972 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0252723m maha_sq=0.0253363 (gate chi2=5.99) pose_sigma=(0.15683, 0.15683, rho=0) det_map=(-0.274746, -2.5431) lm_pos=(-0.285, -2.52) delta=(0.0102543, -0.0230984) -> 1 candidate(s)
I0419 21:06:16.002394 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:16.026574 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051938s, prior_pose=(-1.07029, -1.66266), yaw=150.68 deg
I0419 21:06:16.026760 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=520, max_intensity=246, threshold=230, above_threshold=9, candidates=9
I0419 21:06:16.175683 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.234838, 2.4391)
I0419 21:06:16.179096 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.845531, -0.379402), points=11, range=0.928727, residual=0.0103231, extent=0.0305624
I0419 21:06:16.179221 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.845531, -0.379402), tracking=(-1.14403, 0.379402), map_predicted=(-0.2765, -2.54613), range=0.928727, pts=11
I0419 21:06:16.179247 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0274788m maha_sq=0.0293546 (gate chi2=5.99) pose_sigma=(0.158649, 0.158649, rho=0) det_map=(-0.2765, -2.54613) lm_pos=(-0.285, -2.52) delta=(0.00849959, -0.0261312) -> 1 candidate(s)
I0419 21:06:16.261878 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.09759, -1.64454), yaw=150.652 deg backend=(-1.10165, -1.63157)
I0419 21:06:16.262849 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:16.262924 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:16.263577 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=11, centroid=(0.865599, -0.379052)
I0419 21:06:16.267514 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:16.268162 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:16.268215 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:16.268241 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.87344, -0.382794), points=11, range=0.955909, residual=0.0110123, extent=0.0355023
I0419 21:06:16.268261 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.87344, -0.382794), tracking=(-1.17194, 0.382794), map_predicted=(-0.272565, -2.54705), range=0.955909, pts=11
I0419 21:06:16.268282 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0297719m maha_sq=0.0336886 (gate chi2=5.99) pose_sigma=(0.160441, 0.160441, rho=0) det_map=(-0.272565, -2.54705) lm_pos=(-0.285, -2.52) delta=(0.012435, -0.0270506) -> 1 candidate(s)
I0419 21:06:16.294289 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:16.318428 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840407s, prior_pose=(-1.11209, -1.63639), yaw=150.668 deg
I0419 21:06:16.318636 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=508, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:06:16.424609 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=10, centroid=(0.891123, -0.379755)
I0419 21:06:16.426463 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:16.431689 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.904706, -0.382466), points=10, range=0.9834, residual=0.00909932, extent=0.0277305
I0419 21:06:16.431804 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.904706, -0.382466), tracking=(-1.20321, 0.382466), map_predicted=(-0.271653, -2.54179), range=0.9834, pts=10
I0419 21:06:16.431830 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0255489m maha_sq=0.0241394 (gate chi2=5.99) pose_sigma=(0.162815, 0.162815, rho=0) det_map=(-0.271653, -2.54179) lm_pos=(-0.285, -2.52) delta=(0.0133475, -0.0217851) -> 1 candidate(s)
I0419 21:06:16.542652 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.774742, -2.43259)
I0419 21:06:16.543685 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:16.543742 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:16.545511 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:16.559254 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=15, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:06:16.559448 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:06:16.559594 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.935937, -0.382887), points=10, range=1.0103, residual=0.00965578, extent=0.0299412
I0419 21:06:16.559649 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.935937, -0.382887), tracking=(-1.23444, 0.382887), map_predicted=(-0.261618, -2.54591), range=1.0103, pts=10
I0419 21:06:16.559695 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0349022m maha_sq=0.044255 (gate chi2=5.99) pose_sigma=(0.164263, 0.164263, rho=0) det_map=(-0.261618, -2.54591) lm_pos=(-0.285, -2.52) delta=(0.0233822, -0.0259121) -> 1 candidate(s)
I0419 21:06:16.670109 1264424 reflector_detector.cc:209] [Detect]   cluster[3]: points=10, centroid=(0.942453, -0.385545)
I0419 21:06:16.670233 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:16.671355 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600404s, prior_pose=(-1.16051, -1.60682), yaw=150.809 deg
I0419 21:06:16.671454 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=509, max_intensity=246, threshold=230, above_threshold=8, candidates=8
I0419 21:06:16.677731 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:16.706990 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(-0.425986, -1.40797)
I0419 21:06:16.782073 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.114052, 2.44867), points=4, range=2.44625, residual=0.01385, extent=0.0299155
I0419 21:06:16.782186 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.114052, 2.44867), tracking=(0.412552, 2.44867), map_predicted=(-2.73859, -3.52623), range=2.44625, pts=4
I0419 21:06:16.782217 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65191m maha_sq=246.286 (gate chi2=5.99) pose_sigma=(0.166698, 0.166698, rho=0) det_map=(-2.73859, -3.52623) lm_pos=(-0.285, -2.52) delta=(-2.45359, -1.00623) -> 0 candidate(s)
I0419 21:06:16.790076 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:16.790171 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:16.818409 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.41364, 0.104277)
I0419 21:06:16.823076 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:16.850037 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:16.924011 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=1, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:16.924131 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=0
I0419 21:06:16.924921 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:16.927757 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516651s, prior_pose=(-1.21813, -1.57733), yaw=150.735 deg
I0419 21:06:16.927901 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=503, max_intensity=249, threshold=230, above_threshold=11, candidates=11
I0419 21:06:16.942211 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:16.965843 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0713118, 2.45096), points=4, range=2.4465, residual=0.0150778, extent=0.0336228
I0419 21:06:16.965952 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0713118, 2.45096), tracking=(0.369812, 2.45096), map_predicted=(-2.74785, -3.52946), range=2.4465, pts=4
I0419 21:06:16.965983 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6617m maha_sq=238.694 (gate chi2=5.99) pose_sigma=(0.169938, 0.169938, rho=0) det_map=(-2.74785, -3.52946) lm_pos=(-0.285, -2.52) delta=(-2.46285, -1.00946) -> 0 candidate(s)
I0419 21:06:16.970384 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.01786, -0.373813)
I0419 21:06:17.062403 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.23922, -1.56404), yaw=150.606 deg backend=(-1.24352, -1.55151)
I0419 21:06:17.113958 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.37141, 0.102978)
I0419 21:06:17.191406 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:17.191737 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:17.202364 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0834834s, prior_pose=(-1.24284, -1.56325), yaw=150.576 deg
I0419 21:06:17.202699 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=497, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 21:06:17.205741 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.968518, -0.362116)
I0419 21:06:17.232812 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:17.232920 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.37556, 0.0982094), points=4, range=3.37175, residual=0.0161489, extent=0.035536
I0419 21:06:17.232949 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:17.232967 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.37556, 0.0982094), tracking=(3.67406, 0.0982094), map_predicted=(-4.49124, 0.158609), range=3.37175, pts=4
I0419 21:06:17.232990 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98672m maha_sq=820.216 (gate chi2=5.99) pose_sigma=(0.171313, 0.171313, rho=0) det_map=(-4.49124, 0.158609) lm_pos=(-0.285, -2.52) delta=(-4.20624, 2.67861) -> 0 candidate(s)
I0419 21:06:17.233671 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:17.324527 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=4, centroid=(1.03147, -0.377109)
I0419 21:06:17.324666 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:17.450258 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:17.452730 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03499, -0.378401), points=5, range=1.1002, residual=0.00704494, extent=0.0189686
I0419 21:06:17.452857 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03499, -0.378401), tracking=(-1.33349, 0.378401), map_predicted=(-0.2641, -2.54615), range=1.1002, pts=5
I0419 21:06:17.452885 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.033472m maha_sq=0.0370868 (gate chi2=5.99) pose_sigma=(0.17235, 0.17235, rho=0) det_map=(-0.2641, -2.54615) lm_pos=(-0.285, -2.52) delta=(0.0209, -0.0261451) -> 1 candidate(s)
I0419 21:06:17.455039 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:17.466625 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:17.466747 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:17.470443 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=8, centroid=(1.02299, -0.377304)
I0419 21:06:17.494315 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599937s, prior_pose=(-1.24054, -1.56218), yaw=150.624 deg
I0419 21:06:17.494442 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=497, max_intensity=251, threshold=230, above_threshold=8, candidates=8
I0419 21:06:17.590358 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:17.590660 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:17.610343 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0569963, 2.44833), points=4, range=2.4455, residual=0.0114565, extent=0.0239703
I0419 21:06:17.610486 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0569963, 2.44833), tracking=(0.355496, 2.44833), map_predicted=(-2.75568, -3.52087), range=2.4455, pts=4
I0419 21:06:17.610523 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66571m maha_sq=233.092 (gate chi2=5.99) pose_sigma=(0.172569, 0.172569, rho=0) det_map=(-2.75568, -3.52087) lm_pos=(-0.285, -2.52) delta=(-2.47068, -1.00087) -> 0 candidate(s)
I0419 21:06:17.614336 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.03095, -0.378595)
I0419 21:06:17.614445 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:17.758350 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:17.758451 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:17.761622 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.939994, -0.363973)
I0419 21:06:17.831774 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519133s, prior_pose=(-1.24304, -1.56169), yaw=150.546 deg
I0419 21:06:17.831892 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=499, max_intensity=250, threshold=230, above_threshold=8, candidates=8
I0419 21:06:17.833693 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:17.833801 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.37693, 0.108088), points=4, range=3.37475, residual=0.0146906, extent=0.0313863
I0419 21:06:17.833822 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:17.833835 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.37693, 0.108088), tracking=(3.67543, 0.108088), map_predicted=(-4.49656, 0.151506), range=3.37475, pts=4
I0419 21:06:17.833854 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9874m maha_sq=807.833 (gate chi2=5.99) pose_sigma=(0.172817, 0.172817, rho=0) det_map=(-4.49656, 0.151506) lm_pos=(-0.285, -2.52) delta=(-4.21156, 2.67151) -> 0 candidate(s)
I0419 21:06:17.835742 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:17.977101 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.950252, -0.367944)
I0419 21:06:17.977299 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:17.980435 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.24211, -1.56075), yaw=150.556 deg backend=(-1.23924, -1.5538)
I0419 21:06:17.982038 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:17.999734 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.02653, -0.378679), points=7, range=1.09071, residual=0.01289, extent=0.0354757
I0419 21:06:17.999837 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.02653, -0.378679), tracking=(-1.32503, 0.378679), map_predicted=(-0.274359, -2.54186), range=1.09071, pts=7
I0419 21:06:17.999915 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0243079m maha_sq=0.0193624 (gate chi2=5.99) pose_sigma=(0.172903, 0.172903, rho=0) det_map=(-0.274359, -2.54186) lm_pos=(-0.285, -2.52) delta=(0.0106407, -0.0218551) -> 1 candidate(s)
I0419 21:06:18.021662 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:18.122715 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:18.122875 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(0.0569853, 2.45012)
I0419 21:06:18.122925 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:18.124739 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845028s, prior_pose=(-1.24125, -1.55874), yaw=150.585 deg
I0419 21:06:18.124890 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=505, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:06:18.128124 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:18.128283 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:18.267585 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(1.02395, -0.379406)
I0419 21:06:18.268752 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0535401, 2.45415), points=5, range=2.4506, residual=0.0152586, extent=0.0385568
I0419 21:06:18.268853 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0535401, 2.45415), tracking=(0.35204, 2.45415), map_predicted=(-2.75239, -3.52645), range=2.4506, pts=5
I0419 21:06:18.268887 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66476m maha_sq=230.454 (gate chi2=5.99) pose_sigma=(0.173219, 0.173219, rho=0) det_map=(-2.75239, -3.52645) lm_pos=(-0.285, -2.52) delta=(-2.46739, -1.00645) -> 0 candidate(s)
I0419 21:06:18.269730 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:18.367271 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:18.368130 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:18.368232 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.37491, 0.103083)
I0419 21:06:18.368254 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:18.373672 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551657s, prior_pose=(-1.24116, -1.55926), yaw=150.563 deg
I0419 21:06:18.373799 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=506, max_intensity=252, threshold=230, above_threshold=8, candidates=8
I0419 21:06:18.402918 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:18.403038 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.37789, 0.0982811), points=4, range=3.3745, residual=0.0156959, extent=0.033464
I0419 21:06:18.403074 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:18.403095 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.37789, 0.0982811), tracking=(3.67639, 0.0982811), map_predicted=(-4.49122, 0.161984), range=3.3745, pts=4
I0419 21:06:18.403126 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98852m maha_sq=802.506 (gate chi2=5.99) pose_sigma=(0.173359, 0.173359, rho=0) det_map=(-4.49122, 0.161984) lm_pos=(-0.285, -2.52) delta=(-4.20622, 2.68198) -> 0 candidate(s)
I0419 21:06:18.409776 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:18.505633 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=7, centroid=(1.02947, -0.378058)
I0419 21:06:18.508194 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:18.558156 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:18.632800 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.031, -0.376941), points=5, range=1.0946, residual=0.00927988, extent=0.0236944
I0419 21:06:18.632928 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.031, -0.376941), tracking=(-1.3295, 0.376941), map_predicted=(-0.271963, -2.54474), range=1.0946, pts=5
I0419 21:06:18.632952 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0279655m maha_sq=0.025431 (gate chi2=5.99) pose_sigma=(0.173815, 0.173815, rho=0) det_map=(-0.271963, -2.54474) lm_pos=(-0.285, -2.52) delta=(0.0130373, -0.0247406) -> 1 candidate(s)
I0419 21:06:18.634063 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.37691, 0.103141)
I0419 21:06:18.634133 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:18.641780 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:18.641847 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:18.670629 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565123s, prior_pose=(-1.24464, -1.56314), yaw=150.567 deg
I0419 21:06:18.670745 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=501, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:06:18.703037 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:18.703233 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:18.817658 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=6, centroid=(1.02591, -0.378436)
I0419 21:06:18.821412 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0570651, 2.452), points=4, range=2.447, residual=0.0154756, extent=0.0351974
I0419 21:06:18.821530 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0570651, 2.452), tracking=(0.355565, 2.452), map_predicted=(-2.7522, -3.52324), range=2.447, pts=4
I0419 21:06:18.821557 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66338m maha_sq=227.517 (gate chi2=5.99) pose_sigma=(0.174253, 0.174253, rho=0) det_map=(-2.7522, -3.52324) lm_pos=(-0.285, -2.52) delta=(-2.4672, -1.00324) -> 0 candidate(s)
I0419 21:06:18.823277 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:18.891676 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.24058, -1.56226), yaw=150.575 deg backend=(-1.238, -1.55585)
I0419 21:06:18.900200 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.975882, -0.368108)
I0419 21:06:18.934716 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:18.934854 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:18.966151 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876444s, prior_pose=(-1.24058, -1.56226), yaw=150.575 deg
I0419 21:06:18.966354 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=505, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 21:06:19.068629 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:19.068758 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.37889, 0.0983121), points=4, range=3.3755, residual=0.0157456, extent=0.0330014
I0419 21:06:19.068780 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:19.068796 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.37889, 0.0983121), tracking=(3.67739, 0.0983121), map_predicted=(-4.49261, 0.160246), range=3.3755, pts=4
I0419 21:06:19.068815 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98876m maha_sq=792.109 (gate chi2=5.99) pose_sigma=(0.174533, 0.174533, rho=0) det_map=(-4.49261, 0.160246) lm_pos=(-0.285, -2.52) delta=(-4.20761, 2.68025) -> 0 candidate(s)
I0419 21:06:19.069420 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:19.071485 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.37366, 0.103048)
I0419 21:06:19.087483 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:19.197196 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.891569, -0.342243)
I0419 21:06:19.197342 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:19.198982 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03264, -0.377527), points=7, range=1.09614, residual=0.0121607, extent=0.0363845
I0419 21:06:19.199048 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03264, -0.377527), tracking=(-1.33114, 0.377527), map_predicted=(-0.267763, -2.54592), range=1.09614, pts=7
I0419 21:06:19.199072 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0311253m maha_sq=0.0311306 (gate chi2=5.99) pose_sigma=(0.174691, 0.174691, rho=0) det_map=(-0.267763, -2.54592) lm_pos=(-0.285, -2.52) delta=(0.0172375, -0.0259162) -> 1 candidate(s)
I0419 21:06:19.202524 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:19.230333 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:19.230831 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:19.318068 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557219s, prior_pose=(-1.24014, -1.56114), yaw=150.561 deg
I0419 21:06:19.318187 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=518, max_intensity=245, threshold=230, above_threshold=9, candidates=9
I0419 21:06:19.320941 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.37666, 0.103129)
I0419 21:06:19.321040 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:19.321062 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:19.455921 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0571039, 2.45366), points=4, range=2.44825, residual=0.0160357, extent=0.0368134
I0419 21:06:19.456080 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0571039, 2.45366), tracking=(0.355604, 2.45366), map_predicted=(-2.75448, -3.52197), range=2.44825, pts=4
I0419 21:06:19.456137 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66501m maha_sq=225.846 (gate chi2=5.99) pose_sigma=(0.174972, 0.174972, rho=0) det_map=(-2.75448, -3.52197) lm_pos=(-0.285, -2.52) delta=(-2.46948, -1.00197) -> 0 candidate(s)
I0419 21:06:19.457461 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:19.463800 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.03178, -0.37549)
I0419 21:06:19.580960 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:19.581091 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:19.583729 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.049814s, prior_pose=(-1.23857, -1.56177), yaw=150.574 deg
I0419 21:06:19.583854 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=521, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:06:19.583907 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(0.0342216, 1.38358)
I0419 21:06:19.586438 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:19.586548 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:19.588362 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03311, -0.377711), points=5, range=1.0962, residual=0.0107055, extent=0.027161
I0419 21:06:19.588477 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03311, -0.377711), tracking=(-1.33161, 0.377711), map_predicted=(-0.264341, -2.54499), range=1.0962, pts=5
I0419 21:06:19.588505 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0324253m maha_sq=0.0336708 (gate chi2=5.99) pose_sigma=(0.175089, 0.175089, rho=0) det_map=(-0.264341, -2.54499) lm_pos=(-0.285, -2.52) delta=(0.020659, -0.0249921) -> 1 candidate(s)
I0419 21:06:19.588526 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:19.693732 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:19.703097 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.971204, -0.366344)
I0419 21:06:19.706543 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.24066, -1.56079), yaw=150.574 deg backend=(-1.23809, -1.55438)
I0419 21:06:19.730226 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:19.861881 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:19.862066 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:19.864722 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:19.864804 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:19.866439 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0876395s, prior_pose=(-1.24298, -1.56208), yaw=150.566 deg
I0419 21:06:19.866539 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=530, max_intensity=248, threshold=230, above_threshold=4, candidates=4
I0419 21:06:19.874589 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:19.874727 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:19.878221 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.968265, -0.368456)
I0419 21:06:19.878340 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03331, -0.379483), points=6, range=1.09767, residual=0.0106573, extent=0.0304894
I0419 21:06:19.878440 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03331, -0.379483), tracking=(-1.33181, 0.379483), map_predicted=(-0.269557, -2.54706), range=1.09767, pts=6
I0419 21:06:19.878491 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.031153m maha_sq=0.0309707 (gate chi2=5.99) pose_sigma=(0.175407, 0.175407, rho=0) det_map=(-0.269557, -2.54706) lm_pos=(-0.285, -2.52) delta=(0.015443, -0.0270559) -> 1 candidate(s)
I0419 21:06:19.974472 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:20.102344 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.37884, 0.113053)
I0419 21:06:20.108954 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:20.109618 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:20.109696 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:20.137862 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599064s, prior_pose=(-1.23557, -1.55753), yaw=150.618 deg
I0419 21:06:20.137974 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=521, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 21:06:20.235204 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:20.235339 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:20.236215 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.03499, -0.37839), points=7, range=1.09886, residual=0.0115193, extent=0.0338896
I0419 21:06:20.236279 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.03499, -0.37839), tracking=(-1.33349, 0.37839), map_predicted=(-0.261954, -2.54451), range=1.09886, pts=7
I0419 21:06:20.236335 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0336445m maha_sq=0.0357761 (gate chi2=5.99) pose_sigma=(0.176216, 0.176216, rho=0) det_map=(-0.261954, -2.54451) lm_pos=(-0.285, -2.52) delta=(0.0230459, -0.0245119) -> 1 candidate(s)
I0419 21:06:20.236358 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:20.239487 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=6, centroid=(1.03077, -0.376812)
I0419 21:06:20.262282 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:20.389945 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:20.391942 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.35867, 0.102586)
I0419 21:06:20.393595 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:20.402352 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:20.402441 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:20.402482 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.35793, 0.102592), points=3, range=3.35933, residual=0.00978413, extent=0.0197621
I0419 21:06:20.402519 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.35793, 0.102592), tracking=(3.65643, 0.102592), map_predicted=(-4.49138, 0.151454), range=3.35933, pts=3
I0419 21:06:20.402550 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.983m maha_sq=768.611 (gate chi2=5.99) pose_sigma=(0.177489, 0.177489, rho=0) det_map=(-4.49138, 0.151454) lm_pos=(-0.285, -2.52) delta=(-4.20638, 2.67145) -> 0 candidate(s)
I0419 21:06:20.487912 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520146s, prior_pose=(-1.25275, -1.55186), yaw=150.59 deg
I0419 21:06:20.488042 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=526, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 21:06:20.489990 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:20.490080 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:20.491743 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.00159, -0.367852)
I0419 21:06:20.620517 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:20.622376 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=5, centroid=(1.06499, -0.377112)
I0419 21:06:20.622517 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.06691, -0.37605), points=5, range=1.1298, residual=0.00780929, extent=0.0199581
I0419 21:06:20.622563 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.06691, -0.37605), tracking=(-1.36541, 0.37605), map_predicted=(-0.259542, -2.5444), range=1.1298, pts=5
I0419 21:06:20.622599 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0352628m maha_sq=0.0383492 (gate chi2=5.99) pose_sigma=(0.178625, 0.178625, rho=0) det_map=(-0.259542, -2.5444) lm_pos=(-0.285, -2.52) delta=(0.0254576, -0.0244004) -> 1 candidate(s)
I0419 21:06:20.623879 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.26705, -1.54546), yaw=150.625 deg backend=(-1.26468, -1.53946)
I0419 21:06:20.774665 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:20.774786 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:20.776521 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.076563s, prior_pose=(-1.26417, -1.54502), yaw=150.569 deg
I0419 21:06:20.776604 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=507, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 21:06:20.776639 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.33512, 0.111583)
I0419 21:06:20.779332 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:20.779395 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:20.791117 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:20.910905 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:20.913166 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(3.33926, 0.10687)
I0419 21:06:20.913280 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.34192, 0.102106), points=5, range=3.341, residual=0.0159627, extent=0.0392538
I0419 21:06:20.913308 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.34192, 0.102106), tracking=(3.64042, 0.102106), map_predicted=(-4.48959, 0.150105), range=3.341, pts=5
I0419 21:06:20.913331 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98076m maha_sq=746.773 (gate chi2=5.99) pose_sigma=(0.179615, 0.179615, rho=0) det_map=(-4.48959, 0.150105) lm_pos=(-0.285, -2.52) delta=(-4.20459, 2.67011) -> 0 candidate(s)
I0419 21:06:21.037529 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:21.037672 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:21.040256 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559055s, prior_pose=(-1.26769, -1.54531), yaw=150.605 deg
I0419 21:06:21.040343 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=509, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 21:06:21.041051 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.634173, -2.43759)
I0419 21:06:21.051123 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:21.051265 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:21.187748 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:21.192348 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:21.199324 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(3.35327, 0.107316)
I0419 21:06:21.199512 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.35162, 0.112144), points=3, range=3.355, residual=0.0110526, extent=0.0223922
I0419 21:06:21.199561 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.35162, 0.112144), tracking=(3.65012, 0.112144), map_predicted=(-4.50113, 0.1498), range=3.355, pts=3
I0419 21:06:21.199605 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99035m maha_sq=750.113 (gate chi2=5.99) pose_sigma=(0.17992, 0.17992, rho=0) det_map=(-4.50113, 0.1498) lm_pos=(-0.285, -2.52) delta=(-4.21613, 2.6698) -> 0 candidate(s)
I0419 21:06:21.274734 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:21.282122 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:21.282228 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:21.290324 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.631076, -2.4403)
I0419 21:06:21.314206 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560918s, prior_pose=(-1.26745, -1.54372), yaw=150.622 deg
I0419 21:06:21.314380 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=494, max_intensity=248, threshold=230, above_threshold=5, candidates=5
I0419 21:06:21.342461 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:21.342598 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:21.419359 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:21.433905 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.631422, -2.44166)
I0419 21:06:21.433998 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:21.458619 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.34528, 0.10708), points=4, range=3.346, residual=0.0126469, extent=0.0292328
I0419 21:06:21.458729 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.34528, 0.10708), tracking=(3.64378, 0.10708), map_predicted=(-4.50251, 0.149773), range=3.346, pts=4
I0419 21:06:21.458765 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9915m maha_sq=744.8 (gate chi2=5.99) pose_sigma=(0.180519, 0.180519, rho=0) det_map=(-4.50251, 0.149773) lm_pos=(-0.285, -2.52) delta=(-4.21751, 2.66977) -> 0 candidate(s)
I0419 21:06:21.542253 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.2676, -1.54395), yaw=150.626 deg backend=(-1.26534, -1.53817)
I0419 21:06:21.578433 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:21.578531 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:21.582171 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.63143, -2.44165)
I0419 21:06:21.606756 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841233s, prior_pose=(-1.2676, -1.54395), yaw=150.626 deg
I0419 21:06:21.606940 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=513, max_intensity=251, threshold=230, above_threshold=4, candidates=4
I0419 21:06:21.718962 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:21.719101 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:21.725970 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.33768, 0.101951)
I0419 21:06:21.846634 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:21.847324 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.633158, -2.43372), points=5, range=2.5182, residual=0.0150206, extent=0.040526
I0419 21:06:21.847401 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:21.847422 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.633158, -2.43372), tracking=(0.334658, 2.43372), map_predicted=(-2.75383, -3.5002), range=2.5182, pts=5
I0419 21:06:21.847445 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.65629m maha_sq=209.754 (gate chi2=5.99) pose_sigma=(0.18119, 0.18119, rho=0) det_map=(-2.75383, -3.5002) lm_pos=(-0.285, -2.52) delta=(-2.46883, -0.980198) -> 0 candidate(s)
I0419 21:06:21.850252 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:21.854853 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.00923, -0.367332)
I0419 21:06:21.870522 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:21.870671 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:21.978698 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565763s, prior_pose=(-1.26822, -1.54334), yaw=150.626 deg
I0419 21:06:21.978820 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=506, max_intensity=249, threshold=230, above_threshold=4, candidates=4
I0419 21:06:21.982331 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:21.983376 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:21.983448 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.35193, 0.102404), points=3, range=3.35067, residual=0.0105485, extent=0.0210621
I0419 21:06:21.983470 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:21.983484 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.35193, 0.102404), tracking=(3.65043, 0.102404), map_predicted=(-4.49969, 0.158102), range=3.35067, pts=3
I0419 21:06:21.983503 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99358m maha_sq=740.699 (gate chi2=5.99) pose_sigma=(0.181241, 0.181241, rho=0) det_map=(-4.49969, 0.158102) lm_pos=(-0.285, -2.52) delta=(-4.21469, 2.6781) -> 0 candidate(s)
I0419 21:06:21.994516 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(1.02332, -0.372462)
I0419 21:06:22.076915 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:22.134598 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(3.33406, 0.106698)
I0419 21:06:22.246843 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:22.246976 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:22.247005 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.0249105, 2.44811), points=5, range=2.4494, residual=0.0130092, extent=0.0336647
I0419 21:06:22.247030 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.0249105, 2.44811), tracking=(0.323411, 2.44811), map_predicted=(-2.75148, -3.51626), range=2.4494, pts=5
I0419 21:06:22.247057 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.66009m maha_sq=210.011 (gate chi2=5.99) pose_sigma=(0.18152, 0.18152, rho=0) det_map=(-2.75148, -3.51626) lm_pos=(-0.285, -2.52) delta=(-2.46648, -0.996258) -> 0 candidate(s)
I0419 21:06:22.249737 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525209s, prior_pose=(-1.26936, -1.54125), yaw=150.625 deg
I0419 21:06:22.249832 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=517, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:06:22.249900 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:22.254359 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:22.254448 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:22.369091 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.623075, -2.43864)
I0419 21:06:22.372138 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.27248, -1.54016), yaw=150.642 deg backend=(-1.27024, -1.53439)
I0419 21:06:22.372851 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.00711426, 2.44365), points=4, range=2.439, residual=0.0130621, extent=0.0278417
I0419 21:06:22.372910 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:22.372928 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(0.00711426, 2.44365), tracking=(0.305614, 2.44365), map_predicted=(-2.73688, -3.52015), range=2.439, pts=4
I0419 21:06:22.372951 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64802m maha_sq=207.099 (gate chi2=5.99) pose_sigma=(0.181972, 0.181972, rho=0) det_map=(-2.73688, -3.52015) lm_pos=(-0.285, -2.52) delta=(-2.45188, -1.00015) -> 0 candidate(s)
I0419 21:06:22.510435 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846177s, prior_pose=(-1.27756, -1.5345), yaw=150.695 deg
I0419 21:06:22.510641 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=511, max_intensity=251, threshold=230, above_threshold=8, candidates=8
I0419 21:06:22.518549 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:22.518687 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-1.78993e-05, 2.44138)
I0419 21:06:22.518715 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:22.617353 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:22.621255 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.00712559, 2.44898), points=4, range=2.44875, residual=0.00973437, extent=0.0221641
I0419 21:06:22.621448 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.00712559, 2.44898), tracking=(0.291374, 2.44898), map_predicted=(-2.74351, -3.52278), range=2.44875, pts=4
I0419 21:06:22.621479 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65515m maha_sq=205.576 (gate chi2=5.99) pose_sigma=(0.183367, 0.183367, rho=0) det_map=(-2.74351, -3.52278) lm_pos=(-0.285, -2.52) delta=(-2.45851, -1.00278) -> 0 candidate(s)
I0419 21:06:22.622085 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:22.622143 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:22.771428 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:22.774168 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.2867, 0.100401)
I0419 21:06:22.774289 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:22.782656 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598167s, prior_pose=(-1.30945, -1.51983), yaw=150.746 deg
I0419 21:06:22.782788 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=494, max_intensity=250, threshold=230, above_threshold=8, candidates=8
I0419 21:06:22.889734 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:22.889837 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:22.889873 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.29153, 0.0861864), points=4, range=3.28975, residual=0.0131299, extent=0.0303692
I0419 21:06:22.889899 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.29153, 0.0861864), tracking=(3.59003, 0.0861864), map_predicted=(-4.48349, 0.160023), range=3.28975, pts=4
I0419 21:06:22.889926 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98095m maha_sq=709.607 (gate chi2=5.99) pose_sigma=(0.184648, 0.184648, rho=0) det_map=(-4.48349, 0.160023) lm_pos=(-0.285, -2.52) delta=(-4.19849, 2.68002) -> 0 candidate(s)
I0419 21:06:22.896250 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:22.905601 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.568597, -2.44677)
I0419 21:06:22.905695 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:22.905721 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:23.000898 1218967 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.69% real time)
I0419 21:06:23.001106 1218967 collated_trajectory_builder.cc:82] odom rate: 248.53 Hz 4.02e-03 s +/- 7.43e-04 s (pulsed at 99.96% real time)
I0419 21:06:23.001219 1218967 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.19e-03 s (pulsed at 100.68% real time)
I0419 21:06:23.001250 1218967 collated_trajectory_builder.cc:82] scan_2 rate: 34.03 Hz 2.94e-02 s +/- 2.20e-03 s (pulsed at 100.58% real time)
I0419 21:06:23.005666 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.547738, -2.45385), points=6, range=2.5085, residual=0.0179093, extent=0.0436761
I0419 21:06:23.005776 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.547738, -2.45385), tracking=(0.249238, 2.45385), map_predicted=(-2.74807, -3.52566), range=2.5085, pts=6
I0419 21:06:23.005801 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.66046m maha_sq=198.866 (gate chi2=5.99) pose_sigma=(0.18625, 0.18625, rho=0) det_map=(-2.74807, -3.52566) lm_pos=(-0.285, -2.52) delta=(-2.46307, -1.00566) -> 0 candidate(s)
I0419 21:06:23.018337 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:23.145231 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568031s, prior_pose=(-1.33391, -1.49697), yaw=150.805 deg
I0419 21:06:23.145350 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=497, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:06:23.147158 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:23.147295 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(-0.0569937, 2.44732)
I0419 21:06:23.147317 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:23.150714 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:23.194334 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0568884, 2.444), points=4, range=2.445, residual=0.00996974, extent=0.0231289
I0419 21:06:23.194435 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0568884, 2.444), tracking=(0.241612, 2.444), map_predicted=(-2.74193, -3.5102), range=2.445, pts=4
I0419 21:06:23.194465 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64896m maha_sq=195.831 (gate chi2=5.99) pose_sigma=(0.187505, 0.187505, rho=0) det_map=(-2.74193, -3.5102) lm_pos=(-0.285, -2.52) delta=(-2.45693, -0.990195) -> 0 candidate(s)
I0419 21:06:23.267236 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:23.267352 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:23.270427 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.35041, -1.49262), yaw=150.928 deg backend=(-1.34834, -1.48718)
I0419 21:06:23.309831 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.23375, 0.0893651)
I0419 21:06:23.309931 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:23.396687 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844094s, prior_pose=(-1.36017, -1.48765), yaw=150.937 deg
I0419 21:06:23.396816 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=498, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 21:06:23.400609 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:23.400705 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:23.400732 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.22412, 0.0750467), points=4, range=3.22325, residual=0.0127833, extent=0.0280822
I0419 21:06:23.400756 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.22412, 0.0750467), tracking=(3.52262, 0.0750467), map_predicted=(-4.4821, 0.158559), range=3.22325, pts=4
I0419 21:06:23.400777 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97899m maha_sq=677.137 (gate chi2=5.99) pose_sigma=(0.189109, 0.189109, rho=0) det_map=(-4.4821, 0.158559) lm_pos=(-0.285, -2.52) delta=(-4.1971, 2.67856) -> 0 candidate(s)
I0419 21:06:23.434185 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:23.568907 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.515737, -2.44391)
I0419 21:06:23.569103 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:23.569145 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:23.575944 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0994364, 2.43997), points=4, range=2.446, residual=0.0147782, extent=0.0359955
I0419 21:06:23.576033 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.0994364, 2.43997), tracking=(0.199064, 2.43997), map_predicted=(-2.74076, -3.51171), range=2.446, pts=4
I0419 21:06:23.576058 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64844m maha_sq=189.294 (gate chi2=5.99) pose_sigma=(0.190425, 0.190425, rho=0) det_map=(-2.74076, -3.51171) lm_pos=(-0.285, -2.52) delta=(-2.45576, -0.991708) -> 0 candidate(s)
I0419 21:06:23.697566 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:23.699913 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.19701, 0.0790413)
I0419 21:06:23.703223 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603402s, prior_pose=(-1.39569, -1.46658), yaw=151.069 deg
I0419 21:06:23.703361 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=526, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:06:23.706362 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:23.706450 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:23.722550 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.120868, 2.44234), points=4, range=2.442, residual=0.0110543, extent=0.0254758
I0419 21:06:23.722661 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.120868, 2.44234), tracking=(0.177632, 2.44234), map_predicted=(-2.73606, -3.51642), range=2.442, pts=4
I0419 21:06:23.722697 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64585m maha_sq=187.327 (gate chi2=5.99) pose_sigma=(0.191506, 0.191506, rho=0) det_map=(-2.73606, -3.51642) lm_pos=(-0.285, -2.52) delta=(-2.45106, -0.996416) -> 0 candidate(s)
I0419 21:06:23.802237 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(3.17499, 0.0784976)
I0419 21:06:23.802948 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:23.802997 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:23.912933 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.142091, 2.43986), points=3, range=2.444, residual=0.00645608, extent=0.0154273
I0419 21:06:23.913275 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.142091, 2.43986), tracking=(0.156409, 2.43986), map_predicted=(-2.73119, -3.51691), range=2.444, pts=3
I0419 21:06:23.913372 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64153m maha_sq=184.808 (gate chi2=5.99) pose_sigma=(0.192719, 0.192719, rho=0) det_map=(-2.73119, -3.51691) lm_pos=(-0.285, -2.52) delta=(-2.44619, -0.99691) -> 0 candidate(s)
I0419 21:06:23.914058 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:23.915221 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:23.916923 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=7, centroid=(1.24759, -0.401323)
I0419 21:06:23.929718 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:23.954588 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0528447s, prior_pose=(-1.42816, -1.44913), yaw=151.126 deg
I0419 21:06:23.954751 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=517, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 21:06:23.986671 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:23.989177 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:24.079119 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.177859, 2.44119), points=4, range=2.45275, residual=0.0164581, extent=0.0401679
I0419 21:06:24.079277 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.177859, 2.44119), tracking=(0.120641, 2.44119), map_predicted=(-2.73109, -3.51768), range=2.45275, pts=4
I0419 21:06:24.079329 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64172m maha_sq=181.024 (gate chi2=5.99) pose_sigma=(0.194178, 0.194178, rho=0) det_map=(-2.73109, -3.51768) lm_pos=(-0.285, -2.52) delta=(-2.44609, -0.997678) -> 0 candidate(s)
I0419 21:06:24.079972 1219452 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:24.082712 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.416952, -2.44813)
I0419 21:06:24.085623 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:24.085741 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:24.193813 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.45674, -1.43432), yaw=150.277 deg backend=(-1.45481, -1.42912)
I0419 21:06:24.195291 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:24.196615 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.239088, 2.44584), points=3, range=2.457, residual=0.0069086, extent=0.0143262
I0419 21:06:24.196736 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.239088, 2.44584), tracking=(0.0594116, 2.44584), map_predicted=(-2.72101, -3.5289), range=2.457, pts=3
I0419 21:06:24.196769 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63667m maha_sq=179.303 (gate chi2=5.99) pose_sigma=(0.195317, 0.195317, rho=0) det_map=(-2.72101, -3.5289) lm_pos=(-0.285, -2.52) delta=(-2.43601, -1.0089) -> 0 candidate(s)
I0419 21:06:24.199540 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:24.200384 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.366163, -2.45037)
I0419 21:06:24.249686 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0833191s, prior_pose=(-1.46761, -1.42805), yaw=149.85 deg
I0419 21:06:24.249781 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=507, max_intensity=251, threshold=230, above_threshold=9, candidates=9
I0419 21:06:24.323839 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:24.323977 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:24.326653 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.29302, 2.44517), points=4, range=2.46625, residual=0.0131801, extent=0.0322291
I0419 21:06:24.326745 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.29302, 2.44517), tracking=(0.00547958, 2.44517), map_predicted=(-2.73095, -3.52453), range=2.46625, pts=4
I0419 21:06:24.326772 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64419m maha_sq=177.07 (gate chi2=5.99) pose_sigma=(0.196812, 0.196812, rho=0) det_map=(-2.73095, -3.52453) lm_pos=(-0.285, -2.52) delta=(-2.44595, -1.00453) -> 0 candidate(s)
I0419 21:06:24.339393 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.303712, 2.44419)
I0419 21:06:24.373773 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:24.373878 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:24.462386 1237626 reflector_detector.cc:271] [Detect] STAGE 5 trailing: cluster[0] points 5 -> 4 (threshold=0.03, iters=3)
I0419 21:06:24.462497 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.273566, -2.46486), points=4, range=2.47475, residual=0.0141551, extent=0.0337836
I0419 21:06:24.462529 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.273566, -2.46486), tracking=(-0.0249337, 2.46486), map_predicted=(-2.75744, -3.53198), range=2.47475, pts=4
I0419 21:06:24.462553 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67153m maha_sq=179.164 (gate chi2=5.99) pose_sigma=(0.197629, 0.197629, rho=0) det_map=(-2.75744, -3.53198) lm_pos=(-0.285, -2.52) delta=(-2.47244, -1.01198) -> 0 candidate(s)
I0419 21:06:24.462574 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:24.486665 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.07981, 0.23788)
I0419 21:06:24.486847 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:24.513842 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:24.596670 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560847s, prior_pose=(-1.49148, -1.41309), yaw=148.413 deg
I0419 21:06:24.596814 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=517, max_intensity=249, threshold=230, above_threshold=8, candidates=8
I0419 21:06:24.600639 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:24.600780 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:24.610165 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.33738, -0.329316), points=4, range=1.3755, residual=0.00775076, extent=0.0188668
I0419 21:06:24.610278 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.33738, -0.329316), tracking=(-1.63588, 0.329316), map_predicted=(-0.265389, -2.54694), range=1.3755, pts=4
I0419 21:06:24.610311 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0333241m maha_sq=0.02797 (gate chi2=5.99) pose_sigma=(0.197916, 0.197916, rho=0) det_map=(-0.265389, -2.54694) lm_pos=(-0.285, -2.52) delta=(0.0196113, -0.0269425) -> 1 candidate(s)
I0419 21:06:24.610337 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:24.630295 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08448, 0.229212)
I0419 21:06:24.724864 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:24.724968 1219452 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:24.777997 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08473, 0.229225)
I0419 21:06:24.778120 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:24.851361 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.287941, -2.46356), points=4, range=2.47575, residual=0.0131485, extent=0.0308177
I0419 21:06:24.851488 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.287941, -2.46356), tracking=(-0.0105588, 2.46356), map_predicted=(-2.7597, -3.52693), range=2.47575, pts=4
I0419 21:06:24.851567 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67171m maha_sq=178.162 (gate chi2=5.99) pose_sigma=(0.198277, 0.198277, rho=0) det_map=(-2.7597, -3.52693) lm_pos=(-0.285, -2.52) delta=(-2.4747, -1.00693) -> 0 candidate(s)
I0419 21:06:24.855579 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601939s, prior_pose=(-1.48649, -1.41787), yaw=148.647 deg
I0419 21:06:24.855731 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=512, max_intensity=251, threshold=230, above_threshold=8, candidates=8
I0419 21:06:24.866173 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:24.866276 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:24.894325 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:24.981276 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.293526, -2.44986)
I0419 21:06:24.981608 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:24.981803 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:24.985697 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.314618, 2.44483), points=3, range=2.465, residual=0.00694762, extent=0.0169285
I0419 21:06:24.985797 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.314618, 2.44483), tracking=(-0.016118, 2.44483), map_predicted=(-2.74455, -3.51316), range=2.465, pts=3
I0419 21:06:24.985832 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.6525m maha_sq=176.019 (gate chi2=5.99) pose_sigma=(0.198359, 0.198359, rho=0) det_map=(-2.74455, -3.51316) lm_pos=(-0.285, -2.52) delta=(-2.45955, -0.993162) -> 0 candidate(s)
I0419 21:06:24.992934 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=CACHED N=0 α=1 map_from_tracking=(-1.48507, -1.41765), yaw=148.613 deg backend=(-1.48321, -1.41261)
I0419 21:06:25.146759 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:25.147426 1218967 reflector_detector.cc:209] [Detect]   cluster[5]: points=1, centroid=(0.775406, -0.188547)
I0419 21:06:25.151216 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806391s, prior_pose=(-1.48819, -1.41914), yaw=148.623 deg
I0419 21:06:25.151351 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=519, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 21:06:25.161700 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:25.161787 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:25.165774 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.29109, -2.45957), points=6, range=2.4675, residual=0.0221884, extent=0.0487321
I0419 21:06:25.165876 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.29109, -2.45957), tracking=(-0.00740978, 2.45957), map_predicted=(-2.76254, -3.52285), range=2.4675, pts=6
I0419 21:06:25.165913 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.67281m maha_sq=176.419 (gate chi2=5.99) pose_sigma=(0.198556, 0.198556, rho=0) det_map=(-2.76254, -3.52285) lm_pos=(-0.285, -2.52) delta=(-2.47754, -1.00285) -> 0 candidate(s)
I0419 21:06:25.257977 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.290912, -2.45808)
I0419 21:06:25.262176 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:25.262992 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:25.263054 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:25.405390 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.290885, -2.45783), points=5, range=2.4694, residual=0.0177152, extent=0.0437102
I0419 21:06:25.405498 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.290885, -2.45783), tracking=(-0.0076151, 2.45783), map_predicted=(-2.76079, -3.51791), range=2.4694, pts=5
I0419 21:06:25.405529 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.66934m maha_sq=176.358 (gate chi2=5.99) pose_sigma=(0.198775, 0.198775, rho=0) det_map=(-2.76079, -3.51791) lm_pos=(-0.285, -2.52) delta=(-2.47579, -0.997908) -> 0 candidate(s)
I0419 21:06:25.406641 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.311026, 2.44478)
I0419 21:06:25.409296 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:25.426806 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601643s, prior_pose=(-1.48801, -1.41528), yaw=148.635 deg
I0419 21:06:25.426959 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=514, max_intensity=247, threshold=230, above_threshold=7, candidates=7
I0419 21:06:25.507694 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:25.507802 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.315361, 2.45045)
I0419 21:06:25.507820 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:25.509604 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.318251, 2.44487), points=3, range=2.462, residual=0.009376, extent=0.019341
I0419 21:06:25.509701 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.318251, 2.44487), tracking=(-0.0197508, 2.44487), map_predicted=(-2.74393, -3.51401), range=2.462, pts=3
I0419 21:06:25.509727 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65225m maha_sq=174.976 (gate chi2=5.99) pose_sigma=(0.198841, 0.198841, rho=0) det_map=(-2.74393, -3.51401) lm_pos=(-0.285, -2.52) delta=(-2.45893, -0.994015) -> 0 candidate(s)
I0419 21:06:25.545763 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:25.545935 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:25.677476 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:25.678350 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:25.681926 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08498, 0.229246)
I0419 21:06:25.682018 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:25.690405 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.31158, 2.44926), points=3, range=2.474, residual=0.0113363, extent=0.0230504
I0419 21:06:25.690536 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.31158, 2.44926), tracking=(-0.0130801, 2.44926), map_predicted=(-2.74019, -3.51422), range=2.474, pts=3
I0419 21:06:25.690591 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64885m maha_sq=173.458 (gate chi2=5.99) pose_sigma=(0.199358, 0.199358, rho=0) det_map=(-2.74019, -3.51422) lm_pos=(-0.285, -2.52) delta=(-2.45519, -0.994217) -> 0 candidate(s)
I0419 21:06:25.787127 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0529749s, prior_pose=(-1.48266, -1.41141), yaw=148.78 deg
I0419 21:06:25.787261 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=520, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 21:06:25.789040 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:25.789131 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:25.834481 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(3.08221, 0.22453)
I0419 21:06:25.914644 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:25.914772 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:25.917928 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.48386, -1.41389), yaw=148.739 deg backend=(-1.48386, -1.41389)
I0419 21:06:25.918892 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.315493, 2.45144), points=4, range=2.46725, residual=0.0137079, extent=0.0329891
I0419 21:06:25.918983 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.315493, 2.45144), tracking=(-0.0169929, 2.45144), map_predicted=(-2.74147, -3.51823), range=2.46725, pts=4
I0419 21:06:25.919015 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65155m maha_sq=173.178 (gate chi2=5.99) pose_sigma=(0.199582, 0.199582, rho=0) det_map=(-2.74147, -3.51823) lm_pos=(-0.285, -2.52) delta=(-2.45647, -0.998232) -> 0 candidate(s)
I0419 21:06:25.919682 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:25.953888 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:26.031944 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799647s, prior_pose=(-1.48604, -1.41192), yaw=148.748 deg
I0419 21:06:26.032063 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=515, max_intensity=250, threshold=230, above_threshold=8, candidates=8
I0419 21:06:26.033900 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.293785, -2.45204)
I0419 21:06:26.042032 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=9, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:26.042117 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:26.102442 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.09162, 0.2207), points=5, range=3.0976, residual=0.0144188, extent=0.0364852
I0419 21:06:26.102532 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.09162, 0.2207), tracking=(3.39012, 0.2207), map_predicted=(-4.49871, 0.15825), range=3.0976, pts=5
I0419 21:06:26.102561 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99283m maha_sq=611.41 (gate chi2=5.99) pose_sigma=(0.199748, 0.199748, rho=0) det_map=(-4.49871, 0.15825) lm_pos=(-0.285, -2.52) delta=(-4.21371, 2.67825) -> 0 candidate(s)
I0419 21:06:26.176030 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:26.176136 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:26.193922 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(2.8425, 0.604185)
I0419 21:06:26.194198 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:26.329970 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:26.333494 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.297822, -2.45524), points=5, range=2.4748, residual=0.0129261, extent=0.0344667
I0419 21:06:26.333582 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.297822, -2.45524), tracking=(-0.000677923, 2.45524), map_predicted=(-2.75701, -3.50994), range=2.4748, pts=5
I0419 21:06:26.333607 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.66286m maha_sq=174.202 (gate chi2=5.99) pose_sigma=(0.199898, 0.199898, rho=0) det_map=(-2.75701, -3.50994) lm_pos=(-0.285, -2.52) delta=(-2.47201, -0.989938) -> 0 candidate(s)
I0419 21:06:26.334601 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0562561s, prior_pose=(-1.48424, -1.41035), yaw=148.76 deg
I0419 21:06:26.334652 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=514, max_intensity=251, threshold=230, above_threshold=9, candidates=9
I0419 21:06:26.337188 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:26.337239 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:26.474377 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.31571, 2.45309)
I0419 21:06:26.477802 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:26.477898 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:26.481808 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.30747, 2.44523), points=3, range=2.47167, residual=0.0168998, extent=0.0353462
I0419 21:06:26.481925 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.30747, 2.44523), tracking=(-0.00896952, 2.44523), map_predicted=(-2.74342, -3.5079), range=2.47167, pts=3
I0419 21:06:26.481974 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64948m maha_sq=171.74 (gate chi2=5.99) pose_sigma=(0.200027, 0.200027, rho=0) det_map=(-2.74342, -3.5079) lm_pos=(-0.285, -2.52) delta=(-2.45842, -0.987903) -> 0 candidate(s)
I0419 21:06:26.486910 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:26.600518 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:26.603358 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.309914, 2.4361)
I0419 21:06:26.605958 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0513747s, prior_pose=(-1.48411, -1.41105), yaw=148.746 deg
I0419 21:06:26.606035 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=516, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:06:26.630751 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:26.630885 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:26.743073 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.08912, 0.220522), points=5, range=3.095, residual=0.0145646, extent=0.0364507
I0419 21:06:26.743211 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.08912, 0.220522), tracking=(3.38762, 0.220522), map_predicted=(-4.49538, 0.155076), range=3.095, pts=5
I0419 21:06:26.743243 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98832m maha_sq=607.199 (gate chi2=5.99) pose_sigma=(0.20026, 0.20026, rho=0) det_map=(-4.49538, 0.155076) lm_pos=(-0.285, -2.52) delta=(-4.21038, 2.67508) -> 0 candidate(s)
I0419 21:06:26.750604 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:26.750736 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:26.754376 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.293568, -2.45026)
I0419 21:06:26.826236 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.48472, -1.41045), yaw=148.779 deg backend=(-1.48472, -1.41045)
I0419 21:06:26.828006 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:26.834321 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:26.870713 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.290914, -2.45808), points=5, range=2.4696, residual=0.0178663, extent=0.0437102
I0419 21:06:26.870872 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.290914, -2.45808), tracking=(-0.00758608, 2.45808), map_predicted=(-2.75236, -3.51646), range=2.4696, pts=5
I0419 21:06:26.870924 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.66098m maha_sq=172.413 (gate chi2=5.99) pose_sigma=(0.20043, 0.20043, rho=0) det_map=(-2.75236, -3.51646) lm_pos=(-0.285, -2.52) delta=(-2.46736, -0.996463) -> 0 candidate(s)
I0419 21:06:26.894598 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845261s, prior_pose=(-1.48472, -1.41045), yaw=148.779 deg
I0419 21:06:26.894810 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=512, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:06:27.008944 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:27.009068 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:27.012104 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(3.08919, 0.225031)
I0419 21:06:27.019236 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:27.019354 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:27.074347 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:27.099617 1232263 pose_graph_2d.cc:160] Inserted submap (1, 66).
I0419 21:06:27.102469 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.311386, 2.44777), points=3, range=2.467, residual=0.00693694, extent=0.014491
I0419 21:06:27.102571 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.311386, 2.44777), tracking=(-0.0128857, 2.44777), map_predicted=(-2.74429, -3.51122), range=2.467, pts=3
I0419 21:06:27.102596 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.65153m maha_sq=172.047 (gate chi2=5.99) pose_sigma=(0.200597, 0.200597, rho=0) det_map=(-2.74429, -3.51122) lm_pos=(-0.285, -2.52) delta=(-2.45929, -0.991216) -> 0 candidate(s)
I0419 21:06:27.104252 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:27.130005 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:27.138079 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.294312, -2.45621)
I0419 21:06:27.231628 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0578884s, prior_pose=(-1.48336, -1.40933), yaw=148.774 deg
I0419 21:06:27.231771 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=514, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 21:06:27.234670 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:27.234791 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:27.282258 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.30016, -2.44502), points=6, range=2.46667, residual=0.0192414, extent=0.04942
I0419 21:06:27.282390 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.30016, -2.44502), tracking=(0.00166, 2.44502), map_predicted=(-2.75226, -3.49932), range=2.46667, pts=6
I0419 21:06:27.282420 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.65451m maha_sq=170.775 (gate chi2=5.99) pose_sigma=(0.200784, 0.200784, rho=0) det_map=(-2.75226, -3.49932) lm_pos=(-0.285, -2.52) delta=(-2.46726, -0.979324) -> 0 candidate(s)
I0419 21:06:27.352043 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:27.352183 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:27.353230 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.315095, 2.44847)
I0419 21:06:27.370076 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:27.422096 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:27.463223 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 176
I0419 21:06:27.495082 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0547074s, prior_pose=(-1.48318, -1.40866), yaw=148.794 deg
I0419 21:06:27.495187 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=513, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:06:27.495236 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.319803, 2.45677), points=3, range=2.474, residual=0.00988551, extent=0.0207905
I0419 21:06:27.495262 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.319803, 2.45677), tracking=(-0.0213027, 2.45677), map_predicted=(-2.73784, -3.521), range=2.474, pts=3
I0419 21:06:27.495282 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.64923m maha_sq=171.12 (gate chi2=5.99) pose_sigma=(0.200845, 0.200845, rho=0) det_map=(-2.73784, -3.521) lm_pos=(-0.285, -2.52) delta=(-2.45284, -1.001) -> 0 candidate(s)
I0419 21:06:27.509965 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:27.510056 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:27.538218 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08423, 0.229196)
I0419 21:06:27.621788 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:27.621903 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:27.635262 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.48425, -1.40912), yaw=148.79 deg backend=(-1.48425, -1.40912)
I0419 21:06:27.665805 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:27.685786 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.08914, 0.225043), points=4, range=3.0955, residual=0.0117939, extent=0.0272776
I0419 21:06:27.685896 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.08914, 0.225043), tracking=(3.38764, 0.225043), map_predicted=(-4.49821, 0.153807), range=3.0955, pts=4
I0419 21:06:27.685968 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99003m maha_sq=604.841 (gate chi2=5.99) pose_sigma=(0.20091, 0.20091, rho=0) det_map=(-4.49821, 0.153807) lm_pos=(-0.285, -2.52) delta=(-4.21321, 2.67381) -> 0 candidate(s)
I0419 21:06:27.757740 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:27.758513 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.296651, -2.44605)
I0419 21:06:27.773686 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0791992s, prior_pose=(-1.48638, -1.41079), yaw=148.764 deg
I0419 21:06:27.773765 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=516, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 21:06:27.803800 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:27.803881 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:27.869717 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:27.883971 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.29053, -2.45485), points=5, range=2.466, residual=0.0185445, extent=0.0459918
I0419 21:06:27.884140 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.29053, -2.45485), tracking=(-0.00796988, 2.45485), map_predicted=(-2.74313, -3.5099), range=2.466, pts=5
I0419 21:06:27.884169 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.64996m maha_sq=168.832 (gate chi2=5.99) pose_sigma=(0.201674, 0.201674, rho=0) det_map=(-2.74313, -3.5099) lm_pos=(-0.285, -2.52) delta=(-2.45813, -0.989898) -> 0 candidate(s)
I0419 21:06:27.898509 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:27.898607 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:27.921871 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08613, 0.220312)
I0419 21:06:28.063938 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:28.067830 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:28.072096 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605971s, prior_pose=(-1.47465, -1.40621), yaw=148.78 deg
I0419 21:06:28.072187 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=519, max_intensity=248, threshold=230, above_threshold=7, candidates=7
I0419 21:06:28.072237 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.311197, 2.44628), points=3, range=2.46833, residual=0.0079764, extent=0.0159815
I0419 21:06:28.072260 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.311197, 2.44628), tracking=(-0.0126972, 2.44628), map_predicted=(-2.73177, -3.5048), range=2.46833, pts=3
I0419 21:06:28.072280 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63752m maha_sq=168.224 (gate chi2=5.99) pose_sigma=(0.201772, 0.201772, rho=0) det_map=(-2.73177, -3.5048) lm_pos=(-0.285, -2.52) delta=(-2.44677, -0.984802) -> 0 candidate(s)
I0419 21:06:28.165983 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:28.166087 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.307699, 2.44706)
I0419 21:06:28.166107 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:28.191829 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:28.192127 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:28.315981 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:28.318135 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.09446, 0.225419), points=4, range=3.09925, residual=0.0132918, extent=0.0314073
I0419 21:06:28.318197 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.09446, 0.225419), tracking=(3.39296, 0.225419), map_predicted=(-4.49261, 0.157661), range=3.09925, pts=4
I0419 21:06:28.318222 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98737m maha_sq=596.921 (gate chi2=5.99) pose_sigma=(0.20206, 0.20206, rho=0) det_map=(-4.49261, 0.157661) lm_pos=(-0.285, -2.52) delta=(-4.20761, 2.67766) -> 0 candidate(s)
I0419 21:06:28.319818 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(3.08373, 0.229153)
I0419 21:06:28.319864 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:28.447273 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519178s, prior_pose=(-1.4765, -1.40752), yaw=148.761 deg
I0419 21:06:28.447438 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=519, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 21:06:28.449301 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:28.449425 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:28.455716 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.287789, -2.46223), points=4, range=2.47475, residual=0.0124846, extent=0.0287431
I0419 21:06:28.455880 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.287789, -2.46223), tracking=(-0.0107107, 2.46223), map_predicted=(-2.74446, -3.5182), range=2.47475, pts=4
I0419 21:06:28.455937 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.65431m maha_sq=169.212 (gate chi2=5.99) pose_sigma=(0.202243, 0.202243, rho=0) det_map=(-2.74446, -3.5182) lm_pos=(-0.285, -2.52) delta=(-2.45946, -0.998197) -> 0 candidate(s)
I0419 21:06:28.482597 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=4, centroid=(-0.318825, 2.44907)
I0419 21:06:28.591850 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:28.591958 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:28.592824 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:28.594897 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.4783, -1.40592), yaw=148.791 deg backend=(-1.4783, -1.40592)
I0419 21:06:28.596487 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:28.600126 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:28.702283 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838094s, prior_pose=(-1.48627, -1.40214), yaw=148.804 deg
I0419 21:06:28.702430 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=518, max_intensity=247, threshold=230, above_threshold=8, candidates=8
I0419 21:06:28.702512 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.333072, 2.44744), points=3, range=2.47167, residual=0.007466, extent=0.0152286
I0419 21:06:28.702553 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.333072, 2.44744), tracking=(-0.0345723, 2.44744), map_predicted=(-2.72438, -3.5136), range=2.47167, pts=3
I0419 21:06:28.702625 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.63397m maha_sq=166.011 (gate chi2=5.99) pose_sigma=(0.202874, 0.202874, rho=0) det_map=(-2.72438, -3.5136) lm_pos=(-0.285, -2.52) delta=(-2.43938, -0.993596) -> 0 candidate(s)
I0419 21:06:28.704316 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.272123, -2.45233)
I0419 21:06:28.705343 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:28.705410 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:28.817191 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:28.817306 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:28.837844 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(-0.236088, -2.45244)
I0419 21:06:28.837956 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:28.861747 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.384466, 2.45052), points=3, range=2.48367, residual=0.00906171, extent=0.0187841
I0419 21:06:28.861991 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(-0.384466, 2.45052), tracking=(-0.0859659, 2.45052), map_predicted=(-2.70907, -3.52244), range=2.48367, pts=3
I0419 21:06:28.862042 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=2.62316m maha_sq=161.699 (gate chi2=5.99) pose_sigma=(0.204678, 0.204678, rho=0) det_map=(-2.70907, -3.52244) lm_pos=(-0.285, -2.52) delta=(-2.42407, -1.00244) -> 0 candidate(s)
I0419 21:06:28.943996 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:28.950536 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595773s, prior_pose=(-1.52635, -1.37543), yaw=148.195 deg
I0419 21:06:28.950690 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=503, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 21:06:28.977785 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:28.977907 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:29.111223 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.11764, -2.44966)
I0419 21:06:29.115609 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:29.115721 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0498846, -2.45015), points=4, range=2.44425, residual=0.0165996, extent=0.0376107
I0419 21:06:29.115744 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:29.115758 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0498846, -2.45015), tracking=(-0.248615, 2.45015), map_predicted=(-2.70254, -3.53729), range=2.44425, pts=4
I0419 21:06:29.115775 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=2.62286m maha_sq=157.054 (gate chi2=5.99) pose_sigma=(0.207251, 0.207251, rho=0) det_map=(-2.70254, -3.53729) lm_pos=(-0.285, -2.52) delta=(-2.41754, -1.01729) -> 0 candidate(s)
I0419 21:06:29.193267 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.93715, 0.535533)
I0419 21:06:29.193924 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:29.195000 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:29.268416 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:29.269121 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.48438, -0.123326), points=5, range=1.4854, residual=0.012513, extent=0.0328895
I0419 21:06:29.269196 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.48438, -0.123326), tracking=(-1.78288, 0.123326), map_predicted=(-0.216162, -2.50773), range=1.4854, pts=5
I0419 21:06:29.269220 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0699223m maha_sq=0.110581 (gate chi2=5.99) pose_sigma=(0.208749, 0.208749, rho=0) det_map=(-0.216162, -2.50773) lm_pos=(-0.285, -2.52) delta=(0.0688378, 0.0122671) -> 1 candidate(s)
I0419 21:06:29.271415 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0512411s, prior_pose=(-1.57997, -1.34195), yaw=142.535 deg
I0419 21:06:29.271495 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=500, max_intensity=247, threshold=230, above_threshold=9, candidates=9
I0419 21:06:29.274163 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:29.278707 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:29.355980 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.87259, 0.738422)
I0419 21:06:29.356655 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:29.473860 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:29.473966 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:29.475064 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.81768, 0.865921), points=5, range=2.944, residual=0.015873, extent=0.0381734
I0419 21:06:29.475138 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.81768, 0.865921), tracking=(3.11618, 0.865921), map_predicted=(-4.52558, 0.0678055), range=2.944, pts=5
I0419 21:06:29.475165 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96782m maha_sq=544.315 (gate chi2=5.99) pose_sigma=(0.210823, 0.210823, rho=0) det_map=(-4.52558, 0.0678055) lm_pos=(-0.285, -2.52) delta=(-4.24058, 2.58781) -> 0 candidate(s)
I0419 21:06:29.477237 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.61178, -1.32055), yaw=137.968 deg backend=(-1.61178, -1.32055)
I0419 21:06:29.478977 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(0.383504, -2.37643)
I0419 21:06:29.561633 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:29.566008 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0845197s, prior_pose=(-1.6205, -1.31247), yaw=135.745 deg
I0419 21:06:29.566102 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=495, max_intensity=248, threshold=230, above_threshold=8, candidates=8
I0419 21:06:29.641610 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.54734, 0.14899), points=3, range=1.55167, residual=0.00806017, extent=0.0162504
I0419 21:06:29.641721 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.54734, 0.14899), tracking=(-1.84584, -0.14899), map_predicted=(-0.228957, -2.52085), range=1.55167, pts=3
I0419 21:06:29.641752 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0560498m maha_sq=0.0688482 (gate chi2=5.99) pose_sigma=(0.212321, 0.212321, rho=0) det_map=(-0.228957, -2.52085) lm_pos=(-0.285, -2.52) delta=(0.0560433, -0.000854954) -> 1 candidate(s)
I0419 21:06:29.642755 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:29.642813 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:29.643503 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(0.561054, -2.32191)
I0419 21:06:29.722441 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:29.723011 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:29.723083 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:29.726557 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:29.801810 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.57154, 0.3031), points=3, range=1.59667, residual=0.00962683, extent=0.0177374
I0419 21:06:29.801916 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.57154, 0.3031), tracking=(-1.87004, -0.3031), map_predicted=(-0.209118, -2.51326), range=1.59667, pts=3
I0419 21:06:29.801940 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0761804m maha_sq=0.125047 (gate chi2=5.99) pose_sigma=(0.214077, 0.214077, rho=0) det_map=(-0.209118, -2.51326) lm_pos=(-0.285, -2.52) delta=(0.075882, 0.00673622) -> 1 candidate(s)
I0419 21:06:29.804029 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(2.57124, 1.34325)
I0419 21:06:29.804111 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:29.879588 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0564081s, prior_pose=(-1.661, -1.26515), yaw=128.257 deg
I0419 21:06:29.879710 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=502, max_intensity=249, threshold=230, above_threshold=5, candidates=5
I0419 21:06:29.882306 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:29.882378 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:29.970674 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:29.975579 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(1.57746, 0.437473)
I0419 21:06:29.975699 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:29.975733 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:29.977977 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.42495, 1.55478), points=6, range=2.87883, residual=0.015687, extent=0.0427652
I0419 21:06:29.978063 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.42495, 1.55478), tracking=(2.72345, 1.55478), map_predicted=(-4.52698, 0.0546699), range=2.87883, pts=6
I0419 21:06:29.978086 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96219m maha_sq=516.594 (gate chi2=5.99) pose_sigma=(0.216302, 0.216302, rho=0) det_map=(-4.52698, 0.0546699) lm_pos=(-0.285, -2.52) delta=(-4.24198, 2.57467) -> 0 candidate(s)
I0419 21:06:30.066097 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:30.142122 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:30.144493 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.13278, -2.0863)
I0419 21:06:30.146677 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553182s, prior_pose=(-1.69563, -1.22036), yaw=121.6 deg
I0419 21:06:30.146800 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=546, max_intensity=250, threshold=230, above_threshold=5, candidates=5
I0419 21:06:30.154090 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:30.154217 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:30.270821 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.23243, 1.78637), points=6, range=2.85667, residual=0.016449, extent=0.0431531
I0419 21:06:30.270937 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.23243, 1.78637), tracking=(2.53093, 1.78637), map_predicted=(-4.52344, 0.0702677), range=2.85667, pts=6
I0419 21:06:30.270964 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96728m maha_sq=506.047 (gate chi2=5.99) pose_sigma=(0.218766, 0.218766, rho=0) det_map=(-4.52344, 0.0702677) lm_pos=(-0.285, -2.52) delta=(-4.23844, 2.59027) -> 0 candidate(s)
I0419 21:06:30.270989 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:30.271588 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.717836, -0.381682)
I0419 21:06:30.349927 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:30.350024 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:30.353085 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.71085, -1.18978), yaw=117.44 deg backend=(-1.71085, -1.18978)
I0419 21:06:30.353904 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(2.12358, 1.90646)
I0419 21:06:30.430136 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:30.433233 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.55234, 0.785285)
I0419 21:06:30.433348 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.55066, 0.781596), points=3, range=1.73967, residual=0.00785682, extent=0.0164746
I0419 21:06:30.433379 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.55066, 0.781596), tracking=(-1.84916, -0.781596), map_predicted=(-0.225502, -2.51494), range=1.73967, pts=3
I0419 21:06:30.433399 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0597121m maha_sq=0.0722568 (gate chi2=5.99) pose_sigma=(0.220869, 0.220869, rho=0) det_map=(-0.225502, -2.51494) lm_pos=(-0.285, -2.52) delta=(0.0594975, 0.00505761) -> 1 candidate(s)
I0419 21:06:30.434298 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0805859s, prior_pose=(-1.72032, -1.17487), yaw=115.212 deg
I0419 21:06:30.434366 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=577, max_intensity=250, threshold=230, above_threshold=6, candidates=6
I0419 21:06:30.507787 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:30.507915 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:30.584419 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(1.52733, 0.875894)
I0419 21:06:30.586295 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:30.586397 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:30.586411 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:30.670305 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.51366, 0.948898), points=3, range=1.784, residual=0.00660101, extent=0.0125116
I0419 21:06:30.670423 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.51366, 0.948898), tracking=(-1.81216, -0.948898), map_predicted=(-0.232122, -2.52293), range=1.784, pts=3
I0419 21:06:30.670454 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0529585m maha_sq=0.0557964 (gate chi2=5.99) pose_sigma=(0.222973, 0.222973, rho=0) det_map=(-0.232122, -2.52293) lm_pos=(-0.285, -2.52) delta=(0.0528776, -0.00292656) -> 1 candidate(s)
I0419 21:06:30.671031 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:30.671599 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:30.672338 1258777 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(3.51388, 1.26161)
I0419 21:06:30.674149 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:30.760921 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560109s, prior_pose=(-1.7426, -1.12161), yaw=107.574 deg
I0419 21:06:30.761061 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=615, max_intensity=248, threshold=230, above_threshold=6, candidates=6
I0419 21:06:30.761847 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:30.763553 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:30.763612 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:30.764139 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(1.93578, 2.78174)
I0419 21:06:30.856251 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.5302, 2.38654), points=6, range=2.83467, residual=0.0151356, extent=0.04147
I0419 21:06:30.856398 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.5302, 2.38654), tracking=(1.8287, 2.38654), map_predicted=(-4.5202, 0.0724486), range=2.83467, pts=6
I0419 21:06:30.856424 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96565m maha_sq=478.325 (gate chi2=5.99) pose_sigma=(0.225156, 0.225156, rho=0) det_map=(-4.5202, 0.0724486) lm_pos=(-0.285, -2.52) delta=(-4.2352, 2.59245) -> 0 candidate(s)
I0419 21:06:30.857203 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:30.857270 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:30.934969 1258777 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(-0.354348, 1.57667)
I0419 21:06:30.943286 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:30.945943 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:31.025014 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(0.676527, -0.130502)
I0419 21:06:31.027170 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558709s, prior_pose=(-1.75227, -1.0664), yaw=101.057 deg
I0419 21:06:31.027299 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=659, max_intensity=247, threshold=230, above_threshold=6, candidates=6
I0419 21:06:31.034359 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:31.034565 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:31.041957 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.44969, 1.19857), points=3, range=1.87867, residual=0.00660942, extent=0.0129734
I0419 21:06:31.042078 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.44969, 1.19857), tracking=(-1.74819, -1.19857), map_predicted=(-0.249867, -2.54826), range=1.87867, pts=3
I0419 21:06:31.042115 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0450854m maha_sq=0.0388833 (gate chi2=5.99) pose_sigma=(0.22742, 0.22742, rho=0) det_map=(-0.249867, -2.54826) lm_pos=(-0.285, -2.52) delta=(0.0351326, -0.0282558) -> 1 candidate(s)
I0419 21:06:31.148772 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:31.149533 1219452 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(3.41791, 1.7415)
I0419 21:06:31.152209 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=3, merge_r=0.1 -> after=3
I0419 21:06:31.152282 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 2 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:31.158330 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:06:31.161063 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.76178, -1.02722), yaw=100.771 deg backend=(-1.76178, -1.02722)
I0419 21:06:31.186252 1219452 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(2.27072, 1.14039)
I0419 21:06:31.325129 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:31.329399 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0816784s, prior_pose=(-1.76987, -1.00413), yaw=101.056 deg
I0419 21:06:31.329710 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=648, max_intensity=251, threshold=230, above_threshold=5, candidates=5
I0419 21:06:31.329895 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.36055, 2.44606), points=5, range=2.797, residual=0.0131928, extent=0.0346644
I0419 21:06:31.330035 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.36055, 2.44606), tracking=(1.65905, 2.44606), map_predicted=(-4.48869, 0.155054), range=2.797, pts=5
I0419 21:06:31.330173 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98266m maha_sq=462.125 (gate chi2=5.99) pose_sigma=(0.230062, 0.230062, rho=0) det_map=(-4.48869, 0.155054) lm_pos=(-0.285, -2.52) delta=(-4.20369, 2.67505) -> 0 candidate(s)
I0419 21:06:31.331959 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.858881, -0.177347)
I0419 21:06:31.333622 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:31.333822 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:31.445904 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:31.445998 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:31.548760 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(1.57019, 1.16189)
I0419 21:06:31.550570 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:31.570263 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:31.593637 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0593813s, prior_pose=(-1.78174, -0.932799), yaw=101.698 deg
I0419 21:06:31.593818 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=640, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 21:06:31.675390 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:31.675547 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:31.675580 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:31.679031 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.62451, 1.16231), points=3, range=1.99467, residual=0.00742122, extent=0.0140868
I0419 21:06:31.679160 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.62451, 1.16231), tracking=(-1.92301, -1.16231), map_predicted=(-0.260844, -2.55262), range=1.99467, pts=3
I0419 21:06:31.679189 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0405934m maha_sq=0.0295161 (gate chi2=5.99) pose_sigma=(0.23505, 0.23505, rho=0) det_map=(-0.260844, -2.55262) lm_pos=(-0.285, -2.52) delta=(0.0241558, -0.032624) -> 1 candidate(s)
I0419 21:06:31.681655 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:31.713810 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:31.738327 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.23299, 2.45501)
I0419 21:06:31.738459 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:31.738492 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:31.944685 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520514s, prior_pose=(-1.79328, -0.852518), yaw=100.128 deg
I0419 21:06:31.944813 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=666, max_intensity=249, threshold=230, above_threshold=6, candidates=6
I0419 21:06:31.946528 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:31.946586 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:31.946692 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:31.949620 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:32.024166 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.61617, 1.2894), points=3, range=2.06933, residual=0.00717322, extent=0.0150272
I0419 21:06:32.024309 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.61617, 1.2894), tracking=(-1.91467, -1.2894), map_predicted=(-0.22995, -2.52666), range=2.06933, pts=3
I0419 21:06:32.024343 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0554517m maha_sq=0.0533265 (gate chi2=5.99) pose_sigma=(0.23891, 0.23891, rho=0) det_map=(-0.22995, -2.52666) lm_pos=(-0.285, -2.52) delta=(0.0550501, -0.00666175) -> 1 candidate(s)
I0419 21:06:32.033880 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(0.961884, 2.56114)
I0419 21:06:32.033978 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:32.034008 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:32.111511 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.79577, -0.805739), yaw=97.2199 deg backend=(-1.79577, -0.805739)
I0419 21:06:32.204223 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846335s, prior_pose=(-1.80441, -0.784658), yaw=95.7497 deg
I0419 21:06:32.204373 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=721, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 21:06:32.206298 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(-0.181544, -0.303319)
I0419 21:06:32.210239 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:32.210333 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:32.214634 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:32.286520 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.728635, 2.64217), points=7, range=2.739, residual=0.0176784, extent=0.0522049
I0419 21:06:32.286659 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:32.286676 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.728635, 2.64217), tracking=(1.02714, 2.64217), map_predicted=(-4.51069, 0.0799049), range=2.739, pts=7
I0419 21:06:32.286703 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96145m maha_sq=412.813 (gate chi2=5.99) pose_sigma=(0.24229, 0.24229, rho=0) det_map=(-4.51069, 0.0799049) lm_pos=(-0.285, -2.52) delta=(-4.22569, 2.5999) -> 0 candidate(s)
I0419 21:06:32.288558 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:32.362464 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.658811, 2.65872)
I0419 21:06:32.365268 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:32.365343 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:32.439997 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:32.444839 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.52533, 1.57493), points=3, range=2.19367, residual=0.00655052, extent=0.0137058
I0419 21:06:32.444983 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.52533, 1.57493), tracking=(-1.82383, -1.57493), map_predicted=(-0.210809, -2.52465), range=2.19367, pts=3
I0419 21:06:32.445012 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0743363m maha_sq=0.0915225 (gate chi2=5.99) pose_sigma=(0.244518, 0.244518, rho=0) det_map=(-0.210809, -2.52465) lm_pos=(-0.285, -2.52) delta=(0.074191, -0.00464532) -> 1 candidate(s)
I0419 21:06:32.520910 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607682s, prior_pose=(-1.80804, -0.697743), yaw=89.2904 deg
I0419 21:06:32.521101 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=763, max_intensity=252, threshold=230, above_threshold=7, candidates=7
I0419 21:06:32.521152 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.437595, 2.71173)
I0419 21:06:32.523865 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:32.523958 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:32.533804 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:32.623658 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.778536, -0.20861)
I0419 21:06:32.624830 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:32.624892 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:32.693652 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.45541, 1.70407), points=4, range=2.24175, residual=0.00891556, extent=0.021516
I0419 21:06:32.693763 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.45541, 1.70407), tracking=(-1.75391, -1.70407), map_predicted=(-0.247898, -2.53232), range=2.24175, pts=4
I0419 21:06:32.693835 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0390944m maha_sq=0.0246963 (gate chi2=5.99) pose_sigma=(0.247501, 0.247501, rho=0) det_map=(-0.247898, -2.53232) lm_pos=(-0.285, -2.52) delta=(0.0371021, -0.012321) -> 1 candidate(s)
I0419 21:06:32.789923 1232263 reflector_detector.cc:209] [Detect]   cluster[4]: points=1, centroid=(1.198, 3.5461)
I0419 21:06:32.793623 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558598s, prior_pose=(-1.79962, -0.616872), yaw=83.0468 deg
I0419 21:06:32.793721 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=818, max_intensity=253, threshold=230, above_threshold=8, candidates=8
I0419 21:06:32.797958 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:32.798049 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:32.883450 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:32.883544 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:32.883999 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:32.884305 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.634305, -2.76583), points=7, range=2.83771, residual=0.0170717, extent=0.0495547
I0419 21:06:32.884374 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.634305, -2.76583), tracking=(0.335805, 2.76583), map_predicted=(-4.49582, 0.110498), range=2.83771, pts=7
I0419 21:06:32.884398 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96493m maha_sq=389.666 (gate chi2=5.99) pose_sigma=(0.249685, 0.249685, rho=0) det_map=(-4.49582, 0.110498) lm_pos=(-0.285, -2.52) delta=(-4.21082, 2.6305) -> 0 candidate(s)
I0419 21:06:32.884419 1218970 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:32.890669 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.12142, 3.59306)
I0419 21:06:32.914501 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:32.914637 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:33.006475 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.7944, -0.565976), yaw=81.0471 deg backend=(-1.7944, -0.565976)
I0419 21:06:33.010757 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:33.034171 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.0523828, 2.77014), points=8, range=2.77075, residual=0.0203274, extent=0.0566944
I0419 21:06:33.034278 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.0523828, 2.77014), tracking=(0.246117, 2.77014), map_predicted=(-4.48879, 0.132267), range=2.77075, pts=8
I0419 21:06:33.034312 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97055m maha_sq=388.892 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.48879, 0.132267) lm_pos=(-0.285, -2.52) delta=(-4.20379, 2.65227) -> 0 candidate(s)
I0419 21:06:33.061739 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841836s, prior_pose=(-1.79044, -0.540916), yaw=81.069 deg
I0419 21:06:33.061858 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=839, max_intensity=254, threshold=230, above_threshold=7, candidates=7
I0419 21:06:33.061928 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.0483671, 2.77253)
I0419 21:06:33.130101 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:33.139402 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:33.139520 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:33.140175 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:06:33.142369 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:33.295437 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:33.295542 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:33.296391 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-0.517241, -2.76822)
I0419 21:06:33.296464 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.52944, 1.79602), points=3, range=2.361, residual=0.00811726, extent=0.0169855
I0419 21:06:33.296494 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.52944, 1.79602), tracking=(-1.82794, -1.79602), map_predicted=(-0.275563, -2.56434), range=2.361, pts=3
I0419 21:06:33.296514 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0453307m maha_sq=0.0325497 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.275563, -2.56434) lm_pos=(-0.285, -2.52) delta=(0.00943733, -0.0443375) -> 1 candidate(s)
I0419 21:06:33.433143 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600239s, prior_pose=(-1.77198, -0.44683), yaw=81.6166 deg
I0419 21:06:33.433323 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=854, max_intensity=249, threshold=230, above_threshold=7, candidates=7
I0419 21:06:33.434175 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.31076, 3.56891)
I0419 21:06:33.436278 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:33.436386 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:33.437215 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:33.438230 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:33.439886 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.59883, 1.79659), points=3, range=2.405, residual=0.00594092, extent=0.0145522
I0419 21:06:33.439967 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.59883, 1.79659), tracking=(-1.89733, -1.79659), map_predicted=(-0.264462, -2.55799), range=2.405, pts=3
I0419 21:06:33.439993 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0431864m maha_sq=0.029555 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.264462, -2.55799) lm_pos=(-0.285, -2.52) delta=(0.020538, -0.0379902) -> 1 candidate(s)
I0419 21:06:33.450496 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:33.553576 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:33.553671 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:33.555287 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.35789, 3.56837)
I0419 21:06:33.703266 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:33.705134 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.409735, -2.76915), points=7, range=2.799, residual=0.0168393, extent=0.0490146
I0419 21:06:33.705287 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.409735, -2.76915), tracking=(0.111235, 2.76915), map_predicted=(-4.4834, 0.138013), range=2.799, pts=7
I0419 21:06:33.705318 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96906m maha_sq=389.43 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.4834, 0.138013) lm_pos=(-0.285, -2.52) delta=(-4.1984, 2.65801) -> 0 candidate(s)
I0419 21:06:33.707386 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0528546s, prior_pose=(-1.75725, -0.358339), yaw=81.8079 deg
I0419 21:06:33.707484 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=855, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 21:06:33.708163 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.40005, 3.55419)
I0419 21:06:33.709213 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:33.709270 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:33.712025 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:33.714426 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=1 < min_points_after_filter=3
I0419 21:06:33.797667 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:33.797758 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:33.802575 1218967 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.437, 3.55667)
I0419 21:06:33.804486 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.75055, -0.306953), yaw=81.7193 deg backend=(-1.75055, -0.306953)
I0419 21:06:33.826874 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.267085, 2.77395), points=7, range=2.78857, residual=0.0168414, extent=0.0491142
I0419 21:06:33.827006 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.267085, 2.77395), tracking=(0.0314148, 2.77395), map_predicted=(-4.49106, 0.123644), range=2.78857, pts=7
I0419 21:06:33.827059 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96788m maha_sq=389.252 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.49106, 0.123644) lm_pos=(-0.285, -2.52) delta=(-4.20606, 2.64364) -> 0 candidate(s)
I0419 21:06:33.962035 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0840639s, prior_pose=(-1.75177, -0.280337), yaw=81.3419 deg
I0419 21:06:33.962170 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=853, max_intensity=246, threshold=230, above_threshold=7, candidates=7
I0419 21:06:33.963892 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.4225, 3.59585)
I0419 21:06:33.974685 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:33.974910 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:33.975097 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:34.087857 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:34.088867 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.73116, 1.83491), points=3, range=2.52267, residual=0.0062805, extent=0.0152078
I0419 21:06:34.088959 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.73116, 1.83491), tracking=(-2.02966, -1.83491), map_predicted=(-0.261609, -2.55183), range=2.52267, pts=3
I0419 21:06:34.089030 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0394968m maha_sq=0.0247134 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.261609, -2.55183) lm_pos=(-0.285, -2.52) delta=(0.0233913, -0.0318252) -> 1 candidate(s)
I0419 21:06:34.091876 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:34.095830 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:34.095916 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:34.096638 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.41371, 3.61973)
I0419 21:06:34.234349 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:34.237251 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.112808, -2.76848), points=6, range=2.772, residual=0.0148624, extent=0.0405726
I0419 21:06:34.237360 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.112808, -2.76848), tracking=(-0.185692, 2.76848), map_predicted=(-4.49031, 0.13434), range=2.772, pts=6
I0419 21:06:34.237394 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97294m maha_sq=390.448 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.49031, 0.13434) lm_pos=(-0.285, -2.52) delta=(-4.20531, 2.65434) -> 0 candidate(s)
I0419 21:06:34.238408 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0577102s, prior_pose=(-1.73443, -0.188271), yaw=79.4859 deg
I0419 21:06:34.238485 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=865, max_intensity=250, threshold=230, above_threshold=7, candidates=7
I0419 21:06:34.241911 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(1.41116, 3.62877)
I0419 21:06:34.308701 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:34.308804 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:34.309233 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:34.310631 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:34.312708 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:34.383008 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:34.383138 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:34.452840 1218970 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(1.40589, 3.66243)
I0419 21:06:34.454169 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-0.608611, 2.76426), points=7, range=2.83043, residual=0.0174858, extent=0.0501047
I0419 21:06:34.454247 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-0.608611, 2.76426), tracking=(-0.310111, 2.76426), map_predicted=(-4.49612, 0.110126), range=2.83043, pts=7
I0419 21:06:34.454277 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.96499m maha_sq=388.628 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.49612, 0.110126) lm_pos=(-0.285, -2.52) delta=(-4.21112, 2.63013) -> 0 candidate(s)
I0419 21:06:34.506678 1237626 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.650104, 1.72346)
I0419 21:06:34.618196 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517541s, prior_pose=(-1.70616, -0.0986549), yaw=77.8881 deg
I0419 21:06:34.618319 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=886, max_intensity=253, threshold=230, above_threshold=7, candidates=7
I0419 21:06:34.620307 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:34.620404 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:34.620445 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:34.623224 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:34.624020 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.79455, 1.96413), points=3, range=2.658, residual=0.0088151, extent=0.0184152
I0419 21:06:34.624073 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.79455, 1.96413), tracking=(-2.09305, -1.96413), map_predicted=(-0.240779, -2.55353), range=2.658, pts=3
I0419 21:06:34.624097 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0554967m maha_sq=0.0487482 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.240779, -2.55353) lm_pos=(-0.285, -2.52) delta=(0.0442205, -0.0335324) -> 1 candidate(s)
I0419 21:06:34.626777 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:34.744652 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:34.744772 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:34.748215 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.69837, -0.0458574), yaw=76.5931 deg backend=(-1.69837, -0.0458574)
I0419 21:06:34.749537 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.797305, 2.75029)
I0419 21:06:34.770711 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:34.879793 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.255777, -2.73986), points=7, range=2.75143, residual=0.0161786, extent=0.0485123
I0419 21:06:34.879918 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.255777, -2.73986), tracking=(-0.554277, 2.73986), map_predicted=(-4.4834, 0.114237), range=2.75143, pts=7
I0419 21:06:34.879948 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95639m maha_sq=387.619 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.4834, 0.114237) lm_pos=(-0.285, -2.52) delta=(-4.1984, 2.63424) -> 0 candidate(s)
I0419 21:06:34.880893 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0836868s, prior_pose=(-1.69115, -0.0176683), yaw=75.8587 deg
I0419 21:06:34.880983 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=906, max_intensity=251, threshold=230, above_threshold=6, candidates=6
I0419 21:06:34.883802 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:34.883924 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:34.886806 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:34.891355 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(0.311535, -2.73412)
I0419 21:06:35.003324 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:35.003464 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:35.007138 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.352253, -2.7372), points=6, range=2.7605, residual=0.0145521, extent=0.0402055
I0419 21:06:35.007273 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.352253, -2.7372), tracking=(-0.650753, 2.7372), map_predicted=(-4.49242, 0.144492), range=2.7605, pts=6
I0419 21:06:35.007305 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98015m maha_sq=391.646 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.49242, 0.144492) lm_pos=(-0.285, -2.52) delta=(-4.20742, 2.66449) -> 0 candidate(s)
I0419 21:06:35.144219 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(-0.988034, 2.73936)
I0419 21:06:35.147255 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059133s, prior_pose=(-1.67142, 0.0706622), yaw=74.6226 deg
I0419 21:06:35.147379 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=899, max_intensity=251, threshold=230, above_threshold=8, candidates=8
I0419 21:06:35.147444 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:35.150233 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:35.150315 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:35.178474 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:35.287142 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.00673, 2.74115), points=6, range=2.922, residual=0.0158382, extent=0.0444769
I0419 21:06:35.287288 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.00673, 2.74115), tracking=(-0.708231, 2.74115), map_predicted=(-4.49891, 0.131011), range=2.922, pts=6
I0419 21:06:35.287317 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97844m maha_sq=390.995 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.49891, 0.131011) lm_pos=(-0.285, -2.52) delta=(-4.21391, 2.65101) -> 0 candidate(s)
I0419 21:06:35.290930 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:35.291962 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(-1.02284, 2.74794)
I0419 21:06:35.292038 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:35.292059 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:35.395716 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.96398, 2.02783), points=3, range=2.821, residual=0.00862258, extent=0.0171483
I0419 21:06:35.395838 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(1.96398, 2.02783), tracking=(-2.26248, -2.02783), map_predicted=(-0.285103, -2.56445), range=2.821, pts=3
I0419 21:06:35.395871 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0444452m maha_sq=0.0312568 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.285103, -2.56445) lm_pos=(-0.285, -2.52) delta=(-0.000102511, -0.0444451) -> 1 candidate(s)
I0419 21:06:35.395893 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:35.414695 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559851s, prior_pose=(-1.65249, 0.156846), yaw=74.9261 deg
I0419 21:06:35.414973 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=903, max_intensity=252, threshold=230, above_threshold=7, candidates=7
I0419 21:06:35.442162 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:35.442348 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:35.549734 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=5, centroid=(1.98817, 2.0232)
I0419 21:06:35.550915 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:35.558710 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:35.558844 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:35.648865 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.63709, 0.207867), yaw=75.0991 deg backend=(-1.63709, 0.207867)
I0419 21:06:35.650588 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(0.50406, -2.74185), points=7, range=2.78871, residual=0.0171573, extent=0.0501168
I0419 21:06:35.650698 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(0.50406, -2.74185), tracking=(-0.80256, 2.74185), map_predicted=(-4.49312, 0.137357), range=2.78871, pts=7
I0419 21:06:35.650727 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.97693m maha_sq=390.606 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.49312, 0.137357) lm_pos=(-0.285, -2.52) delta=(-4.20812, 2.65736) -> 0 candidate(s)
I0419 21:06:35.655175 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(0.536764, -2.74005)
I0419 21:06:35.706903 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0841671s, prior_pose=(-1.63031, 0.233337), yaw=75.0543 deg
I0419 21:06:35.707091 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=907, max_intensity=252, threshold=230, above_threshold=6, candidates=6
I0419 21:06:35.707275 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:35.823647 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:35.824232 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:35.824314 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:35.827299 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:35.829103 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(-1.24275, 2.72695), points=6, range=2.99583, residual=0.0161126, extent=0.0452107
I0419 21:06:35.829226 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(-1.24275, 2.72695), tracking=(-0.944246, 2.72695), map_predicted=(-4.50206, 0.0763609), range=2.99583, pts=6
I0419 21:06:35.829263 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.95224m maha_sq=386.77 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50206, 0.0763609) lm_pos=(-0.285, -2.52) delta=(-4.21706, 2.59636) -> 0 candidate(s)
I0419 21:06:35.832827 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:35.911342 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=8, centroid=(-1.28176, 2.71771)
I0419 21:06:35.911451 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:35.911476 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:35.969995 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(-0.135399, 0.223132)
I0419 21:06:36.042593 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.05372, 2.1205), points=3, range=2.95233, residual=0.00859702, extent=0.017628
I0419 21:06:36.042725 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.05372, 2.1205), tracking=(-2.35222, -2.1205), map_predicted=(-0.273412, -2.55639), range=2.95233, pts=3
I0419 21:06:36.042800 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0381865m maha_sq=0.0230668 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.273412, -2.55639) lm_pos=(-0.285, -2.52) delta=(0.0115884, -0.0363857) -> 1 candidate(s)
I0419 21:06:36.042829 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:36.043964 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0647123s, prior_pose=(-1.60116, 0.318776), yaw=72.7531 deg
I0419 21:06:36.044050 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=918, max_intensity=255, threshold=230, above_threshold=17, candidates=17
I0419 21:06:36.046950 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=17, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:06:36.047045 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=2
I0419 21:06:36.058254 1258777 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(-0.777913, 1.45284)
I0419 21:06:36.058421 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:36.201702 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:36.201795 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:36.202956 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(-0.0847501, 0.150819)
I0419 21:06:36.210992 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.05029, 2.20509), points=3, range=3.012, residual=0.00916517, extent=0.0188614
I0419 21:06:36.211107 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.05029, 2.20509), tracking=(-2.34879, -2.20509), map_predicted=(-0.252588, -2.55222), range=3.012, pts=3
I0419 21:06:36.211206 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0457039m maha_sq=0.0330326 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.252588, -2.55222) lm_pos=(-0.285, -2.52) delta=(0.0324118, -0.032223) -> 1 candidate(s)
I0419 21:06:36.343999 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0527518s, prior_pose=(-1.5723, 0.408974), yaw=70.318 deg
I0419 21:06:36.344116 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=907, max_intensity=186, threshold=230, above_threshold=0, candidates=0
I0419 21:06:36.358799 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.00422, -2.63891)
I0419 21:06:36.446719 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=10, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:36.446830 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:36.449617 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:36.452786 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.55634, 0.459199), yaw=69.148 deg backend=(-1.55634, 0.459199)
I0419 21:06:36.600186 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.08596, 2.25657), points=3, range=3.07367, residual=0.00897688, extent=0.0185612
I0419 21:06:36.600309 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.08596, 2.25657), tracking=(-2.38446, -2.25657), map_predicted=(-0.295484, -2.56203), range=3.07367, pts=3
I0419 21:06:36.600342 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0433202m maha_sq=0.0296741 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.295484, -2.56203) lm_pos=(-0.285, -2.52) delta=(-0.0104837, -0.0420325) -> 1 candidate(s)
I0419 21:06:36.604887 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:36.605924 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.08048s, prior_pose=(-1.54619, 0.481702), yaw=69.0243 deg
I0419 21:06:36.606017 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=925, max_intensity=188, threshold=230, above_threshold=0, candidates=0
I0419 21:06:36.606042 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:36.607893 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:36.723918 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=7, centroid=(1.10023, -2.63443)
I0419 21:06:36.742054 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:36.742619 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:36.841802 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.18278, 2.25375), points=3, range=3.13567, residual=0.00929922, extent=0.0189088
I0419 21:06:36.841931 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(2.18278, 2.25375), tracking=(-2.48128, -2.25375), map_predicted=(-0.280918, -2.56772), range=3.13567, pts=3
I0419 21:06:36.841964 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0478949m maha_sq=0.0362633 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.280918, -2.56772) lm_pos=(-0.285, -2.52) delta=(0.00408151, -0.0477207) -> 1 candidate(s)
I0419 21:06:36.882388 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592917s, prior_pose=(-1.50993, 0.57193), yaw=69.4692 deg
I0419 21:06:36.882604 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=928, max_intensity=188, threshold=230, above_threshold=0, candidates=0
I0419 21:06:37.003914 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:37.004058 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.24082, 2.24081)
I0419 21:06:37.004082 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:37.006929 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:37.150593 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:37.225630 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516427s, prior_pose=(-1.48232, 0.654385), yaw=69.585 deg
I0419 21:06:37.225759 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=932, max_intensity=199, threshold=230, above_threshold=0, candidates=0
I0419 21:06:37.225790 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:37.226130 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:37.226429 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:37.239306 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.32565, 2.23281)
I0419 21:06:37.394853 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.34178, 2.23525), points=3, range=3.23733, residual=0.00856256, extent=0.0204554
I0419 21:06:37.394964 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.34178, 2.23525), tracking=(-2.64028, -2.23525), map_predicted=(-0.283617, -2.55777), range=3.23733, pts=3
I0419 21:06:37.394992 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.037799m maha_sq=0.0225855 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.283617, -2.55777) lm_pos=(-0.285, -2.52) delta=(0.00138267, -0.0377737) -> 1 candidate(s)
I0419 21:06:37.396653 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:37.396723 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:37.398118 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.45794, 0.70507), yaw=69.6565 deg backend=(-1.45794, 0.70507)
I0419 21:06:37.500661 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:37.509984 1219494 pose_graph_2d.cc:160] Inserted submap (1, 67).
I0419 21:06:37.512990 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.084065s, prior_pose=(-1.45216, 0.728617), yaw=69.6363 deg
I0419 21:06:37.513129 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=933, max_intensity=188, threshold=230, above_threshold=0, candidates=0
I0419 21:06:37.632225 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:37.632364 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:37.633955 1237626 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:37.768181 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:37.769591 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0553184s, prior_pose=(-1.41003, 0.821157), yaw=69.7005 deg
I0419 21:06:37.769800 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=940, max_intensity=200, threshold=230, above_threshold=0, candidates=0
I0419 21:06:37.769863 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:37.770925 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:37.900435 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.50028, 2.22507)
I0419 21:06:37.905107 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.52311, 2.22571), points=3, range=3.36367, residual=0.00955533, extent=0.0195877
I0419 21:06:37.905273 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.52311, 2.22571), tracking=(-2.82161, -2.22571), map_predicted=(-0.293376, -2.5665), range=3.36367, pts=3
I0419 21:06:37.905323 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0472457m maha_sq=0.0352636 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.293376, -2.5665) lm_pos=(-0.285, -2.52) delta=(-0.00837622, -0.0464973) -> 1 candidate(s)
I0419 21:06:37.916000 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:37.916198 1219452 reflector_detector.cc:337] [Detect] RESULT: 0 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:38.019268 1264424 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.52% real time)
I0419 21:06:38.019464 1264424 collated_trajectory_builder.cc:82] odom rate: 248.67 Hz 4.02e-03 s +/- 7.19e-04 s (pulsed at 99.64% real time)
I0419 21:06:38.019583 1264424 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.26e-03 s (pulsed at 100.47% real time)
I0419 21:06:38.019642 1264424 collated_trajectory_builder.cc:82] scan_2 rate: 34.05 Hz 2.94e-02 s +/- 2.14e-03 s (pulsed at 100.29% real time)
I0419 21:06:38.054270 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0522908s, prior_pose=(-1.37804, 0.905267), yaw=69.6849 deg
I0419 21:06:38.054385 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=948, max_intensity=195, threshold=230, above_threshold=0, candidates=0
I0419 21:06:38.168203 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:38.168330 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:38.210198 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:38.279758 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.35989, 0.956418), yaw=69.7025 deg backend=(-1.35989, 0.956418)
I0419 21:06:38.318111 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:38.350085 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0834555s, prior_pose=(-1.35069, 0.981331), yaw=69.7407 deg
I0419 21:06:38.350224 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=949, max_intensity=195, threshold=230, above_threshold=0, candidates=0
I0419 21:06:38.454931 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:38.456740 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(1.6083, -2.66784)
I0419 21:06:38.456872 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:38.568001 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:38.568140 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(1.65468, -2.67393), points=3, range=3.14467, residual=0.00877206, extent=0.0183212
I0419 21:06:38.568174 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:38.568197 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(1.65468, -2.67393), tracking=(-1.95318, 2.67393), map_predicted=(-4.51341, 0.124245), range=3.14467, pts=3
I0419 21:06:38.568222 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98713m maha_sq=393.23 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51341, 0.124245) lm_pos=(-0.285, -2.52) delta=(-4.22841, 2.64424) -> 0 candidate(s)
I0419 21:06:38.572882 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.73218, 2.21247)
I0419 21:06:38.713415 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:38.713783 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600539s, prior_pose=(-1.31315, 1.06708), yaw=69.6229 deg
I0419 21:06:38.713881 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=948, max_intensity=190, threshold=230, above_threshold=0, candidates=0
I0419 21:06:38.734458 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:38.734560 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:06:38.828354 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:38.854115 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:38.951648 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(2.71403, 1.06908)
I0419 21:06:38.955514 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056783s, prior_pose=(-1.27689, 1.15093), yaw=68.0708 deg
I0419 21:06:38.955642 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=964, max_intensity=194, threshold=230, above_threshold=0, candidates=0
I0419 21:06:39.090018 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:39.090126 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:39.091560 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.26713, 1.20572), yaw=66.7131 deg backend=(-1.26713, 1.20572)
I0419 21:06:39.232834 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:39.233559 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=6, centroid=(2.04984, -2.50887)
I0419 21:06:39.234818 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0801677s, prior_pose=(-1.25602, 1.23313), yaw=65.9024 deg
I0419 21:06:39.234905 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=953, max_intensity=197, threshold=230, above_threshold=0, candidates=0
I0419 21:06:39.236692 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:39.266125 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.07732, -2.4903), points=6, range=3.24567, residual=0.0189488, extent=0.0525346
I0419 21:06:39.266240 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:39.266263 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.07732, -2.4903), tracking=(-2.37582, 2.4903), map_predicted=(-4.50126, 0.118917), range=3.24567, pts=6
I0419 21:06:39.266290 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.974m maha_sq=389.327 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50126, 0.118917) lm_pos=(-0.285, -2.52) delta=(-4.21626, 2.63892) -> 0 candidate(s)
I0419 21:06:39.344771 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:39.344878 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:39.344914 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:39.497879 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.20156, -2.44507)
I0419 21:06:39.522728 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0565334s, prior_pose=(-1.2124, 1.32087), yaw=63.9576 deg
I0419 21:06:39.522828 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=959, max_intensity=232, threshold=230, above_threshold=1, candidates=1
I0419 21:06:39.624639 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:39.646831 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.24848, -2.45378)
I0419 21:06:39.776809 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:39.776947 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.25581, -2.45461), points=5, range=3.334, residual=0.014725, extent=0.0390962
I0419 21:06:39.776968 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:39.776985 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.25581, -2.45461), tracking=(-2.55431, 2.45461), map_predicted=(-4.51733, 0.143954), range=3.334, pts=5
I0419 21:06:39.777007 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00093m maha_sq=394.346 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51733, 0.143954) lm_pos=(-0.285, -2.52) delta=(-4.23233, 2.66395) -> 0 candidate(s)
I0419 21:06:39.781610 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:39.781710 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:39.790344 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:39.872082 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517224s, prior_pose=(-1.17031, 1.39621), yaw=63.9737 deg
I0419 21:06:39.872201 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=960, max_intensity=196, threshold=230, above_threshold=0, candidates=0
I0419 21:06:39.875648 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:39.914531 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:40.012948 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.33462, -2.46015)
I0419 21:06:40.016376 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.14529, 1.44161), yaw=64.1127 deg backend=(-1.14529, 1.44161)
I0419 21:06:40.152774 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:40.154047 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800612s, prior_pose=(-1.13576, 1.46792), yaw=64.1895 deg
I0419 21:06:40.154177 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=981, max_intensity=196, threshold=230, above_threshold=0, candidates=0
I0419 21:06:40.156046 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.37874, -2.47042), points=5, range=3.431, residual=0.0159105, extent=0.0422938
I0419 21:06:40.156150 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.37874, -2.47042), tracking=(-2.67724, 2.47042), map_predicted=(-4.51793, 0.145519), range=3.431, pts=5
I0419 21:06:40.156179 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00227m maha_sq=394.229 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51793, 0.145519) lm_pos=(-0.285, -2.52) delta=(-4.23293, 2.66552) -> 0 candidate(s)
I0419 21:06:40.307293 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.3989, -2.46968)
I0419 21:06:40.311591 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:40.311694 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:40.326480 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:40.326596 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:40.434871 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:40.437508 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605846s, prior_pose=(-1.09402, 1.54995), yaw=64.3218 deg
I0419 21:06:40.437601 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=977, max_intensity=198, threshold=230, above_threshold=0, candidates=0
I0419 21:06:40.438243 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:40.440786 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.0819, 2.48825)
I0419 21:06:40.440860 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:40.531894 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.49728, -2.4684), points=4, range=3.50975, residual=0.012922, extent=0.0314073
I0419 21:06:40.532019 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.49728, -2.4684), tracking=(-2.79578, 2.4684), map_predicted=(-4.50772, 0.124254), range=3.50975, pts=4
I0419 21:06:40.532051 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98231m maha_sq=391.538 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50772, 0.124254) lm_pos=(-0.285, -2.52) delta=(-4.22272, 2.64425) -> 0 candidate(s)
I0419 21:06:40.546301 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:40.703827 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519328s, prior_pose=(-1.0504, 1.63387), yaw=64.4316 deg
I0419 21:06:40.703938 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=201, threshold=230, above_threshold=0, candidates=0
I0419 21:06:40.834883 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.17208, 2.48572)
I0419 21:06:40.836617 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:40.851056 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:40.851174 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:40.921931 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-1.02929, 1.67816), yaw=64.5437 deg backend=(-1.02929, 1.67816)
I0419 21:06:40.926194 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:40.926307 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:40.926347 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:40.961504 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:40.990792 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799908s, prior_pose=(-1.01794, 1.70202), yaw=64.6066 deg
I0419 21:06:40.990902 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=994, max_intensity=202, threshold=230, above_threshold=0, candidates=0
I0419 21:06:41.084396 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.25125, 2.47976), points=3, range=4.089, residual=0.00984691, extent=0.0238669
I0419 21:06:41.084502 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.25125, 2.47976), tracking=(-3.54975, -2.47976), map_predicted=(-0.292747, -2.55344), range=4.089, pts=3
I0419 21:06:41.084533 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0343255m maha_sq=0.0185725 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.292747, -2.55344) lm_pos=(-0.285, -2.52) delta=(-0.00774728, -0.0334398) -> 1 candidate(s)
I0419 21:06:41.086550 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.26349, 2.47412)
I0419 21:06:41.086652 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:41.220095 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:41.222218 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:41.345927 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597934s, prior_pose=(-0.978949, 1.78988), yaw=64.6808 deg
I0419 21:06:41.346043 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=202, threshold=230, above_threshold=0, candidates=0
I0419 21:06:41.346836 1232263 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(3.33546, 2.46811)
I0419 21:06:41.379506 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.7553, -2.48816), points=3, range=3.70967, residual=0.0114422, extent=0.0230078
I0419 21:06:41.379627 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.7553, -2.48816), tracking=(-3.0538, 2.48816), map_predicted=(-4.52264, 0.119082), range=3.70967, pts=3
I0419 21:06:41.379701 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99223m maha_sq=393.097 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.52264, 0.119082) lm_pos=(-0.285, -2.52) delta=(-4.23764, 2.63908) -> 0 candidate(s)
I0419 21:06:41.477411 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:41.477517 1218967 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:41.499406 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:41.499601 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:41.611701 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:41.611776 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:41.614514 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519964s, prior_pose=(-0.934504, 1.87144), yaw=64.8543 deg
I0419 21:06:41.614624 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1017, max_intensity=202, threshold=230, above_threshold=0, candidates=0
I0419 21:06:41.615252 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.45095, 2.45396)
I0419 21:06:41.618614 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:41.759989 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.922822, 1.90725), yaw=64.7749 deg backend=(-0.922822, 1.90725)
I0419 21:06:41.857435 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85284, -2.49455), points=4, range=3.787, residual=0.0146809, extent=0.0351424
I0419 21:06:41.857547 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85284, -2.49455), tracking=(-3.15134, 2.49455), map_predicted=(-4.51158, 0.128565), range=3.787, pts=4
I0419 21:06:41.857575 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98787m maha_sq=391.799 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51158, 0.128565) lm_pos=(-0.285, -2.52) delta=(-4.22658, 2.64856) -> 0 candidate(s)
I0419 21:06:41.874572 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0810395s, prior_pose=(-0.910873, 1.91974), yaw=64.7209 deg
I0419 21:06:41.874696 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:42.000104 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85009, -2.49213)
I0419 21:06:42.030447 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:42.030558 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:42.141749 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:42.143504 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:42.143589 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:42.147218 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:42.166749 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0560335s, prior_pose=(-0.911203, 1.91614), yaw=64.5708 deg
I0419 21:06:42.166916 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:42.260984 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:42.519798 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052621s, prior_pose=(-0.908409, 1.92084), yaw=64.6122 deg
I0419 21:06:42.519896 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:42.526327 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85808, -2.48449), points=4, range=3.78525, residual=0.0139835, extent=0.0339768
I0419 21:06:42.526592 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85808, -2.48449), tracking=(-3.15658, 2.48449), map_predicted=(-4.50604, 0.133727), range=3.78525, pts=4
I0419 21:06:42.526636 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98592m maha_sq=391.618 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50604, 0.133727) lm_pos=(-0.285, -2.52) delta=(-4.22104, 2.65373) -> 0 candidate(s)
I0419 21:06:42.577672 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:42.650905 1219494 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.52544, -0.448769)
I0419 21:06:42.652328 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907398, 1.91808), yaw=64.6276 deg backend=(-0.907398, 1.91808)
I0419 21:06:42.783327 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.079982s, prior_pose=(-0.910522, 1.91893), yaw=64.5693 deg
I0419 21:06:42.783444 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:42.785187 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:42.785274 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:42.798558 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:42.823228 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:42.823400 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:42.952453 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:43.067595 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:43.071410 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059738s, prior_pose=(-0.909251, 1.92334), yaw=64.597 deg
I0419 21:06:43.071554 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:43.180433 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85034, -2.49235), points=4, range=3.78725, residual=0.0140184, extent=0.0342386
I0419 21:06:43.180552 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85034, -2.49235), tracking=(-3.14884, 2.49235), map_predicted=(-4.51577, 0.143105), range=3.78725, pts=4
I0419 21:06:43.180581 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99916m maha_sq=393.691 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51577, 0.143105) lm_pos=(-0.285, -2.52) delta=(-4.23077, 2.6631) -> 0 candidate(s)
I0419 21:06:43.182394 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85408, -2.4883)
I0419 21:06:43.184324 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:43.341755 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517482s, prior_pose=(-0.908787, 1.91912), yaw=64.574 deg
I0419 21:06:43.341900 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:43.350029 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:43.350139 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:43.476547 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:43.478174 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:43.478253 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:43.598883 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.912024, 1.91711), yaw=64.5687 deg backend=(-0.912024, 1.91711)
I0419 21:06:43.600489 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:43.638782 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0832834s, prior_pose=(-0.912024, 1.91711), yaw=64.5668 deg
I0419 21:06:43.638968 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1011, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:43.745791 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85285, -2.49454)
I0419 21:06:43.745927 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84759, -2.49727), points=3, range=3.78967, residual=0.01156, extent=0.0242056
I0419 21:06:43.745952 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84759, -2.49727), tracking=(-3.14609, 2.49727), map_predicted=(-4.51802, 0.150754), range=3.78967, pts=3
I0419 21:06:43.745976 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00514m maha_sq=395.023 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51802, 0.150754) lm_pos=(-0.285, -2.52) delta=(-4.23302, 2.67075) -> 0 candidate(s)
I0419 21:06:43.753835 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:43.762770 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:44.007125 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0571925s, prior_pose=(-0.913076, 1.91988), yaw=64.5937 deg
I0419 21:06:44.007246 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:44.007799 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:44.007858 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:44.010450 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.84477, -2.49477)
I0419 21:06:44.013103 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:44.013206 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:44.095779 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:44.114776 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47166, 2.4763), points=3, range=4.26433, residual=0.0101716, extent=0.0248874
I0419 21:06:44.114933 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:44.115029 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47166, 2.4763), tracking=(-3.77016, -2.4763), map_predicted=(-0.284942, -2.54756), range=4.26433, pts=3
I0419 21:06:44.115080 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0275562m maha_sq=0.0119614 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.284942, -2.54756) lm_pos=(-0.285, -2.52) delta=(5.79698e-05, -0.0275561) -> 1 candidate(s)
I0419 21:06:44.271168 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:44.274772 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0551865s, prior_pose=(-0.902389, 1.92008), yaw=64.5879 deg
I0419 21:06:44.274884 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:44.278031 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85521, -2.48929)
I0419 21:06:44.394754 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:44.399125 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907922, 1.91822), yaw=64.5854 deg backend=(-0.907922, 1.91822)
I0419 21:06:44.527664 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:44.531980 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806333s, prior_pose=(-0.905815, 1.92052), yaw=64.5984 deg
I0419 21:06:44.532121 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:44.533890 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:44.533977 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:44.558151 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85691, -2.49077)
I0419 21:06:44.558336 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86235, -2.48821), points=4, range=3.79025, residual=0.0144495, extent=0.0351753
I0419 21:06:44.558379 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86235, -2.48821), tracking=(-3.16085, 2.48821), map_predicted=(-4.50936, 0.132601), range=3.79025, pts=4
I0419 21:06:44.558424 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98813m maha_sq=391.878 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50936, 0.132601) lm_pos=(-0.285, -2.52) delta=(-4.22436, 2.6526) -> 0 candidate(s)
I0419 21:06:44.647370 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:44.647476 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:44.647531 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:44.760556 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:44.762521 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:44.813956 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0633713s, prior_pose=(-0.90604, 1.91836), yaw=64.5705 deg
I0419 21:06:44.814080 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:44.897629 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85427, -2.48847)
I0419 21:06:44.927062 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:44.933792 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85234, -2.49411), points=3, range=3.789, residual=0.00967632, extent=0.0234448
I0419 21:06:44.934020 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85234, -2.49411), tracking=(-3.15084, 2.49411), map_predicted=(-4.51112, 0.144283), range=3.789, pts=3
I0419 21:06:44.934108 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99585m maha_sq=393.807 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51112, 0.144283) lm_pos=(-0.285, -2.52) delta=(-4.22612, 2.66428) -> 0 candidate(s)
I0419 21:06:45.153844 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051568s, prior_pose=(-0.908882, 1.91839), yaw=64.597 deg
I0419 21:06:45.153978 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:45.154680 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:45.154739 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:45.157400 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85276, -2.48715)
I0419 21:06:45.170499 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:45.170609 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:45.308288 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:45.309748 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.906368, 1.91907), yaw=64.5587 deg backend=(-0.906368, 1.91907)
I0419 21:06:45.311056 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:45.317937 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84534, -2.49529), points=3, range=3.78533, residual=0.0112547, extent=0.0230977
I0419 21:06:45.318073 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84534, -2.49529), tracking=(-3.14384, 2.49529), map_predicted=(-4.5102, 0.152), range=3.78533, pts=3
I0419 21:06:45.318121 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99919m maha_sq=394.133 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5102, 0.152) lm_pos=(-0.285, -2.52) delta=(-4.2252, 2.672) -> 0 candidate(s)
I0419 21:06:45.419516 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802256s, prior_pose=(-0.906368, 1.91907), yaw=64.559 deg
I0419 21:06:45.419688 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:45.434054 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85729, -2.49109)
I0419 21:06:45.434175 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:45.554862 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:45.722704 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595525s, prior_pose=(-0.909329, 1.92086), yaw=64.5839 deg
I0419 21:06:45.722824 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:45.723551 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:45.723605 1218967 reflector_detector.cc:337] [Detect] RESULT: 0 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:45.823290 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=2, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:45.823444 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:45.825131 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:45.827731 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(3.47132, 2.46845)
I0419 21:06:45.845939 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:45.950897 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:45.951576 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:45.986161 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517027s, prior_pose=(-0.908674, 1.91832), yaw=64.5834 deg
I0419 21:06:45.986269 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:46.225819 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.90858, 1.91864), yaw=64.582 deg backend=(-0.90858, 1.91864)
I0419 21:06:46.231317 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:46.257915 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46535, 2.47941), points=3, range=4.26033, residual=0.0119206, extent=0.0248642
I0419 21:06:46.258085 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.46535, 2.47941), tracking=(-3.76385, -2.47941), map_predicted=(-0.28468, -2.54507), range=4.26033, pts=3
I0419 21:06:46.258163 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0250737m maha_sq=0.00989736 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.28468, -2.54507) lm_pos=(-0.285, -2.52) delta=(0.000320291, -0.0250716) -> 1 candidate(s)
I0419 21:06:46.282658 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0844082s, prior_pose=(-0.90858, 1.91864), yaw=64.5822 deg
I0419 21:06:46.282757 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=207, threshold=230, above_threshold=0, candidates=0
I0419 21:06:46.354810 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:46.355046 1218970 reflector_detector.cc:337] [Detect] RESULT: 0 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:46.359961 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=3, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:46.360092 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:46.402346 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(3.47458, 2.47076)
I0419 21:06:46.475620 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:46.648610 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606889s, prior_pose=(-0.907691, 1.91653), yaw=64.5694 deg
I0419 21:06:46.648792 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:46.653386 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:46.786523 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:46.905344 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0524635s, prior_pose=(-0.908696, 1.91722), yaw=64.5595 deg
I0419 21:06:46.905458 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1011, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:46.906250 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:46.906297 1258777 reflector_detector.cc:337] [Detect] RESULT: 0 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:46.908885 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=1, centroid=(0.484574, -0.428716)
I0419 21:06:46.908975 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:46.930869 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=5
I0419 21:06:46.931015 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=5, r_post=0.015, gain=250 -> after=2
I0419 21:06:47.039839 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:47.044317 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908661, 1.92091), yaw=64.579 deg backend=(-0.908661, 1.92091)
I0419 21:06:47.051120 1219452 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47417, 2.47048)
I0419 21:06:47.186939 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798476s, prior_pose=(-0.908718, 1.91764), yaw=64.5664 deg
I0419 21:06:47.187099 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:47.188928 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86109, -2.48712), points=4, range=3.78875, residual=0.0142775, extent=0.0345275
I0419 21:06:47.189144 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86109, -2.48712), tracking=(-3.15959, 2.48712), map_predicted=(-4.51171, 0.132362), range=3.78875, pts=4
I0419 21:06:47.189239 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99m maha_sq=392.203 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51171, 0.132362) lm_pos=(-0.285, -2.52) delta=(-4.22671, 2.65236) -> 0 candidate(s)
I0419 21:06:47.311260 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:47.437143 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47336, 2.4699)
I0419 21:06:47.437250 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:47.437747 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:47.454389 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05555s, prior_pose=(-0.908864, 1.92035), yaw=64.6141 deg
I0419 21:06:47.454597 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:47.462342 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:47.462471 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:47.545828 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:47.545954 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:47.550083 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47503, 2.4635), points=4, range=4.26075, residual=0.0158805, extent=0.0387561
I0419 21:06:47.550168 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47503, 2.4635), tracking=(-3.77353, -2.4635), map_predicted=(-0.303312, -2.54801), range=4.26075, pts=4
I0419 21:06:47.550196 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0334634m maha_sq=0.0175984 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.303312, -2.54801) lm_pos=(-0.285, -2.52) delta=(-0.0183124, -0.0280082) -> 1 candidate(s)
I0419 21:06:47.574465 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:47.599898 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:47.683622 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.46948, 2.47475)
I0419 21:06:47.804869 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0488911s, prior_pose=(-0.905909, 1.91789), yaw=64.5623 deg
I0419 21:06:47.804975 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:47.805833 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:47.805893 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:47.977756 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.906974, 1.91822), yaw=64.5652 deg backend=(-0.906974, 1.91822)
I0419 21:06:47.979104 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47295, 2.4696)
I0419 21:06:47.979166 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:47.982061 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85672, -2.49062), points=3, range=3.787, residual=0.0117837, extent=0.0241897
I0419 21:06:47.982136 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85672, -2.49062), tracking=(-3.15522, 2.49062), map_predicted=(-4.51129, 0.138456), range=3.787, pts=3
I0419 21:06:47.982162 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99289m maha_sq=393.062 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51129, 0.138456) lm_pos=(-0.285, -2.52) delta=(-4.22629, 2.65846) -> 0 candidate(s)
I0419 21:06:48.098968 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0794777s, prior_pose=(-0.90509, 1.92034), yaw=64.5737 deg
I0419 21:06:48.099097 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:48.100790 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:48.100873 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:48.107862 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:48.107964 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:48.200711 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:48.225746 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.4686, 2.48173)
I0419 21:06:48.337800 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592877s, prior_pose=(-0.907655, 1.91715), yaw=64.5555 deg
I0419 21:06:48.337900 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:48.342615 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:48.500042 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85134, -2.49323), points=3, range=3.78767, residual=0.0101879, extent=0.0246227
I0419 21:06:48.500162 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85134, -2.49323), tracking=(-3.14984, 2.49323), map_predicted=(-4.51446, 0.142062), range=3.78767, pts=3
I0419 21:06:48.500231 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99749m maha_sq=394.004 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51446, 0.142062) lm_pos=(-0.285, -2.52) delta=(-4.22946, 2.66206) -> 0 candidate(s)
I0419 21:06:48.518709 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47458, 2.47076)
I0419 21:06:48.518906 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:48.631440 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517534s, prior_pose=(-0.907349, 1.91815), yaw=64.5581 deg
I0419 21:06:48.631538 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:48.637774 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:48.637878 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:48.637908 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:48.637943 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:48.767910 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:48.767997 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:48.768030 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:48.771418 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:48.894160 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910197, 1.91754), yaw=64.5677 deg backend=(-0.910197, 1.91754)
I0419 21:06:48.895725 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:48.895727 1218970 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.46894, 2.47437)
I0419 21:06:48.895879 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46894, 2.47437), points=3, range=4.261, residual=0.0110028, extent=0.0267249
I0419 21:06:48.895911 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46894, 2.47437), tracking=(-3.76744, -2.47437), map_predicted=(-0.293518, -2.54741), range=4.261, pts=3
I0419 21:06:48.895937 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0287006m maha_sq=0.0129721 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.293518, -2.54741) lm_pos=(-0.285, -2.52) delta=(-0.00851822, -0.0274074) -> 1 candidate(s)
I0419 21:06:48.922847 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803992s, prior_pose=(-0.910197, 1.91754), yaw=64.5665 deg
I0419 21:06:48.922991 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1011, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:49.123016 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.47356, 2.47765)
I0419 21:06:49.123153 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:49.299507 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595546s, prior_pose=(-0.905481, 1.91832), yaw=64.5913 deg
I0419 21:06:49.299616 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=207, threshold=230, above_threshold=0, candidates=0
I0419 21:06:49.300427 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:49.300513 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:49.303332 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46643, 2.46497), points=3, range=4.25333, residual=0.011911, extent=0.0247602
I0419 21:06:49.303426 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46643, 2.46497), tracking=(-3.76493, -2.46497), map_predicted=(-0.294332, -2.54007), range=4.25333, pts=3
I0419 21:06:49.303454 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.022137m maha_sq=0.00771491 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.294332, -2.54007) lm_pos=(-0.285, -2.52) delta=(-0.00933164, -0.020074) -> 1 candidate(s)
I0419 21:06:49.306327 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:49.306412 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:49.382597 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:06:49.415989 1232263 pose_graph_2d.cc:160] Inserted submap (1, 68).
I0419 21:06:49.417135 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:49.422188 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.46616, 2.47999)
I0419 21:06:49.525904 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0482042s, prior_pose=(-0.907793, 1.91643), yaw=64.567 deg
I0419 21:06:49.526055 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:49.664165 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85009, -2.49213), points=4, range=3.787, residual=0.0140169, extent=0.0342386
I0419 21:06:49.664273 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:49.664295 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85009, -2.49213), tracking=(-3.14859, 2.49213), map_predicted=(-4.50971, 0.145253), range=3.787, pts=4
I0419 21:06:49.664319 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99518m maha_sq=393.065 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50971, 0.145253) lm_pos=(-0.285, -2.52) delta=(-4.22471, 2.66525) -> 0 candidate(s)
I0419 21:06:49.664336 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:49.665660 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907011, 1.91862), yaw=64.5697 deg backend=(-0.907011, 1.91862)
I0419 21:06:49.694357 1232263 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.46758, 2.4734)
I0419 21:06:49.694478 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:49.794922 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:49.806066 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839246s, prior_pose=(-0.907192, 1.91928), yaw=64.5647 deg
I0419 21:06:49.806182 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:49.809955 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:49.810051 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:49.912097 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:49.912245 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:49.921720 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:50.077051 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47377, 2.47019)
I0419 21:06:50.084347 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85635, -2.49029), points=3, range=3.786, residual=0.012222, extent=0.0250776
I0419 21:06:50.084468 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85635, -2.49029), tracking=(-3.15485, 2.49029), map_predicted=(-4.51151, 0.136987), range=3.786, pts=3
I0419 21:06:50.084496 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99229m maha_sq=392.904 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51151, 0.136987) lm_pos=(-0.285, -2.52) delta=(-4.22651, 2.65699) -> 0 candidate(s)
I0419 21:06:50.084529 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:50.098407 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0558241s, prior_pose=(-0.907952, 1.91716), yaw=64.5755 deg
I0419 21:06:50.098616 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:50.353722 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:50.354823 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(0.542509, 0.382276)
I0419 21:06:50.354930 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:50.478864 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0494739s, prior_pose=(-0.907622, 1.91931), yaw=64.5617 deg
I0419 21:06:50.478971 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:50.479902 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:50.479984 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:50.484596 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=8, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=4
I0419 21:06:50.484702 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=4, r_post=0.015, gain=250 -> after=1
I0419 21:06:50.490099 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46595, 2.47224), points=3, range=4.25733, residual=0.0114795, extent=0.0279682
I0419 21:06:50.490219 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46595, 2.47224), tracking=(-3.76445, -2.47224), map_predicted=(-0.292069, -2.5421), range=4.25733, pts=3
I0419 21:06:50.490258 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0232001m maha_sq=0.00847501 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.292069, -2.5421) lm_pos=(-0.285, -2.52) delta=(-0.00706911, -0.0220969) -> 1 candidate(s)
I0419 21:06:50.510063 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:50.593674 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908761, 1.91641), yaw=64.5632 deg backend=(-0.908761, 1.91641)
I0419 21:06:50.605892 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.84511, -2.48777)
I0419 21:06:50.751303 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806982s, prior_pose=(-0.912822, 1.9188), yaw=64.5513 deg
I0419 21:06:50.751458 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:50.755147 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:50.869730 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:50.897900 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85084, -2.49279)
I0419 21:06:50.898005 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84646, -2.49628), points=3, range=3.787, residual=0.0114388, extent=0.0234284
I0419 21:06:50.898032 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84646, -2.49628), tracking=(-3.14496, 2.49628), map_predicted=(-4.51734, 0.149405), range=3.787, pts=3
I0419 21:06:50.898058 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00384m maha_sq=394.838 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51734, 0.149405) lm_pos=(-0.285, -2.52) delta=(-4.23234, 2.66941) -> 0 candidate(s)
I0419 21:06:50.977850 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556029s, prior_pose=(-0.910994, 1.91659), yaw=64.5681 deg
I0419 21:06:50.977955 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1011, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:50.986647 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:50.986744 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:51.112342 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:51.112450 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:51.114085 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:51.116022 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:51.134356 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=1, centroid=(0.609844, -0.523933)
I0419 21:06:51.162792 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:51.273957 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518016s, prior_pose=(-0.909908, 1.91745), yaw=64.5696 deg
I0419 21:06:51.274117 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:51.282709 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(3.46616, 2.47999)
I0419 21:06:51.425870 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:51.498471 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.912929, 1.91696), yaw=64.5626 deg backend=(-0.912929, 1.91696)
I0419 21:06:51.501051 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:51.570325 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0834943s, prior_pose=(-0.912929, 1.91696), yaw=64.5628 deg
I0419 21:06:51.570544 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:51.652488 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:06:51.652616 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:51.657050 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:06:51.657222 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:06:51.657253 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47204, 2.46137), points=4, range=4.25725, residual=0.0158028, extent=0.038731
I0419 21:06:51.657274 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(3.47204, 2.46137), tracking=(-3.77054, -2.46137), map_predicted=(-0.308421, -2.54497), range=4.25725, pts=4
I0419 21:06:51.657294 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=0.0342382m maha_sq=0.0184236 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.308421, -2.54497) lm_pos=(-0.285, -2.52) delta=(-0.0234206, -0.0249746) -> 1 candidate(s)
I0419 21:06:51.775485 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:51.775648 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:51.901389 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604069s, prior_pose=(-0.912072, 1.91856), yaw=64.5615 deg
I0419 21:06:51.901562 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:51.902194 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=2, centroid=(3.46494, 2.47912)
I0419 21:06:51.902267 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:52.170257 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517052s, prior_pose=(-0.908833, 1.9177), yaw=64.5703 deg
I0419 21:06:52.170387 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:52.171183 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:52.171240 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:52.191241 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85352, -2.4878)
I0419 21:06:52.218679 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:52.218812 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:52.320508 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46575, 2.4797), points=3, range=4.25767, residual=0.0136428, extent=0.0279682
I0419 21:06:52.320647 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46575, 2.4797), tracking=(-3.76425, -2.4797), map_predicted=(-0.287383, -2.54685), range=4.25767, pts=3
I0419 21:06:52.320680 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0269594m maha_sq=0.0114342 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.287383, -2.54685) lm_pos=(-0.285, -2.52) delta=(-0.00238317, -0.0268539) -> 1 candidate(s)
I0419 21:06:52.320704 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:52.324664 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:52.326009 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909678, 1.91759), yaw=64.5624 deg backend=(-0.909678, 1.91759)
I0419 21:06:52.428926 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:52.450560 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0846242s, prior_pose=(-0.910809, 1.91771), yaw=64.5639 deg
I0419 21:06:52.450662 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1013, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:52.486354 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85185, -2.49366)
I0419 21:06:52.556140 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:52.558768 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:52.690959 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85034, -2.49235), points=3, range=3.78633, residual=0.00975018, extent=0.0234284
I0419 21:06:52.691139 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85034, -2.49235), tracking=(-3.14884, 2.49235), map_predicted=(-4.51538, 0.143011), range=3.78633, pts=3
I0419 21:06:52.691191 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99878m maha_sq=394.262 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51538, 0.143011) lm_pos=(-0.285, -2.52) delta=(-4.23038, 2.66301) -> 0 candidate(s)
I0419 21:06:52.742534 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600784s, prior_pose=(-0.911651, 1.91505), yaw=64.548 deg
I0419 21:06:52.742650 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1016, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:52.750108 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:52.750182 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:52.750214 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:52.820703 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85159, -2.49345)
I0419 21:06:52.823576 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:52.823707 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:52.993741 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:53.104400 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056433s, prior_pose=(-0.91429, 1.91679), yaw=64.5425 deg
I0419 21:06:53.104523 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1021, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:53.104611 1258777 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.32e-03 s (pulsed at 100.44% real time)
I0419 21:06:53.104722 1258777 collated_trajectory_builder.cc:82] odom rate: 248.99 Hz 4.02e-03 s +/- 6.52e-04 s (pulsed at 100.00% real time)
I0419 21:06:53.104831 1258777 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.05e-03 s (pulsed at 100.28% real time)
I0419 21:06:53.104861 1258777 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.41e-03 s (pulsed at 100.35% real time)
I0419 21:06:53.108060 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85427, -2.48846)
I0419 21:06:53.109915 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:53.129806 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86285, -2.48865), points=4, range=3.79125, residual=0.0141551, extent=0.0342722
I0419 21:06:53.130043 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86285, -2.48865), tracking=(-3.16135, 2.48865), map_predicted=(-4.52015, 0.132056), range=3.79125, pts=4
I0419 21:06:53.130084 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99699m maha_sq=393.322 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.52015, 0.132056) lm_pos=(-0.285, -2.52) delta=(-4.23515, 2.65206) -> 0 candidate(s)
I0419 21:06:53.224913 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:53.226879 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911184, 1.91514), yaw=64.5517 deg backend=(-0.911184, 1.91514)
I0419 21:06:53.251045 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:53.353592 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796229s, prior_pose=(-0.910447, 1.91794), yaw=64.5524 deg
I0419 21:06:53.353734 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1022, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:53.355345 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:53.355427 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:53.365677 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85034, -2.49235)
I0419 21:06:53.394671 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:53.394770 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:53.496537 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47213, 2.46903), points=3, range=4.262, residual=0.0124813, extent=0.0260483
I0419 21:06:53.496670 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47213, 2.46903), tracking=(-3.77063, -2.46903), map_predicted=(-0.304997, -2.54957), range=4.262, pts=3
I0419 21:06:53.496697 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0356928m maha_sq=0.0200516 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.304997, -2.54957) lm_pos=(-0.285, -2.52) delta=(-0.0199971, -0.029565) -> 1 candidate(s)
I0419 21:06:53.623138 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:53.626614 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:53.627712 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0554865s, prior_pose=(-0.91279, 1.91602), yaw=64.5749 deg
I0419 21:06:53.627810 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1016, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:53.658334 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85634, -2.49028)
I0419 21:06:53.752187 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:53.884061 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:53.886847 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85235, -2.4941), points=3, range=3.789, residual=0.0100817, extent=0.024633
I0419 21:06:53.886982 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85235, -2.4941), tracking=(-3.15085, 2.4941), map_predicted=(-4.51413, 0.144091), range=3.789, pts=3
I0419 21:06:53.887012 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99829m maha_sq=394.142 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51413, 0.144091) lm_pos=(-0.285, -2.52) delta=(-4.22913, 2.66409) -> 0 candidate(s)
I0419 21:06:53.887037 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:53.917596 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517418s, prior_pose=(-0.908453, 1.91821), yaw=64.5611 deg
I0419 21:06:53.917704 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=203, threshold=230, above_threshold=0, candidates=0
I0419 21:06:53.926101 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:53.926251 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:54.048981 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85059, -2.49257)
I0419 21:06:54.050700 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:54.050765 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:54.176723 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911731, 1.91792), yaw=64.5661 deg backend=(-0.911731, 1.91792)
I0419 21:06:54.181744 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:54.209904 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0795655s, prior_pose=(-0.911731, 1.91792), yaw=64.5644 deg
I0419 21:06:54.210085 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:54.312498 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.84908, -2.49125)
I0419 21:06:54.316265 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:54.321219 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85184, -2.49367), points=4, range=3.789, residual=0.0139674, extent=0.0340021
I0419 21:06:54.321372 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85184, -2.49367), tracking=(-3.15034, 2.49367), map_predicted=(-4.5165, 0.144543), range=3.789, pts=4
I0419 21:06:54.321420 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00054m maha_sq=393.915 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5165, 0.144543) lm_pos=(-0.285, -2.52) delta=(-4.2315, 2.66454) -> 0 candidate(s)
I0419 21:06:54.442360 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:54.580360 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060474s, prior_pose=(-0.909408, 1.91674), yaw=64.5587 deg
I0419 21:06:54.580488 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:54.581221 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:54.581295 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:54.583927 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.84909, -2.49125)
I0419 21:06:54.586615 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:54.586738 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:54.689061 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:54.693447 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84534, -2.49529), points=3, range=3.785, residual=0.0111942, extent=0.0228118
I0419 21:06:54.693593 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84534, -2.49529), tracking=(-3.14384, 2.49529), map_predicted=(-4.5153, 0.151085), range=3.785, pts=3
I0419 21:06:54.693641 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00301m maha_sq=394.744 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5153, 0.151085) lm_pos=(-0.285, -2.52) delta=(-4.2303, 2.67108) -> 0 candidate(s)
I0419 21:06:54.696763 1218967 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:54.738364 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:54.825486 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520571s, prior_pose=(-0.909013, 1.91763), yaw=64.5239 deg
I0419 21:06:54.825610 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=203, threshold=230, above_threshold=0, candidates=0
I0419 21:06:54.834271 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85333, -2.48765)
I0419 21:06:54.866276 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:54.874672 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:06:54.956784 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909587, 1.91927), yaw=64.5738 deg backend=(-0.909587, 1.91927)
I0419 21:06:55.105787 1218970 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:55.107499 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85883, -2.48515), points=4, range=3.786, residual=0.014119, extent=0.0342302
I0419 21:06:55.107620 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85883, -2.48515), tracking=(-3.15733, 2.48515), map_predicted=(-4.51065, 0.134002), range=3.786, pts=4
I0419 21:06:55.107654 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98997m maha_sq=392.23 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51065, 0.134002) lm_pos=(-0.285, -2.52) delta=(-4.22565, 2.654) -> 0 candidate(s)
I0419 21:06:55.107681 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:55.111187 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0838266s, prior_pose=(-0.910043, 1.91735), yaw=64.5566 deg
I0419 21:06:55.111335 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:55.113005 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:55.113102 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:55.130316 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85134, -2.49323)
I0419 21:06:55.228554 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:55.228672 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:55.377836 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:55.398288 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0722278s, prior_pose=(-0.908741, 1.91742), yaw=64.5538 deg
I0419 21:06:55.398479 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:55.507121 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85034, -2.49235)
I0419 21:06:55.509948 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:55.511659 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47132, 2.46845), points=3, range=4.26133, residual=0.0126126, extent=0.0263698
I0419 21:06:55.511744 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47132, 2.46845), tracking=(-3.76982, -2.46845), map_predicted=(-0.30288, -2.54869), range=4.26133, pts=3
I0419 21:06:55.511813 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.033806m maha_sq=0.0179868 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.30288, -2.54869) lm_pos=(-0.285, -2.52) delta=(-0.0178798, -0.0286908) -> 1 candidate(s)
I0419 21:06:55.515375 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:55.761762 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0485485s, prior_pose=(-0.909029, 1.91542), yaw=64.537 deg
I0419 21:06:55.761871 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:55.762642 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:55.762691 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:55.765244 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85034, -2.49235)
I0419 21:06:55.766939 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:55.766993 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:55.893831 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910492, 1.91626), yaw=64.5528 deg backend=(-0.910492, 1.91626)
I0419 21:06:55.914628 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:55.922828 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85109, -2.49301), points=3, range=3.78733, residual=0.0100553, extent=0.0241897
I0419 21:06:55.922981 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85109, -2.49301), tracking=(-3.14959, 2.49301), map_predicted=(-4.51498, 0.143502), range=3.78733, pts=3
I0419 21:06:55.923035 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9987m maha_sq=394.211 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51498, 0.143502) lm_pos=(-0.285, -2.52) delta=(-4.22998, 2.6635) -> 0 candidate(s)
I0419 21:06:56.025458 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0839018s, prior_pose=(-0.911391, 1.91885), yaw=64.5476 deg
I0419 21:06:56.025610 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:56.027375 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:56.029140 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85184, -2.49367)
I0419 21:06:56.038050 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:56.142285 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:56.143191 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:56.289045 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47685, 2.45719), points=3, range=4.25933, residual=0.0126074, extent=0.0263589
I0419 21:06:56.289219 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47685, 2.45719), tracking=(-3.77535, -2.45719), map_predicted=(-0.313115, -2.5477), range=4.25933, pts=3
I0419 21:06:56.289254 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0394677m maha_sq=0.0245162 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.313115, -2.5477) lm_pos=(-0.285, -2.52) delta=(-0.0281153, -0.0276989) -> 1 candidate(s)
I0419 21:06:56.290230 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557966s, prior_pose=(-0.911004, 1.91701), yaw=64.5693 deg
I0419 21:06:56.290300 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:56.291005 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:56.291075 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:56.302479 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85285, -2.49454)
I0419 21:06:56.398532 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:56.398640 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:56.398689 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:56.538468 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:56.562075 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0518805s, prior_pose=(-0.907339, 1.91861), yaw=64.5555 deg
I0419 21:06:56.562163 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:56.692426 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8571, -2.49093)
I0419 21:06:56.694312 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:56.694393 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:56.699749 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84933, -2.49147), points=4, range=3.785, residual=0.0139719, extent=0.033545
I0419 21:06:56.699831 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84933, -2.49147), tracking=(-3.14783, 2.49147), map_predicted=(-4.51396, 0.144677), range=3.785, pts=4
I0419 21:06:56.699855 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99846m maha_sq=393.593 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51396, 0.144677) lm_pos=(-0.285, -2.52) delta=(-4.22896, 2.66468) -> 0 candidate(s)
I0419 21:06:56.790817 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.9099, 1.91779), yaw=64.5452 deg backend=(-0.9099, 1.91779)
I0419 21:06:56.853878 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0793533s, prior_pose=(-0.9099, 1.91779), yaw=64.5449 deg
I0419 21:06:56.854053 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:56.957918 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:56.958026 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:56.959774 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85084, -2.49279)
I0419 21:06:56.962282 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:56.962419 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:57.096999 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85786, -2.49161), points=3, range=3.78767, residual=0.0125221, extent=0.0255787
I0419 21:06:57.097151 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85786, -2.49161), tracking=(-3.15636, 2.49161), map_predicted=(-4.51638, 0.139014), range=3.78767, pts=3
I0419 21:06:57.097219 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9975m maha_sq=393.676 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51638, 0.139014) lm_pos=(-0.285, -2.52) delta=(-4.23138, 2.65901) -> 0 candidate(s)
I0419 21:06:57.099246 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:57.218770 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:57.219733 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559657s, prior_pose=(-0.910602, 1.91646), yaw=64.5395 deg
I0419 21:06:57.219813 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:57.223060 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85465, -2.4888)
I0419 21:06:57.225678 1232263 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:57.473021 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:57.476570 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476394s, prior_pose=(-0.913017, 1.91743), yaw=64.5366 deg
I0419 21:06:57.476652 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:57.477310 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:57.477365 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:57.479828 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85634, -2.49027)
I0419 21:06:57.506296 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:57.506469 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:57.506536 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46969, 2.46729), points=3, range=4.26033, residual=0.0133549, extent=0.0279836
I0419 21:06:57.506589 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46969, 2.46729), tracking=(-3.76819, -2.46729), map_predicted=(-0.305491, -2.54549), range=4.26033, pts=3
I0419 21:06:57.506644 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.032708m maha_sq=0.0168323 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.305491, -2.54549) lm_pos=(-0.285, -2.52) delta=(-0.0204912, -0.0254936) -> 1 candidate(s)
I0419 21:06:57.616506 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:57.621697 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.906657, 1.91758), yaw=64.5416 deg backend=(-0.906657, 1.91758)
I0419 21:06:57.742594 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:57.743645 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:57.747720 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0794462s, prior_pose=(-0.909622, 1.9156), yaw=64.5317 deg
I0419 21:06:57.747812 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:57.774624 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85577, -2.48978)
I0419 21:06:57.774765 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:57.857232 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:58.021903 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46785, 2.47359), points=3, range=4.25967, residual=0.010389, extent=0.0252858
I0419 21:06:58.022050 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46785, 2.47359), tracking=(-3.76635, -2.47359), map_predicted=(-0.292514, -2.54512), range=4.25967, pts=3
I0419 21:06:58.022080 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0262201m maha_sq=0.010829 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.292514, -2.54512) lm_pos=(-0.285, -2.52) delta=(-0.0075136, -0.0251205) -> 1 candidate(s)
I0419 21:06:58.029726 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598574s, prior_pose=(-0.907966, 1.91865), yaw=64.5537 deg
I0419 21:06:58.029850 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=203, threshold=230, above_threshold=0, candidates=0
I0419 21:06:58.038234 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:58.038391 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:58.038451 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:58.116169 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.8521, -2.49388)
I0419 21:06:58.118986 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:58.119102 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:58.290931 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:58.407531 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516314s, prior_pose=(-0.909534, 1.91815), yaw=64.5699 deg
I0419 21:06:58.407651 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1013, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:06:58.411034 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.84993, -2.49197)
I0419 21:06:58.411118 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84496, -2.49494), points=5, range=3.7858, residual=0.0182138, extent=0.0483474
I0419 21:06:58.411145 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84496, -2.49494), tracking=(-3.14346, 2.49494), map_predicted=(-4.51254, 0.150554), range=3.7858, pts=5
I0419 21:06:58.411168 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00039m maha_sq=393.051 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51254, 0.150554) lm_pos=(-0.285, -2.52) delta=(-4.22754, 2.67055) -> 0 candidate(s)
I0419 21:06:58.412770 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:58.532658 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910334, 1.91671), yaw=64.5312 deg backend=(-0.910334, 1.91671)
I0419 21:06:58.536652 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:58.644475 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799813s, prior_pose=(-0.909715, 1.91657), yaw=64.5288 deg
I0419 21:06:58.644625 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:58.647161 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:58.647293 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:58.650620 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85691, -2.49077)
I0419 21:06:58.681699 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:58.681792 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:58.798323 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84721, -2.49694), points=3, range=3.78967, residual=0.0119745, extent=0.0250981
I0419 21:06:58.798416 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84721, -2.49694), tracking=(-3.14571, 2.49694), map_predicted=(-4.51626, 0.149767), range=3.78967, pts=3
I0419 21:06:58.798444 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00312m maha_sq=394.643 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51626, 0.149767) lm_pos=(-0.285, -2.52) delta=(-4.23126, 2.66977) -> 0 candidate(s)
I0419 21:06:58.912513 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:58.916991 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595191s, prior_pose=(-0.907868, 1.91738), yaw=64.5601 deg
I0419 21:06:58.917119 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:58.945935 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85059, -2.49257)
I0419 21:06:59.051846 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:06:59.051959 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:06:59.052754 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:06:59.053666 1219452 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:59.206544 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0523585s, prior_pose=(-0.912017, 1.91752), yaw=64.5536 deg
I0419 21:06:59.206650 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=207, threshold=230, above_threshold=0, candidates=0
I0419 21:06:59.210168 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:59.210285 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:59.305972 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85559, -2.48961)
I0419 21:06:59.306350 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85059, -2.49257), points=4, range=3.7885, residual=0.0146369, extent=0.0358907
I0419 21:06:59.306550 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85059, -2.49257), tracking=(-3.14909, 2.49257), map_predicted=(-4.5135, 0.146683), range=3.7885, pts=4
I0419 21:06:59.306730 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99914m maha_sq=393.577 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5135, 0.146683) lm_pos=(-0.285, -2.52) delta=(-4.2285, 2.66668) -> 0 candidate(s)
I0419 21:06:59.308692 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:59.308964 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:06:59.428697 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909107, 1.91784), yaw=64.542 deg backend=(-0.909107, 1.91784)
I0419 21:06:59.430361 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:06:59.438256 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:06:59.474084 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:06:59.498677 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802266s, prior_pose=(-0.909107, 1.91784), yaw=64.5426 deg
I0419 21:06:59.498826 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:06:59.588392 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85285, -2.49455)
I0419 21:06:59.591176 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:06:59.710363 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.8521, -2.49389), points=4, range=3.7895, residual=0.0140761, extent=0.0342555
I0419 21:06:59.710457 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.8521, -2.49389), tracking=(-3.1506, 2.49389), map_predicted=(-4.51557, 0.143745), range=3.7895, pts=4
I0419 21:06:59.710487 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99932m maha_sq=393.705 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51557, 0.143745) lm_pos=(-0.285, -2.52) delta=(-4.23057, 2.66375) -> 0 candidate(s)
I0419 21:06:59.862738 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592688s, prior_pose=(-0.907266, 1.91792), yaw=64.553 deg
I0419 21:06:59.862866 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:06:59.863456 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:06:59.863515 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:06:59.867063 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85134, -2.49323)
I0419 21:06:59.867223 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:06:59.870350 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:06:59.870468 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:00.031724 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:00.130558 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0524886s, prior_pose=(-0.910469, 1.91566), yaw=64.545 deg
I0419 21:07:00.130719 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:00.134114 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85084, -2.49279)
I0419 21:07:00.154120 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:00.229982 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85034, -2.49235), points=3, range=3.78633, residual=0.00978484, extent=0.0237911
I0419 21:07:00.230084 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85034, -2.49235), tracking=(-3.14884, 2.49235), map_predicted=(-4.51389, 0.14501), range=3.78633, pts=3
I0419 21:07:00.230113 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99858m maha_sq=394.227 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51389, 0.14501) lm_pos=(-0.285, -2.52) delta=(-4.22889, 2.66501) -> 0 candidate(s)
I0419 21:07:00.241946 1232263 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:00.243315 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909139, 1.91498), yaw=64.5146 deg backend=(-0.909139, 1.91498)
I0419 21:07:00.377979 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0793445s, prior_pose=(-0.910127, 1.91733), yaw=64.5243 deg
I0419 21:07:00.378094 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=207, threshold=230, above_threshold=0, candidates=0
I0419 21:07:00.385984 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:00.386088 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:00.418396 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85521, -2.48929)
I0419 21:07:00.517972 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:00.518086 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:00.518195 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:00.629292 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86135, -2.48733), points=4, range=3.78875, residual=0.0146108, extent=0.0355167
I0419 21:07:00.629400 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86135, -2.48733), tracking=(-3.15985, 2.48733), map_predicted=(-4.51613, 0.133523), range=3.78875, pts=4
I0419 21:07:00.629431 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99436m maha_sq=392.83 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51613, 0.133523) lm_pos=(-0.285, -2.52) delta=(-4.23113, 2.65352) -> 0 candidate(s)
I0419 21:07:00.632818 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:00.674211 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598155s, prior_pose=(-0.911477, 1.91619), yaw=64.5241 deg
I0419 21:07:00.674320 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:00.749161 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85184, -2.49367)
I0419 21:07:00.751869 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:00.751972 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:00.770674 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:01.042456 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476466s, prior_pose=(-0.908167, 1.91642), yaw=64.5537 deg
I0419 21:07:01.042565 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:01.043352 1219452 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:01.043402 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84984, -2.49191), points=4, range=3.78675, residual=0.0143276, extent=0.0348095
I0419 21:07:01.043423 1219452 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:01.043439 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84984, -2.49191), tracking=(-3.14834, 2.49191), map_predicted=(-4.51106, 0.144198), range=3.78675, pts=4
I0419 21:07:01.043463 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99576m maha_sq=393.102 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51106, 0.144198) lm_pos=(-0.285, -2.52) delta=(-4.22606, 2.6642) -> 0 candidate(s)
I0419 21:07:01.045985 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85427, -2.48847)
I0419 21:07:01.047585 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:01.047634 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:01.070858 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:01.188328 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907054, 1.91705), yaw=64.5485 deg backend=(-0.907054, 1.91705)
I0419 21:07:01.201925 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:01.247704 1219306 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:07:01.310366 1219494 pose_graph_2d.cc:160] Inserted submap (1, 69).
I0419 21:07:01.313162 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0843461s, prior_pose=(-0.910512, 1.91785), yaw=64.5418 deg
I0419 21:07:01.313294 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:01.316794 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85333, -2.48765)
I0419 21:07:01.316891 1219494 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:01.326642 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:01.421089 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85833, -2.48471), points=4, range=3.7855, residual=0.0139968, extent=0.0339768
I0419 21:07:01.421228 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85833, -2.48471), tracking=(-3.15683, 2.48471), map_predicted=(-4.50917, 0.134013), range=3.7855, pts=4
I0419 21:07:01.421257 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98873m maha_sq=392.056 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50917, 0.134013) lm_pos=(-0.285, -2.52) delta=(-4.22417, 2.65401) -> 0 candidate(s)
I0419 21:07:01.567461 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0630145s, prior_pose=(-0.907729, 1.91462), yaw=64.5453 deg
I0419 21:07:01.568006 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:01.568924 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:01.569120 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:01.590057 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85521, -2.48929)
I0419 21:07:01.687386 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:01.687516 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:01.710457 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:01.829988 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:01.831655 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.4686, 2.48173), points=3, range=4.264, residual=0.012027, extent=0.0248816
I0419 21:07:01.831730 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.4686, 2.48173), tracking=(-3.7671, -2.48173), map_predicted=(-0.287534, -2.55197), range=4.264, pts=3
I0419 21:07:01.831797 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0320672m maha_sq=0.0161876 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.287534, -2.55197) lm_pos=(-0.285, -2.52) delta=(-0.00253354, -0.031967) -> 1 candidate(s)
I0419 21:07:01.850299 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520334s, prior_pose=(-0.908641, 1.91617), yaw=64.5377 deg
I0419 21:07:01.850428 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:01.960399 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85257, -2.48699)
I0419 21:07:01.960909 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:01.962167 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:02.065654 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908249, 1.91648), yaw=64.5653 deg backend=(-0.908249, 1.91648)
I0419 21:07:02.130396 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:07:02.142412 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803395s, prior_pose=(-0.908249, 1.91648), yaw=64.566 deg
I0419 21:07:02.142501 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:02.217399 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:02.217515 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:02.217545 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:02.219188 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8554, -2.48945)
I0419 21:07:02.221959 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:02.222079 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:02.222106 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85748, -2.49128), points=3, range=3.788, residual=0.0117862, extent=0.024195
I0419 21:07:02.222127 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85748, -2.49128), tracking=(-3.15598, 2.49128), map_predicted=(-4.5156, 0.138908), range=3.788, pts=3
I0419 21:07:02.222150 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99678m maha_sq=393.673 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5156, 0.138908) lm_pos=(-0.285, -2.52) delta=(-4.2306, 2.65891) -> 0 candidate(s)
I0419 21:07:02.355213 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:02.378531 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:02.506939 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568016s, prior_pose=(-0.908468, 1.91567), yaw=64.5307 deg
I0419 21:07:02.507059 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:02.510571 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85209, -2.49389)
I0419 21:07:02.510715 1219494 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:02.513334 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:02.655404 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86034, -2.48646), points=4, range=3.7875, residual=0.0144383, extent=0.0348178
I0419 21:07:02.655578 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86034, -2.48646), tracking=(-3.15884, 2.48646), map_predicted=(-4.51393, 0.134301), range=3.7875, pts=4
I0419 21:07:02.655635 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99291m maha_sq=392.635 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51393, 0.134301) lm_pos=(-0.285, -2.52) delta=(-4.22893, 2.6543) -> 0 candidate(s)
I0419 21:07:02.775857 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516599s, prior_pose=(-0.90804, 1.91581), yaw=64.536 deg
I0419 21:07:02.775975 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:02.776660 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:02.776708 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:02.776733 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:02.779175 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85446, -2.48863)
I0419 21:07:02.798188 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:02.798375 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:02.905886 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908075, 1.91699), yaw=64.5432 deg backend=(-0.908075, 1.91699)
I0419 21:07:03.024786 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:03.029130 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0842857s, prior_pose=(-0.909801, 1.91578), yaw=64.5287 deg
I0419 21:07:03.029232 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:03.062286 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8554, -2.48945)
I0419 21:07:03.165748 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46724, 2.46555), points=3, range=4.257, residual=0.013145, extent=0.027515
I0419 21:07:03.165863 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:03.165879 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46724, 2.46555), tracking=(-3.76574, -2.46555), map_predicted=(-0.302743, -2.54512), range=4.257, pts=3
I0419 21:07:03.165905 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0307564m maha_sq=0.014885 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.302743, -2.54512) lm_pos=(-0.285, -2.52) delta=(-0.0177433, -0.0251223) -> 1 candidate(s)
I0419 21:07:03.291497 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:03.318315 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598894s, prior_pose=(-0.907424, 1.91713), yaw=64.5306 deg
I0419 21:07:03.318425 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1026, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:03.321667 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:03.321738 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:03.412667 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:03.412676 1237626 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85184, -2.49367)
I0419 21:07:03.417389 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:03.417546 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:03.547719 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46724, 2.46555), points=3, range=4.257, residual=0.013145, extent=0.027515
I0419 21:07:03.547858 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46724, 2.46555), tracking=(-3.76574, -2.46555), map_predicted=(-0.3016, -2.54373), range=4.257, pts=3
I0419 21:07:03.547884 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0289597m maha_sq=0.0131967 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.3016, -2.54373) lm_pos=(-0.285, -2.52) delta=(-0.0165997, -0.0237301) -> 1 candidate(s)
I0419 21:07:03.554016 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:03.656827 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520144s, prior_pose=(-0.908168, 1.91598), yaw=64.551 deg
I0419 21:07:03.656952 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:03.663110 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85484, -2.48896)
I0419 21:07:03.678534 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:03.678646 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:03.816012 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:03.817322 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909297, 1.91793), yaw=64.537 deg backend=(-0.909297, 1.91793)
I0419 21:07:03.946182 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0791116s, prior_pose=(-0.90732, 1.91506), yaw=64.5322 deg
I0419 21:07:03.946319 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1016, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:03.947877 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:03.947976 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47476, 2.4633), points=4, range=4.26, residual=0.0155788, extent=0.0380093
I0419 21:07:03.947999 1258777 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:03.948019 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47476, 2.4633), tracking=(-3.77326, -2.4633), map_predicted=(-0.306081, -2.55079), range=4.26, pts=4
I0419 21:07:03.948045 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0373159m maha_sq=0.021887 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.306081, -2.55079) lm_pos=(-0.285, -2.52) delta=(-0.0210806, -0.030791) -> 1 candidate(s)
I0419 21:07:03.949813 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85502, -2.48912)
I0419 21:07:03.974229 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:03.974409 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:04.106913 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:04.208071 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:04.212400 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0596853s, prior_pose=(-0.907923, 1.91604), yaw=64.5315 deg
I0419 21:07:04.212563 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=203, threshold=230, above_threshold=0, candidates=0
I0419 21:07:04.234257 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8554, -2.48946)
I0419 21:07:04.365119 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.4703, 2.47533), points=4, range=4.2605, residual=0.0157864, extent=0.0382365
I0419 21:07:04.365226 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:04.365243 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.4703, 2.47533), tracking=(-3.7688, -2.47533), map_predicted=(-0.295497, -2.55044), range=4.2605, pts=4
I0419 21:07:04.365267 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0322006m maha_sq=0.016296 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.295497, -2.55044) lm_pos=(-0.285, -2.52) delta=(-0.0104968, -0.0304417) -> 1 candidate(s)
I0419 21:07:04.371788 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:04.495186 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0522362s, prior_pose=(-0.909651, 1.91755), yaw=64.5416 deg
I0419 21:07:04.495378 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:04.499029 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:04.499191 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:04.636647 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85559, -2.48962)
I0419 21:07:04.638257 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:04.638334 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:04.717259 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.906879, 1.91684), yaw=64.5556 deg backend=(-0.906879, 1.91684)
I0419 21:07:04.721626 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46731, 2.47321), points=3, range=4.259, residual=0.0117032, extent=0.0284543
I0419 21:07:04.721758 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46731, 2.47321), tracking=(-3.76581, -2.47321), map_predicted=(-0.291483, -2.54627), range=4.259, pts=3
I0419 21:07:04.721792 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.027061m maha_sq=0.0115294 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.291483, -2.54627) lm_pos=(-0.285, -2.52) delta=(-0.00648325, -0.0262729) -> 1 candidate(s)
I0419 21:07:04.726336 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:04.786496 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802627s, prior_pose=(-0.906879, 1.91684), yaw=64.5574 deg
I0419 21:07:04.786612 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:04.858157 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:04.859237 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.84984, -2.49191)
I0419 21:07:04.863158 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:04.863288 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:04.878683 1232263 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:05.152951 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0568658s, prior_pose=(-0.910231, 1.91885), yaw=64.5758 deg
I0419 21:07:05.153230 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:05.154152 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:05.154229 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85672, -2.49062), points=3, range=3.787, residual=0.0117837, extent=0.0241897
I0419 21:07:05.154247 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:05.154260 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85672, -2.49062), tracking=(-3.15522, 2.49062), map_predicted=(-4.51424, 0.138466), range=3.787, pts=3
I0419 21:07:05.154280 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99539m maha_sq=393.455 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51424, 0.138466) lm_pos=(-0.285, -2.52) delta=(-4.22924, 2.65847) -> 0 candidate(s)
I0419 21:07:05.157179 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85352, -2.48781)
I0419 21:07:05.160806 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:05.160925 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:05.314589 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:05.422242 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0517887s, prior_pose=(-0.90944, 1.91593), yaw=64.5391 deg
I0419 21:07:05.422358 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:05.425697 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8554, -2.48945)
I0419 21:07:05.438026 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:05.438118 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:05.513317 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:05.527137 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908843, 1.91726), yaw=64.5449 deg backend=(-0.908843, 1.91726)
I0419 21:07:05.558359 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84759, -2.49727), points=3, range=3.78933, residual=0.0113846, extent=0.0238073
I0419 21:07:05.558466 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84759, -2.49727), tracking=(-3.14609, 2.49727), map_predicted=(-4.51588, 0.149916), range=3.78933, pts=3
I0419 21:07:05.558499 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00288m maha_sq=394.692 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51588, 0.149916) lm_pos=(-0.285, -2.52) delta=(-4.23088, 2.66992) -> 0 candidate(s)
I0419 21:07:05.665987 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0797819s, prior_pose=(-0.90767, 1.91707), yaw=64.5414 deg
I0419 21:07:05.666079 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:05.673811 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:05.673938 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:05.701967 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85159, -2.49345)
I0419 21:07:05.766660 1218970 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:07:05.766788 1218970 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:07:05.766844 1218970 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:05.924355 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:05.958652 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052516s, prior_pose=(-0.90917, 1.91793), yaw=64.532 deg
I0419 21:07:05.958756 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:05.966807 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.4722, 2.47668)
I0419 21:07:05.966943 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.4722, 2.47668), points=3, range=4.265, residual=0.0103564, extent=0.0251273
I0419 21:07:05.966992 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.4722, 2.47668), tracking=(-3.7707, -2.47668), map_predicted=(-0.29458, -2.55134), range=4.265, pts=3
I0419 21:07:05.967029 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0327741m maha_sq=0.016919 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.29458, -2.55134) lm_pos=(-0.285, -2.52) delta=(-0.00958002, -0.0313427) -> 1 candidate(s)
I0419 21:07:06.055166 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:06.197502 1237626 reflector_detector.cc:209] [Detect]   cluster[2]: points=2, centroid=(3.47091, 2.46816)
I0419 21:07:06.300779 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519691s, prior_pose=(-0.906259, 1.91887), yaw=64.5574 deg
I0419 21:07:06.300907 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:06.301744 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:06.301832 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:06.301760 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:06.322466 1218967 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=3
I0419 21:07:06.322567 1218967 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=3, r_post=0.015, gain=250 -> after=2
I0419 21:07:06.436882 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47336, 2.4699), points=3, range=4.259, residual=0.0129734, extent=0.0267143
I0419 21:07:06.437001 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47336, 2.4699), tracking=(-3.77186, -2.4699), map_predicted=(-0.299388, -2.55047), range=4.259, pts=3
I0419 21:07:06.437037 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0336945m maha_sq=0.0178659 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.299388, -2.55047) lm_pos=(-0.285, -2.52) delta=(-0.0143877, -0.0304682) -> 1 candidate(s)
I0419 21:07:06.438795 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85276, -2.48716)
I0419 21:07:06.440240 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907742, 1.91688), yaw=64.536 deg backend=(-0.907742, 1.91688)
I0419 21:07:06.465968 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:06.486544 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:06.568048 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796022s, prior_pose=(-0.906479, 1.91835), yaw=64.5711 deg
I0419 21:07:06.568223 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:06.614053 1218970 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:06.614132 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:06.709769 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85653, -2.49044)
I0419 21:07:06.730329 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:06.848953 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47295, 2.46961), points=3, range=4.262, residual=0.0120738, extent=0.0251101
I0419 21:07:06.849104 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47295, 2.46961), tracking=(-3.77145, -2.46961), map_predicted=(-0.300657, -2.55022), range=4.262, pts=3
I0419 21:07:06.849148 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0340326m maha_sq=0.0182325 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.300657, -2.55022) lm_pos=(-0.285, -2.52) delta=(-0.0156567, -0.0302173) -> 1 candidate(s)
I0419 21:07:06.851929 1237626 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:06.853143 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599837s, prior_pose=(-0.908202, 1.91674), yaw=64.5259 deg
I0419 21:07:06.853251 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:06.854067 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:06.854136 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:06.966576 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:06.966802 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:06.998370 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85503, -2.48912)
I0419 21:07:07.121183 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:07.133819 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0513971s, prior_pose=(-0.907336, 1.91756), yaw=64.5491 deg
I0419 21:07:07.133956 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:07.232880 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:07.235821 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47254, 2.46932), points=3, range=4.26133, residual=0.0119096, extent=0.02487
I0419 21:07:07.235918 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47254, 2.46932), tracking=(-3.77104, -2.46932), map_predicted=(-0.300264, -2.55008), range=4.26133, pts=3
I0419 21:07:07.235947 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0337331m maha_sq=0.0179141 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.300264, -2.55008) lm_pos=(-0.285, -2.52) delta=(-0.0152639, -0.0300821) -> 1 candidate(s)
I0419 21:07:07.290966 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85034, -2.49235)
I0419 21:07:07.373584 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907901, 1.91628), yaw=64.5431 deg backend=(-0.907901, 1.91628)
I0419 21:07:07.429559 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0755907s, prior_pose=(-0.907901, 1.91628), yaw=64.5435 deg
I0419 21:07:07.429654 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:07.494040 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:07.494140 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:07.498561 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:07.498685 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:07.624166 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85427, -2.48847)
I0419 21:07:07.624290 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46819, 2.48144), points=3, range=4.26333, residual=0.0120496, extent=0.0249789
I0419 21:07:07.624325 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46819, 2.48144), tracking=(-3.76669, -2.48144), map_predicted=(-0.28585, -2.55023), range=4.26333, pts=3
I0419 21:07:07.624349 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0302402m maha_sq=0.0143955 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.28585, -2.55023) lm_pos=(-0.285, -2.52) delta=(-0.000849612, -0.0302283) -> 1 candidate(s)
I0419 21:07:07.662518 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:07.670228 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:07.804064 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600032s, prior_pose=(-0.909569, 1.91796), yaw=64.5343 deg
I0419 21:07:07.804273 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=996, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:07.804279 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:07.805188 1219452 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:07.811319 1219452 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:07.899829 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85521, -2.48929)
I0419 21:07:07.906796 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:07.933912 1218970 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85933, -2.48558), points=4, range=3.78625, residual=0.0144182, extent=0.0348095
I0419 21:07:07.934011 1218970 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85933, -2.48558), tracking=(-3.15783, 2.48558), map_predicted=(-4.50865, 0.132671), range=3.78625, pts=4
I0419 21:07:07.934047 1218970 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98757m maha_sq=391.799 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50865, 0.132671) lm_pos=(-0.285, -2.52) delta=(-4.22365, 2.65267) -> 0 candidate(s)
I0419 21:07:08.031208 1218967 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:08.034811 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0522492s, prior_pose=(-0.908082, 1.91507), yaw=64.5436 deg
I0419 21:07:08.035012 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:08.035787 1218967 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:08.035876 1218967 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:08.082471 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:08.082633 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:08.181033 1219452 collated_trajectory_builder.cc:82] imu rate: 200.06 Hz 5.00e-03 s +/- 4.33e-03 s (pulsed at 100.55% real time)
I0419 21:07:08.181226 1219452 collated_trajectory_builder.cc:82] odom rate: 248.92 Hz 4.02e-03 s +/- 6.86e-04 s (pulsed at 99.92% real time)
I0419 21:07:08.181345 1219452 collated_trajectory_builder.cc:82] scan_1 rate: 34.05 Hz 2.94e-02 s +/- 2.23e-03 s (pulsed at 100.39% real time)
I0419 21:07:08.181385 1219452 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.35e-03 s (pulsed at 100.47% real time)
I0419 21:07:08.186394 1219452 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85578, -2.48978)
I0419 21:07:08.187765 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907749, 1.91799), yaw=64.5554 deg backend=(-0.907749, 1.91799)
I0419 21:07:08.327878 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:08.332051 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0804661s, prior_pose=(-0.907218, 1.91838), yaw=64.5515 deg
I0419 21:07:08.332203 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:08.420884 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:08.423693 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85958, -2.4858), points=4, range=3.78725, residual=0.0139538, extent=0.0337681
I0419 21:07:08.423799 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85958, -2.4858), tracking=(-3.15808, 2.4858), map_predicted=(-4.5108, 0.135457), range=3.78725, pts=4
I0419 21:07:08.423826 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99087m maha_sq=392.399 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5108, 0.135457) lm_pos=(-0.285, -2.52) delta=(-4.2258, 2.65546) -> 0 candidate(s)
I0419 21:07:08.466513 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85616, -2.49011)
I0419 21:07:08.605856 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597363s, prior_pose=(-0.904406, 1.91827), yaw=64.5425 deg
I0419 21:07:08.606029 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:08.610172 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:08.610272 1264424 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:08.728717 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:08.728833 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:08.733247 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.46677, 2.47282)
I0419 21:07:08.833611 1219452 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.8626, -2.48843), points=4, range=3.79025, residual=0.0146964, extent=0.0355248
I0419 21:07:08.833725 1219452 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:08.833743 1219452 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.8626, -2.48843), tracking=(-3.1611, 2.48843), map_predicted=(-4.51288, 0.132285), range=3.79025, pts=4
I0419 21:07:08.833765 1219452 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99095m maha_sq=392.276 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51288, 0.132285) lm_pos=(-0.285, -2.52) delta=(-4.22788, 2.65228) -> 0 candidate(s)
I0419 21:07:08.838493 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:08.981645 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0523384s, prior_pose=(-0.906684, 1.9179), yaw=64.5612 deg
I0419 21:07:08.981740 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:08.985008 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:08.986728 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:09.117735 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.47301, 2.47727)
I0419 21:07:09.117858 1264424 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:09.120693 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907838, 1.91669), yaw=64.5475 deg backend=(-0.907838, 1.91669)
I0419 21:07:09.242516 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:09.243209 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0804846s, prior_pose=(-0.908687, 1.91644), yaw=64.5588 deg
I0419 21:07:09.243317 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:09.245102 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:09.245234 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85447, -2.48865), points=3, range=3.781, residual=0.0153461, extent=0.0318234
I0419 21:07:09.245260 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:09.245280 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85447, -2.48865), tracking=(-3.15297, 2.48865), map_predicted=(-4.51045, 0.138284), range=3.781, pts=3
I0419 21:07:09.245303 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99209m maha_sq=392.345 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51045, 0.138284) lm_pos=(-0.285, -2.52) delta=(-4.22545, 2.65828) -> 0 candidate(s)
I0419 21:07:09.258181 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:09.258318 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:09.360056 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.46657, 2.48028)
I0419 21:07:09.406597 1258777 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:09.437645 1219304 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:07:09.488901 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:09.495658 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601532s, prior_pose=(-0.90831, 1.91563), yaw=64.5662 deg
I0419 21:07:09.495851 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:09.648491 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:09.652680 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47336, 2.4699)
I0419 21:07:09.652786 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86235, -2.48821), points=4, range=3.79025, residual=0.0144315, extent=0.0348426
I0419 21:07:09.652812 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86235, -2.48821), tracking=(-3.16085, 2.48821), map_predicted=(-4.5123, 0.133547), range=3.79025, pts=4
I0419 21:07:09.652832 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99113m maha_sq=392.352 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5123, 0.133547) lm_pos=(-0.285, -2.52) delta=(-4.2273, 2.65355) -> 0 candidate(s)
I0419 21:07:09.778723 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0479039s, prior_pose=(-0.907269, 1.91632), yaw=64.5572 deg
I0419 21:07:09.778873 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:09.786584 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:09.786696 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:09.899170 1237626 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:09.903679 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:09.903848 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:09.911053 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47295, 2.46961)
I0419 21:07:10.042208 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.905246, 1.91774), yaw=64.5772 deg backend=(-0.905246, 1.91774)
I0419 21:07:10.043898 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:10.047458 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:10.050724 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86059, -2.48667), points=4, range=3.78625, residual=0.0161145, extent=0.0386058
I0419 21:07:10.050792 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86059, -2.48667), tracking=(-3.15909, 2.48667), map_predicted=(-4.5073, 0.132062), range=3.78625, pts=4
I0419 21:07:10.050815 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.9861m maha_sq=391.25 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.5073, 0.132062) lm_pos=(-0.285, -2.52) delta=(-4.2223, 2.65206) -> 0 candidate(s)
I0419 21:07:10.073563 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0787723s, prior_pose=(-0.905246, 1.91774), yaw=64.5774 deg
I0419 21:07:10.073668 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:10.151202 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:10.198622 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8554, -2.48945)
I0419 21:07:10.408004 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599703s, prior_pose=(-0.907357, 1.91642), yaw=64.5593 deg
I0419 21:07:10.408185 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:10.408975 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:10.409057 1218970 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:10.430207 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:10.430307 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:10.462091 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.46738, 2.48086)
I0419 21:07:10.562041 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.47336, 2.46989), points=3, range=4.262, residual=0.0118698, extent=0.0247953
I0419 21:07:10.562152 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.47336, 2.46989), tracking=(-3.77186, -2.46989), map_predicted=(-0.298596, -2.54969), range=4.262, pts=3
I0419 21:07:10.562180 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0326519m maha_sq=0.0167844 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.298596, -2.54969) lm_pos=(-0.285, -2.52) delta=(-0.0135955, -0.0296868) -> 1 candidate(s)
I0419 21:07:10.582561 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:10.602326 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:10.711969 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:10.714818 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0489259s, prior_pose=(-0.907029, 1.9164), yaw=64.5536 deg
I0419 21:07:10.714944 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:10.726580 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:10.792255 1258777 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47254, 2.46932)
I0419 21:07:10.792389 1258777 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:10.815760 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910812, 1.91852), yaw=64.5714 deg backend=(-0.910812, 1.91852)
I0419 21:07:10.846436 1232263 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:10.940737 1232263 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84984, -2.49191), points=4, range=3.78675, residual=0.0141351, extent=0.0345108
I0419 21:07:10.940845 1232263 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84984, -2.49191), tracking=(-3.14834, 2.49191), map_predicted=(-4.50944, 0.144222), range=3.78675, pts=4
I0419 21:07:10.940873 1232263 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99439m maha_sq=392.922 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50944, 0.144222) lm_pos=(-0.285, -2.52) delta=(-4.22444, 2.66422) -> 0 candidate(s)
I0419 21:07:10.942714 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:10.954008 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798403s, prior_pose=(-0.906737, 1.91684), yaw=64.5581 deg
I0419 21:07:10.954119 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:10.962299 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:10.962440 1232263 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:11.090269 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:11.090404 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:11.093039 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47051, 2.46787)
I0419 21:07:11.197979 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:11.250272 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0643467s, prior_pose=(-0.908143, 1.91718), yaw=64.5533 deg
I0419 21:07:11.250376 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:11.258733 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85034, -2.49235), points=4, range=3.78725, residual=0.0144039, extent=0.0348095
I0419 21:07:11.259313 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85034, -2.49235), tracking=(-3.14884, 2.49235), map_predicted=(-4.51166, 0.144711), range=3.78725, pts=4
I0419 21:07:11.259377 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99654m maha_sq=393.211 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51166, 0.144711) lm_pos=(-0.285, -2.52) delta=(-4.22666, 2.66471) -> 0 candidate(s)
I0419 21:07:11.362982 1219494 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:11.364647 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=5, centroid=(2.84873, -2.49092)
I0419 21:07:11.596302 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525946s, prior_pose=(-0.911135, 1.9179), yaw=64.5375 deg
I0419 21:07:11.596416 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:11.597239 1218970 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:11.597292 1218970 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:11.610353 1219452 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:11.610442 1219452 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:11.757589 1218967 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47214, 2.46903)
I0419 21:07:11.760458 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907834, 1.9189), yaw=64.5546 deg backend=(-0.907834, 1.9189)
I0419 21:07:11.761845 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85109, -2.49301), points=4, range=3.788, residual=0.0139639, extent=0.0339937
I0419 21:07:11.761907 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85109, -2.49301), tracking=(-3.14959, 2.49301), map_predicted=(-4.51223, 0.145955), range=3.788, pts=4
I0419 21:07:11.761933 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99768m maha_sq=393.467 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51223, 0.145955) lm_pos=(-0.285, -2.52) delta=(-4.22723, 2.66596) -> 0 candidate(s)
I0419 21:07:11.779132 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:11.887445 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796225s, prior_pose=(-0.910854, 1.91839), yaw=64.5528 deg
I0419 21:07:11.887636 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=998, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:11.891136 1258777 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:11.902087 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:12.007261 1219494 reflector_detector.cc:209] [Detect]   cluster[3]: points=1, centroid=(0.725924, 0.511448)
I0419 21:07:12.007377 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:12.135053 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:12.138700 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597975s, prior_pose=(-0.908985, 1.91827), yaw=64.5724 deg
I0419 21:07:12.138811 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:12.139406 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:07:12.139456 1237626 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:12.287734 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:07:12.287868 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:07:12.287899 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.86235, -2.48821), points=4, range=3.7905, residual=0.0142197, extent=0.0342639
I0419 21:07:12.287921 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.86235, -2.48821), tracking=(-3.16085, 2.48821), map_predicted=(-4.51454, 0.133783), range=3.7905, pts=4
I0419 21:07:12.287950 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99315m maha_sq=392.707 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51454, 0.133783) lm_pos=(-0.285, -2.52) delta=(-4.22954, 2.65378) -> 0 candidate(s)
I0419 21:07:12.294463 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:12.392588 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.47383, 2.47785)
I0419 21:07:12.393652 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:12.422298 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484522s, prior_pose=(-0.909804, 1.91792), yaw=64.5533 deg
I0419 21:07:12.422394 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:12.521534 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:12.524246 1264424 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:12.650517 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911149, 1.91629), yaw=64.541 deg backend=(-0.911149, 1.91629)
I0419 21:07:12.654680 1219494 reflector_detector.cc:209] [Detect]   cluster[1]: points=3, centroid=(3.47138, 2.4761)
I0419 21:07:12.654789 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84609, -2.49595), points=3, range=3.78733, residual=0.0113794, extent=0.0237964
I0419 21:07:12.654819 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84609, -2.49595), tracking=(-3.14459, 2.49595), map_predicted=(-4.51638, 0.149804), range=3.78733, pts=3
I0419 21:07:12.654842 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00324m maha_sq=394.752 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51638, 0.149804) lm_pos=(-0.285, -2.52) delta=(-4.23138, 2.6698) -> 0 candidate(s)
I0419 21:07:12.694392 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:12.718371 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0837636s, prior_pose=(-0.911149, 1.91629), yaw=64.5444 deg
I0419 21:07:12.718477 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:12.788237 1237626 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:12.788358 1237626 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:12.792830 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:12.792965 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:12.924577 1218970 reflector_detector.cc:209] [Detect]   cluster[3]: points=2, centroid=(0.708638, 0.513279)
I0419 21:07:12.953861 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:13.049906 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0561022s, prior_pose=(-0.907954, 1.91686), yaw=64.5672 deg
I0419 21:07:13.050041 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:13.078691 1237626 reflector_detector.cc:209] [Detect]   cluster[1]: points=1, centroid=(0.923754, 0.650829)
I0419 21:07:13.078804 1237626 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:13.106475 1219305 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:07:13.181150 1258777 pose_graph_2d.cc:160] Inserted submap (1, 70).
I0419 21:07:13.182966 1258777 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.84609, -2.49595), points=3, range=3.78733, residual=0.0113794, extent=0.0237964
I0419 21:07:13.183073 1258777 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.84609, -2.49595), tracking=(-3.14459, 2.49595), map_predicted=(-4.51245, 0.151565), range=3.78733, pts=3
I0419 21:07:13.183105 1258777 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=5.00086m maha_sq=394.376 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51245, 0.151565) lm_pos=(-0.285, -2.52) delta=(-4.22745, 2.67156) -> 0 candidate(s)
I0419 21:07:13.315804 1264424 reflector_detector.cc:209] [Detect]   cluster[2]: points=3, centroid=(0.69826, 0.498017)
I0419 21:07:13.319589 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0498905s, prior_pose=(-0.904861, 1.91659), yaw=64.535 deg
I0419 21:07:13.319717 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:13.320511 1264424 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:07:13.320598 1264424 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:13.342867 1237626 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:13.370555 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=7, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:13.370672 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=1
I0419 21:07:13.460657 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.904853, 1.91715), yaw=64.5595 deg backend=(-0.904853, 1.91715)
I0419 21:07:13.572233 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:13.572645 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:13.598332 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806267s, prior_pose=(-0.906026, 1.91574), yaw=64.5554 deg
I0419 21:07:13.598433 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:13.706593 1218967 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:13.709455 1218967 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8522, -2.48666)
I0419 21:07:13.709573 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85757, -2.48405), points=4, range=3.784, residual=0.0143379, extent=0.0344857
I0419 21:07:13.709601 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85757, -2.48405), tracking=(-3.15607, 2.48405), map_predicted=(-4.50422, 0.132152), range=3.784, pts=4
I0419 21:07:13.709625 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98355m maha_sq=391.185 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50422, 0.132152) lm_pos=(-0.285, -2.52) delta=(-4.21922, 2.65215) -> 0 candidate(s)
I0419 21:07:13.841572 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:13.894282 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.060429s, prior_pose=(-0.907097, 1.9148), yaw=64.5337 deg
I0419 21:07:13.894450 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:13.898864 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:13.898973 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:13.994385 1258777 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=5, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:13.994508 1258777 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:13.994549 1258777 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:14.014469 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.84808, -2.49038)
I0419 21:07:14.125900 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:14.133736 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.46847, 2.46642), points=3, range=4.259, residual=0.0135773, extent=0.0284543
I0419 21:07:14.133937 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.46847, 2.46642), tracking=(-3.76697, -2.46642), map_predicted=(-0.300165, -2.54506), range=4.259, pts=3
I0419 21:07:14.134020 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0292945m maha_sq=0.0135011 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.300165, -2.54506) lm_pos=(-0.285, -2.52) delta=(-0.0151652, -0.0250636) -> 1 candidate(s)
I0419 21:07:14.227396 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0529022s, prior_pose=(-0.906253, 1.91587), yaw=64.5578 deg
I0419 21:07:14.227515 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:14.250712 1258777 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:14.376464 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85502, -2.48912)
I0419 21:07:14.379567 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907899, 1.91606), yaw=64.5573 deg backend=(-0.907899, 1.91606)
I0419 21:07:14.539103 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.08085s, prior_pose=(-0.906019, 1.91514), yaw=64.5594 deg
I0419 21:07:14.539239 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:14.541442 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:14.541546 1219494 reflector_detector.cc:337] [Detect] RESULT: 2 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:14.548321 1219494 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:14.548458 1219494 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:14.548491 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85522, -2.48931), points=3, range=3.78533, residual=0.0115073, extent=0.0234229
I0419 21:07:14.548516 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85522, -2.48931), tracking=(-3.15372, 2.48931), map_predicted=(-4.50872, 0.136632), range=3.78533, pts=3
I0419 21:07:14.548542 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98974m maha_sq=392.609 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50872, 0.136632) lm_pos=(-0.285, -2.52) delta=(-4.22372, 2.65663) -> 0 candidate(s)
I0419 21:07:14.548563 1219494 reflector_localizer.cc:475] [Localizer] STAGE 3 — 1 candidate pair(s).
I0419 21:07:14.643687 1219494 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85596, -2.48995)
I0419 21:07:14.790104 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:14.794353 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0592429s, prior_pose=(-0.904958, 1.91543), yaw=64.5432 deg
I0419 21:07:14.794492 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:14.795113 1218967 reflector_localizer.cc:673] [Localizer] STAGE 4 — all 1 candidates rejected by consistency filter.
I0419 21:07:14.905700 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 2 cluster(s).
I0419 21:07:14.911960 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85615, -2.49011)
I0419 21:07:14.912087 1264424 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.8616, -2.48755), points=4, range=3.78925, residual=0.0144282, extent=0.0348344
I0419 21:07:14.912123 1264424 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.8616, -2.48755), tracking=(-3.1601, 2.48755), map_predicted=(-4.51095, 0.131705), range=3.78925, pts=4
I0419 21:07:14.912153 1264424 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.98901m maha_sq=392.02 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51095, 0.131705) lm_pos=(-0.285, -2.52) delta=(-4.22595, 2.65171) -> 0 candidate(s)
I0419 21:07:15.056844 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:15.066519 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.051837s, prior_pose=(-0.908698, 1.91551), yaw=64.5225 deg
I0419 21:07:15.066768 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:15.074213 1219494 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=1, merge_r=0.1 -> after=1
I0419 21:07:15.074359 1219494 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 0 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:15.074491 1219494 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:15.172142 1237626 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=4, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=1
I0419 21:07:15.172286 1237626 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=1, r_post=0.015, gain=250 -> after=1
I0419 21:07:15.285396 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.907413, 1.91639), yaw=64.5404 deg backend=(-0.907413, 1.91639)
I0419 21:07:15.302901 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:15.362855 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0810699s, prior_pose=(-0.908798, 1.91738), yaw=64.5462 deg
I0419 21:07:15.363055 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:15.461218 1218970 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85059, -2.49257)
I0419 21:07:15.463793 1218970 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:15.486753 1218967 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.85134, -2.49323), points=4, range=3.7885, residual=0.0140372, extent=0.034247
I0419 21:07:15.486951 1218967 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.85134, -2.49323), tracking=(-3.14984, 2.49323), map_predicted=(-4.50901, 0.142373), range=3.7885, pts=4
I0419 21:07:15.487017 1218967 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99304m maha_sq=392.724 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.50901, 0.142373) lm_pos=(-0.285, -2.52) delta=(-4.22401, 2.66237) -> 0 candidate(s)
I0419 21:07:15.582855 1218967 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:15.736680 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598885s, prior_pose=(-0.907456, 1.91556), yaw=64.5262 deg
I0419 21:07:15.736797 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:15.737855 1232263 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:15.737955 1232263 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:15.737980 1232263 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:15.740562 1232263 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.85389, -2.48815)
I0419 21:07:15.743440 1232263 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:15.743530 1232263 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:15.890420 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:15.962210 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0474719s, prior_pose=(-0.908783, 1.91659), yaw=64.5559 deg
I0419 21:07:15.962324 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:15.963171 1219494 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(2.8571, -2.49095), points=3, range=3.78767, residual=0.0116972, extent=0.024195
I0419 21:07:15.963244 1219494 reflector_localizer.cc:349] [Localizer] STAGE 2 det[0]: sensor=(2.8571, -2.49095), tracking=(-3.1556, 2.49095), map_predicted=(-4.51386, 0.137257), range=3.78767, pts=3
I0419 21:07:15.963310 1219494 reflector_localizer.cc:453] [Localizer] STAGE 3 det[0] nearest lm[0] 'ref_1' eucl_dist=4.99443m maha_sq=393.316 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-4.51386, 0.137257) lm_pos=(-0.285, -2.52) delta=(-4.22886, 2.65726) -> 0 candidate(s)
I0419 21:07:15.986353 1258777 reflector_detector.cc:209] [Detect]   cluster[0]: points=4, centroid=(2.8554, -2.48945)
I0419 21:07:16.014267 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:16.104985 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.90591, 1.91624), yaw=64.5532 deg backend=(-0.90591, 1.91624)
I0419 21:07:16.242651 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0806322s, prior_pose=(-0.907991, 1.91643), yaw=64.5535 deg
I0419 21:07:16.243021 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:16.250458 1258777 reflector_detector.cc:256] [Detect] STAGE 4 merge: before=2, merge_r=0.1 -> after=2
I0419 21:07:16.250569 1258777 reflector_detector.cc:337] [Detect] RESULT: 1 reflectors accepted, 1 rejected(min_pts), 0 rejected(extent), 0 rejected(residual)
I0419 21:07:16.277833 1264424 reflector_detector.cc:209] [Detect]   cluster[0]: points=3, centroid=(2.85159, -2.49345)
I0419 21:07:16.361812 1264424 reflector_detector.cc:201] [Detect] STAGE 2 OPTICS: candidates=6, eps=0.03, min_pts=1, cluster_threshold=0.03 -> clusters=2
I0419 21:07:16.361932 1264424 reflector_detector.cc:219] [Detect] STAGE 3 size filter: before=2, r_post=0.015, gain=250 -> after=2
I0419 21:07:16.366248 1264424 reflector_detector.cc:285] [Detect] STAGE 6 reject: points=2 < min_points_after_filter=3
I0419 21:07:16.398247 1237626 reflector_detector.cc:328] [Detect] STAGE 6 accept: centroid=(3.4734, 2.46234), points=4, range=4.25975, residual=0.0162576, extent=0.0400753
I0419 21:07:16.398393 1237626 reflector_localizer.cc:349] [Localizer] STAGE 2 det[1]: sensor=(3.4734, 2.46234), tracking=(-3.7719, -2.46234), map_predicted=(-0.304795, -2.54708), range=4.25975, pts=4
I0419 21:07:16.398442 1237626 reflector_localizer.cc:453] [Localizer] STAGE 3 det[1] nearest lm[0] 'ref_1' eucl_dist=0.0335415m maha_sq=0.0176773 (gate chi2=5.99) pose_sigma=(0.25, 0.25, rho=0) det_map=(-0.304795, -2.54708) lm_pos=(-0.285, -2.52) delta=(-0.0197949, -0.0270776) -> 1 candidate(s)
I0419 21:07:16.517671 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:16.520496 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:16.534763 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0601541s, prior_pose=(-0.907672, 1.9161), yaw=64.5495 deg
I0419 21:07:16.534952 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:16.542104 1264424 reflector_detector.cc:209] [Detect]   cluster[1]: points=2, centroid=(3.47254, 2.46932)
I0419 21:07:16.610409 1264424 reflector_localizer.cc:470] [Localizer] STAGE 3 — 0 candidate pairs (Mahalanobis 5.99 / Euclid 1m).
I0419 21:07:16.612936 1264424 reflector_localizer.cc:325] [Localizer] STAGE 1 — detector returned 1 cluster(s).
I0419 21:07:16.697826 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:07:16.887044 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520534s, prior_pose=(-0.911963, 1.91689), yaw=64.5209 deg
I0419 21:07:16.887192 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:16.891469 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:17.043656 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.9102, 1.91743), yaw=64.5377 deg backend=(-0.9102, 1.91743)
I0419 21:07:17.172159 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798835s, prior_pose=(-0.910638, 1.91762), yaw=64.5279 deg
I0419 21:07:17.172305 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:17.182893 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:17.434473 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0563142s, prior_pose=(-0.910738, 1.91753), yaw=64.5437 deg
I0419 21:07:17.434687 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:17.474869 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:17.709877 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0514431s, prior_pose=(-0.908537, 1.91736), yaw=64.5422 deg
I0419 21:07:17.710003 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:17.829880 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:17.961778 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.912801, 1.91895), yaw=64.545 deg backend=(-0.912801, 1.91895)
I0419 21:07:17.963306 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:18.007045 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0808534s, prior_pose=(-0.912801, 1.91895), yaw=64.546 deg
I0419 21:07:18.007211 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:18.100258 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:18.367551 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600623s, prior_pose=(-0.910067, 1.91746), yaw=64.5471 deg
I0419 21:07:18.367674 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:18.371650 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:18.598778 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0482017s, prior_pose=(-0.911324, 1.9177), yaw=64.5484 deg
I0419 21:07:18.598908 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=998, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:18.649995 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:18.747605 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.90931, 1.91691), yaw=64.5407 deg backend=(-0.90931, 1.91691)
I0419 21:07:18.895036 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.079579s, prior_pose=(-0.908965, 1.91654), yaw=64.5469 deg
I0419 21:07:18.895134 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1011, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:19.009996 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:19.178022 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0597537s, prior_pose=(-0.908181, 1.9165), yaw=64.5263 deg
I0419 21:07:19.178215 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:19.287421 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:19.423992 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:19.513665 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0477244s, prior_pose=(-0.908522, 1.91716), yaw=64.5472 deg
I0419 21:07:19.513806 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:19.530333 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:19.649387 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.90949, 1.91766), yaw=64.5316 deg backend=(-0.90949, 1.91766)
I0419 21:07:19.780755 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798516s, prior_pose=(-0.909596, 1.91637), yaw=64.5284 deg
I0419 21:07:19.780946 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:19.826488 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:20.078514 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.056056s, prior_pose=(-0.911101, 1.91881), yaw=64.5387 deg
I0419 21:07:20.078667 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:20.117827 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:20.354606 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483781s, prior_pose=(-0.910295, 1.91735), yaw=64.5481 deg
I0419 21:07:20.354708 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:20.458313 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:20.569841 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911535, 1.91744), yaw=64.5473 deg backend=(-0.911535, 1.91744)
I0419 21:07:20.645593 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796452s, prior_pose=(-0.911535, 1.91744), yaw=64.5488 deg
I0419 21:07:20.645689 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:20.713763 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:20.843014 1219305 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:20.970237 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559359s, prior_pose=(-0.910568, 1.91687), yaw=64.5185 deg
I0419 21:07:20.970358 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=998, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:21.000188 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:21.273026 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476591s, prior_pose=(-0.91176, 1.9184), yaw=64.5332 deg
I0419 21:07:21.273160 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:21.294880 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:21.396152 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.90978, 1.91739), yaw=64.5431 deg backend=(-0.90978, 1.91739)
I0419 21:07:21.526031 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0726357s, prior_pose=(-0.907331, 1.91616), yaw=64.5453 deg
I0419 21:07:21.526144 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:21.654139 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:21.822199 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598108s, prior_pose=(-0.910024, 1.91792), yaw=64.5489 deg
I0419 21:07:21.822311 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:21.896023 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:22.194535 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481201s, prior_pose=(-0.909043, 1.91849), yaw=64.5421 deg
I0419 21:07:22.198558 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:22.207682 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:22.339165 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:22.345979 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911743, 1.91695), yaw=64.5435 deg backend=(-0.911743, 1.91695)
I0419 21:07:22.443432 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0803686s, prior_pose=(-0.91154, 1.91827), yaw=64.5465 deg
I0419 21:07:22.443550 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1011, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:22.470247 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:22.707116 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0566617s, prior_pose=(-0.911551, 1.91905), yaw=64.5428 deg
I0419 21:07:22.707475 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=207, threshold=230, above_threshold=0, candidates=0
I0419 21:07:22.762594 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:22.998018 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0512854s, prior_pose=(-0.911146, 1.91725), yaw=64.527 deg
I0419 21:07:22.998152 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:23.120643 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:23.240134 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908935, 1.91619), yaw=64.5738 deg backend=(-0.908935, 1.91619)
I0419 21:07:23.241046 1258777 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.29e-03 s (pulsed at 100.58% real time)
I0419 21:07:23.241200 1258777 collated_trajectory_builder.cc:82] odom rate: 248.93 Hz 4.02e-03 s +/- 6.61e-04 s (pulsed at 100.20% real time)
I0419 21:07:23.241309 1258777 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.18e-03 s (pulsed at 100.45% real time)
I0419 21:07:23.241341 1258777 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.16e-03 s (pulsed at 100.50% real time)
I0419 21:07:23.291101 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080424s, prior_pose=(-0.908935, 1.91619), yaw=64.5747 deg
I0419 21:07:23.291306 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:23.392364 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:23.649827 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599871s, prior_pose=(-0.909921, 1.9184), yaw=64.5463 deg
I0419 21:07:23.649950 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:23.654114 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:23.778458 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:23.886904 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052496s, prior_pose=(-0.909632, 1.91691), yaw=64.5485 deg
I0419 21:07:23.887041 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:23.937984 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:23.966123 1219306 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:07:24.042430 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.90975, 1.91828), yaw=64.5335 deg backend=(-0.90975, 1.91828)
I0419 21:07:24.170109 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0754982s, prior_pose=(-0.911278, 1.91599), yaw=64.5251 deg
I0419 21:07:24.170210 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:24.282125 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:24.466619 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605583s, prior_pose=(-0.910171, 1.91692), yaw=64.5211 deg
I0419 21:07:24.466816 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:24.572609 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:24.798275 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481037s, prior_pose=(-0.910137, 1.91904), yaw=64.5406 deg
I0419 21:07:24.798388 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:24.818696 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:24.982893 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911172, 1.91752), yaw=64.5436 deg backend=(-0.911172, 1.91752)
I0419 21:07:25.044178 1219303 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:07:25.109247 1219494 pose_graph_2d.cc:160] Inserted submap (1, 71).
I0419 21:07:25.113196 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0793397s, prior_pose=(-0.911269, 1.91841), yaw=64.5352 deg
I0419 21:07:25.113508 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:25.121049 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:25.345382 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 89
I0419 21:07:25.346464 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0602615s, prior_pose=(-0.910969, 1.91699), yaw=64.5468 deg
I0419 21:07:25.346563 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=203, threshold=230, above_threshold=0, candidates=0
I0419 21:07:25.406230 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:25.641852 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.052066s, prior_pose=(-0.907874, 1.91649), yaw=64.5172 deg
I0419 21:07:25.642009 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:25.763926 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:25.885334 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910439, 1.91705), yaw=64.5245 deg backend=(-0.910439, 1.91705)
I0419 21:07:25.934434 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759414s, prior_pose=(-0.910439, 1.91705), yaw=64.5255 deg
I0419 21:07:25.934638 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:26.036625 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:26.266649 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599546s, prior_pose=(-0.910293, 1.9159), yaw=64.5286 deg
I0419 21:07:26.266780 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:26.286206 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:26.527202 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0520845s, prior_pose=(-0.912276, 1.91899), yaw=64.524 deg
I0419 21:07:26.527313 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:26.581718 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:26.653195 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:26.680320 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.906674, 1.9163), yaw=64.5345 deg backend=(-0.906674, 1.9163)
I0419 21:07:26.814095 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0786862s, prior_pose=(-0.909843, 1.91741), yaw=64.5403 deg
I0419 21:07:26.814201 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:26.914407 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:27.110376 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599578s, prior_pose=(-0.909795, 1.91772), yaw=64.5438 deg
I0419 21:07:27.110602 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:27.194185 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:27.444461 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481289s, prior_pose=(-0.913603, 1.91776), yaw=64.5241 deg
I0419 21:07:27.444586 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=994, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:27.461833 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:27.616194 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908922, 1.91569), yaw=64.5522 deg backend=(-0.908922, 1.91569)
I0419 21:07:27.719280 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0881441s, prior_pose=(-0.907867, 1.91708), yaw=64.5395 deg
I0419 21:07:27.719415 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:27.754437 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:27.991994 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0598639s, prior_pose=(-0.911978, 1.91776), yaw=64.5237 deg
I0419 21:07:27.992112 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:28.051038 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:28.145756 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:28.286795 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0522028s, prior_pose=(-0.909704, 1.91762), yaw=64.5532 deg
I0419 21:07:28.286919 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:28.376540 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:28.539131 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.91096, 1.91703), yaw=64.5638 deg backend=(-0.91096, 1.91703)
I0419 21:07:28.578316 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0802208s, prior_pose=(-0.91096, 1.91703), yaw=64.5622 deg
I0419 21:07:28.578493 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:28.681802 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:28.910665 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0557843s, prior_pose=(-0.910599, 1.91737), yaw=64.5049 deg
I0419 21:07:28.910787 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:28.930852 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:29.204847 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480734s, prior_pose=(-0.909207, 1.91601), yaw=64.5389 deg
I0419 21:07:29.204959 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:29.222361 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:29.324568 1258777 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909491, 1.91861), yaw=64.5404 deg backend=(-0.909491, 1.91861)
I0419 21:07:29.467957 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0756157s, prior_pose=(-0.908545, 1.91797), yaw=64.5607 deg
I0419 21:07:29.468071 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:29.583148 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:29.583683 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:29.754016 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0583509s, prior_pose=(-0.910673, 1.91734), yaw=64.5554 deg
I0419 21:07:29.754125 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:29.827276 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:30.096511 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.048431s, prior_pose=(-0.911285, 1.91847), yaw=64.5454 deg
I0419 21:07:30.096627 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:30.106030 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:30.268108 1219494 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910645, 1.91962), yaw=64.5511 deg backend=(-0.910645, 1.91962)
I0419 21:07:30.395927 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0805764s, prior_pose=(-0.909241, 1.91805), yaw=64.5546 deg
I0419 21:07:30.396076 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:30.401057 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:30.661645 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0600795s, prior_pose=(-0.911805, 1.91859), yaw=64.5372 deg
I0419 21:07:30.661779 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:30.694072 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:30.926271 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0483418s, prior_pose=(-0.911989, 1.91793), yaw=64.5384 deg
I0419 21:07:30.926388 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:31.043313 1219306 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:31.043573 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:31.173698 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910535, 1.9167), yaw=64.5498 deg backend=(-0.910535, 1.9167)
I0419 21:07:31.221693 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796074s, prior_pose=(-0.910535, 1.9167), yaw=64.5514 deg
I0419 21:07:31.221822 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:31.236888 1219305 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:07:31.293529 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:31.587327 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607764s, prior_pose=(-0.912084, 1.9189), yaw=64.5461 deg
I0419 21:07:31.587483 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:31.591826 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:31.868347 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525684s, prior_pose=(-0.910793, 1.91784), yaw=64.5298 deg
I0419 21:07:31.868459 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1008, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:31.872514 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:31.983634 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911328, 1.91978), yaw=64.5303 deg backend=(-0.911328, 1.91978)
I0419 21:07:32.113992 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798391s, prior_pose=(-0.911907, 1.91899), yaw=64.5493 deg
I0419 21:07:32.114178 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:32.241849 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:32.398185 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.05955s, prior_pose=(-0.91151, 1.91705), yaw=64.5358 deg
I0419 21:07:32.398278 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:32.469019 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:32.470281 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:32.746649 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.048286s, prior_pose=(-0.912872, 1.91863), yaw=64.5189 deg
I0419 21:07:32.746750 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:32.750937 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:32.904165 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911884, 1.91899), yaw=64.5412 deg backend=(-0.911884, 1.91899)
I0419 21:07:33.033691 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0808717s, prior_pose=(-0.911579, 1.91797), yaw=64.5303 deg
I0419 21:07:33.033824 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:33.042320 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:33.277844 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.059953s, prior_pose=(-0.908867, 1.91869), yaw=64.549 deg
I0419 21:07:33.277951 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:33.334411 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:33.570310 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0484662s, prior_pose=(-0.908612, 1.91632), yaw=64.5707 deg
I0419 21:07:33.570597 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:33.687232 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:33.805369 1232263 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910346, 1.91623), yaw=64.5421 deg backend=(-0.910346, 1.91623)
I0419 21:07:33.866391 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0805027s, prior_pose=(-0.910346, 1.91623), yaw=64.5437 deg
I0419 21:07:33.866508 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:33.928912 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:33.931478 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:34.198012 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0605593s, prior_pose=(-0.910724, 1.91804), yaw=64.5591 deg
I0419 21:07:34.198225 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:34.217839 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:34.460834 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0442283s, prior_pose=(-0.910553, 1.9182), yaw=64.5448 deg
I0419 21:07:34.460966 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:34.510239 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:34.618952 1264424 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.909042, 1.91798), yaw=64.5484 deg backend=(-0.909042, 1.91798)
I0419 21:07:34.750854 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796169s, prior_pose=(-0.911089, 1.9181), yaw=64.5613 deg
I0419 21:07:34.751004 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:34.845381 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:35.038143 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0559682s, prior_pose=(-0.913429, 1.91742), yaw=64.5559 deg
I0419 21:07:35.038288 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:35.144001 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:35.390336 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0481348s, prior_pose=(-0.909532, 1.91761), yaw=64.5489 deg
I0419 21:07:35.390453 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:35.390803 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:35.394505 1232263 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:35.531805 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910271, 1.9183), yaw=64.5645 deg backend=(-0.910271, 1.9183)
I0419 21:07:35.651218 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0761446s, prior_pose=(-0.910452, 1.91876), yaw=64.5455 deg
I0419 21:07:35.651373 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:35.686327 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:35.927114 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0606057s, prior_pose=(-0.911875, 1.91831), yaw=64.5614 deg
I0419 21:07:35.927253 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:35.982597 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:36.218525 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0519065s, prior_pose=(-0.910019, 1.91818), yaw=64.5347 deg
I0419 21:07:36.218673 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=998, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:36.342056 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:36.456197 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910484, 1.9191), yaw=64.5237 deg backend=(-0.910484, 1.9191)
I0419 21:07:36.510437 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.080535s, prior_pose=(-0.910484, 1.9191), yaw=64.5249 deg
I0419 21:07:36.510632 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:36.608387 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:36.871359 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0607163s, prior_pose=(-0.910315, 1.91685), yaw=64.5408 deg
I0419 21:07:36.871470 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=999, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:36.875783 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:36.892685 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:36.956107 1219304 fast_correlative_scan_matcher_2d.cc:200] Localization search windows: 2, angular: 3.14159
I0419 21:07:36.985266 1218970 pose_graph_2d.cc:160] Inserted submap (1, 72).
I0419 21:07:37.103735 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0525658s, prior_pose=(-0.91074, 1.91751), yaw=64.5326 deg
I0419 21:07:37.103869 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1007, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:37.155930 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:37.255761 1237626 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911786, 1.91777), yaw=64.536 deg backend=(-0.911786, 1.91777)
I0419 21:07:37.390349 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0798878s, prior_pose=(-0.911799, 1.91691), yaw=64.538 deg
I0419 21:07:37.390681 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:37.498382 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:37.682476 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0556136s, prior_pose=(-0.912643, 1.916), yaw=64.5145 deg
I0419 21:07:37.682659 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:37.789321 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:38.022670 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0476462s, prior_pose=(-0.909583, 1.91708), yaw=64.5664 deg
I0419 21:07:38.022790 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:38.033599 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:38.153762 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.908905, 1.91656), yaw=64.549 deg backend=(-0.908905, 1.91656)
I0419 21:07:38.321990 1232263 collated_trajectory_builder.cc:82] imu rate: 200.07 Hz 5.00e-03 s +/- 4.34e-03 s (pulsed at 100.52% real time)
I0419 21:07:38.322186 1232263 collated_trajectory_builder.cc:82] odom rate: 249.32 Hz 4.01e-03 s +/- 6.71e-04 s (pulsed at 100.05% real time)
I0419 21:07:38.322306 1232263 collated_trajectory_builder.cc:82] scan_1 rate: 34.04 Hz 2.94e-02 s +/- 2.19e-03 s (pulsed at 100.40% real time)
I0419 21:07:38.322338 1232263 collated_trajectory_builder.cc:82] scan_2 rate: 34.04 Hz 2.94e-02 s +/- 2.12e-03 s (pulsed at 100.44% real time)
I0419 21:07:38.322616 1219303 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:38.323873 1232263 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0760342s, prior_pose=(-0.911768, 1.91701), yaw=64.5208 deg
I0419 21:07:38.323961 1232263 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1005, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:38.330857 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:38.517275 1219303 xloc.cc:1402] [Pose-Graph] PHASE3 optimization callback pushed fresh prior to 1 bridge(s).
I0419 21:07:38.566278 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0603684s, prior_pose=(-0.912021, 1.91853), yaw=64.5419 deg
I0419 21:07:38.566421 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1010, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:38.622298 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:38.858139 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0444717s, prior_pose=(-0.908846, 1.91661), yaw=64.5513 deg
I0419 21:07:38.858269 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:38.955792 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:39.094851 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.91071, 1.91703), yaw=64.5583 deg backend=(-0.91071, 1.91703)
I0419 21:07:39.154265 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0804813s, prior_pose=(-0.91071, 1.91703), yaw=64.5615 deg
I0419 21:07:39.154469 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:39.253885 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:39.517092 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595552s, prior_pose=(-0.912698, 1.91868), yaw=64.5383 deg
I0419 21:07:39.517211 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1009, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:39.521189 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:39.771307 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:39.773849 1264424 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0430466s, prior_pose=(-0.910538, 1.91726), yaw=64.553 deg
I0419 21:07:39.773960 1264424 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:39.797969 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:39.899814 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.910387, 1.9173), yaw=64.5427 deg backend=(-0.910387, 1.9173)
I0419 21:07:40.034251 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0800506s, prior_pose=(-0.912803, 1.91768), yaw=64.5624 deg
I0419 21:07:40.034379 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:40.141243 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:40.326220 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604189s, prior_pose=(-0.909363, 1.91749), yaw=64.562 deg
I0419 21:07:40.326342 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1006, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:40.408237 1237626 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:40.665184 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0516713s, prior_pose=(-0.910344, 1.91651), yaw=64.5393 deg
I0419 21:07:40.665371 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:40.678257 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:40.801769 1219452 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.913934, 1.91628), yaw=64.5134 deg backend=(-0.913934, 1.91628)
I0419 21:07:40.929651 1219452 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0799418s, prior_pose=(-0.911578, 1.91593), yaw=64.5485 deg
I0419 21:07:40.929790 1219452 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:40.974396 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:41.192233 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:41.210184 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0595619s, prior_pose=(-0.909953, 1.91904), yaw=64.5528 deg
I0419 21:07:41.210289 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:41.265864 1219452 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:41.501813 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0512816s, prior_pose=(-0.911567, 1.91699), yaw=64.553 deg
I0419 21:07:41.501957 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:41.618000 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:41.742275 1218967 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.912387, 1.91709), yaw=64.5313 deg backend=(-0.912387, 1.91709)
I0419 21:07:41.794380 1258777 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0759287s, prior_pose=(-0.912387, 1.91709), yaw=64.5326 deg
I0419 21:07:41.794489 1258777 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1012, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:41.855733 1258777 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:42.154830 1218967 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0604565s, prior_pose=(-0.911541, 1.91585), yaw=64.5483 deg
I0419 21:07:42.155059 1218967 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1001, max_intensity=204, threshold=230, above_threshold=0, candidates=0
I0419 21:07:42.159144 1218967 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:42.408546 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0480286s, prior_pose=(-0.912187, 1.91659), yaw=64.5528 deg
I0419 21:07:42.408712 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1004, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:42.443095 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:42.556111 1218970 xloc.cc:1283] [Pose-Source] traj=1 src=BACKEND N=0 α=1 map_from_tracking=(-0.911474, 1.91789), yaw=64.5536 deg backend=(-0.911474, 1.91789)
I0419 21:07:42.683125 1219304 pose_graph_2d.cc:885] Remaining work items in queue: 0
I0419 21:07:42.686375 1237626 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0796703s, prior_pose=(-0.912623, 1.91749), yaw=64.5415 deg
I0419 21:07:42.686483 1237626 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1003, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:42.802364 1264424 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:42.970118 1218970 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0599528s, prior_pose=(-0.911182, 1.91621), yaw=64.5668 deg
I0419 21:07:42.970288 1218970 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1002, max_intensity=206, threshold=230, above_threshold=0, candidates=0
I0419 21:07:43.078154 1218970 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
I0419 21:07:43.309259 1219494 reflector_localizer.cc:311] [Localizer] GATE 2 OK — prior age=0.0437571s, prior_pose=(-0.909514, 1.91623), yaw=64.5698 deg
I0419 21:07:43.309388 1219494 reflector_detector.cc:183] [Detect] STAGE 1 intensity gate: beams_total=1651, in_range=[0.15,5]=1000, max_intensity=205, threshold=230, above_threshold=0, candidates=0
I0419 21:07:43.322079 1219494 reflector_localizer.cc:320] [Localizer] STAGE 1 — detector returned 0 clusters.
F0419 21:07:44.732529 1218967 ordered_multi_queue.cc:45] Check failed: entry.second.finished 
*** Check failure stack trace: ***